Underwater Acoustic Communication Modems

Chapter 1:
INTRODUCTION
Underwater networks represent a critical frontier in modern communication systems, characterized by their
unique challenges and applications. Unlike terrestrial networks, underwater networks operate in vastly
different environments, presenting obstacles such as high absorption of electromagnetic waves and sparse
deployment opportunities. These networks typically consist of various devices, including autonomous
underwater vehicles (AUVs), sensors, and network nodes, all powered by batteries and designed for specific
underwater tasks. One of the defining features of underwater networks is their reliance on acoustic
communication due to the limitations of electromagnetic waves in water.
Acoustic communication, the predominant method in underwater networks, utilizes sound waves to transmit
digital information through the underwater channel. This approach has become essential for various
underwater applications, ranging from oceanographic data collection to environmental monitoring and defense
operations. However, the unique characteristics of the acoustic channel present challenges across all layers of
the protocol stack in underwater networks.

Fig 1.1: Example of multi-path propagation

In recent years, the field of underwater networks has witnessed a surge in research efforts from both academia
and industry. Numerous algorithms and network protocols have been proposed to address the challenges
inherent in underwater communication. These include routing protocols optimized for underwater
environments, medium access control (MAC) protocols tailored for acoustic channels, and localization
techniques for accurate node positioning. Despite these advancements, much of the research remains in the
realm of computer simulations due to technical and non-technical challenges. Real-world experiments are
crucial for accurately evaluating the performance of underwater networks and validating theoretical models.
Efforts to develop user-friendly infrastructures for efficiently deploying and debugging applications in
realistic underwater environments are also underway. These infrastructures aim to provide researchers and
developers with the necessary tools and platforms to conduct experiments and testbeds in actual underwater
conditions. Additionally, advancements in underwater sensor networks are beginning to emerge, leveraging
characteristics such as dense deployments, self-configuration, local processing, and energy efficiency to
maximize utility in underwater environments.
In response to the limitations of traditional heavy cables used for high-speed connections in remote underwater
scenarios, underwater wireless communication systems have emerged as a viable solution. These systems
leverage acoustic signals to establish communication links, overcoming the challenges associated with
electromagnetic wave propagation in water. Moreover, recent developments in underwater acoustic modems
and networking protocols have paved the way for higher data rates and improved reliability in underwater
communications.

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Underwater Acoustic Communication Modems

Fig 1.2: Acoustic communication modems

This report aims to delve into the intricacies of underwater networks, exploring the principles, architectures,
communication protocols, challenges, and recent advancements in the field. Through a detailed analysis of
literature and research findings, we aim to provide valuable insights into the current state and prospects of
underwater communication systems, shedding light on the innovative solutions driving this dynamic and
rapidly evolving field.

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Underwater Acoustic Communication Modems

Chapter 2:
LITERATURE SURVEY

The Literature survey was done by going through various published research papers and journals in the domain
of Underwater Acoustic Communication and applications. Different researchers and authors proposed innovative
solutions and ideas for tackling various issues and challenges faced in the field. It gave us an idea of how to
tackle the problems and what can be the solution for those problems which they were facing.
SL AUTHOR TITLE PUBLICATION INFERENCES
NO.
1 Ramya.B Aqua Communication International Journal of The paper explores Aqua
Using Modem Engineering Applied Communication Using
Sciences and Technology Modem, emphasizing the need
for low-cost acoustic modems
for underwater wireless
communication. It discusses
challenges such as slow
transmission speed and signal
absorption, along with
techniques like modulation and
error correction. Hardware
components like the wake-up
receiver, data receiver, and
transmitter are detailed,
highlighting their functionality
and design considerations.
Advantages such as reliability
and applications like tsunami
warning systems are
mentioned, alongside
limitations such as limited
battery power and
susceptibility to environmental
factors.
2 A.Lelinadevi, To Design and Simulate an Journal of Engineering The paper presents a novel
Kinnera Optocomm: Introducing A Sciences underwater wireless
Vinay, New Optical Underwater communication system
Pinnika Wireless Communication utilizing Li-Fi technology,
Balaji, Shaik Modem
employing LEDs for data
Basid
transmission and
photodetectors for reception. It
discusses the advantages of Li-
Fi over traditional RF
communication, highlighting
its potential for high-speed
data transfer in underwater
environments. Additionally, it
explores the methodology,
results, and future possibilities
of this technology.

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Underwater Acoustic Communication Modems

3 Zheng Peng, Aqua-TUNE: A Testbed for ResearchGate The paper introduces Aqua-
Son Le, Underwater Networks TUNE, a testbed designed for
Michael Zuba, evaluating underwater
Haining Mo, networks. Authored by Zheng
Yibo Zhu,
Peng et al., it outlines the
Lina Pu, Jun
features and capabilities of
Liu and Jun-
Hong Cui Aqua-TUNE, which facilitates
experimentation and
performance assessment of
underwater communication
protocols and networking
technologies. The testbed aims
to advance research in
underwater networking by
providing a flexible and
realistic environment for
testing and validation.
4 Rafał józwiak The use of an underwater The paper outlines a
communication modem in a standalone measuring module
stand–alone measuring utilizing underwater
module communication modems for
autonomous marine
environmental parameter
measurement. Laboratory and
field tests demonstrate
successful signal transmission
and reception, with
adjustments made to mitigate
reflections and ensure accurate
data transmission. The system
enables remote monitoring and
control of the module's
functions, with error detection
mechanisms ensuring data
integrity during
communication.
5 Sandra Underwater Acoustic Institute of Electrical and The paper examines
Sendra, Jaime Modems Electronics Engineers commercial underwater
Lloret, Jose (IEEE) acoustic modems, comparing
Miguel their energy consumption,
Jimenez, maximum distances, and
Lorena Parra.
performance. It also discusses
recent studies on energy-
saving techniques and the
benefits of real-time data
delivery, while emphasizing
the importance of developing
accurate simulators for
underwater networks.

