**2.3 Autonomous underwater vehicles, ROVs and on-water platforms**

It is evident that the use of the technology for water sample collection would be of benefit to managers and conservationists alike, especially within a regulatory context where water quality assessment of such ecosystems is required on a regular basis. In England, for example, there are 52 coastal saline lagoons defined in Special Protection Areas or Special Areas of Conservation, with an additional 28 lagoonal water bodies identified under the Water Framework Directive [6]. All these lagoons and lagoonal water bodies require monitoring, assessment and reporting of the

ecological quality. The use of autonomous or semi-autonomous UAVs to gather water samples could de-risk the overall activity, provide samples from inaccessible locations (increased representativeness) and increase the cost-effectiveness of the monitoring programme.

A faster route to achieve autonomous water sampling capability is the use of autonomous or semi-autonomous on-water platforms (**Figure 3**). Small boats with autonomous capability will overcome some of the limitations highlighted for UAV technology. In addition to water quality parameters, the capability of on-water platforms could be expanded to include factors such as water depth, bathymetry mapping, underwater habitat and emergent/submerged vegetation assessment. This would facilitate the temporal and spatial collocation of sampling for multiple variables. Recent studies have looked at their use within the context of freshwater ecosystem monitoring [20]. For example, Vandrol et al. [20] presented a structure-from-motion-based approach for the characterization of habitat and morphology in rivers for small boats capable of navigating autonomously along rivers. The methodology presented could also be transferred to lagoon environment characterization. Fornai [21] presented the small-size autonomous surface vessel (ASV) able to perform water column monitoring with a bespoke sampling probe (**Figure 3**). The autonomous solar-powered vessel "BUSCAMOS-RobObs" equipped with side scan sonar, sub-bottom sonar, laser systems, ultrasound sonar, depth metres, a multi-parametric probe and a GPS for collecting georeferenced oceanic data has been tested at the coastal lagoon system of Mar Menor (Spain) [22] (**Figure 3**). Low-budget and portable autonomous vessels have also been proved to be efficient with the collection of bathymetry and other variables in remote and dangerous coastal areas [23] (**Figure 3**).

Characterization of the euphotic and epipelagic zones can be achieved with both autonomous underwater vehicles (AUV) and remotely operated underwater vehicles (ROVs) (**Figure 4**). AUVs are robots able to travel underwater at different depths without the need of input from an operator. Remotely operated underwater vehicles (ROVs) are a variant of this type of robot. ROVs are directed by an operator via a remote control or an umbilical. Both AUVs and ROVs have been used for lagoon environment monitoring. For example, AUVs have been used in the Mar Menor (Murcia, Spain) coastal lagoon in different studies. The Mar Menor lagoon is separated from the Mediterranean Sea by a 20 km long dune cord that acts as a barrier to seawater ingress and ensures the protection of

#### **Figure 3.**

*Schematic diagram showing multiple autonomous surface vessels (ASV) used in coastal areas and lagoon systems. (1) ASV equipped with a winch system for autonomous water column sampling [21]; (2) the solarpowered ASV equipped with a large range of sensors is able of self-mooring [22]; (3) the affordable and portable size ASV used in coastal surveys in Greenland [23].*

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tions in lagoon environments.

**2.4 Concluding remarks**

**Figure 4.**

*Autonomous Systems for the Environmental Characterization of Lagoons*

the characteristics of both environments. In [24], the AEGIR [25], Seacon [26], Guanay II [27] and SPARUS AUV [28] were deployed in the Mar Menor lagoon to better understand the ingress-egress of marine and freshwater into the environment. The multiple AUVs were equipped with probes to capture real-time measures of salinity. Similarly, in the Indian River Lagoon (Florida, USA) [29], AUVs have been used to collect spatially dense water quality data to study the spatial variability of conditions related to algal blooms. The Indian River Lagoon extends across three estuaries for over 160 miles. Phytoplankton blooms are frequent within the lagoon and are well known to have an ecological impact on the three estuaries. The AUV was used to measure water quality parameters that provide indicators of algal activity, temperature, conductivity, pH, dissolved oxygen, turbidity, total chlorophyll and phycocyanin fluorescence. In [30], the authors developed an AUV system able to track a leopard shark tagged with an acoustic Lotek MM Series transmitter along the SeaPlane Lagoon (Los Angeles, USA). The AUV was fitted with a stereo-hydrophone and receiver system able to detect acoustic signals. Further applications of AUVs exist in marine environments [31], many of which could be transferred to lagoon environments. Predicted improvements of the technology, such as enhanced hovering capability, long endurance and rapid response capabilities [31], will facilitate further monitoring applica-

*Schematic diagram showing multiple autonomous underwater vehicles (AUV) and a remotely operated vehicle (ROV). (1) Guanay II [27]; (2) SPARUS [28]; (3) Seacon [26]; (4) general remotely operated vehicle (ROV).*

