A Survey of Positioning Systems Using Visible LED Lights

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.As Global Positioning System (GPS) cannot provide satisfying performance in indoor environments, indoor positioning technology, which utilizes indoor wireless signals instead of GPS signals, has grown rapidly in recent years. Meanwhile, visible light communication (VLC) using light devices such as light emitting diodes (LEDs) has been deemed to be a promising candidate in the heterogeneous wireless networks that may collaborate with radio frequencies (RF) wireless networks. In particular, light-fidelity has a great potential for deployment in future indoor environments because of its high throughput and security advantages. This paper provides a comprehensive study of a novel positioning technology based on visible white LED lights, which has attracted much attention from both academia and industry. The essential characteristics and principles of this system are deeply discussed, and relevant positioning algorithms and designs are classified and elaborated. This paper undertakes a thorough investigation into current LED-based indoor positioning systems and compares their performance through many aspects, such as test environment, accuracy, and cost. It presents indoor hybrid positioning systems among VLC and other systems (e.g., inertial sensors and RF systems). We also review and classify outdoor VLC positioning applications for the first time. Finally, this paper surveys major advances as well as open issues, challenges, and future research directions in VLC positioning systems.Peer reviewe

Underwater Wireless Communications for Cooperative Robotics with UWSim-NET

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. This article also shows the results of three experiments that demonstrate the capabilities of UWSim-NET in modeling radio frequency (RF) and acoustic links in underwater scenarios. It also permits evaluating several MAC protocols such as additive links online Hawaii area (ALOHA), slotted floor acquisition multiple access (S-FAMA) and user defined protocols. A third experiment demonstrated the excellent capabilities of UWSim-NET in conducting hardware in the loop (HIL) experiments

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

Autonomous Underwater Vehicle: 5G Network Design and Simulation Based on Mimetic Technique Control System

The Internet of Underwater Things (IoUT) exhibits promising advancement with underwater acoustic wireless network communication (UWSN). Conventionally, IoUT has been utilized for the offshore monitoring and exploration of the environment within the underwater region. The data exchange between the IoUT has been performed with the 5G enabled-communication to establish the connection with the futuristic underwater monitoring. However, the acoustic waves in underwater communication are subjected to longer propagation delay and higher transmission energy. To overcome those issues autonomous underwater vehicle (AUV) is implemented for the data collection and routing based on cluster formation. This paper developed a memetic algorithm-based AUV monitoring system for the underwater environment. The proposed Autonomous 5G Memetic (A5GMEMETIC) model performs the data collection and transmission to increase the USAN performance. The A5GMEMETIC model data collection through the dynamic unaware clustering model minimizes energy consumption. The A5GMemetic optimizes the location of the nodes in the underwater environment for the optimal data path estimation for the data transmission in the network. Simulation analysis is performed comparatively with the proposed A5Gmemetic with the conventional AEDG, DGS, and HAMA models. The comparative analysis expressed that the proposed A5GMeMEMETIC model exhibits the ~12% increased packet delivery ratio (PDR), ~9% reduced delay and ~8% improved network lifetime

Overview of Key Technologies for Remote Wireless Operation Platform on Water Surface

The underwater environment is complicated and full of hazards, making it tough to complete with just one piece of underwater operation equipment. Building a high-speed, low-latency wireless connection between a remote wireless operation platform on water surface and other operation platforms in order to achieve long-distance transmission of high-definition image data and control commands, as well as collaborative operations among multiple platforms, has become a development trend and focus of exploring complex and dangerous waters. This paper summarizes and elaborates on underwater communication technology, long-distance data transmission technology, multi-submersible robot collaborative operation, and information interaction technology, as well as the development status of key technologies of remote wireless operation platform on water surface. And the research direction and focus of the remote wireless operation platform on water surface are prospected

