Patent Application
20160121009
This invention relates to systems and methods to enhance optical signal transmission among a plurality of nodes within one or more amorphous broadcast media, including transmission that is subject to degradation by factors such as biological fouling of optical surfaces in at least one amorphous broadcast medium.
Sensor-bearing unmanned underwater vehicles (UUV), as well as cabled ocean observatories, have been deployed extensively to study both natural and man-made phenomena. Much of the wireless communication necessary for these activities is accomplished by acoustic communication systems. Such acoustic communication systems, however, are limited by low band-width and high latency, and do not permit video or other high-rate data transfers. Accordingly, improved underwater optical communication (opticom) systems have been developed such as those described by Fucile et al. in US Patent Publication No. 2005/0232638 and by Farr et al. in U.S. Pat. No. 7,953,326, the latter being incorporated herein by reference.
Opticom uses light instead of sound to carry information. An opticom system encodes a message into an optical signal, and then emits or transmits the optical signal from one communication node through a transmission medium to a receiver at another communication node, which reproduces the message from the received optical signal. The term “communication node” as used herein includes (i) movable opticom systems carried by non-stationary, mobile objects or entities such as a surface ship, a UUV, or a diver, and (ii) non-movable opticom systems at a stationary position such as within an underwater observatory. Advantages of opticom systems are identified for example in a News Release by Woods Hole Oceanographic Institution titled “Optical system promises to revolutionize undersea communications”, published Feb. 23, 2010.
While opticom systems provide high-band-width, bidirectional wireless underwater optical communications, their performance is subject to interference from light generated from secondary light-producing systems deployed within the nearby marine environment. Such interfering secondary lighting systems may include work site lights, photographic lighting, navigational lighting, directional lights, hand-held lights, beacons, and/or warning lights.
The growth and feeding of biofouling organisms, especially those which form a community on hard substrates, inhibits the operational characteristics of industrial objects such as lenses. Several approaches are used to address this problem, including applications of one or more anti-fouling coatings. However, in many circumstances a coating will not work. For example, windows of a submerged precision optical instrument cannot be coated due to concerns with obstructing the clarity of the windows, thereby affecting the instrument's measurements. Another approach is to remove the organisms manually, such as by scrubbing with wiping by a mechanism akin to a windshield wiper, but the use of mechanical components can increase the opportunities for failure and introduce additional complexity and cost into the system.
Maintaining an uncompromised visual connection through the window is particularly important in many communications systems. For example, scientists are deploying UUVs that, due to their mobility, can expand the reach of seafloor observatories. These UUVs typically carry sensors on-board and operate autonomously, carrying out pre-programmed missions. While certain types of UUVs are tethered by cable to the seafloor observatories, the tethered UUVs have a short range of motion and are limited by the length of the tether. Scientists are also deploying un-tethered UUVs which may be controlled wirelessly by an acoustic communication system or an optical communication system. Acoustic communication systems, however, tend to be limited by low bandwidth and high latency, and do not permit video or other high-rate data transfers.
Accordingly, there is a need to provide an antifouling device that prevents and/or removes organisms from an optical surface in a marine environment or other amorphous broadcast medium. There is also a need for such a device to remove the organisms from a window while maintaining the integrity of the window for accurate sensor readings and communications. It is also desirable to mitigate many typical light interference issues that would otherwise degrade optical communication signals in at least one amorphous medium.
An object of the present invention is to improve optical communication among a plurality of communication nodes in at least one amorphous medium of a gas such as air, of a liquid such as water, and/or a vacuum.
Another object of certain aspects of the present invention is to reduce fouling of a surface of an optically transparent element utilizing a light source. By using LEDs in certain embodiments, such a system may be more efficient, have a longer lifetime, and be more compact than traditional systems. The systems and methods may be further augmented by varying wavelengths and duty cycle.
Yet another object of the present invention is to combine optical antifouling with optical communication among a plurality of communication nodes.
This invention features a system and method to reduce fouling of a surface subjected to an aquatic environment with a light source. According to one aspect, an antifouling system including an LED for emitting UV radiation, one or more mounts for directing emitted UV radiation toward the surface, and control circuitry for driving the LED disposed in a watertight housing. According to another aspect, an antifouling system which employs a fluorescent lamp as the source of antifouling radiation which is disposed within a pressure vessel including a UV-transmissive material to allow UV light to pass through the pressure vessel and reduce bio-fouling of any surface.
In accordance with one embodiment, the optically transparent element is a window or a lens. The emitted UV radiation may have a wavelength between about 240 nm and about 295 nm, in one embodiment between about 250 nm to 260 nm. The antifouling light source may be disposed in a watertight enclosure, which may have a UV transparent port and retains a gas selected from atmospheric air, an inert gas, nitrogen gas, and combinations thereof. In other embodiments, the mount may be disposed on a side of the optically transparent element remote from the surface, and the optically transparent element may be made of a UV transparent material. In additional embodiments, the control circuitry is adapted to maintain a constant duty cycle of the LED, which may be at least about 10%. An attenuated dosage reaching the surface may be at least about 0.5 kJ/m2. A kill efficiency at the surface may be at least about 95%.
In some embodiments, the system includes an end cap adapted to provide mechanical and electrical connections to an object such as a node, an observatory, a transducer, an optical modem, a vehicle, an AUV, and ROV, an UUV, a winch, a dock and a profiler. In one embodiment, the system further includes a configurable optical reflector capable of tailoring the UV emission to at least one of a wider angle pattern and a narrower angle pattern relative to the first pattern of the emission. In certain embodiments, the surface is a cable, a winch, a spool, a fin, a propeller, a light, a sensor, a transducer, an optically transparent surface, a window, a camera window, a lens, or a surface unsuitable for an antifouling coating. In one embodiment, the system is capable of reducing biofouling of the surface when disposed a distance from the surface of at least 30 cm.
One or more antifouling features are combined in some embodiments with a system that broadcasts an optical signal through an amorphous medium to a detector, also referred to as a receiver. The system includes a primary emitter capable of producing a primary optical signal having a first intensity during at least one broadcast period and capable of transmitting the primary optical signal through the amorphous medium.
In some embodiments, the antifouling light source emits radiation at a second intensity and is controlled by a controller as a secondary emitter, and the controller modulates the second intensity of the secondary emitter in synchrony with the primary optical signal. In certain embodiments, the resultant signal is of higher intensity than either the intensities of the primary signal or the secondary signal alone. In one embodiment, the controller changes the timing of the secondary emission relative to primary emission, such as by delaying the emitter that is closer to the detector to achieve substantially simultaneous reception by the detector of both signals. In a number of embodiments, the secondary emitter is normally operated at a duty cycle of at least 50 percent, typically at least 75 to 100 percent, when activated. In one embodiment, the secondary emitter is at least one of a work site light, a light to illuminate a photographic subject, a light on a submersible vehicle, a hand-held light, and a beacon.
In some embodiments, the controller includes at least one of a multiplexer and a signal splitter. In certain embodiments, the system further includes at least one receiver such that the system is capable of bidirectional communication with a third, remote emitter. In one embodiment, the second emitter is suppressed when the receiver senses that the third emitter is transmitting.
In what follows, preferred embodiments of the invention are explained in more detail with reference to the drawings, in which:
This invention may be accomplished by a system and method to reduce fouling of a surface subjected to an aquatic environment with a light source. According to one aspect, an antifouling system including an LED for emitting UV radiation, one or more mounts for directing emitted UV radiation toward the surface, and control circuitry for driving the LED disposed in a watertight housing. According to another aspect, an antifouling system which employs a fluorescent lamp as the source of antifouling radiation which is disposed within a pressure vessel including a UV-transmissive material to allow UV light to pass through the pressure vessel and reduce bio-fouling of any surface.
