WO2014202804A1 - Appareil d'analyse automatisée de la qualité microbiologique d'eaux - Google Patents

Appareil d'analyse automatisée de la qualité microbiologique d'eaux Download PDF

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Publication number
WO2014202804A1
WO2014202804A1 PCT/ES2014/000101 ES2014000101W WO2014202804A1 WO 2014202804 A1 WO2014202804 A1 WO 2014202804A1 ES 2014000101 W ES2014000101 W ES 2014000101W WO 2014202804 A1 WO2014202804 A1 WO 2014202804A1
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WO
WIPO (PCT)
Prior art keywords
analysis
water
sample
automated
microbiological quality
Prior art date
Application number
PCT/ES2014/000101
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English (en)
Spanish (es)
Inventor
Xulio FERNÁNDEZ HERMIDA
Carlos Duran Neira
Original Assignee
Universidad De Vigo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Universidad De Vigo filed Critical Universidad De Vigo
Publication of WO2014202804A1 publication Critical patent/WO2014202804A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12Q—MEASURING OR TESTING PROCESSES INVOLVING ENZYMES, NUCLEIC ACIDS OR MICROORGANISMS; COMPOSITIONS OR TEST PAPERS THEREFOR; PROCESSES OF PREPARING SUCH COMPOSITIONS; CONDITION-RESPONSIVE CONTROL IN MICROBIOLOGICAL OR ENZYMOLOGICAL PROCESSES
    • C12Q1/00—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions
    • C12Q1/02—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions involving viable microorganisms
    • C12Q1/04—Determining presence or kind of microorganism; Use of selective media for testing antibiotics or bacteriocides; Compositions containing a chemical indicator therefor
    • C12Q1/06—Quantitative determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G01N1/18—Devices for withdrawing samples in the liquid or fluent state with provision for splitting samples into portions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/75—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated
    • G01N21/77—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator
    • G01N21/78—Systems in which material is subjected to a chemical reaction, the progress or the result of the reaction being investigated by observing the effect on a chemical indicator producing a change of colour
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • G01N33/1826—Organic contamination in water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
    • G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
    • G01N33/52—Use of compounds or compositions for colorimetric, spectrophotometric or fluorometric investigation, e.g. use of reagent paper and including single- and multilayer analytical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/025—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations having a carousel or turntable for reaction cells or cuvettes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system

