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Underwater Sensors Project - Bajaj Lab
Project Type
Research
Date
August 2023
Role
Research Assistant
Mechanical Designer, Electrical Designer, Programmer
Objective
- To categorize inertial measurement units' susceptibility to acoustic injection attacks underwater.
The project in question tests accelerometers and gyroscopes underwater with acoustic signals transduced at the resonant frequencies of the sensors. This problem has been explored by others in the air, but no comprehensive study was referenced for behavior underwater. Sound waves behave differently in air and water due to numerous differences in acoustical propagation between the two mediums.
The project utilizes a mechanical structure, similar to that of a pick-and-place machine, with motors to control the movement in the X and Y axes. A third motor is positioned on the structure moving in X and Y axes, and this motor rotates about the Z axis. Accelerometers and gyroscopes are mounted to a Z axis motor shaft. A mix of 3D printed parts, off-the-shelf components, and machined aluminum components were utilized to create the machine. The sensor readings, encoder position, and motor control is all handled by code written in LabVIEW.
The LabVIEW program uses a National Instruments myRIO 1900 to receive the data from the IMUs and encoders. The data will be processed and input into some control loop to move the motors around and rotate the Z motor shaft. Initial work is being completed on basic motor control, sensor integration, and encoder measurements by myself and fellow undergraduate Luis Benitez, but we will likely pass the project on to another person to fully complete the motor control loop. The general plan for the motor control will allow for unhindered motor control where the performance of the system will be measured without acoustic injection attacks on the IMUs. Then, injection attacks will be utilized to cause errant signals generated by the IMUs. These errant signals will influence the controller and create incorrect controls to be sent to he plant (motors). After characterization of the system performance is established, experimentation will be conducted to create more robust sensors or robust sensor measurement and signal processing. I am excited to see where the next research assistant will take this project.
