| Title: |
A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots |
| Authors: |
Rust, Ian C; Asada, Haruhiko |
| Contributors: |
Massachusetts Institute of Technology. Department of Mechanical Engineering; Rust, Ian C; Asada, Haruhiko |
| Source: |
ASME |
| Publisher Information: |
ASME International |
| Publication Year: |
2018 |
| Collection: |
DSpace@MIT (Massachusetts Institute of Technology) |
| Description: |
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. |
| Document Type: |
article in journal/newspaper; conference object |
| File Description: |
application/pdf |
| Language: |
unknown |
| Relation: |
http://dx.doi.org/10.1115/DSCC2011-6161; ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2; https://hdl.handle.net/1721.1/118839 |
| Availability: |
https://hdl.handle.net/1721.1/118839 |
| Rights: |
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. |
| Accession Number: |
edsbas.D6DC260F |
| Database: |
BASE |