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Underwater Acoustic Communication Modems

Chapter 3:
DESIGN OF UNDERWATER ACOUSTIC MODEMS
In recent years, there has been significant research activity focused on developing communication systems for
underwater acoustic networks to address the limitations inherent in this environment, such as bandwidth
constraints, limited distance, and channel latency. Like terrestrial networks, underwater wireless sensor
networks (UWSNs) require a flexible and scalable architecture to accommodate future advancements and
additions necessary for ongoing research.
Essentially, an underwater modem comprises several key components:
1. Power Unit: This includes a battery and a set of DC/DC converters to provide the necessary power for the
modem's operation.
2. Processing Unit: Typically consisting of a small processor and memory, the processing unit handles data
processing tasks. In some cases, external memory may be added to augment storage capabilities.
3. Physical Hydrophone and Loudspeaker: These components facilitate the transmission and reception of
acoustic signals underwater.
4. Circuitry: Used to adapt digital signals to the processor, circuitry also includes analog-to-digital converters
and digital-to-analog converters to interface between the electronic circuit and the medium.
Figure 3.1 illustrates the block diagram of a typical underwater acoustic modem. Given the absence of wired
connections underwater, oceanographic equipment relies heavily on batteries. Acoustic modems enable
wireless data transmission, although most commercial modems feature RS-232 or USB ports for data retrieval
or programming purposes. However, current acoustic modems often consume excessive power, rendering
them unsuitable for long-term deployment—a significant drawback requiring mitigation.

Fig 3.1: Block Diagram

The range and rate of data transmission in underwater environments merit careful consideration. Acoustic
waves can propagate through water, allowing devices to communicate over distances ranging from less than
a meter to hundreds of meters. Nevertheless, factors such as temperature, depth, and water pressure can impede
data transmission. Increased transmission power translates to higher energy consumption, necessitating

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Underwater Acoustic Communication Modems

energy-efficient network development strategies that account for wireless link numbers, power requirements,
and fabrication costs.
Moreover, the data transmission rates in underwater environments are influenced by the dispersive nature of
water, resulting in transmission speeds ranging from a few bits per second (bps) to hundreds of bps. Notably,
transmission rates are inversely proportional to the distance between devices.
Furthermore, the accumulation of algae or barnacles on a transducer can obstruct the modem's signal,
potentially corrupting data transmission. Hence, it is imperative to employ suitable, waterproof packaging
resistant to biofouling to ensure reliable modem performance in underwater environments.

3.1 FUNCTIONAL DESCRIPTION:

Underwater acoustic communication is characterized by its relatively slow transmission speed compared to
radio communication, primarily due to the speed of sound in water, which is approximately 1500
meters/second. This results in a lower baud rate, typically around 9600 baud, limiting the data throughput.
Furthermore, various factors such as signal absorption, geometric spreading losses, boundary effects, and
multipath propagation contribute to the complexity of transmission and may lead to signal degradation.
To overcome these challenges, manufacturers employ advanced techniques in signal processing, data
packaging, and coding schemes to ensure reliable communication in underwater environments. These
techniques play a crucial role in mitigating the impact of signal degradation and preserving data integrity
throughout the transmission process.
One common approach utilized by manufacturers is spread spectrum modulation, particularly Multi-
Frequency Shifted Key (MFSK), where data is transmitted across multiple frequencies to improve data
throughput. Additionally, Phase Shifted Key (PSK) modulation schemes may be employed to achieve higher
baud rates, although they are more susceptible to errors from various sources.
Data is typically organized into discrete packages, each containing the actual data along with additional bytes
for identifying package boundaries, modem identity, checksum, and error correction codes. These packaging
techniques ensure that even in the presence of errors, only a portion of the data may be affected, minimizing
the risk of corruption to the entire message.
Some underwater acoustic modems support features such as retransmission requests, where the receiver can
request the retransmission of data packages that are detected to have errors. While this ensures data integrity,
it may impact the effective baud rate, particularly in scenarios where the modem operates at high acoustic
baud rates.

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Underwater Acoustic Communication Modems

Chapter 4:
TYPES OF MODULATION USED FOR UNDERWATER ACOUSTIC
COMMUNICATION

Underwater acoustic communications (UAC) present unique challenges compared to radio communications
due to the properties of the underwater channel. While many modulation methods developed for radio
communications can be adapted for UAC, not all are equally suitable for this environment. Here's a discussion
on some common modulation methods and their utility in UAC:
1. Frequency-shift keying (FSK)
2. Phase-shift keying (PSK)
3. Frequency-hopping spread spectrum (FHSS)
4. Direct-sequence spread spectrum (DSSS)
5. Frequency and pulse-position modulation (FPPM and PPM)
6. Multiple frequency-shift keying (MFSK)
7. Orthogonal frequency-division multiplexing (OFDM).
Each modulation method has its advantages and limitations in the context of UAC. The choice of modulation
scheme depends on factors such as the available bandwidth, desired data rate, channel characteristics, and
system complexity. Researchers and engineers continue to explore and develop new modulation techniques
tailored to the specific challenges of underwater acoustic communications. The following is a discussion on
the different types of modulation and their utility to UAC.
4.1 Frequency-shift keying (FSK)
Frequency-shift keying (FSK) is a modulation technique used to transmit digital signals through discrete
frequency changes. In FSK, two binary states, typically representing logic 0 (low) and logic 1 (high), are
encoded into analog waveforms at different frequencies. The specific frequency for each state is determined
by the modulation scheme.