Examples of systems and methods according to the present invention for treating surfaces such as optical elements are described below in particular regarding
As described in U.S. application Ser. No. 14/557,361 filed 1 Dec. 2014, which is incorporated herein by reference, submerged optical communication (“opticom”) systems must often operate in the presence of secondary lighting (e.g. from the illumination of a work site). In order to minimize the impact of the secondary lighting on detector performance (e.g. output deterioration from the detector), and increase the effective signal intensity reaching the detector, some constructions of the current invention provide for entrainment of the light intensity from secondary light sources to the pattern of signals emanating from the opticom emitter. Entrainment causes the background signal produced from the secondary lighting to: (i) no longer be constant and (ii) become in effect, a secondary emitter, transmitting and reinforcing the same signal pattern as the primary emitter. Particularly benefited are those submergible opticom systems meant for operation in dark water which employ a detector that is negatively impacted (e.g. reduced signal to noise level) by the presence of a sustained background light.
The invention improves opticom transmission systems comprising signal detectors, also referred to as receivers, which are subject to output degradation from background signals within the amorphous broadcast medium. More specifically, some constructions of the invention entrain specific sources of optical background signal to the output pattern of the primary signal emitter, thereby enhancing the signal reaching the detector positioned within the amorphous medium.
Suitable primary emitters can be any device capable of producing a signal to be transmitted through the broadcast medium to a detector, wherein the transmitted signal or the act of transmitting the signal can be used by a signal processor to entrain the output of a source of a background signal of the same modality. In preferred embodiments, the primary emitter is an LED or array of LEDs. In the most preferred embodiments the primary emitter emits light in the visible range, preferably encompassing wavelengths within the blue color range. The light may be a mixture of wavelengths such as white light or it may be monochromatic. The characteristics of the optical signal to be transmitted through the broadcast medium to the detector are those known to practitioners of ordinary skill and are exemplified by Farr et al. in U.S. Pat. No. 7,953,326, incorporated herein by reference.
The detector is selected for its compatibility with the emitter, and its ability to detect the signal emitted therefrom. In general, the detector will have the capability of converting received light originating from the emitter to an electrical output. In some cases the detector is a photomultiplier tube (“PMT”), or the like. PMTs are capable of sensing single photon events and their sensitivity can be controlled by changing the voltage used to power the tube. In the most preferred embodiments, the detector is a PMT designed with the largest angular reception possible so that it most preferably is capable of detecting emitted light arriving from at least a hemispherical area.
Detectors comprising PMT's may benefit most from the invention, since substitution of a steady state light beam from a secondary emitter with the inventive beam of fluctuating intensity will minimize corresponding gain reduction in the PMT, while at the same time enhancing the overall signal received due to signal reinforcement by the entrained secondary emitter signal.
Without entrainment, a non-modulated secondary light source behaves as a noise source to the detector leading to a reduction in the maximum operating range of the emitter-detector system. The degree to which range reduction actually occurs is dependent on the ratio of non-modulated to modulated light received. In a configuration where a receiver collects light from two optical sources of equivalent power where one is modulated and other non-modulated, there is the equivalent of an 8 dB decrease in power compared to the primary modulated source alone. Submerged opticom systems are most susceptible to deteriorated response when non-modulated sources are located near the receiver because the amount of received light can be many times greater than the power received from a remote transmitter. A typical illumination source located near the receiver can reduce overall link range by more than 97%. Use of the inventive entrained secondary emitters as compared to non-modulated secondary emitters are expected to improve the signal to noise level of the detector by at least 1% to 2%, preferably 1% to 5%, and in most embodiments 1% to 10%.
The secondary emitter produces a signal of the same modality (e.g. light) as the primary emitter. When in operation, the output of the secondary emitter is of a wavelength composition, and format that it can be detected by the detector and therefore is a potential source of background signal, noise or interference. Furthermore, if operated as a steady output (i.e., as a non-entrained signal), the light from the secondary emitter, might lead to degradation of the performance/sensitivity of the detector. The inventive approach, however, reduces many or all of these negative effects of the secondary emitter on system performance.
In most instances the purpose of the secondary emitter is independent from that of the primary emitter. That is, while the primary emitter is intended to relay a signal to the detector for communication purposes, the secondary emitter is generally used to provide a lighting function. Typical lighting functions for a secondary emitter include: lighting a work site, illuminating a photographic target or subject, serving navigational purposes on a submersible vehicle, directional lighting, operating lights, a hand held light, a beacon, a work light, and a warning light.
In general, the emitted light from the secondary emitter will contain at least one wavelength capable of passing through the broadcast medium with an acceptable level of attenuation, such that it will travel the desired distance and arrive at the detector with an intensity that is detectable by the detector.
Light wave lengths between 400 nm and 500 nm pass through water with less attenuation than most other wavelengths and will generally be present in the emitted light. Most of the constituent wavelengths, when white light is passed through a long water path length, are more rapidly attenuated by the water than wavelengths in the 400 nm to 500 nm range. Therefore for the greatest optical telemetry range (e.g. 100 m to 200 m), it is most efficient to use light comprising wavelengths in the 400 nm to 500 nm “window”. For color imaging, which takes place at much shorter ranges (e.g. 10 m), white light is required.
An optical communications system when exposed to a non-modulated secondary light source undergoes a reduction in the maximum operating range due to a reduction in sensitivity of the detector. The range reduction is dependent on the ratio of non-modulated to modulated light received. Synchronizing or entraining a secondary light source to the primary emitter, has the opposite effect and increases operational range of the overall system.
To achieve effective entrainment, the secondary illumination source(s) preferably are synchronized to within 95% of the primary communications source. In a configuration where a receiver collects power from two optical sources of equivalent power synchronizing the second source adds approximately 4 dB to the primary signal for a total improvement of 6 dB. In two-emitter systems operating under optical conditions that would support a maximum range of 50 meters, entrainment will result in a range enhancement of at least 2, preferably 5, 10, 25, or up to 30 or 50 meters.
Suitable emitters (both primary and secondary) should be capable of rise and fall times of less than 1 microsecond, preferably less than 50 nanoseconds, more preferably less than 1 nanosecond, and ideally less than 10-100 picoseconds. Current LEDs operate in the greater than 100 picosecond range; to achieve rates of less than 100 picoseconds, laser-based emitters will generally be employed.
The combined circuitry elements of the secondary emitter must be capable of producing a modulating light beam synchronized to within 10 nanoseconds of the modulated beam of the primary emitters. Specifically, the circuitry will be assembled such that the entrained signal of the secondary emitter is substantially identical to that of the primary emitter with a following delay of no greater than 10-50 nanoseconds, preferably 1 nanosecond, and most preferably less than or equal to 100 picoseconds. The circuitry must also operate with less than 1 nanosecond of jitter.
Generally, information processing for the emitter and detector is accomplished through half-duplex multiplexing. The multiplexing frame rate is generally from 1 HZ to 5 Hz often 100-200 Hz, and in some embodiments up to 1000 Hz. In one embodiment, optimal optical performance of the detector is achieved by using light and secondary emitters that are synchronized to the primary emitter both in modulation rate and time division multiplexing.
In most embodiments, the primary and secondary emitters are approximately the same distance from the receiver or modem. System 10,
In certain preferred configurations, the distance D1 of the primary emitter P to the receiver R is within 25 ft of the distance D2 of the secondary emitter S to the receiver R; in other embodiments, the absolute value of D1−D2 is less than 20, 15, 10, or 5 feet. When observing such distance differentials is not possible, then in certain constructions a delay function is included in the circuitry of the controller or one or both emitters, in order to more effectively synchronize the signals reaching the detector (receiver R) by adjusting the actual emission timing of one or more emitters.
