An integrated, underwater optical /acoustic communications system

Farr, Norm; Bowen, A.; Ware, Jonathan D.; Pontbriand, C.; Tivey, Maurice A.

doi:10.1109/oceanssyd.2010.5603510

Cited by 227 publications

(140 citation statements)

References 10 publications

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“…Farr et al discussed the possibility of using optical communication for control of underwater vehicles and presented the results of an early prototype optical communication system [9]. They implemented optical remote control of an underwater robot in [10]. Their system operates at depths of at least 1000m where there is little or no ambient light present.…”

Section: Related Workmentioning

confidence: 99%

Using optical communication for remote underwater robot operation

Doniec

Detweiler

Vasilescu

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Underwater vehicles are typically operated using a tether or a slow acoustic link. We present an underwater optical communication system that enables a high-throughput and lowlatency link to an underwater robot. The optical link allows the robot to operate in cluttered environments without the need for a tether. We demonstrate the performance of the system in a number of experiments which characterize the optical link and demonstrate remote control of the robot using a human input device.

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Section: Related Workmentioning

confidence: 99%

Using optical communication for remote underwater robot operation

Doniec

Detweiler

Vasilescu

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Aunque estudios recientes demuestran que, utilizando los métodos de modulación más eficientes, es posible transmitir vídeo a través de un canal subacuático usando señales acústi-cas (Pelekanakis et al, 2003;Ribas et al, 2010) y Blue Light (Farr et al, 2010), ninguno de los dos tipos de señal es capaz de pasar a través de objetos sólidos que podrían estar en la línea de visión de los transceptores inalámbricos. Además, el rendimiento de estos métodos depende en gran medida de las características del escenario submarino y del tipo de canal.…”

Section: El Dominio De La Intervención Robóticaunclassified

Sistema de Visión Subacuático Inalámbrico Usando un Algoritmo de Compresión Progresivo con Región de Interés

Rubino

Centelles

Sales

et al. 2017

Rev. iberoam. autom. inform. ind.

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ResumenLa creciente demanda en todo el mundo de sistemas de intervención submarina en diversos dominios de aplicación requiere sistemas más versátiles y económicos. Empleando un sistema de comunicación inalámbrica, los robots semiautónomos supervisados disponen de libertad de movimientos y, al mismo tiempo, permiten al operador obtener información visual y supervisar la intervención. Por otro lado, la velocidad de transmisión de datos típica de los canales inalámbricos submarinos es, en general, muy limitada, siendo necesaria la aplicación de técnicas de compresión avanzadas. En este artículo se presenta principalmente el algoritmo DEBT (Depth Embedded Block Tree) para la compresión progresiva de imágenes con región de interés (ROI). Los resultados demuestran ventajas con respecto a otros algoritmos de compresión, y la posibilidad de ejecución del algoritmo en tiempo real en ordenadores embebidos de bajo consumo basados en ARM. Palabras Clave: Compresión de Imagen, Transmisión de Datos, Sistemas de Comunicación, Teleoperación Underwater Wireless Vision System Using Progressive Image Compression and Region of Interest AbstractThe increasing demand for underwater robotic intervention systems around the world in several application domains requires more versatile and inexpensive systems. By using a wireless communication system, supervised semi-autonomous robots have freedom of movement and, at the same time, allows the operator to get camera feedback and supervise the intervention. On the other hand, the typical data rate of the wireless submarine channels is generally very limited, requiring the application of advanced compression techniques. In this paper we present the DEBT (Depth Embedded Block Tree) algorithm for the progressive compression of images with region of interest (ROI). The results demonstrate advantages with other compression algorithms, and the possibility of executing the algorithm in real time on ARM-based embedded low-power computers.

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“…Moreover, they have the capability of detaching the cable before surfacing autonomously. The most advanced demonstration up to date has shown a wireless tele-operated intervention using a led light communications system from the HROV to an underwater gateway connected to an umbilical (Farr et al (2010), Fig.9). Nevertheless, both systems keep the human within the control loop.…”

Section: State Of the Artmentioning

confidence: 99%

“…By lowering an optical communications package, the surveyed data is downloaded and the vehicle is switched to ROV mode to perform a light intervention while a work-class is brought to the site for heavier work. Although this is a very recent project, wireless intervention through the teleoperation of NEREUS HROV through a high bandwidth opto/acoustic modem has been already demonstrated recently (Farr et al (2010)). …”

Section: Hybrid Auv Inspection Monitoring and Intervention Of Seaflmentioning

confidence: 99%

Intervention AUVs: The Next Challenge

Ridao

Carreras

Ribas

et al. 2014

IFAC Proceedings Volumes

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While commercially available AUVs are routinely used in survey missions, a new set of applications exists which clearly demand intervention capabilities. The maintenance of: permanent observatories underwater; submerged oil wells; cabled sensor networks; pipes; and the deployment and recovery of benthic stations are but a few of them. These tasks are addressed nowadays using manned submersibles or work-class ROVs, equipped with teleoperated arms under human supervision. Although researchers have recently opened the door to future I-AUVs, a long path is still necessary to pave the way to underwater intervention applications performed in an autonomous way. This paper reviews the evolution timeline in autonomous underwater intervention systems. Milestone projects in the state of the art are reviewed, highlighting their principal contributions to the field. To the best of the authors knowledge only three vehicles have demonstrated some autonomous intervention capabilities so far: ALIVE, SAUVIM and GIRONA 500 I-AUV. Next, GIRONA 500 I-AUV is presented and its software architecture discussed. Recent results in different scenarios are reported: 1) Valve turning and connector plugging/unplugging while docked to a sub-sea panel, 2) Free floating valve turning using learning by demonstration, and 3) Free floating multipurpose multisensory based object recovery. The paper ends discussing the lessons learned so far and presenting the authors view of the future.

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An integrated, underwater optical /acoustic communications system

Cited by 227 publications

References 10 publications

Using optical communication for remote underwater robot operation

Using optical communication for remote underwater robot operation

Sistema de Visión Subacuático Inalámbrico Usando un Algoritmo de Compresión Progresivo con Región de Interés

Intervention AUVs: The Next Challenge

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