research-article

Open access

Underwater 3D positioning on smart devices

Authors:

Shyamnath GollakotaAuthors Info & Claims

ACM SIGCOMM '23: Proceedings of the ACM SIGCOMM 2023 Conference

Pages 33 - 48

https://doi.org/10.1145/3603269.3604851

Published: 01 September 2023 Publication History

Abstract

The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization capabilities on these devices. Here, we present the first underwater acoustic positioning system for smart devices. Unlike conventional systems that use floating buoys as anchors at known locations, we design a system where a dive leader can compute the relative positions of all other divers, without any external infrastructure. Our intuition is that in a well-connected network of devices, if we compute the pairwise distances, we can determine the shape of the network topology. By incorporating orientation information about a single diver who is in the visual range of the leader device, we can then estimate the positions of all the remaining divers, even if they are not within sight. We address various practical problems including detecting erroneous distance estimates, addressing rotational and flipping ambiguities as well as designing a distributed timestamp protocol that scales linearly with the number of devices. Our evaluations show that our distributed system running on underwater deployments of 4--5 commodity smart devices can perform pairwise ranging and localization with median errors of 0.5--0.9 m and 0.9--1.6 m. Project page with code: https://underwatergps.cs.washington.edu/

References

[1]

2004. Muddy Waters: Techniques for Low-Vis Diving. https://dtmag.com/thelibrary/muddy-waters-techniques-low-vis-diving/. (2004).

[2]

2011. Diver drowns in fishing net. https://scubaboard.com/community/threads/diver-drowns-in-fishing-net-bc-canada.391393/. (2011).

[3]

2018. Buddy Diving For Safety and Support. https://www.divein.com/diving/buddy-diving-for-safety/. (2018).

[4]

2018. Evo Logics 7/17 communication and positioning devices. https://evologics.de/acoustic-modem/7-17. (2018).

[5]

2020. Scuba Equipment Issues Get This Diver in Deep Trouble. https://www.scubadiving.com/scuba-equipment-issues-get-this-diver-in-deep-trouble. (2020).

[6]

2021. Audio Latency. https://developer.android.com/ndk/guides/audio/audio-latency. (2021).

[7]

2021. Become a Certified Scuba Diver FAQs. (2021). https://www.padi.com/help/scuba-certification-faq

[8]

2021. How Deep Can You Scuba Dive? (2021). https://www.scubadiving.com/why-is-130-feet-depth-limit-for-recreational-scuba-diving

[9]

2021. Universal Waterproof Case, Waterproof Phone Pouch Compatible for iPhone 13 12 11 Pro Max XS Max XR X 8 7 Samsung Galaxy s10/s9 Google Pixel 2 HTC Up to 7.0", IPX8 Cellphone Dry Bag -2 Pack. (2021). https://www.amazon.com/gp/product/B08S3SG5KF/ref=ppx_yo_dt_b_asin_title_o02_s00?ie=UTF8&psc=1

[10]

2022. Apple Watch Ultra. https://www.apple.com/apple-watch-ultra/. (2022).

[11]

2022. Ariadna: Personal underwater navigation technology. http://ariadna.tech/. (2022).

[12]

2022. The best waterproof phones you can buy. https://www.androidauthority.com/best-waterproof-phones-718588/. (2022).

[13]

2022. How Long Can You SCUBA Dive? (2022). https://www.wetsuitwearhouse.com/blog/how-long-can-you-scuba-dive/

[14]

2022. Measuring Planar Objects with a Calibrated Camera. (2022). https://www.mathworks.com/help/vision/ug/measuring-planar-objects-with-a-calibrated-camera.html

[15]

2022. PADI Recreational Dive Table Planner. (2022). https://www.a1scubadiving.com/wp-content/uploads/2018/06/PADI-Recreational-Dive-Table-Planner.pdf

[16]

2022. Reach new depths with the Oceanic+ app and Apple Watch Ultra, https://www.apple.com/newsroom/2022/11/reach-new-depths-with-the-oceanic-plus-app-and-apple-watch-ultra/. (2022).

[17]

2022. Use the Depth app on Apple Watch Ultra, https://support.apple.com/en-us/HT213334. (2022).

[18]

2022. Watch-style dive computers. https://www.garmin.com/en-US/c/sports-fitness/dive-computers-smartwatches/. (2022).

[19]

2023. The best waterproof phones 2022. https://www.tomsguide.com/best-picks/best-waterproof-and-water-resistant-phones. (2023).

