Development of an acoustic communication link for micro underwater vehicles

PhD ThesisIn recent years there has been an increasing trend towards the use of Micro Remotely Operated Vehicles (μROVs), such as the Videoray and Seabotix LBV products, for a range of subsea applications, including environmental monitoring, harbour security, military surveillance and offshore inspection. A major operational limitation is the umbilical cable, which is traditionally used to supply power and communications to the vehicle. This tether has often been found to significantly restrict the agility of the vehicle or in extreme cases, result in entanglement with subsea structures. This thesis addresses the challenges associated with developing a reliable full-duplex wireless communications link aimed at tetherless operation of a μROV. Previous research has demonstrated the ability to support highly compressed video transmissions over several kilometres through shallow water channels with large range-depth ratios. However, the physical constraints of these platforms paired with the system cost requirements pose significant additional challenges. Firstly, the physical size/weight of transducers for the LF (8-16kHz) and MF (16-32kHz) bands would significantly affect the dynamics of the vehicle measuring less than 0.5m long. Therefore, this thesis explores the challenges associated with moving the operating frequency up to around 50kHz centre, along with the opportunities for increased data rate and tracking due to higher bandwidth. The typical operating radius of μROVs is less than 200m, in water < 100m deep, which gives rise to multipath channels characterised by long timespread and relatively sparse arrivals. Hence, the system must be optimised for performance in these conditions. The hardware costs of large multi-element receiver arrays are prohibitive when compared to the cost of the μROV platform. Additionally, the physical size of such arrays complicates deployment from small surface vessels. Although some recent developments in iterative equalisation and decoding structures have enhanced the performance of single element receivers, they are not found to be adequate in such channels. This work explores the optimum cost/performance trade-off in a combination of a micro beamforming array using a Bit Interleaved Coded Modulation with Iterative Decoding (BICM-ID) receiver structure. The highly dynamic nature of μROVs, with rapid acceleration/deceleration and complex thruster/wake effects, are also a significant challenge to reliable continuous communications. The thesis also explores how these effects can best be mitigated via advanced Doppler correction techniques, and adaptive coding and modulation via a simultaneous frequency multiplexed down link. In order to fully explore continuous adaptation of the transmitted signals, a real-time full-duplex communication system was constructed in hardware, utilising low cost components and a highly optimised PC based receiver structure. Rigorous testing, both in laboratory conditions and through extensive field trials, have enabled the author to explore the performance of the communication link on a vehicle carrying out typical operations and presenting a wide range of channel, noise, Doppler and transmission latency conditions. This has led to a comprehensive set of design recommendations for a reliable and cost effective link capable of continuous throughputs of >30 kbits/s

A Reliable Multiple Access Scheme Based on Chirp Spread Spectrum and Turbo Codes

Nowadays, smart devices are the indispensable part of everyone's life and they play an important role in the advancement of industries and businesses.These devices are able to communicate with themselves and build the super network of the Internet of Things(IoT). Therefore, the need for the underlying structure of wireless data communications gains momentum. We require a wireless communication to support massive connectivity with ultra-fast data transmission rate and ultra-low latency. This research explores two possible methods of tackling the issues of the current communication systems for getting closer to the realization of the IoT. First, a grant-free scheme for uplink communication is proposed. The idea is to the combine the control signals with data signals by superimposing them on top of each other with minimal degradation of both signals. Moreover, it is well-established that orthogonal multiple access schemes cannot support the massive connectivity. Ergo, the second part of this research investigates a Non-Orthogonal Multiple Access(NOMA) scheme that exploits the powerful notion of turbo codes for separating the signals in a slow fading channel. It has been shown that in spite of the simplicity of the design, it has the potentials to surpass the performance of Sparse Code Multiple Access(SCMA) scheme

Multichannel communication based on adaptive equalization in very shallow water acoustic channels

Master'sMASTER OF ENGINEERIN

Doppler compensation algorithms for DSP-based implementation of OFDM underwater acoustic communication systems

In recent years, orthogonal frequency division multiplexing (OFDM) has gained considerable attention in the development of underwater communication (UWC) systems for civilian and military applications. However, the wideband nature of the communication links necessitate robust algorithms to combat the consequences of severe channel conditions such as frequency selectivity, ambient noise, severe multipath and Doppler Effect due to velocity change between the transmitter and receiver. This velocity perturbation comprises two scenarios; the first induces constant time scale expansion/compression or zero acceleration during the transmitted packet time, and the second is time varying Doppler-shift. The latter is an increasingly important area in autonomous underwater vehicle (AUV) applications. The aim of this thesis is to design a low complexity OFDM-based receiver structure for underwater communication that tackles the inherent Doppler effect and is applicable for developing real-time systems on a digital signal processor (DSP). The proposed structure presents a paradigm in modem design from previous generations of single carrier receivers employing computationally expensive equalizers. The thesis demonstrates the issues related to designing a practical OFDM system, such as channel coding and peak-to-average power ratio (PAPR). In channel coding, the proposed algorithms employ convolutional bit-interleaved coded modulation with iterative decoding (BICM-ID) to obtain a higher degree of protection against power fading caused by the channel. A novel receiver structure that combines an adaptive Doppler-shift correction and BICM-ID for multi-carrier systems is presented. In addition, the selective mapping (SLM) technique has been utilized for PAPR. Due to their time varying and frequency selective channel nature, the proposed systems are investigated via both laboratory simulations and experiments conducted in the North Sea off the UK’s North East coast. The results of the study show that the proposed systems outperform block-based Doppler-shift compensation and are capable of tracking the Doppler-shift at acceleration up to 1m /s2.EThOS - Electronic Theses Online ServiceIraqi Government's Ministry of Higher Education and Scientific ResearchGBUnited Kingdo