Microscopic analysis of microparticles in situ in diverse water environments is necessary for monitoring water quality and localizing contamination sources. Conventional sensors such as optical microscopes and fluorometers often require complex sample preparation, are restricted to small sample volumes, and are unable to simultaneously capture all pertinent details of a sample such as particle size, shape, concentration, and three-dimensional motion. This paper proposes a novel and cost-effective robotic system for mobile microscopic analysis of particles in situ at various depths which are fully controlled by the robot system itself. A miniature underwater digital in-line holographic microscope (DIHM) performs high-resolution imaging of microparticles (e.g., algae cells, plastic debris, sediments) while movement allows measurement of particle distributions covering a large area of water.

对于监测水质和定位污染源，在各种水环境中对微粒进行微观分析是必要的。诸如光学显微镜和荧光计之类的常规传感器通常需要复杂的样品制备，限于小样品量，并且无法同时捕获样品的所有相关细节，例如粒径，形状，浓度和三维运动。本文提出了一种新颖且具有成本效益的机器人系统，用于对原位颗粒进行移动显微镜分析在各种深度下，这些深度完全由机器人系统本身控制。微型水下数字在线全息显微镜（DIHM）对微粒（例如，藻类细胞，塑料碎片，沉积物）进行高分辨率成像，而运动则允许测量覆盖大面积水域的微粒分布。