An Energy Efficient Routing Algorithm For Underwater Acoustic Sensor Networks

S.Evangelin Sara
Student of M.E Communication Systems PET Engineering College, Valiyoor Tirunelveli, India e-mail:evangelinsara@yahoo.com

Mr.M.G.Ayyappa Srinivasan
Lecturer of Electronics and Communication Engg PET Engineering College, Valiyoor Tirunelveli, India e-mail: ayyaeppa.srinivasan@gmail.com

AbstractUnderwater Acoustic sensor Networks (UW-ASNs) consists of sensors and vehicles deployed to perform collaborative monitoring tasks in a given body of water. It supports the applications in disaster prevention, offshore exploration and pollution monitoring. Underwater acoustic networking is the enabling technology for these applications. The main objective is to minimize the energy consumption because batteries cannot be recharged in underwater environment. In this paper, the data gathering is done by considering the interactions between the routing functions and the characteristics of underwater acoustic channel into account. In this paper distributed routing algorithm for delay sensitive and delay insensitive applications are proposed. The proposed method uses packet train transmission scheme which enhances the channel efficiency which in turn minimize the energy consumption. Keywords- Underwater wireless communication,underwater acoustic sensor networks,Routing algorithm,performance,energy minimization.

propagation delay is five orders of magnitude higher than in radio frequency terrestrial channels [4]. The available bandwidth is severely limited [5]. High bit error rates and temporary losses of connectivity due to shadow zones can be experienced [6][7]. The underwater channel is severely impaired due to multipath and fading problems. Underwater sensors are prone to failures because of fouling and corrosion [8]. Battery power is limited and usually batteries cannot be easily recharged, also because solar energy cannot be exploited. Several routing protocols have been introduced in sensor networks [9]. The unique characteristics of underwater acoustic channel, there are several drawbacks in suitability of terrestrial network protocol in underwater environment. Routing protocols are classified into three categories namely proactive, reactive and geographic routing protocol. Proactive routing protocols uses large signaling overhead to establish routes for the first time and the topology is modified when there is mobility changes and node failures. Scalability is the main problem in these protocols. Hence it is not suitable for underwater environment. Reactive routing protocols are suitable for dynamic environment but has high latency and requires source initiated flooding of control packets to establish the path and hence not suitable for underwater environment due to high latency Geographic routing protocol [10] is preferred due to good scalability feature and limited required signaling. But underwater devices need to estimate their current position, irrespective to the chosen routing approach In [11] the routing protocol that autonomous establishes the network topology, controls network resources which relies on centralized network manager located in the surface station. Here the performance is not explained clearly In [12] a two phase resilient routing solution for long-term monitoring missions is developed, with the objective of guaranteeing survivability of the network to node and link failures, while the provided routing solution is optimal, little configuration is needed in case of node failures or node mobility. In [13] a novel routing protocol called Vector Based Forwarding (VBF) to address the routing problems in UWSNs. It is essentially a location-based routing approach. No state information is required on the sensor nodes and only a small

I.

INTRODUCTION

Underwater Acoustic Sensor Networks (UW-ASNs) [1] consists of devices with sensing, processing and communication capabilities that are deployed to perform the collaborative monitoring task in a given body of water. It supports the application such as ocean sampling, pollution and environmental monitoring, disaster prevention. To make these applications viable, there is a need to enable efficient communications among underwater devices. The sensors are organized in an autonomous network that self configures according to the varying characteristics of the ocean environment Acoustic Communications are the physical layer technology in underwater networks. Radio waves propagate through conductive salty water only at extra low frequencies which require large antenna and high transmission power. Optical waves do not suffer from such high attenuation but are affected by scattering. Moreover, transmission requires high precision in pointing the narrow laser beam. Although there exist many recently developed network protocols for wireless sensor networks, the unique characteristics of the underwater acoustic communication channel such as limited bandwidth capacity [2] and high propagation delays requires reliable protocols [3]. The

