co-aerial-ecologistjore/pdf/2015-nri-coaerial-poster-detweiler.pdf · without extensive stac sensor...
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Co-Aerial-Ecologist
UniversityofNebraska-LincolnPIs:CarrickDetweiler,AmyBurgin,Sebas4anElbaum,andMa8WaiteStudents:J.Higgins,J-P.Ore,A.Shankar,N.Sharma,K.Song,A.Taylor
UniversityofCalifornia-BerkeleyPIs:SallyThompsonandMichaelHamiltonStudent:M.Chung
Results
MotivationMonitoringandpredic4ngwaterqualityposesa significantchallengesincesourcesof freshwaterandcontaminantscomeinfromhugeareasoflandandwaterways.Further,thesourceofpollu4oncanchangequicklyduringandaMerrainfallevents.Characterizinglarge-scaleandquickly changingwater systems remains a cri4cal bo8leneck that inhibits understanding oftransport processes and thedevelopmentof effec4vemanagementplans to addresswaterquality issues. Fixed sensors tend to lack the versa4lity to directly detect contaminants ofinterest,areexpensive,andonlymonitorasingleloca4on.Consequently,thereiss4llastrongrelianceuponmanual"grab-sampling"withinhydrologicandaqua4cecologyapplica4ons.Atbest,thisrelianceisexpensive, inconvenientandpresentssafetyriskstopersonnel involved(e.g.when samplesmust be taken at night). Atworst,manual sampling results in datasetsthat cannot answer many ques4ons of interest due to limita4ons of temporal and spa4alresolu4oninthesamplingstrategyortheinaccessibilityofsites(e.g.canyons).
National Robotics InitiativeNational Institute of Food and AgricultureGrant #2013-67021-20947
• Successfullycollected100sofsampleswithscien4sts.• Validatedthataerialwatersamplingmechanismdoesnotbiasmeasurementsofcri4caldissolvedgasses(O)andions(P,Cl).
• Developedrobustal4tudecontrollerfornear-waterflightandcharacterizedits’abilitytocollectsamplesinupto15knotwinds.
• Developednewsensingmodali4esforthermalstructureandwaterconduc4vitygradientsthatarefastandnon-intrusive.
• Createdcodeinstrumenta4ontooltoconnectuserinterven4ontoprogramparameters,sowhenauserintervenes,thesystemsuggestsparametersthatareimpac4ngbehavioratthatmoment.
• Createdtooltoautoma4callygenerateunittestsfromtracefiles,makingregressiontes4ngfasterforsystemdevelopers.
Integration with static sensors
Sub-surfacesampling
Fremontlakes,NE,isoneofthemostpopularrecrea4onsitesinthestate.Sincetoxicalgaebloomsin2004,theyrequireac4vemonitoringandmanagement.
Aerialwatersamplerinfieldtest.
Comparison to traditional sampling
• Sub-surfacesensing/sampling• Robustheightcontrol(winds)• Automatedtestgenera4on• Robotdebugging• Invasivespeciesmonitoring• Characterizeradiopropaga4onoverwaterforUAV/underwaternetwork.
Carrick DetweilerComputer Science and Engineering - University of Nebraska Lincoln
New Sensing Modalities
Future WorkWaterConduc4vityWaterThermalStructure
• ThermalStructureobtainedbysamplingtemperaturethroughawatercolumn,enablinggreaterspa4alresolu4onofthermaldatasetswithoutextensivesta4csensorarrays.
• WaterConducHvitymeasuredquicklyinhighresolu4onwithoutdisturbingsensi4veecosystems,helpingscien4stsiden4fyandunderstandcryp4csalinewatergradients.
Sub-surface Sampling
Robotic Actions System Traces Concrete / Abstract Tests
Automatic Unit Test Generation From Trace Files (ROSBags)
Regression Testing
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Further characterization of radio Propagation over water.
Robotic Water Sampling and Sensing in the Wild!
Nebraska Intelligent MoBile
Unpersoned Systems