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100080
                                                                      E-mail: lfeng.luo@yahoo.com


                            :




                            :




               The Design and Implement of an Underwater Wireless Optical Communication and

                                                                     Localization System
                                                                      Luo Linfeng, Wang Shuo
                                       Complex System and Intelligent Science Lab, Institute of Automation, CAS, Beijing
                                                                      E-mail: lfeng.luo@yahoo.com


                    Abstract: In this paper, a node’s wireless optical communication module scheme for underwater wireless sensor
                    networks is presented and partly realized. And a distance measurement and 2-Dimension localization algorithm is
                    integrated in the scheme. The module scheme has the following features: the module consists of multiple optical
                    transceivers for omni-direction communication; it can keep data transmission reliable by automatically switching the
                    transceivers in case of nodes’ relative position change. Two photodiodes, which detect the optical signal strength for
                    distance estimation, are installed on each transceiver. The 2-Dimension relative positioning among nodes can be
                    calculated by the detected optical signal strength of the photodiodes.
                    Keywords: wireless optical communication, underwater, distance measurement, localization


           1




                                                                                                                                                        WHOI
               MIT          2005                                                              Tivey              2004
                                                                                                                               2.7m              14.4kb/s[1]
                                                                                                                                  Schill
                                                                                                                                                 2m
                                                               2007                       57.6kb/s[2]              Schill

                                                            2003                                                                                      2005
                Mica                                                                      MIT
                                      No. 60635010,       No. 60605026




                                                                                      3261
  978-1-4244-1734-6/08/$25.00 c 2008 IEEE




Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
2m      7m
                                             320kb/s
             56.7kb/s[3,4]




                             2004                                       Schill




                                                                                                                      1

                                                                                                                                      MCU




             2.                                                                                      A/D


                                        400nm-450nm                                                                           LED


                                                       550nm
                                       [5]

                           LED                                                                                                            2
                                                LED
                                                450nm         550nm
                                                                          LED




             3
                                                                                                                      2
                                    LED                                      90
                                                                                                                                 IrDA
                     4-6                                                                                                       MOS
                                                                                          LED

                                                                                                 IrDA                                    3
                                                                1




  3262                                       2008 Chinese Control and Decision Conference (CCDC 2008)




Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
ACK
                                                                                                           ACK




                                   3
                                                                                                                                                    6
                                                              IrDA
                                                                                              N( i-1 ),N( i ),N( i+1 )
                                             1.6    s

                                                                                                 A N( i-1 ) N( i )
                                                               LED
                                                                                              B N( i ) N( i+1 )
                                                                                             A B
                         I-V                              4
                                                                                                       S                            B
                                                                                                             B

                                                                                                                                                    N( i )
                                                                                           N( i+1 )                                      N( i+1 )
                                                                                                S                   A
                                                                                                                                        N( i-1 )
                                                                                              N( i-1 )




                                     4

            4
                  LED
                                                                 90
                                                 2
                                                MAC
                                                                                                              6
                                         IEEE 802.11
                                                                                       4.2
            4.1

                 IrDA                    SIR
            115.2Kbit/s,                                57.6Kbit/s
                                                                        1ms



                                         ACK




                                    2008 Chinese Control and Decision Conference (CCDC 2008)                                                                 3263




Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
1                                                          2
                                                                      7         A                2                         d
                                            B                         C                                  5%
                                                                                                                               σ
                                                                                        I =
                                                                                                 0.0000348 d 2 + 0.00029 d + 0.00108                                   2
                                                                                                             LED                                                       =1

                                                                                        5.2

                                                                                                                                                A
                                                                                        A                                     B                     X
                                    7
                                                                                                         B                  b 0                                        x
                                                                                        y                        8
                                                B
                                                                                                                           Y                C (x, y)
                                A                           C               B
                                            A C
                                    B        A                                  B
                   C                                    B        A
                                            B               C
                   C

            5



                                                                                                                                                                X
                                                                                                                           A (0, 0)        B (a, 0)

                                                                                                                      8




                                                                                                             C                 A B                              A B
                                                                                                                 A B                                LED

                                                                                                                                   =sin
                                                                                             9                   C                                          A
            5.1

