The 2006 NIMS/NAMOS Lake Fulmor Deployments The NIMS and NAMOS teams Center for Embedded Networked Sensing

Outline Introduction: NIMS and NAMOS History: Data from prior Fulmor deployments Planning: November 2005 – March 2006 Deployment 1: May 8-12, 2006 Deployment 2: June 19-23, 2006 New technologies and algorithms Plans for deployment 3 (August 06)

The NIMS System

NIMS RD Schematic

Hydrolab Sensor Node Nitrate Ammonium Conductivity pH Temperature Fluorescence (Chlorophyll A) Depth Attitude (pitch/roll/yaw) Compass Heading 3 Axis Velocity

The NAMOS System Boat –Fluorometer –Temperature Multiple buoys –Fluorometer –Temperature at 6 depths

The Study Site “Lake Fulmor is a small lake located in the San Jacinto Mountain range (altitude ~5000 ft.) in Southern California with a maximum depth of ~6m and low flow rates (~1 cm/s). Relatively strong discrete wind events can have a great effect, and in summer prolonged wind events lead to formation of surface cyanobacterial scums.”

Observations from 2005 Seasonal changes: Relative chlorophyll fluorescence increased an order of magnitude from May-October 2005 Thermal stratification in Lake Fulmor changed throughout the year –deepening of the surface mixed layer as the year progressed –increasing the influx of nutrients into surface waters

Hypotheses from 2005 Diel variations Maximum fluorescence measurements were observed at –1m depth from dusk -> dawn (18:00-06:00) on a diel cycle Cycle was most pronounced during the July & October deployments, during which cyanobacteria were highly abundant Likely that planktonic cyanobacteria are vertically migrating to optimize photosynthetic capabilities.

Plan: Full Lake Assessment by Combining NIMS and NAMOS Objective –Map dynamic growth and migration of phytoplankton –Direct measurement of biological phenomena in large scale 3D environment Solution –Multi-scale methods –Adaptive sampling Schedule –March, May, July, August

Iterative Transect Placement Design (T = hrs)

Adaptive Sampling at the Surface (T = 1-2 hrs)

Adaptive Sampling within a Transect (T = 1-2 hrs)

Nature does its thing.. From: David Caron Date: Mon, March 27, 2006 There are now a couple of major considerations here. I am worried About the rain/snow mix, and using computers on our shore-based station in that weather. Date: Mon, 20 Mar 2006 From: Mike Taggart Okay, here's the latest report from JR/Lake Fulmor as of 10:15AM on Monday 03/20/06: There is 6 to 8" of snow around the footpath at Lake Fulmor. While walkable, it is quite slippery and does NOT look passable for a 2WD vehicle. There is a thin sheet of ice covering about 70% of the lake itself. Date: Mon, 20 Mar 2006 From: William J. Kaiser I agree completely, we have to postpone. Thank you Mike for this update. Date: Wed, 22 Mar 2006 From: Gaurav Sukhatme I hope the weather continues to cooperate Date: Mon, 27 Mar 2006 From: Gaurav Sukhatme Yes, the more I think about it, the more I lean towards this strategy. Why not scrub this week and wait for the next opportunity to go ? Date: Thu, 6 Apr 2006 From: Gaurav Sukhatme Bill - the weather does appear to have worsened. I like your suggestion of simply targeting May 8 as the first deployment.

Deployment 1: May 8, 06 – May 12, 06 7 buoys 1 boat NIMS RD transect 1 helicopter The NIMS and NAMOS teams

Chlorophyll Spike Chlorophyll spikes in early am by an order of magnitude (as seen by the NIMS shuttle)

Buoy Chlorophyll Timeseries Buoys on either side of the NIMS transect Daily chlorophyll variation is significant (peak in evening) Chlorophyll drop around 10 am on 5/9 - repositioning of the fluorometer on each buoy

Buoy Temperature Timeseries Buoys on either side of the NIMS transect Daily temperature variation is exaggerated at the top of the lake, non- existent at the bottom

Water Samples from May 2006 Vertical water samples for chlorophyll, plankton community composition, dissolved & particulate nutrients, and molecular & microbial toxin analyses were collected at 3 buoy locations. In vivo chlorophyll concentration with depth at three buoy stations at 14:00 (T1) & 01:00 (T2), respectively. The chlorophyll maximum appears to move ‘deeper’ at night.

Chlorophyll at Transect

Temperature at Transect

The Effect of Smoothing Running median smoothing Cyan - unsmoothed

Deployment 2: Jun 18, 06 – Jun 23, 06 7 buoys 2 boats NIMS RD transect –First 24 hr run in old location –Second 24 hr run in same location

Buoy 114 temperature + NIMS scan overlay

Buoy 109 temperature + NIMS scan overlay

Temperature Offsets between two Hydrolabs

Temperature is Slow to Settle

… but PAR is not

PAR

Old vs. New Hydrolab

Lake Mosaic to Estimate Biomass

Boat Localization using Stereo

Design using local linear regression

Multi-robot informative path planning with each robot starting from a different location, sensing temperature at Lake Fulmor.

NIMS-RD: Overview of changes for August Adaptive Sampling (AS) Physical Sampling (PS) Sensor data via Subscription NAMOS/NIMS – Aug 28 th –Basic Sampling Options that can be determined by data flow (first pass at AS) –One-shot Physical Sampling that is user initiated (first pass at PS) –Real-time feedback from sensors (done)

The Team Laura Balzano Maxim Batalin Henrik Borgstrom Peter Borgstrom Alan Butler David Caron Victor Chen Karthik Dantu Amit Dhariwal Andre Encarnacao Eric Graham Mark Hansen Brett Jordan William Kaiser Jonathan Kelly Yeung Lam Vinay Malekal Steffi Moorthi Koto Norose Carl Oberg Henry Pai Srikanth Saripalli Beth Stauffer Michael Stealey Gaurav Sukhatme Mike Taggert Bin Zhang