The goal of this multi-disciplinary project is to provide unprecedented spatial and temporal coverage of key limnological parameters of Lake Zurich for a better understanding of the mass occurrence and population dynamics of the toxic cyanobacterium Planktothrix rubescens.
We developped an Autonomous Boat equipped with a variety of sensors (temperature, pH, light, oxygen, nutrients, and algal pigments) to allow for the high-frequency monitoring of cyanobacterial spatiotemporal distribution. In parallel, we will develop and apply methods to rapidly assess the contribution of toxic strains to the P. rubescens population. The boat-generated field data will serve
- the creation of a lake basin-wide model of P. rubescens development in the context of physico-chemical parameters, and
- as a guide to specific (event-driven) manual sampling campaigns and subsequent laboratory analyses, such as strain typing, gene expression of microcystin production and single-cell detection of microcystin concentration.
Note: This project is now over and was realized during a formal employment at ETH Zurich, within the ASL. It is used here to showcase reseach competences and to inspire future projects.
- Main Investigator: Roland Siegwart, Jakob Pernthaler
- Scientific Lead: Gregory Hitz
- Scientific Support: François Pomerleau, Marie-Ève Garneau, Cédric Pradalier, Thomas Posch
- Hitz, G., Galceran, E., Garneau, M.-È., Pomerleau, F., & Siegwart, R. (2017). Adaptive continuous-space informative path planning for online environmental monitoring. Journal of Field Robotics, 34(8), 1427–1449.
- Hitz, G., Pomerleau, F., Colas, F., & Siegwart, R. (2015). Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel. International Journal of Robotics Research, 34(13), 1604–1621.
- Hitz, G., Pomerleau, F., Colas, F., & Siegwart, R. (2015). State Estimation for Shore Monitoring Using an Autonomous Surface Vessel. In Proceedings of the International Symposium on Experimental Robotics (ISER). Springer Tracts in Advanced Robotics (pp. 745–760). Springer International Publishing.
- Hitz, G., Gotovos, A., Pomerleau, F., Garneau, M.-E., Pradalier, C., Krause, A., & Siegwart, R. Y. (2014). Fully autonomous focused exploration for robotic environmental monitoring. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (pp. 2658–2664).
- Garneau, M.-È., Posch, T., Hitz, G., Pomerleau, F., Pradalier, C., Siegwart, R., & Pernthaler, J. (2013). Short-term displacement of \textitPlanktothrix Rubescens (cyanobacteria) in a pre-alpine lake observed using an autonomous sampling platform. Limnology and Oceanography, 58(5), 1892–1906.
- Hitz, G., Pomerleau, F., Garneau, M.-E., Pradalier, C., Posch, T., Pernthaler, J., & Siegwart, R. Y. (2012). Autonomous inland water monitoring: Design and application of a surface vessel. IEEE Robotics and Automation Magazine, 19(1), 62–72.