[20]

2023. Use Emergency SOS on your Apple Watch. (2023). https://support.apple.com/en-us/HT206983

[21]

Alex Alcocer, Paulo Oliveira, and Antonio Pascoal. 2004. Study and implementation of an EKF GIB-based underwater positioning system. IFAC Proceedings Volumes 37 (07 2004), 383--390.

[22]

Alex Alcocer, Paulo Oliveira, and Antonio Pascoal. 2006. Underwater acoustic positioning systems based on buoys with GPS. (01 2006).

[23]

Prasad Anjangi, Amy Gibson, Manu Ignatius, Chinmay Pendharkar, Anne Kurian, Alan Low, and Mandar Chitre. 2020. Diver Communication and Localization System using Underwater Acoustics. In Global Oceans 2020: Singapore - U.S. Gulf Coast. 1--8.

[24]

Humberto Barberá, Pablo Bernal-Polo, and David Herrero-Perez. 2021. Sensor Modeling for Underwater Localization Using a Particle Filter. Sensors 21 (02 2021), 1549.

[25]

Leonid Blouvshtein and Daniel Cohen-Or. 2018. Outlier detection for robust multi-dimensional scaling. IEEE transactions on pattern analysis and machine intelligence 41, 9 (2018), 2273--2279.

[26]

Joe Borden and Jeffery DeArruda. 2012. Long range acoustic underwater communication with a compact AUV. In 2012 Oceans. 1--5.

[27]

Ingwer Borg and Patrick JF Groenen. 2005. Modern multidimensional scaling: Theory and applications. Springer Science & Business Media.

[28]

Chao Cai, Menglan Hu, Xiaoqiang Ma, Kai Peng, and Jiangchuan Liu. 2018. Accurate ranging on acoustic-enabled IoT devices. IEEE Internet of Things Journal 6, 2 (2018), 3164--3174.

[29]

S. Capkun, M. Hamdi, and J.-P. Hubaux. 2001. GPS-free positioning in mobile ad-hoc networks. In Proceedings of the 34th Annual Hawaii International Conference on System Sciences. 10 pp.-.

[30]

Gianni Cario, Alessandro Casavola, Gianfranco Gagliardi, Marco Lupia, and Um-berto Severino. 2021. Accurate Localization in Acoustic Underwater Localization Systems. Sensors 21, 3 (2021), 762.

[31]

Thomas Casey, Brian Guimond, and James Hu. 2007. Underwater Vehicle Positioning Based on Time of Arrival Measurements from a Single Beacon. In OCEANS 2007. 1--8.

[32]

Tuochao Chen, Justin Chan, and Shyamnath Gollakota. 2022. Underwater Messaging Using Mobile Devices. In Proceedings of the ACM SIGCOMM 2022 Conference (SIGCOMM '22). Association for Computing Machinery, New York, NY, USA, 545--559.

Digital Library

[33]

Xiuzhen Cheng, Haining Shu, Qilian Liang, and David Hung-Chang Du. 2008. Silent Positioning in Underwater Acoustic Sensor Networks. IEEE Transactions on Vehicular Technology 57, 3 (2008), 1756--1766.

[34]

Nitthita Chirdchoo, Wee-Seng Soh, and Kee Chaing Chua. 2008. MU-Sync: a time synchronization protocol for underwater mobile networks. In Proceedings of the 3rd International Workshop on Underwater Networks. 35--42.

Digital Library

[35]

Jan De Leeuw. 2005. Applications of convex analysis to multidimensional scaling. (2005).

[36]

Jan De Leeuw and Patrick Mair. 2009. Multidimensional scaling using majorization: SMACOF in R. Journal of statistical software 31 (2009), 1--30.

[37]

Tao Du, Shouning Qu, Guo Qingbei, and Zhu Lianjiang. 2017. A simple efficient anchor-free node localization algorithm for wireless sensor networks. International Journal of Distributed Sensor Networks 13 (04 2017), 155014771770578.

[38]

Viktor Erdélyi, Trung-Kien Le, Bobby Bhattacharjee, Peter Druschel, and Nobutaka Ono. 2018. Sonoloc: Scalable Positioning of Commodity Mobile Devices. In Proceedings of the 16th Annual International Conference on Mobile Systems, Applications, and Services (MobiSys '18). Association for Computing Machinery, New York, NY, USA, 136--149.

