download the UComms'16 book of abstracts here.
Transcript of download the UComms'16 book of abstracts here.
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Book of Abstracts of theThird Underwater Communications
and Networking Conference - UComms16Aug.30 - Sep.1 2016, Lerici, Italy
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KEYNOTESPEECH...........................................................................................................................................1UNDERWATERCOMMUNICATIONS:IERI,OGGIEDOMANI...........................................................................................1
APPLICATIONSANDREQUIREMENTS......................................................................................................2ACOUSTICCOMMUNICATIONANDNAVIGATIONINTHENEWARCTIC-AMODELCASEFORENVIRONMENTALADAPTATION........................................................................................................................................................................2THESWIGACOUSTICSTANDARD.....................................................................................................................................2HUMAN-ROBOTINTERACTIONUNDERWATER:COMMUNICATIONANDSAFETYREQUIREMENTS.....................3UNDERWATERCOMMUNICATIONREQUIREMENTSINCOORDINATEDAUTONOMOUSMANIPULATION:THEMARISPROJECT.................................................................................................................................................................3EFFECTSOFMETALSTRUCTURESONMAGNETO-INDUCTIVECOUPLEDCOILS......................................................4SUB-ICEGLIDERNAVIGATION&COMMUNICATION....................................................................................................4
PHYSICALLAYERINACOUSTICCOMMUNICATIONS...........................................................................6DECISIONTREE-BASEDADAPTIVEMODULATIONFORUNDERWATERACOUSTICCOMMUNICATIONS..............6ENERGY-EFFICIENTOFDMBANDWIDTHSELECTIONFORUNDERWATERACOUSTICCARRIERAGGREGATIONSYSTEMS...............................................................................................................................................................................6ITERATIVESPARSECHANNELESTIMATIONFORACOUSTICOFDMSYSTEMS........................................................7UNCODEDACOUSTICCOMMUNICATIONINSHALLOWWATERSWITHBURSTYIMPULSIVENOISE.....................7BLINDEQUALIZATIONOFUNDERWATERACOUSTICCHANNELSUSINGIMPLICITHIGHER-ORDERSTATISTICS................................................................................................................................................................................................8MODEL-BASEDSIGNALDETECTIONINSNAPPINGSHRIMPNOISE...........................................................................8ADAPTIVEPOWERALLOCATIONFORNONCOOPERATIVEOFDMSYSTEMSINUWAINTERFERENCECHANNELS............................................................................................................................................................................8AUTONOMOUSPOWERCONTROLFORACOUSTICMODEMS.......................................................................................9
NETWORKING,LOCALISATIONANDSCHEDULING...........................................................................11COLLABORATIVELOCALIZATIONOFVEHICLEFORMATIONSBASEDONRANGESANDBEARINGS...................11ONTHEACCURACYOFPASSIVEMULTIPATH-AIDEDUNDERWATERRANGEESTIMATION...............................11ADISTRIBUTEDIDASSIGNMENTANDTOPOLOGYDISCOVERYPROTOCOLFORUNDERWATERACOUSTICNETWORKS........................................................................................................................................................................12UNSLOTTEDTRANSMISSIONSCHEDULESFORPRACTICALUNDERWATERACOUSTICMULTIHOPGRIDNETWORKSWITHLARGEPROPAGATIONDELAYS.....................................................................................................12EXPERIMENTALDEMONSTRATIONOFSUPER-TDMA:AMACPROTOCOLEXPLOITINGLARGEPROPAGATIONDELAYSINUNDERWATERACOUSTICNETWORKS.....................................................................................................13EFFICIENTLINKDISCOVERYFORUNDERWATERNETWORKS................................................................................13NEARREAL-TIMEIMPROVEDUUVPOSITIONINGTHROUGHCHANNELESTIMATION..........................................14
SIMULATION,MODELSANDTESTBEDS...............................................................................................15ANANALYSISOF1AND2-DARRAYSFORADAPTIVEMULTICHANNELEQUALIZERSINUNDERWATERACOUSTICCOMMUNICATIONS.........................................................................................................................................15VERYHIGHFREQUENCYNOISESOURCESINTHELITTORALZONE........................................................................15TETHEREDBALLOONSANDTVWHITESPACES:ASOLUTIONFORREAL-TIMEMARINEDATATRANSFERATREMOTEOCEANAREAS..................................................................................................................................................16WIDE-BANDSHALLOWACOUSTICCHANNELSIMULATIONWITHREALISTICDOPPLERANDDELAYSPREADINGFOR3DEVOLVINGROUGHSURFACES...........................................................................................................................16
INTEROPERABILITYANDSTANDARDS................................................................................................17ANALYSISOFJANUSANDUNDERWATERTELEPHONECAPABILITIESANDCO-EXISTENCE................................17
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EXPERIENCESWITHJANUSANDEFFORTSTOWARDSACOMMONHEAVY-DUTYUNDERWATERCOMMUNICATIONSTACK.................................................................................................................................................17FOSTERINGTHEUSEOFJANUSINOPERATIONALLY-RELEVANTUNDERWATERAPPLICATIONS...................18WATERMARK:AREALISTICBENCHMARKFORUNDERWATERACOUSTICMODEMS.............................................18
NON-ACOUSTICCOMMUNICATIONMODALITIES..............................................................................19DEVELOPMENTANDVALIDATIONOFBLUERAY,ANOPTICALMODEMFORTHEMEDUSACLASSAUVS.......19TEMPORALDISPERSIONINUNDERWATERLASERCOMMUNICATIONLINKS:CLOSINGTHELOOPBETWEENMODELANDEXPERIMENT...............................................................................................................................................19EXPERIMENTALTESTBEDFORSEAWATERCHANNELCHARACTERIZATION..........................................................20INVESTIGATIONONRADIOWAVEPROPAGATIONINSHALLOWSEAWATER:SIMULATIONSANDMEASUREMENTS..............................................................................................................................................................20OPTOCOMM:INTRODUCINGANEWOPTICALUNDERWATERWIRELESSCOMMUNICATIONMODEM..............21DIPOLEANTENNAFORUNDERWATERRADIOCOMMUNICATIONS........................................................................22NON-VISIBLELIGHTUNDERWATEROPTICALCOMMUNICATIONS...........................................................................22
ARCHITECTURESANDNOVELSTACKS.................................................................................................24SEANETG3:HIGH-DATA-RATESOFTWARE-DEFINEDUNDERWATERACOUSTICNETWORKPLATFORM...24THEDESERTUNDERWATERFRAMEWORKV2:IMPROVEDCAPABILITIESANDEXTENSIONTOOLS.............24
SECURITYINUNDERWATERCOMMUNICATIONS.............................................................................26SECUREUNDERWATERACOUSTICNETWORKS:CURRENTANDFUTURERESEARCHDIRECTIONS..................26ANALYTICALMETRICWEIGHTGENERATIONFORMULTI-DOMAINTRUSTINAUTONOMOUSUNDERWATERMANETS...........................................................................................................................................................................26
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KeynotespeechUnderwaterCommunications:ieri,oggiedomaniMilicaStojanovic,NortheasternUniversity,MA,USAInthispresentation,wetakeatourofunderwatercommunications,scrollingthoroughthe past, present and future of key technologies, signal processing and networks.Webegin by briefly summarizing the achievements of yesterdaythose that haveresulted inmature technology that isnowroutinelydeployed invariousscientificandcommercialsystems.Wefollowwithobservationsontodaysresearchefforts,touchingupon the issues of channel estimation and equalization for single- and multi-carriercommunication systems, acoustics and optics, system integration and networking. Atpresent,thereisnodominantapplication(market)thatdrivestechnologydevelopment,and the challenge to the scientific community is to continue to provide fundamentalbuildingblocks thatwillpush theapplication limits.Theunderlying issuesare closelyintertwined with our major question: What is the future of underwatercommunications? Or, if you prefer, what are the underwater communications of thefuture?We invite theaudience toparticipate inanswering thisquestion, so if youarereadingtheselines,thinkaboutanitemortwothatyouwouldputonthetomorrowlist.
