NDLI: The HydroNet ASV, a Small-Sized Autonomous Catamaran for Real-Time Monitoring of Water Quality: From Design to Missions at Sea

Content Provider	IEEE Xplore Digital Library
Author	Ferri, G. Manzi, A. Fornai, F. Ciuchi, F. Laschi, C.
Copyright Year	1976
Abstract	In this paper, we describe the design, the development, and the sea trials of a novel small-sized autonomous surface vehicle (ASV) designed for monitoring the coastal water quality. The vehicle is characterized by the capability of measuring hydrocarbon and heavy metal concentrations directly onboard by means of custom-made miniaturized sensors. This capability, novel for an ASV, is combined with a winch-based sampling system specifically designed for small-sized vehicles. The sampling system can collect water samples up to 50 m in depth and measure the physical/water quality parameters of the water column. With these two features, the HydroNet ASV provides an autonomous, practical, real-time monitoring system, conceived to complement the current water monitoring practices in which samples are collected by a dedicated boat and analyzed in specialized laboratories at a later stage. The design process had the aim of realizing a vehicle capable of hosting the sampling system and the custom-made sensors that represent a unique payload in the world of small-sized ASVs. A twofold objective was pursued: realizing an ASV suited for monitoring missions in realistic scenarios (e.g., attention was paid to avoid water sample contamination), at the same time limiting the size for the ease of transportability and deployment. Severe constraints rose from these considerations and were addressed during the realization of the robot such as reduced length/weight (that limit the available space for the sensor payload) and low draft and protected propellers to allow the ASV to navigate in shallow waters with likely floating obstacles such as plastic bags. We report the design process aiming at a tradeoff between ease of transportability (small vehicle), available payload, and navigation performance in terms of achievable speed, endurance, and resistance to environmental disturbances (favored by larger ASV dimensions). We present sea trials of the realized vehicle validating the design choices. In particular, a long-range mission is discussed in which the robot executed a monitoring survey covering autonomously 12.5 km in front of Livorno, Italy, coast.
Sponsorship	IEEE Oceanic Engineering Society
Starting Page	710
Ending Page	726
Page Count	17
File Size	6778781
File Format	PDF
ISSN	03649059
Volume Number	40
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Monitoring Vehicles Sea measurements Robots Sensors Navigation Real-time systems real-time water monitoring Autonomous surface vehicles (ASVs) environmental surveys devices for water sampling at depth
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Mechanical Engineering Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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