A reliable yet economical unmanned surface vehicle (USV) has been developed for the bathymetric surveying of lakes. The system combines an autonomous navigation framework, environmental sensors, and a multibeam echosounder to collect submerged topography, temperature, and wind speed and monitor the vehicle’s status during prescribed path-planning missions. The main objective of this research is to provide a methodological framework to build an autonomous boat with independent decision-making, efficient control, and long-range navigation capabilities. Integration of sensors with navigation control enabled the automatization of position, orientation, and velocity. A solar power integration was also tested to control the duration of the autonomous missions. The results of the solar power compared favorably with those of the standard LiPO battery system. Extended and autonomous missions were achieved with the developed platform, which can also evaluate the danger level, weather circumstances, and energy consumption through real-time data analysis. With all the incorporated sensors and controls, this USV can make self-governing decisions and improve its safety. A technical evaluation of the proposed vehicle was conducted as a measurable metric of the reliability and robustness of the prototype. Overall, a reliable, economic, and self-powered autonomous system has been designed and built to retrieve bathymetric surveys as a first step to developing intelligent reconnaissance systems that combine field robotics with machine learning to make decisions and adapt to unknown environments.

Bathymetric surveying to gather information about depths and underwater terrain is increasingly important to the sciences of hydrology and geomorphology. Submerged terrain change detection, water level, and reservoir storage monitoring demand extensive bathymetric data. Despite often being scarce or unavailable, this information is fundamental to hydrodynamic modeling for imposing boundary conditions and building computational domains. In this manuscript, a novel, low-cost, rapid, and accurate method is developed to measure submerged topography, as an alternative to conventional approaches that require significant economic investments and human power. The method integrates two types of Unmanned Aerial Systems (UAS) sampling techniques. The first couples a small UAS (sUAS) to an echosounder attached to a miniaturized boat for surveying submerged topography in deeper water within the range of accuracy. The second uses Structure from Motion (SfM) photogrammetry to cover shallower water areas no detected by the echosounder where the bed is visible from the sUAS. The refraction of light passing through air–water interface is considered for improving the bathymetric results. A zonal adaptive sampling algorithm is developed and applied to the echosounder data to densify measurements where the standard deviation of clustered points is high. This method is tested at a small reservoir in the U.S. southern plains. Ground Control Points (GCPs) and checkpoints surveyed with a total station are used for properly georeferencing of the SfM photogrammetry and assessment of the UAS imagery accuracy. An independent validation procedure providing a number of skill and error metrics is conducted using ground-truth data collected with a leveling rod at co-located reservoir points. Assessment of the results shows a strong correlation between the echosounder, SfM measurements and the field observations. The final product is a hybrid bathymetric survey resulting from the merging of SfM photogrammetry and echosoundings within an adaptive sampling framework.

This paper reviews the current state of high‐resolution remotely sensed soil moisture (SM) and evapotranspiration (ET) products and modeling, and the coupling relationship between SM and ET. SM downscaling approaches for satellite passive microwave products leverage advances in artificial intelligence and high‐resolution remote sensing using visible, near‐infrared, thermal‐infrared, and synthetic aperture radar sensors. Remotely sensed ET continues to advance in spatiotemporal resolutions from MODIS to ECOSTRESS to Hydrosat and beyond. These advances enable a new understanding of bio‐geo‐physical controls and coupled feedback mechanisms between SM and ET reflecting the land cover and land use at field scale (3–30 m, daily). Still, the state‐of‐the‐science products have their challenges and limitations, which we detail across data, retrieval algorithms, and applications. We describe the roles of these data in advancing 10 application areas: drought assessment, food security, precision agriculture, soil salinization, wildfire modeling, dust monitoring, flood forecasting, urban water, energy, and ecosystem management, ecohydrology, and biodiversity conservation. We discuss that future scientific advancement should focus on developing open‐access, high‐resolution (3–30 m), sub‐daily SM and ET products, enabling the evaluation of hydrological processes at finer scales and revolutionizing the societal applications in data‐limited regions of the world, especially the Global South for socio‐economic development.