Effective transmission of optical data between the inventive emitters and detectors will vary in distance and rate depending on water clarity. In substantially clean water, the inventive emitter/detector systems will transmit up to 110 meters at data rates of 2, 5, 8, 10, or 12 megabits/second (Mbps). To achieve transmission distances of 200 meters in clean water transmission rates of less than 2, 1.5, 1.0, 0.75, or 0.5 Mbps will be needed.
System 200 according to the invention,
Data element 300 includes sensors that typically acquire information from the surrounding environment such as temperature, pressure, gaseous composition, vibrations or other motion, and/or visual appearance. In one embodiment, a data element 300 includes at least one of a temperature sensor, a moisture sensor, a pressure sensor, a gas sensor, a light sensor, a motion sensor, and a video camera. In another embodiment, the data element 300 may include a laser induced breakdown spectrometer, Raman spectrometer or mass spectrometer. The data element 300 may include other devices that collect information from the surrounding environment, for example at least one type of electromagnetic emission, such as optical radiation or narrow-band EM field, and/or at least one type of mechanical wave emission, such as ground-coupled vibration, sonic, ultrasonic, or low-frequency (infrasonic) acoustic emissions, for marine-based and/or terrestrial alternate-energy sources or other installations or human activity. The data element 300 typically generates a data signal that contains information sensed from the surrounding environment. The data signal generated by the data element may include electrical DC or AC signals having characteristics representative of the information collected. For example, the amplitude of a DC electrical signal may be representative of the temperature of the surrounding environment. In one construction, input signals are obtained from MEMS (Micro-Electro-Mechanical Systems) accelerometers to sense ground motions or other vibrations such as described by Cochran et al. In “A Novel Strong-Motion Seismic Network for Community Participation in Earthquake Monitoring, IEEE Instrumentation & Measurement Magazine, December 2009, pages 8-15. Other suitable input devices for sensing at least one ocean parameter are disclosed in U.S. Pat. No. 5,894,450 by Schmidt et al., U.S. Pat. No. 7,016,260 by Bary, and U.S. Pat. No. 7,711,322 by Rhodes et al., for example.
In a number of constructions, the detector 404 receives the transmitted signal from the directional element 402 such that the information in the transmitted signal is processed by electronics in the receiver 224 as well as outside of the receiver 224. As an example, in optical communication where the transmitted signal is the optical wavelength range of the electromagnetic spectrum, the detector 404 is configured to detect the optical transmitted signal and convert the signal to an electrical signal so that the electronics in the microprocessor 406 may process the information in the transmitted signal. In one embodiment, the detector 404 is configured to detect electromagnetic waves in the optical spectrum. In one such embodiment, the detector 404 includes a photomultiplier tube (PMT). In other embodiments the detector 404 may include at least one of a charge coupled device (CCD), a CMOS detector and a photodiode. PMTs typically provide higher sensitivity and lower noise than photodiodes. The spectral response of the bialkali PMTs typically peak in the blue wavelength range with a quantum efficiency of about 20%. Their gain is typically on the order of 107. In certain embodiments, the detector 404 is formed together with the directional element 402. As an example, hemispherical PMTs such as the HAMAMATSU® R5912, as available by February 2006, combine hemispherical directional element 402 with a detector 404. The detector 404 sends the detected signal (typically a value of electrical current corresponding to the intensity of the received electromagnetic radiation) to a demodulating module 416.
In some constructions, in addition to buffering and protocol adjustment capabilities, the protocol/buffer module 416 also includes buffer circuits that are configured to amplify the decoded signal from the decoding module 414. Further, in certain constructions the receiver 224 also includes an Automatic Gain Control (AGC) module that controls the received power of the signal so that the received power is maintained fairly constant for different ranges. In particular, the AGC limits the power of the received signal transmitted over a short distance.
In some constructions, at least one of system 504a, optical modem 504b, and optical modem 504c are mobile, and distances 508, 508′ and/or 508″ vary according to positioning of those units by one or more users, by currents within medium 502, or by other factors which alter their spatial relationships. In some embodiments, establishing the optical data connection between system 504a and units 504b and 504c includes determining acceptable optical ranges for distances 508, 508′ and 508″, respectively. In some embodiments, an optical communication network 500 is extended by disposing a third optical modem within an optical range of modem 504b, and disposing a fourth optical modem within an optical range of modem 504c.
The systems and methods described herein can be utilized to provide a reconfigurable, long-range, optical modem-based underwater communication network. In particular, the network provides a low power, low cost, and easy to deploy underwater optical communication system capable of being operated at long distances. Optical modem-based communication offers high data rate, and can be configured to generate omni-directional spatial communication in the visual spectrum. The omni-directional aspect of communication is advantageous because precise alignment of communication units may not be required. The optical modems may be deployed by unmanned underwater vehicles (UUVs) and physically connected by a tether (e.g., a light-weight fiber optic cable).
In one aspect, the systems and methods described herein provide for an underwater vehicle to establish an underwater optical communication link between a first cabled observatory 504b and a second cabled observatory 504c. The underwater vehicle carrying an optical communications system according to the present invention may include two optical modems, mechanically coupled by a tether. Each optical modem may include a transmitter having at least one optical source capable of emitting electromagnetic radiation of wavelength in the optical spectrum between about 300 nm to about 800 nm, and a diffuser capable of diffusing the electromagnetic radiation and disposed in a position surrounding a portion of the at least one source for diffusing the electromagnetic radiation in a plurality of directions. In some embodiments, the tether includes a fiber optic cable, copper cable, or any other suitable type of cable. In some embodiments, each optical modem includes at least two optical sources. A first optical source may be configured to emit electromagnetic radiation at a wavelength different from a second optical source.
The first and second cabled ocean observatories may be submerged under a water body at a desired depth, resting on a sea floor or suspended in the body of water. As referred to herein, the terms “cabled ocean observatory” and “cabled observatory” may be used interchangeably. The cabled ocean observatory may be designed around either a surface buoy or a submarine fiber optic/power cable connecting one or more seafloor nodes. In some embodiments, an underwater observatory maybe a stand-alone unit that is not connected to another communication unit by a tether or a cable. The stand-alone underwater observatory may include an independent power source such as a battery to operate independently. As referred to herein, the term “seafloor node” may refer to an underwater communication unit that includes an optical modem or any other suitable communication device. The observatory may also include sensors and optical imaging systems to measure and record ocean phenomena. A cabled observatory may be connected to a surface buoy, one or more seafloor nodes by a cable, a surface ship, or a station on land. In some embodiments, the cable includes a tether as described in further detail below. The cabled observatory may include an optical modem, which will be described in further detail below in reference to
Various configurations of underwater observatories and communication networks according to the present invention are depicted in
An optical communication network may be established between the plurality of underwater observatories. Stand-alone underwater optical modem 913 may be disposed within an optical range of underwater observatory 910, and stand-alone underwater optical modem 914 may be disposed within an optical range of underwater observatory 940. A tether 917 may mechanically couple underwater optical modem 913 to underwater optical modem 914. Underwater optical modem 913 and underwater optical modem 914 may be deployed using a UUV as described above in reference to
The network may be extended to include a plurality of nodes. As referred to herein, the term “node” may be defined as an underwater optical modem or a communication unit that is part of a communication network or system (e.g., an optical communication network, an acoustic communication system, or a multi-modal communication system). Underwater optical modem 932 may be deployed by a UUV 936 within an optical range of underwater observatory 930. Underwater optical modem 934 may also be deployed by UUV 936 at a location different from underwater optical modem 932 to facilitate connection to other underwater optical communication links. Underwater optical modem 934 may be mechanically coupled to underwater optical modem 932 by tether 933 and to UUV 936 by tether 935. UUV 936 may include an integrated optical modem that enables it to communicate with nodes in the optical communication network. For example, UUV 936 may navigate to a location within an optical range of underwater optical modem 913, and establish an optical connection with underwater optical modem 913, thereby establishing an optical communication link between underwater observatories 910, 920, 930, and 940.
