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ADAPTIVE ACOUSTIC MODEM FOR UNDERWATER SENSOR NETWORKS

ABSTRACT

There is a growing interest in using underwater networked systems for oceanographic applications. These networks often rely on acoustic communication, which poses a number of challenges for reliable data transmission. The underwater acoustic channel is highly variable; each link can experience a vastly conditions, which change according to environmental factors as well as the locations of the communicating nodes. This makes it difficult to ensure reliable communication. The main challenge is how to build a system that provides reliable and energy efficient communication in underwater sensor networks. To this end, an adaptive underwater acoustic modem is proposed in the seminar which changes its parameters according to the situation. The seminar discusses about the design of such a modem and provides supporting results from simulations and experiments.

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Chapter 1 INTRODUCTION

Underwater sensor networks have wide range of oceanographic applications including marine exploration, environmental monitoring and coastal surveillance. The preferred mode of wireless communication in these networks is based on acoustic signals. This is due to the fact that radio frequencies suffer high attenuation underwater. Optical communication is possible but only in clear water at relatively short distances. Unfortunately, acoustic communication is challenging due to large and variable multipath delay spread, Doppler shifts and long propagation delays. Underwater networks are envisioned to consist of tens to hundreds of nodes that are deployed in 3-dimensional space, in different configurations. A concrete example is a sensor network consisting of freely floating autonomous drifters for underwater exploration. In such scenarios, the acoustic channel can vary considerably between different transmitter receiver pairs. This is due to the significant variation in the nodes positions, the extent of motion between them, and the topography of the ocean environment. For example, in moored oceanographic applications, where nodes are deployed at different depths in a static configuration, the channel experienced by nodes closer to the bottom of the ocean is different from those near the surface due to variations in signal reflection and refraction across different water layers. In networks consisting of mobile vehicles, additional variability is introduced due to the dynamics of the ocean environment and the relative motion between the vehicles. To ensure reliable communication, we must choose the modem parameters for worst case channel conditions. Unfortunately, this often leads to communicating at lower data rates than are practically possible. Moreover, due to the high transmit power of acoustic modems (often tens of watts), a lower data rate results in a substantial increase in the energy consumed per bit. Since devices in an underwater sensor network are generally battery operated, energy efficient communication is crucial. The essential challenge that we address in this paper is how to provide

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reliable and energy efficient acoustic communication for underwater networks by designing an adaptive physical layer. To this end, this seminar proposes an underwater acoustic modem that adapts its data rate and modulation scheme to the channel conditions. This idea is also motivated by previous observations that adaptive modulation is the key to maximizing both channel capacity and channel efficiency at the physical and MAC layers. As a result of such adaptations nodes that experience a more favorable channel can communicate at a faster rate, thereby saving energy. Alternatively, if the channel multipath increases, a node automatically chooses a lower rate to avoid intersymbol interference. These adaptations are performed on a link by link basis. The major contribution of this seminar is an adaptive modem architecture. We describe its main signal processing and control components and motivate our design via simulations and actual ocean experiments. Prior work on acoustic modem design also recognizes the fact that communication performance underwater has a strong dependence on the deployment environment. Consequently, modems with adaptable features have been previously proposed. For example, in order to deal with different channels, the Woods Hole Micro-Modem, which is widely used in the research community, has two operation modes: a low data rate FSK mode and a high data rate PSK mode. Other examples include a dual-mode acoustic modem and a software modem. The dual mode modem can switch between two modulation schemes - FH and DSSS according to channel signal to noise ratio (SNR). The software modem allows the user to select a desired modulation technique, data-rate and frame length. These modems require the user to set certain communication parameters prior to deployment and they are not designed to adapt to a variable channels in real-time, after the network is deployed. The seminar aim to propose the design of modem architecture that can dynamically change either before deployment or during its operation.