Digital Library

[39]

Pedro A Forero and Georgios B Giannakis. 2012. Sparsity-exploiting robust multidimensional scaling. IEEE Transactions on Signal Processing 60, 8 (2012), 4118--4134.

Digital Library

[40]

Reza Ghaffarivardavagh, Sayed Saad Afzal, Osvy Rodriguez, and Fadel Adib. 2020. Underwater Backscatter Localization: Toward a Battery-Free Underwater GPS. In Proceedings of the 19th ACM Workshop on Hot Topics in Networks (HotNets '20). Association for Computing Machinery, New York, NY, USA, 125--131.

Digital Library

[41]

D.K. Goldenberg, A. Krishnamurthy, W.C. Maness, Y.R. Yang, A. Young, A.S. Morse, and A. Savvides. 2005. Network localization in partially localizable networks. In Proceedings IEEE 24th Annual Joint Conference of the IEEE Computer and Communications Societies., Vol. 1. 313--326 vol. 1.

[42]

Mario Guggenberger, Mathias Lux, and Laszlo Böszörmenyi. 2015. An analysis of time drift in hand-held recording devices. In International Conference on Multimedia Modeling. Springer, 203--213.

[43]

Ying Guo and Yutao Liu. 2013. Localization for anchor-free underwater sensor networks. Computers Electrical Engineering 39 (08 2013), 1812--1821.

Digital Library

[44]

Huai Huang and Rosa Zheng. 2018. Node localization with AoA assistance in multi-hop underwater sensor networks. Ad Hoc Networks 78 (09 2018), 32--41.

Digital Library

[45]

Huai Huang and Yahong Rosa Zheng. 2016. AoA assisted localization for underwater Ad-Hoc sensor networks. In OCEANS 2016 MTS/IEEE Monterey. 1--6.

[46]

Tariq Islam and Seok-Hwan Park. 2020. A Comprehensive Survey of the Recently Proposed Localization Protocols for Underwater Sensor Networks. IEEE Access 8 (2020), 179224--179243.

[47]

Junsu Jang and Fadel Adib. 2019. Underwater Backscatter Networking. In Proceedings of the ACM Special Interest Group on Data Communication (SIGCOMM '19). Association for Computing Machinery, New York, NY, USA, 187--199.

Digital Library

[48]

K Kebkal, O Kebkal, E Glushko, V Kebkal, L Sebastiao, A Pascoal, J Gomes, J Ribeiro, H Silva, M Ribeiro, et al. 2017. Underwater acoustic modems with integrated atomic clocks for one-way travel-time underwater vehicle positioning. In Proceefings of the Underwater Acoustics Conference and Exhibition (UACE).

[49]

Benjamin Kempke, Pat Pannuto, and Prabal Dutta. 2015. PolyPoint: Guiding Indoor Quadrotors with Ultra-Wideband Localization. In Proceedings of the 2nd International Workshop on Hot Topics in Wireless (HotWireless '15). Association for Computing Machinery, New York, NY, USA, 16--20.

Digital Library

[50]

Liu Kewen et al. 2010. Research of MMSE and LS channel estimation in OFDM systems. In The 2nd international conference on information science and engineering. IEEE, 2308--2311.

[51]

Moses A Koledoye, Tullio Facchinetti, and Luis Almeida. 2017. MDS-based localization with known anchor locations and missing tag-to-tag distances. In 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). IEEE, 1--4.

Digital Library

[52]

Manikanta Kotaru, Kiran Joshi, Dinesh Bharadia, and Sachin Katti. 2015. SpotFi: Decimeter Level Localization Using WiFi. In Proceedings of the 2015 ACM Conference on Special Interest Group on Data Communication (SIGCOMM '15). Association for Computing Machinery, New York, NY, USA, 269--282.

Digital Library

[53]

Benjamin Kuch, Giorgio Buttazzo, Elaine Azzopardi, Martin Sayer, and Arne Sieber. 2012. GPS diving computer for underwater tracking and mapping. Underwater Technology The International Journal of the Society for Underwater 189 (07 2012), 189--194.

[54]

William A Kuperman and Philippe Roux. 2007. Underwater acoustics. (2007), 149--204 pages.

[55]

Philip Lacovara. 2008. High-bandwidth underwater communications. Marine Technology Society Journal 42, 1 (2008), 93--102.

