This paper presents the portable autonomous probing system (APS), a low-cost robotic design for collecting water quality measurements at targeted depths from an autonomous surface vehicle (ASV). This system fills an important but often overlooked niche in marine sampling by enabling mobile sensor observations throughout the near-surface water column without the need for advanced underwater equipment. We present a probe delivery mechanism built with commercially available components and describe the corresponding open-source simulator and winch controller. Finally, we demonstrate the system in a field deployment and discuss design trade-offs and areas for future improvement. Project details are available on https://johannah.github.io/publication/sample-at-depth our website
翻译:本文件介绍了便携式自主探测系统(APS),这是一种低成本机器人设计,用于从自主水面车辆(ASV)的定点深度收集水质测量,该系统在海洋取样中占据了重要但经常被忽视的一席之地,它使近地表水柱上的所有移动感应器观测无需先进的水下设备即可进行,我们展示了利用商业上可用的部件建造的探测输送机制,并描述了相应的开放源模拟器和绞盘控制器。最后,我们展示了该系统的实地部署,并讨论了设计取舍和今后改进的领域。项目详情见我们的网站https://johannah.github.io/publication/sample-at。