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• Research on the Scalability of Underwater Drones

• Scalability in Autoencoder-based OFDM Communication System

• Research on actualization of stable underwater wireless communication system by underwater acoustic communication and the system construction for large capacity

Published Papers 【 display / non-display 】

Published Papers 【 display / non-display 】

• Development of Novel Flight Modes for Underwater Drones

  Shiho Oshiro, Masaki Shibuya, Hiroaki Kawasaki

  2025 IEEE International Conference on Recent Advances in Computing and Systems (REACS) ( IEEE )    2026 [ Peer Review Accepted ]

  Type of publication: Research paper (international conference proceedings)

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  In this paper, we propose the development of novel flight modes for underwater drones. Currently, most underwater drones are operated manually using a controller. Although each operation method has its advantages and disadvantages depending on the intended application, our target use case is tasks such as seafloor mapping, where operation within a predefined area is required. In such cases, the movement itself is relatively simple, but human operators are still necessary. To address this issue, we developed an autonomous navigation system capable of moving in a predetermined pattern over a fixed distance, thereby reducing the need for human labor and improving operational efficiency. The underwater drone assumed for practical use in this study is the BlueROV2, which allows for system development and integration. The development was carried out using ArduPilot, an open-source software platform, specifically utilizing its underwater drone–dedicated code, ArduSub. The simulation environment was constructed using Mission Planner. The results of Simulations 1 to 4 are presented below. Simulation 1 was designed for applications such as seafloor mapping, and a square flight mode was developed. As a result, the drone was able to move forward the specified distance, rotate its body, and move forward again repeatedly. By repeating this sequence four times, it successfully followed the predetermined square path. Simulation 2 aimed for slightly more complex movements, and a pentagonal flight mode was developed. The drone moved the specified distance, rotated at each vertex, and successfully traced the defined pentagonal path. Simulation 3 tested whether more complex maneuvers could be achieved by developing a diamond-shaped flight mode inspired by playing cards. The drone moved forward while slightly curving, adjusted its orientation at each point, and was able to trace the diamond shape. Simulation 4 was designed to verify smooth movement under continuous curvature, for which a cardioid-shaped flight mode was developed. The drone smoothly followed a curved trajectory, successfully forming the heart-shaped pattern characteristic of a cardioid. The simulations demonstrated that it is possible to develop a system capable of autonomously executing the pre-defined flight patterns. This challenges the conventional notion that underwater drones must be operated manually using a controller. In the future, we plan to conduct experiments to verify whether the system can be implemented and operated on actual hardware. As a next step, we aim to develop coordinated operations using multiple drones for swarm control.

• An ICI Canceling Underwater OFDM Communication System with 2-Step Modified Delay and Doppler Profiler

  Suguru Kuniyoshi, Shiho Oshiro, Hiromasa Yamada, Tomohisa Wada

  OCEANS 2024 - Halifax ( IEEE )    2024.11 [ Peer Review Accepted ]

  Type of publication: Research paper (international conference proceedings)

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  In 2023, the first prototype of an Inter-Carrier-Interference (ICI) Canceling Underwater Orthogonal Frequency Division Multiplexing (OFDM) Communication system was proposed using modified Delay and Doppler Profiler (mDDP). However, the Bit Error Rate (BER) reduction was limited. As a result of continuous research, we found that the two-stage configuration of mDDP can dramatically improve BER reduction performance. This paper presents the results of pool experiments of OFDM communications in forward and reverse two-wave Doppler-shift environments. To mitigate the ICI effect, a modified Delay and Doppler Profiler (mDDP), which estimates not only attenuation, relative delay and Doppler shift but also sampling clock shift of each multi-path component, is utilized. After the 1st stage mDDP, the effect of ICI has been reduced from the Channel Transfer Function (CTF) and the more accurate CTF is processed by the second-stage mDDP, resulting in highly accurate channel parameter estimation and improved ICI cancellation in the final multi-tap equalizer. To verify this effect, two transmit transducers and one receive transducer were used in the pool experiment to create a two-wave inverse Doppler-shifted multipath environment. By increasing the number of equalizer taps, the BER reduction performance of 64QAM modulation was improved by approximately one order of magnitude for 2step mDDP compared to 1step mDDP.

