COMMUNICATION USING AN UNDERWATER SONAR1148743/FULLTEXT01.pdf · In this thesis, the main target is to establish wireless communication with an underwater sonar [7][8] using LabView

Malardalen UniversitySchool of Innovation Design and Engineering

Vasteras, Sweden

DVA 331 - Degree of Bachelor of Science in Engineering -Computer Engineering 15.0 credits

COMMUNICATION USING ANUNDERWATER SONAR

Marcus [email protected]

Examiner: Mikael EkstromMalardalen University, Vasteras, Sweden

Supervisor: Martin EkstromMalardalen University, Vasteras, Sweden

October 12, 2017

Malardalen University Bachelor Thesis

Abstract

”The oceans are considered to host a substantial part of human and industrial resources, namelyoil and gas, whose industry will move to ever deeper waters, and where renewable energy continueto be harvested from the seas in offshore wind farms, but also increasingly through tidal, currentsand wave energy converters. Furthermore, minerals such as cobalt, nickel, and copper, rare earth,silver and gold will be mined from the sea floor (deep sea mining). To this end, new offshore andport infrastructure will need to be built, monitored and maintained or repaired.Many offshore operations can be carried out by professional divers, sometimes in dangerous mis-sions. The dependency on such kind of work represents an actual threat to the offshore industry.The extensive use of unmanned underwater vehicles (AUVs/ROVs) could solve this problem. How-ever, such vehicles are usually customized only for performing specific tasks and are difficult tooperate. This typically makes their deployment rather expensive.” [1]Out of this SWARMs targeted five main objectives:

1. To develop an environment characterization and coordination system

2. Design the necessary infrastructure for monitoring and controlling underwater industrial op-erations

3. Apply communication concepts ensuring smooth functioning while also exploring new, inno-vative technologies

4. Define and apply a methodology for designing new operations

5. Test, validate and demonstrate the SWARMs platform solution in relevant and environmen-tally controlled scenarios

This thesis will be about to establish wireless communication with the sonar, underwater wirelesscommunication. In that environment it is a lot of disturbance noise, inter-symbol interference(ISI), the impact of the Doppler effect and it is low bandwidth and all these parameters affect thecommunication and the ability of transmitting data [2][3][4].

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Table of Contents

1 Introduction 3

2 Background 42.1 Wireless communication and modulation techniques . . . . . . . . . . . . . . . . . 42.2 Underwater communication techniques and suitable antennas . . . . . . . . . . . . 12

3 Related Work 22

4 Problem formulation 24

5 Research questions 25

6 Method 26

7 Results 27

8 Discussion 30

9 Conclusion 31

10 Future work 32

11 Acknowledgements 33

References 40

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1 Introduction

This project is made in conjunction with the research project SWARMs, which is an industry-ledproject with the goal to expand the use of underwater and surface vehicles to simplify the ideas,planning and implementation of deep-sea and offshore operations and missions. This will reducethe operational costs, increase the safety of tasks and of involved individuals, and expand theoffshore sector [5][6].

• ”Enabling AUVs/ROVs to work in a cooperative mesh thus opening up new applications andensuring re-usability by promoting heterogeneous standard vehicles that can combine theircapabilities, in detriment of further costly specialised vehicles.” [5]

• ”Increasing the autonomy of AUVs/USVs and improving the usability of ROVs for the exe-cution of simple and complex tasks, contributing to mission operations sophistication.” [5]

The general goal of this project is to develop a integrated platform for new generations of inde-pendent aquatic and underwater operations. Then it is possible to do:

• Corrosion prevention in offshore installations

• Monitoring of chemical pollution

• Detection, inspection and tracking of plumes

• Berm building

• Seabed Mapping

In this thesis, the main target is to establish wireless communication with an underwater sonar[7][8] using LabView [9][10][11]. To assist the progress of wireless communication with the sonar,there are some environmental limitations that has to be considered. Underwater communicationis limited by the fact that there is low bandwidth and and a lot of disturbance noise, inter-symbol interference (ISI), the impact of the Doppler effect and all these parameters affect thecommunication and the ability of transmitting data. Which modulation technique is the mostefficient to use when it comes to send data wireless underwater and which antenna is the bestsuitable?

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2 Background

2.1 Wireless communication and modulation techniques

Communication using waves is not something new. Waves, as in electromagnetic waves, existsin the nature and as in electronic discharge. Due to the early theories the lightning were elec-tromagnetic waves and it has been proven by experiment that the invisible radio waves were ofthe same nature as the electromagnetic waves. That was the beginning of using radio waves forcommunication and it was the beginning of wireless communication. Guglielmo Marconi [12] saysto be the inventor of radio communication [13]. Reginald Fessenden [14][15] were also an importantperson when it comes to radio communication and also then underwater communication. ReginaldFessenden is foremost known for his developing work launching radio technology, counting thegroundwork of amplitude modulation (AM) radio. When it comes to modulation of radio wavesthere are also phase modulation (PM) and frequency modulation (FM). [16] It is important tomodulate the signal so that the signal that is send, from the sender, is interpreted in the same waywhen received by the receiver. A modulated signal is demodulated at the receiver.Related to terrestrial communication, underwater wireless communication is commonly done byusing acoustic waves instead of electromagnetic waves, radio waves, or optical when it comes tolong-range communication and the amount of data sent is limited [17]. Radio waves or optical isto prefer when sending big amount of data and it is demanding around the clock, high-data-ratecommunication networks that works in real time. The speed that acoustic waves travels with inthe ocean is approximately 1500 m/s [18], so that long-range communication involves high latency,and that will be a problem for real-time response, synchronization, and multiple-access protocols.Lets compare the submarine communication systems with Internet, then the submarine commu-nication system uses the frequency between 3 to 30 Hz [19], extremely low frequency (ELF) [20],and the Internet uses 2,4 to 5 GHz to send data. Therefore it is possible to send large amount ofdata. So far it has been difficult to use electromagnetic waves or optical for wireless communicationunderwater, especially in seawater and when the distance between the sender and receiver increasesand also when the communication is done vertical.[21][22]Underwater communication is neither something new. When the submarines started being usedbefore world war one they had to be able to communicate with boats and other submarines andalso be able to navigate and avoid collision with icebergs, rocks and land. They were using theFessenden telegraph oscillator [23], an early version of a sonar. It was invented by Reginald Fes-senden, with development starting in 1912 at the Submarine Signal Company of Boston [24].A Fessenden oscillator is an electro-acoustic transducer [25]. It was the first equipment that suc-cessfully could manage acoustical echo ranging, with the same principle as is shown in figure 23. Ithas similar operating principle as a dynamic voice coil loudspeaker [26]. It was a very early type oftransducer and it was adequate of generating underwater sounds and gathering their echoes [27]. Itwas transmission and reception of analogue data. Due of its comparably low operating frequency,it has been replaced by piezoelectric [28][29] devices in modern transducers, see figure 1.

