Manually monitoring water quality is very exhausting and requires several hours of sampling and laboratory testing for a particular body of water. This article presents a solution to test water properties like electrical conductivity and pH with a remote-controlled floating vehicle that minimizes time intervals. An autonomous surface vehicle (ASV) has been designed mathematically and operated via MATLAB \& Simulink simulation where the Proportional integral derivative (PID) controller has been considered. A PVC model with Small waterplane area twin-hull (SWATH) technology is used to develop this vehicle. Manually collected data is compared to online sensors, suggesting a better solution for determining water properties such as dissolved oxygen (DO), biochemical oxygen demand (BOD), temperature, conductivity, total alkalinity, and bacteria. Preliminary computational results show the promising result, as Sungai Pasu rivers tested water falls in the safe range of pH (~6.8-7.14) using the developed ASV.
An approach is described in this work for detecting discomfort moments during electrical water heater daily usage. The approach employs chromatic analyzing sensors signals of electrical water heater systems for producing distinguishable mapping to characterize and identify selected discomfort moments. The preliminary results obtained indicate that it is possible to distinguish such events in a non-intrusive approach. Hot water comfort detection and classification intelligently through human behavior monitoring and analyses plays an important role in both, energy saving and energy management. T…
This paper proposes a novel monitoring methodology for car-following control of automated vehicles that uses real-time measurements of spacing and velocity obtained through vehicle sensors. This study focuses on monitoring the time gap, a key parameter that dictates the desired following spacing of the controlled vehicle. The goal is to monitor deviations in actual time gap from a desired setting and detect when it deviates beyond a control limit. A random coefficient modeling is developed to systematically capture the stochastic distribution of the time gap and derive a closed-form Bayesian u…
The market introduction of automated vehicles has motivated intense research efforts into the safety of automated vehicle systems. Unlike driver assistance systems, SAE Level 3+ systems are not only responsible for executing (parts of) the dynamic driving task (DDT), but also for monitoring the automation system's performance at all times. Key components to fulfill these surveillance tasks are system monitors which can assess the system's performance at runtime, e.g. to activate fallback modules in case of partial system failures. In order to implement reasonable monitoring strategies for an a…
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by various factors, including cost, time, security, and the capabilities of existing data collection techniques. Measurement of water depth is an important part of such mapping, particularly in shallow locations that could provide navigational risk or have important ecological functions. Erosion and deposition at these locations, for example, due to storms and eros…
In this study, a small, inexpensive remotely driven underwater vehicle that can navigate in shallow water for the purpose of monitoring water quality and demonstrating vehicle control algorithms is presented. The vehicle is operated by an onboard micro-controller, and the sensor payload comprises a turbidity sensor for determining the quality of the water, a depth sensor, and a 9-axis inertial measurement unit. The developed vehicle is an open frame remotely operated vehicle (ROV) with a small footprint and a modular physical and electrical architecture. With a net weight of 1.6 kg, a maximum …
Automated vehicles need to be aware of the capabilities they currently possess. Skill graphs are directed acylic graphs in which a vehicle's capabilities and the dependencies between these capabilities are modeled. The skills a vehicle requires depend on the behaviors the vehicle has to perform and the operational design domain (ODD) of the vehicle. Skill graphs were originally proposed for online monitoring of the current capabilities of an automated vehicle. They have also been shown to be useful during other parts of the development process, e.g. system design, system verification. Skill gr…
Water networks are used in numerous applications, all of which have the essential task of real-time monitoring and control of water states. A framework for the generation of efficient models of water networks suitable for real-time monitoring and control purposes is proposed. The proposed models preserve the distributed parameter character of the connected local elements. Hence, the spatial resolution of the property under consideration is recovered. The real-time feasibility of the network model is ensured by means of reduced order modeling of the models constituting components. A novel model…
Cyber-physical systems (CPS) such as autonomous vehicles rely on both on-board sensors and external communications to estimate their state. Unfortunately, these communications render the system vulnerable to cyber-attacks. While many attack detection methods have begun to address these concerns, they are limited to linear time-invariant (LTI) systems. Though LTI system models provide accurate approximations for CPS such as autonomous vehicles at constant speed and turning radii, they are inaccurate for more complex motions such as lane changes, turns, and changes in velocity. Since these more …
This article introduces a new mobile-based application of modern information and communication technology in agriculture based on Internet of Things (IoT), embedded systems and an unmanned aerial vehicle (UAV). The proposed agricultural monitoring system was designed and implemented using Arduino microcontroller boards, Wi-Fi modules, water pumps and electronic environmental sensors, namely temperature, humidity and soil moisture. The role of UAV in this study is to collect these environmental data from different regions of the farm. Then, the quantity of water irrigation is automatically comp…
Near-real-time water-quality monitoring in uncertain environments such as rivers, lakes, and water reservoirs of different variables is critical to protect the aquatic life and to prevent further propagation of the potential pollution in the water. In order to measure the physical values in a region of interest, adaptive sampling is helpful as an energy- and time-efficient technique since an exhaustive search of an area is not feasible with a single vehicle. We propose an adaptive sampling algorithm using multiple autonomous vehicles, which are well-trained, as agents, in a Multi-Agent Reinfor…
Advection-Diffusion-Reaction (ADR) Partial Differential Equations (PDEs) appear in a wide spectrum of applications such as chemical reactors, concentration flows, and biological systems. A large number of these applications require the solution of ADR equations involving time-varying coefficients, where analytical solutions are usually intractable. Numerical solutions on the other hand require fine discretization and are computationally very demanding. Consequently, the models are normally not suitable for real-time monitoring and control purposes. In this contribution, a reduced order modelin…
Non-intrusive load monitoring (NILM) as the process of extracting the usage pattern of appliances from the aggregated power signal is among successful approaches aiding residential energy management. In recent years, high volume datasets on power profiles have become available, which has helped make classification methods employed for the NILM purpose more effective and more accurate. However, the presence of multi-mode appliances and appliances with close power values have remained influential in worsening the computational complexity and diminishing the accuracy of these algorithms. To tackl…
The safety of urban transportation systems is considered a public health issue worldwide, and many researchers have contributed to improving it. Connected automated vehicles (CAVs) and cooperative intelligent transportation systems (C-ITSs) are considered solutions to ensure urban transportation systems' safety using various sensors and communication devices. However, it is found difficult to deploy the C-ITS framework in South Korea, because CAVs produce a massive amount of data every minute but it cannot be transmitted via existing communication network. Thus, raw data must be sampled to red…
The connected vehicle (CV) data could potentially revolutionize the traffic monitoring landscape as a new source of CV data that are collected exclusively from original equipment manufactures (OEMs) have emerged in the commercial market in recent years. Compared to existing CV data that are used by agencies, the new-generation of CV data have certain advantages including nearly ubiquitous coverage, high temporal resolution, high spatial accuracy, and enriched vehicle telematics data (e.g., hard braking events). This paper proposed a traffic profiling framework that target vehicle-level perform…
Feeding control and water quality monitoring in aquaculture systems: Opportunities and challenges
King Abdullah University of Science and Technology (KAUST)（阿卜杜拉国王科技大学）；National Institute for Research in Digital Science and Technology（法国国家数字科学与技术研究院）
