A Robotic Communications Gateway for Ocean Observations

Abstract:

We describe a new technology that can provide real-time telemetry of sensor data from the ocean bottom. The breakthrough technology that makes this system possible is an autonomous surface vehicle called the Wave Glider developed by Liquid Robotics, Inc. of Sunnyvale, CA., which harvests wave and solar energy for motive and electrical power.

The free-floating surface communications gateway uses a Liquid Robotics wave glider comprising a surfboard-sized float towed by a tethered, submerged glider, which converts wave motion into thrust. For navigation, the wave glider is equipped with a small computer, a GPS receiver, a rudder, solar panels and batteries, and an Iridium satellite modem. Acoustic communications connect the subsea instruments and the surface gateway while communications between the gateway and land are provided by the Iridium satellite constellation. Wave gliders have demonstrated trans-oceanic range and long-term station keeping capabilities.

The topside acoustics communications package is mounted in a shallow tow body, which uses a WHOI micro modem and a Benthos low frequency, directional transducer. A matching bottom side modem and transducer are mounted on the ocean bottom package.

Tests of the surface gateway in 4000 m of water demonstrated an acoustic efficiency of approximately 256 bits/J. For example, it has the ability to send four channels of compressed, one sample per second data from the ocean bottom to the gateway with an average power draw of approximately 0.36 W and a latency of about three minutes.

This gateway is used to send near-real-time data from a broadband ocean bottom seismic observatory; we are presently designing and constructing a seafloor package with a two-year operational life. We have found that for frequencies f where f<10mHz, 35mHz < f < 120mHz and f>~3Hz, the vertical component, seafloor system noise characteristics are generally superior to similar observatories on land. Increasing the density of these stations over the majority of the surface of Earth; that is, the oceans will greatly enhance the resolution of deep Earth structure and serve civil needs including tsunami warning. The robotic technology is readily applicable for other ocean observations.