Survey and Preliminary Results on the Design of a Visual Light

Communication System for Radioactive and Underwater Scenarios

Giovanni Napoli

, Jos

e Vicente Mart

ı Avil

, Ra

ul Mar

ın Prades

and Pedro J. Sanz Valero

Interactive and Robotic Systems Lab, Jaume I University, Avda. Vicente Sos Baynat s/n, Castellon, Spain

Keywords:

Networked Robots, Communications, Visual Light Communications, Visual Feedback.

Abstract:

The use of radio-frequency communication systems is very well known and also it is broadly used in the

design of mobile robotics. In fact, it can be very well applied in rescue robotic systems, such as the ones

that present smoke and ﬁre. In radioactivity scenarios the robot might get problems to communicate, in

the presence for example of magnets. Also, in underwater ﬁelds radio-frequency solutions need to improve

the communication distance, while sonar systems present variable delays and limited bandwidth, which are

difﬁculties to provide remote visual feedback to the operator. This paper states that ﬁeld robotic systems,

such as the ones in radioactivity and underwater scenarios, need to complement the current communication

systems with multi-modal solutions, in order to enhance operation safety and reliability, while better adapting

to the mission unexpected situations. For this, Visual Light Communication solutions have been studied in

detail and a preliminary prototype, which is presented in this paper, has been designed. This prototype would

need further work to be applied successfully in real radioactive and underwater scenarios, as stated in the

conclusions.

1 INTRODUCTION

The TWINBOT project is a spanish research per-

formed in collaboration between the Girona Univer-

sity, University of Balearic Island, and Jaume I Uni-

versity of Castellon. The main focus of the project

is to go beyond the state of the art of mobile under-

water cooperative robots for manipulation, in order to

be able to solve robotic interventions which require

more than one robot at a time (e.g. transporting and

assembling big objects).

In order to be able to perform such a coopera-

tive interventions, it is necessary to work in order to

improve the way the robots communicate as a team,

and also to the surface. One of the communication

improvements to be faced is the use of wireless un-

derwater links. Previous experiences in this subject

(Centelles et al., 2020) demonstrated that radio fre-

quency modems can help to create a wireless com-

munication between the robots at a few meters, with

constant time-delay, and sonar system for linking to

the surface. These experiments demonstrated that it

https://orcid.org/0000-0003-2292-2260

https://orcid.org/0000-0001-9922-5733

https://orcid.org/0000-0002-2340-4126

https://orcid.org/0000-0003-3382-1553

is possible to send image feedback over these links

by using very speciﬁc communication protocols (Ru-

bino et al., 2017), and using a supervised control tech-

nique.

Sonar and radio-frequency channels offer limited

bandwidth (around 1-60 kbps), while being able to

transmit under low visibility conditions. Also, in or-

der to be able to transmit more information at short

distances, under good visibility conditions, the use of

Visual Light Communications has been studied and

experimented.

This paper is organized as follows. First of all a

survey on Visual Light Communication Systems for

underwater applications is presented. Secondly, the

design of a preliminar VLC prototype is presented,

which has as objective the demonstration of the con-

cept by using a low power laser, for safety reasons.

Third, the experiments with the VLC system are de-

scribed, presenting the low level protocol and the re-

sults of sending a dataset of 100 underwater images.

Finally, next steps on the design of the underwater

VLC system are presented.

Napoli, G., Avilés, J., Prades, R. and Valero, P.

Survey and Preliminary Results on the Design of a Visual Light Communication System for Radioactive and Underwater Scenarios.

DOI: 10.5220/0009889805290536

In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), pages 529-536

ISBN: 978-989-758-442-8

529

2 STATE OF THE ART

Emerging underwater communication technology de-

veloped for commercial sea resource exploration,

military warship-to-submarine communication, and

satellite-to-submarine communication is a challeng-

ing ﬁeld of research. In fact, with the rapid ad-

vancement of technologies, different ways to com-

municate in an underwater environment have been in-

vestigated. Acoustic waves, radio-frequency electro-

magnetic (EM) waves, and visible EM waves are all

applicable for underwater communication. In partic-

ular, the ﬁrst type suffers of high latency and low data

transmission rate (DTR) but has a very long range.

