title   
  

Communication and control of autonomous underwater vehicles using radio frequency-acoustic hybrid MAC schemes

Soomro, Mehrullah (2017) Communication and control of autonomous underwater vehicles using radio frequency-acoustic hybrid MAC schemes. [Thesis]

[img]PDF - Registered users only - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
1662Kb

Official URL: http://risc01.sabanciuniv.edu/record=b1649232 (Table of Contents)

Abstract

In shallow water subsea applications like control of AUVs, there is a growing demand of high-speed wireless communication links for transmitting data between AUVs and base station. Acoustic communication provide very low data rates and high propagation delays not suitable for high gain and high speed control of AUVs and on other hand radio communication is constrained by very high attenuation due to high conductivity and permittivity of water resulting in a very short working range. In this thesis, an Acoustic-RF hybrid communication system is proposed which uses acoustic link for long range communication and switches to Radio Frequency in close range. The system is tested on docking station model where AUVs get their location from transmitter at docking station and control the motors on AUVs to land on docking station. We show that this hybrid system solves the need of robust communication link as well as high data rate and low latency requirement of AUV communication. Three MAC schemes namely TDMA, Slotted ALOHA and Waiting Room are tested and compared in acoustic communication.

Item Type:Thesis
Additional Information:Yükseköğretim Kurulu Tez Merkezi Tez No: 459030.
Uncontrolled Keywords:Underwater communication. -- AUV. -- Control. -- MAC. -- Acoustic. -- RF. -- Hybrid. -- MAC. -- Sualtı iletişimi. -- Otonom sualtı araçları (OSA). -- Kontrol. -- Orta erişim kontrolü. -- Akustik. -- Radyo frekansı. -- Melez.
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
ID Code:34558
Deposited By:IC-Cataloging
Deposited On:26 Apr 2018 13:37
Last Modified:26 Apr 2018 13:37

Repository Staff Only: item control page