Field-tests of a redundantly actuated cable-driven robotfor environmental sampling applications

Authors:
Per Henrik Borgstrom;Brett L. Jordan;Maxim A. Batalin;Gaurav S. Sukhatme;William J. Kaiser
Affiliations:
Department of Electrical Engineering, University of California, Los Angeles;Department of Mechanical Engineering, University of California, Los Angeles;Center for Embedded Networked Sensing, University of California, Los Angeles;Department of Computer Science, University of Southern California;Department of Electrical Engineering, University of California, Los Angeles
Venue:
CASE'09 Proceedings of the fifth annual IEEE international conference on Automation science and engineering
Year:
2009

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Abstract

In this paper, we present results from a field-test of NIMS-PL, a redundantly actuated cable-driven robot for aquatic applications. We describe installation procedures that enable rapid deployability and present results demonstrating precise calibration capabilities. Detection and correction of positional drift, which is critical for long-term autonomous deployments, is demonstrated, and the rate of system drift is quantified. An example actuated sensing experiment is performed that accurately maps the spatiotemporal variation of the intensity of light incident on a swimming pool. Finally, we propose an upcoming, environmentally significant deployment in which we will map variations in aquatic phenomena such as salinity and pH through the confluence region of two rivers.