z At the Water’s Edge University of NebraskaLincoln PIs: Carrick Detweiler, Jus5n Bradley University of the Pacific PIs: Elizabeth Basha, Mary Kay Camarillo, William Stringfellow Goals and Objectives Motivation Wetlands are cri5cal to the water cycle, yet they are a difficult environment to safely and effec5vely monitor. Robot systems have the poten5al to transform our understanding of complex wetlands systems by not only allowing faster and higher density sensing, but also by enabling new types of measurements and sample collec5ons that cannot currently be performed without significantly disrup5ng these sensi5ve systems. This project proposes expanding current unmanned aerial vehicle (UAV) systems, developing novel water monitoring systems, and designing algorithms in order to enable: (1) accurate measurement of the dynamic wetlands channels, including topography and flow, without prior knowledge, (2) adap5ve and autonomous installa5on of sta5c and limitedmobility sensors, and (3) op5miza5on of the overall robot and sensor system to improve informa5on gain while constrained by limited energy and communica5ons. National Robotics Initiative National Institute of Food and Agriculture Grant #2017-67021-25924 • Design and implement UAVbased systems that measure wetlands channels including channel depth, topography, bathymetry, and water chemistry. Systems will focus on three challenges: sensor fusion for improved topography, land and water differen5a5on, and bathymetric models of iden5fied water regions. • Develop algorithms and approaches to ensure sensing repeatability independent of environmental condi5ons. • Design and implement algorithms to verify sensor node installa5on via UAV onboard sensors as UAV installs sensor node. • Develop coop5miza5on planning schemes for singlevehicle mul5flight missions. • Verify the systems and algorithms with our environmental engineers, incrementally incorpora5ng the technical advances and assessing the capabili5es of the systems through field studies conducted in wetlands in Nebraska and California. • Educate students, scien5sts, and the public on the use, challenges, and need for robo5cs in wetlands systems through courses, workshops, and presenta5ons. Integration with Static Sensors San Luis Na5onal Wildlife Refuge and the City of Stockton Wetlands . Exis5ng pla[orm capabili5es. (top) Close flight to crops for physical assessment. (bo\om) Water sampling and sensing system. Carrick Detweiler Computer Science and Engineering - University of Nebraska Lincoln [email protected] Next Steps Future Work CoOp5miza5on of Missions Mul5Sensor Surface Classifica5on Sensor Installation Development of Communication, Power, and Other Metrics Installation and Optimization of Robotic Sensing Systems Nebraska Intelligent MoBile Unmanned Systems Pla[orm and System Design Verification with Field Deployments Multi-Flight Optimization

At the Water’s Edge€¦ · z At the Water’s Edge UniversityofNebraska1Lincoln* PIs:"Carrick"Detweiler,"Jus5n"Bradley" UniversityofthePaciﬁc * PIs:"Elizabeth"Basha,"Mary"Kay"Camarillo,""

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At the Water’s Edge

University of Nebraska-‐Lincoln PIs: Carrick Detweiler, Jus5n Bradley

University of the Pacific PIs: Elizabeth Basha, Mary Kay Camarillo, William Stringfellow

Goals and Objectives

MotivationWetlands are cri5cal to the water cycle, yet they are a difficult environment to safely and effec5vely monitor. Robot systems have the poten5al to transform our understanding of complex wetlands systems by not only allowing faster and higher density sensing, but also by enabling new types of measurements and sample collec5ons that cannot currently be performed without significantly disrup5ng these sensi5ve systems. This project proposes expanding current unmanned aerial vehicle (UAV) systems, developing novel water monitoring systems, and designing algorithms in order to enable: (1) accurate measurement of the dynamic wetlands channels, including topography and flow, without prior knowledge, (2) adap5ve and autonomous installa5on of sta5c and limited-‐mobility sensors, and (3) op5miza5on of the overall robot and sensor system to improve informa5on gain while constrained by limited energy and communica5ons.

National Robotics InitiativeNational Institute of Food and AgricultureGrant #2017-67021-25924

•  Design and implement UAV-‐based systems that measure wetlands channels including channel depth, topography, bathymetry, and water chemistry. Systems will focus on three challenges: sensor fusion for improved topography, land and water differen5a5on, and bathymetric models of iden5fied water regions.

•  Develop algorithms and approaches to ensure sensing repeatability independent of environmental condi5ons.

•  Design and implement algorithms to verify sensor node installa5on via UAV onboard sensors as UAV installs sensor node.

•  Develop co-‐op5miza5on planning schemes for single-‐vehicle mul5-‐flight missions. •  Verify the systems and algorithms with our environmental engineers, incrementally incorpora5ng the technical advances and assessing the capabili5es of the systems through field studies conducted in wetlands in Nebraska and California.

•  Educate students, scien5sts, and the public on the use, challenges, and need for robo5cs in wetlands systems through courses, workshops, and presenta5ons.

Integration with Static Sensors

San Luis Na5onal Wildlife Refuge and the City of Stockton Wetlands .

Exis5ng pla[orm capabili5es. (top) Close flight to crops for physical assessment. (bo\om)

Water sampling and sensing system.

Carrick DetweilerComputer Science and Engineering - University of Nebraska Lincoln

[email protected]

Next Steps

Future Work

Co-‐Op5miza5on of Missions Mul5-‐Sensor Surface Classifica5on

Sensor Installation Development of Communication, Power, and Other Metrics

Installation and Optimization of Robotic Sensing Systems!

Nebraska Intelligent MoBile