Definitions

  • the present invention is in the field of water analysis apparatus, more specifically in that of microbial or bacteriological water quality analysis apparatus.
  • the present invention describes how to perform said analysis in an automated manner, integrating the components necessary for the preparation of the sample, the analysis of the results and the computer processing of the results. As a result, the automation of the task and the operation as an autonomous analysis module that can be incorporated into more complex multiparameter analysis equipment are obtained.
  • This analysis generally includes a stage of preparation of a culture broth that allows the development of a particular type of bacteria and the incubation of this broth at a controlled temperature for a certain time that encourages the development of the desired bacterial colonies and containing A nutrient indicator.
  • This nutrient indicator includes sources of nutrients bound to or conjugated with chromogens. Nutrient indicators are optimally metabolized during periods of growth, which by releasing a chromogen causes a characteristic and detectable change in the sample. Chromogens include any moiety that produces an observable color change in the visible or ultraviolet region when properly excited by the appropriate energy source. Examples include ortonitrophenyl, phenolphthalein and 4-methylumbelliferone moieties. Although the nutrient indicator may provide the only source of an essential nutrient, other sources of such nutrients may be provided (Spanish Patent ES2305912-T3).
  • the reason for this process is to provide a controlled growth of bacterial colonies of the species to be quantified, so that it is easier to quantify them. Having encouraged growth in a controlled manner, it is possible to determine the bacterial count of the sample of origin by changing the color of the sample.
  • NMP Most Probable Number
  • NMP / 100ml Px 100 / (NxT) A (1/2)
  • N is the volume of the sample in me in the negative tubes
  • T is the volume of the sample in all the tubes
  • NMP is the most likely number. The confidence of the method increases with the number of tubes used.
  • This document describes an apparatus for the automated analysis of the biological quality of water that uses the coliform count.
  • the described system performs autonomously the sampling, preparation of this, culture, reading of results and analysis thereof. For this, it is based on image treatment techniques for the counting of coliforms in water samples using the Most Probable Number method, using commercial elements and reproducing the work of a laboratory technician automatically. Measurement data is obtained in digital format, which makes its treatment very versatile.
  • the system consists of several parts: the mechanical part, in charge of the management and manipulation of all the elements, cultivation of the sample and image taking; the hydraulic part, responsible for managing the liquids involved in the process and the image processing part responsible for recognizing the colors of the culture cells and deciding whether or not the culture of bacteria has been developed in them.
  • An automatic feeding system that manages the different disposable elements, both unused and used, and introduces and removes the blisters from the culture chamber
  • An image processing system that analyzes these images by comparing them with a threshold reference and obtains the NMP of total coliforms and fecal coliforms.
  • a communication system that transmits the information obtained (images and / or NMP's) to a computer or external communication system.
  • the automatic feeding system comprises a circular carousel, similar to that of a slide projector, which contains the cassettes that are introduced into the incubator for water analysis and returned to the carousel once they have been used.
  • the carousel contains the cassettes prepared for use and those already used after having gone through the incubator. It has a motor and a control system for the movement of the carousel and another motor with its control system for the introduction of the cassette into the incubator and its subsequent withdrawal back to the carousel once the water is analyzed.
  • Each cassette contains a frame in which a blister connected with the transfer catheter is attached to the mixing vial and the mixing vials preloaded with the dry nutrient extract.
  • the whole set is perfectly insulated and sanitized.
  • the hydraulic system consists of a mechanical part (which is responsible for nailing two needles in the rubber stopper of the mixing vial) and a hydraulic part (which is responsible for introducing the exact amounts of water to be analyzed and distilled water in the mixing vial to subsequently be mixed with the nutrients to form the broth, and then transfer the broth to the blister.
  • the stirring system is started once the mixing vial has already been loaded with the water to be analyzed (the dry nutrient extract is inside) and stops before the hydraulic system transfers the broth from the vial of Mix the blister.
  • the distribution system of the broth is included in the incubator and is responsible for making the distribution of the broth in the culture cells and that the broth in each cell is isolated from the other cells.
  • the electronic incubator control system acts when the cassette blister already has all the cells filled and insulated with the broth. At that time the temperature rises to the cultivation temperature and when it is reached it starts counting the cultivation time. After that time gives way to the lighting system and image taking.
  • the lighting and image taking system is also included inside the incubator and takes the photos with white and ultraviolet light of all the blister cells.
  • the image processing system analyzes these photos and obtains the NMP's of total coliforms and fecal coliforms.
  • the processing consists of studying the coloration of each cell and comparing it with thresholds. Applying this processing to the image obtained with white light, the MNP of total coliforms is obtained. Applying it to the image obtained with ultraviolet light, the MNP of faecal coliforms is obtained.
