Development of Autonomous and Active Monitoring Fish Robots for Water Pollution Using GPS and Ubiquitous Sensor Networks

摘要

We introduce and develop an autonomous monitoring system for water pollution that searches the sources of water pollution and makes measurements of relevant data using a fish robot. Fish robots search actively by themselves and monitor various areas in a real-time mode using GPS receivers, ubiquitous sensor networks and directional sensors. A fish robot has three microcontrollers which provide full functions, for example, motor operations for the sw Localization imming of a fish robot, analog sensor data acquisition including temperature and infrared distance sensors, decoding GPS information, counting the time of sonar in ultrasound sensors and a directional sensor, collecting information of water pollution measurement sensors from Vernier Labpro, and communications. A fish robot swims autonomously in predefined areas and collects the water pollution indexes. Collected information by a fish robot is sent to data collecting nodes by USN motes and Bluetooth, and the data are accessible on the Internet by Ethernet devices.