With development of ocean exploitation, maritime rights protection, and other fields of marine information acquiring and processing, integrated underwater acoustic communication and ranging are extensively needed in applications such as underwater networking and AUV navigation and control. Because the traditional underwater ranging system usually uses a single frequency pulse signal, a conflict exists between range ambiguity and ranging accuracy. Moreover, as underwater acoustic channels pose multiple difficulties such as multipath, time-space selectivity, frequency dependent noise, and Doppler shifts, high precision ranging is a challenging mission. Considering that the spread spectrum technology features high reliability, strong anti-interference and anti-multipath capabilities and low probability of detection (LPD) capability, this paper introduces the application of the m-sequence spread spectrum technology into the integrated underwater acoustic communication and ranging function to develop a spread spectrum acoustic communication modem with ranging capability. Experimental results obtained in a physical shallow water channel demonstrate the proposed system's effectiveness.
{"title":"R&D of an spread spectrum acoustic communication modem with ranging capability","authors":"Weihua Jiang, F. Tong, Yuehai Zhou","doi":"10.1145/2999504.3001109","DOIUrl":"https://doi.org/10.1145/2999504.3001109","url":null,"abstract":"With development of ocean exploitation, maritime rights protection, and other fields of marine information acquiring and processing, integrated underwater acoustic communication and ranging are extensively needed in applications such as underwater networking and AUV navigation and control. Because the traditional underwater ranging system usually uses a single frequency pulse signal, a conflict exists between range ambiguity and ranging accuracy. Moreover, as underwater acoustic channels pose multiple difficulties such as multipath, time-space selectivity, frequency dependent noise, and Doppler shifts, high precision ranging is a challenging mission. Considering that the spread spectrum technology features high reliability, strong anti-interference and anti-multipath capabilities and low probability of detection (LPD) capability, this paper introduces the application of the m-sequence spread spectrum technology into the integrated underwater acoustic communication and ranging function to develop a spread spectrum acoustic communication modem with ranging capability. Experimental results obtained in a physical shallow water channel demonstrate the proposed system's effectiveness.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132972431","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In underwater wireless optical communications (UWOC), the photons captured by the detector have different angle-of-arrival (AOA) due to the scattering effect especially in turbid seawater. Thus the received photons suffer angle spread which follows a AOA distribution. The AOA distribution has been analyzed theoretically by some prior works only considering non-scattering and single scattering components and omitting multiple scattering component. In this work, we present a closed-form expression to model the AOA distribution considering all these components. Numerical results have shown that the proposed model can fit well with Monte Carlo simulations in turbid water.
{"title":"Angle of arrival modeling for underwater wireless optical communication systems: [extended abstract]","authors":"Yuhan Dong, Xuelong Mi, Yiqing Zhou","doi":"10.1145/2999504.3001079","DOIUrl":"https://doi.org/10.1145/2999504.3001079","url":null,"abstract":"In underwater wireless optical communications (UWOC), the photons captured by the detector have different angle-of-arrival (AOA) due to the scattering effect especially in turbid seawater. Thus the received photons suffer angle spread which follows a AOA distribution. The AOA distribution has been analyzed theoretically by some prior works only considering non-scattering and single scattering components and omitting multiple scattering component. In this work, we present a closed-form expression to model the AOA distribution considering all these components. Numerical results have shown that the proposed model can fit well with Monte Carlo simulations in turbid water.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125421584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Because of the lower propagation speed and the complexity of the underwater acoustic channel, completely avoiding the access-collision of the common channel in the underwater acoustic networks is difficult. To deal with the multiple access interference (MAI) caused by the access-collision, we have proposed a signal enhancement method based on time-frequency (T-F) masking and the approximate W-disjoint Orthogonality (WDO) caused by the sparsity of the MFSK signals in the time and frequency domain. More specifically, because of the MFSK signals sparsity, we consider the MAI canceling as the separation of mixtures of MFSK signals by using time-frequency masking, if the WDO of the MFSK mixtures is close to one. First, we demonstrate the level of approximate WDO of the MFSK signals in various orders. Then, according to the WDO of the MFSK signals, we separate the mixtures by using the ideal T-F mask, and compare their bit error ratio (BER) performance with different bit rates and signal-noise ratios. The simulation result demonstrates that when the signal is sparse enough, using the T-F masking can recover the transmitted data from the mixtures.