The second type has a very short range, up to meters,

and a quite good DTR, and the last has a very high

DTR and a range of tens of meters. These last two

suffer of absorption, which causes the low range, but

have almost no latency, and low signal-to-noise ratio

(SNR).

To have a better comprehension of the motivations

of this project, in the next sections there is a review

of related surveys about Underwater Optical Wire-

less Communication (UOWC) (Zeng et al., 2016) and

some background knowledge that could be useful for

the lasts sections.

2.1 Review of Related UOWC Surveys

In the last years, research has faced many challenges

in the UOWC ﬁeld, and several articles have been

published to survey the subject. Khalighi et al. pre-

sented a brief review of some recent works on UOWC

in channel models, modulation and coding schemes,

and experimental works (Khalighi et al., 2014). Start-

ing from this analysis, they show the performance

study of a typical UOWC system with several simpli-

ﬁed assumptions. Another study on UOWC channel

models has been carried on by Johnson et al. (John-

son et al., 2013a). Different typical UOWC modeling

methods such as Beer Lambert’s law, radiative trans-

fer function, and Monte-Carlo approach have been

discussed. Johnson et al. (Johnson et al., 2014) in-

troduced UOWC with a particular focus on aquatic

optical properties. Arnon (Arnon, 2010) analyzed the

link performance of a typical UOWC system and in-

troduced a number of challenging issues associated

with UOWC systems.

2.2 Background of UOWC

In this section, there are some background informa-

tion which constitute the basis of UOWC research.

First, the link conﬁgurations of UOWC will be pre-

sented. Second, the advantages and challenges of

UOWC will be highlighted. In the end, we summa-

rize the main works related to UOWC channel modu-

lations in [Table 1].

2.2.1 Link Conﬁguration of UOWC

Based on link conﬁgurations, UOWC can be classi-

ﬁed into four categories (Johnson et al., 2014): 1)

Point-to-point line-of-sight (LOS) conﬁguration, 2)

Diffused LOS conﬁguration, 3) Retroreﬂector-based

LOS conﬁguration, and 4) Non-line-of-sight (NLOS)

conﬁguration.

• Point-to-point LOS conﬁguration is the most

commonly used in UOWC (Arnon, 2010). In

this conﬁguration, the receiver detects the direc-

tion of the transmitter. It commonly employs light

sources, such as lasers with narrow divergence an-

gle, and so it requires a precise pointing between

transmitter and receiver which limits the perfor-

mance in turbulent water environments.

• Diffused LOS conﬁguration employs diffused

light sources, such as high-power light-emitting

diodes (LEDs), with large divergence angle to ac-

complish broadcasting UOWC from one node to

multiple nodes. Broadcasting method can relax

the requirement of precise pointing. However,

compared with the point-to-point LOS conﬁgu-

ration, this link suffers from aquatic attenuation

due to the large interaction area with water. Rel-

atively short communication distances and lower

data rates are the two major limitations.

• Retro-reﬂector-based LOS conﬁguration can be

seen as one special implementation of the point-

to-point LOS conﬁguration. It is suitable for

duplex UOWC systems with underwater sensor

nodes having limited power and weight budget.

There is no laser or other light sources in the retro-

reﬂector end, and so, its power consumption, vol-

ume and weight are reduced. One limitation of

this conﬁguration is that the back-scatter of the

transmitted optical signal may interfere with the

reﬂected signal, thus degrading the system signal-

to-noise ratio (SNR) and bit-error rate (BER).

Moreover, since the optical signals go through the

underwater channel twice, received signal will ex-

perience additional attenuation.

• NLOS conﬁguration overcomes the alignment re-

striction of LOS UOWC. In this case, the trans-

mitter projects the light beam to the sea surface

with an angle of incidence greater than the criti-

cal angle. Therefore the light beam experiences a

total internal reﬂection (Arnon and Kedar, 2009).

