Abstract
Water quality monitoring and predicting the changes in water characteristics require the collection of water samples in a timely manner. Water sample collection based on in situ measurable water quality indicators can increase the efficiency and precision of data collection while reducing the cost of laboratory analyses. The objective of this research was to develop an adaptive water sampling device for an aerial robot and demonstrate the accuracy of its functions in laboratory and field conditions. The prototype device consisted of a sensor node with dissolved oxygen, pH, electrical conductivity, temperature, turbidity, and depth sensors, a microcontroller, and a sampler with three cartridges. Activation of water capturing cartridges was based on in situ measurements from the sensor node. The activation mechanism of the prototype device was tested with standard solutions in the laboratory and with autonomous water sampling flights over the 11-ha section of a lake. A total of seven sampling locations were selected based on a grid system. Each cartridge collected 130 mL of water samples at a 3.5 m depth. Mean water quality parameters were measured as 8.47 mg/L of dissolved oxygen, pH of 5.34, 7 µS/cm of electrical conductivity, temperature of 18 °C, and 37 Formazin Nephelometric Unit (FNU) of turbidity. The dissolved oxygen was within allowable limits that were pre-set in the self-activation computer program while the pH, electrical conductivity, and temperature were outside of allowable limits that were specified by Environmental Protection Agency (EPA). Therefore, the activation mechanism of the device was triggered and water samples were collected from all the sampling locations successfully. The adaptive water sampling with Unmanned Aerial Vehicle-assisted water sampling device was proved to be a successful method for water quality evaluation.
Highlights
Monitoring water quality is important to determine the impact of contaminants from agriculture, stormwater, wastewater, and residential houses
Adaptive water sampling with Unmanned Aerial Vehicles (UAV)-integrated Water Sampling Device (WSD) proved to be an effective water quality evaluation method
Self-decision making to collect water samples based on in situ sensor node measurements were dependent on allowable limits of water quality parameters
Summary
Monitoring water quality is important to determine the impact of contaminants from agriculture, stormwater, wastewater, and residential houses. According to The United Nations World Water. Development Report, 80% of wastewater in the world is released to the rivers, lakes, and oceans without adequate treatment [1]. More than 3.4 million people die from water-related diseases every year [2]. Malaria, cholera, and diarrhea are some of the major waterborne diseases responsible for causing health threats [3]. World Health Organization (WHO) issues guidelines for water quality to ensure the safety of drinking water to protect public health in developed and developing countries [4]. United States Centers for Disease Control and Prevention (CDC) reports that 780 million people do not have access to clean water sources worldwide [5]
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