In-water field analytical technology: Underwater mass spectrometry, mobilerobots, and remote intelligence for wide and local area chemical profiling

An automated field analysis strategy for aqueous environments is proposed w ith the use of a mobile robot equipped with an underwater mass spectrometer aided by linked remote numerical models or natural intelligence. Intellige nt search strategies were made possible through the use of numerical models , and natural intelligence was in the form of a man in the loop. The field- analysis strategy is useful for local- and wide-area in situ chemical surve ying for environmental and economical tasks. The operation of chemoreceptiv e field underwater robots is demonstrated during two field trials, one usin g numerical models to aid in characterization of chemical dispersion, and t he other discriminating a chemical gradient in the field. (C) 2001 John Wil ey & Sons, Inc.