  • the transmission system communicates this data (digitized images and NMP values) to the outside. If the equipment is in a laboratory, it communicates with its own screen or with a computer to which it is connected (via RS232 or USB ports). If it is integrated in a buoy or any other analysis device, it communicates with the communications system of the buoy or of said device.
  • the power supply system provides the energy to power all systems. If the equipment is going to be in a laboratory, it prepares to work plugged into the mains. If it is going to be installed in a buoy it is prepared to work connected to a 12 volt battery.
  • the apparatus described here is completely autonomous, and the possibility of integrating it into equipment for the sampling of water in situ has been taken into account, such as autonomous buoys.
  • the integration of this module would provide complementary information to multiparameter analysis buoys.
  • the apparatus described in the present invention would use the sampling system and the communications system, making the biological analysis possible remotely and autonomously.
  • US8312768B2 Autonomous and Remote-Controlled Multi-Parametric Buoy for Multi-Depth Water Sampling, Monitoring, Data Collection, Transmission and Analysis
  • US8312768B2 Autonomous and Remote-Controlled Multi-Parametric Buoy for Multi-Depth Water Sampling, Monitoring, Data Collection, Transmission and Analysis
  • seawater Take a sample of smaller volume of seawater that is diluted with a volume of distilled water so that together it reaches the volume of broth needed to fill the microvials or culture cells that contains a blister.
  • This seal can be thermal (there are commercial blister packs prepared to make this seal)
  • the photo is taken by illuminating with ultraviolet light (wavelength 365 nm.) And the color of each cell is compared with the threshold color. The Most Probable Number of faecal coliforms is obtained.
  • the present invention can adopt various embodiments.
  • laboratory use there are no limitations in the power supply and the data output is made directly to a computer.
  • a particular mode of embodiment is described below for illustrative, but not limitative purposes. It is a device designed for use integrated in a buoy at sea. In the case of freshwater analysis, the differences would exclusively affect the way of using the pumps that move water and air in the two needles that access the mixing vial.
  • Figure 1 represents the biological water analysis module for installation in a buoy, where the protective casing 101 is indicated and through a cut the analysis device 102 housed inside it.
  • Figure 2 represents the analysis device.
  • a frame 103 supports the entire structure.
  • a rotating drum 106 contains the disposable elements for analysis (cassettes) and transports them to the culture chamber 105.
  • This drum houses the elements for analysis (blister set + mixing vial), referred to as cassettes, both those that are ready to use as already used.
  • a removable upper support 104 completes the structure.
  • the culture chamber (incubator) 105 is responsible for maintaining the optimum temperature conditions for the culture of the sample and contains the blister sealing and imaging systems for reading results.
  • Figure 3 represents a section of the analysis device.
  • the rotating drum 106 rotates 306 ° on the base of the frame 103, allowing to replace a used cassette with a new one.
  • a linear displacement system 107 is responsible for removing the cassette (blister pack + mixing vial) 108 from the drum into the culture chamber or incubator 105. Once the cassette is placed inside the culture chamber, the cassette is injected. It is shown in the mixing vial by means of a needle system for the preparation of the culture broth and the broth is transferred from the mixing vial to the blister.
  • FIG. 4 represents in detail the drum system.
  • a rotating structure 110 contains the housings for the cassettes 108. This structure rotates guided by the base of the frame 103.
  • Figure 5 represents a plan view in which the linear actuator 107 which is responsible for moving the cassettes from the drum towards the inside of the culture chamber (incubator) can be seen attached to the bottom of the base of the frame 103 , and the motor 109 responsible for spinning the drum containing the cassettes.
  • Figure 6 represents the cassette, the basic unit for analysis (mixing vial set + blister). It is formed by a grid 202 on which the culture cells of the blister 203 fit perfectly. This support is surrounded by a frame 201.
  • the mixing vial 204 is hooked on this frame and attached to the blister through a transfer catheter 205 which allows the passage of the culture broth from the mixing vial to the blister.
  • the cap of the mixing vial is made of rubber (or other soft material) thus allowing the needles through which the sample is injected to pass through it easily. Its resistance is sufficient to maintain the small pressure of the hydraulic system necessary for transfer the broth.
  • a notch in the frame 206 allows the displacement system responsible for inserting / removing the cassettes from the drum into the culture chamber to easily hook them.
  • Figure 7 represents a diagram of the culture chamber (incubator). It is formed by a base structure 302 plus a removable lid 301.
  • a needle system punctures the rubber stopper of the mixing vial and injects the sample to prepare the culture broth.
  • a stirring system guarantees the homogeneity of the broth.
  • the broth is transferred through a pneumatic system to the blister through the transfer catheter.
  • a sealing system 304 is responsible for pressing on the back of the blister. By the way of applying this pressure, the broth is distributed throughout all the cells that are filled and isolated from each other.
