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The robot primarily uses the ROS Robot Operating System as its software architecture. This framework comprises several integrated libraries and programmers, significantly simplifying the programming process. This AUV uses ROS to provide communication across all of the programmes, from the detection software to the Arduino- produced PPM output programmer [12]. In this ROS system, there are 4 nodes and 4 subjects, each with a different function. Fig. 2 Basic structure of ROS System

Figure 2 The robot primarily uses the ROS Robot Operating System as its software architecture. This framework comprises several integrated libraries and programmers, significantly simplifying the programming process. This AUV uses ROS to provide communication across all of the programmes, from the detection software to the Arduino- produced PPM output programmer [12]. In this ROS system, there are 4 nodes and 4 subjects, each with a different function. Fig. 2 Basic structure of ROS System

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Nodes, messages, subjects, and services are the fundamental principles for implementing ROS, where nodes are processes that carry out calculations [5]. ROS is intended to be modular in minuscule steps. Typically, a system has many nodes. The terms "node" and "software module" are synonymous in this context. The runtime visualization of ROS-based systems is referred to as a "node." Graphing peer-to-peer interactions is crucial when several nodes are active. Both peer nodes and graph nodes are processes. using a call-based peer-to-peer connection. Nodes exchange messages with one another to communicate. A strongly typed data structure is a message. The common primitive kinds (integers, floating-point numbers, Booleans, etc.) as well as arrays of primitive types and constants are supported. A message can contain arrays of other messages and can be nested indefinitely. When a node wants to send a message, it addresses it to a certain subject, which can be a brief string like "odometry" or "map." A node will subscribe to a subject if it is interested in getting that type of data. A single node may simultaneously publish to or subscribe to numerous topics, and it is typical for a single topic to have multiple publishers and subscribers. Typically, publishers and subscribers are not aware of one another's existence. Fig. 1 Structure of voice recognition interface and dialogue system
Nodes, messages, subjects, and services are the fundamental principles for implementing ROS, where nodes are processes that carry out calculations [5]. ROS is intended to be modular in minuscule steps. Typically, a system has many nodes. The terms "node" and "software module" are synonymous in this context. The runtime visualization of ROS-based systems is referred to as a "node." Graphing peer-to-peer interactions is crucial when several nodes are active. Both peer nodes and graph nodes are processes. using a call-based peer-to-peer connection. Nodes exchange messages with one another to communicate. A strongly typed data structure is a message. The common primitive kinds (integers, floating-point numbers, Booleans, etc.) as well as arrays of primitive types and constants are supported. A message can contain arrays of other messages and can be nested indefinitely. When a node wants to send a message, it addresses it to a certain subject, which can be a brief string like "odometry" or "map." A node will subscribe to a subject if it is interested in getting that type of data. A single node may simultaneously publish to or subscribe to numerous topics, and it is typical for a single topic to have multiple publishers and subscribers. Typically, publishers and subscribers are not aware of one another's existence. Fig. 1 Structure of voice recognition interface and dialogue system
Fig. 3 Status Node’s programming algorithm The Status node receives information from the publisher for object detection in the Deteksi-node via the Deteksi result topic. The publish and subscribe programmers, which read, merge, and disseminate data to the other nodes, are operated by the Status node, which follows. The SwitchMode and Result Deteksi topics from the Arduino and Deteksi nodes, respectively, provide data that this node subscribes to. When the switch is set to 1, the node outputs the data acquired from the Detect node in integer format. When the switch value is 0, the node only sends data in integer format. The author chose to set the node to emit 1000 to facilitate future data analysis by the subsequent node. The programming algorithm for the Status node is depicted in the flowchart. The /Direction node is the following node. A programmer for simplifying and determining the robot's direction of motion is contained in this node. This node is subscribed to the /Mode topic from the /Status node that came before it. Below is a diagram of the programming algorithm in the /Direction node.
