Further teleoperated experiments with an underwater mobile manipulator via acoustic modem: modem characterization

In this study, we conducted preliminary experiments to characterize an acoustic sonar [1][2] for underwater communication. We carried on image transmission experiments and attempted to reduce reflections using insulating cork. Moving the buoy along the surface revealed the central area of the tank to have the best communication with Girona. We plan to conduct further experiments with the acoustic modem in a realistic environment. In addition, we are also testing Visible Light Communication (VLC) [3] optical modems, which yielded better results than the acoustic modem. We aim to develop a multimodal system for improved communication under different environmental conditions.