A Hierarchical Communication Architecture for Oceanic Survelliance Applications

The interest in monitoring applications using underwater sensor networks has been growing in recent years. The severe communication restrictions imposed by underwater channels make that efficient monitoring be a challenging task. Though a lot of research has been conducted on underwater sensor networks, there are only few concrete applications to a real-world case study. In this work, hence, we propose a general three tier architecture leveraging low cost wireless technologies for acoustic communications between underwater sensors and standard technologies, Zigbee and Wireless Fidelity (WiFi), for water surface communications. We have selected a suitable Medium Access Control (MAC) layer, after making a comparison with some common MAC protocols. Thus the performance of the overall system in terms of Signals Discarding Rate (SDR), signalling delay at the surface gateway as well as the percentage of true detection have been evaluated by simulation, pointing out good results which give evidence in applicability’s favour

Design and Implementation of an Omni-Directional Underwater Acoustic Micro-Modem Based on a Low-Power Micro-Controller Unit

For decades, underwater acoustic communication has been restricted to the point-to-point long distance applications such as deep sea probes and offshore oil fields. For this reason, previous acoustic modems were typically characterized by high data rates and long working ranges at the expense of large size and high power consumption. Recently, as the need for underwater wireless sensor networks (UWSNs) has increased, the research and development of compact and low-power consuming communication devices has become the focus. From the consideration that the requisites of acoustic modems for UWSNs are low power consumption, omni-directional beam pattern, low cost and so on, in this paper, we design and implement an omni-directional underwater acoustic micro-modem satisfying these requirements. In order to execute fast digital domain signal processing and support flexible interfaces with other peripherals, an ARM Cortex-M3 is embedded in the micro-modem. Also, for the realization of small and omni-directional properties, a spherical transducer having a resonant frequency of 70 kHz and a diameter of 34 mm is utilized for the implementation. Physical layer frame format and symbol structure for efficient packet-based underwater communication systems are also investigated. The developed acoustic micro-modem is verified analytically and experimentally in indoor and outdoor environments in terms of functionality and performance. Since the modem satisfies the requirements for use in UWSNs, it could be deployed in a wide range of applications requiring underwater acoustic communication

Progressively communicating rich telemetry from autonomous underwater vehicles via relays

Submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution June 2012As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface observers remains a significant challenge – as a result, current telemetry from free-roaming autonomous marine vehicles remains limited to ‘heartbeat’ status messages, with minimal scientific data available until after recovery. Increasing the challenge, longdistance communication may require relaying data across multiple acoustic hops between vehicles, yet fixed infrastructure is not always appropriate or possible. In this thesis I present an analysis of the unique considerations facing telemetry systems for free-roaming Autonomous Underwater Vehicles (AUVs) used in exploration. These considerations include high-cost vehicle nodes with persistent storage and significant computation capabilities, combined with human surface operators monitoring each node. I then propose mechanisms for interactive, progressive communication of data across multiple acoustic hops. These mechanisms include wavelet-based embedded coding methods, and a novel image compression scheme based on texture classification and synthesis. The specific characteristics of underwater communication channels, including high latency, intermittent communication, the lack of instantaneous end-to-end connectivity, and a broadcast medium, inform these proposals. Human feedback is incorporated by allowing operators to identify segments of data thatwarrant higher quality refinement, ensuring efficient use of limited throughput. I then analyze the performance of these mechanisms relative to current practices. Finally, I present CAPTURE, a telemetry architecture that builds on this analysis. CAPTURE draws on advances in compression and delay tolerant networking to enable progressive transmission of scientific data, including imagery, across multiple acoustic hops. In concert with a physical layer, CAPTURE provides an endto- end networking solution for communicating science data from autonomous marine vehicles. Automatically selected imagery, sonar, and time-series sensor data are progressively transmitted across multiple hops to surface operators. Human operators can request arbitrarily high-quality refinement of any resource, up to an error-free reconstruction. The components of this system are then demonstrated through three field trials in diverse environments on SeaBED, OceanServer and Bluefin AUVs, each in different software architectures.Thanks to the National Science Foundation, and the National Oceanic and Atmospheric Administration for their funding of my education and this work

Adaptive Modulation Schemes for Underwater Acoustic OFDM Communication

High data rate communication is challenging in underwater acoustic (UA) communication as UA channels vary fast along with the environmental factors. A real-time Orthogonal frequency-division multiplexing (OFDM) based adaptive UA communication system is studied in this research employing the National Instruments (NI) LabVIEW software and NI CompactDAQ device. The developed adaptive modulation schemes enhance the reliability of communication, guarantee continuous connectivity, ensure maximum performance under a fixed BER at all times and boost data rate