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Chapter 2
LITERATURE SURVEY

Underwater sound has probably been used by marine animals for millions of years. The science of underwater acoustics began in 1490 by Leonardo da Vinci. In 1687 Isaac Newton wrote his Mathematical Principles of Natural Philosophy which included the first mathematical treatment of sound. The next major step in the development of underwater acoustics was made by Daniel Colladon, a Swiss physicist, and Charles Sturm,

a French mathematician. In 1826, on Lake Geneva, they measured the elapsed time between a flash of light and the sound of a submerged ship's bell heard using an underwater listening horn.[2] They measured a sound speed of 1435 metres per second over a 17 kilometre distance, providing the first quantitative measurement of sound speed in water. The result they obtained was within about 2% of currently accepted values. In 1877 Lord Rayleigh wrote the Theory of Sound and established modern acoustic theory. The sinking of Titanic in 1912 and the start of World War I provided the impetus for the next wave of progress in underwater acoustics. Systems for detecting icebergs and U-boats were developed. Between 1912 and 1914, a number of echolocation patents were granted in Europe and the U.S., culminating in Reginald A. Fessenden's echo-ranger in 1914. Pioneering work was carried out during this time in France by Paul Langevin and in Britain by A B Wood and associates. The development of both active ASDIC and passive sonar (SOund Navigation And Ranging) proceeded apace during the war, driven by the first large scale deployments of submarines. Other advances in underwater acoustics included the development of acoustic mines. In 1919, the first scientific paper on underwater acoustics was published, theoretically describing the refraction of sound waves produced by temperature and salinity gradients in the ocean. The range predictions of the paper were experimentally validated bytransmission loss measurements. The next two decades saw the development of several applications of underwater acoustics. The fathometer, or depth sounder, was developed commercially during the 1920s.
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Originally natural materials were used for the transducers, but by the 1930s sonar systems incorporating piezoelectric transducers made from synthetic materials were being used for passive listening systems and for active echo-ranging systems. These systems were used to good effect during World War II by both submarines and anti-submarine vessels. Many advances in underwater acoustics were made which were summarised later in the series Physics of Sound in the Sea, published in 1946. After World War II, the development of sonar systems was driven largely by the Cold War, resulting in advances in the theoretical and practical understanding of underwater acoustics, aided by computer-based techniques.

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Chapter 3 UNDERWATER SENSOR NETWORKS

Underwater Acoustic Sensor Networks (UW-ASN) consist of a variable number of sensors and vehicles that are deployed to perform collaborative monitoring tasks over a given area. To achieve this objective, sensors and vehicles self-organize in an autonomous network which can adapt to the characteristics of the ocean environment. Ocean bottom sensor nodes are deemed to enable applications for oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention, assisted navigation and tactical surveillance applications. Multiple Unmanned or Autonomous Underwater Vehicles (UUVs, AUVs), equipped with underwater sensors, will also find application in exploration of natural undersea resources and gathering of scientific data in collaborative monitoring missions. To make these applications viable, there is a need to enable underwater communications among underwater devices. Underwater sensor nodes and vehicles must possess self-configuration capabilities, i.e., they must be able to coordinate their operation by exchanging configuration, location and movement information, and to relay monitored data to an onshore station.

