Browsing by Author "Soto, Steban"
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Item Applications of Magnetic Induction and Localization to an Autonomous Underwater Vehicle(2021-04-01) Khan, Sajid; Soto, StebanAutonomous robotics has become widely popular for various industrial applications. For underwater applications, there are some issues with communication due to the high signal attenuation in water. Through prior experiments, Magnetic Induction (MI) has shown to have promising result in underwater applications with low power consumption. Localization is the one idea in robotic navigation and is done through the creation of a copper coil in the XYZ directions. Using these 3 coils, a robot’s position can be precisely determined relative to the coil and a network of these coils can be created to collect data on the robotics location in the water. This research explores the application of MI to autonomous vehicles, in hopes of being able to create an underwater network of Autonomous Underwater Vehicles (AUV) which would be able collect data and deliver it throughout the network.Item Tunnel Detection and Border Monitoring Using Magnetic Induction Based Communications and Tomography(2017-10-12) Soto, StebanWe have designed testbed experiments for Magnetic Induction based communications and tomography. The experiments will show whether or not using Magnetic Induction as a means of security from underground tunnels used for illegal human/drug trafficking is feasible. Communications: The ability to send a file using Magnetic Induction shows that we can use electromagnetic induction as a means of communication, as an alternative to propagating electromagnetic waves, which do not perform as well in underground environments. Since BPSK was successful, the flowgraph can easily be expanded to realize more complicated modulation schemes, such as QPSK (Quadrature PSK) and 8PSK. Tomography: Although a correlation was found for different depths of aluminum wrapped PVC pipes, there is no correlation when the aluminum is removed, with the chosen function generator settings. Errors in trial 3 can be caused by the function generator settings and precision errors between each trial, leading to a uncontrolled environment. Conclusions: We looked at the feasibility of magnetic induction communications and tomography for use in underground border security by developing testbed experiments. Both communications and tomography using Magnetic Induction have promising results based on the testbed.