  Electromagnetic signals in the ultra-low frequency (ULF) range below 3 kHz
are well suited for underwater and underground wireless communication thanks to
low signal attenuation and high penetration depth. However, it is challenging
to design ULF transmitters that are simultaneously compact and energy efficient
using traditional approaches, e.g., using coils or dipole antennas. Recent
works have considered magneto-mechanical alternatives, in which ULF magnetic
fields are generated using the motion of permanent magnets, since they enable
extremely compact ULF transmitters that can operate with low energy consumption
and are suitable for human-portable applications. Here we explore the design
and operating principles of resonant magneto-mechanical transmitters (MMT) that
operate over frequencies spanning a few 10's of Hz up to 1 kHz. We
experimentally demonstrate two types of MMT designs using both single-rotor and
multi-rotor architectures. We study the nonlinear electro-mechanical dynamics
of MMTs using point dipole approximation and magneto-static simulations. We
further experimentally explore techniques to control the operation frequency
and demonstrate amplitude modulation up to 10 bits-per-second.
