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A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots

Author(s)
Rust, Ian C; Asada, Haruhiko
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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Abstract
An integrated approach to underwater wireless communication and orientation estimation using visible light is presented and demonstrated using a simplified 1-DOF system. This system utilizes a long range, high bandwidth optical communication system as a reference with which to rectify error in the prediction of the orientation state. This is done through the use of a Discrete Kalman Filter. In this way, a dual-use system is developed. Using the same hardware, this system can simultaneously communicate using a modulated light source, and estimate, with accuracy, absolute orientation in space. This orientation knowledge is vital to maintaining a line-of-sight link for the communication system. In addition, orientation estimation is important for the various tasks that the underwater robot must perform. Copyright © 2011 by ASME.
Date issued
2018-11-02
URI
http://hdl.handle.net/1721.1/118839
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Journal
ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
Publisher
ASME International
Citation
Rust, Ian C., and H. Harry Asada. “A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots.” ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 31 October - 2 November, 2011, Arlington, Virginia, ASME, 2011, pp. 95–102.
Version: Final published version
ISBN
978-0-7918-5476-1

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