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ApplicationsandRequirements(Chairs:RoaldOtnesandVladimirDjapic)AcousticCommunicationandNavigationintheNewArctic-AModelCaseforEnvironmentalAdaptationHenrikSchmidt(MassachusettsInstituteofTechnology)TobySchneider(GobySoft,LLC)The particular sensitivity of the Arctic to climate change is well established, and thesignificance to undersea operations can be dramatic. As part of the recent ICEX16USNavy Exercise in the Beaufort Sea,MIT deployed an autonomous underwater vehiclewitha towedhydrophonearraybelowthe icecover forassessing theclimate-inducedchanges to the undersea ambient noise environment. The safe underwater operationdepended on navigation updates from the submarine tracking range beingcommunicatedtothevehicleforfusionwiththeonboardinertialnavigation.However, the changes in the environment severely deteriorated the trackingperformance compared to previous deployments. The reason was clearly associatedwithapreviouslyobservedneutrallybuoyant layerofwarmPacificwaterpersistentlyspreadingthroughouttheBeaufortSea,whichseverelyalterstheacousticenvironmentwith dramatic effects for both long and short range acoustic sensing, communicationand navigation. This paper describes the effects observed and discusses how robustacoustic connectivity in this environment makes it paramount that the manned orunmannedunderseaplatformsarecapableofadaptingtotheenvironmentforsensing,communicationandnavigation.TheSWIGacousticStandardAndySmerdon(AquatecGroupLtd)FranciscoBustamante(EvologicsGmbH)MikeBaker(OTMConsulting)This paper describes industry efforts to develop an underwater acousticcommunications standard for the offshore energy community. The Subsea WirelessGroup (SWiG), an international oil and gas industry network comprising operators,installers, and technology companies, assessed a variety of potential use cases andpossibleroutestodevelopacommonstandard,culminatingintheselectionoftheJANUSstandard as a template. The paper explores typical use cases, the benefits of
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standardisationfortechnologydevelopersandusers,identificationofgapsintheJANUSstandard,andcurrentprogressindevelopingthestandard.Human-RobotInteractionUnderwater:CommunicationandSafetyRequirementsNikolaMiskovic(UniversityofZagrebFacultyofElectricalEngineeringandComputing)MuratEgi(DANEurope)ulaNa(UniversityofZagrebFacultyofElectricalEngineeringandComputing)AntnioPascoal(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)LuisSebastiao(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)MarcoBibuli(CNR-ISSIA)Safety is of particular interest when performing research related to human--robotinteractioninunpredictableandhazardousunderwaterenvironment.SpecialattentionisdevotedtosafetyrequirementswithinFP7project "CADDY-CognitiveAutonomousDivingBuddy" inorder to reducehazardsduringexperiments, sincedivers relyingontechnologyforlifesupportareexposedtoadditionalriskoftraumaasaconsequenceofimpactwithamarinevehicle.This paper focuses on the risk assessment of human--robot interaction in theunderwater environmentwithin the scopeof CADDYproject. Each vehicle comprisingtheCADDYfleetisanalyzedforanumberofrisks,andanoverallassessmentisprovidedshowingtheappropriatenessofselectedvehiclesfortheapplication.Also,theacousticcommunication scheme used in the project is described, as a means of efficient androbustnavigationdataexchangeforthepurposeofminimizingtheriskoftraumaduetounwantedcontactbetweenthevehiclesandthediver.UnderwaterCommunicationRequirementsinCoordinatedAutonomousManipulation:theMARISProjectDavideFenucci(DepartmentofInformationEngineering,UniversityofPisa)AndreaCaiti(DepartmentofInformationEngineering,UniversityofPisa)EnricoSimetti(DIBRIS,UniversityofGenova)GiuseppeCasalino(DIBRIS,UniversityofGenova)This paper addresses the communication requirements needed within the MARISproject,which involvesseveral Italian institutions.Thegoalof theMARISproject is todeveloptechnologiesforautonomousunderwaterinterventions,inparticulartoenabletwofloatingmanipulatorsinexecutingjointgrasp-ingandtransportationactivities.Inthis context, communication issues are mainly related to the information exchangeneededbythecooperationalgorithmsduringallthephasesofthemission,inparticular
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in thecoordinatedtransportation.Simulationresultsshowtheexpectedperformancesofthecooperativealgorithmasthecommunicationratechanges.Basedontheseresults,a strategy to meet the requirements imposed by the cooperation and to achieve themissionobjectivewiththeavailabledevicesispresented.EffectsofMetalStructuresonMagneto-InductiveCoupledCoilsNiazAhmed(MissouriUniversityofScienceandTechnology)YahongZheng(MissouriUniversityofScienceandTechnology)DavidPommerenke(MissouriUniversityofScienceandTechnology)This paper analysizes the effects of metal structures in near-field Magneto-Inductive(MI)communicationsystems,wherethetransmitterand/orreceivercoilsmaybecloseto large metal structures that has high magnetic permeability and conductivity.EMCoStudiosimulationsshowthatthepresenceofmetalstructurehelptoincreasethecoupling magnitude if placed nearby the transmit and receive coils, but reducessignificantifplacedbetweenthetransmitandreceivecoils.Sub-IceGliderNavigation&Communication(Off-the-recordpaper)AndreyMorozov(TeledyneMarine)DaleGreen(TeledyneMarine)ClaytonJones(TeledyneMarine)Navigation and telemetry for AUVs operating in the Arctic currently rely on GPS andsatellitecommunicationsthatarepoorlysuitedforpolarareascoveredbyicerestrictingaccesstotheseasurface.Althoughthedatarateoflongrangeacousticcommunicationsismuchlessthansatellitecommunications,andtheprecisionofacousticalnavigationisless than GPS, underwater acoustic systems are the onlyway to provide geo-locationand telemetry in ice-covered regions. The Teledyne broadband sound sources withprecision clocks can provide underwater navigation in theArctic,with frequency andsignalsselectedfortherangesof interest,whichspantenstothousandsofkilometers.Approachesconsideredhereforlow-frequencysourcesincludebroadbandandtunableresonant transducers in a frequency range5-1000Hz: dual-resonant sources; tunableorgan pipes and gas-filled seismic sources. While light and small dual-resonantcompositepipesoundsourcesinafrequencyrange500-1000Hzcanprovidelow-dataratecommunicationswithglidersat thedistance100-300km,swept frequencysoundsources in 150-500Hz range can provide navigation signals for thousand kilometers;
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gas filled seismic sources in frequency range 5-150 Hz are useful for a global oceannavigationtocovertensthousandsofkilometers.