[56]

Gerard Laman. 1970. On graphs and rigidity of plane skeletal structures. Journal of Engineering mathematics 4, 4 (1970), 331--340.

[57]

Ying Li, Bridget Benson, Ryan Kastner, and Xing Zhang. 2009. Bit Error Rate, Power and Area Analysis of Multiple FPGA Implementations of Underwater FSK. (2009).

[58]

Yichen Li, Yiyin Wang, and Wenbin Yu. 2019. Multiple Autonomous Underwater Vehicle Cooperative Localization in Anchor-Free Environments. IEEE Journal of Oceanic Engineering PP (09 2019), 1--17.

[59]

Li Liu, Yang Xiao, and Jingyuan Zhang. 2009. A linear time synchronization algorithm for underwater wireless sensor networks. In 2009 IEEE International Conference on Communications. IEEE, 1--5.

[60]

Feng Lu, Diba Mirza, and Curt Schurgers. 2010. D-sync: Doppler-based time synchronization for mobile underwater sensor networks. In Proceedings of the 5th International Workshop on Underwater Networks. 1--8.

Digital Library

[61]

Hanjiang Luo, Yiyang Zhao, Zhongwen Guo, Siyuan Liu, Pengpeng Chen, and Lionel M. Ni. 2008. UDB: Using Directional Beacons for Localization in Underwater Sensor Networks. In 2008 14th IEEE International Conference on Parallel and Distributed Systems. 551--558.

Digital Library

[62]

Lovász László and Y. Yemini. 1982. On Generic Rigidity in the Plane. SIAM J. Algebraic Discrete Methods 3 (03 1982), 91--98.

Digital Library

[63]

Tara Maki, Takumi Matsuda, Takashi Sakamaki, Tamaki Ura, and Junichi Kojima. 2013. Navigation Method for Underwater Vehicles Based on Mutual Acoustical Positioning With a Single Seafloor Station. Oceanic Engineering, IEEE Journal of 38 (01 2013), 167--177.

[64]

Wenguang Mao, Jian He, and Lili Qiu. 2016. CAT: high-precision acoustic motion tracking. In Proceedings of the 22nd Annual International Conference on Mobile Computing and Networking. ACM, 69--81.

Digital Library

[65]

Delphin Raj Kesari Mary, Eunbi Ko, Seung-Geun Kim, Sun-Ho Yum, Soo-Young Shin, and Soo-Hyun Park. 2021. A systematic review on recent trends, challenges, privacy and security issues of underwater internet of things. Sensors 21, 24 (2021), 8262.

[66]

J. Mass-Sanchez, E. Ruiz-Ibarra, Joaquin Cortez, Adolfo Espinoza, and Luis Castro. 2017. Weighted Hyperbolic DV-Hop Positioning Node Localization Algorithm in WSNs. Wireless Personal Communications 96 (10 2017).

Digital Library

[67]

Diba Mirza and Curt Schurgers. 2008. Motion-aware self-localization for underwater networks. In Proceedings of the 3rd International Workshop on Underwater Networks. 51--58.

Digital Library

[68]

Martín Monteiro and Arturo C. Marti. 2020. Using smartphones as hydrophones: two experiments in underwater acoustics. arXiv: Physics Education (2020).

[69]

Hyun Moon, Chang Ho Yu, and Jae Weon Choi. 2009. Performance of Sensor Localization in Underwater Wireless Sensor Networks.

[70]

David Moore, John Leonard, Daniela Rus, and Seth Teller. 2004. Robust Distributed Network Localization with Noisy Range Measurements. In Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems (Sen-Sys '04). Association for Computing Machinery, New York, NY, USA, 50--61.

Digital Library

[71]

Andrea Munafo, Jan Sliwka, and Joao Alves. 2015. Dynamic placement of a constellation of surface buoys for enhanced underwater positioning. 1--6.

[72]

Ali A Nasir, Salman Durrani, and Rodney A Kennedy. 2010. Performance of coarse and fine timing synchronization in OFDM receivers. In 2010 2nd International Conference on Future Computer and Communication, Vol. 2. IEEE, V2--412.

[73]

OpenStax. 2016. College Physics. (2016). http://cnx.org/contents/[email protected]

[74]

Al-Khalid Othman. 2008. GPS-less localization protocol for underwater acoustic networks. In 2008 5th IFIP International Conference on Wireless and Optical Communications Networks (WOCN'08). IEEE, 1--6.