  • the culture chamber contains a thermostatting system that allows maintaining the optimum temperature conditions for the crop for the necessary time.
  • An image taking system 303 is responsible for reading the color of the blister culture cells once the culture is finished. To take the images, use a white and ultraviolet lighting system, obtaining two images from which you will obtain the NMP of total coliforms and fecal coliforms.
  • FIG 8 represents a schematic of the hydraulic system.
  • a pump 405 is responsible for aspirating the water sample to be analyzed through a sampling outlet 403.
  • the catheter 406 that joins the pump with the needle that injects the sample into the mixing vial is sized so that it contains the amount Exact sample of the water we want to analyze, thus ensuring accuracy in sampling.
  • Another pump 401 supplies the distilled water from a reservoir 402 thus completing the volume of water to mix with the dry nutrient extract.
  • the mixing vial is pre-filled with the dry nutrient extract that, when mixed with water, will form the culture broth.
  • a mechanical stirring system guarantees the homogenization of the broth. Once mixed, it is transferred to blister 203 through transfer catheter 205.
  • the steps are as follows: the salty water to be analyzed is first injected into the mixing vial (small quantity); then the distilled water necessary to complete the sample is injected while the other pump (where the salt water entered) draws air to prevent liquid from passing through the transfer catheter early.
  • Valve 404 allows pump 405 to inject air into mixing vial 204 forcing the culture broth to be circulated through the transfer catheter 205 to the blister 203, this further ensures that the salt water sampling circuit is filled with air and that the following sample is not contaminated with liquid that may have remained inside the catheter.
  • the injection system with two needles is also used. While fresh water enters the mixing vial through a needle, the same volume of air is removed through the other needle so that the water is kept in the mixing vial, along with the dry nutrient extract and is not yet passed to the Blister then needs to be properly mixed with nutrients.
  • the needles are used upside down (by injecting the water sample through the catheter that has previously been used to draw air and that is now dry, and drawing air through the catheter that previously introduced the water and that may have remained full of water).
  • This is a very simple way to ensure that the catheter used to induce the water to be analyzed is empty of water from a previous sampling time. If it is considered that no catheter should be filled with water between samples, it should be emptied once the needles have been removed from the cap of the mixing vial. In this case, the catheter through which the water is introduced can always be the same as it is emptied after having introduced water into the mixing vial.
  • Figure 1 shows an autonomous module of biological water analysis that can be incorporated into a buoy, where it shows the interior through a section.
  • the housing 101 and the analysis system 102 housed inside it are indicated.
  • Figure 2 shows the general scheme of the system (contained inside the body of the buoy).
  • the frame 103, the rotating drum 106, the culture chamber (incubator) 105 and the removable upper support 104 are indicated.
  • Figure 3 shows a section of the system. They are indicated: linear displacement system 107 and cassette 108.
  • FIG. 4 shows the scheme of the drum with the rotating structure 110
  • Figure 5 shows a view of the system floor.
  • the motor 109 responsible for rotating the drum containing the cassettes is indicated.
  • Figure 6 shows the cassette, as a basic unit. They are indicated: the grid 202 on which the cells of the blister 203 fit perfectly. This support is surrounded by a frame 201. The mixing vial 203 is hooked on this frame and connected to the blister through a transfer catheter 205 which allows the passage of the culture broth from the mixing vial to the blister. The frame 206 allows the displacement system responsible for inserting / removing the "cassettes” of the drum into the culture chamber to engage the cassettes.
  • Figure 7 shows a scheme of the culture chamber (incubator). The following are indicated: the base structure 302 plus a removable cover 301, the sealing system 304, and the imaging system 303.
  • Figure 8 shows a schematic of the hydraulic system. They are indicated: the suction pump 405, the sampling socket 403, the catheter 406 that joins the pump with the needle that injects the sample into the mixing vial, the pump 401 responsible for supplying distilled water from the tank 402, the system of injection 407 with a needle for each liquid, and the valve 404 that allows the pump 405 to inject air into the mixing vial 204.
  • Figure 9 shows a schematic diagram of the complete process that is performed on the equipment and the systems that are implementing them.
  • the sample preparation part and its culture In the first line are the sample preparation part and its culture.
  • the second line In the second line are the processes of lighting, image capture and analysis and the communication of results abroad. Also the return of the case to the carousel and the rotation of the carousel to have a new case ready for a new analysis.
  • A Automatic feeding system
  • B hydraulic system
  • C distribution system
  • D temperature and time control
  • E white light illumination
  • G processing image
  • H ultraviolet light illumination
  • I Threshold image
  • J image processing
  • L communication system
  • carrousel (1) incubator (2), water in the vial of mixture (3), broth in the mixing vial (4), broth in the blister (5), broth in the cells (6), blister ready for image analysis (7), photo for total coliforms (8), total coliform number (9), photo for faecal coliforms (10), fecal coliform number (11), image-analyzed blister, (12), image result communication and / or NMP (13) caste used back to carousel (14), Carousel spin and new case in incubator (15)

