Microscopic analysis of microparticles in situ in diverse water environments is necessary for monitoring water quality and localizing contamination sources. Conventional sensors such as optical microscopes and fluorometers often require complex sample preparation, are restricted to small sample volumes, and are unable to simultaneously capture all pertinent details of a sample such as particle size, shape, concentration, and three-dimensional motion. This paper proposes a novel and cost-effective robotic system for mobile microscopic analysis of particles in situ at various depths which are fully controlled by the robot system itself. A miniature underwater digital in-line holographic microscope (DIHM) performs high-resolution imaging of microparticles (e.g., algae cells, plastic debris, sediments) while movement allows measurement of particle distributions covering a large area of water.
|Original language||English (US)|
|Journal||Journal of Intelligent and Robotic Systems: Theory and Applications|
|State||Published - Jun 2021|
Bibliographical noteFunding Information:
This work is supported by the National Science Foundation through grants #IIS-1427014, #CNS-1439728, #CNS-1531330, #CNS-1544887, and #CNS-1939033. United States Department of Agriculture/ National Institute of Food and Agriculture has also supported this work through grant 2020-67021-30755.
The authors would like to thank Jiaqi You, Anne Wilkinson, and Miki Hondzo for their knowledge of algae and assistance during deployments and David Brajkovic for work developing miniaturized holographic sensors. This work is supported by the National Science Foundation through grants #IIS-1427014, #CNS-1439728, #CNS-1531330, #CNS-1544887, and #CNS-1939033. USDA/NIFA has also supported this work through grant 2020-67021-30755.
© 2021, The Author(s), under exclusive licence to Springer Nature B.V.
- Environmental monitoring
- Miniature robot-based holographic microscope
- Robot-based sensing for aquatic environments