Difference between revisions of "Environmental Monitoring"

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Currently, we have the following ongoing projects where we use aquatic and mobile robots in environmental monitoring applications.
The common carp is an invasive species of fish which poses a significant threat
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across the Midwest. This species pollutes lakes by
|align="center" style="background-color: #fcfcfc;"|[[Image:Miskin.jpg|x175px|link=Carp Tracking]]
uprooting plants and releasing large quantities of harmful nutrients while
[[Carp Tracking | Carp Tracking with Autonomous Boats]]
bottom-feeding. It is important to track and control the species --
|align="center" style="background-color: #fcfcfc;"|[[Image:Boat-Trial-07-29-data.jpg|x175px|link=Water Quality Monitoring]]
which is what Professor [http://fwcb.cfans.umn.edu/personnel/faculty/sorensen.php Peter Sorensen], a leading expert of fish
[[Water Quality Monitoring]]
behavior in the Department of Fisheries, Wildlife, and Conservation
Biology at the University of Minnesota, is dedicated to doing. In an
effort to study fish behavior, Dr. Sorensen's team [http://www.rwmwd.org/index.asp?Type=B_BASIC&SEC={812F4BD6-5587-43E8-9C90-9872821A83FA}&DE={792F0DFE-D597-4E52-9CA1-0A31BF0F23A0} tags the carp] with radio emitters. But the process is labor-intensive. The
fish are caught and emitters are surgically inserted under their skin
before they are reintroduced into the lake. Collecting data then
requires the work of two lab members (typically a post-doc and a
graduate student): one to steer the boat toward locations where the
fish are likely to be found, and the other to rotate a directional
antenna in search of the fish, as the receiver loops through a list of
frequencies. Consequently, data collection can be performed only for a
limited time. Yet, Dr. Sorensen's group is often interested in
determining carp distributions at obscure places and times such as
daybreaks and shallow wetlands where carp can migrate and
reproduce. The ability to continuously monitor the lakes and outlining
environments can be very useful.
We are collaborating with Prof. Sorensen's group to automate the data
collection process. At first, one might think that a network of
stationary antenna would be suitable for this task.  However, a
datalogger, receiver and antenna combination costs about $3,000, and
has a range of roughly 40 meters. Therefore, even covering a single
lake would be very costly. Even though this may be feasible for a
single lake, deploying such networks across numerous lakes around the
Twin Cities would be prohibitively costly.  We believe that a
'''network of a small number of light-weight robotic rafts'''
would be ideal for this task. Such a network can be easily deployed. It can autonomously
reconfigure itself based on the location of the tagged fish.
We recently started building a robotic sensor network for monitoring carp
in Minnesota Lakes. The video above is from a field test in [http://maps.google.com/maps?q=Keller+Lake,+Maplewood,+Ramsey,+Minnesota+55109&oe=utf-8&client=firefox-a&ie=UTF8&hl=en&cd=1&geocode=FU7JrgIdr_1z-g&split=0&sll=37.0625,-95.677068&sspn=23.875,57.630033&ll=45.006625,-93.060755&spn=0.004832,0.006856&t=h&z=17&iwloc=A Keller Lake]. The image below is a sample trajectory (Points P1,...,P6 are waypoints. Labeled stars are points where fish were heard).
Stay tuned for more on this exciting project!
In the mean time, you can contact Prof. [http://www-users.cs.umn.edu/~isler/ Volkan Isler] for more information.
== Related Publications ==
* D. Bhadauria, V. Isler, A. Studenski, and P. Tokekar. [http://www.cs.umn.edu/~isler/pub/icra10tokekar.pdf A Robotic Sensor Network for Monitoring Carp in Minnesota Lakes]. In Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
== Acknowledgments ==
We are grateful to Prof. Peter Sorensen and the members of
his lab for numerous useful discussions and sharing equipment.  This
work is supported by in part NSF Projects 0917676,0907658 and 0936710, and a
[http://www.environment.umn.edu/newsroom/newspages2009/residentfellows01262009.html fellowship] from the [http://environment.umn.edu/ Institute on the Environment] at the University of

Latest revision as of 11:16, April 8, 2013

Currently, we have the following ongoing projects where we use aquatic and mobile robots in environmental monitoring applications.


Carp Tracking with Autonomous Boats


Water Quality Monitoring