Figure 1: Piezoelectric principal and Piezoelectric frequency response (courtesy to Omegatron[30][31])

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In this study it is digital data that is transmitted and received wireless and with variably distancesbetween the sender and receiver. When it comes to transmitting digitally represented data wirelessthere are three major category’s of digital modulation techniques:

• Amplitude-shift keying (ASK) [32]

• Frequency-shift keying (FSK) [32]

• Phase-shift keying (PSK) [32]

It is necessary to modulate transmitted digital data so that the receiver interprets the sent signalfrom the transmitter in right way [33]. To transform a digital signal in to a analogue signal isa process where the digital signal is transformed into its corresponding analogue signal. This isfor converting the digital signal, that have discrete amplitude at discrete instants of time, into acontinuous signal [34]. This can be important if the medium/channel is band pass and/or if thereare multiple users that needs to share the medium, see figure 2.

Figure 2: Medium/channel is band pass and/or multiple users (courtesy to Professor NatalijaVlajic [33])

The modulation is a process where digital data or low-pass analogue data is converted to a band-pass, higher-frequency, analogue signal, see figure 3.

Figure 3: To the left: Digital-to-analogue modulation. To the right: Analogue-to-analogue modu-lation (courtesy to Professor Natalija Vlajic [33])

To be able to modulate the signal that is to be send an additional signal is added, the carriersignal, to the transmitted signal and the carrier signal will act as the base for the signal thatincludes the wanted information. The added signal is an analogue sin wave. A Sine wave has threeparameters, amplitude, frequency and phase, that is possible to varying to represent digital data,0 and 1. Depending on what the implementation is going to be used for the different modulationtechniques has advantages and disadvantages. ASK is very simple to implement but it is sensitiveto interference by disturbance noise and noise usually affect the amplitude.

s(t) =

{A0cos(2πfct), binary 0

A1cos(2πfct), binary 1(1)

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The frequency spectrum, when it comes to ASK, were the information is stored is maybe eas-iest explained mathematical and then by using trigonometry and angle transformation formu-lae [35]. It is explained mathematically how two cosines waves are multiplied with each other:

cosA · cosB =1

2(cos(A−B) + cos(A+B)).

It is the carrier signal: vc(t) = cos(2πfct = cos(ωct)), where 2πfc = ωc, see figure 4Then it is the digital signal: vd(t) that is two cosines waves multiplied with each other, see figure4.This will result in the modulated signal vASK , see figure 4:

vASK(t) = vc(t) · vd(t) = cosωct · [1

2+

2

πcosω0t−

2

3πcos3ω0t+

2

5πcosω0t− ...] =

12cosωct+ 2

π cosωct · cosω0t− 23π cosωct · cos3ω0t+ ... =

12cosωct+ 1

π [cos(ωc − ω0)t+ cos(ωc + ω0)t]− 13π [cos(ωc − 3ωo)t+ cos(ωc + 3ω0)t] + ...

Figure 4: ASK (courtesy to Professor Natalija Vlajic [33])

In figure 5 it is shown in which spectrum the information is stored in when it comes to ASK.

Figure 5: The frequency spectrum (courtesy to Professor Natalija Vlajic [33])

The information will be stored in ωc − ωdmax , ωc and in ωc + ωdmax .ASK is more suitable to transmit digital data over optical fibre where you can shield the opticalfibre by cabling it. FSK is less sensitive to interference by disturbance noise, for example voltagespikes, noise, can be ignored. The receiver looks for specific frequency changes, see formula (2), ofa number of intervals, see figure 7.

s(t) =

{A0cos(2πf1t), binary 0

A1cos(2πf2t), binary 1(2)

Figure 6: f1 < f2 (courtesy to Professor Natalija Vlajic [33])

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The frequency spectrum for FSK differs in comparison with ASK. The digital signals look like:vd(t), see figure 7, and it is modulated with ω1 and v′d(t) = 1− vd(t), see figure 7, and it is modu-lated with ω2. This will result in the modulated signal vFSK , see figure 7:

vFSK(t) = vd(t) · v′d(t) = vd(t) · (1− vd(t)) = cosω1t · vd(t) + cosω2t · (1− vd(t)) =

cosω1t · [1

2+

2

πcosω0t−

2

3πcos3ω0t+

2

5πcos5ω0t− ...] + cosω2t · [

1

2+

2

πcosω0t−

2

3πcosω0t

+2

5πcos5ω0t− ...] =

1

2cosω1t+

1

π[cos(ω1 − ω0)t+ cos(ω1 + ω0)t]− 1

3π[cos(ω1 − 3ω0)t+ cos(ωc + 3ω0)t] + ...+

1

2cosω2t+

1

π[cos(ω2 − ω0)t+ cos(ω2 + ω0)t]− 1

3π[cos(ω2 − 3ω0)t+ cos(ω2 + 3ω0)t] + ...+

Figure 7: FSK (courtesy to Professor Natalija Vlajic [33])

In figure 8 it is shown in which spectrum the information is stored in when it comes to FSK.

Figure 8: The frequency spectrum for FSK (courtesy to Professor Natalija Vlajic [33])

Compared to ASK, FSK need more bandwidth to be able to control and get the right information,that is transmitted. The wanted information is in ω1 − ωdmax , ω1, ω2 and in ω2 + ωdmax . TheFSK frequency spectrum is double in compared with ASK. FSK is suitable for over voice lines, inhigh-frequency, radio transmission for example.Then there is the third modulation technique, PSK. The phase of the carrier signal is varied torepresent binary 1 or 0, see formula (3). The amplitude and frequency is constant throughout eachbit interval, see figure 9. For example binary 1 = 0◦ phase and then binary 0=180◦ (πrad) phase.PSK is the same as multiplying the carrier signal by 1 when information is 1 and with -1 when theinformation is 0. If only two different phases are used during modulation it is also called binaryPSK or 2-PSK, see figure 9.

s(t) =


A1cos(2πfct+ π), binary 0⇒ s(t) =


−A1cos(2πfct), binary 0(3)

Figure 9: PSK (courtesy to Professor Natalija Vlajic [33])

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The demodulator has to determine the phase of the received sinusoidal signal due to some referencephase, see figure 10. That makes PSK more complex when it comes to signal detection comparedto both ASK and FSK, but PSK is less sensitive to disturbance noise then ASK and it uses thesame bandwidth as ASK, see figure 11. If the environment is of a type that it will provide lowbandwidth it is more efficient to use PSK then FSK when it comes to data-rate transmission.In figure 10 there is the digital signal vd(t), the carrier signal vc(t) and those two signal will resultin the modulated signal vPSK(t).

