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. 2021 Feb 5;21(4):1102. doi: 10.3390/s21041102

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© 2021 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Sailing movement trajectory of the MF-USV. (a) The MF-USV was located at the start point. (b) When the water pH value at the first location was higher than 8.5 or lower than 6.5, the water was sampled by the water pump. (c) The MF-USV leaved the present water sampling point. (d) The MF-USV went ahead to search the next contaminated water point. (e) The contaminated water field at the second location was detected by the pH sensor and sampled by the water pump. (f) The water samples were conveyed to the initial location.