1. Signal flow within the system.
Signal flow within the system. The command flow from a human diver to the robot. The diver sends acoustic commands such as thrust, left/right, and up/down as well as camera modes from the transmitter within the diver interface module. The analog signal travels several meters underwater and is then amplified by the receiver and parsed by the microcontroller. The microcontroller adjusts the pump speed, the dive plane position, the BCU, and the mode of the camera.
Robert K. Katzschmann et al. Sci. Robotics 2018;3:eaar3449
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