Real-Time Adaptive Modulation Schemes for Underwater Acoustic OFDM Communication

Adaptive modulation received significant attention for underwater acoustic (UA) communication systems with the aim of increasing the system efficiency. It is challenging to attain a high data rate in UA communication, as UA channels vary fast, along with the environmental factors. For a time-varying UA channel, a self-adaptive system is an attractive option, which can choose the best method according to the channel condition to guarantee the continuous connectivity and high performance constantly. A real-time orthogonal frequency-division multiplexing (OFDM)-based adaptive UA communication system is presented in this paper, employing the National Instruments (NI) LabVIEW software and NI CompactDAQ device. In this paper, the received SNR is considered as a performance metric to select the transmission parameters, which are sent back to the transmitter for data transmission. In this research, a UA OFDM communication system is developed, employing adaptive modulation schemes for a nonstationary UA environment which allows to select subcarriers, modulation size, and allocate power adaptively to enhance the reliability of communication, guarantee continuous connectivity, and boost data rate. The recent UA communication experiments carried out in the Canning River, Western Australia, verify the performance of the proposed adaptive UA OFDM system, and the experimental results confirm the superiority of the proposed adaptive scheme

An ultra-low power and flexible acoustic modem design to develop energy-efficient underwater sensor networks

This paper is focused on the description of the physical layer of a new acoustic modem called ITACA. The modem architecture includes as a major novelty an ultra-low power asynchronous wake-up system implementation for underwater acoustic transmission that is based on a low-cost off-the-shelf RFID peripheral integrated circuit. This feature enables a reduced power dissipation of 10 ¿W in stand-by mode and registers very low power values during reception and transmission. The modem also incorporates clear channel assessment (CCA) to support CSMA-based medium access control (MAC) layer protocols. The design is part of a compact platform for a long-life short/medium range underwater wireless sensor network. © 2012 by the authors; licensee MDPI, Basel, Switzerland.This work has been partially funded by projects DPI2007-66796-C03-01 (Diseno, Evaluacion e Implementacion de una Red Subacuatica de Sensores-Ministerio de Educacion y Ciencia), PET2008-0011 (Investigacion basica fundamental sobre tecnologias constitutivas de un sistema de red inalambrica de sensores y su aplicacion para el desarrollo de una plataforma de redes inalambricas de sensores-Ministerio de Ciencia e Innovacion) and CTM2011-29691-C02-01 (Sonorizacion ambiental subacuatica para la inspeccion y monitorizacion de explotaciones de acuicultura marina-Ministerio de Ciencia e Innovacion).Sánchez Matías, AM.; Blanc Clavero, S.; Yuste Pérez, P.; Perles Ivars, ÁF.; Serrano Martín, JJ. (2012). An ultra-low power and flexible acoustic modem design to develop energy-efficient underwater sensor networks. Sensors. 12(6):6837-6856. https://doi.org/10.3390/s120606837S6837685612

Persistent ocean monitoring with underwater gliders: Adapting sampling resolution

Ocean processes are dynamic and complex and occur on multiple spatial and temporal scales. To obtain a synoptic view of such processes, ocean scientists collect data over long time periods. Historically, measurements were continually provided by fixed sensors, e.g., moorings, or gathered from ships. Recently, an increase in the utilization of autonomous underwater vehicles has enabled a more dynamic data acquisition approach. However, we still do not utilize the full capabilities of these vehicles. Here we present algorithms that produce persistent monitoring missions for underwater vehicles by balancing path following accuracy and sampling resolution for a given region of interest, which addresses a pressing need among ocean scientists to efficiently and effectively collect high-value data. More specifically, this paper proposes a path planning algorithm and a speed control algorithm for underwater gliders, which together give informative trajectories for the glider to persistently monitor a patch of ocean. We optimize a cost function that blends two competing factors: maximize the information value along the path while minimizing deviation from the planned path due to ocean currents. Speed is controlled along the planned path by adjusting the pitch angle of the underwater glider, so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long-term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California, as well as in Monterey Bay, California. The experimental results show improvements in both data resolution and path reliability compared to previously executed sampling paths used in the respective regions.United States. National Oceanic and Atmospheric Administration. Monitoring and Event Response for Harmful Algal Blooms (NA05NOS4781228)National Science Foundation (U.S.). Center for Embedded Networked Sensing (CCR-0120778)National Science Foundation (U.S.). (Grant number CNS-0520305)National Science Foundation (U.S.). (Grant number CNS-0540420)United States. Office of Naval Research. Multidisciplinary University Research Initiative (N00014-09-1-1031)United States. Office of Naval Research. Multidisciplinary University Research Initiative (N00014-08-1-0693)United States. Office of Naval Research. Service-Oriented Architectur

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited

Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) 2019 Annual Report

Prepared for: Dr. Brian Bingham, CRUSER DirectorThe Naval Postgraduate School (NPS) Consortium for Robotics and Unmanned Systems Education and Research (CRUSER) provides a collaborative environment and community of interest for the advancement of unmanned systems (UxS) education and research endeavors across the Navy (USN), Marine Corps (USMC) and Department of Defense (DoD). CRUSER is a Secretary of the Navy (SECNAV) initiative to build an inclusive community of interest on the application of unmanned systems (UxS) in military and naval operations. This 2019 annual report summarizes CRUSER activities in its eighth year of operations and highlights future plans.Deputy Undersecretary of the Navy PPOIOffice of Naval Research (ONR)Approved for public release; distribution is unlimited