Similar articles

Abstract: Micro-sized autonomous underwater vehicles (µAUVs) are well suited to various applications in confined underwater spaces. Acoustic communication is required for many application scenarios of µAUVs to enable data transmission without surfacing. This paper presents the integration of a compact acoustic communication device with a µAUV prototype. Packet reception rate (PRR) and bit error rate (BER) of the acoustic communication link are evaluated in a confined pool environment through experiments while the µAUV is either stationary or moving. We pinpoint several major factors that impact the communication performance. Experimental results show that the multi-path effect significantly affects the synchronization signals of the communication device. The relative motion between the vehicle and the base station also degrades the communication performance. These results suggest future methods towards improvements.

微型水下机器人在有限水下空间中的水声通信实验研究

[1]Akyildiz IF, Pompili D, Melodia T, 2005. Underwater acoustic sensor networks: research challenges. Ad Hoc Netw, 3(3):257-279.

[2]Anguita D, Brizzolara D, Parodi G, et al., 2011. Optical wireless underwater communication for AUV: preliminary simulation and experimental results. OCEANS, p.1-5.

[3]Brignone L, Alves J, Opderbecke J, 2009. GREX sea trials: first experiences in multiple underwater vehicle coordination based on acoustic communication. OCEANS, p.1-6.

[4]Brun LC, 2012. ROV/AUV trends: market and technology. Mar Technol Rep, 55(7):48-51.

[5]Che XH, Wells I, Dickers G, et al., 2010. Re-evaluation of RF electromagnetic communication in underwater sensor networks. IEEE Commun Mag, 48(12):143-151.

[6]Chitre M, Shahabudeen S, Freitag L, et al., 2008. Recent advances in underwater acoustic communications & networking. OCEANS, p.1-10.

[7]Cho S, Zhang FM, Edwards C, 2016. Tidal variability of acoustic detection. IEEE Int Conf on Big Data and Cloud Computing (BDCloud), Social Computing and Networking (SocialCom), Sustainable Computing and Communications (SustainCom), p.431-436.

[8]Cochenour B, Mullen L, Laux A, et al., 2006. Effects of multiple scattering on the implementation of an underwater wireless optical communications link. OCEANS, p.1-6.

[9]Edwards DB, Bean TA, Odell DL, et al., 2004. A leader-follower algorithm for multiple AUV formations. IEEE/OES Autonomous Underwater Vehicles, p.40-46.

[10]Freitag L, Grund M, Singh S, et al., 2000. Acoustic communication in very shallow water: results from the 1999 AUV Fest. OCEANS MTS/IEEE Conf and Exhibition, p.2155-2160.

[11]Freitag L, Grund M, Singh S, et al., 2005. The WHOI micro-modem: an acoustic communications and navigation system for multiple platforms. OCEANS MTS/IEEE, p.1086-1092.

[12]Jiang WH, Tong F, Zhou YH, 2016. R&D of an spread spectrum acoustic communication modem with ranging capability. Proc 11^th ACM Int Conf on Underwater Networks & Systems, Article 15.

[13]Johnson M, Freitag L, Stojanovic M, 1997. Improved Doppler tracking and correction for underwater acoustic communications. IEEE Int Conf on Acoustics, Speech, and Signal Processing, p.575-578.

[14]Kilfoyle DB, Baggeroer AB, 2000. The state of the art in underwater acoustic telemetry. IEEE J Ocean Eng, 25(1):4-27.

[15]Marques ERB, Pinto J, Kragelund S, et al., 2007. AUV control and communication using underwater acoustic networks. OCEANS, p.1-6.

[16]Meyer B, Isokeit C, Maehle E, et al., 2017. Using small swarm-capable AUVs for submesoscale eddy measurements in the Baltic Sea. OCEANS MTS/IEEE, p.1-5.

[17]Mintchev S, Donati E, Marrazza S, et al., 2014. Mechatronic design of a miniature underwater robot for swarm operations. IEEE Int Conf on Robotics and Automation, p.2938-2943.

[18]Osterloh C, Pionteck T, Maehle E, 2012. MONSUN II: A small and inexpensive AUV for underwater swarms. ROBOTIK; 7^th German Conf on Robotics, p.1-6.

[19]Partan J, Kurose J, Levine BN, 2007. A survey of practical issues in underwater networks. ACM SIGMOBILE Mob Comput Commun Rev, 11(4):23-33.

[20]Renner C, Golkowski AJ, 2016. Acoustic modem for micro AUVs: design and practical evaluation. Proc 11^th ACM Int Conf on Underwater Networks & Systems, Article 2.

[21]Schill F, Zimmer UR, Trumpf J, 2004. Visible spectrum optical communication and distance sensing for underwater applications. Australasian Conf on Robotics and Automation, p.1-8.

[22]Sharif BS, Neasham J, Hinton OR, et al., 2000. A computationally efficient Doppler compensation system for underwater acoustic communications. IEEE J Ocean Eng, 25(1):52-61.

[23]Stojanovic M, 1995. Underwater acoustic communications. Proc Electro/Int, p.435-440.

[24]Stojanovic M, Preisig J, 2009. Underwater acoustic communication channels: Propagation models and statistical characterization. IEEE Commun Mag, 47(1):84-89.

[25]Wu WC, Song AJ, Varnell JP, et al., 2014. Cooperatively mapping of the underwater acoustic channel by robot swarms. Proc ^th ACM Int Conf on Underwater Networks & Systems, Article 20.

[26]Zhou W, Habetler TG, Harley RG, 2007. Bearing condition monitoring methods for electric machines: a general review. IEEE Int Symp on Diagnostics for Electric Machines, Power Electronics and Drives, p.3-6.