ABSTRACT
The communication channel in underwater acoustic sensor networks (UASNs) is time-varying due to the dynamic environmental factors, such as ocean current, wind speed, and temperature profile. Generally, these phenomena occur with a certain regularity, resulting in a similar variation pattern inherited in the communication channels. Based on these observations, the energy efficiency of data transmission can be improved by controlling the modulation method, coding rate, and transmission power according to the channel dynamics. Given the limited computational capacity and energy in underwater nodes, we propose a double-scale adaptive transmission mechanism for the UASNs, where the transmission configuration will be determined by the predicted channel states adaptively. In particular, the historical channel state series will first be decomposed into large-scale and small-scale series and then be predicted by a novel k-nearest neighbor search algorithm with sliding window. Next, an energy-efficient transmission algorithm is designed to solve the problem of long-term modulation and coding optimization. In particular, a quantitative model is constructed to describe the relationship between data transmission and the buffer threshold used in this mechanism, which can then analyze the influence of buffer threshold under different channel states or data arrival rates theoretically. Finally, numerical simulations are conducted to verify the proposed schemes, and results show that they can achieve good performance in terms of channel prediction and energy consumption with moderate buffer length.
ABSTRACT
Recently, unmanned aerial vehicles (UAVs) have attracted much attention due to their on-demand deployment, high mobility, and low cost. For UAVs navigating in an unknown environment, efficient environment representation is needed due to the storage limitation of the UAVs. Nonetheless, building an accurate and compact environment representation model is highly non-trivial because of the unknown shape of the obstacles and the time-consuming operations such as finding and eliminating the environmental details. To overcome these challenges, a novel vertical strip extraction algorithm is proposed to analyze the probability density function characteristics of the normalized disparity value and segment the obstacles through an adaptive size sliding window. In addition, a plane adjustment algorithm is proposed to represent the obstacle surfaces as polygonal prism profiles while minimizing the redundant obstacle information. By combining these two proposed algorithms, the depth sensor data can be converted into the multi-layer polygonal prism models in real time. Besides, a drone platform equipped with a depth sensor is developed to build the compact environment representation models in the real world. Experimental results demonstrate that the proposed scheme achieves better performance in terms of precision and storage as compared to the baseline.
