Search Results (29)

The growing demand for offshore oil and gas production in deep waters has motivated the development of technologies to enable the continuous, reliable, and cost-effective monitoring of subsea equipment. Traditional inspection techniques rely on ROVs and AUVs, leading to delays between data acquisition and recovery and high operational costs. Underwater acoustic communication systems represent an attractive alternative for transmitting monitoring data to the surface in real time. This work evaluates the feasibility of implementing an underwater acoustic communication link for data transmission in deep-water environments, considering environmental conditions and acoustic channel characteristics. Using the BELLHOP ray-tracing model, simulations were performed to predict transmission loss, multipath effects, ambient noise, and the resulting signal-to-noise ratio (SNR) for different modem configurations and operating frequencies. The results demonstrate that the performance of the underwater link is strongly dependent on frequency, distance, and environmental variability. The study identifies optimal frequency–range relationships, quantifies the limitations imposed by transmission loss and ambient noise, and provides guidance for selecting acoustic modem parameters for real subsea monitoring applications. The SNR for three modem models operating at different frequencies illustrates the signal detection capability in the marine environment. The differences between modems A, B, and C are defined by their technical specifications and how they perform within the underwater acoustic channel of the Campos Basin. The data transmission capacity is supported by the data rates provided by the analyzed modems. The low frequencies of modem A (9.75 kHz) achieve the highest SNR, enabling long-range monitoring. At higher frequencies, modem C (78 kHz) allows short-distance communication. Modem B (35 kHz) offers a good balance between the data rate and power consumption, consuming only 1 W, making it highly viable for monitoring systems that rely on batteries and require long-term operation. The findings support the feasibility of integrating underwater acoustic communication into subsea monitoring architectures, enabling a more efficient oversight of deep-water production systems. The analysis concludes that project viability depends on selecting a system where the SNR and range meet the specific monitoring requirements. Full article

This paper introduces the development of an acoustic underwater glider integrated with an underwater acoustic modem designed to enable the real-time transmission of ocean observation data. The glider features three sequentially connected, independent compartments and is capable of operating at depths exceeding 1000 m. To ensure stable communication, two acoustic transducers are mounted at the rear of the glider and optimized to maintain a consistent energy radiation angle despite variations in the glider’s attitude. The acoustic modem, housed within one of the compartments, operates with a standby power consumption as low as 5 mW, significantly enhancing the overall energy efficiency of the system. To address the glider’s motion dynamics and the unique characteristics of the underwater acoustic channel, a multi-carrier frequency shift keying-based underwater acoustic communication scheme combined with a Stop-and-Wait Automatic Repeat Request protocol was designed and implemented. The system’s performance and reliability were validated through sea trials conducted in the South China Sea. The results demonstrated that the glider achieved reliable underwater acoustic communication over distances of up to 5 km. This research highlights the potential of the acoustic underwater glider for applications such as underwater acoustic measurements and distributed networking collaboration. The system holds significant promise for advancing underwater acoustic communication and ocean observation technologies. Full article

Nowadays, collaborative operations between Remotely Operated Vehicles (ROVs) face considerable challenges, particularly in leader–follower schemes. The underwater environment imposes limitations on acoustic modems, leading to reduced transmission speeds and increased latency in ROV position and speed transmission. This complicates effective communication between the ROVs. Traditional methods, such as Recursive Least Squares (RLS) predictors and the Kalman filter, have been employed to address these issues. However, these approaches have limitations in handling non-linear patterns and disturbances in underwater environments. This paper introduces a Convolutional Long Short-Term Memory (ConvLSTM) predictor designed to enhance communication and trajectory tracking between ROVs in a leader–follower scheme. The proposed ConvLSTM aims to address the shortcomings of previous methods by adapting effectively to varying conditions, including ocean currents, communication delays, and signal interruptions. Simulations were conducted to evaluate ConvLSTM’s performance and compare it with other advanced predictors, such as Multilayer Perceptron (MLP) and Long Short-Term Memory (LSTM), under different conditions. The results demonstrated that ConvLSTM achieved a 13.9% improvement in trajectory tracking, surpassing other predictors in scenarios that replicate real underwater conditions and multi-vehicle communication. These results highlight ConvLSTM’s potential to significantly enhance the performance and stability of collaborative ROV operations in dynamic underwater environments. Full article