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PhysicalLayerInAcousticCommunications(Chairs:JamesPreisig,GrantDeaneandCostasPelekanakis)DecisionTree-BasedAdaptiveModulationforUnderwaterAcousticCommunicationsCostasPelekanakis(CMRE)LucaCazzanti(CMRE)GiovanniZappa(CMRE)JooAlves(CMRE)Underwateracousticchannelsarecharacterisedbynon-stationaryfadingstatisticsandconsequently,amodulationschemeoptimallydesignedforaspecificfadingmodelwillunderperformwhenthechannelstatisticschange.Thisissuecanbealleviatedbyusingadaptivemodulation, i.e., thematching of themodulation scheme to the conditions oftheacoustic link.However, selectingsignals fromabroadrangeofbit rates is tediousbecause one needs to know the relationship between the bit error rate (BER) and allrelevant channel characteristics (e.g.,multipath spread,Doppler spread and signal-to-noise ratio). In this work, this relationship is extracted from large amounts oftransmissions of a phase-shift keying (PSK) single-carrier modem. In particular, adecision tree is trained toassociatechannelswithmodulationschemesundera targetBER.Theeffectivenessoftheproposedtreemethodisdemonstratedbypost-processingdatafromtwoexperimentallinksoffthecoastofFaialIsland,Azores,Portugal.Energy-efficientOFDMBandwidthSelectionforUnderwaterAcousticCarrierAggregationSystemsXueyuanZhao(RutgersUniversity)DarioPompili(RutgersUniversity)JooAlves(CMRE)The energy efficiency of underwater acoustic carrier aggregation in OrthogonalFrequency Division Multiplexing (OFDM) systems is studied and an energy efficientaggregationbandwidthselectionmethodisproposed.Viasimulationsitisfoundthat(i)theaggregationbandwidthhasanoptimalvaluemaximizing theenergyefficiency, (ii)this optimal aggregation bandwidth decreases with increasing distance, and (iii) theenergyefficiencyatthisoptimalbandwidthdropssignificantlyfordistancesabove5km.Basedon these results, anenergy-efficientaggregationbandwidthselectionmethod isproposed for an underwater system composed of a surface buoy and AutonomousUnderwater Vehicles (AUVs). The proposed method is expected to optimize the
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transmissionenergyutilizationby feedingback theoptimalbandwidthvalue fromthereceivertothetransmitterfordifferentdistancesettings.Tovalidatetheresultsundervarying acoustic channel conditions, field experimentson theLOON testbedhosted attheNATOSTOCentreforMaritimeResearchandExperimentation(CMRE)arecurrentlyongoing.IterativeSparseChannelEstimationforAcousticOFDMSystemsSayedamirhosseinTadayon(NortheasternUniversity)MilicaStojanovic(NortheasternUniversity)We propose a method for channel estimation in orthogonal frequency divisionmultiplexing (OFDM) systems with an array of receiving elements. In contrast totraditional methods, which target the equivalent sample-spaced channel taps, thismethod targets thephysical propagationpathswhosedelays arenot restricted to thesample-spacedgrid.Thepathdelaysareestimated jointlywith thepathgainsand theangles of arrival, exploiting coherence between the array elements. Numerical resultsillustratesuperiorperformanceascomparedtotap-basedchannelestimation,aswellasadditionalgainavailablefromspatialcorrelationacrossthearrayelements.UncodedAcousticCommunicationinShallowWaterswithBurstyImpulsiveNoiseAhmedMahmood(NationalUniversityofSingapore)MandarChitre(NationalUniversityofSingapore)The shallow underwater acoustic channel offers a challenging environment. Besideslong delay spreads caused bymultiple surface-bottom reflections, the channel is timevariant as well. In tropical waters, the problem is compounded further by impulsivenoise created by snapping shrimp. Conventionally, the noise process is modeled bywhiteimpulsivenoise.However,inreality,snappingshrimpnoisedepictsmemoryandisthusburstyaswell.Weinvestigatetheperformanceofahigh-rateuncodedacousticcommunication system operating in tropical shallow waters. The stationary -sub-Gaussiannoisewithmemoryorderm(SGN(m))modelisemployedasitcharacterizesboth the temporal and amplitude statistics of snapping shrimp noise. We show thatthere is a stark deviation from the expected performance of the white maximum-likelihood (ML) detectorwhen the ambient noise is SGN(m) (m > 0). Moreover, wederive theMLdetector for the shallowwateracoustic channelwithadditiveSGN(m)andcompareitsperformancetothatofitswhitecounterpart.
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BlindEqualizationofUnderwaterAcousticChannelsusingImplicitHigher-OrderStatisticsKoenBlom(TNO)HenryDol(TNO)AndrKokkeler(UniversityofTwente)GerardSmit(UniversityofTwente)In order to reduce the length of transmission time slots and energy consumption ofunderwatermodems, thiswork focuses on equalizationwithout the need for trainingsequences. This typeof equalization is knownas blind equalization.Ablind equalizercascade based on higher-order statistics is presented and evaluated using sea-trialreplaydata.Thesubcomponentsofthecascadeuseincreasinglystringentnonlinearcostcriteriarootedintheconstantmodulusalgorithm.Initialresultsrevealthatthecascadecan cope with the time variance of a realistic channel and largely mitigates itsconvolutionalerror.Model-BasedSignalDetectioninSnappingShrimpNoiseAhmedMahmood(NationalUniversityofSingapore)HariVishnu(NationalUniversityofSingapore)MandarChitre(NationalUniversityofSingapore)Inanumberofscenarios,detectingthepresenceorabsenceofaknownsignalmaybeofpractical interest. One such example lies in a communication setting, where packetdetectionisavitalfirststeptodecodetransmitteddata.ThedetectionproblemcanbeformulatedasabinaryhypothesistestwithintheNeyman-Pearson(NP)framework.Ourscenarioofinterestiswarmshallowwaters,wheretheseafloorisinhabitedbycoloniesofsnappingshrimp.Theambientnoiseinsuchacaseisimpulsiveandexhibitsmemory.We investigate the performance of optimal detectors corresponding to four additivenoisemodels in snapping shrimpnoise. In the literature, proposeddetectors typicallytakeonlytheamplitudestatisticsofthenoiseprocessintoaccount.Byalsoconsideringthememory,weshowthatthereissubstantialimprovementindetectionperformance.The detector in the latter case is based on the recently introduced stationary -sub-Gaussiannoisewithmemoryorderm(SGN(m))model,whicheffectivelycharacterizesthetemporalamplitudestatisticsofthesnappingshrimpnoiseprocess.AdaptivePowerAllocationforNoncooperativeOFDMSystemsinUWAInterferenceChannelsAntonyPottier(TelecomBretagne)
