Data collection, storage and retrieval with an underwater sensor network

In this paper we present a novel platform for underwater sensor networks to be used for long-term monitoring of coral reefs and �sheries. The sensor network consists of static and mobile underwater sensor nodes. The nodes communicate point-to-point using a novel high-speed optical communication system integrated into the TinyOS stack, and they broadcast using an acoustic protocol integrated in the TinyOS stack. The nodes have a variety of sensing capabilities, including cameras, water temperature, and pressure. The mobile nodes can locate and hover above the static nodes for data muling, and they can perform network maintenance functions such as deployment, relocation, and recovery. In this paper we describe the hardware and software architecture of this underwater sensor network. We then describe the optical and acoustic networking protocols and present experimental networking and data collected in a pool, in rivers, and in the ocean. Finally, we describe our experiments with mobility for data muling in this network.

DS-VBF : dual sink vector-based routing protocol for underwater wireless sensor network

Underwater wireless sensor networks (UWSNs) have become the seat of researchers' attention recently due to their proficiency to explore underwater areas and design different applications for marine discovery and oceanic surveillance. One of the main objectives of each deployed underwater network is discovering the optimized path over sensor nodes to transmit the monitored data to onshore station. The process of transmitting data consumes energy of each node, while energy is limited in UWSNs. So energy efficiency is a challenge in underwater wireless sensor network. Dual sinks vector based forwarding (DS-VBF) takes both residual energy and location information into consideration as priority factors to discover an optimized routing path to save energy in underwater networks. The modified routing protocol employs dual sinks on the water surface which improves network lifetime. According to deployment of dual sinks, packet delivery ratio and the average end to end delay are enhanced. Based on our simulation results in comparison with VBF, average end to end delay reduced more than 80%, remaining energy increased 10%, and the increment of packet reception ratio was about 70%.

Implementation of an embedded sensor network for the coordination of Slocum gliders for coastal monitoring and observation

Autonomous Underwater Vehicles (AUVs) are revolutionizing oceanography through their versatility, autonomy and endurance. However, they are still an underutilized technology. For coastal operations, the ability to track a certain feature is of interest to ocean scientists. Adaptive and predictive path planning requires frequent communication with significant data transfer. Currently, most AUVs rely on satellite phones as their primary communication. This communication protocol is expensive and slow. To reduce communication costs and provide adequate data transfer rates, we present a hardware modification along with a software system that provides an alternative robust disruption- tolerant communications framework enabling cost-effective glider operation in coastal regions. The framework is specifically designed to address multi-sensor deployments. We provide a system overview and present testing and coverage data for the network. Additionally, we include an application of ocean-model driven trajectory design, which can benefit from the use of this network and communication system. Simulation and implementation results are presented for single and multiple vehicle deployments. The presented combination of infrastructure, software development and deployment experience brings us closer to the goal of providing a reliable and cost-effective data transfer framework to enable real-time, optimal trajectory design, based on ocean model predictions, to gather in situ measurements of interesting and evolving ocean features and phenomena.

Análise da viabilidade de aplicações de monitoramento e controle utilizando redes acústicas submarinas.

A acústica submarina vem sendo estudada por décadas, mas redes submarinas com transmissão acústica e protocolos específicos para a comunicação neste meio são campos de pesquisa que estão iniciando. Recentemente alguns simuladores, baseados no NS-2, foram desenvolvidos para o estudo destas redes. Este trabalho avalia através de simulações a viabilidade de aplicações genéricas de monitoramento e controle em redes acústicas submarinas. São propostas e utilizadas três topologias básicas para redes acústicas submarinas: linha, quadro e cubo e dois protocolos MAC: Broadcast e R-MAC. Em nossas análises comparamos esses dois protocolos em relação ao consumo total de energia e o atraso total na rede. Os resultados mostram que essas topologias associadas aos protocolos MAC atendem as necessidades e as peculiaridades da grande maioria das aplicações de monitoramento e controle que utilizam redes acústicas submarinas. O objetivo deste estudo não foi determinar qual a melhor topologia ou o melhor tipo de protocolo de acesso ao meio, mais sim determinar qual a configuração de rede mais indicada para determinada aplicação levando em consideração as características da cada uma delas.

