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Title |
A Prototype Wireless Underwater Robot Control system using a 32 kHz Bandwidth Underwater Small Area Acoustic Network (USAAN) |
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Author |
Shiho Oshiro Yuta Sakuma, Ryuki Chibana, Atsushi Kinjo, Yusuke Onna, Suguru Kuniyoshi, Rie Saotome, Hajime Toma, Fumiaki Takemura, Taisaku Suzuki, Tomohisa Wada |
| Citation |
Vol. 20 No. 6 pp. 91-98 |
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Abstract |
This paper proposes an underwater small area acoustic network (USAAN) system with a 32kHz bandwidth OFDM signal and robust TDD synchronization. An ocean experiment was conducted at a barge in Uchiura Bay, Shizuoka Prefecture. Although the transducer on the BS side is moving, a stable signal delay time from DL to UL was measured, and the demodulated 16QAM constellation was confirmed normally on the UE side. Using this TDD-USAAN and the results of ocean experiments, we developed a prototype of a wireless underwater robot control system. The prototype was actually tested offshore off the coast of Yomitan Village, Okinawa Prefecture. In QPSK / 16QAM modulation, basic robot movement control such as upward, downward, right turn, left turn, etc. has been demonstrated by a bidirectional link. In addition, 240x213 pixel underwater photos can be uploaded in real time. |
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Keywords |
Underwater, Acoustic Communication, Networking, OFDM, MAC, TDD |
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