Faults in the underwater optical communication network may be repaired by reconfiguring nodes in the network. For example, a fault may be detected in tether 926, breaking the optical communication link between underwater observatory 920 and underwater observatory 930. To re-establishing an optical communication link between underwater observatory 920 and underwater observatory 930, optical modems may be deployed at nodes in the network that are connected to the underwater observatory 920 and underwater observatory 930. For example, UUV 994 and UUV 992 may each include an integrated optical modem that may be mechanically coupled to each other by tether 993. UUV 994 may navigate to and establish an optical connection with underwater observatory 920, and UUV 992 may navigate to and establish an optical connection with underwater optical modem 934. An optical communication link may be formed between underwater observatory 930 and underwater observatory 920 through UUV 992 and UUV 994. In some embodiments, each of UUV 992 and UUV 994 is configured to deploy an optical modem (not shown), that is mechanically coupled by a tether to an integrated optical modem. For example, UUV 992 may be configured to deploy a first optical modem that is mechanically coupled by a tether to an optical modem integrated with UUV 992, which is also mechanically coupled to the integrated optical modem of UUV 994 by a tether 993. In some embodiments, the UUV 994 is configured to deploy a second optical modem that is mechanically coupled by a tether to the integrated optical modem of UUV 994, and also mechanically coupled to the integrated optical modem of UUV 992, and the first optical modem that is deployable from UUV 992.
In some embodiments, optical connections may be formed to stand-alone underwater observatories. For example, UUV 980 may deploy underwater optical modem 985 within an optical range of underwater optical modem 934. UUV 980 may include an integrated optical modem and navigate to stand-alone underwater observatory 950. The integrated optical modem of UUV 980 may be mechanically coupled to underwater observatory 985 by tether 983. UUV may be connected to a surface ship 900 by a cable 905. The cable 905 may enable remote control of underwater vehicle 980.
In some embodiments, optical connections may be formed by deploying a set of stand-alone optical modems. For example, UUV 970 may deploy underwater optical modem 974 within an optical range of 985, and deploy underwater optical modem 972 within an optical range of stand-alone underwater observatory 960. In one construction, underwater optical modem 972 and underwater optical modem 974 are connected by physical tether 973.
As further illustrated in
This invention may also be expressed as a system and method for reducing fouling of a surface (e.g., a UV-transmissive surface, a curved surface, and/or a transparent surface) or an element, particularly a optically transparent surface, a UV-transparent material, a window (e.g., a camera window), a lens, a light, a sensor, or a surface unsuitable for an antifouling coating or paint as known in the art, subjected to an aquatic environment (e.g., marine environment, body of water, salt water, fresh water), including providing a plurality (e.g., one or more, two or more, three or more, or at least four) of mounts disposed about or proximate to the surface and extending into the marine environment, each mount housing an LED or other suitable light-emitting source for emitting UV-C radiation from a distal end of each mount, and each mount angling its distal end inward and downward (e.g., positioned to emit light downward) toward and proximate to the surface of the optically transparent element. Each LED is driven to emit UV-C radiation, and emitted UV-C radiation is directed toward the surface of the optically transparent surface or element.
In some constructions, operation of each LED or other light source is coordinated as a “secondary emission” with primary transmission signals as described above for optical communication systems according to the present invention. In other constructions, at least some of the LEDs are turned off during transmission or reception of optical communication signals.
The surface to be protected from biofilms, such as the surface of optically transparent element 1102, is located in some constructions on an end cap 1104 of the node such as optical modem 1100. The optically transparent element 1102 can take many different forms, including a window, a lens (e.g., flat or curved), a sensor, a UV transparent material, among other suitable forms as known in the art. The end cap 1104 may include one or more mounts 1106 extending from an upper side thereof. These mounts 1106 may be disposed near the periphery of the end cap 1104, as depicted in
In some constructions, the mounts 1106 are configured to direct emitted UV-C radiation from the LEDs 1108 toward the optically transparent element 1102, for example, by angling the distal end of the mounts 1106 with the LEDs 1108 inward and downward toward the optically transparent element 1102 or at any suitable angle to irradiate the surface with UV light. In one construction as illustrated in
In certain constructions, a plurality (e.g., one or more, two or more, three or more, at least four) of mounts comprising LEDs 1110 for emitting UV radiation are mounted on an interior of the optically transparent element 1102 within a watertight housing, proximate to the surface (e.g., less or about 0.1 cm, 0.2 cm, 0.3 cm, 0.4 cm, 0.5 cm, up to 1 cm or more) to be irradiated, requiring any light intended to reach the surface to first pass through the material of the surface 1102. For such constructions, the surface 1102 preferably is made of a UV transparent material (e.g., UV-transmissive) to allow UV radiation to reach the surface. The interior LEDs 1110 may be used alone or in conjunction with the exterior LEDs 1108. The UV radiation is transmitted though the surface to reduce fouling of the surface subjected to the aquatic environment including an aquatic fluid while the surface is in contact with the aquatic fluid.
The LEDs 1108, 1110 may be controlled by a timer/driver circuit 1201, as depicted in
A light emitting array 1112 may be used to communicate with another optical device. In some embodiments, the array may be a receiver instead of, or in addition to, being an emitter, and may replace the light emitting array 1112 referred to throughout the specification. The various embodiments of the array may be used for transmitting or receiving optical signals. The electronics controlling the LEDs 1108, 1110 and/or the electronics controlling the light emitting array 1112 may be located on a mounting flange 1114 extending from a lower side of the end cap 1104. The mounting flange 1114 may be protected from the exterior environment by a housing 1116 and an additional end cap 1118. Each of the end caps 1104 and 1118 may have a bore 1120 and 1122 respectively formed therethrough to provide passage into the optical modem 1100, such as for electrical wiring, as depicted in
To use the system 1101, the user may pre-program a control circuit 1201 to drive the LEDs 1108, 1110 to emit UV radiation. This may be done on a set schedule, as part of a constant duty cycle, or on demand. When an appropriate amount and type of UV-C radiation is directed toward the optically transparent element 1102, biofilm formed thereon is reduced, removed, or otherwise preventing from developing on the surface.
The experimental setup 1301 includes an LED 1308 (one 265 nm LED and one 295 nm LED in separate assemblies), a housing 1316 with a window 1304 for the LED 1308 to project through, and a substrate 1330 mounted to the housing with connectors 1332. Also included, but not depicted, are a timer circuit, a current driver circuit, a power supply, underwater cable connectors, Subconn MCIL2M connectors, general radio connectors, and 5″×8″ enclosures. Substrate 1330 represents substrates 330a and 330b as shown and described relative to
The common timer circuit was programmed to a predetermined duty cycle (i.e., 80 minutes on, 12 hours off). The housings 1316, one containing a 265 nm LED and the other a 295 nm LED (both with individual driver circuits), were sealed by screwing on their respective Lexan™ substrates 330a, 330b (SABIC Innovative Plastics; Pittsfield, Mass.). The housings 1316 were then connected to their respective cables, and dangled underwater approximately 1 m below the low-tide line for optimal sunlight and constant submersion. The cables were then connected to the LED timer circuit, powered by a 12V DC power supply. The date and time were noted, and the substrates 330a, 330b were left to be fouled. Every few days, the housings 1316 were recovered and the substrates 330a, 330b were removed without disturbing any potential growth. The underside of each substrate 330a, 330b was then studied for signs of growth and photographed (see
The second test configuration, with a duty cycle doubled to 40 min on and 12 hr off (5%), yielded interesting results. While the substrate 330a radiated with 265 nm UV showed little improvement with the doubling of dosages, the more powerful yet less effective 295 nm LED 1308 was much more successful. A slight biofilm did form on the 295 nm substrate 330b within its irradiated radius, but it was clearly more effective than the 265 nm, lower-power LED 1308. Neither window 1304 supported any kind of growth.