Fig 4.1: Frequency-shift keying (FSK)

In FSK modulation, logic 0 is represented by a waveform at one specific frequency, while logic 1 is
represented by a waveform at a different frequency. The separation between these frequencies, known as the
deviation or shift point, defines the distinction between the two binary states. A modem facilitates the
conversion of binary data from a computer into FSK signals for transmission over various mediums such as
telephone lines, cables, optical fiber, or wireless channels. Similarly, the modem also decodes incoming FSK
signals back into digital low and high states, enabling the computer to interpret the binary data.

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The distance between the frequency states in FSK determines the data transmission rate within a given time
period. If the frequency separation is too large, it can result in slower throughput rates. Conversely, if the
frequency changes are too close together, it may lead to intersymbol interference (ISI), causing errors in the
received signal. To optimize throughput and minimize ISI, the frequency states should be as closely spaced
as possible.
Furthermore, FSK can operate with more than two discrete frequencies, a variant known as multiple
frequency-shift keying (MFSK). MFSK employs the M-ary orthogonal modulation technique, allowing the
simultaneous transmission of two or more bits. By utilizing multiple frequencies, MFSK enhances spectral
efficiency and can transmit data more efficiently compared to traditional binary FSK modulation
4.2 Phase-shift keying (PSK)
Phase-shift keying (PSK) is a digital modulation technique used to transmit data by varying the phase of a
carrier wave. In PSK modulation, different phase shifts represent different symbols or bits of digital
information.
The basic principle of PSK involves shifting the phase of the carrier signal to encode binary data. Typically,
two or more phases are used, each representing a different binary symbol. For example, in binary PSK (BPSK),
two phases are employed: 0° and 180°. A phase shift of 0° may represent a binary 0, while a phase shift of
180° may represent a binary 1. This modulation scheme is known as differential PSK (DPSK) where the phase
difference between consecutive symbols is encoded rather than the absolute phase.

Fig 4.2: Phase-shift keying (PSK)

PSK modulation offers several advantages, including robustness against amplitude variations in the channel
since it relies solely on phase changes. Additionally, PSK can achieve higher spectral efficiency compared to
amplitude-shift keying (ASK) and frequency-shift keying (FSK) due to its ability to encode multiple bits per
symbol.
PSK modulation comes in various forms, including binary PSK (BPSK), quadrature PSK (QPSK), offset
QPSK (OQPSK), differential PSK (DPSK), and higher-order PSK schemes like 8-PSK and 16-PSK. Each
variant offers different trade-offs in terms of data rate, spectral efficiency, and complexity.
Overall, PSK modulation is widely used in digital communication systems, including wireless communication,
satellite communication, and optical communication, due to its efficiency, simplicity, and robustness.

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4.3 Frequency-hopping spread spectrum (FHSS)

Frequency-hopping spread spectrum (FHSS) is a digital modulation technique commonly used in wireless
communication systems to achieve robust and secure data transmission. In FHSS, the frequency of the carrier
signal rapidly changes ("hops") over a wide range of frequencies in a pseudorandom pattern.
The fundamental principle of FHSS involves dividing the available frequency band into multiple narrowband
channels. The transmitter and receiver synchronize their frequency-hopping patterns using a predetermined
hopping sequence known to both parties. As data is transmitted, the carrier signal frequency hops from one
channel to another according to the hopping sequence.

Fig 4.3: Frequency-hopping spread spectrum (FHSS)

The advantages of FHSS include resistance to interference and jamming, as well as improved security and
privacy. By rapidly changing frequencies within the designated band, FHSS spreads the transmitted signal
energy over a wide frequency range, making it difficult for adversaries to intercept or jam the communication.
Additionally, FHSS enables multiple users to share the same frequency band without causing interference, as
long as they use different hopping sequences.
FHSS is commonly used in applications where reliable communication is essential, such as military
communications, wireless LANs, Bluetooth technology, and industrial automation. It offers robustness against
narrowband interference, multipath fading, and other channel impairments, making it suitable for
environments with challenging wireless conditions.
Overall, FHSS provides a flexible and effective means of achieving secure and interference-resistant wireless
communication by spreading the signal energy across multiple frequencies in a pseudorandom manner.
4.4 Direct-sequence spread spectrum (DSSS)
Direct-sequence spread spectrum (DSSS) is a modulation technique used in digital communication systems to
transmit data over a wide frequency band. DSSS spreads the signal energy over a larger bandwidth than the
minimum required for the transmission of the information signal. This spreading is achieved by modulating
the data signal with a spreading code, also known as a pseudorandom noise (PN) code.
In DSSS, each bit of the data signal is represented by multiple chips (binary digits) of the spreading code. The
spreading code sequence is typically much longer than the data symbol, resulting in the signal being spread
across a wider frequency range. This spreading process makes the transmitted signal more resistant to
interference and jamming, as well as providing a form of security against eavesdropping.
At the receiver, the received signal is despread using the same spreading code used at the transmitter. By
correlating the received signal with the spreading code, the original data signal can be recovered. DSSS
receivers synchronize with the transmitter's spreading code to accurately despread the received signal and
extract the transmitted data.

