Laboratoire de technologie écologique (ECOL), Institut d'ingénierie de l'environnement (IIE), Faculté de l'environnement naturel, architectural et construit (ENAC), Station 2, Ecole polytechnique fédérale de Lausanne (EPFL), Switzerland.
Space Engineering Center (ESC), Station 13, Ecole polytechnique fédérale de Lausanne (EPFL), Switzerland.
PLoS One. 2019 Feb 14;14(2):e0210562. doi: 10.1371/journal.pone.0210562. eCollection 2019.
Two complementary measurement systems-built upon an autonomous floating craft and a tethered balloon-for lake research and monitoring are presented. The autonomous vehicle was assembled on a catamaran for stability, and is capable of handling a variety of instrumentation for in situ and near-surface measurements. The catamaran hulls, each equipped with a small electric motor, support rigid decks for arranging equipment. An electric generator provides full autonomy for about 8 h. The modular power supply and instrumentation data management systems are housed in two boxes, which enable rapid setup. Due to legal restrictions in Switzerland (where the craft is routinely used), the platform must be observed from an accompanying boat while in operation. Nevertheless, the control system permits fully autonomous operation, with motion controlled by speed settings and waypoints, as well as obstacle detection. On-board instrumentation is connected to a central hub for data storage, with real-time monitoring of measurements from the accompanying boat. Measurements from the floating platform are complemented by mesoscale imaging from an instrument package attached to a He-filled balloon. The aerial package records thermal and RGB imagery, and transmits it in real-time to a ground station. The balloon can be tethered to the autonomous catamaran or to the accompanying boat. Missions can be modified according to imagery and/or catamaran measurements. Illustrative results showing the surface thermal variations of Lake Geneva demonstrate the versatility of the combined floating platform/balloon imagery system setup for limnological investigations.
本文介绍了两种互补的测量系统，一种基于自主浮船，另一种基于系留气球，用于湖泊研究和监测。自主式飞行器安装在双体船上以保持稳定，能够处理各种原位和近表面测量仪器。双体船船体各配备一个小电动机，支撑用于布置设备的刚性甲板。一个发电机为大约 8 小时的完全自主运行提供动力。模块化电源和仪器数据管理系统安装在两个盒子中，可实现快速设置。由于瑞士的法律限制（该平台在瑞士常规使用），在运行过程中必须有一艘随行船只对平台进行观察。然而，控制系统允许完全自主运行，通过速度设置和航点来控制运动，以及障碍物检测。船上的仪器与中央集线器相连，用于数据存储，并可实时从随行船只监测测量结果。浮动平台的测量结果由系留气球上的仪器套件拍摄的中尺度图像进行补充。该航空套件记录热像和 RGB 图像，并实时传输到地面站。气球可以系留到自主式双体船或随行船只上。可以根据图像和/或双体船的测量结果修改任务。展示日内瓦湖表面热变化的说明性结果表明，组合式浮船/气球图像系统设置非常适合湖泊学研究。
