Robotic System for Automation of Water Quality Monitoring and Feeding in Aquaculture Shadehouse
本文实现了一个基于互联网的事件驱动机器人系统，用于在遮阳棚中监测水质和投喂小龙虾，通过模型驱动开发方法设计并验证了系统的稳定性。
This paper describes the implementation of an event-based Internet robotic system to monitor water quality and feed crayfish in a shadehouse, guided by a model-based development methodology. The robotic system consists of a mobile robot to transport a water multiparameter sonde and six containers for distributing food onto the pond surface, a dispatcher unit to dispense a precise amount of food from the containers, and a computer running as a server to define, over the Internet, the feeding and monitoring schedule through a client application. The development methodology starts by making an abstract functionality model to accomplish the tasks. Next, the functionality model is described using the unified modeling language (UML) that specifies the structure and behavior of the system components. Later, the methodology translates the UML dynamic description depicted by statechart diagrams into Petri net (PN) formalism. PN models are merged and analyzed based on their behavioral properties to validate the design as a stable event-based Internet system. Following the UML and PN designs, the robotic system is implemented. Local and remote experiments were performed to show the usefulness of the robot operation via the Internet for intensive cultivation of the freshwater redclaw crayfish ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Cherax quadricarinatus</i> ).