Acoustic modem for micro AUVs

Renner, Christian; Golkowski, Alexander J.

doi:10.1145/2999504.3001076

Cited by 24 publications

(2 citation statements)

References 14 publications

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“…The working environment and requirements of AUVs will determine the design of VBS. Small AUVs are mainly used for shallow water environment observation (Renner, 2017; Vinoth Kumar et al , 2020) and cluster operation (Chen et al , 2020; Zhang et al , 2020), which need little change in buoyancy; therefore, we chose piston drive. Piston drives are more maneuverable in shallow water than pump drives and are simpler and easier to integrate into small AUVs.…”

Section: Extensible Design and Analysis Of Variable Buoyancy Systemmentioning

confidence: 99%

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Xia,

Li,

Zang

et al. 2024

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Purpose A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller. Design/methodology/approach The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments. Findings The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances. Practical implications A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications. Originality/value This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

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Section: Extensible Design and Analysis Of Variable Buoyancy Systemmentioning

confidence: 99%

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Xia,

Li,

Zang

et al. 2024

View full text Add to dashboard Cite

show abstract

“…The use of large scale wireless sensor networks (WSNs) for remotely monitoring the ocean environment is becoming increasingly feasible, owing to the recent developments in underwater acoustic (UWA) modem capabilities [1][2][3][4]. Underwater WSN deployments will have a wide range of applications, e.g., water quality monitoring [5], seismic monitoring [6], marine animal tracking [7], off-shore asset monitoring [8], coastal defense [9], etc.…”

Section: Introductionmentioning

confidence: 99%

Data Gathering in UWA Sensor Networks: Practical Considerations and Lessons from Sea Trials

Morozs

Sherlock

Henson

et al. 2022

JMSE

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Underwater acoustic (UWA) network protocol design is a challenging task due to several factors, such as slow propagation of acoustic waves, low frequency bandwidth and high bit error and frame error rates often encountered in real UWA environments. In this paper, we consider the design of a robust and scalable data gathering protocol for UWA sensor networks (UASNs), focusing on practical considerations and lessons learnt from multiple lake and sea trials. A cross-layer protocol is presented that integrates a network discovery process, intelligent routing, scheduling via Transmit Delay Allocation MAC (TDA-MAC) and multi-node Automatic Repeat Request (ARQ), to facilitate reliable data gathering in practical UASN deployments. Furthermore, this paper presents the details of a novel experimental testbed and underwater sensor node prototype that were used for the trials reported in this study. Based on the results of the trials, important conclusions are drawn on the protocol features required to achieve reliable networked communication in realistic UWA environments. The insights gained from the trials are valuable both for further development of the proposed data gathering protocol, and for the wider UWA networking research community concerned with developing practical solutions for real-world UASN deployments.

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A cooperative protocol for pervasive underwater acoustic networks

Cerqueira

Vieira

et al. 2021

Wireless Netw

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Acoustic modem for micro AUVs

Cited by 24 publications

References 14 publications

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Design and extensibility analysis of a variable buoyancy system for small autonomous underwater vehicles

Data Gathering in UWA Sensor Networks: Practical Considerations and Lessons from Sea Trials

A cooperative protocol for pervasive underwater acoustic networks

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