Squirtle: An ASV for Inland Water Environmental Monitoring
نویسندگان
چکیده
This paper presents the Squirtle, an Autonomous Surface Vehicle (ASV) for autonomous navigation and capable of manoeuvring in tight river environments. Its main features include precise localization with RTKGPS and inertial sensors, high manoeuvrability and autonomy, depth sensing and obstacle detection. Its purpose is the exploration and mapping of the bottom of rivers and of their shores. The article includes a brief description of the systems developed to fulfil this task. Software is based on the Robot Operating System (ROS). Results from preliminary field trials are presented and discussed.
منابع مشابه
Design and Application of a Surface Vessel for Autonomous Inland Water Monitoring
This article presents a novel Autonomous Surface Vessel (ASV) that was designed and manufactured specifically for the monitoring of water resources, resources that are not only constantly drained, but also face the growing threat of mass proliferation (bloom) of noxious cyanobacteria. On one hand, the distribution of these blooms in a given water body requires a surveillance of biological data ...
متن کاملLizhbeth: Toward Autonomous Toxic Algae Bloom Monitoring
With the recent increase of toxic algal blooms in lakes, biologists are looking for new sampling methods to analyze their spatiotemporal dynamics. In this paper, we present an Autonomous Surface Vessel (ASV) capable of achieving longterm sampling missions covering up to now a transect plane (1.5 km wide and 20m deep). The ASV is equipped with a probe which can be lowered via a winch to measure ...
متن کاملAre harmful algal blooms becoming the greatest inland water quality threat to public health and aquatic ecosystems?
In this Focus article, the authors ask a seemingly simple question: Are harmful algal blooms (HABs) becoming the greatest inland water quality threat to public health and aquatic ecosystems? When HAB events require restrictions on fisheries, recreation, and drinking water uses of inland water bodies significant economic consequences result. Unfortunately, the magnitude, frequency, and duration ...
متن کاملInland wetlands mapping and vulnerability assessment using an integrated geographic information system and remote sensing techniques
The understanding of inland wetlands’ distribution and their level of vulnerability is important to enhance management and conservation efforts. The aim of the study was to map inland wetlands and assess their distribution pattern and vulnerability to natural and human disturbances such as climate change (temperature increase) and human activities by the year 2080. Inland wetland types i.e. for...
متن کاملStudy on feasibility of Nile tilapia (Oreochromis niluticus) in Markazi province; Environmental capability and criteria
Unique biological characteristics of Nile tilapia (Oreochromis niluticus), including high fecundity, maturation at young ages, well-adapted to environmental conditions, and high resistance again stresses and pathogens, make it a good candidate for aquaculture. However, its potential ecological risks are the major challenges for the decision makers. This study was aimed to study on the feasibili...
متن کامل