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• Scalability in Autoencoder-based OFDM Communication System

  Seizan Tsugawa, Takao Toma, Shiho Oshiro, Tomohisa Wada

  2023 IEEE International Conference on Computer Vision and Machine Intelligence (CVMI) ( IEEE )    2024.03 [ Peer Review Accepted ]

  Type of publication: Research paper (international conference proceedings)

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  This paper proposed Scalability in Autoencoder-based Orthogonal Frequency Division Multiplexing(OFDM) communication system. In the previous research, only the comparison between IEEE802.11a and Autoencoder by the conventional OFDM communication system was performed, and it was proved that the communication system created by Autoencoder exceeded the performance of the conventional system. Therefore, in this paper, it uses IEEE802.11n and compare whether it can be improved by expanding the bandwidth and using it.IEEE802.11n standard has an FFT length of 128, a subcarrier number of 114 (108 for data), and modulation schemes of Quadrature Phase Shift Keying(QPSK), 16 Quadrature Amplitude Modulation (16QAM). The GI length is 800ns and the symbol length is 4000ns. In the simulation, a computer simulation was performed using a conventional OFDM communication system and a communication system generated by Autoencoder. Assuming that the simulation environment had an Signal-to-Noise Ratio (SNR) of 0 to 30 and an amplitude r of 0.0 to 1.0, the Symbol Error Rate (SER) status for each SNR was output. As a result of computer simulation, QPSK converged at SNR 27 ㏈ at IEEE 802.11a, but was able to reduce SER overwhelmingly to SNR 12 ㏈ at IEEE 802.11n. Also, in 16QAM the convergence at r=0.0 is the same as for SNR22 ㏈, but in IEEE 802.11a it does not converge after r=0.6, but in IEEE 802.11n it does not converge only at r=0.9 and r=1.0 . As a future task, it will use IEEE802.11ac, which enables communication speeds several times faster than IEEE802.11n, examine whether it is possible to further improve accuracy. And it will continue our research to correspond MIMO communication.

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• 5G High Speed DRONE Air Logistics Supported by Advanced 5G Mobile Communication System

  Yusuke Oshiro, Gennan Hayashi, Shiho Oshiro, Tomohisa Wada

  2023 IEEE International Conference on Computer Vision and Machine Intelligence (CVMI) ( IEEE )    2024.03 [ Peer Review Accepted ]

  Type of publication: Research paper (international conference proceedings)

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  This paper proposes an inter-carrier interference (ICI) canceling OFDM receiver for 5G mobile systems to support high-speed drone logistics at 200 km/h. Such a highspeed drone receiver sees a transmission path consisting of multiple Doppler-shifted propagation channels. the ICI canceller compensates for the ICI generated when the subcarriers lose orthogonality due to the Doppler spread channel. the DMRS (Demodulation Reference Symbol) pilot signal is used to analyze three parameters: distance attenuation of each multipath amplitude component, relative delay time, and frequency deviation due to Doppler shift. ICI cancellation is achieved by generating a channel transfer function (CTF) based on the three parameters and applying the ICI inverse operation. The performance of the ICI cancellation was simulated for the channel conditions specific to high-speed drones, such as 200 km/h, and 5 path reverse Doppler shift for QPSK and 16QAM modulations. By increasing the number of taps in the Multi-Tap Equalizer, the improvement in BER was significant.

