Lossy compression and real-time geovisualization for ultra-low bandwidth telemetry from untethered underwater vehicles
Murphy, Christopher A.
MetadataShow full item record
Oceanographic applications of robotics are as varied as the undersea environment itself. As underwater robotics moves toward the study of dynamic processes with multiple vehicles, there is an increasing need to distill large volumes of data from underwater vehicles and deliver it quickly to human operators. While tethered robots are able to communicate data to surface observers instantly, communicating discoveries is more difficult for untethered vehicles. The ocean imposes severe limitations on wireless communications; light is quickly absorbed by seawater, and tradeoffs between frequency, bitrate and environmental effects result in data rates for acoustic modems that are routinely as low as tens of bits per second. These data rates usually limit telemetry to state and health information, to the exclusion of mission-specific science data. In this thesis, I present a system designed for communicating and presenting science telemetry from untethered underwater vehicles to surface observers. The system's goals are threefold: to aid human operators in understanding oceanographic processes, to enable human operators to play a role in adaptively responding to mission-specific data, and to accelerate mission planning from one vehicle dive to the next. The system uses standard lossy compression techniques to lower required data rates to those supported by commercially available acoustic modems (O(10)-O(100) bits per second). As part of the system, a method for compressing time-series science data based upon the Discrete Wavelet Transform (DWT) is explained, a number of low-bitrate image compression techniques are compared, and a novel user interface for reviewing transmitted telemetry is presented. Each component is motivated by science data from a variety of actual Autonomous Underwater Vehicle (AUV) missions performed in the last year.
Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2008
Showing items related by title, author, creator and subject.
Eustice, Ryan M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-06)This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting ...
Murphy, Christopher A. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2012-06)As analysis of imagery and environmental data plays a greater role in mission construction and execution, there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access ...
Deeply-towed underwater vehicle systems : a verified analytical procedure for creating parameterized dynamic models Hover, Franz S. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1989-08)The dynamics of deeply-towed cable/vehicle systems are governed by nonlinear partial differential equations and as a result, trajectory control is generally difficult using the available techniques. This work examines ...