Figure 10: PSK example (courtesy to Professor Natalija Vlajic [33])

Figure 11: PSK frequency spectrum (courtesy to Professor Natalija Vlajic [33])

When it comes to detection of received signal trigonometry and angle transformation formulae [35]

help to explain mathematical when cosine wave is multiplied with it self: cos2A =1

2(1 + cos2A).

If the received/modulated signal ±Acos(2πfct) is multiplied by 2 · cos(2πfct) the result will be:

2Acos2(2πfct) = A[1 + cos[4πfc]t] as binary 1, and

−2Acos2(2πfct) = −A[1 + cos[4πfc]t] as binary 0.

To be able to determine the original baseband signal(i.e. the original binary sequence) it is easiestdone by using low-pass filter to remove the oscillating part, see figure 12 [33]

Figure 12: PSK with low-pass filter (courtesy to Professor Natalija Vlajic [33])

In figure 13 the result is shown by using a low-pass filter to remove the oscillating part.

Figure 13: PSK example, the result by using low-pass filter (courtesy to Professor Natalija Vlajic[33])

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If the modulation theory [36] is used to calculate the data rate, in bits per second (bps), and ifbaseband signal x(t) has the bandwidth [37] of Wc/2, see figure 14, and then the modulated signalx(t)cos(2πfct) has the bandwidth Wc Hz, see figure 14.

Figure 14: To the left: Data rate. To the right: The modulated data rate (courtesy to ProfessorNatalija Vlajic [33])

If the bandpass channel has a bandwidth Wc [Hz] then it have the baseband channel Wc/2 [Hz]available so, according to Nyquist Law [36], it is theoretical to support transmission of 2 Wc

pulses/sec. The modulation system supports 2 · (Wc/2) = Wc[pulses/second], see figure 14. Whitmore advanced technique it is possible to recover the factor 2 in supported data-rate.More phase shifts. If the phase shifts is doubled, 90◦ = π/2 rad, it is possible to generate 4 signalsand each is representing 2 bits. Then you have 4-PSK, even called Quadrature PSK (QPSK).

s(t) =

Acos(2πfct), binary 00

Acos(2πfct+ π2 ), binary 01

Acos(2πfct+ π), binary 10

Acos(2πfct+ 3π2 ), binary 11

(4)

This is visualized in figure 15.

Figure 15: QPSK: visualized in frequency and constellation diagram (courtesy to Professor NatalijaVlajic [33])

Now the data rate has increased without increasing the bandwidth use and depending on thequality of the apparatus that is used, in capability to analyse small differences in phase, 4-PSKcan simply be extended to n-PSK.To increase the data rate even more a new technique has been developed, it can be seen as acombination of ASK and PSK, and it is called Quadrature Amplitude Modulation, [38][39][40].In QAM the original information signal stream is divided into two sequences that contains of oddand even symbols, see figure 16, even called ”two-dimensional” signalling [41]. Let these signalsbe Bk and Ak, there Ak is for in-phase comparison and is modulated by cos(2πfct) and Bk is forquadrature-phase comparison and is modulated by sin(2πfct).

Figure 16: Original signal is split in to two sequences of odd and even symbols, Bk and Ak (courtesyto Professor Natalija Vlajic [33])

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The both signals are added together, Y (t) = Akcos(2πfct) + Bksin(2πfct), and is sent throughthe channel, see figure 17

Figure 17: QAM transmission (courtesy to Professor Natalija Vlajic [33])

Now the data rate have increased to 2 bits per bit-interval.In figure 18 an example of QAM is shown.

Figure 18: QAM example (courtesy to Professor Natalija Vlajic [33])

By using trigonometry and the angle transformation formulae [35] we got cos2(A) =1

2(1+cos(2A)),

sin2(A) =1

2(1−cos(2A)) and sin(2A) = 2sin(A)cos(A) and that is good to know and take use of in

QAM demodulation. Because by multiplying Y(t) by 2 · cos(2πfct) and then filtering the resultingsignal with a low-pass filter Ak is recovered. To recover Bk Y(t) is multiplied by 2 · sin(2πfct) andthe resulting signal is also filtered by a low-pass filter, see figure 19

Figure 19: QAM modulation (courtesy to Professor Natalija Vlajic [33])

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Signal constellation, constellation diagram [42], is used to visualize possible symbols, dependingon what modulation design, that can be selected in a 2-D plane. The X-axis is correspondingto the in-phase carrier cos(ωct). The projection of the point on the X-axis shows the maximumamplitude of the in-phase component, see figure 20. The Y-axis is then related to the quadraturecarrier sin(ωct) and the projection of the point on the Y-axis shows the maximum amplitude ofthe quadrature component, see figure 20. The length of the line that can be draw from the point tothe origin is the maximum amplitude of the signal element, combination of X and Y components,see figure 20. The angel that is between the line and the X-axis is the phase of the signal element,see figure 20.

Figure 20: QAM Constellation (courtesy to Professor Natalija Vlajic [33])

Depending on which modulation technique is used the result differs, see figure 21.

Figure 21: Constellation diagram comparison (courtesy to Professor Natalija Vlajic [33])

As mentioned earlier so can QAM be seen as a combination between ASK and PSK and that can

be described like this: Y (t) = Akcos(2πfct) + Bksin(2πfct) = (A2k + B2

k)12 cos(2πfct + tan−1

BkAk

)

and the result is visualized by constellation digram in figure 22

Figure 22: 4-level QAM (courtesy to Professor Natalija Vlajic [33])

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2.2 Underwater communication techniques and suitable antennas

Sound Navigation And Ranging, Sonar, is a technique that uses sound propagation (usually un-derwater) to navigate, communicate with or detect objects on or under the surface of the water,such as other vessels [7][8]. There are several different techniques to use depending on what theuser is going to use it. Passive and active are two of these techniques. Active is sending soundand waiting for the echo, see figure 23. That was this method that Reginald Fessenden was theinventor of.

Figure 23: Active Sonar (courtesy to Georg Wiora [43])

Passive is listening after sounds [44]. In this thesis the sonar is of active type.The control of the system is done with a roboRIO [45] from National Instrument that is pro-grammed using the LabView programming suite the on-board dual-core ARM real-time CortexA9processor and customizable Xilinx field-programmable gate array, FPGA [46][47].The sonar is connected to EvoLogics [48][49] underwater modem to be able to communicate.To be able to receive the signal that have been sent it is necessary to have an antenna and it alsoimportant then that the antenna is designed so that it can receive the signal that have been sent[18][50]. If it is in a special environment that the signals will be sent, as underwater, it is importantdo design the antenna so that is suitable for that environment [51][52][53].Antennas are as old as communication with radio waves. The design of the antenna depends on thewavelength of the transmitted signal. In linear media the wavelength, λ, of sinusoidal waveformthat travels at constant speed, v, can be described by λ = v

f and f is the frequency of the sinusoidalwaveform, see figure 24.

