基于ELV的水下传感器网络节能算法研究
摘要
随着无线传感器网络的发展和大规模应用,水下传感器网络的应用也越来越受到人们的关注。水下传感器网络是一种新型的网络范例,被设想应用于海洋数据采集,海洋污染监测,海面探测,海上灾难预防,海上援助导航和战术监控应用等。水下传感器网络通常由若干靠声波互相通信的水下传感器、水下自治机器人(AUV)和一个负责与陆地上的控制中心进行联络的水面基站组成。AUV是一个无人操作的自动式平台,他们为海洋研究者们关于如何收集海洋数据的问题提供了简单、长期且廉价的解决方案。通常AUV被应用于海洋取样,水下系统检查,并在军事上用于鱼雷防范措施操作。由于配备AUV的水下传感器网络可以不受范围和电缆的限制在远程控制下运作,因此它们能够在海洋学,海洋环境监测,水下资源研究中有广泛的应用。目前,人们的研究工作已经证明了配备价格低廉的AUV和多个水下传感器的潜水艇可以到达海洋中的任何深度,这说明它们还可以在许多方面加强水下传感器网络的性能,如对三维沿海的海洋环境的取样等。
尽管水下传感器网络有着广阔的应用前景,但水下环境的特殊性造成了水下传感器节点能量有限且无法再充电的特点,这构成了水下传感器网络应用的瓶颈。因此如何能节约水下传感器网络节点的能量,延长网络生命周期,是水下传感器网络研究中的一个热点。
本文以此为研究背景,首先介绍了水下传感器网络的结构,特性,配备AUV的水下传感器网络的特点,水下传感器网络的应用和设计因素;本文分析了水下传感器网络的能量消耗因素,并研究了现有的一些应用于水下传感器网络的节能技术和策略;结合某些陆地无线传感器网络和水下传感器网络的节能协议并加以改进,本文提出了一个水下传感器网络节能模型,并重点描述了水下传感器网络的簇的构成和信道建立过程;随着AUV技术的发展,很多水下传感器网络都配有AUV,因此水下传感器网络与AUV的通信问题也成为人们研究的焦点,本文分析了AUV的控制机制和运动模式,并结合本文提出的水下传感器网络模型提出了一个用于水下传感器网络与AUV实时通信的能效路由协议,该路由协议能够使水下传感器节点及时追踪到AUV的位置并将信息数据包由最短路径传递给AUV;令水下传感器节点进入周期性的休眠是水下传感器网络节能的最有效途径,但由于休眠导致的通信延迟增大,或由于AUV的高速移动都会引起信息数据包传送成功率的降低。针对此问题,本文提出了命中率的概念并从理论上描述了在保证信息传送成功率的情况下,能量消耗、通信延迟、移动速度(Energy、Latency、Velocity简称ELV)三者之间的关系,即:基于ELV的水下传感器网络优化算法,为水下传感器网络设计权衡各参数的选择提供了理论依据,并通过仿真证明该算法能使网络保证一定的信息传递成功率并节省能量。
With the development and wider applications of wireless sensor networks, underwater sensor networks are attracting increasing interest from researchers in terrestrial radio-based sensor networks. Underwater sensor network with autonomous underwater vehicles (AUVs) is a novel network paradigm that is envisioned to enable applications for oceanographic data collection, pollution monitoring, on-shore exploration, disaster prevention, assisted navigation and tactical surveillance applications.
Although underwater sensor network has a great future, a remarkable character, limited by energy, puzzles all the researchers and it has become the bottleneck. How to save energy, especially to save energy for sending the data, and extend the life of underwater sensor network becomes a hotspot all over the world. Besides, the AUVs’mobility brings a question, which is the efficient communications between AUVs and underwater sensor nodes. In addition, underwater sensor networks channel characteristics, such as low available bandwidth; highly varying multipath, and large propagation delays, restricts the efficiency of underwater sensor networks.