Underwater acoustic communication is fraught with challenges, including signal distortion, noise, and interferences unique to aquatic environments. This study aimed to advance the field by developing a novel underwater modem system that utilizes machine learning for signal classification, enhancing the reliability and clarity of underwater transmissions. This research introduced a system architecture incorporating a Lattice Semiconductors FPGA for signal modulation and a half-pipe waveguide to emulate the underwater environment. For signal classification, support vector machines (SVMs) were leveraged with the continuous wavelet transform (CWT) employed for feature extraction from acoustic signals. Comparative analysis with traditional signal processing techniques highlighted the efficacy of the CWT in this context. The experiments and tests carried out with the system demonstrated superior performance in classifying modulated signals under simulated underwater conditions, with the SVM providing a robust classification despite the presence of noise. The use of the CWT for feature extraction significantly enhanced the model’s accuracy, eliminating the need for further dimensionality reduction. Therefore, the integration of machine learning with advanced signal processing techniques presents a promising research line for overcoming the complexities of underwater acoustic communication. The findings underscore the potential of data mining methodologies to improve signal clarity and transmission reliability in aquatic environments. Full article

Accurate localization is a critical task in underwater navigation. Typical localization methods use a set of acoustic sensors and beacons to estimate relative position, whose geometric configuration has a significant impact on the localization accuracy. Although there is much effort in the literature to define optimal 2D or 3D sensor placement, the optimal sensor placement in irregular and constrained 3D surfaces, such as autonomous underwater vehicles (AUVs) or other structures, is not exploited for improving localization. Additionally, most applications using AUVs employ commercial acoustic modems or compact arrays, therefore the optimization of the placement of spatially independent sensors is not a considered issue. This article tackles acoustic sensor placement optimization in irregular and constrained 3D surfaces, for inverted ultra-short baseline (USBL) approaches, to improve localization accuracy. The implemented multi-objective memetic algorithm combines an evaluation of the geometric sensor’s configuration, using the Cramer-Rao Lower Bound (CRLB), with the incidence angle of the received signal. A case study is presented over a simulated homing and docking scenario to demonstrate the proposed optimization algorithm. Full article

GNSS (Global Navigation Satellite System) positioning is not available underwater due to the very short range of electromagnetic waves in the sea water medium. In this article a LBL (Long Base Line) acoustic repeater system of the GNSS positioning is presented. The system is hyperbolic, i.e., based on time differences and it does not need very accurate atomic clocks to synchronize repeaters. The system architecture and system calculations that demonstrate the feasibility of the solution are presented. The system uses four buoys that sequentially transmit their position and the time of the instant of transmission, for which they are equipped with GNSS receivers and acoustic modems. The buoys can be fixed or even drifting, but they are inexpensive devices, which pose no hazard to navigation and can be easily and quickly deployed for a specific underwater mission. The multilateration algorithm used in the receiver is presented. To simplify the algorithm, the depth of the receiver, measured by a depth sensor, is used. Results are presented for the position error of an underwater vehicle due to its displacement during the transmission frame of the four buoys. Full article

Traditionally, underwater acoustic modems and positioning systems were developed for military and Oil & Gas industries, that require deep water deployments and extremely reliable systems, focusing on high power expensive systems and leaving the use of low-cost devices only attractive for academic studies. Conversely, recent developments of low-cost unmanned vehicles, such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), suitable for shallow water coastal missions, and the need of sensors network deployments for measuring water quality and studying the effect of climate change in coastal areas, called to the need of low-cost and low-power acoustic modems and positioning systems that are gaining more and more momentum to date. The use of these devices can enable a wide set of applications, often based on low-cost AUV swarm formations, where an acoustic link between the vehicles is required to coordinate the mission, perform the maneuvers, and maintain the formation along the time. Moreover, they can make environmental wireless sensor deployment cost effective by substituting wired systems. Underwater positioning systems, usually used in large-scale operations, can be finally applied to small-scale application thanks to the reduction in costs, at the price of a lower transmission and positioning range and precision. While in open-sea application this performance reduction is a huge limitation, in river, lagoon, port and lake deployments this is not an issue, given that the extremely shallow water and the presence of many obstacles would deteriorate the acoustic signal anyway, not allowing long range transmissions even with expensive and sophisticated acoustic devices. In this paper, we review the recent developments of low-cost and low-power acoustic communication and positioning systems, both analyzing University prototypes and new commercial devices available in the market, identifying advantages and limitations of these devices, and we describe potential new applications that can be enabled by these systems. Full article