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Francois-XavierSocheleau(TelecomBretagne)ChristopheLaot(TelecomBretagne)Noncooperative underwater acoustic (UWA) communication systems are prone tointerfere with each other since the limited resource offered by the channel is notregulated by any standard. Mutual inteferences can significantly degrade theperformancesofsuchsystemsanditisnecessarytofindpoliciesallowingUWAdevicestoaccess the samephysical resource. In thispaper,weconsidernoncooperativeUWAOFDMsystemscompetingtoaccessthesameportionofthespectrum.Weshowthatanefficient decentralized power allocation strategy can be achieved when all thecommunication links apply awaterfilling policy only based on little knowledge abouttheirenvironment.NumericalsimulationsperformedwithrealUWAchannelssoundedat-seademonstratetherelevanceofourapproach.AutonomousPowerControlForAcousticModems(Off-the-recordpaper)DaleGreen(TeledyneBenthos)AdaptivePowerControlisacapabilityinwhichtheacousticmodemsmakeautonomousdecisions to adjust their transmit power levels to provide reliable acousticcommunicationsandrangingmeasurementsatthelowestpossiblesignaltonoiseratio(SNR).Thealgorithmusesasinglehandshaketoestablishtheminimumtransmitpowerlevel for communications between two modems, then monitors background noise toenablefuturecommunicationswithouttheneedforfurtherhandshaking.The Adaptive Power Control algorithm requires the modem to both characterize thebackgroundnoiseandtoaccuratelymeasureSNR.Analgorithmtomeasureandreportbackgroundnoisewasvalidatedandaddedtothemodem.TheTeledyneBenthos(TB)modemalreadyhadanability tomeasureSNR,but this limitedversionwasonlyvalidfor very modest multipath conditions. We developed an extension to the existingalgorithmwhichproperlyincorporatestheenergycontainedinallsignificantpaths.Wealso developed a separate algorithm appropriate for other signalling schemes with adifferent acquisition structure, and demonstrated the close performance between thetwomethods.Severalat-seaexperimentswereconducted,withextensivedatacollectedtosupportthevalidationofouralgorithms.WeconductedanextensiveevaluationoftheSNR requirements for good receiver performance using simulation in additive whiteGaussiannoise(AWGN).Theevaluationwasmadeforalldataratesavailableusingourstandard multi-channel M-ary frequency shift keyed (MFSK) signalling and forfrequency hopping (FH), and other methods as well. The analysis used a completelyknownsignal(equivalenttoasingledirect-pathenvironment),soeffectssuchasrangerate and time-varying channelswerenot included.However, all of thesemethodsuse
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non-coherentdemodulationwhichtendstoaddtheenergyinallmultipaths,soournewSNR-measurement algorithms,which inform themodemof the total available energy,are appropriate. Until at0sea experience suggests otherwise, we add 2 dB to therequired(AWGN)SNRtoaccountforreal-world,at-seaconditions.Wehavedevelopedthefollowing:1. Theabilitytomeasurebackgroundnoisepowerinanappropriateway2. TheabilitytomeasureSNRinawaythatincorporatesallsignificant(multipath)energy3. TabulatedtherequiredSNRforallavailablemodulationsschemes.Our present efforts identified the need to incorporate range as a metric for powercontrol.Webelievethis isan importantareafor futurestudy,because it isapplicationand scenario dependent. However, it is not addressed here. Aside from rangeimplications,wehaveidentified,developed,andimplementedinthemodem,acompleteadaptivepowercontrolsystemappropriateforstaticgeometries.
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Networking,LocalisationandScheduling(Chairs:LeeFreitag,ChiaraPetrioliandAndreaMunaf)CollaborativeLocalizationofVehicleFormationsBasedonRangesandBearingsBeatrizFerreira(ISR-InstitutoSuperiorTcnico,UniversidadedeLisboa)JooGomes(ISR-InstitutoSuperiorTcnico,UniversidadedeLisboa)CludiaSoares(ISR-InstitutoSuperiorTcnico,UniversidadedeLisboa)JooCosteira(ISR-InstitutoSuperiorTcnico,UniversidadedeLisboa)We examine the problem of jointly determining the positions ofmultiple underwatervehiclesbasedonasetofpairwiserangeandbearingmeasurements takenover time.This extends prior work on the so-called (static) collaborative localization paradigmwhereahybridapproachwasproposedforseamlessinstantaneousfusion(i.e.,notimedependence) of range and bearingmeasurements. To incorporate timewe add to theoriginal convexified least-squares cost function a regularizing term that penalizesdeviations between predicted and computed vehicle positions at a given instant. Themethodoperatesprogressivelyovertime,withpastestimatesusedforpredictionatthecurrent instant assuming a very simple quasi-linear motion model. The method isamenable to parallelization, with simple gradient-like updates. Numerical resultsdemonstratepromisingaccuracygains(reductionontheorderof10%intermsofroot-mean-squarepositioning error) in simulations inspiredby anunderwater geoacousticsurveyingapplication.OntheAccuracyofPassiveMultipath-AidedUnderwaterRangeEstimationElizavetaDubrovinskaya(IMDEANetworksInstitute,Madrid;UniversidadCarlosIII,Madrid)Ivor Nissen (Research Department for Underwater Acoustics and Marine Geophysics (FWG),WTD71Kiel)PaoloCasari(IMDEANetworksInstitute,Madrid)We consider range estimation algorithm based on the time differences betweendifferent arrivals of the signal transmitted by an anchor node of known location.Weassumethatonlytheanchornodecantransmitinformation.Weconsiderthegeometryoftheprobleminthesimplifiedcaseofaconstantsoundspeedprofile(SSP),andarguethatthemorerealisticcaseofanon-constantSSPcanbestilltackledasiftheSSPwereconstant, provided that an effective sound speed value is computed based on thegeometryofthesignalpropagation.Wethenevaluatetheaccuracyofthelatterapproachinthepresenceoferrorsaffecting
