A Compact Acoustic Communication Module for Remote Control Underwater

Abstract

This paper describes an end-to-end compact acoustic com- munication system designed for easy integration into re- motely controlled underwater operations. The system sup- ports up to 2048 commands that are encoded as 16 bit words. We present the design, hardware, and supporting algorithms for this system. A pulse-based FSK modulation scheme is presented, along with a method of demodulation requiring minimal processing power that leverages the Goertzel algo- rithm and dynamic peak detection. We packaged the system together with an intuitive user interface for remotely control- ling an autonomous underwater vehicle. We evaluated this system in the pool and in the open ocean. We present the communication data collected during experiments using the system to control an underwater robot.

BibTeX

@inproceedings{delpreto2015compact,
  year = {2015},
  author = {DelPreto, Joseph and Katzschmann, Robert and MacCurdy, Robert and Rus, Daniela},
  title = {A Compact Acoustic Communication Module for Remote Control Underwater},
  booktitle = {Proceedings of the 10th International Conference on Underwater Networks & Systems},
  pages = {13},
  publisher = {WUWNet '15: Proceedings of the 10th International Conference on Underwater Networks & Systems},
  doi = {10.1145/2831294.2831316},
}