Development of an autonomous subersible profiler with the ability to stop at specific depths for measurement of marine parameters

Understanding marine pollution problems is a complex topic that has led to a wide range of research over the last decades. In this research, an autonomous submersible profiler with controlled depth detention for the measurement of parameters of interest in shallow marine environments -is presented. The device has been designed to carry on several sensors including dissolved oxygen, chlorophyll, electrical conductivity and temperature among others. The profiler includes the performance for sampling, collecting and wireless sending reliable real-time data in marine environments. In addition, its ability to stop at a given depth allows for more accurate and stable measurement of marine parameters at different depth levels. This research describes the design of the profiler as well as the different control assumptions made to achieve zero buoyancy at a given depth. The results show that the submersible profiler is a valuable tool for continuous monitoring of marine parameters relevant to study the causes leading to critical environmental situations.