{"title":"A method based on time-frequency masking for MFSK underwater acoustic communication signal enhancement: [extended abstract]","authors":"Yang Yu, Peng Han, Xiaomin Zhang","doi":"10.1145/2999504.3001069","DOIUrl":"https://doi.org/10.1145/2999504.3001069","url":null,"abstract":"Because of the lower propagation speed and the complexity of the underwater acoustic channel, completely avoiding the access-collision of the common channel in the underwater acoustic networks is difficult. To deal with the multiple access interference (MAI) caused by the access-collision, we have proposed a signal enhancement method based on time-frequency (T-F) masking and the approximate W-disjoint Orthogonality (WDO) caused by the sparsity of the MFSK signals in the time and frequency domain. More specifically, because of the MFSK signals sparsity, we consider the MAI canceling as the separation of mixtures of MFSK signals by using time-frequency masking, if the WDO of the MFSK mixtures is close to one. First, we demonstrate the level of approximate WDO of the MFSK signals in various orders. Then, according to the WDO of the MFSK signals, we separate the mixtures by using the ideal T-F mask, and compare their bit error ratio (BER) performance with different bit rates and signal-noise ratios. The simulation result demonstrates that when the signal is sparse enough, using the T-F masking can recover the transmitted data from the mixtures.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114199115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
With increasing need on underwater applications, the research on underwater acoustic networks (UANs) becomes more and more important. In addition to proposals for many protocols at each layer, the underwater network architecture is also in need of well-suited solutions. In recent years, several platforms have been proposed that can test a variety of protocols in both simulation and field test cases. Because most of them are extended from network simulators (e.g., NS-2 and NS-3), they require the user to be familiar with these simulator platforms to implement protocols, which is difficult and would waste time during the initial research phase. In fact, the state machine is a common way to describe a network protocol. As far as we know, however, current platforms do not include a state machine-based protocol design method. In this paper, we propose a framework for protocol design in UANs based on a hierarchical state machine (HSM). We have completed fundamental code implementation of this framework successfully in both pool environment and simulation channel. The proposed framework will be a great convenience to the study of UAN protocols.
{"title":"Protocol design and implementation based on hierarchical state machine for underwater acoustic networks","authors":"Hua Yu, Shanshan Mao, Fangjiong Chen, Weineng Xie, Junjie Wang, Jiewen Zheng, Zhi Gao","doi":"10.1145/2999504.3001108","DOIUrl":"https://doi.org/10.1145/2999504.3001108","url":null,"abstract":"With increasing need on underwater applications, the research on underwater acoustic networks (UANs) becomes more and more important. In addition to proposals for many protocols at each layer, the underwater network architecture is also in need of well-suited solutions. In recent years, several platforms have been proposed that can test a variety of protocols in both simulation and field test cases. Because most of them are extended from network simulators (e.g., NS-2 and NS-3), they require the user to be familiar with these simulator platforms to implement protocols, which is difficult and would waste time during the initial research phase. In fact, the state machine is a common way to describe a network protocol. As far as we know, however, current platforms do not include a state machine-based protocol design method. In this paper, we propose a framework for protocol design in UANs based on a hierarchical state machine (HSM). We have completed fundamental code implementation of this framework successfully in both pool environment and simulation channel. The proposed framework will be a great convenience to the study of UAN protocols.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129921108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this work, a bi-directional transceiver with a maximum throughput of 24 kbps is presented. The spatio-temporal shallow water channel characteristics between a projector and a hydrophone array are analyzed in a seawater tank, and a methodology to maintain a 10−4 probability of bit error with prior knowledge of the channel statistics is proposed. Also, it is found that flow generated in the sea water provides a realistic representation of time-varying propagation conditions, particularly for the reverse link communication link at 22.5 kHz.
{"title":"Predicting the performance of a dual-band bi-directional transceiver for shallow water deployments","authors":"Jean-François Bousquet, Xiao Liu","doi":"10.1145/2999504.3001107","DOIUrl":"https://doi.org/10.1145/2999504.3001107","url":null,"abstract":"In this work, a bi-directional transceiver with a maximum throughput of 24 kbps is presented. The spatio-temporal shallow water channel characteristics between a projector and a hydrophone array are analyzed in a seawater tank, and a methodology to maintain a 10−4 probability of bit error with prior knowledge of the channel statistics is proposed. Also, it is found that flow generated in the sea water provides a realistic representation of time-varying propagation conditions, particularly for the reverse link communication link at 22.5 kHz.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123236370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper we present an optimal method for Ultrashort Baseline (USBL) underwater acoustic positioning by combining Time Difference of Arrival (TDOA) and Time of Arrival (TOA). For the estimation of the bearing angles, on the basis of Least Squares (LS) method and Maximum Likelihood (ML) method, the Regularized Least Squares (RLS) method is designed based on the optimization criterion. LS and ML methods are optimal estimation method in a certain criterion, but the accuracy of LS method is relatively low, and ML method requires relatively strict conditions, although the accuracy of ML method can be a theoretical upper bound. RLS method is designed using nonlinear least squares, which overcomes the drawbacks of ML method. After a lot of simulation validation, the performance of RLS method is much better than LS method, very close to ML method. RLS method has a good resistance to the measurement error of TDOA, even if the measurement error of TDOA is very big, it can also have an ideal location precision.