Overview of Key Technologies for Water-based Automatic Security Marking Platform

Water-based automatic security marking platform composed of multifunctional underwater robots and unmanned surface vessel has become the development trend and focus for exploring complex and dangerous waters,and its related technologies have flourished and gradually developed from single control to multi-platform collaborative direction in complex and dangerous waters to reduce casualties. This paper composes and analyzes the key technologies of the water-based automatic security marking platform based on the cable underwater robot and the unmanned surface vessel, describes the research and application status of the key technologies of the water-based automatic security marking platform from the aspects of the unmanned surface vessel, underwater robot and underwater multisensor information fusion, and outlooks the research direction and focus of the water automatic security inspection and marking platform

Algorithms for propagation-aware underwater ranging and localization

Mención Internacional en el título de doctorWhile oceans occupy most of our planet, their exploration and conservation are one of the crucial research problems of modern time. Underwater localization stands among the key issues on the way to the proper inspection and monitoring of this significant part of our world. In this thesis, we investigate and tackle different challenges related to underwater ranging and localization. In particular, we focus on algorithms that consider underwater acoustic channel properties. This group of algorithms utilizes additional information about the environment and its impact on acoustic signal propagation, in order to improve the accuracy of location estimates, or to achieve a reduced complexity, or a reduced amount of resources (e.g., anchor nodes) compared to traditional algorithms. First, we tackle the problem of passive range estimation using the differences in the times of arrival of multipath replicas of a transmitted acoustic signal. This is a costand energy- effective algorithm that can be used for the localization of autonomous underwater vehicles (AUVs), and utilizes information about signal propagation. We study the accuracy of this method in the simplified case of constant sound speed profile (SSP) and compare it to a more realistic case with various non-constant SSP. We also propose an auxiliary quantity called effective sound speed. This quantity, when modeling acoustic propagation via ray models, takes into account the difference between rectilinear and non-rectilinear sound ray paths. According to our evaluation, this offers improved range estimation results with respect to standard algorithms that consider the actual value of the speed of sound. We then propose an algorithm suitable for the non-invasive tracking of AUVs or vocalizing marine animals, using only a single receiver. This algorithm evaluates the underwater acoustic channel impulse response differences induced by a diverse sea bottom profile, and proposes a computationally- and energy-efficient solution for passive localization. Finally, we propose another algorithm to solve the issue of 3D acoustic localization and tracking of marine fauna. To reach the expected degree of accuracy, more sensors are often required than are available in typical commercial off-the-shelf (COTS) phased arrays found, e.g., in ultra short baseline (USBL) systems. Direct combination of multiple COTS arrays may be constrained by array body elements, and lead to breaking the optimal array element spacing, or the desired array layout. Thus, the application of state-of-the-art direction of arrival (DoA) estimation algorithms may not be possible. We propose a solution for passive 3D localization and tracking using a wideband acoustic array of arbitrary shape, and validate the algorithm in multiple experiments, involving both active and passive targets.Part of the research in this thesis has been supported by the EU H2020 program under project SYMBIOSIS (G.A. no. 773753).This work has been supported by IMDEA Networks InstitutePrograma de Doctorado en Ingeniería Telemática por la Universidad Carlos III de MadridPresidente: Paul Daniel Mitchell.- Secretario: Antonio Fernández Anta.- Vocal: Santiago Zazo Bell

Data Transmission through Li-Fi in Underwater

The emerging optical wireless communication techniques have offered high data rates in Gbps and visible light promises low attenuation of signal strength which provides high data density. The proposed method deals with the transmission of data underwater through visible light communication. The proposed method designs data transmission model where it transmits text, audio, image through water. The hardware used in this model are Arduino Nano and the transmitter part in the model is the laser light, whereas the receiver part is made of laser receiver. The transmitter follows On Off Keying (OOK) modulation technique where the blinking of laser on determine1’s and off as 0’s in this way the data is transmitted via line of sight to the receiver underwater. Li-Fi implementation can be executed to achieve rapid information move. In future, the capacity can be increased as per the requirement to transmit high quality image audio using higher rage lasers and photodiodes