center for robotics and embedded systems University of Southern California Viterbi School of Engineering

We describe the design and construction of an underwater sensor actuator network to detect extreme temperature gradients. We are motivated by the fact that regions of sharp temperature change (thermoclines) are a breeding ground for certain marine microorganisms. We present a distributed algorithm using local communication based on binary search to find a thermocline by using a mobile sensor network. Experiments using a mote testbed demonstrated the validation of this approach.We also discussed the improvement of energy efficiency using a submarine robot as a data mule. Comparison between experimental data with and without the data mule show that there are considerable cost savings in the sensor network due to the data mule.


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