Publication: Diseño y simulación de un sistema para el control de contaminantes en embalses
Loading...
Official URL
Full text at PDC
Publication Date
2019-06
Authors
Advisors (or tutors)
Editors
Journal Title
Journal ISSN
Volume Title
Publisher
Citations
Exportar
Abstract
El seguimiento de la calidad de las aguas embalsadas supone un problema actual de gran repercusión en todos los ámbitos: social, económico, medioambiental, etc. Hasta la fecha, la metodología por la que se lleva a cabo la monitorización de los contaminantes es muy local, no permitiendo tener un conocimiento continuo, a lo largo de todo el volumen de agua, de los parámetros físico-químicos que determinan su estado. Este problema puede ser resuelto mediante embarcaciones autónomas equipadas con instrumentos de medida adecuados que sean capaces de explorar la extensión y profundidad del embalse. Para concentrar los esfuerzos de exploración en las zonas de mayor interés en cada escenario, en este Trabajo Fin de Máster se ha desarrollado una herramienta de planificación con la que se obtienen las rutas más eficientes a seguir por el vehículo en un escenario de contaminación dado. La planificación se realiza en dos etapas sucesivas: en la primera se determina la ruta de los vehículos que maximiza la zona contaminada observada y en la segunda se calcula la altura a la que se debe sumergir el sensor a lo largo de la trayectoria del vehículo. El comportamiento del planificador desarrollado, que tiene en cuenta la dinámica del vehículo y modelos simplificados de las manchas de contaminación, es caracterizado de forma estadística sobre diferentes escenarios. Los resultados obtenidos muestran que en su primera etapa consigue determinar rutas que, en la mayoría de los casos, pasan sobre las zonas de mayor contaminación, y que en su segunda etapa consigue adecuar la altura del sensor a la mancha del contaminante.
Reservoir water quality monitoring is a current problem of great impact in multiple areas: social, economic, environmental, etc. To date, the methodology followed to monitor the level of pollution is very localized. This prevents the continuous monitoring of the physical-chemical parameters that define the water quality throughout the entire body of the reservoir. This problem can be solved by using autonomous surface vehicles equipped with suitable measuring instruments which are capable of exploring the extension and depth of the reservoir. To concentrate exploration efforts on the areas of greater interest in each scenario, in this Master’s Thesis, a planning tool has been developed to determine the most efficient routes to be followed by such vehicle in a given contamination scenario. The planning is carried out in two successive stages: in the first, the route of the vehicles that maximizes the observed contaminated area is determined; and, in the second, the height at which the sensor must be submerged along the vehicle’s path is calculated. The performance of the developed planner, which takes into account the vehicle dynamics and simplified location models of the pollutants, is statistically characterized for different scenarios. The obtained results show that the first planning stage find routes that transverse areas with high concentration of pollutants, while the second stage determines the sensor height to the pollutant distribution.
Reservoir water quality monitoring is a current problem of great impact in multiple areas: social, economic, environmental, etc. To date, the methodology followed to monitor the level of pollution is very localized. This prevents the continuous monitoring of the physical-chemical parameters that define the water quality throughout the entire body of the reservoir. This problem can be solved by using autonomous surface vehicles equipped with suitable measuring instruments which are capable of exploring the extension and depth of the reservoir. To concentrate exploration efforts on the areas of greater interest in each scenario, in this Master’s Thesis, a planning tool has been developed to determine the most efficient routes to be followed by such vehicle in a given contamination scenario. The planning is carried out in two successive stages: in the first, the route of the vehicles that maximizes the observed contaminated area is determined; and, in the second, the height at which the sensor must be submerged along the vehicle’s path is calculated. The performance of the developed planner, which takes into account the vehicle dynamics and simplified location models of the pollutants, is statistically characterized for different scenarios. The obtained results show that the first planning stage find routes that transverse areas with high concentration of pollutants, while the second stage determines the sensor height to the pollutant distribution.
Description
Máster en Nuevas Tecnologías Electrónicas y Fotónicas. Facultad de Ciencias Físicas. Curso 2018-2019.