Autonomous depth adjustment for underwater sensor networks: Design and applications

Carrick Detweiler, Marek Doniec, Iuliu Vasilescu, Daniela Rus

Research output: Contribution to journalArticlepeer-review

45 Scopus citations


To fully understand the ocean environment requires sensing the full water column. Utilizing a depth adjustment system on an underwater sensor network provides this while also improving global sensing and communications. This paper presents a depth adjustment system for waters up to 50m deep that connects to the AquaNode sensor network nodes. We performed experiments characterizing and demonstrating the functionality of the depth adjustment system. We discuss the application of this device in improving acoustic communication and also verify the functionality of a decentralized depth adjustment algorithm that optimizes the placement of the nodes for collecting sensing data.

Original languageEnglish (US)
Article number6119222
Pages (from-to)16-24
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
StatePublished - Feb 2012


  • Depth adjustment
  • marine control
  • sensing
  • underwater sensor network

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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