Data muling over underwater wireless sensor networks using an autonomous underwater vehicle

We present algorithms, systems, and experimental results for underwater data muling. In data muling a mobile agent interacts with static agents to upload, download, or transport data to a different physical location. We consider a system comprising an Autonomous Underwater Vehicle (AUV) and many static Underwater Sensor Nodes (USN) networked together optically and acoustically. The AUV can locate the static nodes using vision and hover above the static nodes for data upload. We describe the hardware and software architecture of this underwater system, as well as experimental data. © 2006 IEEE.

Krill: An exploration in underwater sensor networks

While sensor networks have now become very popular on land, the underwater environment still poses some difficult problems. Communication is one of the difficult challenges under water. There are two options: optical and acoustic. We have designed an optical communication board that allows the Fleck’s to communicate optically. We have tested the resulting underwater sensor nodes in two different applications.

AUV Control and Communication using Underwater Acoustic Networks

Underwater acoustic networks can be quite effective to establish communication links between autonomous underwater vehicles (AUVs) and other vehicles or control units, enabling complex vehicle applications and control scenarios. A communications and control framework to support the use of underwater acoustic networks and sample application scenarios are described for single and multi-AUV operation.

Cross-Layer Packet Size Optimization for Wireless Terrestrial, Underwater, and Underground Sensor Networks

In this paper, a cross-layer solution for packet size optimization in wireless sensor networks (WSN) is introduced such that the effects of multi-hop routing, the broadcast nature of the physical wireless channel, and the effects of error control techniques are captured. A key result of this paper is that contrary to the conventional wireless networks, in wireless sensor networks, longer packets reduce the collision probability. Consequently, an optimization solution is formalized by using three different objective functions, i.e., packet throughput, energy consumption, and resource utilization. Furthermore, the effects of end-to-end latency and reliability constraints are investigated that may be required by a particular application. As a result, a generic, cross-layer optimization framework is developed to determine the optimal packet size in WSN. This framework is further extended to determine the optimal packet size in underwater and underground sensor networks. From this framework, the optimal packet sizes under various network parameters are determined.

Visualizing the Simulation of 3-D Underwater Sensor Networks

The majority of sensor network research deals with land-based networks, which are essentially two-dimensional, and thus the majority of simulation and animation tools also only handle such networks. Underwater sensor networks on the other hand, are essentially 3D networks because the depth at which a sensor node is located needs to be considered as well. Due to that additional dimension, specialized tools need to be used when conducting simulations for experimentation. The School of Engineering’s Underwater Sensor Network (UWSN) lab is conducting research on underwater sensor networks and requires simulation tools for 3D networks. The lab has extended NS-2, a widely used network simulator, so that it can simulate three-dimensional networks. However, NAM, a widely used network animator, currently only supports two-dimensional networks and no extensions have been implemented to give it three-dimensional capabilities. In this project, we develop a network visualization tool that functions similarly to NAM but is able to render network environments in full 3-D. It is able to take as input a NS-2 trace file (the same file taken as input by NAM), create the environment, position the sensor nodes, and animate the events of the simulation. Further, the visualization tool is easy to use, especially friendly to NAM users, as it is designed to follow the interfaces and functions similar to NAM. So far, the development has fulfilled the basic functionality. Future work includes fully functional capabilities for visualization and much improved user interfaces.

A hierarchical localization scheme for large scale underwater wireless sensor networks

In this paper, we study the localization problem in large-scale Underwater Wireless Sensor Networks (UWSNs). Unlike in the terrestrial positioning, the global positioning system (GPS) can not work efficiently underwater. The limited bandwidth, the severely impaired channel and the cost of underwater equipment all makes the localization problem very challenging. Most current localization schemes are not well suitable for deep underwater environment. We propose a hierarchical localization scheme to address the challenging problems. The new scheme mainly consists of four types of nodes, which are surface buoys, Detachable Elevator Transceivers (DETs), anchor nodes and ordinary nodes. Surface buoy is assumed to be equipped with GPS on the water surface. A DET is attached to a surface buoy and can rise and down to broadcast its position. The anchor nodes can compute their positions based on the position information from the DETs and the measurements of distance to the DETs. The hierarchical localization scheme is scalable, and can be used to make balances on the cost and localization accuracy. Initial simulation results show the advantages of our proposed scheme. © 2009 IEEE.

