Design, fabrication and first sea trials of a small-sized autonomous catamaran for heavy metals monitoring in coastal waters
We describe the design, realization and first sea trials of a small-sized Autonomous Surface Vehicle (ASV) for environmental monitoring. The robot is being developed in the framework of the HydroNet European project 1 aiming at realizing a new multi-robot system for monitoring the quality of coastal waters, rivers and lagoons. One main innovation of the robot is the capability to measure heavy metals concentrations directly onboard using sensors ad hoc developed by the consortium. This enables the system to provide real-time measurements of heavy metals concentrations potentially changing the current water monitoring methodology in which the samples are collected by a dedicated boat and analyzed in laboratory. The robot is designed for long range missions and for lodging the onboard water analysis system. Some severe constraints imposed by the addressed scenarios are considered in the design: reduced length and limited weight for ease of transportability and deployment; low draft and protected propellers to enable the ASV to move safely in shallow waters with likely floating obstacles such as plastic bags.
mobile robots water monitoring ASV
Gabriele Ferri Alessandro Manzi Francesco Fornai Barbara Mazzolai Cecilia Laschi Francesco Ciuchi Paolo Dario
CRIM Laboratory Scuola Superiore SantAnna Viale Rinaldo Piaggio 34,56025 Pontedera (Pisa),Italy Arts Laboratory Scuola Superiore SantAnna Viale Rinaldo Piaggio 34,56025 Pontedera (Pisa),Italy Center in Micro-BioRobotics IIT@SSSA Italian Institute of Technology Viale Rinaldo Piaggio 34,56025 CRIM Laboratory Scuola Superiore SantAnna Viale Rinaldo Piaggio 34,56025 Pontedera (Pisa),Italy Ce
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2406-2411
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）