3.1 UNDERWATER COMMUNICATION

Underwater communication applications mostly involve long-term monitoring of selected ocean areas. The traditional approach for ocean-bottom or ocean-column monitoring is to deploy oceanographic sensors, record the data, and recover the instruments. This approach creates long lags in receiving the recorded information. In addition, if a failure occurs before recovery, all the data is lost. The ideal solution for these applications (such as data collection from hot vent communities, offshore mining or drilling, etc.) is to establish real-time communication between the underwater instruments and a control center within a network configuration. Basic underwater acoustic (UWA) networks are formed by establishing two-way acoustic links between various instruments such as autonomous underwater vehicles (AUVs) and sensors. The network is then connected to a surface station which can further be connected to a backbone, such as the Internet, through an RF link. This configuration creates an interactive environment where scientists can extract real-time data from multiple distant underwater instruments. After
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evaluating the obtained data, control messages can be sent to individual instruments and the network can be adapted to changing situations. Since data is transferred to the control station when it is available, data loss is prevented until a failure occurs. Underwater networks can also be used to increase the operation range of AUVs. The feasible wireless communication range of an AUV is limited by the acoustic range of a single modem which varies from 10 to 90 km [1]. By hopping the control and data messages through a network that covers large areas, the range of AUVs can be considerably increased. However, the effects of propagation time delays should be considered. The shallow-water acoustic channel differs from radio channels in many respects. The available bandwidth of the UWA channel is limited and depends on both range and frequency. Within this limited bandwidth, the acoustic signals are subject to time-varying multipath, which may result in severe intersymbol interference (ISI) and large Doppler shifts and spreads, relative to radio channels. These characteristics restrict the range and bandwidth for reliable communications. The propagation speed in the UWA channel is five orders of magnitude lower than that of the radio channel. Large delays between transactions can reduce the throughput of the system considerably if it is not taken into account. Also, since the ocean bottom instruments are battery-powered, power efficiency is a desirable characteristic for underwater networks. Special attention should be given to these facts when designing a network protocol.

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3.2 ARCHITECTURE OF UWSN

Fig 3.1: Architecture for underwater sensor network

Reference architecture for two-dimensional underwater sensor networks is shown in Fig. 3.1, where deployed sensor nodes are anchored to the bottom of the ocean. Underwater sensors may be organized in a cluster-based architecture, and be interconnected to one or more underwater gateways (uw-gateways) by means of wireless acoustic links. Uw-gateways are network devices in charge of relaying data from the ocean bottom network to a surface station. They are equipped with a long-range vertical transceiver, which is used to relay data to a surface station, and with a horizontal transceiver, which is used to communicate with the sensor nodes to send commands and configuration data, and to collect monitored data. The surface station is equipped with an acoustic transceiver, which may be able to handle multiple parallel

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communications with the uw-gateways, and with a long-range radio transmitter and/or satellite transmitter, which is needed to communicate with an onshore sink and/or to a surface sink.

3.3 CHALLENGES OF UNDERWATER ACOUSTIC NETWORKS

Battery power is limited and usually batteries cannot be recharged, also because solar energy cannot be exploited. The available bandwidth is severely limited. Channel characteristics, including long and variable propagation delays, multi-path and fading problems. High bit error rates. Underwater sensors are prone to failures because of fouling, corrosion, etc.

3.4 FACTORS INFLUENCING ACOUSTIC COMMUNICATIONS

Underwater acoustic communications are mainly influenced by transmission loss, noise, multipath, Doppler spread, and high and variable propagation delay. All these factors determine the temporal and spatial variability of the acoustic channel, and make the available bandwidth of the underwater acoustic channel limited and dramatically dependent on both range and frequency. Long-range systems that operate over several tens of kilometers may have a bandwidth of only a few kHz, while a short-range system operating over several tens of meters may have more than a hundred kHz of bandwidth. In both cases, these factors lead to low bit rate, in the order of tens of kbps for existing devices. The main factors influencing underwater acoustic communications include: 1. PATH LOSS Attenuation. It is mainly provoked by absorption due to conversion of acoustic energy into heat, which increases with distance and frequency. It is also caused by scattering and reverberation (on rough ocean surface and bottom), refraction, and dispersion (due to the displacement of the reflection point caused by wind on the surface). Water depth plays a key role in determining the attenuation. Geometric Spreading. This refers to the spreading of sound energy as a result of the expansion of the wave fronts.It increases with the propagation distance and is