Figure 24: Wavelength (courtesy to Richard F. Lyon [54])

Sinusoidal waves can be described mathematically as a function

y(x, t) = Acos(2πx

λ− 2πft) = Acos(2π(

x

λ− ft)) = Acos(

2π

λ(x− vt))

where y is the value of the wave at any position x and time t, and A is the amplitude of thewave. They can also be described in terms of wave number k (2 times the reciprocal of wave-length) and angular frequency ω (2 times the frequency)

Acos(kx− ωt) = Acos(k(x− vt))

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The relationship between wavelength and wave number to velocity and frequency can then bewritten as

k =2π

λ=

2πf

v=ω

vor

λ =2π

k=

2πv

ω=v

f

Acoustic systems have been a standard technique for underwater communications as they aregenerally good for long range communications (up to tens of kilometres) [51][55][56]. But thistechnique is inadequate for real time and broadband underwater wireless sensor networks becauseof high latency, low protection against disturbance noise and low data rate [55].The design for electromagnetic wave antennas [57] for transmission and receiving in air has todiffer with the design of the antennas for transmission and receiving in water. To be able to designantennas for underwater equipment it is important to understand the effect of the conductivity,σ, on the antenna material when the propagating medium is fresh or sea water [55][58]. It is alsoimportant to understand that a electromagnetic wave can not travel as fast in water as in air, sothe wavelength will differ from air to water, see figure 25.

Figure 25: To the left refraction (courtesy to Arne Nordmann [59]) and to the right wavelength isdecreased (courtesy to Brews Ohare [60]) and that because of entering a slower medium

The wavelength of a electromagnetic wave in vacuum is calculated λ =c

fwhere c is the speed

of light. The speed in water will be affected by the factor√εrµr, where εr is the relative per-

mittivity and µr is the relative permeability [18]. The speed in water can then be expressed by

cwater =c

√εrµr

and that gives λ =cwaterf

=c

√εrµr · f

.

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By using Maxwells equations [18][61] it is possible to predict the propagation of electromagneticwaves in water. The strength of the electric field Ex and the strength of the magnetic field Hy fora linearly polarized plane wave generated in the z direction can be explained by Ex = E0e

jωt−γz,see figure 26, and Hx = H0e

jωt−γz, see figure 27, and in figure 28 it is shown how it looks like fora dipole antenna.

Figure 26: Vector directions for electromagnetic field components (courtesy to Dr Robin Dunbar[62])

Figure 27: Magnetic loop field components (courtesy to Dr Robin Dunbar [62])

Figure 28: E-plane and H-plane for a dipole antenna (courtesy to PhD student Aleix Garcia Miquel[63])

The angular frequency, ω, can be expressed by ω = 2πf . The propagation constant, γ, is expressedby γ =

√jωµ(jωε+ σ) = α + jβ, where α, the real part, is the attenuation constant and is

expressed by α = ω√µε

√1/2(

√1 + (σ/ωε)2 − 1) and β, the imaginary part, is the phase constant

and is expressed by β = ω√µε

√1/2(

√1 + (σ/ωε)2 + 1) =

2π

λ. If attenuation will increase it will

lead to reducing the effects of multi-path propagation.

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Depending on which type of communication that is desirable and depending on what will be sentand what speed is needed there are some different antennas that can be used. Among the firstantennas to be tested for wireless underwater communication was a dipole antenna [64]. Dipolemeans that the antenna is constructed by two terminals or ”poles” and in those flows a radiofrequency currency. That currency together with a added voltage will create an electromagnet-ic/radio signal that is to be radiated, see figure 29.

Figure 29: Dipole antenna (courtesy to Cadmium [65])

As mentioned earlier, when an electromagnetic wave spreads in a not solid medium it is attenuated.The attenuation increases with the frequency and with the conductivity of the medium. When itcomes to conductive medium it is this σ/ωε that is used to divide mediums into three categories.If σ/ωε � 1 it is a good medium, if σ/ωε ≈ 1 it is a poor conductor or semiconductor and ifσ/ωε� 1 it is a good conductor [18][55].When using a dipole antenna and want to be able to accomplish as long range communication aspossible it is important to use lower frequency, below 100 MHz [66].Loop antennas is an another antenna that also is used when it comes to underwater communicationand the loop antenna has an advantage of depending on the magnetic field of the electromagneticwaves [18]. The main advantage is that the loop antenna is not affected by interference fromman-made electrical signals [18], such as disturbance noise from electrical engines.To be able to design and construct compact communication systems the antenna has to be able tobe made much smaller [67][68]. Also when it comes to be able to communicate wireless underwaterin comparatively high-speed, and in this study, in short-range the J-antenna has been studied [55].The examples that was raised in that study was short-range communication between AUVs or thatthe AUV is approaching a docking station for downloading the data that has been collected duringthe underwater mission.The J-antenna has the shape of the letter J, see figure 30 [69], and there are also exists somedifferent designs of the J-antenna, see figure 30 [70]. The J-antenna is also known as a vibratorantenna and it is commonly used wire antenna [18].

Figure 30: Model of J-antenna (courtesy to ZyMOS [69]) and some different designs of the J-antenna (courtesy to Crcwiki [70])

The J-pole antenna is an omnidirectional monopole antenna. To be able to solve the antennamatching to the feed-line there is a quarter wave parallel transmission line stub [68][71]. Whenit comes to determining the dimensions of the antenna for use underwater, specifically seawater,conductivity is very important to consider.

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To be able to handle even higher data rate and at the same time keep the power requirementrelatively low and keep the costs down another technique had to be developed. Due to thisrequirements the outcome was Ultra-wide band, UWB [72][73]. New and more advanced techniquewith specific requirements needs new and more advanced antenna, UWB antenna [74][63]. Whenit comes to UWB technology and it is used in air it should have bandwidth range of 3.1 GHz to10.6 GHz. In that range is practical efficiency and satisfying omnidirectional radiation patternsthe critical requirements. To be able to realizing the UWB multi-band communication system oneof the crucial components is just the UWB antenna. It is a challenge to design a UWB antennathat deliver high performance when the current narrowband antennas exists. It is supposed tocover wide bandwidth, to produce an omnidirectional radiation pattern, be compact in size andhave a simple configuration [74].In figure 31 it is shown the basic idea of a UWB antenna.

Figure 31: To the left: A blue print of a UWB antenna. To the right: A blue print of a UWBantenna designed in Ansoft High Frequency Structure Simulator (HFSS) v11 tool (courtesy to Dr.P. Eswaran [74]).

