Search results for "Acoustic communication"
showing 10 items of 10 documents
A Nonisovelocity Geometry-Based Underwater Acoustic Channel Model
2018
This paper proposes a new geometry-based shallow underwater acoustic (UWA) channel model allowing for nonisovelocity ocean conditions. The fact that the isovelocity assumption does not hold in many real-world scenarios motivates the need for developing channel models for nonisovelocity UWA propagation environments. Starting from a geometrical model, we develop a stochastic channel model for a single-input single-output (SISO) vehicle-to-vehicle UWA channel assuming that the ocean surface and bottom are rough and that the speed of sound varies with depth. The effect of the nonisovelocity condition has been assessed regarding its influence on the temporal autocorrelation function, the frequen…
Whistling is metabolically cheap for communicating bottlenose dolphins (Tursiops truncatus)
2020
Toothed whales depend on sound for communication and foraging, making them potentially vulnerable to acoustic masking from increasing anthropogenic noise. Masking effects may be ameliorated by higher amplitudes or rates of calling, but such acoustic compensation mechanisms may incur energetic costs if sound production is expensive. The costs of whistling in bottlenose dolphins (Tursiops truncatus) have been reported to be much higher (20-50% of resting metabolic rate, RMR) than theoretical predictions (0.5-1% of RMR). Here we address this dichotomy by measuring the change in the resting O2 consumption rate (V̇O2), a proxy for RMR, in three post-absorptive bottlenose dolphins during whistlin…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
Doppler Estimation and Correction for JANUS Underwater Communications
2020
In recent years, underwater communications have seen a growing interest pushed by marine research, oceanography, marine commercial operations, offshore oil industry and defense applications. Generally, underwater communications employ audio signals which can propagate relatively far but are also significantly affected by Doppler distortions. In fact, physical properties of the water and spatial changes due to tides, currents and waves can cause channel variations or unwanted movements of the transmitter or receiver. This study shows how to compensate for the Doppler effect in transmission employing the JANUS standard, a popular modulation scheme for underwater communication. Differently for…
Acoustic transmitters for underwater neutrino telescopes.
2012
In this paper acoustic transmitters that were developed for use in underwater neutrino telescopes are presented. Firstly, an acoustic transceiver has been developed as part of the acoustic positioning system of neutrino telescopes. These infrastructures are not completely rigid and require a positioning system in order to monitor the position of the optical sensors which move due to sea currents. To guarantee a reliable and versatile system, the transceiver has the requirements of reduced cost, low power consumption, high pressure withstanding (up to 500 bars), high intensity for emission, low intrinsic noise, arbitrary signals for emission and the capacity of acquiring and processing recei…
A study on the distribution of the envelope and the capacity of underwater acoustic channels
2014
This paper deals with the statistical analysis of the instantaneous capacity of shallow underwater acoustic communication (UWAC) channels under the assumption that the scatterers are randomly distributed on the surface and bottom of the ocean. We start by deriving exact closed-form expressions for the probability density function (PDF) of the total propagation path length from which the PDF of the path gains is obtained. Then, we study the distributions of the channel envelope and the capacity under line-of-sight (LOS) conditions. By performing the chi-square goodness-of-fit test, it is shown that the channel envelope is Rice distributed. Moreover, we investigate the effect of the ocean dep…
Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links
2020
AbstractUnderwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper pr…
FLUMO: FLexible Underwater MOdem
2019
The last years have seen a growing interest in underwater acoustic communications because of its applications in marine research, oceanography, marine commercial operations, the offshore oil industry and defense. High-speed communication in the underwater acoustic channel has been challenging because of limited bandwidth, extended multipath, refractive properties of the medium, severe fading, rapid time variation and large Doppler shifts. In this paper, we show an implementation of a flexible Software-Defined Acoustic (SDA) underwater modem, where modulation parameters are completely tunable to optimize performance. In particular, we develop the system architecture following two key ideas. …
A Channel-Aware Adaptive Modem for Underwater Acoustic Communications
2021
Acoustic underwater channels are very challenging, because of limited bandwidth, long propagation delays, extended multipath, severe attenuation, rapid time variation and large Doppler shifts. A plethora of underwater communication techniques have been developed for dealing with such a complexity, mostly tailoring specific applications scenarios which can not be considered as one-size-fits-all solutions. Indeed, the design of environment-specific solutions is especially critical for modulations with high spectral efficiency, which are very sensitive to channel characteristics. In this paper, we design and implement a software-defined modem able to dynamically estimate the acoustic channel c…
Underwater Multirobot Cooperative Intervention MAC Protocol
2020
This work introduces a Medium Access Control (MAC) protocol designed to allow a group of underwater robots that share a wireless communication channel to effectively communicate with each other. The goal of the Underwater Multirobot Cooperative Intervention MAC (UMCI-MAC) protocol presented in this work is to minimize the end to end delay and the jitter. The access to the medium in UMCI-MAC follows a Time Division Multiple Access (TDMA) strategy which is arbitrated by a master, which also has the capability to prioritize the transmission of some nodes over the rest of the network. Two experiments have been carried out with a team of four Autonomous Underwater Vehicles (AUV) in order to comp…