fraction of the nodes are involved in routing. However the algorithm does not consider applications with different requirements. In [14] a simple design example for shallow water networks whose routes are established by central manager based on neighborhood gathered from all nodes. In [15] an energy-efficient underwater routing protocol is proposed by assuming that the network does not vary at a rate faster than a round trip time. It is not suitable for dynamic environment. In [16] three versions of a reliable unicast protocol is proposed, which integrate MAC and routing functionalities and leverage different levels of neighbor knowledge for making optimum decisions for reliable data delivery. The different levels of neighbor knowledge used by the protocols are: (i) no neighbor knowledge, (ii) one-hop neighbor knowledge, and (iii) two-hop neighbor knowledge. The higher the mobility, lower the amount of information needed for making good routing solutions In this paper, energy conserving distributed routing algorithm for delay sensitive and delay insensitive application is proposed. The rest of the paper is organized as follows: In section II the architecture is modeled. In section III channel efficiency and packet train transmission scheme is explained. In section IV routing algorithm is proposed. In section V the Simulation results are made. In section VI conclusion is made. II ARCHITECTURE In this section, the communication architecture for three dimensional underwater acoustic sensor networks is considered. Three dimensional networks can perform cooperative sampling of the 3D ocean environment, and are used to detect and observe phenomena that cannot be adequately observed by means of ocean bottom sensor nodes. In three-dimensional underwater networks, underwater sensor nodes float at different depths to observe a given phenomenon. One possible solution would be to attach each underwater sensor node to a surface buoy, by means of wires whose length can be regulated so as to adjust the depth of each sensor node. However, although this solution allows easy and quick deployment of the sensor network, multiple floating buoys may obstruct ships navigating on the surface, or they can be easily detected and deactivated by enemies in military settings. Furthermore, floating buoys are vulnerable to weather and tampering or pilfering. For these reasons, a different approach can be to anchor sensor devices to the bottom of the ocean. In this architecture, each sensor is anchored to the ocean bottom and equipped with a floating buoy that can be inflated by a pump. The buoy pushes the sensor towards the ocean surface. The depth of the sensor can then be regulated by adjusting the length of the wire, that connects the sensor to the anchor, by means of an electronically controlled engine that resides on the sensor. A challenge to be addressed in such an architecture is the effect of ocean currents on the described mechanism to regulate the depth of the sensors.

Many challenges arise with such an architecture, that need to be solved to enable 3D monitoring including 1. Sensing coverage: Sensors should collaboratively regulate their depth in order to achieve 3D coverage of the ocean column, according to sensor range Communication coverage: In 3D underwater networks there is no brief information on how sensors relay information to the surface station via multi-hop paths. Thus network devices should coordinate their depths in such a way that the network topology is always connected. III CHANNEL EFFICIENCY AND PACKET TRAIN

2.

In this section, the effect of characteristics of underwater environment on utilization efficiency is studied. The channel utilization efficiency is the net bit rate achieved when considering packet retransmission due to channel impairments. Considering random access technique for transmitting a data packet in the shared acoustic medium, a trade-off between channel efficiency and link reliability occurs in which the former increases the latter decreases with increase of packet size. The routing algorithm achieves two conflicting objectives : One is increasing the efficiency of the acoustic channel and the other is limiting the packet error rate on each link. In other words, the conflict is between achieving high channel efficiency and maintaining low packet error rate. This is solved by letting sender transmit a train of short packets backto-back without leaving the channel. The proposed routing algorithm allows each node to jointly select its best next hop, for optimal transmission of power and forward error correction (FEC) of each packet with the aim of minimizing the energy consumption while taking the condition of the acoustic channel and the application requirements into account. The proposed packet train transmission scheme overcomes the problems of single packet transmission scheme of low channel utilization efficiency which decreases with increasing distance. Packet train is a collocation of packets that are transmitted back-to-back by a node without leaving the channel in a single transmission as shown in Figure: 1, this strategy allows increasing the efficiency of the acoustic channel by increasing the length of the transmitted train without compensating on the packet error rate. For delay-insensitive applications, the corresponding node sends for each train an ACK packet which can either cumulatively acknowledge the whole train or it can selectively request the retransmission of specific packets. The former

determines the packet error rate , the latter can be increased as needed in order to increase the channel efficiency.

IV PROPOSED ALGORITHM A. Delay insensitive Algorithm at node i Most geographical routing protocols assume that nodes can either work in a greedy mode or in a recovery mode. When in greedy mode, the node that currently holds the message tries to forward it towards the destination. The recovery mode is entered when a node fails to forward a message in the greedy mode as none of its neighbors is a feasible next hop. Usually this occurs when the node so called concave node exists which is a void region between itself and the destination. The objective of the proposed routing solution is to efficiently exploit the underwater acoustic channel and to minimize the energy consumption. Therefore, the proposed algorithm relies on the packet-train transmission scheme. In a distributed manner, it allows each node to jointly select its best next hop, the transmitted power, and the FEC code rate for each packet, with the objective of minimizing the energy consumption while taking the condition of the underwater channel into account. The algorithm tries to exploit those links that guarantee a low packet error rate in order to maximize the probability that the packet is correctly decoded at the receiver. For these reasons, the energy efficiency of the link is weighted by the number of retransmissions required to achieve link reliability, with the objective of saving energy. i, , , Calculate: Si , , Find: jSi pNi , To minimize Given:
()

Figure: 1 Packet Train Transmission scheme The channel efficiency for packet train transmission scheme is the combination of packet train efficiency and packet efficiency ( ) ( ) (1)

(2)

, r,

( Where,

(3)

( (

) is the packet train efficiency ) is the packet efficiency , , LT are the train, payload, header and

(4) (5)

, ACK length.