This paper is proposed to solve the above questions. It first describes the composing、characteristics、applications and design factors of underwater sensor network; Then in chapter two, introduces the current energy efficient protocols for underwater sensor networks. In chapter three, this paper proposes an energy-efficient underwater sensor network model, and emphasizes the forming of cluster and the channel establishing process; Many of the developing underwater applications both commercial and military are now calling for real time communication with AUVs not only in point to point links but also in network configurations. To make these applications viable, there is a need to enable underwater communications among underwater devices. So chapter four analyzes the AUV’s control mechanism and its moving mode, then proposes a energy-efficient routing protocol for real time communications between underwater sensor nodes and AUV, which could track the migrating AUV and forward message to it along the shortest route; Reducing the underwater sensor network’s energy consumption as more as possible is an important problem, so this paper adopts the listen-sleep mode in the underwater sensor network to save more energy, the goal of chapter five is to propose an energy efficiency scheme based on energy-latency-velocity (ELV) for communication between underwater sensor network and AUV in order to analyze its applicability to underwater acoustic channels. Besides, this paper proposes the conception of message delivery rate (MDR); Finally,in chapter six sums up the paper and gives several important works that we will do in the near future.
尽管水下传感器网络有着广阔的应用前景,但水下环境的特殊性造成了水下传感器节点能量有限且无法再充电的特点,这构成了水下传感器网络应用的瓶颈。因此如何能节约水下传感器网络节点的能量,延长网络生命周期,是水下传感器网络研究中的一个热点。
本文以此为研究背景,首先介绍了水下传感器网络的结构,特性,配备AUV的水下传感器网络的特点,水下传感器网络的应用和设计因素;本文分析了水下传感器网络的能量消耗因素,并研究了现有的一些应用于水下传感器网络的节能技术和策略;结合某些陆地无线传感器网络和水下传感器网络的节能协议并加以改进,本文提出了一个水下传感器网络节能模型,并重点描述了水下传感器网络的簇的构成和信道建立过程;随着AUV技术的发展,很多水下传感器网络都配有AUV,因此水下传感器网络与AUV的通信问题也成为人们研究的焦点,本文分析了AUV的控制机制和运动模式,并结合本文提出的水下传感器网络模型提出了一个用于水下传感器网络与AUV实时通信的能效路由协议,该路由协议能够使水下传感器节点及时追踪到AUV的位置并将信息数据包由最短路径传递给AUV;令水下传感器节点进入周期性的休眠是水下传感器网络节能的最有效途径,但由于休眠导致的通信延迟增大,或由于AUV的高速移动都会引起信息数据包传送成功率的降低。针对此问题,本文提出了命中率的概念并从理论上描述了在保证信息传送成功率的情况下,能量消耗、通信延迟、移动速度(Energy、Latency、Velocity简称ELV)三者之间的关系,即:基于ELV的水下传感器网络优化算法,为水下传感器网络设计权衡各参数的选择提供了理论依据,并通过仿真证明该算法能使网络保证一定的信息传递成功率并节省能量。
With the development and wider applications of wireless sensor networks, underwater sensor networks are attracting increasing interest from researchers in terrestrial radio-based sensor networks. Underwater sensor network with autonomous underwater vehicles (AUVs) is a novel network paradigm that is envisioned to enable applications for oceanographic data collection, pollution monitoring, on-shore exploration, disaster prevention, assisted navigation and tactical surveillance applications.
Although underwater sensor network has a great future, a remarkable character, limited by energy, puzzles all the researchers and it has become the bottleneck. How to save energy, especially to save energy for sending the data, and extend the life of underwater sensor network becomes a hotspot all over the world. Besides, the AUVs’mobility brings a question, which is the efficient communications between AUVs and underwater sensor nodes. In addition, underwater sensor networks channel characteristics, such as low available bandwidth; highly varying multipath, and large propagation delays, restricts the efficiency of underwater sensor networks.
