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This paper describes the development of a civilian-used autonomous underwater vehicle (AUV) for water quality monitoring at reservoirs and watercourses that can obtain realtime visual and locational information. The mechanical design was completed with CAD software Solidworks. Four thrusters—two horizontal and two vertical—on board enable the vehic...
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... Research in the field of underwater vehicles started in the 1950s (Antonelli et al., 2008) and the first unmanned vehicle, called Cable-controlled Underwater Recovery Vehicle (CURV) (Wernli, 2001) came out in the 1960s. Nowadays with the advent of technological development, underwater robotic systems are extensively employed for ocean floor mapping (Tena, 2011), studying marine life (Smolowitz et al., 2015), reconnaissance (Midtgaard et al., 2000), wreckage inspection (Ura et al., 2005), undersea cable inspection (Jacobi and Karimanzira, 2013), search and rescue (Venkatesan, 2016), and water condition monitoring (Li et al., 2017). Underwater robotic systems can be classified into (i) manned submersible vehicles (MSVs), (ii) tethered Remotely Operated Vehicles (ROVs), and (iii) cordless Autonomous Underwater Vehicles (AUVs) (Jebelli and Yagoub, 2016). ...
In this paper, a custom built, underactuated, inspection class micro Remotely Operated Unmanned Underwater Vehicle (ROV) is employed as a testbed to investigate control and modelling problems related to underwater vehicles in shallow waters and pools. Dynamic model for yaw is obtained via mathematical modelling and system identification techniques. To instil confidence in the identified model, residuals and cross-validation tests are carried out to obtain high fidelity vehicle model for subsequent stabilizing closed-loop control design. Following the modelling exercise, design, real-time implementation, and analysis of a GA optimized PI controller for yaw is carried out. The performance of the GA optimized controller is benchmarked against the experimental results of a multi-parameter root-locus tuned PI controller and simulated responses of a standard linear quadratic regulator (LQR) controller. In addition, the efficacy of the GA-PI controller is gauged employing recently developed marine predator algorithm (MPA). The need for a controller with optimized performance motivated the utilization of GA and MPA optimization techniques. The results from real-time pool experiments indicate substantially enhanced performance of GA optimized controller, outperforming other controllers by as much as 22% in performance indicators such as settling time and maximum overshoot. Furthermore, the GA optimized controller demonstrated far better robustness and disturbance rejection capabilities.
... For example, satellite-based remote sensing technologies, wireless sensor networks (WSN), and automated monitoring stations (AMS) are commonly used as a supplement to the traditional measurement methods of water collection and subsequent laboratory analysis [1]. Additionally, unmanned vehicles, including unmanned aerial vehicles (UAVs) [2,3], unmanned surface vehicles (USVs) [4,5], and unmanned underwater vehicles (UUVs) [6,7] have been also used to monitor water quality components. The recent studies [4,5] using an USV-based water quality monitoring platform proposed a practical method to measure water quality components, including dissolved oxygen (DO), electronical conductivity (EC), pH, water temperature (WT), and more. ...
A low-cost open-source autonomous unmanned surface vehicle (USV) named “iDroneboat” is developed for real-time monitoring and visualization of water quality. The iDroneboat equipped with Internet of Things (IoT) sensors transmits real-time water quality data, including dissolved oxygen (DO), electronical conductivity (EC), pH, and water temperature (WT) to the cloud for data sharing through Long-term Evolution (LTE) communication protocols. Since material and supplies needed are readily accessible from online marketplaces or local hardware stores, the iDroneboat is easily replicable for local water quality studies and citizen-science activities. The iDroneboat appears to be a promising tool to advance environmental research activities, especially for impaired waterways (e.g., lakes, rivers, and reservoirs). The preliminary result shows that the proposed low-cost platform, iDroneboat, effectively displays water quality components in real-time to the cloud web services (e.g., ThingSpeak), ultimately contributing to citizen science activities and environmental stewardship in water research ecosystems.
... Autonomous underwater vehicles (AUSs) and autonomous surface vehicles (ASVs) have been also used to monitor water quality components [4][5][6]. But accurate Global Positioning System (GPS) reception is still challenging for AUS's operation as a surfacing is required when the distance traveled by the underwater vehicles reaches a certain range [5]. ...
Urbanization, land use change, and agricultural activities continue to affect water quality standards at the urban-rural interface, such as the Boise River System located in Idaho, USA. This project demonstrates how the off-the-shelf unmanned aircraft system (UAS, also known as drone) equipped with other necessary hardware attachments can be used to monitor real-time water quality components, including pH, water temperature, electric conductivity (EC), and dissolved oxygen at open waterbodies. The proposed UAS-based hardware platform for water quality studies (UASWQP) appears a promising tool to advance environmental research activities, especially for impaired waterways (e.g., rivers, lakes, and reservoirs). The preliminary result shows that the proposed UASWQP effectively displays water quality components in real-time to the ThingSpeak Cloud web services, while an adequate water sample was also collected easily for further analysis at laboratory facilities, when needed. It is anticipated that UASWQP will be a useful tool to promote environmental stewardship by contributing to the water research communities in years to come.
