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Actuated Mobile Sensing in Distributed, Unstructured Environments Actuated Mobile Sensing in Distributed, Unstructured Environments Andrew Tinka Electrical Engineering and Computer Sciences University of California at Berkeley Technical Report No. UCB/EECS-2014-190 http://www.eecs.berkeley.edu/Pubs/TechRpts/2014/EECS-2014-190.html December 1, 2014 Copyright © 2014, by the author(s). All rights reserved. Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission. Actuated Mobile Sensing in Distributed, Unstructured Environments by Andrew Brendan Tinka A dissertation submitted in partial satisfaction of the requirements for the degree of Doctor of Philosophy in Engineering – Electrical Engineering and Computer Science in the Graduate Division of the University of California, Berkeley Committee in charge: Associate Professor Alexandre M. Bayen, Chair Professor Claire Tomlin Professor Kristofer S. J. Pister Professor J. Karl Hedrick Fall 2012 Actuated Mobile Sensing in Distributed, Unstructured Environments Copyright 2012 by Andrew Brendan Tinka 1 Abstract Actuated Mobile Sensing in Distributed, Unstructured Environments by Andrew Brendan Tinka Doctor of Philosophy in Engineering – Electrical Engineering and Computer Science University of California, Berkeley Associate Professor Alexandre M. Bayen, Chair Mobile sensor networks present opportunities for improved in situ sensing in complex hydrodynamic environments such as estuarial deltas. This dissertation considers the de- sign 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 pro- duce 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; appro- priate 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. i To Kathryn Cannon Miller for making it all make sense ii To these from birth is Belief forbidden; from these till death is Relief afar. They are concerned with matters hidden — under the earthline their altars are — The secret fountains to follow up, waters withdrawn to restore to the mouth, And gather the floods as in a cup, and pour them again at a city’s drouth. Kipling, The Sons of Martha iii Jon Beard retrieves a drifter near Mandeville Island. Acknowledgments Leading the Floating Sensor Network team over the last six years has been one of the singular honors of my career. This dissertation would not have been possible without the talent, ingenuity, and dedication of the undergraduate and graduate student researchers who joined me on this strange and wonderful journey. Nico van der Kolk, Jason Wexler, Andrew Spencer, Jonathan Ellithorpe, Nahi Ojeil, Tarek Ibrahim, Anwar Ghoche, Jean-S´everin Deckers, David Wood, Martin Deterre, Fabien Chraim, Dennis Chan, Matt Holland, Carlos Oroza, Colin Foe-Parker, S´ebastien Diemers, Emmanuel Sevrin, Nadine Moacdieh, Pierre-Henri Reilhac, Jonathan Beard, Jean-Baptiste Gariel, Jean-Benoˆıt Saint-Pierre, Jad Kabbarra, Leah Anderson, Jack Reilly, Kevin Weekly, Chiheng Huor, Nolan Wagener, and Brandon Wong all spent many hours in Room 3 in McLaughlin Hall to make this project a reality. To them I give my deepest gratitude. Many of my colleagues within the Bayen research group devoted their time and energy to help make the drifter project succeed. From research collaborations and whiteboard sessions to field trips and hardware production marathons, I have always been able to count on iv their support and enthusiastic help. Issam Strub, Qingfang Wu, Julie Percelay, Olli-Pekka Tossavainen, Dan Work, Christian Claudel, S´ebastien Blandin, Mohammad Rafiee, J´erˆome Thai, Saurabh Amin, Samitha Samaranayake, and Timothy Hunter have been an essential part of my success. Trying to summarize Alexandre Bayen’s role in my development as a researcher would be a futile task. Instead, here are a few examples of how he has been an essential part of my career. Alex created an environment of true collaboration and teamwork within his group. The constraints and objectives of academic research do not naturally lead to harmonious group efforts; Alex developed trust and confidence between the members of his team, allowing us to work together for everyone’s benefit. As a research mentor, Alex led by example through the sometimes murky waters of academic engineering. He showed me how to maintain the balance between theory and practice: by focusing on the missing pieces in the research community’s understanding of a topic, and finding innovative techniques to meet those needs. Finally, and most importantly, Alex resolved any conflicts between his role as a research group leader and his role as his students’ advisor by always, without fail, placing his students’ interests above his own. For this, and very much more, I owe him a great deal. Other professors and their students have added their contributions to my research journey. Mark Stacey, and his students Maureen Downing-Kunz and Wayne Wagner, have supported the Floating Sensor Network development effort and been essential parts of field experiments. Patrick Saint-Pierre and Jean-Pierre Aubin showed me great hospitality in Paris and gave me a unique personal introduction to viability theory. Peter Schwartz and Eli Ateljevich of the Berkeley Lab and the Department of Water Resources have been long-time friends of the FSN project. Ian Mitchell hosted me at UBC in order to collaborate further on viability for reachability computations. Jo˜ao Sousa and his entire LSTS team came to California with their amazing autonomous submarine to take part in a joint experiment that led to one of my first publications. Sonia Mart´ınez and her student Andrew Kwok collaborated with me on the Zermelo-Voronoi approach to multivehicle control. Many staff members at UC Berkeley and other institutions made important contributions. Dee Korbel suffered many strange equipment requisition requests and odd purchasing card transactions. Dan Plumlee maintained the Geography truck and boat, and happily trained many students on the fine art of backing a boat trailer down a ramp without crashing. James Fitzgerald and Henry Fastenau at UC Davis ran motorboat operator training sessions with inimitable style and humor, without which our safety record would not be nearly as good. David Bell and his colleagues at the Romberg Tiburon Research Center of San Francisco State University provided essential logistical support during our more ambitious field experiments. Direct financial support for my work came from CALFED, the National Science Foun- dation, and the National Sciences and Engineering Research Council of Canada. Some of the work presented in this dissertation has been adapted from published journal articles. I gratefully acknowledge Taylor and Francis for their liberal policies on authors’ rights, and the Institute for Computer Sciences, Social Informatics and Telecommunications v Engineering for their policy of Creative Commons licencing and author copyright retention, for enabling this integration of my previous work. Throughout my time at Berkeley, I have been strengthened by the love, understanding, and support of Kathryn. She has been with me in good times and bad. There have been days when this journey was not easy or fun, and darker days when the pressures and stresses of this work have gotten the upper hand. We made it through, together. In the end, everything I have done was made possible by my parents. They gave me a good home, and helped me develop a love of learning. From this, all else follows. vi Contents List of Figures xi List of Tables xiv 1 Mobile Sensors for Estuarial Systems 1 1.1 FreshwaterResources. .. 1 1.1.1 TheSignificanceofRiversandEstuaries . .... 2 1.1.2 A Local View: the Sacramento-San Joaquin Delta . ... 3 1.2 Existing Methods for Sensing in Water Systems . ....... 5 1.3 Innovative Approach: Actuated Mobile Sensing . ...... 9 1.3.1 Challenges for Lagrangian sensing in river environments........ 9 1.3.2 Actuation conflicts with Lagrangian Behavior . ..... 10 1.3.3 Mobile Phones and Inland Lagrangian Sensing . ..... 10 1.4 ScenariosforMobileSensors . .... 10 1.4.1 Contaminant Propagation in Large-Scale Estuarial Systems. 10 1.4.2 NetworkRemappinginNaturalDisasters . .. 12 1.4.3 HydrodynamicsStudies. 13 1.5 ProjectOverview ................................. 14 1.5.1 ProblemStatement ............................ 14 1.5.2 Development of the Floating Sensor Network . ... 15 1.5.3 OutlineofWork.............................. 15 1.5.4 Contributions
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