                                                                                        IA                                 sin α
                        LED                                                         d        σ = 0.0000348× ( x 2 + y 2 ) + 0.00029 x 2 + y 2 − 0.00108
                        I                                                                                3
                  P ⋅ S ⋅ e − cd                                                        B
             I = k t
                      d2                                                        1       IB                                      sin ÎČ
                                                                                             σ = 0.0000348× [(x − a) 2 + y 2 ] + 0.00029 ( x − a) 2 + y 2 − 0.00108
                   Pt                               k
                                LED                             A/D
                                                                                                     4
                                        S                                                                              y                                    y
                                                                                                 sin α =                              sin ÎČ =
            c                                                                                                        x2 + y2                        ( x − a) 2 + y 2

                                                                                                                                                A B
                                                                                                                             C               x y




  3264                                          2008 Chinese Control and Decision Conference (CCDC 2008)




Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
[8]
                                 9                                                                   11         A             B                             C

                                                                                             6
                                         a=5                  3                   4

                     matlab                                           x ∈ [− 80 ,80 ]
                                                                                                                                                  125Kbit/s
             y ∈ [10 ,80 ]                                   A B                                                     2m

                   C                                                   10




                                                                                                                     5%
                                                                                                                           matlab




                                                                                             [1] Maurice Tivey, Paul Fucile, and Enid Sichel. A Low
                           10 A B                             C                                    Power, Low Cost, Underwater Optical Communication

                             C                                        A B                          System. Ridge 2000 Events, 2(1): 27-29, 2004

                                                         '        '                      '   [2] F. Schill, U. Zimmer, and J. Trumpf . Visible spectrum
                                                    IA       IB               IA = I A
                                                                                                   optical   communications     and   distance   sensing        for

                       '                                                                           underwater applications. In Proc. Australian Conf.
             IB = IB                           10                                                  Robotics and Automation (Canberra, 2004)
                                                A B                                          [3] I. Vasilescu, K. Kotay, D. Rus, M. Dunbabin, and P.
                                               A B                                                 Corke. Data collection, storage, and retrieval with an
                                     C           11                                                underwater sensor network. Sensys’05. 2005
                                                                                             [4]   Vasilescu, I., Varshavskaya, P., Kotay, K., and Rus, D.
                                                                                                   Autonomous modular optical underwater robot (amour):




                                     2008 Chinese Control and Decision Conference (CCDC 2008)                                                                         3265




Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
Design, prototype, and feasibility study. In Proceedings of
               the 2005 International Conference on Robotics and
               Automation (Barcelona, Apr. 2005)
        [5]    Smart, J.H., "Underwater Optical Communications
               Systems part 2: basic design consideration" MILCOM
               2005.
        [6]    Hiroyuki Takai, Gen’ichi Yasuda, Keihachiro Tachibana.
               Development of a space-division infrared receiver for fully
               distributed inter-robot communication networks. Systems,
               Man     and     Cybernetics,     2002     IEEE      International
               Conference 2002
        [7]    Heidemann, J., Li, Y., Syed, A., Wills, J., and Ye, W.
               Underwater sensor networking: Research challenges and
               potential applications. Tech. Rep. ISI-TR-2005-603,
               USC/Information Sciences Institute, July 2005
        [8]    Silonex. SLD70-BG2
        [9]    Luliu    Vasilescu,    Carrick     Detweiler,    Daniela     Rus.
               AquaNodes: An underwater sensor network. International
               Conference on Mobile Computing and Networking 2007




  3266                                      2008 Chinese Control and Decision Conference (CCDC 2008)




Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.

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Ieee Xplore(4)