A third test configuration, as indicated in Table 1 below, was configured with a duty cycle of 80 min on and 12 hr off (10%). This time, both substrates 330a, 330b were kept completely clear of fouling, and there was no discernible difference between the effects of the two wavelengths of LEDs 1308.
Based on the results of this experiment, one 295 nm UV LED 1308 appears to perform just as well or better than a 265 nm UV LED 1308 on the same duty cycle, and is therefore more cost effective, as 265 nm LEDs 1308 typically cost more than 295 nm LEDs 1308 (e.g., $229 for 265 nm, $149 for 295 nm). Dosages of 265 nm UV for antifouling may start at 1.37 kJ/m2, and for 295 nm UV may start at 2.29 KJ/m2. These dosages may provide a starting point which a user may back off to a threshold dosage, or may be increased by a user to provide a safety factor in irradiation.
To properly ensure transmission of shortwave UV, a specialty UV transparent window 1304 may be used. For wavelengths in the 250-300 nm range, quartz and fused-silica may be suitable material choices. If an internal cleaning system is desired to prevent fouling on a window 1304, the window should be designed for such an application to ensure UV reaches the surface at risk of biofouling. Alternatively, the antifouling system may be external and self-contained. Consideration may also be given to the fact shortwave UV may be subject to high attenuation losses in typical ocean waters, which somewhat limits the distances from the LED to its target substrate for which the LED can be effective.
For this experiment, the shortest possible path length (approximately 1.7 cm) of UV through water was chosen to minimize attenuation losses. While the attenuation coefficients for this range of UV in the waters at the test location were not known, a worst-case scenario estimate with a theoretical coefficient of 0.36 showed that the attenuated dosage to the 265 nm substrate would have been 0.49 kJ/m2 for the 80 min duty cycle. This may explain why the lower-duty cycles did not appear to be effective; the dosage required to kill 98% of microbes is 0.5 kJ/m2. However, in a different environment, the lower-duty cycles may be sufficient.
The experiment results suggest that both 265 nm and 295 nm UV LEDs 1308 may be effective for antifouling purposes. As 295 nm LEDs tend to be less expensive and equally effective, they may be a preferred choice for the tested duty cycle. It is expected that experimentation with different wavelengths may produce different results. For example, a threshold dosage determined by reducing the UV dosage until one wavelength outperforms the other may be tested at different frequencies to develop a more versatile system that administers less obtrusive, seconds-long dosages at a higher rate. A decrease in off time would allow for lower dosages, decreasing the time for biofilms to accumulate between doses.
Another construction according to the present invention to reduce biofilms on a surface (e.g., an optically transparent surface, a UV transparent material, a window, a camera window, a sensor, a node, an observatory, a cable, a vehicle, an optical window, a lens, a light, a winch, a spool, a fin, a propeller, among other devices or surfaces exposed to bio-fouling) includes a UV device 1350,
In this construction, end cap 1358 includes plugs 1362 and 1364 which are adapted to provide mechanical and electrical connections, for power and signal transmission, with an object such as a node, an optical modem, an observatory, a transducer, a vehicle, an autonomous underwater vehicle (AUV), a remotely operated vehicle (ROV), an unmanned underwater vehicle (UUV), the posterior end of a vehicle (e.g., a prop, fins, etc.), a dock, a winch, a profiler, or any suitable object requiring bio-fouling mitigation. In several constructions, the light source 1354 emits UV radiation within the wavelength range of 240 nm and 295 nm, and preferably within a range of 250 nm and 260 nm. In one construction, the light source 1354 is a mercury COTS (Commercial Off-The-Shelf) UVC germicidal fluorescent lamp with an optical output of approximately one watt or more, preferably transmitting 254 nm peak UV-C biocidal wavelength (e.g., 250 nm to 260 nm), drawing approximately 500 mA of at least 12 V operating voltage. In some embodiments, the light source is a single mercury lamp. Using a single light source, compared to multiple light sources, reduces cost and provides an economical device for reducing fouling. In another construction, the light source 1354 is an LED. In some constructions, the UV device 1350 is capable emitting UV radiation (e.g., UV-C) from all angles (e.g., 360 degrees) within the pressure vessel. In other constructions, the UV device 1350 is capable of emitting UV radiation at a specific angle or in a specific direction in a first or normal pattern.
Directed radiation most often employs a configurable (e.g., adjustable) optical reflector or other suitable mirrored surface to enable tailoring of UV emission patterns to particular situations, such as wide-angle versus narrow-angle UV transmission patterns relative to the normal emission pattern of the antifouling light source.
One example of a configurable optical reflector is provided by device 1380,
In some constructions, the optical reflector is a radiant reflector adapted to provide uniform or substantially even illumination over the surface selected from a metalized plastic surface, a high-polished stainless steel surface, or any suitable material for reflecting UV radiation. In some constructions, the UV devices 1350 and 1380 provide a wide-angle UV emission pattern of at least 50 degrees, 55 degrees, 60 degrees, 65 degrees, 70 degrees, 75 degrees, 90 degrees, 120 degrees, 150 degrees, 180 degrees, and up to 360 degrees. In other constructions, the UV devices 1350 and 1380 use a narrow-angle UV pattern of less than 50 degrees, approximately 45 degrees, 40 degrees, 35 degrees, 30 degrees, 25 degrees, 15 degrees, 10 degrees, or less.
The UV device irradiates the desired surface with UV light at a distance to effectively reduce and/or prevent bio-fouling accumulation. In some constructions, the UV device 1350 is effective at a distance of approximately or at least 0.5 cm, 1 cm, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 10 cm, 12 cm, 15 cm, 20 cm, 25 cm, 30 cm, 35 cm, 40 cm, 50 cm, or more depending on environmental conditions.
Device 1350 has an intrinsic operating depth of 600 meters. In some constructions, the pressure vessel 1352 is capable of resisting the external pressure of depths up to 300 m, 500 m, 600 m, 800 m, 1,000 m, 2,000 m, up to 6,000 m, or more.
In one construction, components 1370 comprise control circuitry for driving the light source 1354 and include maintaining a duty cycle (e.g., a constant duty cycle) of the light source 1354 with a programmable control to minimize power consumption. In one construction, the control circuitry comprises a microprocessor and a built-in duty cycle timer to minimize power consumption wherein the duty cycle timer consumes little to no power when no power is provided to the control circuitry. The duty cycle control may be built-in (e.g., internal) to the device 1350 and connected with the light source, providing an in-line, integral timer for emitting UV radiation. In some constructions, the UV device 1350 is pre-programmed with a specified duty cycle; in other constructions, the UV device 1350 is adapted to receive communication from a source (e.g., a sensor, a vessel, a vehicle, a node, etc.) to provide specific programming of the duty cycle. In some constructions, the operation of control circuitry, in particular the duty cycle timer, may be adjusted or set to a specific program from a remote source separate from the device 1350 such as a vessel or other facility by means of a suitable communication connection (e.g., wired data connection, satellite connection) or through a connection established through the object to which the device 1350 is connected. In certain constructions, components 1370 include a power switch such as a mechanical relay, a solid state relay or FET switch.
