A Real-Time Cloud-Based Modular Water Quality Monitoring System Using a Remotely Operated Vehicle With Integrated Environmental Sensors

Abstract

Water quality (WQ) monitoring systems are essential for maintaining aquatic ecosystems and safeguarding human health, but traditional systems are often limited by fixed sensor locations and reliance on manual sampling, which restricts spatial coverage and adaptability in diverse environments. To address these limitations, we developed a real-time, cloud-based WQ monitoring system using a modular remotely operated vehicle (ROV) equipped with integrated WQ sensors. The ROV’s modular design allows it to carry various sensors and additional devices, such as sonar and lasers, enabling flexible data collection tailored to specific monitoring needs. This system enhances traditional methods by enabling spatial and temporal measurements within 100 m of the ROV’s home position and eliminating the need for manual operation from a boat, making it suitable for a wide range of field conditions. The ROV can be deployed from a floating platform that collects and stores solar power, which is supplied to the ROV and the other onboard equipment. A tether management system automatically controls the length of the tether deployed, determining this based on the 3-D position of the ROV’s home location. The system was validated at three dams in North Carolina, Oregon, and Washington, successfully transmitting WQ data to a cloud service in real time using edge computing to increase transmission efficiency and reduce data transmission costs. This research presents a novel approach to WQ monitoring, offering greater flexibility and accessibility for applications across a wide range of aquatic environments.