Lateral flow separation occurs in rivers where banks exhibit strong curvature. In canyon‐bound rivers, lateral recirculation zones are the principal storage of fine‐sediment deposits. A parallelized, three‐dimensional, turbulence‐resolving model was developed to study the flow structures along lateral separation zones located in two pools along the Colorado River in Marble Canyon. The model employs the detached eddy simulation (DES) technique, which resolves turbulence structures larger than the grid spacing in the interior of the flow. The DES‐3D model is validated using Acoustic Doppler Current Profiler flow measurements taken during the 2008 controlled flood release from Glen Canyon Dam. A point‐to‐point validation using a number of skill metrics, often employed in hydrological research, is proposed here for fluvial modeling. The validation results show predictive capabilities of the DES model. The model reproduces the pattern and magnitude of the velocity in the lateral recirculation zone, including the size and position of the primary and secondary eddy cells, and return current. The lateral recirculation zone is open, having continuous import of fluid upstream of the point of reattachment and export by the recirculation return current downstream of the point of separation. Differences in magnitude and direction of near‐bed and near‐surface velocity vectors are found, resulting in an inward vertical spiral. Interaction between the recirculation return current and the main flow is dynamic, with large temporal changes in flow direction and magnitude. Turbulence structures with a predominately vertical axis of vorticity are observed in the shear layer becoming three‐dimensional without preferred orientation downstream.

Improvements in soil moisture observations and modeling play a vital role in drought, water resources, flooding, and landslide management and forecasting. However, the lack of multisensor products that integrate different spatial scales (i.e., from 1 m² to 10² km²) is a pressing need in the management and forecasting chain. Up to date, surface soil moisture estimates could be obtained through three primary approaches: (1) in situ measurements and their interpolations, (2) remote sensing observations, and (3) land surface model (LSM) outputs. Each source of soil moisture has its own spatiotemporal resolution, strengths, and weaknesses. Therefore, their correct interpretation and application require an in-depth understanding of their accuracy and appropriateness. In this study, we explore the utility of the triple collocation (TC) method for an independent assessment of three soil moisture products to characterize their uncertainty structures and make recommendations toward a potential product merge. The state of Oklahoma is an ideal domain to test the hypotheses of this work because of the presence of marked west-to-east gradients in climate, vegetation, and soils. The three target soil moisture products include (1) the remotely sensed microwave soil moisture active passive (SMAP) L3_SM_P_E (9 km, daily), (2) the physically based LSM estimates from NLDAS_NOAH0125_H (1/8°, hourly; Noah), and (3) the Oklahoma Mesonet ground sensor network (point, 30 min). The product assessment was conducted from April 2015 to July 2019. The results indicate that, in general, Mesonet and Noah are the most reliable products, although their performance varies geographically and by land cover type, reflecting the main spatiotemporal characteristics and scope of each product. Specifically, Mesonet provides the best estimates of volumetric soil moisture with a mean Pearson correlation coefficient of 0.805, followed by Noah with 0.747. However, Noah represents the true soil moisture variation better than the interpolated Mesonet product on the mesoscale, with an averaged RMSE of 0.026 m³⁄m³. Over different land cover types, Mesonet had the best performance in shrub/scrub, herbaceous, hay/pasture, and cultivated crops with an average correlation coefficient of 0.79, while Noah achieved the best performance in evergreen, mixed, and deciduous forests, with an average correlation coefficient of 0.74. The period-integrated TC intercomparison results over nine climate divisions indicated that Noah outperformed in the central, northeast, and east-central regions. TC provides not only a new perspective for comparatively assessing multisource soil moisture products but also a basis for objective data merging to capitalize on the strengths of multisensor, multiplatform soil moisture products.