This paper is proposed to solve the above questions. It first describes the composing、characteristics、applications and design factors of underwater sensor network; Then in chapter two, introduces the current energy efficient protocols for underwater sensor networks. In chapter three, this paper proposes an energy-efficient underwater sensor network model, and emphasizes the forming of cluster and the channel establishing process; Many of the developing underwater applications both commercial and military are now calling for real time communication with AUVs not only in point to point links but also in network configurations. To make these applications viable, there is a need to enable underwater communications among underwater devices. So chapter four analyzes the AUV’s control mechanism and its moving mode, then proposes a energy-efficient routing protocol for real time communications between underwater sensor nodes and AUV, which could track the migrating AUV and forward message to it along the shortest route; Reducing the underwater sensor network’s energy consumption as more as possible is an important problem, so this paper adopts the listen-sleep mode in the underwater sensor network to save more energy, the goal of chapter five is to propose an energy efficiency scheme based on energy-latency-velocity (ELV) for communication between underwater sensor network and AUV in order to analyze its applicability to underwater acoustic channels. Besides, this paper proposes the conception of message delivery rate (MDR); Finally,in chapter six sums up the paper and gives several important works that we will do in the near future.
引文
[1] Ethem M. Sozer, Milica Stojanovic, and John G. Proakis. Underwater Acoustic Networks. IEEE Journal of Oceanic Engineering, 2000.25(1)
[2] T. Curtin, J. Bellingham, J. Catipovic, D. Webb. Autonomous Oceanographic Sampling Network. Oceanography, 1993, 6(3): 86-94
[3] AUV Laboratory at MIT Sea Grant. http://auvlab.mit.edu/
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[5] Charles C. Eriksen, T. James Osse, Russell D. Light, Timothy Wen, Thomas W. Lehman, Peter L. Sabin, John W. Ballard, and Andrew M. Chiodi. Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research. IEEE Journal of Oceanic Engineering, 2001, 26: 424-436
[6] Ocean Engineering at Florida Atlantic University. http://www.oe.fau.edu/research/ams.html.
[7] J. Catipovic. Performance limitations in underwater acoustic telemetry. IEEE Journal of Oceanic Engineering, 1990, 15(3): 205-216
[8] D.L. Codiga, J.A. Rice, P.A. Baxley. Networked acoustic modems for real-time data delivery from distributed subsurface instruments in the coastal ocean: Initial system development and performance. Journal of Atmospheric and Oceanic Technology, 2004, 21(2): 331-346
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[14] AUV Laboratory at MIT Sea Grant, Available from http://auvlab.mit.edu/
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[2] T. Curtin, J. Bellingham, J. Catipovic, D. Webb. Autonomous Oceanographic Sampling Network. Oceanography, 1993, 6(3): 86-94
[3] AUV Laboratory at MIT Sea Grant. http://auvlab.mit.edu/
[4] J. Jalbert, D. Blidberg, M. Ageev. Some design considerations for a solar powered AUV: Energy management and its impact on operational characteristics. Unmanned Systems, 1997, 15(4): 26-31
[5] Charles C. Eriksen, T. James Osse, Russell D. Light, Timothy Wen, Thomas W. Lehman, Peter L. Sabin, John W. Ballard, and Andrew M. Chiodi. Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research. IEEE Journal of Oceanic Engineering, 2001, 26: 424-436
[6] Ocean Engineering at Florida Atlantic University. http://www.oe.fau.edu/research/ams.html.