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independent of frequency. There are two common kinds of geometric spreading: spherical (omni-directional point source), and cylindrical (horizontal radiation only 2. NOISE Man made noise. This is mainly caused by machinery noise (pumps, reduction gears, power plants, etc.), and shipping activity (hull fouling, animal life on hull, cavitation). Ambient Noise. Is related to hydrodynamics (movement of water including tides, currents, storms, wind, rain,etc.), seismic and biological phenomena. 3. MULTI-PATH Multi-path propagation may be responsible for severe degradation of the acoustic communication signal, since it generates Inter-Symbol Interference (ISI). The multi-path geometry depends on the link configuration. Vertical channels are characterized by little time dispersion, whereas horizontal channels may have extremely long multi-path spreads, whose value depend on the water depth. 4. HIGH DELAY AND DELAY VARIANCE The propagation speed in the UW-A channel is five orders of magnitude lower than in the radio channel. This large propagation delay (0.67 s/km) can reduce the throughput of the system considerably. The very high delay variance is even more harmful for efficient protocol design, as it prevents from accurately estimating the round trip time (RTT), key measure for many common communication protocols. 5. DOPPLER SPREAD The Doppler frequency spread can be significant in UWA channels, causing degradation in the performance of digital communications: transmissions at a high data rate cause many adjacent symbols to interfere at the receiver, requiring sophisticated signal processing to deal with the generated ISI.

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3.5 APPLICATIONS
Underwater sensor networks are envisioned to enable applications for oceanographic data collection, pollution monitoring, offshore exploration, disaster prevention, assisted navigation and tactical surveillance applications. Multiple unmanned or autonomous underwater vehicles (UUVs, AUVs), equipped with underwater sensors, will also find application in exploration of natural undersea resources and gathering of scientific data in collaborative monitoring missions. Under Water Acoustic Sensor Networks (UW-ASNs) consist of a variable number of sensors and vehicles that are deployed to perform collaborative monitoring tasks over a given area. To achieve this objective, sensors and vehicles self-organize in an autonomous network which can adapt to the characteristics of the ocean environment. The above described features enable a broad range of applications for underwater acoustic sensor networks: Ocean sampling networks. Networks of sensors and AUVs, such as the Odyssey-class AUVs, can perform synoptic, cooperative adaptive sampling of the 3D coastal ocean environment. Experiments such as the Monterey Bayfield experiment demonstrated the advantages of bringing together sophisticated new robotic vehicles with advanced ocean models to improve the ability to observe and predict the characteristics of the oceanic environment. Environmental monitoring. UW-ASNs can perform pollution monitoring (chemical, biological and nuclear). For example, it may be possible to detail the chemical slurry of antibiotics, estrogen-type hormones and insecticides to monitor streams, rivers, lakes and ocean bays (water quality in situ analysis). Monitoring of ocean currents and winds, improved weather forecast, detecting climate change, under-standing and predicting the effect of human activities on marine ecosystems, biological monitoring such as tracking of fishes or microorganisms, are other possible applications. For example, in the design and construction of a simple underwater sensor network is described to detect extreme temperature gradients (thermo clines), which are considered to be a breeding ground for certain marine micro-organisms.

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Undersea explorations. Underwater sensor networks can help detecting underwater oilfields or reservoirs, determine routes for laying undersea cables, and assist in exploration for valuable minerals.

Disaster prevention. Sensor networks that measure seismic activity from remote locations can provide tsunami warnings to coastal areas, or study the effects of submarine earthquakes (seaquakes).

Assisted navigation. Sensors can be used to identify hazards on the seabed, locate dangerous rocks or shoals in shallow waters, mooring positions, submerged wrecks, and to perform bathymetry profiling.

Distributed tactical surveillance. AUVs and fixed underwater sensors can collaboratively monitor areas for surveillance, reconnaissance, targeting and intrusion detection systems. For example, in a 3D underwater sensor network is designed for a tactical surveillance system that is able to detect and classify submarines, small delivery vehicles (SDVs) and divers based on the sensed data from mechanical, radiation, magnetic and acoustic micro sensors. With respect to traditional radar/sonar systems, underwater sensor networks can reach a higher accuracy, and enable detection and classification of low signature targets by also combining measures from different types of sensors.