  • 1. 100080 E-mail: lfeng.luo@yahoo.com : : The Design and Implement of an Underwater Wireless Optical Communication and Localization System Luo Linfeng, Wang Shuo Complex System and Intelligent Science Lab, Institute of Automation, CAS, Beijing E-mail: lfeng.luo@yahoo.com Abstract: In this paper, a node’s wireless optical communication module scheme for underwater wireless sensor networks is presented and partly realized. And a distance measurement and 2-Dimension localization algorithm is integrated in the scheme. The module scheme has the following features: the module consists of multiple optical transceivers for omni-direction communication; it can keep data transmission reliable by automatically switching the transceivers in case of nodes’ relative position change. Two photodiodes, which detect the optical signal strength for distance estimation, are installed on each transceiver. The 2-Dimension relative positioning among nodes can be calculated by the detected optical signal strength of the photodiodes. Keywords: wireless optical communication, underwater, distance measurement, localization 1 WHOI MIT 2005 Tivey 2004 2.7m 14.4kb/s[1] Schill 2m 2007 57.6kb/s[2] Schill 2003 2005 Mica MIT No. 60635010, No. 60605026 3261 978-1-4244-1734-6/08/$25.00 c 2008 IEEE Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
  • 2. 2m 7m 320kb/s 56.7kb/s[3,4] 2004 Schill 1 MCU 2. A/D 400nm-450nm LED 550nm [5] LED 2 LED 450nm 550nm LED 3 2 LED 90 IrDA 4-6 MOS LED IrDA 3 1 3262 2008 Chinese Control and Decision Conference (CCDC 2008) Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
  • 3. ACK ACK 3 6 IrDA N( i-1 ),N( i ),N( i+1 ) 1.6 s A N( i-1 ) N( i ) LED B N( i ) N( i+1 ) A B I-V 4 S B B N( i ) N( i+1 ) N( i+1 ) S A N( i-1 ) N( i-1 ) 4 4 LED 90 2 MAC 6 IEEE 802.11 4.2 4.1 IrDA SIR 115.2Kbit/s, 57.6Kbit/s 1ms ACK 2008 Chinese Control and Decision Conference (CCDC 2008) 3263 Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
  • 4. 1 2 7 A 2 d B C 5% σ I = 0.0000348 d 2 + 0.00029 d + 0.00108 2 LED =1 5.2 A A B X 7 B b 0 x y 8 B Y C (x, y) A C B A C B A B C B A B C C 5 X A (0, 0) B (a, 0) 8 C A B A B A B LED =sin 9 C A 5.1 IA sin α LED d σ = 0.0000348× ( x 2 + y 2 ) + 0.00029 x 2 + y 2 − 0.00108 I 3 P ⋅ S ⋅ e − cd B I = k t d2 1 IB sin ÎČ Ïƒ = 0.0000348× [(x − a) 2 + y 2 ] + 0.00029 ( x − a) 2 + y 2 − 0.00108 Pt k LED A/D 4 S y y sin α = sin ÎČ = c x2 + y2 ( x − a) 2 + y 2 A B C x y 3264 2008 Chinese Control and Decision Conference (CCDC 2008) Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
  • 5. [8] 9 11 A B C 6 a=5 3 4 matlab x ∈ [− 80 ,80 ] 125Kbit/s y ∈ [10 ,80 ] A B 2m C 10 5% matlab [1] Maurice Tivey, Paul Fucile, and Enid Sichel. A Low 10 A B C Power, Low Cost, Underwater Optical Communication C A B System. Ridge 2000 Events, 2(1): 27-29, 2004 ' ' ' [2] F. Schill, U. Zimmer, and J. Trumpf . Visible spectrum IA IB IA = I A optical communications and distance sensing for ' underwater applications. In Proc. Australian Conf. IB = IB 10 Robotics and Automation (Canberra, 2004) A B [3] I. Vasilescu, K. Kotay, D. Rus, M. Dunbabin, and P. A B Corke. Data collection, storage, and retrieval with an C 11 underwater sensor network. Sensys’05. 2005 [4] Vasilescu, I., Varshavskaya, P., Kotay, K., and Rus, D. Autonomous modular optical underwater robot (amour): 2008 Chinese Control and Decision Conference (CCDC 2008) 3265 Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.
  • 6. Design, prototype, and feasibility study. In Proceedings of the 2005 International Conference on Robotics and Automation (Barcelona, Apr. 2005) [5] Smart, J.H., "Underwater Optical Communications Systems part 2: basic design consideration" MILCOM 2005. [6] Hiroyuki Takai, Gen’ichi Yasuda, Keihachiro Tachibana. Development of a space-division infrared receiver for fully distributed inter-robot communication networks. Systems, Man and Cybernetics, 2002 IEEE International Conference 2002 [7] Heidemann, J., Li, Y., Syed, A., Wills, J., and Ye, W. Underwater sensor networking: Research challenges and potential applications. Tech. Rep. ISI-TR-2005-603, USC/Information Sciences Institute, July 2005 [8] Silonex. SLD70-BG2 [9] Luliu Vasilescu, Carrick Detweiler, Daniela Rus. AquaNodes: An underwater sensor network. International Conference on Mobile Computing and Networking 2007 3266 2008 Chinese Control and Decision Conference (CCDC 2008) Authorized licensed use limited to: University of the Phillippines. Downloaded on July 29, 2009 at 04:28 from IEEE Xplore. Restrictions apply.