Multiple-input–multiple-output (MIMO) communication systems utilize multiple transmitters to send different pieces of information in parallel. This offers a promising way to communicate at a high data rate over bandwidth-limited underwater acoustic channels. However, underwater acoustic MIMO communication not only suffers from serious inter-symbol interference, but also critical co-channel interference (CoI), both of which degrade the communication performance. In this paper, we propose a new framework for underwater acoustic MIMO communications. The proposed framework consists of a CoI-cancellation-based channel estimation method and channel-estimation-based decision feedback equalizer (CE-DFE) with CoI cancellation functionalities for underwater acoustic MIMO communication. We introduce a new channel estimation model that projects the received signal to a specific subspace where the interference is free; therefore, the CoI is cancelled. We also introduce a CE-DFE with CoI cancellation by appending some filters from traditional CE-DFE. In addition, the traditional direct adaptive decision feedback equalization (DA-DFE) method and the proposed method are compared in terms of communication performance and computational complexity. Finally, the sea trial experiment demonstrates the effectiveness and merits of the proposed method. The proposed method achieves a more than 1 dB of output SNR over traditional DA-DFE, and is less sensitive to parameters. The proposed method provides a new approach to the design of robust underwater acoustic MODEM. Full article

In this paper, we present the development of a multicarrier modulation system of low complexity for broadband underwater acoustic communications (UAC), whose frequency band is located in the ultrasonic range, specifically between 32 kHz and 128 kHz. Underwater acoustic channels are recognized among the most hostile communication channels due to their strong time and frequency selectivity and, hence, the design of high-performance systems is a challenge that is difficult to resolve at the present time with state-of-art technology. The aim of the proposed system is to reach a reasonable bit rate, between 40 and 50 Kbps, over these channels that allows, for instance, the transmission of video signals of limited quality. We describe an orthogonal frequency division multiplexing (OFDM) modem prototype with a parameter setting and design specifically adapted to the channel nature. For this purpose, actual measurements carried out at the Mediterranean sea, on shallow waters, have been used to evaluate the system performance and to optimize the design. A discussion on several modulations and OFDM configurations is presented that leads to the selection of differential and non-differential quadri-phase shift keying (QPSK) as good candidates depending on synchronization capabilities. Full article

The emergence of underwater acoustic networks has greatly improved the potential capabilities of marine environment detection. In underwater acoustic network applications, node location is a basic and important task, and node location information is the guarantee for the completion of various underwater tasks. Most of the current underwater positioning models do not consider the influence of the uneven underwater medium or the uncertainty of the position of the network beacon modem, which will reduce the accuracy of the positioning results. This paper proposes an underwater acoustic network positioning method based on spatial-temporal self-calibration. This method can automatically calibrate the space position of the beacon modem using only the GPS position and depth sensor information obtained in real-time. Under the asynchronous system, the influence of the inhomogeneity of the underwater medium is analyzed, and the unscented Kalman algorithm is used to estimate the position of underwater mobile nodes. Finally, the effectiveness of this method is verified by simulation and sea trials. Full article

Underwater wireless communication technology plays a key role in the field of marine equipment technology. In this paper, we experimentally demonstrate an underwater optical–acoustic cooperative communication platform for an underwater wireless data transmission system. The system utilizes an underwater Remote-Operated Vehicle (ROV) as a carrier, equipped with LEDbased optical communication and acoustic communication modems. In particular, the system applies optical communication to transmit large-scale data and applies acoustic communication to provide acoustic-assisted signaling exchange before optical transmission and Automatic Repeat Request (ARQ) during optical transmission. By experimentally measuring the transmission distance under different water quality conditions, we found that the system can achieve a data rate of up to 5 Mb/s over a laboratory underwater channel of 7.6 m. By comparing the attenuation coefficients for the outdoor underwater environment with that in clear seawater, we estimate that the achievable link distance in clear seawater can reach 11 m with a data rate of 3.125 MB/s. The proposed system takes both implementation complexity and cost into consideration and also provides significant guidance for future real-time high-speed underwater optical–acoustic communications. Full article

