CO2 Sensor Part 1

One of the properties of the volcanic lakes we are interested in measuring is the dissolved CO2. We looked at different options for CO2 sensors and decided to build our own based on a paper published by the Monterey Bay Aquarium Research Institute. We ordered all the parts last week, and some of the parts came in on friday.


we spent friday night soldering and were able to get most of the components together. Here are some pictures.



After a wild search for header pins, we ended up being just 6 pins short. Here are the final products:



Preparation for Trip to Bernard Field Station

Hey everyone!

Last week we began planning a trip to the Bernard Field Station in order to execute some missions and path planning on the Iver. The idea was to get familiar with both manual control and the process of downloading and executing a mission on the AUV that we are going to be deploying in Costa Rica.

In order to get some practice downloading and executing a mission on the Iver, we first experimented with a mission in our very own parking lot at Mudd.

Here are some pictures from our fake mission in the parking lot:


Meet the Team – Nick



My name is Nicholas Gonzalez, and I am a freshman at Harvey Mudd  College from Holland, Pennsylvania. I have had a love of the water ever since I started sailing when I was eight, and became interested in robotics when I got my first Arduino during my freshman year of high school. I am excited to get the chance to combine my passions by working with AUVs.  In particular I hope to use AUVs in aquatic environments that have never been explored.

I can’t wait to start our Costa Rican adventure, and am excited to meet great people along the way.

Meet the Team – Akhil

Hello everyone!


My name is Akhil Bagaria, and I am a sophomore and aspiring engineer at Harvey Mudd College from Kolkata, India. Over the past year, Mudd has made me fall in love with engineering in general and embedded systems in particular. Pursuing a general engineering degree at Mudd has made me appreciate the interdisciplinary nature of problems inherent in real-world engineering challenges. And this is the nature of the challenges that I foresee our team tackling over the course of 2014.

I am super excited about embarking on a technically and culturally enriching journey to Costa Rica!

Meet the Team – Emily

Hello There!

Sandia Peek Emily 1

My name is Emily, and I’m a freshman at Harvey Mudd College originally from the Chicago area. I’m so excited to be a part of this year’s ICEX Team. I’ve been obsessed with engineering since I discovered what field “building space ships” falls into. I have more recently become interested in areas outside of astronomical aerospace engineering such as electronics engineering and robotics engineering.

I’m looking forward to combining my interest in engineering with interdisciplinary collaboration while experiencing new cultures.

Welcome to ICEX 2014!

Hello all! Welcome to another exciting year of ICEX, the International Computer Engineering eXperience program. For those of you who don’t know me, I am an Associate Professor at Harvey Mudd College where I direct research in the Lab for Autonomous and Intelligent Robotics, (LAIR).

clarkWithIver2_lrI have been part of ICEX for 5 years now. In the past, I have helped lead a variety of robotics based research expeditions to Norway and Malta, ( e.g. see last years blog ). This year we are working in Costa Rica, where we plan to use our Autonomous Underwater Vehicles to sample volcanic lakes. Our ultimate goal is to model the CO2 dynamics within these lakes using data collected by the AUVs.

Wish us luck in this new endeavor,