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Fig 4.4: Direct-sequence spread spectrum (DSSS)

DSSS offers several advantages, including robustness against narrowband interference, multipath fading, and
jamming. It also provides inherent security through the use of the spreading code, which makes it difficult for
unauthorized users to intercept the transmitted data without knowledge of the spreading sequence.
DSSS is commonly used in wireless LANs (Wi-Fi), Bluetooth technology, GPS systems, and military
communication systems. It allows multiple users to share the same frequency band while maintaining
communication reliability and security. Additionally, DSSS can provide improved data integrity by mitigating
the effects of noise and interference in the communication channel.
Overall, DSSS is a versatile and effective modulation technique for achieving reliable and secure
communication in a wide range of applications, making it a popular choice for modern digital communication
systems.
4.5 Frequency and pulse-position modulation (FPPM and PPM)
Frequency and pulse-position modulation (FPPM and PPM) are modulation techniques used in digital
communication systems to encode and transmit information signals.
Frequency Pulse Position Modulation (FPPM) is a type of modulation where both the frequency and the phase
of the carrier signal are modulated according to the amplitude of the message signal. In FPPM, the frequency
of the carrier signal varies in proportion to the amplitude of the message signal, while the phase remains
constant. This modulation technique is commonly used in radar systems and wireless communication
applications where the phase information is not critical.
On the other hand, Pulse Position Modulation (PPM) is a modulation technique where the position of the pulse
in time is varied according to the amplitude of the message signal. In PPM, the amplitude and duration of the
pulses remain constant, but their positions in time vary to represent different values of the message signal.
PPM is often used in optical communication systems, where the timing of the pulses is critical for accurate
data transmission.

Fig 4.5: Frequency and pulse-position modulation (FPPM and PPM)

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Both FPPM and PPM offer advantages and disadvantages depending on the specific application requirements.
FPPM provides efficient use of bandwidth and is relatively immune to noise and interference. However, it
requires precise frequency control and synchronization between the transmitter and receiver. PPM, on the
other hand, offers precise timing information and is less sensitive to frequency variations. However, it may be
more susceptible to noise and timing errors.
In summary, FPPM and PPM are modulation techniques that offer different trade-offs between bandwidth
efficiency, noise immunity, and timing precision. The choice between them depends on the specific
requirements of the communication system and the characteristics of the transmission channel.
4.6 Multiple frequency-shift keying (MFSK)
Multiple Frequency-Shift Keying (MFSK) is a modulation technique used in digital communication systems
to transmit multiple bits of information simultaneously by varying the frequency of the carrier signal. In
MFSK, each distinct combination of bits is represented by a specific frequency shift.Unlike binary frequency-
shift keying (FSK), which uses only two frequencies to represent binary digits (0s and 1s), MFSK employs
multiple frequencies, allowing for the transmission of multiple bits per symbol. The number of frequencies
used in MFSK corresponds to the number of bits that can be encoded in each symbol. For example, if MFSK
uses four frequencies, it can encode two bits per symbol (2^2 = 4).
MFSK is particularly suitable for applications where the available bandwidth is limited and needs to be utilized
efficiently. By transmitting multiple bits in each symbol, MFSK can achieve higher data rates while using the
same bandwidth as traditional FSK.

Fig 4.6: Multiple Frequency-Shift Keying (MFSK)

One common variant of MFSK is M-ary frequency-shift keying (MFSK), where "M" represents the number
of frequencies used. Another variant is orthogonal frequency-division multiplexing (OFDM), which is widely
used in modern digital communication systems, including Wi-Fi, LTE, and digital television.
Overall, MFSK offers advantages such as increased data rate efficiency and robustness to noise and
interference. However, it requires more complex signal processing techniques at both the transmitter and
receiver to encode and decode the multiple frequencies accurately.
4.7 Orthogonal frequency-division multiplexing (OFDM).
Orthogonal Frequency-Division Multiplexing (OFDM) is a modulation technique widely used in digital
communication systems to transmit data over wireless and wired channels. OFDM divides the available
bandwidth into multiple orthogonal subcarriers, each carrying a portion of the data to be transmitted. These
subcarriers are spaced closely together and are orthogonal to each other, meaning they do not interfere with
one another.
The key principle behind OFDM is to mitigate the effects of frequency-selective fading and intersymbol
interference (ISI) in the channel. By using many narrowband subcarriers instead of a single wideband carrier,
OFDM effectively reduces the symbol duration, making it less susceptible to ISI. Additionally, the

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orthogonality between subcarriers ensures that they can be closely packed together without causing
interference.

Fig 4.7: Orthogonal Frequency-Division Multiplexing (OFDM)

OFDM works by modulating the data symbols onto each subcarrier using some form of digital modulation,
such as phase-shift keying (PSK) or quadrature amplitude modulation (QAM). The modulated subcarriers are
then combined to form the OFDM signal, which is transmitted over the channel.
At the receiver, the OFDM signal is demodulated to recover the individual subcarriers, and the data symbols
are extracted from each subcarrier. Because OFDM divides the data into multiple parallel streams transmitted
simultaneously, it can achieve high data rates and spectral efficiency, making it well-suited for high-speed
communication systems.
OFDM is used in various wireless communication standards, including Wi-Fi, 4G LTE, digital television
(DVB-T, DVB-T2), and WiMAX. Its robustness to multipath fading and interference, along with its ability to
handle high data rates, makes it one of the most widely adopted modulation techniques in modern
communication systems.