ICINCO 2020 - 17th International Conference on Informatics in Control, Automation and Robotics

530

The receiver should keep facing the sea surface in

a direction parallel with the reﬂected light to en-

sure proper signal reception. The main challenge

of NLOS links is the random sea surface slopes in-

duced by wind or other turbulence sources (Tang

et al., 2013). These phenomena will reﬂect light

back to the transmitter implying severe signal dis-

persion.

2.2.2 Advantages and Challenges of UOWC

UOWC is characterised by many advantages over the

acoustic and RF methods, but achieving UOWC re-

mains as a challenging task. The main challenges of

UOWC are listed as follows.

• Optical signal suffers from severe absorption and

scattering. The wavelength of transmission light

has been selected in the blue and green spec-

trum to minimize the transmission attenuation ef-

fect (Duntley, 1963). This is due to the inevitable

photon interactions with the water molecules and

other particulate matters in water. Absorption and

scattering still severely attenuate the transmitted

light signal and cause multi-path fading. UOWC

suffers from poor BER performance over a few

hundred meters link distance in turbid water envi-

ronment. This is due to the impact of absorption

and scattering. In underwater environment, mat-

ters such as chlorophyll are capable of absorbing

the blue and red lights. These matters and other

colored dissolved organic material (CDOM) can

increase the turbidity and shrink the propagation

distance of the light. Moreover, the concentra-

tion of CDOM will also change with ocean depth

variations, thus modifying the corresponding light

attenuation coefﬁcients (Johnson et al., 2013b).

These undesirable impacts will increase the com-

plexity of UOWC systems.

• Underwater optical links will be temporarily

disconnected due to misalignment of optical

transceivers. In many UOWC systems, blue/green

lasers or LEDs have been implemented as the

light sources for their narrow divergence fea-

ture. However, a precise alignment condition

is needed (Arnon, 2010). Since the underwa-

ter environment is turbulent at relatively shal-

low depths, link misalignment will take place

frequently, especially in the vertical buoy-based

surface-to-bottom UOWC applications (Johnson

et al., 2013b), (Yi et al., 2015). Random move-

ments of sea surface will cause serious connectiv-

ity loss problem (Dong et al., 2013a).

• The implementation of UOWC systems needs re-

liable underwater devices. The underwater envi-

ronment is complex: the ﬂow, pressure, temper-

ature and salinity of seawater will strongly im-

pact the performance and lifetime of UOWC de-

vices (Pompili and Akyildiz, 2009). Furthermore,

if we consider that no solar energy can be ex-

ploited undersea and extended undersea operation

time of UOWC devices, the reliability of device

batteries and efﬁciency of device power consump-

tion are critical (Pompili and Akyildiz, 2009).

3 METHODS AND MATERIAL

This section is dedicated to the physical implementa-

tion of the prototype discussed previously.

The main instruments needed for the project are

two microprocessors whose interface is implemented

in Arduino code. We are going to describe in detail

why we have chosen these components and how we

have built the circuits. In the last part we will describe

more speciﬁcally the idea behind the software and the

protocols used.

3.1 Hardware Realisation

In this section we will analyse speciﬁcally the hard-

ware used. The main components are:

• Sipeed Maixduino

• Photo-diode

• Laser

Sipeed Maixduino. Maixduino (Figure 1) makes

the Arduino IDE and libraries support the Maix series

of development boards, making it easy to use a large

number of existing open source Arduino libraries for

rapid development and prototyping. We decided to

use this micro-controller because it is cheap, fast and

has a relatively large memory.

Photo-diode. Figure 2 shows the circuits needed to

develop a photo-diode receiver. It requires at least a

3.3V voltage supply, which can be performed by the

Maixduino board, and has as output a square wave.

Further information can be found here

Laser. We used an already implemented red-laser

diode (Figure 3) which has a power < 0.9mW and a

https://www.ebay.es/itm/EL0505-Receptor-

Detector-Laser-Arduino-modulo-sensor-no-modulado-

Rapsberry/331867336776

Survey and Preliminary Results on the Design of a Visual Light Communication System for Radioactive and Underwater Scenarios

531

Table 1: Summary of Literature on UOWC Modulation Scheme.