Mine reconnaissance. The simultaneous operation of multiple AUVs with acoustic and optical sensors can be used to perform rapid environmental assessment and detect mine-like objects.

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3.6 PICTURE OF SENSOR NODES AND VEHICLES

Fig 3.2: Real time UWSN and Vehicles

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Chapter 4 ADAPTIVE ACOUSTIC MODEM

4.1 FEATURES OF ACOUSTIC MODEM

Acoustic modem is a modem which sends and receives digital data as sound energy. The main features of such types of modem are: It can pick the most appropriate transmission criteria suitable to the environment Segments of the same network may use different communication parameters Higher energy savings by transmission management Can be implemented in software, reducing overall hardware costs Geo-location and communication can be combined in the same hardware 4.2 ADAPTIVE ACOUSTIC MODEM DESIGN Underwater acoustic modems consist of three fundamental components as shown in Fig. a transducer, an analog transceiver and a digital hardware platform for signal processing and control. This seminar focuses on the design of the physical layer on the digital platform.

Fig 4.1: Block Diagram of Adaptive acoustic modem

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In the following details about the major parts of the digital hardware platform are provided. In each case, a general description of its function is given, discussed the parameters that can be adapted, and described options that is studied in the experiments. Controller: The controller orchestrates the digital platform. This includes moving data to and from the analog transceiver, setting the parameters for the various parts of the digital hardware, and ultimately interfacing with higher level network stack. Modulation: There are many different types of signals used for underwater communication. These include FSK,PSK , OFDM , DSSS . While an adaptive modem can ideally switch between any modulation scheme, we studied FSK and DSSS in our experiments. FSK is a fairly simple and widely used modulation scheme in underwater communication due to its intrinsic robustness to time and frequency spreading. Our receiver uses a non coherent energy detection demodulation method. In DSSS, symbols are spread in frequency domain by multiplying with a spreading code. We used a DSSS waveform based on Walsh and m sequence. Channel Estimation: A major component of an adaptive modem is the ability to change aspects of the modem including selecting a modulation scheme, the data rate, the transmit power and other configurable portions of the design. Many of these depend upon current and future characteristics of the acoustic channel. Therefore channel estimation is an important part of any adaptive modem. The Doppler shift, channel path gains and SNR are some of the important channel state information that must be measured and predicted. Prediction is particularly important since sound travels slowly (1500 m/s) and some channel characteristics vary on the order of seconds or faster. Ideally, the receiver will measure the channel characteristics and feed it back to the transmitter. This requires estimation at least one transmission in advance. Some work has been done such as a channel prediction scheme is proposed for adaptive modulation in. Our experiments use a chirp signal for estimating the channel due to its good autocorrelation properties. Using a chirp signal, the Doppler shift, multipath delay spread and SNR are computed as follows. Doppler shift is induced by the relative motion between the transmitter and receiver as well as by the motion of the medium. The Doppler scaling factor is calculated as = T rp /T tp 1, where T tp and T rp are the duration of transmitted and received data packets respectively. The packet structure designed to calculate is shown in Fig. 4.2. The
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received signal correlates with the original chirp and the time duration between two correlation peaks, T rp is computed. After that, we calculate Doppler shift: = f where f is the carrier frequency.