Enhanced slotted aloha protocols for underwater sensor networks with large propagation delay

Recently underwater sensor networks (UWSN) attracted large research interests. Medium access control (MAC) is one of the major challenges faced by UWSN due to the large propagation delay and narrow channel bandwidth of acoustic communications used for UWSN. Widely used slotted aloha (S-Aloha) protocol suffers large performance loss in UWSNs, which can only achieve performance close to pure aloha (P-Aloha). In this paper we theoretically model the performances of S-Aloha and P-Aloha protocols and analyze the adverse impact of propagation delay. According to the observation on the performances of S-Aloha protocol we propose two enhanced S-Aloha protocols in order to minimize the adverse impact of propagation delay on S-Aloha protocol. The first enhancement is a synchronized arrival S-Aloha (SA-Aloha) protocol, in which frames are transmitted at carefully calculated time to align the frame arrival time with the start of time slots. Propagation delay is taken into consideration in the calculation of transmit time. As estimation error on propagation delay may exist and can affect network performance, an improved SA-Aloha (denoted by ISA-Aloha) is proposed, which adjusts the slot size according to the range of delay estimation errors. Simulation results show that both SA-Aloha and ISA-Aloha perform remarkably better than S-Aloha and P-Aloha for UWSN, and ISA-Aloha is more robust even when the propagation delay estimation error is large. © 2011 IEEE.

An area localization scheme for large scale underwater wireless sensor networks

In this paper, we study an area localization problem in large scale Underwater Wireless Sensor Networks (UWSNs). The limited bandwidth, the severely impaired channel and the cost of underwater equipment all makes the underwater localization problem very challenging. Exact localization is very difficult for UWSNs in deep underwater environment. We propose a Mobile DETs based efficient 3D multi-power Area Localization Scheme (3D-MALS) to address the challenging problem. In the proposed scheme, the ideas of 2D multi-power Area Localization Scheme(2D-ALS) [6] and utilizing Detachable Elevator Transceiver (DET) are used to achieve the simplicity, location accuracy, scalability and low cost performances. The DET can rise and down to broadcast its position. And it is assumed that all the underwater nodes underwater have pressure sensors and know their z coordinates. The simulation results show that our proposed scheme is very efficient. © 2009 IEEE.

Underwater acoustic networks: the FP7 UAN project

The EU-funded project UAN - Underwater Acoustic Network aims at conceiving, developing and testing at sea an innovative and operational concept for integrating in a unique communication system submerged, surface and aerial sensors with the objective of protecting off-shore and coastline critical infrastructures. A crucial aspect of the project consisted in the use of autonomous underwater vehicles (AUVs) as mobile nodes in the underwater acoustic communication network. In particular, AUVs have the role of adapting the network geometry to the variation of the acoustic channel. This paper reports on the project concept and vision as well as on the progress of its various development phases. The recent at-sea successes that have been demonstrated within the UAN framework are detailed and results of the final UAN project demonstration, UAN11, held in the May of 2011, are reported. The UAN network was in operation for five continuous days with up to five nodes, of which three of them were mobile nodes. © IFAC.

Robotics and Sensor Networks

Robotics in mines, aerospace, underwater, everyday unstructured environments and sensor networks with communicating devices that collect data.

Planning and implementing trajectories for autonomous underwater vehicles to track evolving ocean processes based on predictions from a regional ocean model

Path planning and trajectory design for autonomous underwater vehicles (AUVs) is of great importance to the oceanographic research community because automated data collection is becoming more prevalent. Intelligent planning is required to maneuver a vehicle to high-valued locations to perform data collection. In this paper, we present algorithms that determine paths for AUVs to track evolving features of interest in the ocean by considering the output of predictive ocean models. While traversing the computed path, the vehicle provides near-real-time, in situ measurements back to the model, with the intent to increase the skill of future predictions in the local region. The results presented here extend prelim- inary developments of the path planning portion of an end-to-end autonomous prediction and tasking system for aquatic, mobile sensor networks. This extension is the incorporation of multiple vehicles to track the centroid and the boundary of the extent of a feature of interest. Similar algorithms to those presented here are under development to consider additional locations for multiple types of features. The primary focus here is on algorithm development utilizing model predictions to assist in solving the motion planning problem of steering an AUV to high-valued locations, with respect to the data desired. We discuss the design technique to generate the paths, present simulation results and provide experimental data from field deployments for tracking dynamic features by use of an AUV in the Southern California coastal ocean.