[75]

Chunyi Peng, Guobin Shen, Yongguang Zhang, Yanlin Li, and Kun Tan. 2007. Beepbeep: a high accuracy acoustic ranging system using cots mobile devices. In Proceedings of the 5th international conference on Embedded networked sensor systems. ACM, 1--14.

Digital Library

[76]

N.B. Priyantha, Hari Ram Balakrishnan, Erik D. Demaine, and Seth J. Teller. 2003. Anchor-Free Distributed Localization in Sensor Networks.

[77]

Qin Qin, Yi Tian, and Xin Wang. 2021. Three-Dimensional UWSN Positioning Algorithm Based on Modified RSSI Values. Mobile Information Systems 2021 (06 2021), 1--8.

Digital Library

[78]

Dinesh Kumar Sah, Tu N. Nguyen, Manjusha Kandulna, Korhan Cengiz, and Tarachand Amgoth. 2022. 3D Localization and Error Minimization in Underwater Sensor Networks. 18, 3, Article 31 (sep 2022), 25 pages.

Digital Library

[79]

Souvik Saha and Rajeev Arya. 2022. ARCMT: Anchor node-based range free cooperative multi trusted secure underwater localization using fuzzifier. Computer Communications 193 (07 2022).

Digital Library

[80]

Georgios Salavasidis, Andrea Munafo, Catherine Harris, Thomas Prampart, Rob Templeton, Micheal Smart, Daniel Roper, Miles Pebody, Stephen McPhail, Eric Rogers, and Alexander Phillips. 2018. Terrain-Aided Navigation for Long-Endurance and Deep-Rated Autonomous Underwater Vehicles. Journal of Field Robotics 36 (11 2018), 447--474.

[81]

Stefania Sesia, Issam Toufik, and Matthew Baker. 2011. LTE-the UMTS long term evolution: from theory to practice. John Wiley & Sons.

[82]

Syed Bilal Shah, Fuliang Yin, Inam Khan, and Seema Begum. 2018. 3D weighted centroid algorithm RSSI ranging model strategy for node localization in WSN based on smart devices. Sustainable Cities and Society Volume 39 (03 2018), 298--308.

[83]

Arkadiy Skopenkov. 2006. Embedding and knotting of manifolds in Euclidean spaces. Vol. 347. 248--342.

[84]

Adam Smith, Hari Balakrishnan, Michel Goraczko, and Nissanka Priyantha. 2004. Tracking moving devices with the cricket location system. In Proceedings of the 2nd international conference on Mobile systems, applications, and services. ACM, 190--202.

Digital Library

[85]

Ramji Srinivasan, S. Rajesh, N.R. Ramesh, S.M. Babu, Raju Abraham, Deepak Raphael, G.A. Ramadass, and Ma Atmanand. 2007. Design and testing of Control and Positioning System for Underwater mining Machine. 1 -- 5.

[86]

Meihong Sui, Xinsheng Yu, and Fengli Zhang. 2009. The evaluation of modulation techniques for underwater wireless optical communications. In 2009 International Conference on Communication Software and Networks. IEEE, 138--142.

Digital Library

[87]

Affan A Syed and John Heidemann. 2006. Time synchronization for high latency acoustic networks. In Proceedings IEEE INFOCOM 2006. 25TH IEEE International Conference on Computer Communications. IEEE, 1--12.

[88]

Hwee Tan, Roee Diamant, Winston Seah, and Marc Waldmeyer. 2011. A Survey of Techniques and Challenges in Underwater Localization. Ocean Engineering - OCEAN ENG 38 (10 2011), 1663--1676.

[89]

H.-P. Tan, A. F. Gabor, Z. A. Eu, and W. K. G. Seah. 2010. A Wide Coverage Positioning System (WPS) for Underwater Localization. In 2010 IEEE International Conference on Communications. 1--5.

[90]

Amin Y. Teymorian, Wei Cheng, Liran Ma, Xiuzhen Cheng, Xicheng Lu, and Zexin Lu. 2009. 3D Underwater Sensor Network Localization. IEEE Transactions on Mobile Computing 8, 12 (2009), 1610--1621.

Digital Library

[91]

Arkadiusz Tomczak. 2011. MODERN METHODS OF UNDERWATER POSITIONING APPLIED IN SUBSEA MINING. AGH Journals of Mining and Geoengineering 35 (01 2011), 381--394.