In water the bandwidth is not in a range of 3.1 GHz to 10.6 GHz, but even though that it isa known fact it have been studies made on using UWB communication system for underwatercommunication with suitable antennas. Most common is a dipole antenna and variations of thedipole antenna, for example bow tie antennas [63][75].Also to improve the communication and to increase the transmission range multiple-input andmultiple-output (MIMO) are introduced and used, see figure 32.

Figure 32: MIMO communication system (courtesy to Mr Vikash Sharma [76])

The MIMO method is for multiplying the capacity of a radio link using multiple antennas fortransmitting and receiving to achieve multipath propagation [77][78]. This technique has becamean crucial component in terms of wireless communication.

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In the beginning MIMO was multiple antennas at the transmitter and receiver. Then it was de-veloped for more modern usage and now more MIMO refers to a more practical technique to beable to send and receive more than one data signal at the same time over the same communicationchannel, multipath propagation. This technique differs essentially from the smart antenna tech-nique and have been developed to increase the performance of a single data signal, for exampleas beam-forming and diversity. In wireless communications, multipath is the propagation phe-nomenon that results in radio signals arriving to the antenna on the receiving side by two or morepaths. Causal factors to multipath includes disturbance noise from the atmosphere, reflection andrefraction caused by the ionosphere, and reflection from water and objects on land like mountainsand buildings. Multipath propagation can be described mathematical. By using the method ofthe response of an impulse that is used for studying linear systems a mathematical model can bemade. A single impulse/signal is to be transmitted a time 0, an ideal Dirac pulse of electromagneticpower, x(t) = δ(t) [79].Because of existing multiple electromagnetic paths will the receiver receive more than one signaland they will possibly differ in time of arrival and the received signal then can then be described

by y(t) = h(t) =

N−1∑n=0

ρnejφnδ(t− τn), and it is shown in figure 33.

Figure 33: Mathematical model of the multipath impulse response (courtesy to I Cantalamessa[80]).

N is the number of received signals and that is the same as the number of electromagnetic pathsand it is possible that N is a large number. The nth impulse has a time delay that is τn. Theconvoluted amplitude, that means in magnitude and phase, is represented by ρne

jφn of the re-ceived signal. All these parameters is affected by the time. If all functions is rewritten so theyare dependent on the time the result would be τn = τn(t), ρn = ρn(t) and φn = φn(t). The timebetween the first and last received signal is called the multipath time [81], TM , and it is representedby TM = τN−1 − τ0.In a linear, time constant systems, the multipath phenomena can be characterised by the channeltransfer function H(f), that is defined by the impulse response h(t) as the continuous time Fouriertransform [82].

H(f) = F(h(t)) =

∫ ∞−∞

h(t)ej2ftdt =

N−1∑n=0

ρnejφnej2fτn

The Fourier transform of Dirac pulse is a convoluted exponential function, the last term in theequation above, an eigenfunction [82] of every linear system.

17


The characteristic of the transferring channel with the presence of peaks and valleys, notches, isnow achieved. It can be shown that the average distance, in Hz, between two, in sequence, valleysor peaks, is approximately inversely proportional to TM . This described coherence bandwidth is

accordingly defined as BC ≈1

TM[83] and is shown in figure 34 [80].

Figure 34: Mathematical model of the multipath channel transfer function (courtesy to I Canta-lamessa [80]).

Lets take a digital transmission and the data stream that have been sent over the communicationchannel have been changed because of being effected by noise, interference, distortion or bit syn-chronization error, the number of changed bits is the number of bit errors. If the number of biterrors is measured during an amount of time and it is divided by the total numbers of transmittedbits during this studied time interval, the result will be the bit error rate (BER) [84][85]. Bit errorrate is often expressed in percentage.To improve the bit error rate without requiring more energy consumption to be able to carry outthe transmission were error-correcting codes, such as turbo codes, TC, developed by Claude Berrou[86][87]. In the scientific paper by Claude Berrou, Alain Glavieux and Punya Thitimajshima [87]where turbo codes first is described is also the turbo codes encoder and decoder in figure 35 ex-plained.

Figure 35: Turbo encoder and Turbo decoder (courtesy to Anton Petrov [88][89])

When MIMO was introduced there were also a new technique developed to encode digital datathat was transmitted on multiple carrier frequencies and that was Orthogonal frequency-divisionmultiplexing, OFDM [2][90]. Together with OFDM is an implementation of the fast Fourier trans-form, FFT [91][92][2] algorithm on the receiver side, and the inverse on the sender side, will makean efficient modulator and demodulator. An example of a transmitter and receiver is shown in 36

Figure 36: OFDM transmitter and receiver (courtesy to Oli Filth [93][94])

To get the OFDM carrier signal must all orthogonal sub-carriers be summed. Each sub-carrierwill be independently modulated to get the baseband data [95]. Due to that non-linear behaviourhave been observed in several digital communication systems [96] PSK is a suitable modulationtechnique, because it is less sensitive to non-linearities due to the constant envelope constellation.

18


One drawback is that PSK is less bandwidth efficient than other communication signals like QAM,QAM is also a suitable modulation technique. Both techniques is suitable when parallel transmis-sion is desirable [95]. This complex baseband signal can be used to modulate a main RF carrier.The input signal, s[n], is representing a serial stream of binary digits. By inverse multiplexings[n], the serial stream is divided into N parallel streams. Each parallel stream is then mappedto a stream of symbols by a suitable modulation technique, PSK or QAM. Depending on whichmodulation that is used the streams can vary in bit-rate.To get the transmission signal s(t) the converted analogue signals is used to modulate the cosineand sine waves at the carrier frequency, fc, and they are then summed to result in s(t). Theconverted analogue signal is created by calculating the inverse FFT on each set of symbols. Thecalculated inverse will give a set of complex time-domain samples then. These samples can then bequadrature-mixed to passband. Out of this real and imaginary components is the result and that isthese components that are converted to the analogue domain using digital-to-analogue converters,DACs.The receiver receives the signal r(t) and the received signal is then quadrature-mixed down tobaseband by the cosine and sine waves at the carrier frequency, fc. This will result in that createdsignals are centred on 2fc. To filter these signal are low-pass filters used. The filtered signals arethen sampled and digitalized by using analogue-to-digital converters, ADCs, and converted to thefrequency domain by using forward FFT. This will give N parallel streams and each of this Nparallel streams are converted in to a binary stream. These streams are then put together into aserial stream, s[n]. This serial stream is an estimation of the input signal, s[n], at the transmitter.If every modulated sub-carrier is using M different symbols and there are N sub-carriers used willthe OFDM symbol alphabet consists of MN combined symbols.The OFDM signal that have been filtered by a low-pass filter is represented as:

v(t) =

N1∑k=0

Xkej2kt/T , 0 ≤ t < T ,

where Xk are the data symbols, N is the number of sub-carriers and T is the duration of ev-ery OFDM symbol. The low-pass signal, v(t), has a real part and a complex part. If the real partof v(t) is used it can be transmitted at a baseband wire-line applications, as for example DSL.When it comes to wireless application the signal v(t) is complexed. Therefore is the transmittedsignal transformed to the carrier frequency, fc. The transmitted signal can then be representedby:

s(t) = <{ν(t)ej2πfct

}=

N−1∑k=0

|Xk| cos (2π[fc + k/T ]t+ arg[Xk])

If the time between every sub-carrier is1

Tit will make them orthogonal over every symbol period.