In some constructions, the inventive antifouling device 1350 is used in conjunction with another means for deterring bio-fouling such as an antifouling coating. Any suitable antifouling coating may be used as determined by one of ordinary skill in the art including a zinc-based antifouling paint (ePaint®), a non-stick paint (ClearSignal®), and a copper-based paint. In such cases, the duty cycle of the system and the dose of UV light may be reduced to a minimum to efficiently reduce bio-fouling and minimize power consumption.
It is also within the scope of the present invention to form a complimentary multi-modal communication system that incorporates both the long range of acoustics and the high bandwidth of optics for use in an amorphous medium (e.g., a body of water, fluid, salt water, fresh water, atmosphere, surface boundary). In some constructions, a high-functioning, multi-modal communication system provides new capability to the diver for various applications including clandestine underwater operation wherein the multi-modal (e.g., bi-modal) system provides one or more means of communication including, but not limited to, optical communication, acoustic communication, radio frequency, and a combination thereof. The combination of optical and acoustic technologies, along with developments specific to the diver application, can provide data, text, voice, video (e.g., full motion video), and voice push-to-talk (PTT) to divers and other nodes disposed in a body of water (e.g., underwater), above water, on shore, and through the water-atmosphere surface boundary (e.g., the surface boundary).
Voice PTT is facilitated by components adapted to switch from voice reception mode to transmit mode for full duplex communication (i.e., both nodes can communicate with each other simultaneously) such as the Wave Relay Radio Man Portable Unit Gen 4 (MPU4 available from Persistent Systems, LLC). Divers utilizing PTT may also use a positive-locking wet-mate-able connector capable of being manipulated with dive gloves without the need for an external translator (e.g., plug in a headset directly). The system may be configured by the operator to allow audio communications to be uninterrupted (e.g., first or current transmission cannot be interrupted) or interruptible (e.g., most current transmission always interrupts).
In some constructions, a multi-modal communication system according to the present invention is generally capable of operating in an amorphous medium to broadcast a signal through one or more mediums to a node capable of detecting the signal. The system comprises a multi-modal primary node capable of producing a primary signal and transmitting the primary signal and at least one multi-modal secondary node, preferably a plurality of nodes (e.g., multiple secondary nodes), separate from the primary node capable of detecting the primary signal and optionally producing a secondary signal. Communication between the nodes may be provided through optical communication (e.g., optical link), acoustic communication (e.g., acoustic link), radio frequency, and a combination, as determined by the desired operation.
In many constructions, a system according to the present invention utilizes optical communication particularly for high speed communication and acoustic communication for long range communication. Furthermore, the amorphous medium may be considered by the system and/or the user in selecting the suitable mode of communication. Optical communication may be employed underwater and above-water, connecting a plurality of nodes from underwater, on the water surface, the atmosphere, and from shore. Acoustic communication generally employed underwater often as a backup mode of communication for instances when optical communication is not optimal (e.g., excess communication range, physical damage to optical communication network, high levels of turbidity, scattering, absorption, among other unfavourable environmental conditions). In particular, turbidity causes light attenuation by absorption and scattering. In highly turbid water, multiple scattering and absorption will dominate the channel and cause a reduction in range compared with less turbid water. Scattering is mainly dependent on the size and composition of particles suspended in water and can be caused by many things including sediments and phytoplankton. Scattering is very wavelength-dependent, and the scattering of 385 nm light can be significantly worse than that of 450 nm light, which is worse than that of 700 nm light. In coastal waters, green light travels farther than blue largely because of scattering effects. In most constructions, the optical link should be able to function under all light conditions and provide enough bandwidth to transfer video and PTT traffic while rarely becoming completely inoperable. In the case of poor optical conditions, a diver may connect a surface buoy or other node via acoustic communication and download video or data.
Each of the primary and the secondary node(s) may be any suitable communication unit capable of providing a signal through an amorphous medium, but are most often selected from a diver node, a buoy node, an underwater buoy node, an observatory, a UUV, a UAS (Unmanned Aerial System), a unmanned aerial vehicle (UAV) such as a drone, an aircraft, a surface vessel, an off-shore platform, and a shore-based node. The present invention also envisions that other vehicles, apparatus, and devices may be incorporated with the system as deemed suitable by one of ordinary skill in the art. In general, the multi-modal system provides communication using nodes capable of broadcasting a signal a distance of at least or approximately 0.5 m, 1 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m, 100 m, 200 m, 500 m, 1,000 m, up to 6,000 m, or up to full-ocean depth.
In some constructions, the optical link operates in the wavelength range of about 300 nm to 800 nm, preferably between 300 nm to 400 nm, and most preferably at approximately 380 nm to 385 nm and includes a photomultiplier tube (PMT) as the primary optical detector, coupled with a photodiode for use in high ambient light conditions which are generally caused by the sunlight, diver-held lights, or vehicle lights. When using a photodiode receiver, ambient light primarily adds noise to the input signal. In the case of PMTs, ambient light can quickly exceed the maximum amount of light the tube can safely receive, which effectively reduces the sensitivity of the receiver. Thus, large photodiodes are much less sensitive and handle ambient light better than PMTs, but they are limited in speed, which affects range. Longer wavelength ranges can be expected with better environmental conditions (e.g., water clarity, dark). The system can operate at data rates of at least 1 megabit per second (Mbps), preferably 5 to 20 Mbps or about 10 Mbps, as desired.
For clandestine operations requiring passive stealth and non-visible communications that are not easily detectable by other parties, communication wavelengths outside of the visible spectrum are desirable, that is, communication wavelengths either (i) less than 400 nm or equal to about 385 nm or (ii) equal or greater than 700 nm. In such cases, near-infrared (NIR) LEDs are used for wavelength ranges of about 720 nm and 740 nm, and near-ultraviolet (NUV) LEDs are used for ranges of about 380 nm to 390 nm. A comparison of the various wavelength ranges depicting their benefits and drawbacks is shown in Table 2.
It is another aspect of the present system to provide nodes which are operator configurable to employ “hopping” to reduce the probability of interception when used for clandestine operations. Hopping may include frequency hopping (FH) in acoustic communication and wavelength hopping for optical communication as known by one skilled in the art. [000122] Communications according to the present invention can be enhanced by optical filtering by minimizing the amount of ambient light (e.g., daylight, light, wavelengths of approximately 390 nm to 700 nm) received by the PMT which is particularly valuable for communication during daylight. One construction of the optical filtering is further described in Example 1 below.
In some constructions, the acoustic link utilizes a carrier frequency greater than 10 kHz, 20 kHz, 30 kHz, 40 kHz, and preferably greater than 50 kHz and have variable bandwidth to be able to transition between close ranges (less than 100 m) to one km or more.
Data rates depend on the actual conditions of the amorphous medium. Preferably, the system is flexible and adaptable to the environment so that telemetry (text), voice, video, data, and images (e.g., compressed still images) can be sent over the link at the best possible rate.
Alternative configurations for communication among a plurality (e.g., multiple) nodes according to the present invention are illustrated in
Additional links 1411 and 1413 are shown between divers 1402 and 1408 with an UUV 1408, and with links 1405 and 1409 to a buoy or float 1410, which alternatively is a mobile surface vessel, at boundary B between water W and atmosphere A. The buoy node preferably takes advantage of its larger size to provide more battery power thus enabling the use of multiple optical transceivers as shown below in
System 1500,
System 1600,
As depicted in
As a general design aspect, preferably each node is capable of transmitting within 60 degrees along at least one plane of orientation and receiving within 360 degrees field of view. In one construction, one or more or all of the nodes is capable of transmitting and receiving at 360 degrees along at least one plane (e.g. horizontal) and is capable of transmitting and receiving along at least 60 degrees, preferably at least 90 degrees, in a transverse plane (e.g. vertical) to achieve at least a hemispherical zone of communication.