The use of RAS for lagoon environmental monitoring has proved to be successful for multiple variables. The cost-effectiveness of such methods is yet unknown and needs to be understood in relation to comprehensive and more integrative monitoring programmes. The capabilities provided by RAS could further benefit lagoon environment monitoring via the integration of different platforms—e.g. UAVs, AUVs, ROVs and bespoke sensors. The technology readiness level of such approaches is still constrained by a number of factors, such as the miniaturization of sensors, but initial conceptual models have already been tested [32, 33]. Successful design of integrated solutions will require a significant degree of collaboration between experts from different disciplines, including engineers, biologists, ecologists, environmental scientists, marine scientists, data analysts and software developers. Future developments and investment should focus on further

*DOI: http://dx.doi.org/10.5772/intechopen.90405*

*Autonomous Systems for the Environmental Characterization of Lagoons DOI: http://dx.doi.org/10.5772/intechopen.90405*

**Figure 4.**

*Lagoon Environments around the World - A Scientific Perspective*

monitoring programme.

dangerous coastal areas [23] (**Figure 3**).

*portable size ASV used in coastal surveys in Greenland [23].*

ecological quality. The use of autonomous or semi-autonomous UAVs to gather water samples could de-risk the overall activity, provide samples from inaccessible locations (increased representativeness) and increase the cost-effectiveness of the

A faster route to achieve autonomous water sampling capability is the use of autonomous or semi-autonomous on-water platforms (**Figure 3**). Small boats with autonomous capability will overcome some of the limitations highlighted for UAV technology. In addition to water quality parameters, the capability of on-water platforms could be expanded to include factors such as water depth, bathymetry mapping, underwater habitat and emergent/submerged vegetation assessment. This would facilitate the temporal and spatial collocation of sampling for multiple variables. Recent studies have looked at their use within the context of freshwater ecosystem monitoring [20]. For example, Vandrol et al. [20] presented a structure-from-motion-based approach for the characterization of habitat and morphology in rivers for small boats capable of navigating autonomously along rivers. The methodology presented could also be transferred to lagoon environment characterization. Fornai [21] presented the small-size autonomous surface vessel (ASV) able to perform water column monitoring with a bespoke sampling probe (**Figure 3**). The autonomous solar-powered vessel "BUSCAMOS-RobObs" equipped with side scan sonar, sub-bottom sonar, laser systems, ultrasound sonar, depth metres, a multi-parametric probe and a GPS for collecting georeferenced oceanic data has been tested at the coastal lagoon system of Mar Menor (Spain) [22] (**Figure 3**). Low-budget and portable autonomous vessels have also been proved to be efficient with the collection of bathymetry and other variables in remote and

Characterization of the euphotic and epipelagic zones can be achieved with both autonomous underwater vehicles (AUV) and remotely operated underwater vehicles (ROVs) (**Figure 4**). AUVs are robots able to travel underwater at different depths without the need of input from an operator. Remotely operated underwater vehicles (ROVs) are a variant of this type of robot. ROVs are directed by an operator via a remote control or an umbilical. Both AUVs and ROVs have been used for lagoon environment monitoring. For example, AUVs have been used in the Mar Menor (Murcia, Spain) coastal lagoon in different studies. The Mar Menor lagoon is separated from the Mediterranean Sea by a 20 km long dune cord that acts as a barrier to seawater ingress and ensures the protection of

*Schematic diagram showing multiple autonomous surface vessels (ASV) used in coastal areas and lagoon systems. (1) ASV equipped with a winch system for autonomous water column sampling [21]; (2) the solarpowered ASV equipped with a large range of sensors is able of self-mooring [22]; (3) the affordable and* 

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**Figure 3.**

*Schematic diagram showing multiple autonomous underwater vehicles (AUV) and a remotely operated vehicle (ROV). (1) Guanay II [27]; (2) SPARUS [28]; (3) Seacon [26]; (4) general remotely operated vehicle (ROV).*

the characteristics of both environments. In [24], the AEGIR [25], Seacon [26], Guanay II [27] and SPARUS AUV [28] were deployed in the Mar Menor lagoon to better understand the ingress-egress of marine and freshwater into the environment. The multiple AUVs were equipped with probes to capture real-time measures of salinity. Similarly, in the Indian River Lagoon (Florida, USA) [29], AUVs have been used to collect spatially dense water quality data to study the spatial variability of conditions related to algal blooms. The Indian River Lagoon extends across three estuaries for over 160 miles. Phytoplankton blooms are frequent within the lagoon and are well known to have an ecological impact on the three estuaries. The AUV was used to measure water quality parameters that provide indicators of algal activity, temperature, conductivity, pH, dissolved oxygen, turbidity, total chlorophyll and phycocyanin fluorescence. In [30], the authors developed an AUV system able to track a leopard shark tagged with an acoustic Lotek MM Series transmitter along the SeaPlane Lagoon (Los Angeles, USA). The AUV was fitted with a stereo-hydrophone and receiver system able to detect acoustic signals. Further applications of AUVs exist in marine environments [31], many of which could be transferred to lagoon environments. Predicted improvements of the technology, such as enhanced hovering capability, long endurance and rapid response capabilities [31], will facilitate further monitoring applications in lagoon environments.