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Chapter 5:
WORKING
Among the first underwater acoustic systems was the submarine communication system developed in the USA
around the end of the Second World War. It used analog modulation in the 8–11 kHz band (single-sideband
amplitude modulation). Research has since advanced, pushing digital modulation–detection techniques into
the forefront of modern acoustic communications. At present, several types of acoustic modems are available
commercially, typically offering up to a few kilobits per second (kbps) over distances up to a few kilometres.
Considerably higher bit rates have been demonstrated, but these results are still in the domain of experimental
research. Underwater wireless sensing systems are envisioned for stand-alone applications and control of
autonomous underwater vehicles (AUVs) and as an addition to cabled systems. For example, cabled ocean
observatories are being built on submarine cables to deploy an extensive fiber-optic network of sensors
(cameras, wave sensors, and seismometers) covering miles of ocean floor. These cables can support
communication access points, very much as cellular base stations are connected to the telephone network,
allowing users to move and communicate from places where cables cannot reach. Another example is cabled
submersibles, also known as remotely operated vehicles (ROVs). These vehicles, which may weigh more than
10 metric tonnes, are connected to the mother ship by a cable that can extend over several kilometers and
deliver high power to the remote end, along with high-speed communication signals. A popular example of
an ROV/AUV tandem is the Alvin/Jason pair of vehicles deployed by the Woods Hole Oceanographic
Institution (WHOI) in 1985 to discover the Titanic. Such vehicles were also instrumental in the discovery of
hydrothermal vents, sources of extremely hot water on the bottom of the deep ocean, which revealed forms of
life different from any others previously known. The first vents were found in the late 1970s, and new ones
are still being discovered. The importance of such discoveries is comparable only to space missions, and so is
the technology that supports them. The modem hardware is split into three main portions: a wakeup receiver,
a data receiver, and a single transmitter. The transmitter has three output frequencies, which correspond to the
data mark, data space, and wakeup tone. It is not possible to transmit data and the wakeup tone simultaneously.
The entire circuit operates from a 5-volt power supply. Level shifters are used to provide compatibility with
CMOS logic levels between 2.8 and 5.0 Volts. Our current prototype contains all the hardware on a single
printed circuit board measured as 4 by 5 inches. Figure 2 is a picture of the board with the wakeup receiver
and data receiver installed. We next describe the details of each major part of the modem.

Fig 5.1: Board with the wake-up receiver and data receiver installed

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Fig 5.2: Micro-Modem 5416 DSP Board

5.0.1 Wakeup Receiver The principal goals for the wakeup receiver are good sensitivity and very low power
consumption. The only purpose of the receiver is to monitor the total energy level present in a narrow band of
frequencies and to produce an interrupt. We have chosen 18 kHz as the frequency for the wakeup tone. This
is an attractive frequency based on the background noise levels, as well as the attenuation characteristics in
the ocean; both factors are frequency-dependent. This frequency also lies in the normal audio band (20-20kHz)
and allows the use of standard audio hardware and software. Our chosen bandwidth for the wakeup receiver
is about 300 Hz. There are several possible ways to produce such a filter L/C with passive inductors and
capacitors Active RC using operational amplifiers Digital an ADC followed by a DSP. The need for very low
power argues against active RC and digital designs.
5.0.2 Data Receiver The data receiver is a conventional design based on a commercial FM intermediate
frequency demodulator chip, the Philips SA604A. Whenever the data receiver is turned on, the first stage of
the wakeup receiver is also powered. Due to the channel characteristics in the underwater environment, we
are sending wideband FM. This requires several changes in the way we apply the SA604A. First, we use a
simple, single-pole low pass and single-pole high pass filter to couple between the stages of the SA604A. A
narrow band design typically uses an LC resonator or ceramic bandpass filter.
5.0.3 Transmitter The transmitter uses a Linear Technology LTC6900 low-power oscillator as a voltage-
controlled oscillator (VCO). The circuit design is based on Linear Technology Design. The oscillator output
feeds into a Texas Instruments TPA2000D1 Class D Audio Power Amplifier. This is capable of delivering 2
watts into a 4-ohm load. By selecting lower gains, we reduce the output power level but extend battery life.
We hope that the combination of RSSI and variable output power will encourage the development of energy-
efficient communication protocols. The transmitter efficiency ranges from 80 to 90 percent.
5.0.4 Transducers In the ultimate application of underwater communications, we will use piezoelectric
transducers. These are high-impedance devices, and the modem circuitry is designed for high-impedance
operation. At present, we are using Audax brand hi-fi tweeters, both as transmitters and microphones.
Switching over to hydrophones will only require changing the input and output impedance matching networks
5.0.5 Power Control The modem operates from a single 5-volt supply. The choice of supply voltage is driven
by the dual gate FETs used in the wake-up receiver. These are operated from a 12-volt supply in their intended
application. While the modem is a 5-volt design we need to interface with microcontrollers such as the Mica2
mote. The modem design includes two features to allow interfacing to any voltage level from 2.8 to 5 volts.
Digital input and outputs are tied through a Texas Instruments SN74TVC3010 voltage clamp which limits all
digital output signals to the microcontroller supply voltage.
In shallow water, multi-path occurs due to signal reflection from the surface and bottom, as illustrated in
Figure. In deep water, it occurs due to ray bending, i.e. the tendency of acoustic waves to travel along the axis
of lowest sound speed. Figure 5.3 shows an ensemble of channel responses obtained in deep water. With
limited bandwidth, the signal is subject to multi-path propagation, which is particularly pronounced on
horizontal channels. In shallow water, multipath occurs due to signal reflection from the surface and bottom,
as illustrated in Figure 5.3. In deep water, it occurs due to ray bending, i.e. the tendency of acoustic waves to

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Underwater Acoustic Communication Modems

travel along the axis of lowest sound speed. Figure 5.3 shows an ensemble of channel responses obtained in
deep water. The

Fig 5.3: Shallow water multipath propagation

multi-path spread, measured along the delay axis, is on the order of 10 ms in this example. The channel
response varies in time and also changes if the receiver moves. Regardless of its origin, multipath propagation
creates signal echoes, resulting in inter-symbol interference in a digital communication system.

