In this work, a wireless communication system based on magnetic coils for underwater vehicles is presented. Firstly, the mathematical model of magnetic field induction using magnetic coils is discussed. Then, a description of the proposed communication system is presented, including the main components of the transmitter and receiver module. The experimental results show that due to the properties of the magnetic field, the proposed communication system can work properly in different environments such as air or water with the same efficiency. Underwater tests were carried out in different water circumstances: varying the temperature in a range from 10 °C to 35 °C, varying concentrations of clay in a range from 0% to 10%, and varying the salinity concentration in a range from 1000 ppm ( parts per million) to 35,000 ppm. It was observed that these conditions do not affect the information transfer. Finally, the advantages of using the proposed system compared to existing submarine communication systems are discussed.

In this article, the model of a family of underwater vehicle multi-manipulator systems (UVMMS) is obtained by considering all its elements as parts of a unique system, the model includes the forces produced on the manipulators by the movement of the vehicle, as well as the reaction forces on the vehicle produced by the movement of the manipulators. The modeling process is completed using the Newton–Euler approach through the mobile arborescent kinematic chain. This work also presents different approaches to the use of numerical implementations of the proposed model, and simulation results are included to demonstrate that the model is capable to represent the interaction between the vehicle and the manipulators. The proposed model and simulations are important because they allow the design of control strategies that consider all the elements of the system instead of neglecting the interaction forces or considering the vehicle and the arms as uncoupled elements.