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different quantities required for the range estimation process, including the TDoAvalues,thebottomdepth,andthedepthofthenodetowhichtherangeiscomputed.OurresultsshowthatourapproachoffersimprovedaccuracywithrespecttoabaselineLSEestimator.ADistributedIDAssignmentandTopologyDiscoveryProtocolforUnderwaterAcousticNetworksRobertoPetroccia(CMRE)Thispaperpresentsanewprotocol toselfassignnode IDs inanUnderwaterAcousticNetwork(UAN).Theproposedsolution,termedDIVEforDistributedIdassignmentandtopologydiscoVEry,isfullydistributedandself-adaptive.WhileassigningthenodeIDs,additionalinformationissharedtodiscovertheothernodesinthenetwork,thetypeofthesenodes(staticormobile),andthenumberofhopstoreachthem.TheDIVEprotocolexploits link quality information to increase its reliability and robustness againstmessage losses. The protocol performance has been evaluated under a variety ofnetworking scenarios including node mobility, and node addition and removal.TheresultsshowthatDIVEisanefficientandreliablesolutionfornodeIDassignmentandnetworkdiscovery,whichscaleswith thenetworksize in thepresenceofaunreliablechannel.UnslottedTransmissionSchedulesforPracticalUnderwaterAcousticMultihopGridNetworkswithLargePropagationDelaysPrasadAnjangi(NationalUniversityofSingapore)MandarChitre(NationalUniversityofSingapore)In a recentwork, a regular grid-based network topologywithmultihop relayingwasinvestigated.Atransmissionstrategywhichmaximizesthethroughputwhileexploitingthe large propagation delay was presented, and the upper bound on throughputestablished. However, deployments of communication nodes in the ocean inevitablyresult in slight positional deviations from the expected locations of the nodes, adeparturefromtheperfectlyalignedregulargridnetworksassumed.Theirregularityinthe grid network due to deployment errors degrades the network throughputsignificantly.Weconsiderthispracticalproblemandproposeanalgorithmtocomputeunslotted transmission schedules. We formulate the scheduling problem as a Mixed-Integer Linear Problem (MILP) and compute throughput-maximizing schedules. Wedemonstrate the throughput gain compared to theexisting stateof theart techniques
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and verify the solution in the simulator for various random instances of the gridnetworkdeployment.ExperimentalDemonstrationofSuper-TDMA:AMACProtocolExploitingLargePropagationDelaysinUnderwaterAcousticNetworksPrasadAnjangi(NationalUniversityofSingapore)MandarChitre(NationalUniversityofSingapore)The potential of exploiting large propagation delays in underwater acoustic (UWA)networks to maximize the network throughput is established in the recent past.Transmission scheduling strategies have been proposed to take advantage of largepropagation delay. Super-TDMA is one among such Medium Access Control (MAC)strategiesproposed. It is a formofTimeDivisionMultipleAccess (TDMA)protocol inwhichmultipletransmissionsareallowedinthesametimeslotandhenceconcurrentlypropagateinthemedium.WepresenttheimplementationchallengesofSuper-TDMAonunderwateracousticmodemsandtheexperimentalresultsdemonstratinginterferencealignment, the crossing of simultaneously transmitted packets inwater, and the timesynchronizationamongthedeployednodesinthenetwork.EfficientLinkDiscoveryforUnderwaterNetworksRoeeDiamant(UniversityofHaifa)RobertoFrancescon(UniversityofPadova)MicheleZorzi(UniversityofPadova)We describe an efficient method to discover the topology of underwater acousticnetworks (UWANs). By knowing the network topology, nodes can determinedestinations and routing possibilities for their packets, and schedule transmissionsaccordingly.Todetectthenetworktopology,aninitialphaseisemployed.Ouralgorithmaims to reduce the time overhead of this initial phase while accurately discoveringacoustic links. To that end, our algorithm allows simultaneous transmissions fromdifferent nodes while controlling the number of possible collisions in an optimizedfashion.Experimental results from the14~daysALOMEx'15 sea expedition show thatouralgorithmisabletoaccuratelydetectthenetworktopologyinamuchshortertimecomparedtobenchmarkmethods.
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Nearreal-timeimprovedUUVpositioningthroughchannelestimationRenatoVio(NavalPostgraduateSchool)RobertoCristi(NavalPostgraduateSchool)KevinSmith(NavalPostgraduateSchool)Underwaternavigationsystemsaresusceptibletoawidevarietyoferrors.Atechniqueto accurately update the position of an autonomous system, while underwater, isextremelydesirable.Theprimaryobjectiveof thiswork is toenhancethenavigationaland positioning accuracy of Unmanned Underwater Vehicles (UUVs) by networking anumber of Unmanned Surface Vehicles (USVs) utilizing underwater acousticmodemsandacoustictraveltimecalculations.Thedevelopmentofatrackingalgorithmbasedonthe Extended Kalman Filter (EKF) and the use of underwater acoustic ray tracingalgorithms to estimate accurate ranges betweenUSVs andUUVs are demonstrated. Acombination of the EKF with a Smoothing Algorithm was developed and extensivelytestedwithsyntheticdata.Tovalidatetheconcepts,thetrackingalgorithmwasappliedtodatacollectedduringseateststhattookplaceinMontereyBayinAugust,2015.
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Simulation,ModelsandTestBeds(Chairs:SrgioJesusandPaulvanWalree)Ananalysisof1and2-Darraysforadaptivemultichannelequalizersinunderwateracousticcommunications(Off-the-recordpaper)JamesPreisig(JPAnalytics,LLC)GrantDeane(ScrippsInstitutionofOceanography,UCSD)Hydrophonearraysformultichannelequalizersareusedtospatiallyfilterthereceivedsignalandmitigatethenegative impactofmultipath-inducedIntersymbolInterference(ISI)andambientnoise.Whilethemultipathstructureintheoceanisprimarilyvertical,theambientnoise structure isbothhorizontal andvertical.Thus, asSNR isdecreasedtheoptimalconfigurationofahydrohonearrayisexpectedtotransitionfromthatofavertical line array to a 2-D geometrywith both horizontal and vertical aperture. Thispaper presents an analysis of the impact of the spatial structure of the acousticmultipath and ambient noise on equalizer performance and a methodology forquantifying the impact to be used in optimizing receiver array geometry. Theaccompanying talkwill present the results of the trade-study of array geometry as afunctionofSNRbaseduponthemethodologydevelopedhere.VeryHighFrequencyNoiseSourcesintheLittoralZoneGrantDeane(ScrippsInstitutionofOceanography,UCSD)JamesPreisig(WoodsHoleOceanographicInstitution)Recent interest in very high frequency (VHF, here defined as > 300kHz) underwateracousticcommunicationshasmotivedastudyofVHFnoisesourcesinthelittoralzone.The Littoral is a special environment for underwater ambient noise. Near shorebathymetry induces wave breaking and wave-sediment interactions, both of whichgenerateunderwaternoise,andavarietyofmarineorganismscanradiatenoiseacrossabroad acoustic spectrum. Two potential VHF noise sources, breaking waves andsnappingshrimp,areconsideredhere.Measurementsofthenoiseradiatedbybreakinglaboratorywavesarepresented,whichshowthatwavenoisecanextendtoatleast400kHz.Modelcalculationsofthepulseofsoundradiatedbyacollapsingcavitationbubblegenerated by a snapping shrimp jet show the potential for significant spectralcomponentsupto1MHz.TheimplicationsforthesenoisesourcesonthetemporalandspatialdistributionoftheVHFnoisefieldarediscussed.