[92]

Inam Ullah, Yiming Liu, Xin Su, and Pankoo Kim. 2019. Efficient and accurate target localization in underwater environment. IEEE Access 7 (2019), 101415--101426.

[93]

Paul Van Walree, Helge Buen, and Roald Otnes. 2014. A performance comparison between DSSS, M-FSK, and frequency-division multiplexing in underwater acoustic channels. In 2014 Underwater Communications and Networking (UComms). IEEE, 1--5.

[94]

Keith Vickery. 1998. Acoustic positioning systems. A practical overview of current systems. In Proceedings of the 1998 Workshop on Autonomous Underwater Vehicles (Cat. No. 98CH36290). IEEE, 5--17.

[95]

Anran Wang and Shyamnath Gollakota. 2019. MilliSonic: Pushing the Limits of Acoustic Motion Tracking. In Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems (CHI '19). Association for Computing Machinery, New York, NY, USA, 1--11.

Digital Library

[96]

Sarah E Webster, Ryan M Eustice, Hanumant Singh, and Louis L Whitcomb. 2009. Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2053--2060.

Digital Library

[97]

Yang Wen, Wei Huang, and Zhongpei Zhang. 2006. CAZAC sequence and its application in LTE random access. In 2006 IEEE Information Theory Workshop-ITW'06 Chengdu. IEEE, 544--547.

[98]

Wayne D Wilson. 1960. Equation for the speed of sound in sea water. The Journal of the Acoustical Society of America 32, 10 (1960), 1357--1357.

[99]

Yan-xin Xie, Jun Liu, Cheng-quan Hu, Jun-hong Cui, and Hongli Xu. 2016. AUV dead-reckoning navigation based on neural network using a single accelerometer. 1--5.

Digital Library

[100]

Jie Xiong and Kyle Jamieson. 2013. ArrayTrack: A Fine-Grained Indoor Location System. In Proceedings of the 10th USENIX Conference on Networked Systems Design and Implementation (nsdi'13). USENIX Association, USA, 71--84.

Digital Library

[101]

Sangki Yun, Yi-Chao Chen, and Lili Qiu. 2015. Turning a Mobile Device into a Mouse in the Air. In Proceedings of the 13th Annual International Conference on Mobile Systems, Applications, and Services (MobiSys '15). Association for Computing Machinery, New York, NY, USA, 15--29.

Digital Library

[102]

Cheng Zhang, Qiuyue Xue, Anandghan Waghmare, Sumeet Jain, Yiming Pu, Sinan Hersek, Kent Lyons, Kenneth A Cunefare, Omer T Inan, and Gregory D Abowd. 2017. Soundtrak: Continuous 3d tracking of a finger using active acoustics. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 1, 2 (2017), 30.

Digital Library

[103]

Xiao Zhang, Hanqing Guo, James Mariani, and Li Xiao. 2022. U-Star: An Underwater Navigation System Based on Passive 3D Optical Identification Tags. In Proceedings of the 28th Annual International Conference on Mobile Computing And Networking (MobiCom '22). Association for Computing Machinery, New York, NY, USA, 648--660.

Digital Library

[104]

Yongzhao Zhang, Wei-Hsiang Huang, Chih-Yun Yang, Wen-Ping Wang, Yi-Chao Chen, Chuang-Wen You, Da-Yuan Huang, Guangtao Xue, and Jiadi Yu. 2020. Endophasia: Utilizing acoustic-based imaging for issuing contact-free silent speech commands. Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies 4, 1 (2020), 1--26.

Digital Library

[105]

Zengbin Zhang, David Chu, Xiaomeng Chen, and Thomas Moscibroda. 2012. Swordfight: Enabling a new class of phone-to-phone action games on commodity phones. In Proceedings of the 10th international conference on Mobile systems, applications, and services. ACM, 1--14.

Digital Library

[106]

Shuang Zhao, Zhenjie Wang, Kaifei He, and Ning Ding. 2018. Investigation on underwater positioning stochastic model based on acoustic ray incidence angle. Applied Ocean Research 77 (06 2018), 69--77.