This is represented by:

1

T

∫ T

0

(ej2πk1t/T

)∗ (ej2πk2t/T

)dt =

1

T

∫ T

0

ej2π(k2−k1)t/T dt = δk1k2

where ∗ stands for the complex conjugate operator and δ is the Kronecker delta [97]To eliminate inter-symbol interference, ISI, in multipath fading channels, a guard period of lengthTg is added at the start of every symbol [95][98]. The guard period is a cyclic copy and it willresult in that it will extend the length of the waveform to appurtenant symbol, periodic addition.This periodic addition will, in the interval −Tg ≤ t < 0 will be the same as the signal in theinterval (T − Tg) ≤ t < T .The OFDM signal with the periodic addition can then be represented by:

ν(t) =

N−1∑k=0

Xkej2πkt/T , −Tg ≤ t < T

19


The guard period will result in that time overhead is added and that will decrease the systemoverall spectral efficiency. Therefore should the time span for the guard be extended. T will thenbe T = Ts + Tg, Ts = NT and N is the number of sub-carriers.The Volteera method is also used to explain the non-linearities in communication systems [96]. Incommunication system power amplifiers operate near saturation due to limited power resource,

yn =

P∑p=1

Np∑τ1

· · ·Np∑τp

hp(τ1, · · · , τp)p∏i

zn−τ1

The baseband represented by the Volterra model

yn =

b p−12 c∑

p=1

N2p+1∑τ1

· · ·N2p+1∑τ2p+1

h2p+1(τ1, · · · , τ2p+1) ·p∏i=1

z∗n−τi

2p+1∏j=p+1

zn−τj

Multidimensional orthogonal polynomials represented by the Volterra model. They are formedas products of one dimensional orthogonal polynomials, Pτi(zi), where τi is the degree of the poly-nomial and zi ≡ zn−i.

Q(p)

i1 · · · i1︸︷︷︸τ1

···ik · · · ik︸︷︷︸τq

(zn) =

k∏q=1

Pτq (ziq )

where τ1 + · · · + τk = p, zn = (zni1 , · · · , znik), the superscript (p) specify the degree of Q andall τ1, · · · , τm are definite.Multiple copies of a data stream is sent on multiple transmitting antennas. It is sending the datastream in an environment with scattering, reflection, refraction and at the receiver the data streamis more affected by noise. The possibility to send on multiple antenna but receive on only one oroptional multiple antenna were studied. Space-time coding, STC, were a technique that improvederror rate over single-antenna system [99]. STC were designed based upon trellis codes, convo-lutional code [100]. It were developed to simpler block codes [101], Alamouti space-time coding[102], and this to increase the link reliability. This techniques were later even more developed tospace-time block-codes, STBC [103].A matrix is used to represent STBC and describe it mathematically. Every modulated symbol isrepresented by sij . i is representing a time slot and j is representing one antenna’s transmissionsover time. Every row is a new timeslot and every column is an new antenna

time− slots

transmit antennasy

−−−−−−−−−−−−−−−−−−→s11 s12 · · · s1nTs21 s22 · · · s2nT...

......

...sT1 sT2 · · · sTnT

During studies of STBC it was shown that the most effective design of STBC is done by us-ing orthogonal design. That means that the vectors representing any pair of columns taken fromthe coding matrix is orthogonal. This will simplify the decoding at the receiver. The decodingwill be simple, linear and optimal. When designing STBC it is based on the stated diversitycriterion developed by Tarokh [104] and the diversity criterion were formed by using space-timetrellis codes [104]. The diversity criterion is described like this: lets consider the possibility ofthe maximum-likelihood of that the receiver decides incorrectly to support a signal that looks likee = e11e

21 · · · e

nT1 e12e

22 · · · e

nT2 · · · e1T e2T · · · e

nTT and the transmitted signal looks like

c = c11c21 · · · c

nT1 c12c

22 · · · c

nT2 · · · c1T c2T · · · c

nTT . This will result in a matrix that looks like

B(c, e) =

e11 − c11 e12 − c12 · · · e1T − c1Te21 − c21 e22 − c22 · · · e2T − c2T

......

. . ....

enT1 − cnT1 enT2 − c

nT2 · · · enTT − c

nTT

20


It has been shown that orthogonal STBC can manage the maximum diversity that is allowedby this criterion.The simplest matrix were developed by Alamouti [101] and it were designed for a system with

two transmitting antennas and the resulting coding matrix looks like

[c1 c2−c∗2 −c∗1

], Alamouti code,

and were ∗ stands for complex conjugate. This is the only standard STBC that is able to managefull code-rate [104]. If there are T time-slots and the block is encoding k symbols is the code-rate

r =k

T. It takes two time-slots to transmit two symbols.

When it comes to decoding orthogonal STBC is one especially beneficially detail that maximumlikelihood decoding can be managed at the receiver, but this is only possible with linear processing.To be able to consider a decoding method, when it comes to wireless communication, was a newmodel needed. At the time t, is the signal rjt received by the antenna j and it is represented by

rjt =

nT∑i=1

αijsit + njt . αij is the path gain from the transmitting antenna i to the receiving antenna

j. sit is the signal that is transmitted by the transmitting antenna i and njt is a sample of additivewhite Gaussian noise, AWGN [105].The maximum-likelihood detection rule [99] is to express the decision variables

Ri =

nT∑t=1

nR∑j=1

rjtαεt(i)jδt(i).

δk(i) is the sign of si in the kth row of the coding matrix and εk(p) = q stands for that sp is the(k, q) element of the coding matrix. This is for i = 1, 2, . . . , nT and then decide on constellation

symbol si so that it will satisfy this si = arg mins∈A

|Ri − s|2 +

−1 +∑k,l

|αkl|2 |s|2

. A is the

constellation alphabet. This linear decoding scheme will result in maximal diversity.By using optimal decoding it will result in that the bit-error rate (BER) of this STBC will be thesame as the maximal ratio combining, MRC [106][107], of the 2nR-branch. This is a result of theperfect orthogonality between the symbols after receive processing, there are two copies of eachsymbol transmitted and nR copies received.