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TetheredBalloonsandTVWhiteSpaces:ASolutionforReal-timeMarineDataTransferatRemoteOceanAreasFilipeTeixeira(INESCTEC)TiagoOliveira(INESCTEC)MrioLopes(INESCTEC)JosRuela(INESCTEC)RuiCampos(INESCTEC)ManuelRicardo(INESCTEC)Autonomous Underwater Vehicles and Remotely Operated Vehicles are useful inindustries such as offshore Oil and Gas, deep sea mining, and aquaculture, whereinspectionmissions are frequent.Whileunderwater communications aremainlydoneusing acoustic links, retrievingdata from thesedevices to shore is still anopen issue,especiallywhenwe consider the high cost of satellite communications. In this paper,using ns-3 simulations, we evaluate the ability of the communications solution beingdevelopedintheBLUECOM+projecttoenablereal-timemarinedatatransferatremoteoceanareas.Throughtheusageoftetheredballoons,TVwhitespacesfrequencies,andmulti-hop communications, the BLUECOM+ solution enables cost-effective, broadbandconnectivity to the Internetatremoteoceanareas,usingstandardaccess technologiessuch as GPRS/UMTS/LTE and Wi-Fi. Simulation results show an expected rangeexceeding100kmfromshoreusingonlytwonodesatsea,withbitratesover1Mbit/s.Wide-bandshallowacousticchannelsimulationwithrealisticDoppleranddelayspreadingfor3DevolvingroughsurfacesMichaelCaley(CurtinUniversityofTechnology)AlecDuncan(CurtinUniversityofTechnology)A phase-coherent shallow underwatermultipath channel simulation is described thatcombines the eigenpath amplitude/delay responses from a ray-tracingmodel for theflat-surfacechannelgeometry,withthetime-varyingmicro-pathresponsesderivedfromsignal interactions with successive 3D realisations of the rough surface. The time-varyingroughsurfaceresponse iscalculatedfromadiscreteseriesof time-circular3Drough surface realisations, allowing the resulting time-circular channel impulseresponse to be used with test signals of arbitrary length. The simulated channel issynthetically probed to present comparisons of Doppler and delay spreadingcharacteristicsofmeasuredandsimulatedreplicachannels.
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InteroperabilityandStandards(Chairs:DaleGreenandJooAlves)AnalysisofJANUSandunderwatertelephonecapabilitiesandco-existenceJooAlves(CMRE)JustusCh.Fricke(BundeswehrTechnicalCentreforShipsandNavalWeapons,NavalTechnologyandResearch(WTD71))This document aims at offering a concise look into the co-existence of UnderwaterTelephoneandJANUSdigitalcommunicationmethods.Thistopicisofparticularinterestas both methods (one a well-established STANAG and the latter in the process tobecomeaSTANAG)havepartiallyoverlappingfrequencybands.Thetwotechniquesarebrieflydescribedandthespecificinterferencemitigationstrategiesbuilt-ininJANUSarepresented.ThedocumentthenfocusesonaseriesofexperimentsconductedduringtheREP14-Atlanticseatrials.Theseexperimentshadtwomainobjectives:1)Measuringtheimpact of an interfering JANUS signal on the intelligibility of voice messages and 2)assessingthecapabilitiesofbothtechniquesundersimilarconditionsandvalidationoftheJANUSMediumAccessControlscheme.Experimentalsetup,analysisandresultsarepresentedforthedifferentactivities.ExperienceswithJANUSandeffortstowardsacommonheavy-dutyunderwatercommunicationstackHenryDol(TNO)KoenBlom(TNO)ErnestVanDerSpek(DMO)AnewEuropeanDefenceAgency(EDA)projectiscurrentlybeingsetup,calledSALSA,in which five European nations are working towards a common underwatercommunication stack for heavy-duty purposes, i.e., a rugged protocol stack that canserveasthefuturecommunicationbackbonefornavaloperationsinvolvingautonomousunderwatervehicles (AUV)andbottomnodes.TheemergingNATOstandard JANUS isenvisioned as first-contact protocol in the SALSA stack, enabling ad-hoc extensions ofthe underwater network such as in-mission upscaling of the number of AUVs in jointoperations. In this context, the JANUS modulation has been tested at sea for severalcommunication ranges and Doppler shifts, comparing its performance with thecandidatephysical-layerprotocoloftheSALSAstack.
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FosteringtheUseofJANUSinOperationally-RelevantUnderwaterApplicationsRobertoPetroccia(CMRE)JooAlves(CMRE)GiovanniZappa(CMRE)ThispaperpresentstheuseofJANUSinoperationally-relevantunderwaterapplications.JANUS is anopen, simpleand robustdigital coding technologycurrently inprocess tobecome a NATO standard. Two underwater scenarios have been considered: 1)BroadcastofunderwaterAISandsituationalawarenessmessages;2)Firstcontactandlanguageswitching.The JANUS physical coding scheme has been used by the underwater nodes as thecommon "language" to share data and to negotiate the switching into a differentlanguage, if needed. Field experiments have been conducted to test and validate theproposedapproach.Differentandheterogeneousconfigurationshavebeenconsidered.Inthispaperwepresentthecollectedresultsandlessonslearntwhichareapromisingstartingpointforfosteringtheresearchinthisarea.Watermark:ArealisticbenchmarkforunderwateracousticmodemsPaulvanWalree(NorwegianDefenceResearchEstablishment(FFI))RoaldOtnes(NorwegianDefenceResearchEstablishment(FFI))TrondJenserud(NorwegianDefenceResearchEstablishment(FFI))WATERMARK is a benchmark for testing, development, and comparison of physical-layer schemes for underwater acoustic communications. Its core is a replay channelsimulator driven by at-sea measurements of the time-varying impulse response.WATERMARK is programmed in MATLAB and is initially provided with two (single-receiver) test channels with a run time of 30 minutes each. These channels weremeasured in Norwegian waters in the frequency band from 10 to 18 kHz. Thebenchmarkcanbeextendedwithchannelsfromdifferentenvironmentsandfrequencybands,dependingonthewillingnessofthirdpartiestoperformandmakeavailablesuchmeasurements.