[
= max( )

)]

(6)
(7)

is the time needed to process the train and switch the circuitry from receiving to transmitting mode. Optimal packet size and optimal FEC redundancy are chosen in such a way as to maximize the packet efficiency. The fixed packet size is the better choice due to system simplicity and easy sensor buffer management. The distributed algorithm adjusts the online strength of FEC technique by adjusting the FEC redundancy for fixed packet size. The main advantage of distributed routing is that in case of failures distributed routing system can be relied upon to bear the responsibility of the on-demand computation of a paths of recovery for each of the light-paths that have failed.

(8)

Where, is the energy to transmit one bit from I to j

is the distance independent energy to transit one bit. is the fixed optimal packet size. is the transmitted power r is the bit rate

is the average number of transmissions of a packet is the transmission loss in dB

sent by node i such that the packet is correctly decoded at the receiver j.

( ) ( )

(11)

M=

(12)

is the estimated number of hops from node i to the

surface station (sink) N when j is selected as next hop. According to the proposed algorithm for delay-insensitive applications, node will select j* as its best next hop if * =arg min Ei(j)* N jSi p i (9) Ei(j)* is the minimum energy required to successfully transmit a payload bit from node to the sink, taking the condition of the underwater channel into account, when selects as next hop. Si is the neighborhood set of node i is the positive advance set composed of nodes closer to sink N than node i. The estimate has some properties such as no signaling overhead, accuracy increases as density increases, the distance between surface station and the current node increases. The proposed algorithm allows node i to select as next hop node j* among the neighbors satisfies the following 1) Closer to surface station than i 2) Minimizes the link metric B. Delay sensitive algorithm at node i The delay sensitive algorithm does not retransmit lost or corrupted packets at the link layer. Moreover, it time-stamps packets when they are generated by a source so that they can be discarded when they expire. To save energy, while statistically limiting the end-to-end packet delay, it rely on an earliest deadline first scheduling, which dynamically assigns higher priority to packets closer to their deadline. The algorithm includes two new constraints to statistically meet the delay-sensitive application requirements: 1) The end-to-end packet error rate should be lower than an 2 application-dependent threshold max 2) The probability that the end-to-end packet delay be over a delay bound , should be lower than an applicationdependent parameter . 1-(1) (10)

M is the used modulation scheme

M is the fixed number of packets transmitted in a train on each link.

( )

( )

( )

(13)

( )

( ) ( )

is the time to live of the packet m arriving at node i is the arriving time of packet m at node i

is the time packet m was generated which is time stamped at the packet header. is the network queuing delay estimated by node i when j is selected as next hop. The minimization equation is
()

(14)

Here no selective packet retransmission is applied, so is

omitted.
The algorithm uses a constraint called statistical bound endend delay. Consider the propagation delay of each link (i , j) as a random variable with mean .The mean =

is the

average multipath length and average underwater propagation speed of an acoustic wave propagation from node i to node j. In vertical links the sound rays propagate directly without bouncing at the surface of ocean. In shallow water links multiple rays propagate by bouncing at the surface of ocean. Hence can capture the energy spread on multipath and guarantee high SNR. The probability that a packet exceeds its end-end delay bound to be lower than . The criteria is *[
( ) ( )

( )

( )

( )

(15) Where, ( ) is the expected delay a packet will exhibit from node I to node j. ( ) ( ) (16) ( ) depends only on The proposed algorithm only relies on the past access delay information carried by the packet, and on the information about its first hop neighborhood, and not on end-to-end signaling. This information is obtained by broadcast messages. However, to limit the overhead caused by these messages,

each node advertises its access delay only when it exceeds a pre-defined threshold. Hence, this mechanism allows the routing algorithm to dynamically adapt to the ongoing traffic and the resulting congestion. V PERFORMANCE EVALUATION

consumption while using full metric channel condition. The future work can be done for various data rates the performance of algorithm is considered. REFERENCES
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The performance of proposed routing algorithm is simulated using J-Sim wireless simulator and Matlab. The underwater transmission loss , the transmission and propagation delays of vertical and horizontal links and the physical layer characteristics of underwater receivers are considered. First 100 sensors are randomly deployed in 3D volume .The initial node energy is set to 1200J. The available bandwidth is 50KHz. The maximum transmission power is set to 0.5 W. The packet size is 500 bytes.

[2]

[3] [4] [5]

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Figure: 2 Average residual node energy vs time Figure: 2 shows the average residual node energy over time. Three different link metrics are taken into consideration. The first one is No channel estimation which does not consider the varying channel condition. The second one minimum hops simply minimize the number of hops required to reach the surface station. The last one is done by considering channel condition (full metric). By comparing the three metrics, in the case of full metric some amount of energy can be saved which provides longer network lifetime which is better than no channel condition and minimum hops. VI CONCLUSION The data gathering is taken by considering the interaction between the routing functions and the varying characteristics of underwater acoustic environment. The distributed routing algorithm is generated and the performance is evaluated using simulations. The proposed algorithm minimize the energy
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