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Designing a Wireless Underwater Optical Communication System Designing a Wireless Underwater Optical Communication System by Heather Brundage B.S. Ocean Engineering Massachusetts Institute of Technology, 2006 Submitted to the Department of Mechanical Engineering in Partial Fulfillment of the Requirements for the Degree of Master of Science in Mechanical Engineering ARCHIVES MASSACHUSETTS INSThTUTE at the OF TECHNOLOGY Massachusetts Institute of Technology MAY 0 5 2010 February 2010 LIBRARIES C February 2010 Heather Brundage. All rights reserved. The author hereby grants to M.I.T. permission to reproduce and to distribute publicly paper and electronic copies of this thesis document in whole or in part in any way now known or hereafter created. Signature of Author .............................. Department of Mechanical Engineering January 15, 2010 Il c~/ Certified by...... C .... - - Chryssostomos Chryssostomidis Director, MIT Sea Grant College Program Doherty Professor of Ocean Science and Engineering Professor of Mechanical and Ocean Engineering he,y visor A ccepted by ...................................................................................................... David E. Hardt Chairman, Department Committee on Graduate Studies Designing a Wireless Underwater Optical Communication System by Heather Brundage Submitted to the Department of Mechanical Engineering on January 15, 2010, in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering Abstract Though acoustic modems have long been the default wireless communication method for underwater applications due to their long range, the need for high speed communication has prompted the exploration of non-acoustic methods that have previously been overlooked due to their distance limitations. One scenario that drives this need is the monitoring of deep sea oil wells by AUVs that could be stationed at the well and communicate surveillance data wirelessly to a base station. In this thesis, optical communication using LEDs is presented as an improvement over acoustic modems for scenarios where high speed, but only moderate distances, is required and lower power, less complex communication systems are desired. A super bright blue LED based transmitter system and a blue enhanced photodiode based receiver system were developed and tested with the goal of transmitting data at rates of 1 Mbps over distances of at least 10 meters. Test results in a fresh water tow tank showed the successful transmission of large data files over a distance of 13 meters and at transmission rates of at least 3 Mbps. With an improved test environment, even better performance may be possible. Thesis Supervisor: Chryssostomos Chryssostomidis Title: Director, MIT Sea Grant College Program Doherty Professor of Ocean Science and Engineering Professor of Mechanical and Ocean Engineering Acknowledgments This work was supported by a National Defense Science and Engineering Graduate fellowship, in connection with the Office of Naval Research, as well as the MIT Sea Grant Collage program. Without their support, this project would not have been possible. I would like to thank my advisor, Dr. Chrys Chryssostomidis, for giving me the support and freedom to explore fun and challenging projects. Dr. Milica Stojanovic for being my unofficial advisor and consultant on all things communications-related. Professor Steve Leeb, and his knowledgeable grad students, for generously contributing their time and resources to assist me in the design of the optical transmitter. "The boys" of the AUV Lab (Justin Eskesen, Ian Katz, Seth Newburg, Mike Soroka) and Sarah Hammond for helping me in so many aspects of this project, putting up with my clutter and providing camaraderie. Janice Ahern, Nancy Adams, Trudi Walters and Kathy de Zengotita for handling all the logistics, accounting, scheduling, and other innumerable pieces of the puzzle that made this project possible and couldn't have happened without them! Norman Farr for a mid-thesis sanity check. Alex Hornstein for late nights coding, a sympathetic ear, and providing me with the right tools for the job. Friends and family for their support and encouragement. and Michael Davis for reading through thesis drafts every day for a month, being a troubleshooting expert, making sure I didn't drown in the tow tank, helping with circuit board layouts, making fantastic suggestions, keeping me company on late nights and long weekends in lab, providing immeasurable emotional support, and, in general, helping me and this project arrive at the finish line in good, working order. List of Figures Figure 1 Absorption coefficient of electromagnetic radiation at various wavelength (8)...... 11 Figure 2 Absorption coefficients of visible light wavelengths (9) ............................................... 11 Figure 3 Wireless optical communication system overview ........................................................ 13 Figure 4 Transmitter System Overview........................................................................................ 14 Figure 5 LE D Schem atic............................................................................................................... 15 Figure 6 Laser diode diagram (24)................................................................................................ 16 Figure 7 TitanTM Series LED Lighting System (1 1)..................................................................... 19 Figure 8 Signal beam width of LEDs with the narrow beam (110) lens at various distances. ..... 20 Figure 9 MOSFET schematic diagram ...................................................................................... 21 Figure 10 Transmitter schematic ............................................................................................... 22 Figure 11 Channel 1 (bottom trace) shows the MOSFET gate voltage when being driven directly from a signal generator producing a 0-5 V square wave. ............... 23 Figure 12 Channel 2 (blue trace) in both (a) and (b), which is zoomed in, show the MOSFET gate being driven by an IR2151 which is receiving a square wave signal from a signal generator (Channel 1, orange). ....................................................................... 24 Figure 13 Channel 2 (blue trace) shows MOSFET gate voltage being driven by the TC4427 M O SFE T driver............................................................................................................ 24 Figure 14 TTL232R USB-TTL Level Serial Converter Cable from FDTI ............................... 25 Figure 15 Schmitt inverter and truth table (31) ........................................................................ 26 Figure 16 Transmitter system .................................................................................................... 26 Figure 17 Testing the transmitter design. ................................................................................. 27 Figure 18 Oscilloscope test probe locations for the subsequent screen grabs.......................... 28 Figure 19 Initial transm itter tests ................................................................................................ 28 Figure 20 Improved transmitter testing..................................................................................... 29 Figure 21 Wire-wound (a) vs. Ceramic (b) current-limiting resistors....................................... 30 Figure 22 Final breadboard testing, the blue disks are 1 ohm ceramic resistors. ............ 30 Figure 23 Final transmitter testing with inverter added to the PCB ......................................... 31 Figure 24 Transmitter PCB mechanical layout......................................................................... 32 Figure 25 Populated transmitter printed circuit board ............................................................. 32 Figure 26 Receiver system diagram.............................................................................................. 33 Figure 27 Photoresistor symbol .................................................................................................. 33 Figure 28 Photothyristor symbol ............................................................................................... 34 Figure 29 Phototransistor symbol............................................................................................. 34 Figure 30 Picture of a photomultiplier (20)............................................................................... 35 Figure 31 Spectral response of various photodiodes (39)......................................................... 38 F igure 32 P C 10-6B ....................................................................................................................... 38 Figure 33 Receiver electrical system diagram.............................................................................. 39 Figure 34 Basic passive current-to-voltage converter ............................................................... 40 Figure 35 Transimpedance Amplifier...................................................................................... 41 Figure 36 Transimpedance amplifier feedback resistor testing ............................................... 42 Figure 37 Output of transimpedance amplifier when Cf is too large......................................... 43 Figure 38 Tuning Cf (a) Cf too small (b) Cf just right (c) Cf too large..................................... 43 Figure 40 Comparing two different voltage amplifiers (a) LM318 (b) LM7171 ...................... 44 Figure 39 Inverting
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