High-speed acoustic data link transmitting moving pictures for autonomous underwater vehicles

2003 ◽  
Author(s):  
J. Kojima ◽  
T. Ura ◽  
H. Ando ◽  
K. Asakawa
Keyword(s):  
High Speed ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Data Link ◽  
Acoustic Data ◽  
Moving Pictures

Acoustic data analysis for underwater archaeological sites detection and mapping by means of autonomous underwater vehicles

2015 ◽  
Author(s):  
Benedetto Allotta ◽  
Riccardo Costanzi ◽  
Alessandro Ridolfi ◽  
Maria Antonietta Pascali ◽  
Marco Reggiannini ◽  
...  
Keyword(s):  
Data Analysis ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Archaeological Sites ◽  
Acoustic Data

scholarly journals Modeling and Control of Negative-Buoyancy Tri-Tilt-Rotor Autonomous Underwater Vehicles Based on Immersion and Invariance Methodology

2018 ◽  
Vol 8 (7) ◽  
pp. 1150 ◽  
Author(s):  
Tao Wang ◽  
Chao Wu ◽  
Jianqin Wang ◽  
Tong Ge
Keyword(s):  
High Speed ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Error Model ◽  
Nonlinear Controller ◽  
Tilt Rotor ◽  
Immersion And Invariance ◽  
Attitude Error ◽  
Negative Buoyancy

Spot hover and high speed capabilities of underwater vehicles are essential for ocean exploring, however, few vehicles have these two features. Moreover, the motion of underwater vehicles is prone to be affected by the unknown hydrodynamics. This paper presents a novel negative-buoyancy autonomous underwater vehicle equipped with tri-tilt-rotor to obtain these two features. A detailed mathematical model is derived, which is then decoupled to altitude and attitude subsystems. For controlling the underwater vehicle, an attitude error model is designed for the attitude subsystem, and an adaptive nonlinear controller is proposed for the attitude error model based on immersion and invariance methodology. To demonstrate the effectiveness of the proposed controller, a three degrees of freedom (DOF) testbed is developed, and the performance of the controller is validated through a real-time experiment.

scholarly journals HAS4: A Heuristic Adaptive Sink Sensor Set Selection for Underwater AUV-Aid Data Gathering Algorithm

Sensors ◽  
2018 ◽  
Vol 18 (12) ◽  
pp. 4110 ◽  
Author(s):  
Xingwang Wang ◽  
Debing Wei ◽  
Xiaohui Wei ◽  
Junhong Cui ◽  
Miao Pan
Keyword(s):  
Cost Reduction ◽  
High Speed ◽  
Autonomous Underwater Vehicles ◽  
Data Gathering ◽  
Underwater Vehicles ◽  
Sensor Nodes ◽  
Selection Methods ◽  
Selection Algorithm ◽  
Underwater Wireless Sensor Networks ◽  
Selection For

In this paper, we target solving the data gathering problem in underwater wireless sensor networks. In many underwater applications, it is not quick to retrieve sensed data, which gives us the opportunity to leverage mobile autonomous underwater vehicles (AUV) as data mules to periodically collect it. For each round of data gathering, the AUV visits part of the sensors, and the communication between AUV and sensor nodes is a novel high-speed magnetic-induction communication system. The rest of the sensors acoustically transmit their sensed data to the AUV-visit sensors. This paper deploys the HAS 4 (Heuristic Adaptive Sink Sensor Set Selection) algorithm to select the AUV-visited sensors for the purpose of energy saving, AUV cost reduction and network lifetime prolonging. By comparing HAS 4 with two benchmark selection methods, experiment results demonstrate that our algorithm can achieve a better performance.

scholarly journals A Novel Simulation Platform for Underwater Data Muling Communications Using Autonomous Underwater Vehicles

Computers ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 119
Author(s):  
Filipe B. Teixeira ◽  
Bruno M. Ferreira ◽  
Nuno Moreira ◽  
Nuno Abreu ◽  
Murillo Villa ◽  
...  
Keyword(s):  
Position Control ◽  
Autonomous Underwater Vehicles ◽  
Cost Effective ◽  
Underwater Vehicles ◽  
Delay Tolerant Network ◽  
Simulation Platform ◽  
Network Simulator ◽  
Data Link ◽  
Multiple Sensors ◽  
Relative Placement

Autonomous Underwater Vehicles (AUVs) are seen as a safe and cost-effective platforms for performing a myriad of underwater missions. These vehicles are equipped with multiple sensors which, combined with their long endurance, can produce large amounts of data, especially when used for video capturing. These data need to be transferred to the surface to be processed and analyzed. When considering deep sea operations, where surfacing before the end of the mission may be unpractical, the communication is limited to low bitrate acoustic communications, which make unfeasible the timely transmission of large amounts of data unfeasible. The usage of AUVs as data mules is an alternative communications solution. Data mules can be used to establish a broadband data link by combining short-range, high bitrate communications (e.g., RF and wireless optical) with a Delay Tolerant Network approach. This paper presents an enhanced version of UDMSim, a novel simulation platform for data muling communications. UDMSim is built upon a new realistic AUV Motion and Localization (AML) simulator and Network Simulator 3 (ns-3). It can simulate the position of the data mules, including localization errors, realistic position control adjustments, the received signal, the realistic throughput adjustments, and connection losses due to the fast SNR change observed underwater. The enhanced version includes a more realistic AML simulator and the antenna radiation patterns to help evaluating the design and relative placement of underwater antennas. The results obtained using UDMSim show a good match with the experimental results achieved using an underwater testbed. UDMSim is made available to the community to support easy and faster evaluation of underwater data muling oriented communications solutions and to enable offline replication of real world experiments.

Acoustic Data Transfer Limits Using an Underwater Vehicle in Very Shallow Water

2004 ◽  
Author(s):  
William J. Marr ◽  
Anthony J. Healey
Keyword(s):  
Shallow Water ◽  
High Speed ◽  
Autonomous Underwater Vehicle ◽  
Data Transfer ◽  
Autonomous Underwater Vehicles ◽  
Water Environment ◽  
Underwater Vehicle ◽  
High Rate ◽  
Multiple Channel ◽  
Acoustic Data

Advances in Autonomous Underwater Vehicles (AUVs) using acoustic communications to transfer relatively high rate downloads of mission information are crucial to future Navy objectives, particularly in Very Shallow Water Mine Countermeasures (VSW MCM). Present understanding is primarily based on fixed node experiments rather than quantified by vehicles working in the real environment. This paper reports on the demonstrated limits of high speed asymmetric acoustic data transfer using an AUV in an adverse very shallow water environment. A comprehensive series of studies in multiple channel geometries was completed using a “state of the art” commercially available modem system installed on the NPS ARIES autonomous underwater vehicle. The maximum operating range for effective high speed data transfer in very shallow water from a dynamic AUV with all integrated systems active was about 300 meters in the horizontal plane with nearly 100% reliability, at bit rates up to a maximum of 800 bits/second.

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