Fig 5.4: The concept of a deep-sea observatory in aqua communication using a modem
In addition to serving as stand-alone systems, underwater acoustic networks will find application in more
complex, heterogeneous systems for ocean observation. Figure 5.4 shows the concept of a deep-sea
observatory. At the core of this system is an underwater cable that hosts a multitude of sensors and instruments,
and provides a high-speed connection to the surface.
5.1 SOFTWARE AND SIMULATION FOR UNDERWATER ACOUSTIC NETWORK
Understanding the behavior of the underwater environment poses a significant challenge to humans, given its inherent
unpredictability. This unpredictability extends to the transmission of signals and the performance of systems developed
for underwater communication. To address these challenges, researchers are increasingly developing new simulators
and mathematical models. These tools offer a level of realism to pre-launch testing, aiding in the design and
implementation of underwater acoustic networks.
One approach involves the development of an interface and channel model for underwater acoustic networks using the
ns2 network simulator. Unlike terrestrial environments, underwater communication faces unique challenges,
necessitating specialized simulation tools. By providing new modules for each network layer, this framework allows
protocol developers to focus on higher layers of the network protocol stack. The architecture is designed to be efficient
and portable, enabling simulations of acoustic underwater modems for protocol testing. Test benches conducted with
micro modems demonstrated promising results, with minimal delays and overhead, highlighting the utility of the
proposed framework for protocol design and testing.
Another effort combines the ns2 network simulator with MIRACLE simulators and the Bellhop ray tracing tool to create
a network simulator explicitly tailored for underwater networks. Ray tracing enables accurate emulation of sound
propagation, enhancing the realism of simulations. The flexible programming capabilities at all protocol levels enable a
more realistic representation of underwater behavior estimations. This work also includes a comparative study of MAC
protocols commonly used in underwater networks, such as ALOHA, Tone-Lohi, and DACAP. The study examines the

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relationship between coordination strategies and network performance, shedding light on the trade-offs between random
access and coordinated approaches.

Fig 5.5: Aqua-Sim interface

Additionally, Aqua-Sim is introduced as a network simulator specifically designed for simulating underwater sensor
networks. This simulator incorporates collision behaviors and signal attenuation characteristics of long-delay acoustic
networks. It also supports the simulation of three-dimensional network deployment and includes several protocol
definitions to enhance accuracy. Case studies conducted with Aqua-Sim demonstrate its power, fidelity, and flexibility,
analyzing parameters like energy consumption and packet delivery ratio. These simulations provide valuable insights
into the performance of underwater sensor networks under various conditions.
It is noteworthy that there is a scarcity of works focusing on the development of accurate simulators for underwater
networks. Despite this, the existing simulators, all based on the ns2 network simulator, strive to augment the basic
framework with new features and protocol definitions. This iterative approach reflects the ongoing efforts to refine
simulation tools to better address the unique challenges of underwater communication.
The development of simulators and mathematical models plays a crucial role in advancing our understanding of
underwater communication. These tools enable researchers to conduct comprehensive testing and analysis, ultimately
contributing to the design and optimization of protocols for underwater acoustic networks. As technology continues to
evolve, further advancements in simulation tools will likely lead to improved performance and reliability in underwater
communication systems.

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Chapter 6:
GENERAL CHARACTERISTICS
The two-way hydroacoustic underwater communication system, as illustrated in Figure 1, serves to establish
communication between a PC or laptop on the surface and a standalone measuring module positioned in the
depths of the sea or on the seabed. At the heart of this system are modems, facilitating digital communication
underwater.

Fig 6.1: Functional diagram of the system of two-way hydroacoustic underwater communication.
The first modem, referred to as the mobile hydroacoustic modem, is housed within a specialized pressure
enclosure, as depicted in Figure 2. It is controlled remotely from a PC or laptop via a power and
communication device, along with a connecting cable extending 75 meters. This mobile modem enables
flexible communication capabilities within the underwater environment.

Fig 6.2: Mobile set the modem.

In contrast, the second modem, known as the stationary hydroacoustic modem, is integrated into the measuring
device itself and is controlled directly by a computer, which is an integral part of the measuring device. Despite
sharing a similar electronic system with the mobile modem, there are differences in their power management
approaches.

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Underwater Acoustic Communication Modems

The mobile hydroacoustic modem draws power directly from the 220V 50Hz mains supply, providing a
reliable source of energy for continuous operation. On the other hand, the stationary hydroacoustic modem
relies on a Li-Pol battery with a voltage of 14.8V for power. This battery-powered configuration offers greater
autonomy and portability, making it suitable for deployments where access to mains power is limited or
unavailable.
Overall, the two modems facilitate effective two-way communication between the surface and underwater
measuring devices, with each offering unique features and power management strategies tailored to their
respective deployment scenarios.
6.1 THE BASIC PARAMETERS
Hydroacoustic modem has the following parameters:
• 250μVpp receiver sensitivity;
• log.0 frequency 32kHz;
• log.1 frequency 34kHz;
• frequency of 36kHz signal the start of cooperation;
• 3ms pulse duration;
• the duration of one bit of 15ms;
• the duration of one byte is 120ms;
• output power of the transmitted signal 100W or 200W;
• average current consumption of about 165mA;
• supply voltage 9V to 36V;
• sensing distance max. 2000m
6.2 CHARACTERISTICS OF UNIT SUPPLY- COMMUNICATION
The main function of the device, as depicted in Figure 3, is to provide power and facilitate communication
with a portable modem. Additionally, it features a digital modem pointer that displays the immersion depth of
the sea surface, enhancing operational awareness for users.

