Statistical Studies of Fading in Underwater Wireless Optical Channels in the Presence of Air Bubble, Temperature, and Salinity Random Variations (Long Version)

Optical signal propagation through underwater channels is affected by three main degrading phenomena, namely absorption, scattering, and fading. In this paper, we experimentally study the statistical distribution of intensity fluctuations in underwater wireless optical channels with random temperature and salinity variations as well as the presence of air bubbles. In particular, we define different scenarios to produce random fluctuations on the water refractive index across the propagation path, and then examine the accuracy of various statistical distributions in terms of their goodness of fit to the experimental data. We also obtain the channel coherence time to address the average period of fading temporal variations. The scenarios under consideration cover a wide range of scintillation index from weak to strong turbulence. Moreover, the effects of beam-collimator at the transmitter side and aperture averaging lens at the receiver side are experimentally investigated. We show that the use of a transmitter beam-collimator and/or a receiver aperture averaging lens suits single-lobe distributions such that the generalized Gamma and exponential Weibull distributions can excellently match the histograms of the acquired data. Our experimental results further reveal that the channel coherence time is on the order of $10^{-3}$ seconds and larger which implies to the slow fading turbulent channels

Underwater Multirobot Cooperative Intervention MAC Protocol

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 compare this protocol with Aloha-CS and S-FAMA MAC protocols used in Underwater Wireless Sensor Networks (UWSN). In the first experiment, the communications and the AUVs have been simulated using UWSim-NET. The objective of this experiment was to evaluate all three protocols in terms of delay, jitter, efficiency, collisions and throughput depending on the size of the data packet and the rate of packet delivery in the application layer for each robot. The results of this experiment proved that UMCI-MAC successfully avoids packet collisions and outperforms the other two protocols in terms of delay, jitter and efficiency. The second experiment consisted of a Hardware In The Loop (HIL) teleoperation of a team of four robots. One of the AUVs was a real BlueROV in a water tank, while the remaining AUVs and the communications were simulated with UWSim-NET. It demonstrates the impact of the MAC protocols in underwater acoustic links. Of the three MAC protocols evaluated in this work, UMCI-MAC was the only one which succeeded in the proposed teleoperation experiment. Thus demonstrating its suitability as a communications protocol in underwater cooperative robotics

Underwater Optical Wireless Communications Link for Short-Range Data Transmission: A Proof of Concept Study

Gemstone Team OPTICThe purpose of this thesis is to lay the groundwork for the development of a cost-effective Underwater Optical Wireless Communications system. Currently, one of the largest barriers to the expansion of underwater enterprise and research is a lack of high-speed wireless communication systems. Wireless communication underwater is essential for safety, improving aquatic technology, and many other marine ventures, yet it is still technologically limited. Current methods, such as acoustic communication, are often power inefficient, cumbersome, and expensive. The proposed system would enable scuba divers and researchers to bridge the technological gaps in available underwater data transmission systems. This paper proposes using visible light to wirelessly transmit data underwater. Visible light is an effective carrier wave underwater due to its large bandwidth and low absorption coefficient. Using light emitting diodes, silicon PIN photodetectors, waterproof enclosures, and consumer-grade microcontrollers, a model for the development of a wireless optical communications system is proposed. The system also adopts a modular design which allows each component to evolve as needed. The proposed system can transmit and receive audio and vitals signals underwater, illustrating the potential of a technology that could make diving and other underwater endeavors safer and more efficient. Furthermore, the proposed data link shows the potential for this technology to be used in other underwater applications that were previously limited by data speeds or mobility. Above all, this technology seeks to build upon existing knowledge of optical wireless communication and advance the field of underwater science and technology

Experimental evaluation of segmentation algorithms for corner detection in sonar images

The development of AUVs represents one of the latest great achievements of engineering and science for the exploration and monitoring of the underwater world. The use of these vehicles facilitates the collection of data and monitoring of these environments, allowing us to perform previously impossible operations. Autonomous navigation continues to present many challenges. The question of total autonomy is yet to be solved. Currently, AUVs are not able to navigate without some outside assistance for long periods.When underwater, due to the high attenuation suffered by the GPS and radio-frequency signals, the use of acoustic communications and sensors offers better results.Imaging sonars have been one of the most appealing technologies for acquiring information in underwater environments because they can yield acoustic images of the surroundings and have a set of particular characteristics that are well suited for obstacle detection and characterization tasks.Corners usually appear very distinct from the rest of the scene in sonar images, generally characterized by sharp intensities in a vertical direction. The detection of corners is particularly useful in human-structured environments such as tanks because the knowledge on their position provides a way to compute the vehicle position inside it. The combination of some basic operations typically used for image segmentation can be applied to the raw sonar image to detect and localize these spots.This dissertation proposes and evaluates with experimental data a set of image segmentation algorithms for corner detection in sonar scans. A detailed description of the necessary steps to accomplish this is provided as well as a critical analysis of the results following a few relevant metrics for autonomous navigation