{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,24]],"date-time":"2026-03-24T15:32:37Z","timestamp":1774366357167,"version":"3.50.1"},"reference-count":25,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2016,8,8]],"date-time":"2016-08-08T00:00:00Z","timestamp":1470614400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["485706\/2012-1"],"award-info":[{"award-number":["485706\/2012-1"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002322","name":"Coordena\u00e7\u00e3o de Aperfei\u00e7oamento de Pessoal de N\u00edvel Superior","doi-asserted-by":"publisher","award":["88887.091733\/2014-01"],"award-info":[{"award-number":["88887.091733\/2014-01"]}],"id":[{"id":"10.13039\/501100002322","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Problems related to quality (and quantity) of water in natural resources or in artificial reservoirs are frequently arising and are at the center of attention of authorities and governments around the world. Many times the monitoring is not performed in an efficient time frame and a precise manner, whereas the adoption of fast and punctual solutions would undoubtedly improve the water quality and consequently enhance the life of people. To minimize or diminish such kinds of problems, we propose an architecture for sensors installed in a robotic platform, an autonomous sail boat, able to acquire raw data relative to water quality, to process and make them available to people that might be interested in such information. The main contributions are the sensors architecture itself, which uses low cost sensors, with practical experimentation done with a prototype. Results show data collected for points in lakes and rivers in the northeast of Brazil. This embedded system is fixed in the sailboat robot with the intention to facilitate the study of water quality for long endurance missions. This robot can help monitoring water bodies in a more consistent manner. Nonetheless the system can also be used with fixed vases or buoys in strategic points.<\/jats:p>","DOI":"10.3390\/s16081226","type":"journal-article","created":{"date-parts":[[2016,8,8]],"date-time":"2016-08-08T10:14:38Z","timestamp":1470651278000},"page":"1226","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Towards a Real-Time Embedded System for Water Monitoring Installed in a Robotic Sailboat"],"prefix":"10.3390","volume":"16","author":[{"given":"Andouglas","family":"Silva Junior","sequence":"first","affiliation":[{"name":"Departamento de Engenharia de Computa\u00e7\u00e3o e Automa\u00e7\u00e3o, Universidade Federal do Rio Grande do Norte, DCA-CT-UFRN, Campus Universit\u00e1rio, Lagoa Nova, CEP 59078-970 Natal, RN, Brazil"},{"name":"Instituto Federal de Educa\u00e7\u00e3o, Ci\u00eancia e Tecnologia do Rio Grande do Norte, Campus Mossor\u00f3, Rua Raimundo Firmino de Oliveira, 400, Conj. Ulrick Graff, CEP 59628-330 Mossor\u00f3, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sarah","family":"Lima Sa","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia de Computa\u00e7\u00e3o e Automa\u00e7\u00e3o, Universidade Federal do Rio Grande do Norte, DCA-CT-UFRN, Campus Universit\u00e1rio, Lagoa Nova, CEP 59078-970 Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Davi","family":"Santos","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia de Computa\u00e7\u00e3o e Automa\u00e7\u00e3o, Universidade Federal do Rio Grande do Norte, DCA-CT-UFRN, Campus Universit\u00e1rio, Lagoa Nova, CEP 59078-970 Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"\u00c1lvaro","family":"Negreiros","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia de Computa\u00e7\u00e3o e Automa\u00e7\u00e3o, Universidade Federal do Rio Grande do Norte, DCA-CT-UFRN, Campus Universit\u00e1rio, Lagoa Nova, CEP 59078-970 Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jo\u00e3o","family":"Souza Silva","sequence":"additional","affiliation":[{"name":"Diretoria Acad\u00eamica de Gest\u00e3o e Tecnologia da Informa\u00e7\u00e3o, Instituto Federal de Educa\u00e7\u00e3o, Ci\u00eancia e Tecnologia do Rio Grande do Norte, Av. Sen. Salgado Filho, 1559, Tirol, CEP 59015-000 Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Justo","family":"\u00c1lvarez J\u00e1cobo","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia de Computa\u00e7\u00e3o e Automa\u00e7\u00e3o, Universidade Federal do Rio Grande do Norte, DCA-CT-UFRN, Campus Universit\u00e1rio, Lagoa Nova, CEP 59078-970 Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7735-5630","authenticated-orcid":false,"given":"Luiz","family":"Garcia Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"Departamento de Engenharia de Computa\u00e7\u00e3o e Automa\u00e7\u00e3o, Universidade Federal do Rio Grande do Norte, DCA-CT-UFRN, Campus Universit\u00e1rio, Lagoa Nova, CEP 59078-970 Natal, RN, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,8,8]]},"reference":[{"key":"ref_1","unstructured":"Soares, J.L. 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