| Title | NETSIM: A Realtime Virtual Ocean Hardware-in-the-loop Acoustic Modem Network Simulator |
| Publication Type | Conference Paper |
| Year of Publication | 2018 |
| Authors | Schneider, T., Schmidt, H. |
| Conference Name | 2018 Fourth Underwater Communications and Networking Conference (UComms) |
| Keywords | acoustic communication, acoustic coupling, acoustic environment, acoustic modem telemetry, acoustic propagation, Acoustics, autonomous underwater vehicles, AUVs, Computational modeling, control engineering computing, frequent pertubation-based updates, Hardware, hardware-in-the loop simulation, Hardware-in-the-Loop, Human Behavior, Lifting equipment, marine control, marine engineering, mobile robots, modems, NETSIM, Oceans, physical link hardware, pubcrawl, realtime realistic operation, realtime virtual ocean hardware-in-the-loop acoustic modem network simulator, Resiliency, Scalability, simulation, software/hardware system, undersea networking, Vehicle dynamics, virtual ocean, virtual ocean channel simulator, virtual ocean environment, WHOI MicroModem 2 hardware |
| Abstract | This paper presents netsim, a combined software/hardware system for performing realtime realistic operation of autonomous underwater vehicles (AUVs) with acoustic modem telemetry in a virtual ocean environment. The design of the system is flexible to the choice of physical link hardware, allowing for the system to be tested against existing and new modems. Additionally, the virtual ocean channel simulator is designed to perform in real time by coupling less frequent asynchronous queries to high-fidelity models of the ocean environment and acoustic propagation with frequent pertubation-based updates for the exact position of the simulated AUVs. The results demonstrate the performance of this system using the WHOI Micro-Modem 2 hardware in the virtual ocean environment of the Arctic Beaufort Sea around 73 degrees latitude. The acoustic environment in this area has changed dramatically in recent years due to the changing climate. |
| DOI | 10.1109/UComms.2018.8493188 |
| Citation Key | schneider_netsim:_2018 |
NETSIM: A Realtime Virtual Ocean Hardware-in-the-loop Acoustic Modem Network Simulator