21


3 Related Work

When it comes to underwater communication Reginald Fessenden [14][15] was among the firstdevelopers of that kind of communication. It was transmission and reception of analogue data.When it comes to transmission and reception of digital data wireless and when the bandwidth islimited it is more complicated, especially if it is big amount of data that are being sent.Rodionov A.Yu, Unru P.P, Kirianov A.V, Dubrovin F.S and Kulik S.Yu did a study in 2016 andmanaged to establish good horizontal wireless underwater communication and managed to senddata about 10 km, [108].Due to the low bandwidth underwater it is important to find a modulation technique that maximizethe amount of data sent over the limited bandwidth channel and still manage keep up good noiserejection and signal distortion performance. S. Monaco wrote about a technique in 2002 that hadbeen developed to be able to maximize data sent on limited bandwidth channel. This technique iscalled triangular modulation, TM [109]Phase shift keying, PSK [32], is also a good modulation technique that is less sensitive to distur-bance noise and is good to use when bandwidth channel is limited [110][32]. PSK has also beendeveloped further to be able to increase the data rate of sent data when bandwidth is limited [41].Antennas are as old as communication with radio waves. The design of the antenna depends onthe wavelength of the transmitted signal.Acoustic systems have been a standard technique for underwater communications as they aregenerally good for long range communications (up to tens of kilometres) [51][55][56]. But thistechnique is inadequate for real time and broadband underwater wireless sensor networks becauseof high latency, low protection against disturbance noise and low data rate [55].The design for electromagnetic wave antennas for transmission and receiving in air has to differwith the design of the antennas for transmission and receiving in water. To be able to designantennas for underwater equipment it is important to understand the effect of the conductivity,σ, on the antenna material when the propagating medium is fresh or sea water [55][58]. It is alsoimportant to understand that a electromagnetic wave can not travel as fast in water as in air, sothe wavelength will differ from air to water, see figure 25 [59][60].When using a dipole antenna and want to be able to accomplish as long range communication aspossible it is important to use lower frequency, below 100 MHz [66].Loop antennas is an another antenna that also is used when it comes to underwater communicationand the loop antenna has an advantage of depending on the magnetic field of the electromagneticwaves [18]. The main advantage is that the loop antenna is not affected by interference fromman-made electrical signals [18], such as disturbance noise from electrical engines.To be able to design and construct compact communication systems the antenna has to be able tobe made much smaller [67][68]. Also when it comes to be able to communicate wireless underwaterin comparatively high-speed, and in this study, in short-range the J-antenna has been studied [55].To be able to handle even higher data rate and at the same time keep the power requirementrelatively low and keep the costs down another technique had to be developed. Due to this re-quirements the outcome was Ultra-wide band, UWB [74]. New and more advanced technique withspecific requirements needs new and more advanced antenna, UWB antenna [74][63].To improve the bit error rate without requiring more energy consumption to be able to carry outthe transmission were error-correcting codes, such as turbo codes, TC, developed by Claude Berrou[86][87]. In the scientific paper by Claude Berrou, Alain Glavieux and Punya Thitimajshima [87]where turbo codes first is described is also the turbo codes encoder [88] and decoder [89] explained,see figure 35Considering the limitation of bandwidth, scattering, reflection, refraction and man made noise whenit comes to underwater communication were an another technique tried out with multiple-inputsand multiple-output, MIMO [77][78]. In the beginning it were multiple transmitting antennasand multiple receiving antennas. This techniques were developed to have multiple transmittingantennas but only have one or optional number of receiving antennas.

22


When MIMO were introduced there were also a new technique developed to encode the digitaldata that were transmitted on multiple frequencies and that technique were called orthogonalfrequency-division multiplexing, OFDM [2][90]. Together with OFDM is an implementation of thefast Fourier transform, FFT [91][92][2] algorithm on the receiver side, and the inverse on the senderside, will make an efficient modulator and demodulator.Due to that non-linear behaviour have been observed in several digital communication systems [96]PSK is a suitable modulation technique, because it is less sensitive to non-linearities due to theconstant envelope constellation. One drawback is that PSK is less bandwidth efficient than othercommunication signals like QAM, QAM is also a suitable modulation technique. Both techniquesis suitable when parallel transmission is desirable [95]. This complex baseband signal can be usedto modulate a main RF carrier.To be able to transmit on multiple antennas and receive on one or optional numbers of antennawere the space-time coding, STC [100], introduced. STC were then further developed to space-timeblock-codes, STBC [103].The sonar that will be used in this study comes from DeepVision [7][8]. DeepVision have special-ized in development of high performance and low price side scan sonar systems.EvoLogics is a company that have specialized in underwater communication and have developedmodems specialized for underwater communication [48][49].National Instruments have developed a software platform, LabView, to use so that the user havethe opportunity to develop different embedded systems and also developed hardware to connectto your computer to test the program that has been created in LabView [10][11][9]. The control ofthe system in this study is done with a roboRIO[45] from National Instrument that is programmedusing the LabView programming suite the on-board dual-core ARM real-time CortexA9 processorand customizable Xilinx FPGA [46][47].

23


4 Problem formulation

Is it possible to establish wireless communication using an underwater sonar using LabView?Due to the fact that this thesis were performed on a test rig, 38 [111], that communicated wire-less, using a constructed motherboard 39 [111], using LabView, is it possible to establish wirelesscommunication?To assist the progress of wireless communication with the sonar/test rig, there are some environ-mental limitations that has to be considered. Underwater communication is limited by the factthat there is low bandwidth, a lot of disturbance noise, inter-symbol interference (ISI) and the im-pact of the Doppler effect. Due to the knowledge that the AUVs and ROVs is driven by electricalengines, that also produce disturbance noise and that will be added to the already existing distur-bance noise, it is important to investigate how all these parameters will affect the communicationand the functionality of the sonar.

24


5 Research questions

The main target for this study is to be able to establish wireless underwater communication witha sonar by using LabView. To be able to reach the main target of this work it is important dodivide the main target in to sub targets. So the sub targets will be:

1. Establishing wireless communication with a sonar, DeepVision[8], using LabView[9] and ver-ify that the communication works

2. Test the wireless communication in different surroundings

3. Investigate how disturbance noise, from surroundings and added from electrical engines, affectthe wireless communication and the functionality of the sonar

Due to the change of hardware, the sub targets ended up to be:

1. Establishing wireless communication with the constructed test rig 38 [111] by using theconstructed motherboard 39 [111] and using LabView and verify that the communicationworks

2. Test the wireless communication in different surroundings

3. Investigate how disturbance noise, from surroundings and added from electrical engines, affectthe wireless communication and the functionality of the sonar

25


6 Method

To begin with wireless communication using the sonar, using LabView and EvoLogics [48][49] un-derwater modem, has to be established and verified, and there will LabView be the program thatverifies the communication and shows the results.When the wireless communication has been verified, the surroundings has to be varied so that theaffect on the communication can be investigated and the result can be displayed.What happens if disturbance noise also will be added, electrical engines for example? How willthat affect the wireless communication?Which modulation technique will be the most effective due to that it is wireless communicationthat will be used and there is limited bandwidth underwater and a lot of disturbance noise andthat digital data is to be sent in real time? Phase Shift Keying (PSK) [32], and developed PSKtechniques(n-PSK), is one method that is used when it is data that is to be sent wireless and band-width is limited. Maybe it also is possible to combine with triangular modulation (TM) [109] thatalso is good to use when bandwidth is limited. Data has been managed to be sent long distanceshorizontally. Is it possible to send data wireless long distance vertically?The control of the system is done with a roboRIO [45] from National Instrument that is pro-grammed using the LabView programming suite the on-board dual-core ARM real-time CortexA9processor and customizable Xilinx FPGA [46][47].

