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Award Abstract # 1932595
CPS:Small:Data-driven Re-configurable Swarm of Autonomous Underwater Vehicles for Underwater Wireless Communication

NSF Org: CNS
Division Of Computer and Network Systems
Recipient: REGENTS OF THE UNIVERSITY OF CALIFORNIA, THE
Initial Amendment Date: September 13, 2019
Latest Amendment Date: September 13, 2019
Award Number: 1932595
Award Instrument: Standard Grant
Program Manager: Vishal Sharma
vsharma@nsf.gov
 (703)292-0000
CNS
 Division Of Computer and Network Systems
CSE
 Directorate for Computer and Information Science and Engineering
Start Date: October 1, 2019
End Date: September 30, 2024 (Estimated)
Total Intended Award Amount: $499,987.00
Total Awarded Amount to Date: $499,987.00
Funds Obligated to Date: FY 2019 = $499,987.00
History of Investigator:
  • Reza Alam (Principal Investigator)
    reza.alam@berkeley.edu
  • Masayoshi Tomizuka (Co-Principal Investigator)
Recipient Sponsored Research Office: University of California-Berkeley
1608 4TH ST STE 201
BERKELEY
CA  US  94710-1749
(510)643-3891
Sponsor Congressional District: 12
Primary Place of Performance: University of California-Berkeley
135 Hesse Hall, MC 1740
Berkeley
CA  US  94720-1740
Primary Place of Performance
Congressional District:
12
Unique Entity Identifier (UEI): GS3YEVSS12N6
Parent UEI:
NSF Program(s): Special Projects - CNS,
CPS-Cyber-Physical Systems
Primary Program Source: 01001920DB NSF RESEARCH & RELATED ACTIVIT
Program Reference Code(s): 075Z, 7918, 7923
Program Element Code(s): 171400, 791800
Award Agency Code: 4900
Fund Agency Code: 4900
Assistance Listing Number(s): 47.070

ABSTRACT

The goal of this project is to achieve high-bandwidth underwater wireless communication using a flock of small Autonomous Underwater Vehicles (AUVs) that relay a laser beam from the seabed to the surface of the ocean. The approach is advanced control of specially-designed AUVs, along with prediction of ocean currents, so that each AUV unit can reliably receive the signal from a unit at a lower depth, amplify the signal and send it to the next unit above, until the signal reaches the surface where it can easily reach satellites and hence anywhere in the world. Underwater wireless data communication is one of the most important outstanding problems in ocean engineering, impeding nearly all major research expeditions and inhibiting industrial development. This is because radio waves are heavily absorbed by water (e.g. no cell phones, Wi-Fi, or Global Positioning System (GPS) underwater), and acoustic waves have low data-transfer rates. A real-time seabed monitoring technology, as proposed here, gives researchers and engineers a novel and unique tool to carefully perform, watch, and assess deep ocean explorations and operations.

The key technical objective is to demonstrate the first proof-of-concept of wireless high-bandwidth underwater data communication via a flock of AUVs. Maximum range (minimum absorption) of electromagnetic waves in water is obtained for visible light. Therefore, pointing precision and agility of AUV units are the key challenges to success. The proposed controlled swarm motion uses a hierarchical control architecture comprising a combination of centralized and decentralized controllers to maximize the communication line's autonomy, reliability, and robustness. The fabricated AUV units feature a three-layer stabilization system that provides the needed agility, attitude accuracy, and stability for each unit.

This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

PUBLICATIONS PRODUCED AS A RESULT OF THIS RESEARCH

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Immas, Alexandre and Do, Ninh and Alam, Mohammad-Reza "Real-time in situ prediction of ocean currents" Ocean Engineering , v.228 , 2021 https://doi.org/10.1016/j.oceaneng.2021.108922 Citation Details

PROJECT OUTCOMES REPORT

Disclaimer

This Project Outcomes Report for the General Public is displayed verbatim as submitted by the Principal Investigator (PI) for this award. Any opinions, findings, and conclusions or recommendations expressed in this Report are those of the PI and do not necessarily reflect the views of the National Science Foundation; NSF has not approved or endorsed its content.

Underwater wireless communication has long been one of the biggest roadblocks in exploring and understanding the ocean. The main reason is that water absorbs nearly the entire spectrum of electromagnetic waves, including radio signals, Wi-Fi, and GPS; making most everyday wireless technologies useless underwater. Sonar, which uses sound instead of electromagnetic waves, can travel much farther through water, but it’s slow and can only send small amounts of data. This makes it nearly impossible to control underwater robots in real time or to quickly respond to underwater emergencies. As a result, most of the ocean remains unexplored, and even high-stakes missions like the search for lost aircraft or deep-sea environmental disasters face major delays. There is also growing interest in the deep sea for mining rare minerals and finding new medicines, but without reliable communication, these efforts are risky and limited.

To address this, we created and successfully tested a new system that uses a group of small underwater robots to pass a laser signal underwater. These robots form a moving chain, like a relay team, passing high-speed data through the water in a way that’s never been done before. Before building the robots, we developed a smart computer model to understand how the system would behave in real ocean conditions, where water currents can push and pull in unpredictable ways. We trained this model using artificial intelligence to predict how currents would change, and used that information to help the robots stay in place and keep the signal stable.

We then built five compact, highly agile underwater robots. They are designed to stay steady and accurately aim their laser beams, even while moving through the water. Each robot includes advanced internal parts that keep it balanced and allow it to steer the laser with great precision; something that's necessary for underwater laser communication to work. The system is also designed so that if any one robot fails or runs out of battery, another can quickly take over, so the link is never broken.

The full system was tested in a large water tank under controlled conditions. The robots were able to successfully pass along a laser signal over a distance, and we were able to send live video from underwater to the surface; something sonar cannot do. This proves that high-speed underwater communication is not only possible, but practical.

Alongside the technical accomplishments, this project also served as a powerful educational experience. Three PhD students, nine Master’s students, and twenty-five undergraduate students were involved throughout the research. They received hands-on training in designing experiments, developing technology, analyzing data, and writing scientific theses. For many of them, this was their first experience contributing to real-world research, and the skills they gained will carry forward into future academic and professional work. The results of this research have been documented through peer-reviewed journal publications, conference proceedings, and book chapters. In addition, patents were filed based on the technologies developed, and one of the PhD students involved in the project has established a startup company to further develop and commercialize the system.

With this success, underwater missions could consider including live communication, making deep-sea research, underwater mining, disaster response, and even drug discovery much faster, safer, and more effective. This is a major leap forward in our ability to connect with, explore, and protect the ocean.


Last Modified: 03/29/2025
Modified by: Reza Alam

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