Additional aspects of the underwater nodes often include certain physical and operating requirements to maintain the integrity of communication as well as clandestine operation. In several constructions, the nodes disposed underwater are able to communicate at any distance up to 30 m, 40 m, 50 m, 60 m, 70 m, 80 m, 100 m, or more. In some constructions, the underwater node weighs less than 7 lbs, 5 lbs, 3 lbs, and 1 lbs or less in air. The node buoyancy may range ±5 lbs, ±2 lbs, and ±0.1 lbs or less. When employed, the nodes are generally capable of operating at temperature ranges of at least 15° F. to 120° F. in air and 28° F. to 100° F. in water. In the instances of strong shocks or vibrations, the nodes are designed to withstand conditions of shock greater or equal to 4 g, 40 ms, ½ sine, 1,800 pulses minimum and shocker greater or equal to 20 g, 20 ms, ½ sine on 3-axes, 18 pulses minimum. When underwater nodes are brought to the surface and/or out of the water, such nodes are then able to communicate with other nodes above the surface without additional operator intervention.
Diver node 1700,
In one construction, the diver node utilizes a hemispherical receiver specifically, but not limited, for night operations. In another construction, the diver node uses a 90 degree full angle receiver particularly for daytime operations. In another construction, to conserve power, the diver transmitter initially has a limited 90 degree field of view which may be mounted to the diver's head (or other portion of the diver) for aiming purposes. In general, the diver node 1700 is less than 6″ in any one direction with the exception of the acoustic transducer and optical transceiver both which are often exposed to the surrounding environment for optimal performance. However, the diver node 1700 may be designed to any suitable size to meet the communication requirements of the communication system.
Several constructions are envisioned utilizing the multi-modal communication system. Although a primary objective of the constructions described below revolves around video communication, all constructions may also include text, image, and/or data communication in addition or in place of the streamed video. In one construction, one diver streams (e.g., communicates, transmits) video to another diver underwater and additionally may communicate via voice (e.g., PTT) separately in time or simultaneously with the video streaming. In one construction, video is streamed from a UAS (Unmanned Aerial System) via RF or optical link (if range is acceptable) to a diver using a buoy node as an intermediate point of communication; additionally, the diver may stream video to the shore-based node of the UAS using a buoy node as an intermediate point. Furthermore, it is an objective of the present invention to provide video streaming in both directions simultaneously and if desired, with voice communication between the diver and the UAS or the shored-based node of the UAS at the same time.
In other constructions, streaming from a UAS node or other aircraft is streamed to all of the diver nodes in the underwater network via a buoy node simultaneously. Additionally, streaming may be provided from the UAS node to a single diver in the underwater network via a buoy node. Furthermore, a diver may stream to all the other divers and to the shore-based node of the UAS via a buoy node. Voice communication between all of the nodes may take place simultaneously or offset in time using the buoy node.
Furthermore, the constructions employ an underwater vehicle, such as an UUV, capable of RF, optical, and acoustic communication to communicate to other nodes disposed underwater, on shore, or in the air. A UAS may stream to all the divers or a single diver underwater via the UUV. Correspondingly, a diver may stream to one or more or all of the other divers and the shore-based node of the UAS via the UUV. Voice communication may also be provided simultaneously in addition to the streamed communication.
In one construction, divers transition to the surface and stream full motion video or other forms of communication from one diver on the surface to another diver or node on the surface using the same nodes utilized underwater. In another construction, divers transition to the surface and stream full motion video from one diver to all the other divers using the same nodes utilized underwater. In another construction, divers transition to the surface and two divers stream video to each other with at least one other diver receiving at least one of the video streams using the same nodes utilized underwater. In yet another construction, divers transition to the surface and communicate via voice between all divers above the surface using the same nodes utilized underwater. In another construction, simultaneous voice communications occur between all nodes and at least one, preferably two or more, full motion videos are streamed using the same nodes utilized underwater.
Buoy node 1800,
In one construction, the buoy node 1800 uses a hemispherical transceiver such that all the diver and other nodes are in the field of view most if not all the time. In one construction, buoy node 1800 operates with eight simultaneous connections to additional nodes. In constructions specifically designed for clandestine operations, buoy node 1800 is generally made as small and as natural-looking as possible; such buoy nodes may be designed to be no more than 3,000 inch2, 2,000 inch2, 1,800 inch2, 1,500 inch2, 1,200 inch2, 1,000 inch2 and most preferably 200 inch2 or less on the surface. The buoy node 1800 most often is able to hold all of the communication components internally and in some cases, a RF payload (e.g., the components necessary for facilitating RF communication).
Operational aspects of the buoy nodes often include the capability to communicate to any underwater node(s) and to relay RF communications. In some constructions, the buoy node is able to hold all non-RF (e.g., optical, acoustic) components required to communicate with sub-surface nodes, an RF payload, a Wave Relay Radio, and GPS (Global Positioning System) antennas. The buoy node is often capable of relaying underwater data communications to an RF radio via Ethernet and may buffer data communications received from an RF radio and relay them to underwater nodes when the underwater nodes are within communication range. The buffer capacity is often at least 50 Mbytes, 100 Mbytes, 200 Mbytes, 225 Mbytes, 300 Mbytes, 400 Mbytes, or up to 500 Mbytes or more. The buoy node is able to be submerged in water and deployed from a depth up to 50 m, 100 m, or greater than150 m.
Other nodes most often comprise similar systems including at least one or more of an optical transceiver, an optical modem, an acoustic transducer, an acoustic modem, and a power source which may be an individual battery or a connection to another object such as a vehicle. In some constructions, each node will provide a total bandwidth of 5 Mbps during daylight operation and 10 Mbps during night operation. Bandwidth is typically split between receive and transmit channels and can vary based on demand. In one construction, the typical 5 Mbps bandwidth allocates approximately 4.8 Mbps to transmit video and voice and 0.5 Mbps to receive voice.
The multi-modal communication system may comprise a plurality of nodes, and each node may provide point-to-point communications (one-to-one communication), multi-point communications (e.g., more than one node simultaneously communicating with a node, wireless mesh network), and/or may host one or more silent listeners (e.g., 2, 3, 4, 5, up to 8, up to 10 or more, or unlimited). Multiple access operation shares the bandwidth between the host node and the transmitting listeners. In some constructions, the system is capable of operating with at least eight simultaneously connected nodes. Furthermore, at any specific moment, the system may automatically use any node as a primary node to relay communication to other nodes that were not within the original node's field of view or not within the original node's communication range.
In one construction, the optical modem includes a main processor having an Advanced RISC (reduced instruction set computer) Machines (ARM) processor combined with a field-programmable gate array (FPGA). The ARM processor is used for high level functions such as user interface, Ethernet interface, and traffic control and routing over the optical and acoustic links. The FPGA is responsible for all aspects of optical physical layer including modulation, error correction, time-division multiplexing (TDM) framing, and high-speed analog-to-digital conversion (ADC) operation and sensor control. This element also provides the interface for the diver headset and performs the ADC and compression tasks. Temporary data buffering is provided for storing video and voice data that will be relayed at a later date. Typical stream-based protocols for video and voice transmission are not optimized for relaying; this task requires an additional function of recording the stream into a file that can be transferred or played at a later date.
In some constructions, the system is capable of converting transmissions to and from IEEE 802.3 Ethernet format. The Ethernet interface generally comprises autosensing IEEE 802.3 10/100 BASE-T Ethernet capabilities and utilizes an internet protocol compliant with TCP/IP IPv4 and IPv6. In one construction, the system may comprise a static IP address; however, the system may have an integrated DHCP Server and able to utilize a static IP address based on the operator configuration. Additionally, the system may have Built-In-Test Capabilities with a “Fault” indicator and fault messages and status available on the Ethernet interface.