Fig. 4.2: Packet length measurement using Chirp signal Multipath is a cause of intersymbol interference (ISI), which is a limiting factor for robust high speed underwater communication. The multipath intensity profile can be calculated using a form of the Matching Pursuits algorithm. In our experiments, we calculate the multipath delay spread using the previously discussed chirp signal. The received chirp is correlated with the original chirp to generate the amplitude delay profile. The RMS of the amplitude delay profile is used as a threshold and the delay spread is computed as the time difference between the path with maximum amplitude and the last path whose amplitude is greater than the RMS value. Our experiments determine the SNR as the ratio of signals variance to that of the ambient noise. As shown in Fig. 4.2, the time guard after the chirp is used to calculate the noise power. Symbol Synchronization: It is critical that the receiver correctly determine the beginning of the incoming data. This is an important part of any digital communication and there are many techniques for symbol synchronization. We perform synchronization by correlating the received signal with a known preamble. We studied two different signals for candidate preambles, namely a Gold code and a chirp signal. We used a Gold Code of length fifteen as the preamble, and an orthogonal Gold code to estimate the noise variance. Based on the noise variance a dynamic threshold was generated. The start of the packet was determined to be when

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the received signal has a maximum correlation with the known preamble and exceeds the noise threshold. A chirp signal is tested as the preamble for synchronization due to its autocorrelation properties. We can also use the same chirp for synchronization and channel estimation to minimize the amount of data transmitted. As shown in Fig. 2, a correlation peak is detected at point A, and after a time guard of length T, the receiver starts to demodulate at point B which is the expected start of the data sequence. Equalization: Long multipath delay spreads in the underwater channel make channel equalization significantly more difficult than radio channels and thus play an important role in the modem design. A significant number of equalization techniques have been proposed. These are not a direct focus of this seminar, but must be mentioned in the design of a modem due to their importance in achieving low BER.

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4.3 PICTURE OF ACOUSTIC MODEMS:

Fig 4.3: Modern Acoustic Modems

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Chapter 5 SIMULATION AND SEA TEST RESULTS

To evaluate the proposed adaptive modem, both simulations and sea tests were studied. A set of simulations were analyzed to find the best data rates for different links in a network and to understand the potential benefits of modifying the data rates on a per link basis. Also sea tests were performed to evaluate the performance of the major components of the proposed adaptive modem in a real environment. The parameters for the chirp, FSK and DSSS modulation

schemes used in the simulations and sea tests are given in Table 5.1.

Table 5.1: Chirp, FSK and DSSS SIGNAL PARAMETERS

5.1 SIMULATION RESULTS

The simulations were performed using the Actup underwater acoustic propagation modeling software. It generates the amplitude and delay profile of the received signal. The Actup simulations require that we set environmental parameters such as the communication range, water depth and the sound speed profile, and specify the location of the transmitters and
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receivers. The underwater acoustic channel for five different transmitter and receiver which were placed at different locations in the water column pairs was generated as shown in Fig. 3. The amplitude and delay profiles for links 1 and 5 are shown in Fig. 4. We observe that the two links have fairly different profiles which support the fact that nodes in the underwater sensor network are likely to experience different channels.

Fig 5.1: Underwater environment and the sensor nodes in Actup simulation

Fig 5.2: Multipath amplitude and delay profile of link 1 and link 5

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For this network scenario, best data rate for each link in simulations using the channels generated in Actup were found. The simulations were performed for the FSK and DSSS modulation schemes. For each modulation scheme, the BER was computed over a range of data rates by demodulating 10 packets each containing 102 bits. The maximum data rate whose BER was smaller than 10 2 was considered as the best rate for any specific link. The simulation parameters for the described network scenario for each link and the corresponding best data rate are given in Table 5.2.

Table 5.2: Best data rates for different Channel Links The results show that the best data rate varies for different links in a network; it changes from 40 bps to 400 bps for FSK and from 600 bps to 1900 bps for DSSS. Our results also show that rate adaptation can save considerable energy. For example in the case of FSK modulated transmissions, if we consider the best fixed data rate that allows reliable communication under the worst channel condition, all the links must communicate at 40 bps. The total energy consumed for each link transmitting one symbol is 0.125 P t, where P t is the transmitting power. Alternatively if the nodes perform rate adaptation and communicate at their best data rate, the total energy consumed is 0.0458 P t. Therefore, rate adaptation gives an energy saving of 63.4%. In the same way, an energy saving of 45.8% is possible for DSSS. Moreover, faster data rates decrease the probability of collisions between different links, which in turn causes fewer retransmissions and therefore costs less power. These results motivate the idea of an adaptive modem for underwater sensor networks.