UOWC modulations Literature Beneﬁts Limitations

OOK

(Jaruwatanadilok, 2008),(Akhoundi et al., 2015), (Ahmad and Green,

2012), (Wang et al., 2012)

Simple and low cost Low energy efﬁcency

PPM

(He and Yan, 2012), (Meihong et al., 2009), (Sari and Woodward,

1998), (Chen et al., 2006), (Anguita et al., 2010b), (Anguita et al.,

2010a), (Tang et al., 2012), (Swathi and Prince, 2014), (Hagem et al.,

2012)

High power efﬁcency

High requirements on timing

Low bandwidth utilization rate

More complex transceivers

DPIM

(Gabriel et al., 2012), (Doniec et al., 2010a), (Doniec and Rus, 2010),

(Doniec et al., 2010b), (Mi and Dong, 2016)

High bandwidth efﬁcency

Error spread in demodulation

Complex modulation devices

PSK (Cochenour et al., 2007), (Sui et al., 2009), (Cox et al., 2011) High receiver sensitivity

High implementation complexity

High cost

QAM (Cochenour et al., 2007)

High system spectral efﬁciency

Better rejection on noise

High implementation complexity

High cost

PolSK (Cox et al., 2009), (Dong et al., 2013b), (Zhang et al., 2012)

High tolerance to

underwater turbulence

Short transmission distance

Low data rate

SIM (Cox et al., 2011), (Cossu et al., 2013)

Increase system capacity

Low cost

Complex modulation/demodulation

devices and suffers from poor

average power efﬁciency

OOK - On-Off Keying; PPM - Pulse Position Modulation; DPIM - Digital Pulse Interval Modulation; PSK - Phase-Shift Keying; QAM - Quadrature Amplitude

Modulation; PolSK - Polarization Shift Keying; SIM - Subcarrier Intensity Modulation

Figure 1: Maixduino board.

Figure 2: On the left, the photo-diode and his shield; on the

right, the receiver’s shield.

voltage range between 0V and 5V. More information

can be found here

3.2 Software Implementation

The main structure of the project is shown in (Figure

4).

A computer controls the ﬁrst Arduino that sends

messages using the laser to the second Arduino. This

https://www.ebay.es/itm/EL0478-Modulo-

Transmisor-LASER-5V-Rojo-650-nm-5mW-6mm-Diodo-

Arduino/231695187553

Figure 3: Laser.

one, through a serial communication, sends back to

the computer the information received via laser.

More speciﬁcally, a Python script has been created

to select an image from a dataset of size 100. Then, it

sends the image to Arduino through a serial port. This

Arduino unpacks the image and sends the information

to a second Arduino. This last channel is managed

via laser communication. The second Arduino has

the task of sending the received data to the computer

which analyses the ﬁnal information.

3.2.1 Protocol

In this part we are going to describe speciﬁcally the

protocols used in our prototype. For sake of simplic-

ity we are going to refer to Figure 5.

• Firstly the transmitter and the receiver must syn-

chronise;

• The transmitter wakes up the Python program;

• The laptop sends the size of the images that must

be sent and waits for the same message to come

back to check it, then sends the data;

ICINCO 2020 - 17th International Conference on Informatics in Control, Automation and Robotics

532

Figure 4: This is the setup scheme.

• The Arduino 1 sends the number of bytes received

to the laptop and then sends via VLC the type of

the message, its size and ﬁnally the data;

• The Arduino 2 receives the information and, once

the synchronisation with the laptop is done, sends

to it all the information;

Figure 5: Protocol.

3.2.2 Morse

We used the Morse Code as method to encode the

bit that must be sent via VLC. Speciﬁcally, we used

only a fraction of the sample, given by the equa-

tion sample =

f requency

, to identify zeros or ones.

So we used sample × 0.3 to identify a zero, and

sample × 0.7 to identify a one. This choice allowed

us to avoid many synchronisation problems but de-

creased the useful bandwidth.

4 EXPERIMENTAL SETUP

The following sections focus on the discussion, in-

terpretation and evaluation of the results obtained

through this study. The setup of the experiments can

be seen in Figure 7: the laptop is connected to the

Maixduino through a USB cable which sends via laser

the information received; in the other side of the alu-

minium bar there is the second Maixduino which re-

ceives the information via laser and sends them to the

Figure 6: Four images taken by the dataset Scott Reef 25.

laptop to check the data.

