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A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots

[+] Author Affiliations
Ian C. Rust, H. Harry Asada

Massachusetts Institute of Technology, Cambridge, MA

Paper No. DSCC2011-6161, pp. 95-102; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME


An integrated approach to underwater wireless communication and orientation estimation using visible light is presented and demonstrated using a simplified 1-DOF system. This system utilizes a long range, high bandwidth optical communication system as a reference with which to rectify error in the prediction of the orientation state. This is done through the use of a Discrete Kalman Filter. In this way, a dual-use system is developed. Using the same hardware, this system can simultaneously communicate using a modulated light source, and estimate, with accuracy, absolute orientation in space. This orientation knowledge is vital to maintaining a line-of-sight link for the communication system. In addition, orientation estimation is important for the various tasks that the underwater robot must perform.

Copyright © 2011 by ASME



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