The UMO (Underwater Moving Object) Firmware Design and Implementation Based on Underwater Acoustic Communication

UMO (Underwater Moving Object) based on underwater acoustic communication can be useful for underwater environment observation, catastrophe prevention, ocean resources exploration, ocean organism research, vessel sinking exploration, and etc. But, for controlling the UMO underwater acoustic communication has constraints due to limited transmission capacity, propagation delay, a lot of collisions occurred by multi-path propagation and of course, battery changing impossibility. So, it is essential to develop the firmware which will consider above-mentioned underwater acoustic communication limitations. In this paper, we consider constraints and problems of underwater acoustic communication. Recently years, we have constructed adaptive simplex communication firmware and we have upgraded it with half-duplex communication firmware. We have also built the test-bed theoretically similar to real underwater environment for real implementation and data monitoring which was gathered by the sensors.