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• Intelligent mobile channel estimation and Inter Carrier Interference Cancellation for 5G services in Indian Shinkansen “Bullet TRain”

  Gennan Hayashi, Yusuke Oshiro, Shiho Oshiro, Tomohisa Wada

  2023 IEEE International Conference on Computer Vision and Machine Intelligence (CVMI) ( IEEE )    2024.03 [ Peer Review Accepted ]

  Type of publication: Research paper (international conference proceedings)

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  In recent years, the 5th Generation mobile communication system (5G) has become increasingly popular and is about to meet the growing demand from mobile and IoT devices such as smartphones and drones. As railroads and other modes of transportation become faster, it has become increasingly important to consider communications in high-speed moving environments. In an extremely high-speed moving environment, the Doppler effect occurs for radio waves, resulting in loss of data received and transmitted by mobile terminal. In this paper, we aimed to prevent performance degradation of 5G communications by using Inter-Carrier Interference Cancelation between OFDM sub-carriers of 5G based on Delay and Doppler Profiler as a new signal processing technology to correct the received signal in a high-speed moving environment targeting high-speed trains and bullet trains in India. Simulations of the communication quality of four modulations, Quadrature Phase Shift Keying (QPSK), 16Quadrature Amplitude Modulation (QAM), 64QAM, and 256QAM, were performed in two situations at speeds of 150km/h and 350kmlh. The simulation results show that the Inter-Carrier Interference Canceller used in this study can improve the Bit Error Rate. It was also shown that the error rate of the communication can be further reduce by increasing the number of neighboring sub carriers considered for Doppler shift rejection.

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SDGs 【 display / non-display 】

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Media Coverage 【 display / non-display 】

• #31 2024年、明けましておめでとうございます。  TV or radio program

  Spotify, ApplePodcast, AmazonPodcast  ArduPilot podcast  2024.1

  Author： Other 

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  2024年も引き続き、ArduPilotポッドキャストをよろしくお願いいたします！ ArduPilotに関するトピックをゆるーく、わかりやすーく、だけども熱く伝えていけたらと思います。 皆様にとって良い年でありますように。

• #30 年末スペシャル★皆さま、良いお年を。  TV or radio program

  Spotify, ApplePodcast, AmazonPodcast  ArduPilot podcast  2023.12

  Author： Other 

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  皆さまにとってどんな一年だったでしょうか。 ArduPilot Podcastは、2023年2月3日から配信がスタートし、早くも最初の年末を迎えようとしています。 ArduPilotが少しでも皆さまの頭の中に入っていたとしたら嬉しい限りです。 2024年明けから早速配信してまいますので、 引き続き、お耳のお供に、どうぞ、よろしくお願い申し上げます。 どうぞ、良いお年をお迎えください。

• #18 総員全方位守備体制！次回、〇〇襲来。  TV or radio program

  Spotify, ApplePodcast, AmazonPodcast  ArduPilot podcast  2023.9

  Author： Other 

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  シーズン2に入ってもゆるーく話をしていきます。 MC準レギュラーに美らマリン・ファーストペンギン大城を迎え、このPodcastの弱点であったサポートフレーム「サブマリン」を強化！ 体制強化を図ったばかりのこのチャンネルに早くも次の使徒が・・・ この時期はアイツの活動がピークを迎えているであろう。 次回、TAP-J襲来。 乞うご期待。

• #17 シーズン2の幕開け！！  TV or radio program

  Spotify, ApplePodcast, AmazonPodcast  ArduPilot podcast  2023.9

  Author： Other 

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  ArduPilot Podcastに新メンバーが加わりシーズン2に突入しました♪ さて、新メンバーは誰でしょうか。

• #15 The Finalファーストペンギン大城。次回、乗船！？(5/3)  TV or radio program

  Spotify, ApplePodcast, AmazonPodcast  ArduPilot podcast  2023.8

  Author： Other 

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  引き続きゲストの琉球大学情報基盤統括センター助教の大城史帆 (オオシロシホ)さんを迎えてArduSubについてゆるーく話をしています。 これがファイナル！ゲストとしてお話を聞いてるうちにこのPodcastに必要なメンバーということに気づき、大胆にもArduPilot Podcastへの乗船をオファー。 「おれは助けてもらわねェと生きていけねェ自信がある!!!」（引用：ワンピース） 嬉しいことに快諾いただき、今後は大城さんの力を借りて一緒にArduPilotをより多くのリスナーに広めていきます。シーズン２への突入リーチかかりました！！！時期は未定ですがお楽しみに。 まず必要なのが大城さんのロールです。アイデアください〜！

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