Due to that the sonar and the roboRIO had to be sent away to another location and that Iinstead became using hardware from an other Master Thesis [111] the method had to change.Wireless communication has still to be established, but now it were established with the test rig,38 [111], by using the constructed motherboard 39 [111] connected to myRIO. The control of thesystem were done with a myRIO [112] from National Instrument using the LaBView programmingmyRIO FPGA that is integrated into the Xilinx Zynq-7010 System on Chip (SoC) [46] [47]. Dueto the fixed test rig it were not possible to increase the distance between transmitter and receiverto more than the length of the test rig. Both horizontally and vertically communication is stillpossible to test even if the distance is not very long between the transmitter and receiver.

26


7 Results

Instead of the sonar and the roboRIO the thesis were made using hardware from an Master thesis,[111], and myRIO [112] instead of roboRIO.To be able to get the generated signals out to the transducer a specific hardware is necessary toaccess data acquisition platform, NI USB-7845R [113]. Unfortunately this hardware were missingso therefore it was not possible to perform complete tests to verify the communication.The transducer allows for conversion between acoustic and electric energy in both transmissionand reception. Piezoelectric devices were used to make the transducer elements 37 [111].

Figure 37: Transducer elements (courtesy to Albin Barklund and Daniel Adolfsson [111])

Two sets of transducer elements were constructed and placed on a test rig 38 [111].

Figure 38: Test rig (courtesy to Albin Barklund and Daniel Adolfsson [111])

To be able to have an interface between power supply, Data Acquisition (DAQ) platform andchannel boards were a motherboard constructed 39[111].

Figure 39: Motherboard (courtesy to Albin Barklund and Daniel Adolfsson [111])

27


Also shown in the figure 39 is the channel boards and the power supply unit (PSU) and they werealso constructed during the Master thesis, see figure 40 [111].

Figure 40: Channel board and PSU (courtesy to Albin Barklund and Daniel Adolfsson [111])

The channel board were constructed so that it transmits on digital output and receives on analogueinput. So to be able to establish wireless communication by using LabView, myRIO and theconstructed hardware, the analogue signal has to be transformed to a digital signal and thentransmitted on digital output. To begin with the tests were made above water, but the softwarewere constructed as the communication were made under water. The carrier signal is a pulsewidth modulated (PWM) signal that sends at 40 MHz. The data signal is a square wave signalthat transmits 8 bit data at 20 MHz. To be able to call it communication the sender has to knowthat the receiver has received before transmitting again. So the sender count the transmitted bitsand waits for the receiver to count the received bits and then sends again. The result of the testmade above water is shown in figure 41

Figure 41: The result of the communication test above water

The result of the the test made under water with now other disturbance is shown in figure 42, thisis horizontal transmission, and in figure 43, this is verical transmission

Figure 42: The result of the communication test under water, horizontal transmission

28


Figure 43: The result of the communication test under water, vertical transmission

The theory and the software is done to be tested when necessary hardware is accessible to verifyor not verify that the wireless communication works.

29


8 Discussion

The wireless communication could not be verified. But I am convinced that it is possible to es-tablish wireless communication using the test rig, the motherboard, myRIO and LabView. Whenthat is accomplished I am also convinced that it is possible to establish wireless communicationusing the sonar from DeepVision and the under water modem from Evologics and the roboRIO andLabView. Both myRIO and roboRIO has the same FPGA and maximum frequency is 40 MHz.So if, in the future, it is desirable to investigate transmission over 40 MHz it is necessary to lookafter another hardware or develop their own.At this time it desirable to test the communication with lower frequency on the PWM signal andsquare wave signal to see if it is possible to establish wireless communication and very it. So bothsignals need to be generated and then integrated on the FPGA.When communication is verified, it is one step further in accomplish real-time wireless communi-cation between the AUV/ROV, the transmitter, and for example the boat at the surface, receiver.It will be a small step, more testing and developing is needed before reaching the goal, but it is astep in the right direction.

30


9 Conclusion

Wireless communication were not verified, but I am convinced that it will be possible to establishwireless communication using LabView, myRIO or robobRIO, constructed motherboard or underwater modem and used hardware, test rig or sonar. When communication is verified it is a stepin the right direction to establish real-time wireless communication between the AUVs/ROVs,transmitter, and for example a boat at the surface, receiver.

31


10 Future work

First of all wireless communication has to be established and verified. I am convinced that ispossible. After that, next step would be to verify that the data that is transmitted is the samedata that is received. Then it would also be interesting do the tests with the sonar from DeepVisionusing the under water modem from Evologics and the roboRIO and compare the results. Then alsodo the test in the right environment, the oceans with salt water and also longer range with wirelesscommunication. If there will be problem with the long range wireless communication, would itimprove with using MIMO? How will the communication be affected by more disturbance noise fromthe surrounding? Which antenna is the most suitable and if different modulation techniques areused? How will the test results differ? At which frequency is the best communication established?

32


11 Acknowledgements

I would like to thank IDTs student counsellor Malin Ashuvud that guided my in which directionI would need to educate me further to be able to get a degree of Bachelor and that would led toincrease my chances to get a job in the future.Then I also would like to thank my examiner and Associate Professor Mikael Ekstrom, that werehere at Malardalens University even when I stared my education in the autumn 2000, that havebeen there when I needed to discuss my thoughts about my thesis and gave me some hints abouthow I should get further in my investigations of my thesis.I would like to thank my cousin Inger Ericson and her cohabitant Bjarne Sundstrom. Withouttheir help it would not been possible to full fill and finishing this education.Of course I also would like to thank my family. My wife Veronica and my children Anton andJacob. Without them by my side during this journey to full fill and finishing this education itwould not have been possible.Thank you all that have been part of this journey, from the day I was born until to days date.

33


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http://swarms.eu/overview.html

http://swarms.eu

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