A Compact Acoustic Communication Module for Remote Control Underwater
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Rus_A compact.pdf
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Author(s)
DelPreto, Joseph Jeff
Katzschmann, Robert Kevin
MacCurdy, Robert
Rus, Daniela L
Date Issued
October 2015
Journal
Proceedings of the 10th International Conference on Underwater Networks & Systems - WUWNET '15
Publisher
Association for Computing Machinery (ACM)
Citation
DelPreto, Joseph et al. “A Compact Acoustic Communication Module for Remote Control Underwater.” Proceedings of the 10th International Conference on Underwater Networks & Systems (WUWNET ’15), October 22-24 2015, Washington, D.C., USA, Association for Computing Machinery (ACM), October 2015 © 2015 Association for Computing Machinery (ACM)
Version
Author's final manuscript
Abstract
This paper describes an end-to-end compact acoustic communication system designed for easy integration into remotely controlled underwater operations. The system supports 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 algorithm and dynamic peak detection. We packaged the system together with an intuitive user interface for remotely controlling 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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1145/2831296.2831337