The data is composed of 100 images taken from

the dataset Scott Reef 25

(Figure 6), compressed and

resized to have different amount of Bytes. Finally

they have been converted in .txt ﬁle. This process,

useful for the data preparation, has been performed

using a Matlab script. The experiments have been

done in air and have been performed at four differ-

ent distances, using the six different sizes of images

(Table 2).

5 PRELIMINARY RESULTS

In this section we explain the results achieved through

the experiments described above. Using this proto-

type we reached a frequency of communication via

VLC of 2500 bit/s without losing big amount of data.

The experiments have been conducted for six differ-

ent cases, one for each size of the images, in which we

varied the distance between the laser and the photo-

diode, as can be observed in Figure 2. It is possible to

note that there are not signiﬁcant differences between

the results obtained through the six experiments con-

ducted, meaning that the data received has not been

compromised by a variation of the distance between

the transmitter and the receiver. Moreover, it can be

noticed that also the size of the message does not im-

http://marine.acfr.usyd.edu.au/datasets/

Survey and Preliminary Results on the Design of a Visual Light Communication System for Radioactive and Underwater Scenarios

533

Figure 7: Experimental setup.

ply a loss of precision in the data received.

Another important consideration regards the time

it took for the receiver to get the messages. Re-

sults about the time variation for each experiments

are shown in Table 3: larger the size of the image,

the longer it takes.

Table 2: Percentage of errors for each size of each image

and distance (D).

Size (Bytes) D = 0 cm D = 25 cm D = 50 D = 100 cm

588 0 0 0 1

884 0 1 0 1

1610 1 0 1 1

2255 0 0 0 0

3536 1 0 0 1

6279 0 1 1 0

Table 3: Time spent to send a dataset of 100 images.

Size per

image (Bytes)

Total number

of Bytes sent

Time

Duration (s)

Bytes sent

per second

588 59300 500 118.6

884 88900 605 146.9

1610 161500 871 185.4

2255 226000 1109 203.8

3536 354100 1580 224.1

6279 628400 2689 233.7

6 CONCLUSION

In this paper the study of Visual-Light Communi-

cation methods for future underwater robotic appli-

cations have been presented. In fact, the paper fo-

cuses mostly on the presentation of the state of the

art, considering that wireless underwater communica-

tions need to be faced in a multimodal way. For exam-

ple, for long distances in open sea sonar is preferred,

while short distances can be faced via radio-frequency

links, which give constant time-delays, and laser-

based Visual-Light Communications under good vis-

ibility conditions.

Moreover, the paper shows a simple low-cost

method to implement a VLC system, which still needs

improvement in order to provide remote visual feed-

back. Further work will be focused on improving

the communication protocol in order to maintain the

reliability of the the system while obtaining greater

bandwidth for the transmission of real-time underwa-

ter images.

6.1 Further Steps in Underwater and

Radioactive Scenarios

In order to improve this system and apply it in under-

water scenarios it would be necessary to use a more

powerful laser, usually in the green band which, for

security reasons, must only be used inside the water,

conﬁned in a sealed cylinder. The IRS Lab at UJI

have used similar lasers for underwater experiments

before, specially to create 3D maps from vision.

Also, for radioactive scenarios, the sealing is also

required in order to avoid the radioactive dust to get

into the electronics. These scenarios can use laser in

the red band for short distances.

In both cases it is mandatory to assure the align-

ment of the transmitter and receiver, so they have to

be mounted in a motorised pan-tilt device.

Further experiments will focus on this direction.

ACKNOWLEDGEMENT

It has been partially funded by the Spanish Govern-

ment under grants DPI2017-86372-C3 (TWINBOT),

Generalitat Valenciana under IDIFEDER/2018/013,

H2020 EU Peacetolero, and Jaume I University un-

der NEPTUNO project. The authors would like to ac-

knowledge the Australian Centre for Field Robotics’

marine robotics group for providing the data.

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