Hardware-in-the-Loop Simulator
Virtual Acoustic Ocean
A high-fidelity underwater acoustic channel model simulator for realistic algorithm evaluation using real hardware.
Simulate Real Ocean Conditions
Virtual Acoustic Ocean (VAO) is an open-source acoustic channel model simulator in the UnetStack ecosystem that works seamlessly with UnetStack and interfaces with industry-standard models such as Bellhop, Kraken, and many others.
This setup enables you to test PHY, MAC and network-layer algorithms under realistic underwater conditions using real hardware devices—including Subnero modems and UnetCube—without leaving the lab.
Key Capabilities
Bridge the gap between simulation and sea trials.
Realistic Propagation
Uses Bellhop, Kraken, PekerisRay and many other models for physics-accurate testing.
Flexible Workflows
Supports simulation-only, UnetCube-HIL, and Modem-HIL configurations.
Open Source
Fully open-source, enabling users to build, integrate and test their own algorithms and channel models.
Cross-Layer Testing
Test PHY, MAC, and Network algorithms simultaneously on real hardware.
Use Cases
Hardware-in-the-loop simulation lets you evaluate real algorithms and devices under realistic underwater channel conditions before going to sea.
Hardware-in-the-Loop Setup With Modems and VAO
The illustration shows two acoustic modems connected via Ethernet to a network switch, which links to a laptop running VAO. This setup allows real hardware to interact with simulated acoustic channels modeled by Bellhop, Kraken, and many other models. Developers can run signal processing, MAC, or networking algorithms as if the devices were deployed underwater, enabling controlled, repeatable testing before field trials.
HIL Workflow
Connect real hardware to a virtual ocean.
Connect
Attach UnetCube or Modems to a computer running VAO.
Run
Use hardware normally — VAO applies the ocean conditions.
Analyze
Analyze performance metrics.
