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UC Merced, CENS, ASCENT
UC Merced, CENS, ASCENT
NIMSAQ and Hydrolab DS5: Overview and Applications
Victor Chen,Sandra Villamizar,Henry Pai,Tom Harmon
UC Merced, CENS, ASCENT 2
Outline• What it (NIMSAQ) does• Physical Setup– Networked Infomechanical Mechanical Systems for
Aquatic Applications (NIMSAQ)– Hydrolab DS5 multi-parameter probe
• Software Control• Data Analysis– Parsing Data– RSurvey
UC Merced, CENS, ASCENT 3
What can NIMSAQ do
Image shows results from study site at San Joaquin-Merced River confluence
• Precise and repeatable movements along cross section on local spatial grid with “less” setup time
← Study site
↑ Interpolated results at T1, generated from RSurvey. Dwelled points denoted in black.
UC Merced, CENS, ASCENT 4
Physical Setup: NIMSAQ
Left Image: Schematic of whole system,Right Image: Photo of Actuation Module
Challenges:1. Adequate anchoring2. Fighting the elements: currents (too much drag cause sag),
waves (unstable), wireless connection
Horizontal MotorExternal Encoder Placement
Vertical Motor
UC Merced, CENS, ASCENT
Image is of stock DS5, ours is slightly different. 5
Physical Setup: Hydrolab DS5
Sensors on our DS51. LDO (luminescent dissolved oxygen)2. Specific conductivity3. PAR and reference PAR (photosynthetically active
radiation)4. Self-cleaning turbidity5. pH6. ORP (oxidation reduction potential)
UC Merced, CENS, ASCENT
Diagram of control and communications software 6
Software ControlOperation• Wirelessly log into control
board (Ubuntu OS) in the actuation module
• Two command line sessions run Python scripts for motor control and sensor logging
Issues• PID gain control is not
optimal leading sometimes to long moves
• Re-establishing control when wireless signal is lost
Laptop
Router
Control board
Hydrolab EncodersMotor
Actuation Module
Attached to NIMSAQ
Putty, WinSCP
Router Interface
serial_sensor.py
nimsaqmenu.py
UC Merced, CENS, ASCENT
Diagram of data flow 7
Data Analysis: Parsing
• Data localized by timestamps of encoders and sensors
• R allows for quick parsing, filtering, comparison, and averaging of data at a given dwell point
Horizontal Encoder
Vertical Encoder
Hydrolab
Define start & end of dwell
time Choose Hydro-lab data during
dwell time
Average Hydro-lab data for
dwell position
UC Merced, CENS, ASCENT 8
Data analysis: RSurvey• Programmed by Jason Fisher• GUI interface for data interpolation and visualization
R console
Rsurvey 0.4.3
Transect Manager
Plotting bathymetry of transect
Interpolated bathymetry
Measured bathymetry
Interpolated cross sect-ion data
Images are from Rsurvey session
UC Merced, CENS, ASCENT 9
Acknowledgements and Resources• Additional members and colleagues that couldn’t make it
here– Jason Fisher– Michael Stealey– Chris Butler– Brett Jordan– Yeung Lam– Bill Kaiser
• Resources– ASCENT website for further info about NIMSAQ:
http://www.ascent.ucla.edu/ – Jason Fisher’s website for installation help for Rsurvey:
https://eng.ucmerced.edu/people/jfisher/software/rsurvey
UC Merced, CENS, ASCENT
Image from Google Maps 10
Experimental Plan• Tools at our disposal:
– NIMSAQ (Cross section of ~50 m or less)– Hydrolab DS5– Magellan MobileMapper Pro Handheld GPS
Sauce Grande Lagoon