用磁电天线实现水下机器人远距低功耗通信，700米外仍可靠。
BlueME: Robust Underwater Robot-to-Robot Communication Using Compact Magnetoelectric Antennas
- 采用谐振磁电天线，高效传输极低频电磁信号。
- 实测在700米外稳定通信，仅耗10瓦功率。
- 适合水下多机器人协同与传感器网络部署。
我们提出并验证了BlueME系统，一种用于水下机器人间通信的紧凑型磁电（ME）天线阵列。该系统利用工作在自然机械共振频率下的ME天线，高效传输和接收水下极低频（VLF）电磁信号。文中详细介绍了系统的结构设计、仿真、制造及在低功耗嵌入式平台上的集成，聚焦于便携性与可扩展性应用。为评估性能，我们在开放水域试验中将BlueME部署于自主水面航行器（ASV）与遥控潜水器（ROV）上。海试表明，系统在超过700米距离下仍能保持可靠信号传输，且功耗仅为10瓦。现场测试显示，系统在浑浊、障碍物及多径干扰等复杂水下环境中表现良好，这些条件通常影响声学与光学通信。分析还考察了完全浸没对系统性能的影响，并识别出关键部署因素。本工作是首次在实验室外实现的实用化水下磁电天线部署，也是迄今最大的VLF ME天线阵列系统。BlueME在多机器人协作系统与远程传感网络中的海洋机器人与自动化领域具有显著潜力。
原文摘要 · Abstract (English)
We present the design, development, and experimental validation of BlueME, a compact magnetoelectric (ME) antenna array system for underwater robot-to-robot communication. BlueME employs ME antennas operating at their natural mechanical resonance frequency to efficiently transmit and receive very-low-frequency (VLF) electromagnetic signals underwater. We outline the design, simulation, fabrication, and integration of the proposed system on low-power embedded platforms, focusing on portable and scalable applications. For performance evaluation, we deployed BlueME on an autonomous surface vehicle (ASV) and a remotely operated vehicle (ROV) in open-water field trials. Ocean trials demonstrate that BlueME maintains reliable signal transmission at distances beyond 700 meters while consuming only 10 watts of power. Field trials show that the system operates effectively in challenging underwater conditions such as turbidity, obstacles, and multipath interference -- conditions that generally affect acoustics and optics. Our analysis also examines the impact of complete submersion on system performance and identifies key deployment considerations. This work represents the first practical underwater deployment of ME antennas outside the laboratory and implements the largest VLF ME array system to date. BlueME demonstrates significant potential for marine robotics and automation in multi-robot cooperative systems and remote sensor networks.
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