The transmit portion of the optical transceiver includes an emitter composed of a bank of light-emitting diodes (LEDs) and LED driver printed circuit boards (PCBs). The high-power LEDs used in these systems are typically used for lighting and other applications. In order to achieve high data rates, small strings of LEDs are driven by a matching driver circuit and can achieve switching speeds fast enough for data rates up to 20 Mbps or more. The receive portion of the transceiver consists of a PMT for dark, long-range operation and a photodiode for high ambient light conditions. An analog interface PCB provides two high-speed input filters and power control for separate PMT and photodiode inputs. The transmit portion may also comprise a signal meter or link indicator to indicate the receive signal strength available.
The acoustic system comprises an acoustic modem subsystem consists of a fixed point digital signal processor (DSP) such as a Micromodem, a floating-point coprocessor, and analog transmit/receive circuitry on another board. The low-power fixed-point DSP is responsible for acoustic link management and interfacing with external devices including the user data and ADC. The coprocessor implements an adaptive equalizer with built-in error-correction and Doppler estimation and compensation. To save power, the coprocessor is off except when acoustic data is being actively received.
The acoustic transducer generates and receives acoustic signals. Because the transmit and receive functions are shared on one transducer (and will utilize the same band), the acoustic system typically are single-duplex. In some constructions, the transducer frequency is selected after additional analysis and discussion with the end user, and is typically between 50 kHz and 150 kHz.
The power source for the system preferably provides 200-300 watt-hours and is constructed of lithium primary or lithium-ion (Li-ion) batteries. Maximum power consumption of approximately 50 watts will occur when the optical transmitter is in constant transmit mode such as when transmitting video. When waiting for acoustic or optical communications, the system will require approximately 5 watts. The battery represents a significant portion of the weight of the diver node and will be selected according to selected diver mission plans. Commercial rechargeable battery assemblies can be utilized for the diver unit.
Transitions from optical to acoustic connectivity preferably are managed to assign and enforce priority to essential data such as voice. Data pathways and traffic control are managed by the optical modem processor. Traffic control rules are employed for different operational states such as all optical, optical/acoustic, and acoustic only modes.
An example of video transfer with bidirectional PTT voice traffic is shown in
When the optical link 1930 is operational during optical mode 1900,
In some constructions, the multi-modal system comprises an Auto Connect/Reconnect mechanism for signal fadeout or dropout. In the instance where the communication link is lost, the system may self-heal and form a new link automatically to continue signal transmission between two or more nodes. In general, the system will reconnect the communication link with 30 sec, 20 sec, 15 sec, 10 sec, 5 sec, and preferably within one second. However, the reconnection time may be primarily driven by the automatic gain control (AGC) and transitions from no light to maximum light may take longer than one second. In a specific construction, the nodes reconnect the communication link automatically within 0.25 seconds of a fadeout or a dropout.
As an Example 1, one construction of the optical filtering applied to daylight optical communications is described as follows. A Conductivity/Temperature/Depth (CTD) rosette device was used on the vessel Atlantis, operated by the Woods Hole Oceanographic Institution (WHOI), as a platform for testing daylight operation of the bi-directional optical modem. An upward-oriented battery-powered optical modem was suspended below the CTD rosette at distances of 15 m and 25 m as described below in relation to
Prior to the communications testing, a pair of optical receivers was deployed on the CTD rosette as power meters: one facing upward and the other facing downward, both without optical filters. As shown in
In order to operate in daylight, 385 nm wavelength LED emitters were selected, capable of sustaining a 10 Mbps optical link, combined with absorptive glass optical filters on the receivers, chosen to block most of the visible spectrum (e.g., about 400 nm to 700 nm). Curve 2110,
For the 15 m separation test, an optical link was established at an 80 m CTD depth, where the un-filtered solar background is approximately 10 μW looking down or 100 μW looking up. The optical filtering on the upward-looking receiver, curve 2130,
For the 25 m separation test, an optical link was established at a 105 m CTD depth, where the un-filtered solar background is approximately 3 μW looking down or 60 μW looking up. The optical filtering on the upward-looking receiver, curve 2140,
Comparing
Daylight testing of the optical modem from the Atlantis CTD rosette has demonstrated the feasibility of blocking background light from solar irradiance, vehicle lighting, or other secondary emissions. Emitter wavelength selection of 385 nm and optical blocking filter UG1 provide a reasonable solution for optical link extent and background light extinction. Optical emitter and filter configurations can be refined to optimize system performance over various link separations and background light conditions.
After reviewing the present disclosure, those skilled in the art will know or be able to ascertain using no more than routine experimentation, many equivalents to the embodiments and practices described herein. For example, the illustrative embodiments discuss the use of UUVs, but other underwater vehicles such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), gliders, as well as submersibles carrying one or more humans, may be used with the systems and methods described herein. Accordingly, it will be understood that the systems and methods described are not to be limited to the embodiments disclosed herein, but is to be understood from the following claims, which are to be interpreted as broadly as allowed under the law.
Although specific features of the present invention are shown in some drawings and not in others, this is for convenience only, as each feature may be combined with any or all of the other features in accordance with the invention. While there have been shown, described, and pointed out fundamental novel features of the invention as applied to a preferred embodiment thereof, it will be understood that various omissions, substitutions, and changes in the form and details of the devices illustrated, and in their operation, may be made by those skilled in the art without departing from the spirit and scope of the invention. For example, it is expressly intended that all combinations of those elements and/or steps that perform substantially the same function, in substantially the same way, to achieve the same results be within the scope of the invention. Substitutions of elements from one described embodiment to another are also fully intended and contemplated. It is also to be understood that the drawings are not necessarily drawn to scale, but that they are merely conceptual in nature.
It is the intention, therefore, to be limited only as indicated by the scope of the claims appended hereto. Other embodiments will occur to those skilled in the art and are within the following claims.
This application is a continuation-in-part of (a) U.S. application Ser. No. 14/557,361 filed 1 Dec. 2014, which is a continuation-in-part of: (i) U.S. application Ser. No. 13/117,867 filed 27 May 2011, which is a continuation of U.S. application Ser. No. 11/348,726 filed 6 Feb. 2006, now U.S. Pat. No. 7,953,326; and (ii) U.S. application Ser. No. 13/344,430 filed 5 Jan. 2012, now U.S. Pat. No. 8,953,944; and is a continuation-in-part of (b) U.S. application Ser. No. 13/940,814 filed 12 Jul. 2013, and claims priority to U.S. Provisional Application Nos. 61/430,081 and 61/671,426 filed 5 Jan. 2011 and 13 Jul. 2012, respectively. The entire contents of each of the above-mentioned applications are incorporated herein by reference.
The invention described in U.S. application Ser. No. 13/940,814 filed 12 Jul. 2013 was made with U.S. government support under Grant Nos. OCE-0942835 and OCE-0737958 awarded by the U.S. National Science Foundation. The U.S. Government has certain rights in the invention.
| Number | Date | Country | |
|---|---|---|---|
| 61430081 | Jan 2011 | US | |
| 61671426 | Jul 2012 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 11348726 | Feb 2006 | US |
| Child | 13117867 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 14557361 | Dec 2014 | US |
| Child | 14947859 | US | |
| Parent | 13117867 | May 2011 | US |
| Child | 14557361 | US | |
| Parent | 13344430 | Jan 2012 | US |
| Child | 14557361 | US | |
| Parent | 13940814 | Jul 2013 | US |
| Child | 13344430 | US |