{"title":"Optimal method for USBL underwater acoustic positioning by combining TDOA and TOA","authors":"Fangsheng Zhong, Wuyang Zhou","doi":"10.1145/2999504.3001104","DOIUrl":"https://doi.org/10.1145/2999504.3001104","url":null,"abstract":"In this paper we present an optimal method for Ultrashort Baseline (USBL) underwater acoustic positioning by combining Time Difference of Arrival (TDOA) and Time of Arrival (TOA). For the estimation of the bearing angles, on the basis of Least Squares (LS) method and Maximum Likelihood (ML) method, the Regularized Least Squares (RLS) method is designed based on the optimization criterion. LS and ML methods are optimal estimation method in a certain criterion, but the accuracy of LS method is relatively low, and ML method requires relatively strict conditions, although the accuracy of ML method can be a theoretical upper bound. RLS method is designed using nonlinear least squares, which overcomes the drawbacks of ML method. After a lot of simulation validation, the performance of RLS method is much better than LS method, very close to ML method. RLS method has a good resistance to the measurement error of TDOA, even if the measurement error of TDOA is very big, it can also have an ideal location precision.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131835192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Water occupies three forth of earth's surface. Water is directly and indirectly polluted in many ways. Therefore, it is of vital importance to monitor water pollution levels effectively and regularly. It is a well known fact that changes in the water medium and its parameters directly affect the propagation of acoustic signal through it. As a result, time and frequency domain analysis of an acoustic signal propagating through water can be a valued indicator of water pollution. Preliminary investigative results to determine water contaminants using acoustic signal in an indoor laboratory tank environment was presented in [1]. This paper presents an extended abstract of the continuing research involving a time and frequency domain analysis of acoustic signal in the presence of three water pollutants, namely fertilizer, household detergent, and pesticide. A measurement will be conducted in the Rio Grande River, Espanola, NM, at three different locations by transmitting a single pulse through the water at different depths and distances. The same measurement will be conducted in a tank with clean water and in a tank with three pollutants added separately. The three sets of received signal from the three measurements will be compared to each other. The sets of received signal from the measurement results will be compared to the simulated result of the time and frequency domain response of the acoustic signal for validation. To the best knowledge of the author(s) utilizing acoustic signal and its properties to determine water pollutants using the proposed method is a new approach.
{"title":"Time and frequency domain analysis and measurement results of varying acoustic signal to determine water pollutants in the Rio Grande river","authors":"Sadia Ahmed","doi":"10.1145/2999504.3001115","DOIUrl":"https://doi.org/10.1145/2999504.3001115","url":null,"abstract":"Water occupies three forth of earth's surface. Water is directly and indirectly polluted in many ways. Therefore, it is of vital importance to monitor water pollution levels effectively and regularly. It is a well known fact that changes in the water medium and its parameters directly affect the propagation of acoustic signal through it. As a result, time and frequency domain analysis of an acoustic signal propagating through water can be a valued indicator of water pollution. Preliminary investigative results to determine water contaminants using acoustic signal in an indoor laboratory tank environment was presented in [1]. This paper presents an extended abstract of the continuing research involving a time and frequency domain analysis of acoustic signal in the presence of three water pollutants, namely fertilizer, household detergent, and pesticide. A measurement will be conducted in the Rio Grande River, Espanola, NM, at three different locations by transmitting a single pulse through the water at different depths and distances. The same measurement will be conducted in a tank with clean water and in a tank with three pollutants added separately. The three sets of received signal from the three measurements will be compared to each other. The sets of received signal from the measurement results will be compared to the simulated result of the time and frequency domain response of the acoustic signal for validation. To the best knowledge of the author(s) utilizing acoustic signal and its properties to determine water pollutants using the proposed method is a new approach.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132028434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Controlled Lagrangian particle tracking (CLPT) is a method that evaluates the accuracy of ocean models employed for the navigation of autonomous underwater vehicles (AUVs). The accuracy of ocean models can be represented by the discrepancy between the predicted and true trajectories of AUVs, called controlled Lagrangian prediction error (CLPE). To reduce CLPE, we develop an adaptive control law that enables AUVs to follow the predicted trajectory in the true flow field. Because CLPE is exponentially increasing and navigation performance is significantly degraded when previous controllers are used, we propose the adaptive control law that makes CLPE converges to zero. Although true flows are unknown, the proposed control law identifies the true flow field so that AUVs follows the predicted trajectory. We prove that CLPE is ultimately bounded under bounded disturbances. The proposed control law is verified by simulation results.
