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Item type:Publication, Access status: with files , System architecture and communication infrastructure for the RoboVaaS project(IEEE, 2023-03-07); ; ; ; This is to notify you that the following article, "System Architecture and Communication Infrastructure for the RoboVaaS Project," has been finalized and posted to the "Early Access" area on IEEE Xplore. This article has been accepted for inclusion in a future issue of this journal and its content is final as presented with the exception of pagination and issue designation. It may be cited as an article in a future issue by its Digital Object Identifier.Publicationtype: Journal ArticleScopus© Citations 6 190 148 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Data gathering from a multimodal dense underwater acoustic sensor network deployed in shallow fresh water scenarios(Multidisciplinary Digital Publishing Institute (MDPI), 2019-11-30); ; ; ; The Robotic Vessels as-a-Service (RoboVaaS) project intends to exploit the most advanced communication and marine vehicle technologies to revolutionize shipping and near-shore operations, offering on-demand and cost-effective robotic-aided services. In particular, the RoboVaaS vision includes a ship hull inspection service, a quay walls inspection service, an antigrounding service, and an environmental and bathymetry data collection service. In this paper, we present a study of the underwater environmental data collection service, performed by a low-cost autonomous vehicle equipped with both a commercial modem and a very low-cost acoustic modem prototype, the smartPORT Acoustic Underwater Modem (AHOI). The vehicle mules the data from a network of low cost submerged acoustic sensor nodes to a surface sink. To this end, an underwater acoustic network composed by both static and moving nodes has been implemented and simulated with the DESERT Underwater Framework, where the performance of the AHOI modem has been mapped in the form of lookup tables. The performance of the AHOI modem has been measured near the Port of Hamburg, where the RoboVaaS concept will be demonstrated with a real field evaluation. The transmission with the commercial modem, instead, has been simulated with the Bellhop ray tracer thanks to the World Ocean Simulation System (WOSS), by considering both the bathymetry and the sound speed profile of the Port of Hamburg. The set up of the polling-based MAC protocol parameters, such as the maximum backoff time of the sensor nodes, appears to be crucial for the network performance, in particular for the low-cost low-rate modems. In this work, to tune the maximum backoff time during the data collection mission, an adaptive mechanism has been implemented. Specifically, the maximum backoff time is updated based on the network density. This adaptive mechanism results in an 8% improvement of the network throughput.Publicationtype: Journal ArticleScopus© Citations 23 369 352 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: without files , Data Collection in Shallow Fresh Water. Scenarios with Low Cost Underwater Acoustic ModemsThe Robotic Vessels as-a-Service (RoboVaaS) project [1] intends to exploit the most advanced communication and marine vehicle technologies to revolutionize shipping and near-shore operations, offering on-demand and cost effective robotic-aided services. In\nparticular, the RoboVaaS vision includes ship hull inspection service, quay walls\ninspection service, antigrounding service, and environmental and bathymetry data\ncollection service. In the final paper, we will focus on the study of the underwater environmental data collection service, performed by one or more low-cost autonomous vehicles equipped with low cost acoustic modems and moving within a network of submerged acoustic sensor nodes. The mobile nodes will collect the data from the sensors and take it to the sink, i.e., a node directly connected to shore. This study will analyze the feasibility of such services in the scenario of the port of\nHamburg, characterized by shallow turbid fresh water, where the RoboVaaS concept will\nbe demonstrated. To this end, an underwater acoustic network composed by both static and moving nodes will be implemented and simulated with the DESERT Underwater Network Simulation Framework [2] where the performance of the smartPORT Acoustic\nUnderwater Modem (AHOI) will be mapped in the form of lookup tables (LUTs). The AHOI\nmodem [3], developed by the Hamburg University of Technology (TUHH), is a very low\ncost acoustic modem, specifically designed for shallow water port scenarios. It will also\nbe used to demonstrate the RoboVaas concept in the final field test that will take place in\nthe port of Hamburg. The LUTs will contain the performance measurements of the\nmodem, retrieved in the same area of the final test.[1] https://www.martera.eu/projects/robovaas[2] http://desert-underwater.dei.unipd.it[3] C. Renner and A. J. Golkowski, “Acoustic Modem for Micro AUVs: Design and Practical\nEvaluation,” in Proc. WUWNet, Shanghai, China, Oct. 2016.Publicationtype: Conference Paper94 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Underwater communications for the robotic vessels as-a-servic projectThis is an abstract of the exposed poster. The abstract of the poster is published on the conference website, but not in the proceedings.Publicationtype: Conference Poster not in Proceedings109 167