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Non-AcousticCommunicationModalities(Chairs:BrandonCochenourandFraserDalgleish)DevelopmentandValidationofBlueRay,anOpticalModemfortheMedusaclassAUVsPedroGois(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)NichinSreekantaswamy(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)NandeeshBasavaraju(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)ManuelRufino(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)LuisSebastiao(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)JoaoBotelho(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)JoaoGomes(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)AntonioPascoal(ISR-InstitutoSuperiorTecnico,UniversidadedeLisboa)Wirelessopticalcommunicationsareemergingasaviablesolutionforhigh-speeddatatransmission over short ranges in the ocean, complementing mainstream acousticcommunicationsystemsthatoperateovermuchlongerranges,butatlowerdatarates.The current drive to develop cooperative autonomous vehicular systems to carry outsurveyingandothercomplexmissionsintheoceancriticallydependsontheexistenceofsuch communication links to share sensory and coordination information. This paperpresents a compact, low power consumption, cost-efficient, and lightweight opticalmodemdesigned for fast data transmission betweenMEDUSAunderwater vehicles atranges on the order of 10m.The transmitter uses LEDs forON-OFFkeying,while thereceiver front-end adopts a transimpedance architecture with a photodiode detector.This simplistic transmission and reception technique reduces the overall design andhardware complexities compared to, e.g., laser diodes and photomultiplier tubes. TheLEDsare arranged in a circular array,with aphotodiodeat the centre to enablehalf-duplex operation. Thesemodems are designed to achievedata rates of 20 - 200 kb/sovershort-range, line-of-sight,configurations.Atransparentcasingiscustomisedtofitthe MEDUSA vehicles, with proper alignment for inter-vehicle communication whentheymoveinformation.Temporaldispersioninunderwaterlasercommunicationlinks:ClosingtheloopbetweenmodelandexperimentBrandonCochenour(NavalAirWarfareCenter)AlanLaux(NavalAirWarfareCenter)LindaMullen(NavalAirWarfareCenter)An elevated interest in underwater optical communications has resulted in the
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development of numerous theoretical models to predict both signal attenuation andbandwidth(pulsespreading)forunderwateroptical links.Few, ifany,ofthesemodelshave been experimentally validated, owing mostly to the difficulty in experimentallymeasuring temporal dispersion in these challenging environments. In this work, webegintoclosetheloopbetweentheoryandexperiment,byvalidatinganumericalMonteCarlomodelagainstexperimentaldata.Channelattenuationandfrequencyresponseismeasuredoutto1GHzover20attenuationlengthsinaline-of-sightconfiguration.ExperimentaltestbedforseawaterchannelcharacterizationPabloMena(UniversidaddeLasPalmasdeGranCanaria/IDeTIC)PabloDorta(UniversidaddeLasPalmasdeGranCanaria/IDeTIC)GaraQuintana(UniversidaddeLasPalmasdeGranCanaria/IDeTIC)IvanPerez-Alvarez(UniversidaddeLasPalmasdeGranCanaria/IDeTIC)EugenioJimenezYguacel(UniversidaddeLasPalmasdeGranCanaria/IDeTIC)SantiagoZazo(UniversidadPolitecnicadeMadrid/ETSITelecomunicacion)MarinaPerez(UniversidadPolitecnicadeMadrid/ETSITelecomunicacion)LauraCardona(OceanicPlatformoftheCanaryIslands(PLOCAN))J.JoaquinHernandez(OceanicPlatformoftheCanaryIslands(PLOCAN))Shallow seawaters are problematic for acoustic and optical communications. Sensornetworks based on electromagnetic (EM) communications are evaluated in thisenvironment. In order to characterize the underwater channel, several measurementsystemshavebeendesigned,builtandtestedintheseaobtainingveryreliableresults.Experimentscarriedoutwithdipolesandloopantennasshowedseriousdisagreementwiththestateoftheart,especiallywhendipoleantennasareused.Dipolesperformancewaspoorwhilemagneticloopsshowedmuchlowerattenuation.Ameasurementsystemis described in detail and real attenuation of the underwater channel is obtained forseveraldistancesandantennas.Finally,measuredandsimulatedresultsarecomparedandrevealgoodagreement.InvestigationonRadioWavePropagationinShallowSeawater:SimulationsandMeasurementsEugenioJimenezYguacel(UniversityofLasPalmasdeGranCanaria/IDeTIC)GaraQuintana(UniversityofLasPalmasdeGranCanaria/IDeTIC)PabloMena(UniversityofLasPalmasdeGranCanaria/IDeTIC)PabloDorta(UniversityofLasPalmasdeGranCanaria/IDeTIC)IvanPerez-Alvarez(UniversityofLasPalmasdeGranCanaria/IDeTIC)SantiagoZazo(UniversidadPolitecnicadeMadrid/ETSITelecomunicacion)
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MarinaPerez(UniversidadPolitecnicadeMadrid/ETSITelecomunicacion)EduardoQuevedo(OceanicPlatformoftheCanaryIslands(PLOCAN))The authorspresent fullwave simulations andexperimental results ofpropagationofelectromagnetic waves in shallow seawaters. Transmitter and reciever antennas aretenturnsloopsplacedontheseabed.Somepropagationframeworksarepresentedandsimulated.Finally,simulationresultsarecomparedwithexperimentalones.OptoCOMM:introducinganewopticalunderwaterwirelesscommunicationmodemAndreaCaiti(DepartmentofInformationEngineering,UniversityofPisa)ErnestoCiaramella(ScuolaSuperioreSantAnna,InstitutoTeCIP)Giuseppe Conte (Dipartimento di Ingegneria dellInformazione, Universita Politecnica delleMarche)GiulioCossu(ScuolaSuperioreSantAnna,InstitutoTeCIP)Daniele Costa (Dipartimento di Ingegneria dellInformazione, Universita Politecnica delleMarche)SimoneGrechi(DepartmentofInformationEngineering,UniversityofPisa)RogerNuti(DepartmentofInformationEngineering,UniversityofPisa)David Scaradozzi (Dipartimento di Ingegneria dellInformazione, Universita Politecnica delleMarche)AlessandroSturniolo(ScuolaSuperioreSantAnna,InstitutoTeCIP)OptoCOMMaimsatdemonstrating thepotential, atphysical level,of a communicationfacility for the SUNRISE platform constituted by an Optical Underwater WirelessCommunication(OUWC)modulewithtargetperformanceof10Mb/stransmissionrateat 10 meters range in shallow medium/high turbidity harbour waters. The module,whichisbasedonblueLightEmittingDiode(LED)unitsandcommonphotodiodes,isanevolutionoftheproof-of-principleprototypealreadyproveninlaboratory(pool).Itwillconstitute an additional node integrated in the Littoral Ocean Observatory Network(LOON) test-bed of the SUNRISE infrastructures, providing a high speed and short-range communication node, which will complete the capability of acoustic modemsalready present in the test-bed. Three modules (nodes) will be developed andexperimentallydemonstrated:onefordirectintegrationwiththeLOONinfrastructures,one,batterypowered,tobepotentiallyinstalledonbuoys,RemotelyOperatedVehicles(ROVs), etc., and one to be installed on the eFolaga Autonomous Underwater Vehicle(AUV)oftheproponents.Thepaperdescribesindetailthedevelopmentofthemodemsaswell as the first lab experiments,where the core technology has been successfullytested.