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  • Proteomics, Peptides & Aminoacids (AREA)
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  • Genetics & Genomics (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Measuring Or Testing Involving Enzymes Or Micro-Organisms (AREA)
  • Investigating Or Analysing Biological Materials (AREA)

Abstract

L'invention concerne un appareil pour l'analyse automatisée de la qualité microbiologique d'eaux qui fait appel à la technique d'analyse par colorimétrie. L'appareil selon l'invention effectue de manière autonome le prélèvement d'échantillon, la préparation de ce dernier, la culture, la lecture de résultats et l'envoie des données à distance. Pour cela il est basé sur des techniques de colorimétrie pour le dénombrement de coliformes dans des échantillons d'eau par la méthode du nombre le plus probable. L'appareil est composé d'une partie mécanique, chargée de la gestion et de la manipulation de tous les éléments, la culture de l'échantillon et la prise d'images; d'une partie hydraulique, chargée de gérer les liquides impliqués dans le traitement, et d'un dispositif d'envoi de donnée.
PCT/ES2014/000101 2013-06-19 2014-06-18 Appareil d'analyse automatisée de la qualité microbiologique d'eaux WO2014202804A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201300581A ES2525265B2 (es) 2013-06-19 2013-06-19 Aparato para el análisis automatizado de la calidad microbiológica de aguas
ESP201300581 2013-06-19

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WO2014202804A1 true WO2014202804A1 (fr) 2014-12-24

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995023026A1 (fr) * 1994-02-23 1995-08-31 Idexx Laboratories, Inc. Appareil et methode de quantification de matiere biologique dans un echantillon liquide
EP0682244A1 (fr) * 1994-05-10 1995-11-15 Gie Anjou-Recherche Appareil de mesure pour le contrôle de la qualité bactériologique de l'eau
WO2006116835A1 (fr) * 2005-05-05 2006-11-09 Ravi Kanipayor Systeme d'analyse rapide de matieres microbiologiques dans des echantillons liquides
EP2273251A2 (fr) * 2009-07-10 2011-01-12 Carlos Durán Neira Bouée autonome multi-instrumentée et télécommandée pour l'échantillonnage à différentes profondeurs, la surveillance, la collecte, l'analyse et la transmission de données

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1995023026A1 (fr) * 1994-02-23 1995-08-31 Idexx Laboratories, Inc. Appareil et methode de quantification de matiere biologique dans un echantillon liquide
EP0682244A1 (fr) * 1994-05-10 1995-11-15 Gie Anjou-Recherche Appareil de mesure pour le contrôle de la qualité bactériologique de l'eau
WO2006116835A1 (fr) * 2005-05-05 2006-11-09 Ravi Kanipayor Systeme d'analyse rapide de matieres microbiologiques dans des echantillons liquides
EP2273251A2 (fr) * 2009-07-10 2011-01-12 Carlos Durán Neira Bouée autonome multi-instrumentée et télécommandée pour l'échantillonnage à différentes profondeurs, la surveillance, la collecte, l'analyse et la transmission de données

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ES2525265B2 (es) 2015-07-20

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