Fig 6.2.1: Block diagram of unit supply-communication

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Underwater Acoustic Communication Modems

For underwater communication, the system utilizes an antenna capable of both sending and receiving signals,
specifically designed for the Reson TC 1026. The receiving antenna demonstrates a measured sensitivity of
approximately 131dB re 1μPa/V at a frequency of 36kHz and a distance of 1 meter. The antenna's capacitance
is measured at 7.9 nF, indicating its ability to store electrical charge.
The hydroacoustic modem antenna is specifically engineered to transmit and receive Frequency Shift Keying
(FSK) signals. The signal frequency for the "0" state is set at 32kHz, while for the "1" state, it operates at
34kHz. Notably, a signal with a frequency of 36kHz is utilized to initiate communication between the laptop
modems aboard the ship and those fixed within the measuring device. This 36kHz frequency signal serves as
a trigger for establishing cooperation between the various modems and is received by the channel duty
apparatus, facilitating seamless communication within the underwater environment.

Fig6.2.2: Antenna transceiver modem hydroacoustic.

6.3 CHARACTERISTICS OF HYDROACOUSTIC MODEM

The electronic system of the hydroacoustic modem, as depicted in Figure 6, shares an identical schematic
diagram in both the portable and desktop versions. The system comprises several key components, each
serving specific functions within the device's operation.

Fig 6.3.1: Block diagram of the electronic of hydroacoustic modem.

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Underwater Acoustic Communication Modems

1. Receiver System:
a. Input Amplifier Circuit: Amplifies the incoming signals to ensure proper detection and
processing.
b. Voltage Limiter Circuit: This limits the voltage of incoming signals to prevent damage to
downstream components.
c. System of Band-pass Filters F1 and F2: Filters out unwanted frequencies and isolates the
desired signal band.
d. Comparator Circuit 1 and 2: Compares the input signal with a reference voltage to determine
its amplitude or phase.
e. DC2 Converter: Converts the received signals into DC voltages, providing stable power for
further processing.

2. Transmitter System:
a. NOR Gates System: Utilizes NOR gates for logical operations required in signal processing.
b. Preamplifier Circuit: Amplifies the signals before transmission to ensure proper strength for
propagation.
c. Amplifier Circuit: Boosts the signal strength further to enhance transmission range and
reliability.
d. Switch Tx/Rx: Controls the transition between transmission and reception modes.
e. DC/DC Converter: Converts DC voltages to suitable levels for different components within the
transmitter system.
f. Voltage Stabilizer System 5 Vc: Stabilizes the voltage output at 5 volts to ensure consistent
operation.

Fig 6.3.2: The printed circuit board of the system modem hydroacoustic

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Underwater Acoustic Communication Modems

3. System 485 Processor with Link:

a. Multiplexer Circuit: Enables multiple signals to be transmitted over a single communication
channel.
b. Two RS485 Systems: Facilitates communication using the RS485 protocol, known for its
robustness and noise immunity.
c. Digital System with Galvanic Isolation: Provides isolation between different parts of the
system to prevent electrical interference.
d. DC3 Voltage Converter: Converts the input voltage to a stable 5-volt output for powering
various digital components.
These components work in tandem to enable the hydroacoustic modem to receive, process, and transmit
signals effectively, ensuring reliable underwater communication in both portable and desktop configurations.
6.4 THE ELECTRONICS OF THE RECEIVER
In Fig.7, a block diagram illustrates the electronics of the receiver system. Initially, the signal received by the
receiver system is impulsive, characterized by burst sine waves with frequencies F1 = F2 = 32kHz and 34kHz.
Within the receiver, two band-pass filters are employed, each with a resonance frequency of F1=32kHz and
F2=34kHz. Specifically, the 32kHz signal corresponds to log.0, while the 34kHz signal represents log.1. Fig.8
further depicts the waveforms observed at the receiver system for signals with frequencies of 32kHz and
34kHz. The waveform labeled "UIN 34kHz" illustrates the characteristics of the signal received on the
channel, showcasing its distinct courses and features.

Fig 6.4.1: Block diagram of the receiver.

Fig 6.4.2: Waveforms from the receiver for the signal 34kHz and 32kHz to 34kHz channel.

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Underwater Acoustic Communication Modems

6.5 THE ELECTRONIC TRANSMITTER

In Fig.9, a block diagram delineates the transmitter's functionality, aimed at amplifying the current waveform
from the processor and generating a signal through the transmitter antenna.

Fig 6.5.1: Block diagram of the transmitter.

The effective power of the antenna's output can be calculated using the following formula:

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Underwater Acoustic Communication Modems

Chapter 7:
ADVANTAGES AND DISADVANTAGES
ADVANTAGES

• Suitability for Underwater Communication: Acoustic signals can travel long distances underwater,
making acoustic modems suitable for communication in underwater environments where radio waves
or optical signals may not penetrate effectively.
• Low Attenuation: Acoustic signals experience lower attenuation in water compared to
electromagnetic signals, allowing for communication over greater distances.
• Low Interference: Underwater acoustic communication experiences less interference from other
sources compared to radio-frequency communication, making it more reliable in certain underwater
applications.
• Compatibility with Underwater Environment: Acoustic modems are designed to withstand the
harsh conditions of underwater environments, including high pressure and variable temperatures.
• Energy Efficiency: Acoustic modems can be designed to be energy-efficient, extending their
operational lifetime in remote underwater deployments.