{"title":"An adaptive control law for controlled Lagrangian particle tracking","authors":"Sungjin Cho, Fumin Zhang","doi":"10.1145/2999504.3001077","DOIUrl":"https://doi.org/10.1145/2999504.3001077","url":null,"abstract":"Controlled Lagrangian particle tracking (CLPT) is a method that evaluates the accuracy of ocean models employed for the navigation of autonomous underwater vehicles (AUVs). The accuracy of ocean models can be represented by the discrepancy between the predicted and true trajectories of AUVs, called controlled Lagrangian prediction error (CLPE). To reduce CLPE, we develop an adaptive control law that enables AUVs to follow the predicted trajectory in the true flow field. Because CLPE is exponentially increasing and navigation performance is significantly degraded when previous controllers are used, we propose the adaptive control law that makes CLPE converges to zero. Although true flows are unknown, the proposed control law identifies the true flow field so that AUVs follows the predicted trajectory. We prove that CLPE is ultimately bounded under bounded disturbances. The proposed control law is verified by simulation results.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132197705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ciarán Mc Goldrick, Enrique Segura, Tianyan Wu, M. Gerla
This paper describes the ongoing evolution of the Water-Com framework developed as part of the NSF funded Ocean-TUNE CRI project. A particular challenge for connecting global researchers and the public with remote, autonomous underwater research infrastructures is that translating and bringing the requesters topology and system properties into physical existence through dynamic reconfigurability of the deployed experimental infrastructure and assets. Previous work described the overall WaterCom framework, system architecture and design. The extension of this system to enable graphical node topology definition and validation, and the procedure for defining, scheduling and deploying experimental configurations on remote hardware is articulated.
{"title":"WaterCom: connecting research configurations with practical deployments: a multilevel, multipurpose underwater communications test platform","authors":"Ciarán Mc Goldrick, Enrique Segura, Tianyan Wu, M. Gerla","doi":"10.1145/2999504.3001118","DOIUrl":"https://doi.org/10.1145/2999504.3001118","url":null,"abstract":"This paper describes the ongoing evolution of the Water-Com framework developed as part of the NSF funded Ocean-TUNE CRI project. A particular challenge for connecting global researchers and the public with remote, autonomous underwater research infrastructures is that translating and bringing the requesters topology and system properties into physical existence through dynamic reconfigurability of the deployed experimental infrastructure and assets. Previous work described the overall WaterCom framework, system architecture and design. The extension of this system to enable graphical node topology definition and validation, and the procedure for defining, scheduling and deploying experimental configurations on remote hardware is articulated.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122124008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Emrecan Demirors, Jiacheng Shi, R. Guida, T. Melodia
Existing underwater acoustic networking platforms are for the most part based on inflexible hardware and software architectures that can support mostly point-to-point, low-data-rate, delay-tolerant applications. Most commercial devices do not provide neither the sufficient data rates nor the necessary flexibility to support future underwater networking applications and systems. This article discusses a new high-data rate software-defined underwater acoustic networking platform, SEANet G2, able to support higher data rates (megabit/s data rates are foreseen over short range links), spectrum agility, and hardware/software flexibility in support of distributed networked monitoring operations. The article reports on the main architectural choices of the new platform, as well as some preliminary performance evaluation results. Data rates in the order of megabit/s were demonstrated in a controlled lab environment, and, for the first time to the best of our knowledge, data rates of 522kbit/s where obtained in sea trials over short horizontal links (e.g., 10 m) for a BER lower than 10−3.
{"title":"SEANet G2: toward a high-data-rate software-defined underwater acoustic networking platform","authors":"Emrecan Demirors, Jiacheng Shi, R. Guida, T. Melodia","doi":"10.1145/2999504.3001112","DOIUrl":"https://doi.org/10.1145/2999504.3001112","url":null,"abstract":"Existing underwater acoustic networking platforms are for the most part based on inflexible hardware and software architectures that can support mostly point-to-point, low-data-rate, delay-tolerant applications. Most commercial devices do not provide neither the sufficient data rates nor the necessary flexibility to support future underwater networking applications and systems. This article discusses a new high-data rate software-defined underwater acoustic networking platform, SEANet G2, able to support higher data rates (megabit/s data rates are foreseen over short range links), spectrum agility, and hardware/software flexibility in support of distributed networked monitoring operations. The article reports on the main architectural choices of the new platform, as well as some preliminary performance evaluation results. Data rates in the order of megabit/s were demonstrated in a controlled lab environment, and, for the first time to the best of our knowledge, data rates of 522kbit/s where obtained in sea trials over short horizontal links (e.g., 10 m) for a BER lower than 10−3.","PeriodicalId":378624,"journal":{"name":"Proceedings of the 11th International Conference on Underwater Networks & Systems","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128374512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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