Human Assisted Robotic Team Campaigns for Aquatic Monitoring

Description or Abstract of the Project: 

This project describes a human-robot team that conducted an aquatic sampling campaign in Lake Fulmor, San Jacinto Mountains Reserve, California during three consecutive site visits (May 9–11, June 19–22, and August 28–31, 2006). The goal of the campaign was to study the behavior of phytoplankton in the lake and their relationship to the underlying physical, chemical, and biological parameters. The robotic system consisted of two subsystems—NAMOS (networked aquatic microbial observing systems) comprised of a robotic boat and static buoys, and NIMS-RD (rapidly deployable networked infomechanical systems) comprised of an infrastructure-supported tethered robotic system capable of high-resolution sampling in a two-dimensional cross section (vertical plane) of the lake.
Each of these systems was equipped with an array of sensing elements for documenting the physical and chemical structure of the lake. This enabled the characterization of the spatial and the temporal changes in the parameters affecting the growth of phytoplankton temperature, fluorescence, dissolved oxygen, pH, etc.. To ensure the correctness of the collected data, and hence the system robustness, data collected after each experiment were analyzed infield by a multidisciplinary team of experts.
All information gathered from "Human Assisted Robotic Team Campaigns for Aquatic Monitoring," published in the Journal of Field Robotics, DOI 10.1002/rob .

Principal Investigator (Last Name, First Name): 
Singh, Amarjeet
Email Address of Principal Investigator: 
amarjeet@ee.ucla.edu
Persons in Charge of Data Collection (Last Name, First Name): 
Singh, Amarjeet
Email Address of Persons in Charge of Data Collection: 
amarjeet@ee.ucla.edu
Data Registered by (Last Name, First Name): 
Mathieu, Camille
Institution and Department: 
Institution: 
UCLA; USC
Department: 
UCLA CENS, Department of Electrical Engineering, Department of Statistics; USC Department of Computer Science, Department of Biological Sciences
Date of Collection : 
Tuesday, May 9, 2006 to Thursday, August 31, 2006
Data Collection Methods: 
Data collection systems consisted of both static and mobile sampling systems. NAMOS consisted of five to eight buoys-- the buoys provided continuous measurements of the observed parameters at different depths over statically distributed locations across the lake. An infrastructure supported tethered robotic system (NIMS) was used to navigate a sensor payload anywhere within a two-dimensional cross section vertical plane of the lake system. Thus, together such an array of robotic sampling systems enabled a near complete three-dimensional characterization of the lake environment. Data were logged internally by the system components. Types of data collected relate to water temperature, pH, oxidation potential, specific conductivity, depth, photosynthetically active radiation, turbidity, and dissolved oxygen, nitrate, and ammonia.
Equipment Used in Data Collection: 
NIMS system (an actuated, cable-driven robot), NAMOS system (a set of static buoys and a robotic boat)
Description of Data Type: 
Graphic, Numerical
Data Format/File Type (example: jpg, xls, txt). Do NOT put periods in the format type or you will get an error message.: 
n/a
Programs Used for Data Analysis: 
EmStar
Are These Data Shareable?: 
No
Funding Agency (example: NSF, NIH, NOAA, or any other funder): 
NSF, NOAA
Keywords : 
Chlorophyll sensing
robotic systems
Date of Registration: 
Sunday, May 11, 2014