Fig. 3 Status Node’s programming algorithm The Status node receives information from the publisher for object detection in the Deteksi-node via the Deteksi result topic. The publish and subscribe programmers, which read, merge, and disseminate data to the other nodes, are operated by the Status node, which follows. The SwitchMode and Result Deteksi topics from the Arduino and Deteksi nodes, respectively, provide data that this node subscribes to. When the switch is set to 1, the node outputs the data acquired from the Detect node in integer format. When the switch value is 0, the node only sends data in integer format. The author chose to set the node to emit 1000 to facilitate future data analysis by the subsequent node. The programming algorithm for the Status node is depicted in the flowchart. The /Direction node is the following node. A programmer for simplifying and determining the robot's direction of motion is contained in this node. This node is subscribed to the /Mode topic from the /Status node that came before it. Below is a diagram of the programming algorithm in the /Direction node.
Fig. 4 Direction Node’s programming algorithm An AUV designed for dynamic diving was designed to detect and track underwater cables automatically in the previous studies [10]. While in this study robotic operating system, running on a virtual machine on ubuntu. CMD (Command line) interface will be visible as an output and the inputs will be the commands which will make the stimulated robot (Turtle bot) move on ROS-Gazebo toolbox. The stimulated robot (Turtle bot) in Gazebo toolbox will be our assumed Vehicle that is the AUV. It will be able to control that stimulated robot (Turtle bot) via command line and accordingly the output/movements will be visible of that robot (assumed AUV). Through the command line we can see the readings of the assumed AUV and we can detect the faults in cable. Also, the robot used in this study is a stimulated robot (Turtle bot), as opposed to earlier investigations that use an AUV [7]. Gazebo simulator replicates robot hardware through software to generate input for ROS. A low-cost, open-source robot kit, TurtleBot comes with an easy-to-use operating system. It is possible to perform the same tasks with the TurtleBot robot simulation without having to worry about damaging the real robot. Learning ROS and testing robot algorithms are done using the TurtleBot robot simulation.
Fig. 4 Direction Node’s programming algorithm An AUV designed for dynamic diving was designed to detect and track underwater cables automatically in the previous studies [10]. While in this study robotic operating system, running on a virtual machine on ubuntu. CMD (Command line) interface will be visible as an output and the inputs will be the commands which will make the stimulated robot (Turtle bot) move on ROS-Gazebo toolbox. The stimulated robot (Turtle bot) in Gazebo toolbox will be our assumed Vehicle that is the AUV. It will be able to control that stimulated robot (Turtle bot) via command line and accordingly the output/movements will be visible of that robot (assumed AUV). Through the command line we can see the readings of the assumed AUV and we can detect the faults in cable. Also, the robot used in this study is a stimulated robot (Turtle bot), as opposed to earlier investigations that use an AUV [7]. Gazebo simulator replicates robot hardware through software to generate input for ROS. A low-cost, open-source robot kit, TurtleBot comes with an easy-to-use operating system. It is possible to perform the same tasks with the TurtleBot robot simulation without having to worry about damaging the real robot. Learning ROS and testing robot algorithms are done using the TurtleBot robot simulation.
4. VOUdEe dG WUTC WaVeloriiis, These graphs show the voltage and current waveforms at a specific point along the cable over time. They provide insight into the characteristics of the signals and any abnormalities caused by cable faults.
4. VOUdEe dG WUTC WaVeloriiis, These graphs show the voltage and current waveforms at a specific point along the cable over time. They provide insight into the characteristics of the signals and any abnormalities caused by cable faults.
3. Time-Domain Reflectometry (TDR) Plot: This graph represents the TDR plot, showing the voltage reflection along the cable with respect to time. It helps identify the location and nature of cable faults by analyzing the reflections caused by impedance mismatches.
3. Time-Domain Reflectometry (TDR) Plot: This graph represents the TDR plot, showing the voltage reflection along the cable with respect to time. It helps identify the location and nature of cable faults by analyzing the reflections caused by impedance mismatches.
Pe a a aN a ERR ee This graph displays the frequency spectrum of the voltage or current signal, obtained through Fourier transform or other
Pe a a aN a ERR ee This graph displays the frequency spectrum of the voltage or current signal, obtained through Fourier transform or other
frequency-domain analysis techniques. It allows for the identification of specific frequencies associated with cable faults or anomalies. FIG. 9. GRAPH OF POWER SPECTRUM # Initialize ROS node and necessary variables
frequency-domain analysis techniques. It allows for the identification of specific frequencies associated with cable faults or anomalies. FIG. 9. GRAPH OF POWER SPECTRUM # Initialize ROS node and necessary variables
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Under water Acoustic Sensor networks
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