To enable long-term, large-scale, dense underwater sensor networks or Internet of Underwater Things (IoUT) this research investigates new novel waveforms and experimental prototypes for robust communications on ultra-low-cost and ultra-low-power, miniature acoustic modems. Spread-spectrum M-ary orthogonal signalling (MOS) is used with symbols constructed from subsequences of long pseudorandom codes. This decorrelates multipath signals, even when the time-spread spans many symbols, so they present as random noise. A highly cost-engineered and miniaturised prototype acoustic modem implementation was created, for the 24 kHz–32 kHz band, with low receive power consumption (12.5 mW) and transmit power of <1 W. Simulations show that the modulation scheme achieves 640 bit/s at −4.5 dB with AWGN or the equivalent level of multipath energy. Experimental validation of the hardware shows successful point-to-point communication at ranges of >3 km in lakes and >2 km in the sea including severe multipath. In lake testing of a 7-node, multi-hop, sensor network with TDA-MAC protocol, packet delivery was near 100% for all nodes. Trials of acoustic sensor nodes in the North Sea achieved 99.5% data delivery over a 3-month period and a wide range of sea conditions. Modulation and hardware have proven reliable in a variety of underwater environments. Competitive range and throughput with low cost and power are attractive for large-scale and long-term battery-operated networks. This research has delivered a viable and affordable communication technology for future IoUT applications. Full article

Autonomous Underwater Vehicles (AUVs) are becoming increasingly popular for large number of civil and military applications, such as environmental monitoring, oceanography, archaeology, or mine warfare. Operational safety issue still prevents the exploitation of the full potential of AUVs. Operations of AUVs are limited by constraints including the need to guarantee no collision with manned surface vehicles. To avoid collisions, a solution is to relay surface vessel positions to the AUVs by an underwater communication link. The communication must be optimized to establish a robust and reliable link at various range and depth. Commercial underwater acoustic modems are often dedicated for specific distances and bit rates with performances strongly dependent on the environmental conditions. For the considered application, the modem must be adaptive at the time and frequency selectivity of the channel which is varying according to the operation context. In this work, we propose an adaptive underwater acoustic waveform optimized to exploit at the best the time and frequency diversity the channel. To show the potential gain obtained by using diversity, the performance of the designed modem is evaluated using theoretical and realistic underwater channels. In addition, we propose a method for adapting the waveform based only on the knowledge of the transmission geometry. Finally, the proposed modem is tested to relay Automatic Identification Systems (AIS) picture of an area to AUVs. Full article

This paper presents the development of a low-energy passive acoustic vessel detector to work as part of a wireless underwater monitoring network. The vessel detection method is based on a low-energy implementation of Detection of Envelope Modulation On Noise (DEMON). Vessels produce a broad spectrum modulated noise during propeller cavitation, which the DEMON method aims to extract for the purposes of automated detection. The vessel detector design has different approaches with mixtures of analogue and digital processing, as well as continuous and duty-cycled sampling/processing. The detector re-purposes an existing acoustic modem platform to achieve a low-cost and long-deployment wireless sensor network. This integrated communication platform enables the detector to switch between detection/communication mode seamlessly within software. The vessel detector was deployed at depth for a total of 84 days in the North Sea, providing a large data set, which the results are based on. Open sea field trial results have shown detection of single and multiple vessels with a 94% corroboration rate with local Automatic Identification System (AIS) data. Results showed that additional information about the detected vessel such as the number of propeller blades can be extracted solely based on the detection data. The attention to energy efficiency led to an average power consumption of 11.4 mW, enabling long term deployments of up to 6 months using only four alkaline C cells. Additional battery packs and a modified enclosure could enable a longer deployment duration. As the detector was still deployed during the first UK lockdown, the impact of COVID-19 on North Sea fishing activity was captured. Future work includes deploying this technology en masse to operate as part of a network. This could afford the possibility of adding vessel tracking to the abilities of the vessel detection technology when deployed as a network of sensor nodes. Full article

In-band full-duplex communication offers significant potential to enhance network performance. This paper presents the full-duplex linear transmit delay allocation MAC (FD-LTDA-MAC) protocol for full-duplex based underwater acoustic chain networks (FD-UACNs) for subsea pipeline monitoring. This incorporates a number of extensions to the LTDA-MAC protocol in order to fully exploit advantages of full-duplex communication to enhance the efficiency of underwater facility monitoring. The protocol uses a greedy optimisation algorithm to derive collision-free packet schedules for delivering data packets to the sink node of the underwater chain network. The purpose of this paper is to show the significant improvement that can be achieved in packet scheduling by exploiting temporal spectrum re-use of an underwater acoustic channel through full-duplex communication. Simulation results show that more efficient packet scheduling and reduced end-to-end packet delays can be achieved in large scale scenarios using FD-LTDA-MAC compared with LTDA-MAC and LTDA-MAC with full-duplex enabled nodes. It can provide much higher monitoring rates for long range underwater pipelines using low cost, mid range, low rate, and low power acoustic modems. Full article