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DipoleAntennaforUnderwaterRadioCommunicationsSofiaIncio(INESCTEC)MrioPereira(INESCTEC)HugoSantos(INESCTEC)LusPessoa(INESCTEC)FilipeTeixeira(INESCTEC)MrioLopes(INESCTEC)OluyomiAboderin(INESCTEC)HenriqueSalgado(INESCTEC)The radiation characteristics of a dipole antenna when immersed in both fresh andseawater are assessed through simulation and experimental work. Simulations showthat theantenna'sbandwidthand radiationpattern changewith thepropertiesof themedium where it is placed, namely the conductivity of the medium. Two dipolesantennaswithcurrentbalunswerebuiltand testedexperimentally in freshwater.Thetests included the measurement of the insertion loss between two identical dipoleantennas and their radiation pattern. The results obtained show a good agreementbetweenthesimulationandexperimentalresults.Non-visiblelightunderwateropticalcommunicationsNormanFarr(WoodsHoleOceanographicInstitution)CliffordPontbriand(WoodsHoleOceanographicInstitution)JonathanWare(WoodsHoleOceanographicInstitution)Leo-PaulPelletier(WoodsHoleOceanographicInstitution)One look at the absorption curve for light in water suggests that the best possiblewindowforunderwateropticaltransmissionisattheblue-greenendofthevisiblelightspectrum,centeredatroughly450nmforclear,deepwater,andshiftedmoretowardsgreen for coastal water. While this holds true for signal transmission in the opticalcommunications channel, it is also true for the solar spectrum,which presents as in-bandwhitenoiseneartheoceansurface.Thegreatestsignallossandinterferenceisinthe 0 to 40meter depth range, but solar irradiance is still present to a depth of 300metersandinsomecasestoadepthof500meters.Because solar radiation shares the same spectral band as the communications signal,solar light is very difficult to reject without the loss of transmitted communicationssignal.Forwide-angletransmittersandreceivers,dielectric,thin-film(TF)filtersarenoteffectiveduetothewavelengthdependenceonangleofincidence,thusmakingnarrow-anglebandpassfiltersforunderwateruseverydifficulttodesign.Absorptivefilterscanbeusedtorejectlargeportionsofthevisiblespectrum,buttheproblemofin-bandnoisestill remains since absorptive filters do not exhibit the sharp cutoff of interference
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filters.Sourcesintherangeof350to400nmpresentaviablemeanstoworkat,orjustbeyond,the edge of the visible spectrum where a majority of sunlight can be rejected. Untilrecently, efficient, inexpensive, near ultraviolet (NUV) sources have not been readilyavailable; but the demand for new, high power NUV light-emitting diodes (LEDs) forcommercialapplicationshasmadetheiruseinunderwaterapplicationspossible.Thesewavelengths are not visible to the human eye thusmaking them good candidates fornon-visiblecommunications.TheWoodsHoleOceanographic Institutions (WHOIs)OpticalCommunicationsGrouphasperformedmanyfieldandlabexperimentswithshortwavelengthsforthepurposeofwavelengthdivisionmultiplexing(WDM),enhanceddaylightperformance,andnon-visible underwater communications. Initially 405 nm LEDs were used for WDM inshallow water and then for long-range transmission tests in deep water at the AxialSeamountof theJuandeFucaRidge(JDR).Additionaltestswereperformedusing405nmand385nmnearthesurfaceat JDRtoassessambientdaylightrejection.Recently,workhasbeendone inveryshallowwater inCapeCodBay toassessrangewithhighambientlightinveryturbidwater.
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ArchitecturesandNovelStacks(Chairs:TommasoMelodiaandPaoloCasari)SEANetG3:High-Data-RateSoftware-DefinedUnderwaterAcousticNetworkPlatform(Off-the-recordpaper)EmrecanDemirors(NortheasternUniversity)TommasoMelodia(NortheasternUniversity)As of today, the underwater acoustic wireless communication platforms are mostlybased on inflexible hardware that can support mostly point-to-point, low-data-rate,delay-tolerant applications. Regrettably, these devices do not provide neither thesufficient data rates nor the necessary flexibility to support future underwaternetworking applications and systems. To that end, we propose a new high-data ratesoftware-defined underwater acoustic networking platform, SEANet G3, with uniquecharacteristicsintermsofdatarate(megabit/sdataratesareforeseenovershortrangelinks), spectrum agility, and hardware/software flexibility in support of distributednetworkedmonitoringoperations.Moreover,wedemonstratedataratesintheorderofmegabit/sonacontrolledlabenvironmentandforthefirsttimedataratesof522kbit/sintheseaovershorthorizontallinks(e.g.10m)foraBERlowerthan10-3.TheDESERTUnderwaterFrameworkv2:ImprovedCapabilitiesandExtensionToolsFilippoCampagnaro(UniversityofPadova)RobertoFrancescon(UniversityofPadova)FedericoFavaro(UniversityofPadova)FedericoGuerra(UniversityofPadova)PaoloCasari(IMDEANetworksInstitute)RoeeDiamant(UniversityofHaifa)MicheleZorzi(UniversityofPadova)The DESERT Underwater emulation system (http://nautilus.dei.unipd.it/desert-underwater), originally designed for testing underwater acoustic networks, has beenrecently extended. The new framework now includes multi-modal communicationfunctionalities encompassing low rate and high rate acoustics as well as optics, thecapabilityof testingwirelesstelemetryforunderwaterequipment,aconnectiontothemost recent versionof theWorldOceanSimulationSystem (WOSS), amodification tothe RECORDS system for sea trial remote control, and an interface between externaltools, e.g., Matlab, and the EvoLogics modem. In addition, experimental activities are
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now supported by an accurate real-time event scheduler which has been shown tosupport, among others, long experiments involving time-division multiple-access(TDMA)-basedMACprotocols.TheseadditionalprotocolschemesfromtheMACtotheapplication layer(mostofwhichhavebeentested incontrolledenvironmentsandseatrials) nowmakeDESERTUnderwater a comprehensive tool for underwater networksimulation and experimentation. In this paper, we present the new functionalitiesdevelopedoverthelasttwoyears.
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SecurityinUnderwaterCommunications(Chairs:MauroConti,GianlucaDinniandRobertoPetroccia)SecureUnderwaterAcousticNetworks:CurrentandFutureResearchDirectionsChhaganLal(UniversityofPadova)RobertoPetroccia(CMRE)MauroConti(UniversityofPadova)JooAlves(CMRE)UnderwaterAcousticNetworks(UANs)arewidelyusedinvariousapplicationssuchasclimate change monitoring, pollution control and tracking, tactical surveillance andoffshore exploration. However, limited consideration is given to the security of suchnetworks,despitethefactthattheuniquecharacteristicsofUANsmakethesenetworksvulnerabletovariousmaliciousattacks.Inthispaper,weaddressfutureaspectsofhowtoimprovesecurity inUANs.Westartbyreviewinganddiscussingthestate-of-the-artsecurity threats forunderwaternetworksalongwith their existing solutions.We thenidentify the open research issues and challenges in thedesign of secureprotocols forcommunicationinUANs.Weproposeinnovativeapproachesbasedonnodecooperation,cross-layering, software-defined cognitive networking and context-awarecommunication in order to effectively provision new or strengthen existing securityframeworks inUANs.Byusingtheseapproaches,weaddresstheproblemofdetectingmaliciousbehavioursandroguenodesinordertoaddressthemajorsecurityissuesinUANs.WealsoinvestigatetheuseofacovertchannelbaseddetectionmechanismwhichneedstobeconsideredwhenmonitoringordeployingUANsatsea.Webelievethattheissuesraisedandfuturepossiblesolutionapproachesproposedinthispaperwillgreatlyhelptheresearcherscontributingtowardsfortifyingsecurityinaninherentlyin-secureUAN.AnalyticalMetricWeightGenerationforMulti-DomainTrustinAutonomousUnderwaterMANETsAndrewBolster(UniversityOfLiverpool)AlanMarshall(UniversityOfLiverpool)Trust Management Frameworks (TMFs) are being used to improve the efficiency,security, and reliability of de- centralized and distributed autonomousMANETs usingmetrics garnered from the communications activities of nodes within the networks.However, these do not perform well in sparse/harshenvironmentssuchasthose
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found in Underwater Acoustic Networks (UANs). As node capabilities increase, thephysical motion of nodes represent an additional domain of knowledge about theoperationsandbehavioursofthenetwork.InthispaperwepresentaMachineLearningsupportedmethodology foroptimisingmetricweight vector generation,usingmetricsfrom both physical and communications domains to detect and identify a range ofmisbehaviours, demonstrating that by utilising information from multiple domains,trust assessment can be more sensitive and accurate than in single-domain(communications)assessment.
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