Actuated Mobile Sensing in Distributed, Unstructured Environments

Andrew Tinka

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2014-190
December 1, 2014

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2014/EECS-2014-190.pdf

Mobile sensor networks present opportunities for improved in situ sensing in complex hydrodynamic environments such as estuarial deltas. This dissertation considers the design and implementation of the mobile sensor network system that was built as part of the Floating Sensor Network project for use in the Sacramento-San Joaquin Delta in California over the 2007-2012 time period. Individual Lagrangian sensor units collect hydrodynamic state information, which is then transmitted to a centralized server and assimilated to produce a state estimate for the entire hydrodynamic system. Physical obstacles, including the shoreline and natural vegetation, present a major challenge to operating mobile sensors in estuarial environments. Actuated mobile sensors are shown to be a viable solution; appropriate control techniques allow these sensors to avoid obstacles, meet navigational goals, and still collect the Lagrangian data necessary for the sensing objective. Issues addressed include physical design, communication techniques for mobile sensor networks, control schemes for fleets of underactuated vehicles in unstructured flow environments, assimilation techniques for mobile Lagrangian data, and field experiments to validate and demonstrate the actuated mobile Lagrangian sensor concept.

Advisor: Alexandre Bayen


BibTeX citation:

@phdthesis{Tinka:EECS-2014-190,
    Author = {Tinka, Andrew},
    Title = {Actuated Mobile Sensing in Distributed, Unstructured Environments},
    School = {EECS Department, University of California, Berkeley},
    Year = {2014},
    Month = {Dec},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2014/EECS-2014-190.html},
    Number = {UCB/EECS-2014-190},
    Abstract = {Mobile sensor networks present opportunities for improved in situ sensing in complex hydrodynamic environments such as estuarial deltas.  This dissertation considers the design and implementation of the mobile sensor network system that was built as part of the Floating Sensor Network project for use in the Sacramento-San Joaquin Delta in California over the 2007-2012 time period.  Individual Lagrangian sensor units collect hydrodynamic state information, which is then transmitted to a centralized server and assimilated to produce a state estimate for the entire hydrodynamic system.  Physical obstacles, including the shoreline and natural vegetation, present a major challenge to operating mobile sensors in estuarial environments.  Actuated mobile sensors are shown to be a viable solution; appropriate control techniques allow these sensors to avoid obstacles, meet navigational goals, and still collect the Lagrangian data necessary for the sensing objective.  Issues addressed include physical design, communication techniques for mobile sensor networks, control schemes for fleets of underactuated vehicles in unstructured flow environments, assimilation techniques for mobile Lagrangian data, and field experiments to validate and demonstrate the actuated mobile Lagrangian sensor concept.}
}

EndNote citation:

%0 Thesis
%A Tinka, Andrew
%T Actuated Mobile Sensing in Distributed, Unstructured Environments
%I EECS Department, University of California, Berkeley
%D 2014
%8 December 1
%@ UCB/EECS-2014-190
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2014/EECS-2014-190.html
%F Tinka:EECS-2014-190