The waterbug sub-surface sampler: Design, control and analysis

  title={The waterbug sub-surface sampler: Design, control and analysis},
  author={James Higgins and Carrick Detweiler},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Monitoring and predicting water quality poses significant challenges. Collecting enough information to characterize bodies of water is a critical bottleneck. Collecting data and samples from the surface all the way to the bottom over a short period of time would give water scientists the best spatio-temporal picture. In this paper, we present a small, light-weight, inexpensive water sensing and sampling robot, the “Waterbug”, capable of descending to depths up to 10m, collecting sensor… CONTINUE READING