[7] J. Catipovic. Performance limitations in underwater acoustic telemetry. IEEE Journal of Oceanic Engineering, 1990, 15(3): 205-216
[8] D.L. Codiga, J.A. Rice, P.A. Baxley. Networked acoustic modems for real-time data delivery from distributed subsurface instruments in the coastal ocean: Initial system development and performance. Journal of Atmospheric and Oceanic Technology, 2004, 21(2): 331-346
[9] IF Akyildiz, D. Pompili, and T. Melodia. Underwater Acoustic Sensor Networks: Research Challenges. Elsevier's Journal of ad Hoc Networks, 3(3): 257～279
[10] Albert F. Harris III, Milica Stojanovic, and Michele Zorzi. When underwater acoustic nodes should sleep with one eye open: idle-time power management in underwater sensor networks. International Conference on Mobile Computing and Networking 2006. 105-108
[11] UnderWater Sensor Networks at BWN Laboratory, Georgia Institute of Technology.http:// www.ece.gatech.edu/research/labs/bwn/UWASN/
[12]马祖长,孙怡宁.大规模无线传感器网络的路由协议研究.计算机工程与应用,2004(11):165-167
[13] I.F.Akyildiz. D.Pompili, and T. Melodia, Underwater acoustic sensor networks research challenges, Elsevier's Journal of ad Hoc Networks, 3(3): 257-279
[14] AUV Laboratory at MIT Sea Grant, Available from http://auvlab.mit.edu/
[15] Second field test for the AOSN program, Monterey Bay August 2003, Available from http://www.mbari.org/aosn/MontereyBay2003/MontereyBay2003Default.htm
[16] Enrique J. Duarte-Melo. Mingyan Liu.Analysis of Energy Consumption and Life time of Heterogeneous Wireless Sensor Networks. Proc. Of Global Telecommunications Conference (GLOBECOM 2002),IEEE November 2002. 21-25
[17]董阳泽,钱存健,刘平香.水声网络自重组技术研究和仿真.舰船科学技术, 2006,28 (3):70-73
[18] Underwater Acoustic Modem. available: www.link-quest.com.
[19] E. M.Sozer, M. Stojanovic, and J. G. Proakis. Underwater acoustic networks. IEEE journal of oceanic engineering, 25(1): 72–83, January 2000
[20] J. G. Proakis, E. M. Sozer, J. A. Rice, and M. Stojanovic. Shallow water acoustic networks. IEEE Communications Magazine, Nov. 2001: 114–119
[21] I.F.Akyildiz, D.Pompili, and T.Melodia. Challenges for Efficient Communication in Underwater Acoustic Sensor Networks. IEEE ACM Sigbed Review, 1(2), July 2004
[22] J. Shu and P. Variaya. PEDAMACS: Power efficient and delay aware medium access protocol for sensor networks Information Research Frontiers, 2003, 5: 29–37
[23] K. Sohrabi, J. Gao, V. Ailawadhi, and G. Pottie. Protocols for self organization of a wireless sensor network. Trans on IEEE Personal Communications/Wireless Communications, Oct.2000, 7: 16–27
[24] J. Rice, B. Creber, C. Fletcher, P. Baxley, K. Rogers, K. McDonald,D. Rees, M. Wolf, S. Merriam, R. Mehio, J. Proakis, K. Scussel,D. Porta, J. Baker, J. Hardiman, and D. Green. Evolution of seaweb underwater acoustic networking. In Proc. of OCEANS 2000 MTS/IEEE Conf. and Exhibition, Sept.2000,3: 2007–2017
[25] R. Creber, J. Rice, P. Baxley, and C. Fletcher. Performance of undersea acousticnetworking using RTS/CTS handshaking and ARQ retransmission. In Proc. of OCEANS 2001 MTS/IEEE Conf. and Exhibition, Nov.2001, 4: 2083–2086
[26] G. G. Xie and J. Gibson. A networking protocol for underwater acoustic networks. Naval Postgraduate School, Tech. Rep. TR-CS-00-02, Dec.2000
[27] J. Shu and P. Variaya. PEDAMACS: Power efficient and delay aware medium access protocol for sensor networks. Information Research Frontiers, 2003, 5: 29–37
[28] K. Sohrabi, J. Gao, V. Ailawadhi, and G. Pottie. Protocols for self organization of a wireless sensor network. Trans on IEEE Personal Communications/Wireless Communications, Oct.2000, 7: 16–27
[29] W. Ye, J. Heidemann, and D. Estrin. An energy-efficient MAC protocol for wireless sensor networks. In Proceedings of the IEEE INFORCOM, Jun. 2002, pp. 1567–1576
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