Cited By

Cai GWang JShu YLiu JTan RHe YChen J(2024)Locating Your Smart Devices with a Single SpeakerProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699320(28-40)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699320
Li ZGe WYin JWei LLiu Q(2024)A Multiobjective Optimization Algorithm-Based Directional Reception TDMA Protocol for Underwater Acoustic NetworksIEEE Sensors Journal10.1109/JSEN.2024.342451424:16(26755-26769)Online publication date: 15-Aug-2024
https://doi.org/10.1109/JSEN.2024.3424514
Yang QZheng Y(2024)Neural Enhanced Underwater SOS DetectionIEEE INFOCOM 2024 - IEEE Conference on Computer Communications10.1109/INFOCOM52122.2024.10621343(971-980)Online publication date: 20-May-2024
https://doi.org/10.1109/INFOCOM52122.2024.10621343
Show More Cited By

Index Terms

Underwater 3D positioning on smart devices

Recommendations

Underwater messaging using mobile devices
SIGCOMM '22: Proceedings of the ACM SIGCOMM 2022 Conference

Since its inception, underwater digital acoustic communication has required custom hardware that neither has the economies of scale nor is pervasive. We present the first acoustic system that brings underwater messaging capabilities to existing mobile ...
Performance evaluation of distributed localization techniques for mobile underwater acoustic sensor networks

Underwater sensor networks (USN) are used for tough oceanographic missions where human operation is dangerous or impossible. In the common mobile USN architecture, sensor nodes freely float several meters below the surface and move with the force of ...
Distributed localization in cluttered underwater environments
WUWNet '10: Proceedings of the 5th International Workshop on Underwater Networks

Mapping and exploration of closed fluid tanks, such as nuclear waste storage tanks and water sewage treatment ponds, by a swarm of underwater robots requires them to be aware of their positions, as they traverse the depths of the tank. This paper ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

ACM SIGCOMM '23: Proceedings of the ACM SIGCOMM 2023 Conference

September 2023

1217 pages

ISBN:9798400702365

DOI:10.1145/3603269

Chairs:
Henning Schulzrinne,
Vishal Misra,
Program Chairs:
Eddie Kohler,
David Maltz

Copyright © 2023 Owner/Author(s).

This work is licensed under a Creative Commons Attribution International 4.0 License.

Sponsors

SIGCOMM: ACM Special Interest Group on Data Communication

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 September 2023

Check for updates

Badges

Author Tags

Qualifiers

Research-article

Funding Sources

Moore Foundation
National Science Foundation

Conference

ACM SIGCOMM '23

Sponsor:

SIGCOMM

ACM SIGCOMM '23: ACM SIGCOMM 2023 Conference

September 10, 2023

NY, New York, USA

Acceptance Rates

Overall Acceptance Rate 462 of 3,389 submissions, 14%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

4
Total Citations
View Citations
1,597
Total Downloads

Downloads (Last 12 months)1,065
Downloads (Last 6 weeks)148

Reflects downloads up to 25 Dec 2024

Other Metrics

View Author Metrics

Citations

Cited By

Cai GWang JShu YLiu JTan RHe YChen J(2024)Locating Your Smart Devices with a Single SpeakerProceedings of the 22nd ACM Conference on Embedded Networked Sensor Systems10.1145/3666025.3699320(28-40)Online publication date: 4-Nov-2024
https://dl.acm.org/doi/10.1145/3666025.3699320
Li ZGe WYin JWei LLiu Q(2024)A Multiobjective Optimization Algorithm-Based Directional Reception TDMA Protocol for Underwater Acoustic NetworksIEEE Sensors Journal10.1109/JSEN.2024.342451424:16(26755-26769)Online publication date: 15-Aug-2024
https://doi.org/10.1109/JSEN.2024.3424514
Yang QZheng Y(2024)Neural Enhanced Underwater SOS DetectionIEEE INFOCOM 2024 - IEEE Conference on Computer Communications10.1109/INFOCOM52122.2024.10621343(971-980)Online publication date: 20-May-2024
https://doi.org/10.1109/INFOCOM52122.2024.10621343
Yang QZheng YEskicioglu RHuang PPatwari N(2023)AquaHelper: Underwater SOS Transmission and Detection in Swimming PoolsProceedings of the 21st ACM Conference on Embedded Networked Sensor Systems10.1145/3625687.3625816(294-307)Online publication date: 12-Nov-2023
https://dl.acm.org/doi/10.1145/3625687.3625816

View Options

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Media

Figures

Other

Tables

View Table of Contents