DISADVANTAGES:

• Limited Bandwidth: Acoustic communication typically offers lower bandwidth compared to radio-
frequency communication, limiting the data rates that can be achieved.
• Propagation Delay: Acoustic signals travel at a slower speed compared to electromagnetic signals,
resulting in longer propagation delays, which can affect real-time communication applications.
• Multipath Effects: Underwater acoustic communication is prone to multipath effects, where signals
reflect off surfaces and arrive at the receiver via multiple paths, causing distortion and intersymbol
interference.
• Sensitivity to Environmental Conditions: Environmental factors such as temperature, salinity, and
water currents can affect the performance of acoustic modems, leading to variability in signal quality.
• Complexity of Deployment: Deploying and maintaining underwater acoustic networks can be
challenging and costly due to the need for specialized equipment and expertise.
• Limited Range: Despite the long propagation distances possible with acoustic signals, the effective
range of underwater acoustic modems may still be limited, especially in deep water or highly
attenuating environments.

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Underwater Acoustic Communication Modems

Chapter 8:
APPLICATIONS
Underwater acoustic modems have a wide range of applications across various industries and research fields.
Some of the key applications include:

• Oceanographic Research: Underwater acoustic modems are extensively used in oceanographic

research for data collection, monitoring, and communication between underwater sensors, buoys, and
research vessels. They enable scientists to gather oceanographic data such as temperature, salinity,
pressure, and currents over large areas and depths.
• Underwater Exploration and Mapping: Acoustic modems play a crucial role in underwater
exploration and mapping activities. They facilitate communication between autonomous underwater
vehicles (AUVs), remotely operated vehicles (ROVs), and surface vessels, allowing for real-time data
transmission, navigation, and mapping of underwater terrain, wrecks, and geological features.
• Environmental Monitoring: Acoustic modems are used for environmental monitoring in aquatic
ecosystems, including lakes, rivers, and oceans. They enable the deployment of underwater sensor
networks for monitoring water quality, detecting pollution, studying marine biodiversity, and assessing
the health of aquatic ecosystems.
• Underwater Surveillance and Security: Acoustic modems are employed in underwater surveillance
and security systems for monitoring coastal borders, underwater infrastructure (e.g., pipelines, cables),
and critical maritime assets (e.g., ports, naval bases). They facilitate communication between
underwater sensors, surveillance platforms, and control centers for real-time threat detection and
response.
• Underwater Robotics and Autonomous Systems: Acoustic modems are integrated into underwater
robotics and autonomous systems for communication, navigation, and control. They enable
coordination and collaboration among multiple underwater vehicles, allowing them to perform
complex tasks such as underwater inspections, maintenance, and search and rescue operations.
• Underwater Archaeology and Exploration: Acoustic modems are utilized in underwater
archaeology and exploration expeditions to communicate with underwater vehicles, remotely operated
tools, and diving teams. They support data transmission, documentation, and analysis of archaeological
sites, shipwrecks, and cultural artifacts located beneath the ocean surface.
• Offshore Energy and Resource Exploration: Acoustic modems play a role in offshore energy and
resource exploration activities, including oil and gas exploration, seabed mining, and renewable energy
projects (e.g., offshore wind farms). They enable communication between underwater sensors, drilling
rigs, production platforms, and support vessels for monitoring and control purposes.
• Underwater Communication Networks: Acoustic modems form the backbone of underwater
communication networks for scientific research, commercial applications, and military operations.
They support data exchange, command and control, and coordination among multiple underwater
assets, enabling collaborative missions and operations in diverse underwater environments.

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Underwater Acoustic Communication Modems

Chapter 9:
CONCLUSION
In conclusion, the hydroacoustic underwater communication system represents a significant advancement in
underwater technology, enabling effective two-way communication between surface-based devices and
submerged measuring modules. The system comprises two modems - a mobile hydroacoustic modem and a
stationary hydroacoustic modem - each designed to cater to specific deployment scenarios.
The mobile modem, powered by a mains supply, offers flexibility in communication within the underwater
environment. In contrast, the stationary modem, powered by a Li-Pol battery, provides greater autonomy and
portability, making it suitable for deployments where access to mains power is limited.
Key parameters of the hydroacoustic modem include receiver sensitivity, frequency parameters for logic states
and signal cooperation initiation, pulse and bit durations, transmitted signal power, current consumption,
supply voltage, and maximum sensing distance. These parameters ensure reliable and efficient communication
over distances of up to 2000 meters.
The electronic systems of the modems consist of receiver and transmitter components, each serving specific
functions to receive, process, and transmit signals effectively. Band-pass filters, amplifiers, comparators, and
voltage converters are among the components employed to achieve reliable underwater communication.
The integration of specialized antennas and signal processing capabilities further enhances the system's
performance, allowing for the transmission and reception of Frequency Shift Keying (FSK) signals. These
signals are crucial for initiating and maintaining communication between the modems, ensuring seamless
operation within the underwater environment.
Overall, the hydroacoustic underwater communication system demonstrates the remarkable progress made in
underwater technology, addressing the unique challenges posed by underwater communication. With its
ability to establish reliable communication links over long distances, the system holds immense potential for
applications in oceanography, environmental monitoring, and underwater exploration, paving the way for
further advancements in underwater communication technology.

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Underwater Acoustic Communication Modems

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