The WHOI Micro-Modem: An Acoustic Communications and Navigation System for Multiple Platforms

Freitag, Lee; Grund, M.; Singh, Sandipa; Partan, Jim; Koski, Peter; Ball, Keenan

doi:10.1109/oceans.2005.1639901

Cited by 438 publications

(320 citation statements)

References 2 publications

Supporting

Mentioning

312

Contrasting

Unclassified

Order By: Relevance

“…Instead of either LBL or USBL, our work aims to utilize acoustic modems, such as the WHOI Micro-Modem [24], which are already installed on the majority of AUVs for command and control. The most accurate inter-vehicle ranging is through one-way travel-time ranging with precisely synchronized clocks, for example, using the design by Eustice [17], which also allows for broadcast ranging to any number of vehicles in the vicinity of the transmitting vehicle.…”

Section: Acoustic Rangingmentioning

confidence: 99%

Simultaneous Localization and Mapping in Marine Environments

Fallon

Johannsson

Kaess

et al. 2012

Marine Robot Autonomy

View full text Add to dashboard Cite

Accurate navigation is a fundamental requirement for robotic systemsmarine and terrestrial. For an intelligent autonomous system to interact effectively and safely with its environment, it needs to accurately perceive its surroundings. While traditional dead-reckoning filtering can achieve extremely low drift rates, the localization accuracy decays monotonically with distance traveled. Other approaches (such as external beacons) can help; nonetheless, the typical prerogative is to remain at a safe distance and to avoid engaging with the environment. In this chapter we discuss alternative approaches which utilize onboard sensors so that the robot can estimate the location of sensed objects and use these observations to improve its own navigation as well as its perception of the environment. This approach allows for meaningful interaction and autonomy. Three motivating autonomous underwater vehicle (AUV) applications are outlined herein. The first fuses external range sensing with relative sonar measurements. The second application localizes

show abstract

Section: Acoustic Rangingmentioning

confidence: 99%

Simultaneous Localization and Mapping in Marine Environments

Fallon

Johannsson

Kaess

et al. 2012

Marine Robot Autonomy

View full text Add to dashboard Cite

show abstract

“…The WHOI MicroModem has two operating modes, with the low-power low-rate mode based on non-coherent FSK of 80 bps over a bandwidth of 4 kHz [17].…”

Section: Frequency Shift Keying (Fsk)mentioning

confidence: 99%

Prospects and problems of wireless communication for underwater sensor networks

Liu

Zhou

Cui

2008

Wireless Communications

365

101

View full text Add to dashboard Cite

SummaryThis paper reviews the physical fundamentals and engineering implementations for efficient information exchange via wireless communication using physical waves as the carrier among nodes in an underwater sensor network (UWSN). The physical waves under discussion include sound, radio, and light. We first present the fundamental physics of different waves; then we discuss and compare the pros and cons for adopting different communication carriers (acoustic, radio, and optical) based on the fundamental first principles of physics and engineering practice. The discussions are mainly targeted at underwater sensor networks (UWSNs) with densely deployed nodes. Based on the comparison study, we make recommendations for the selection of communication carriers for UWSNs with engineering countermeasures that can possibly enhance the communication efficiency in specified underwater environments.

show abstract

“…We analyze the performance of FH-FSK at four different data rates across three different frequency bands: 7.44 -12.24 KHz, 12.56 -17.36 KHz, and 22.8 -27.6 KHz similar to those in the Micro-modem [2]. These three frequency bands will be denoted as the 9 kHz band, the 14 kHz band, and the 25 kHz band.…”

Section: Fh-fsk Acoustic Modemmentioning

confidence: 99%

“…Non-coherent FH-FSK systems are commonly used for this reason as the modulation scheme is known for its robustness. Frequency hopping is employed in the Micro-Modem [2] in order to mitigate the effects of ISI. Underwater channels often have Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page.…”

Section: Introductionmentioning

confidence: 99%

Rate-range for an FH-FSK acoustic modem

Parrish

Roy

Fox

et al. 2007

Proceedings of the Second Workshop on Underwater Networks - WuWNet '07

View full text Add to dashboard Cite

Signals transmitted through underwater channels experience attenuation due to dissipation of acoustic energy by spreading as well as by absorption. The path loss due to absorption is found to be highly dependent upon the frequency. Ambient noise, which also greatly affects accurate reception of the signal, is also highly dependent upon frequency. For these reasons, the received SNR cannot be assumed to be constant over wideband acoustic signaling schemes. In this paper we determine the (signaling) rate vs. range curves for a FH-FSK modem considering the frequency selective nature of signal attenuation in an acoustic medium.

show abstract

The WHOI Micro-Modem: An Acoustic Communications and Navigation System for Multiple Platforms

Cited by 438 publications

References 2 publications

Simultaneous Localization and Mapping in Marine Environments

Simultaneous Localization and Mapping in Marine Environments

Prospects and problems of wireless communication for underwater sensor networks

Rate-range for an FH-FSK acoustic modem

Contact Info

Product

Resources

About