1. Autonomous Water Monitoring System Sediment Sampling Robot Design & Control CNIT 581 Project Proposal Presentation MAR 7, 2016 Jun Han Bae Graduate student, Computer & Information Technology

2. Contents 2 Introduction Background i.Human water sampling ii.Sediment sampling iii.Autonomous Water Monitoring System iv.Autonomous Sediment Sampling System Objective Hardware i.Actuators ii.Sensors iii.Embedded System System & Control i.Flow Chart ii.System Layout Project Goal

3. Introduction 3 [Wabash River] [Biological condition of the US rivers and streams] Why River?How Dirty?

4. Backgrounds 4 Human water sampling  Important activity to observe the condition of water  The most common technique for a long period of time o Wabash River Enhancement Corporation: linklink  Hazardous environment (i.e. deep and fast flow)  Slow and costly

5. Backgrounds 5 Sediment sampling  Important activity to observe the condition of water  Hazardous environment (i.e. deep and fast flow)  Slow and costly Multi corer: linklink

6. Backgrounds 6 Autonomous Water Monitoring System Floating Sensor Real-time monitoring Water flow, pollutants and fish migration Accessibility Water Sampling Unmanned Aerial Vehicle Quick dispatch Multi-point sampling Short duration time Water Monitoring Unmanned Surface Vehicle Environmental monitoring, geological mapping Long-term and multi-point monitoring Not suitable for small and shallow streams

7. Backgrounds 7 Autonomous Sediment Sampling System Sediment Sampling Robot Underwater robot Sediment sampler: based on the Craib corer Human Portable Underwater Soil Sampling Lightweight: 34kg Thrusters Underwater positioning system For soft soil

8. Objective 8  Autonomous Robotic Teams for a Real-time Water Monitoring System  Phase I: Sediment sampling robot  Phase II: Multi function robot, Universal design  Phase III: Multi position planning, Real-time data transition

9. Hardware 9 Actuators Sensors Embedded System Linear Actuator 12V High torque DC motor Proximity SensorAccelerometer Arduino UNO

10. System & Control 10 Flow ChartSystem Layout Arduino Linear motorDC motor Proximity Accelerometer Proximity

11. Project Goal 11 Arduino UNO MatLab GUI

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