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5.2 SEA TESTS

To evaluate the performance of the major components of our adaptive modem experiments were performed in the Pacific Ocean in May 2011. The deployment setup is shown in Fig. 5.3. The transmitter was located at UC San Diego Scripps Pier, 20 feet below the water surface and the receiver was attached to the bottom hull of a boat residing at different locations. Data was collected at two sites at distances of 265m and 638m from the transmitter. For each site, FSK and DSSS data was transmitted at six different data rates. At each data rate, 20 packets containing 2040 symbols were transmitted.

Fig 5.3: Sea test setup (the red line is the route of the boat)

The results showed that the chirp signal had a better synchronization performance compared to the Gold code. While the chirp was able to successfully synchronize to the start of the data sequence for all data packets, the Gold code could only successfully synchronize 68% of the packets at Site 1 and 70% of the packets at Site 2. This indicates that the chirp is a good candidate for channel estimation as well as symbol synchronization. The BER for FSK and DSSS modulated data when the chirp signal was used for packet synchronization were
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computed. The results are summarized in Table 5.3. We observe that the BER increases with data rate likely due to intersymbol interference. Further, the results show that DSSS modulation outperforms FSK. Finally, we observe that the average BER at Site 2 is higher than that at Site 1. To explain this, we estimated the channel for both sites as shown in Fig. 6. The figure shows that the Doppler shift and the multipath delay spread are both higher for Site 2 compared to Site 1. These sea test results correspond with our Actup simulation results in the sense that BER varies significantly with the data rates and channel between the sender and receiver.

Table 5.3: Sea Test BER for Site1/site2

Fig 5.4: Doppler shift and multipath delay estimate for sea test.

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Chapter 6 CONCLUSION

This seminar makes a case for an adaptive acoustic modem in underwater sensor networks. The seminar describes potential benefits of the adaptive modem and general digital hardware platform architecture. A set of experiments and sea tests that quantify the benefit of different modulations, types of channel estimation and symbol synchronization are been discussed. The results show that rate adaptation can lead to substantial energy savings while ensuring reliable communication. Furthermore, they show that a chirp signal is a good candidate for symbol synchronization and channel estimation. The simulations and sea tests indicate that DSSS modulation consistently outperforms FSK. Currently the design of the major components and the system hardware and software co-design implementation can be done on an FPGA platform. Eventually the proposed adaptive modem will be able to change its modulation scheme and data rate automatically according to channel conditions in real-time.

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REFERENCES

[1] Designing an Adaptive Acoustic Modem for Underwater Sensor Networks Lingjuan Wu, Jennifer Trezzo, Diba Mirza, Paul Roberts, Jules Jaffe, Yangyuan Wang, Fellow IEEE,and Ryan Kastner, Member IEEE. [2] E. M. Sozer, M. Stojanovic and J. G. Proakis, Underwater acousticnetworks, IEEE J. Oceanic Eng., vol.25, no.1, Jan. 2000, pp.72-83. [3] I. F. Akyildiz, D. Pompili and T. Melodia, Challenges for efficient communication in underwater acoustic sensor networks, ACM Sigbed Review, Vol.1, No.2, Jul. 2004, pp.3-8. [4] J. Jaffe and C. Schurgers, Sensor networks of freely drifting autonomous underwater explorers, in Proc.Wuwnet06, LA, CA, Sep.2006, pp.93-96. [5] J. Rice, B. Creber, C. Fletcher, P. Baxley et al., Evolution of seaweb underwater acoustic networking, in Proc. Oceans 2000, pp.2007-2017. [6] Y. Tao, P. Zhu and X. Xu,Dual-mode modulation based research of underwater acoustic modem, IEEE Int. Conf, WiCOM 2010, pp.1-3.

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