This article analyzes the effects of key physical oceanographic conditions on underwater propagation in a shallow water environment. Signals at 2 kHz were transmitted and received over ranges of 1-10 km, and the variability in the sound-speed profile, bathymetry, position of the instruments, and sea surface roughness was measured and the uncertainty on each parameter was estimated. The acoustic channel characteristics, including the transmission loss, delay spread, and coherence time, were calculated between a moored five-element vertical line array and a vessel deployed source. The measurement results were modeled using a Bellhop's ray tracing algorithm. The sensitivity of the simulator output was evaluated as a function of the environmental conditions, and the observed variability in the transmission loss was reproduced by varying the input parameters to the model within the observed and estimated bounds. The relative importance of the physical properties of the environment in terms of their impact on the acoustic channel is determined through a comparison of modeled and measured transmission loss variability.

This paper describes a Doppler compensation algorithm to improve the reliability of orthogonal frequency division multiplexing (OFDM). To compensate for the time-varying Doppler effect in a mobile deployment scenario, first the time-scaling factor over a wideband channel is estimated using pilot tones inserted in each OFDM symbol. Then, using a time-varying resampling technique, the Doppler effect is compensated during the reception of each OFDM symbol in the frame. To predict the performance of the system in relatively shallow waters, a software channel model is developed that is able to simulate a wide variety of dynamic shallow water deployment scenario. The performance of the algorithm was tested for two extreme frequency ranges during sea trials, the first at 2 kHz for a long-range application, and the second at 125 kHz for a short range telemetry link. For the 2-kHz system, a 16-bps mobile link in which the platform was moving at 1 m/s was demonstrated to have a bit error rate on the order of ${10}^{-3}$ , while, for the 125-kHz telemetry application, a 2000-bps link was enabled with a bit error rate of 0.03 at a low SNR equal to 5.5 dB.

This article describes the implementation of a multiple-input multiple-output acoustic communication link in shallow water conditions to enable a software-defined acoustic modem with a maximum transmission rate of 20 kbps in a 5-kHz bandwidth. The reliability improvement of a low-complexity Alamouti space–time block code is evaluated to improve the diversity in a high-rate transmission mode using single carrier modulation, as well as in a low-rate transmission mode relying on continuous-phase frequency-shift keying. Using measurements in realistic subsea conditions, the effect of the spatial channel correlation is demonstrated. It is found that for the space–time block code/continuous-phase frequency-shift keying, the spatial diversity is significantly degraded due to the high spatial correlation. In contrast, for the high-mode transmission rate, space–time block code with single carrier modulation offers a bit error rate improvement by a factor over hundred, in comparison to a single transmit element, demonstrating that the multiple-input multiple-output optimal code depends on the software-defined acoustic modem transmission mode.

Over the past decade, interest in autonomous vessels significantly increased as the technology improved, especially in the automotive industry. Unlike cars, ships travel in a wild environment and maritime lanes are not limited by white lines. This makes the design of fully autonomous vessels even more challenging. Additionally, the need to reduce greenhouse gas emissions led to a renewed interest in wind propulsion. Sailboats have several advantages, such as full energy autonomy and a limited environmental impact. The Microtransat Challenge, which consists of crossing the Atlantic Ocean, is a tremendous test field. This paper describes, within that frame, a design procedure for the development of a robust fully autonomous sailboat to be deployed for long-term missions. In this paper, the mechanical and electronic design strategies are presented. A focus is on reliability and power management. Moreover, a test procedure for validating each design increment is described as well as a path plan that considers the risk of collision and weather routing with wind and currents. The Microtransat remains a challenge that no autonomous ship has ever succeeded (and has been completed by a single unmanned vessel, SB Met in 2018). However, the results by Breizh Tigresse and Sealeon in 2015 and 2018 made a step forward in terms of time and distance. They are presented and analyzed in this work.

In this work, the use of magnetic induction to cross the air-water boundary is investigated. An analytical expression is derived for the magnetic field in air from a coil underwater and is validated with simulation results that also include the effect of the front-end. Specifically, the ratio of the induced voltage of the receiver over transmitter current is maximized for a given distance between small coils with a radius of 6.5 cm and it is found that an optimal frequency exists: for a distance between 10 to 100 meters, the optimum frequency of operation decreases from 8000 Hz down to 80 Hz. Experiments are performed in air as well as in sea-water tanks to verify the mutual inductance and end-to-end attenuation. The experiments agree with the theory for distances up to 1.6 meters, after which a noise floor is reached. To increase the range, the use of passive repeaters is studied and a relay coil that transfers the energy to a receiver inside a magnetic shield is analyzed. When configured correctly, this relay can significantly enhance the receiver output voltage, as demonstrated through simulations, potentially increasing it by up to tenfold.