Tutorial 4 intro: subCULTron – underwater measurements using aMussel
subCULTron aims for achieving long-term autonomy in a learning, self-regulating, self-sustaining underwater society/culture of robots in a high-impact application area: Venice, Italy. Our heterogeneous system consists of 3 different robot types: artificial mussels (aMussels) on the sea-ground, artificial lily pads (aPads) on the water surface, and artificial fish (aFish) that move/monitor/explore the environment and exchange info with the mussels and lily pads. aMussels monitor the natural habitat, while each aPad serves as a charging and transportation station for aMussels and a connection to the outer world. The project aims to construct 120 aMussels, 5 aPads, and 25 aFish. During this tutorial we will show how to program an aMussel platform to sink to the bottom, make an underwater measurement, transmit it acoustically to an aPad, return to the surface after predefined time and SMS measurements to a cell phone.