A Drones Optimal Path Planning Based on Swarm Intelligence Algorithms

The smart city comprises various interlinked elements which communicate data and offers urban life to citizen. Unmanned Aerial Vehicles (UAV) or drones were commonly employed in different application areas like agriculture, logistics, and surveillance. For improving the drone flying safety and quality of services, a significant solution is for designing the Internet of Drones (IoD) where the drones are utilized to gather data and people communicate to the drones of a specific flying region using the mobile devices is for constructing the Internet-of-Drones, where the drones were utilized for collecting the data, and communicate with others. In addition, the SIRSS-CIoD technique derives a tuna swarm algorithm-based clustering (TSA-C) technique to choose cluster heads (CHs) and organize clusters in IoV networks. Besides, the SIRSS-CIoD technique involves the design of a biogeography-based optimization (BBO) technique to an optimum route selection (RS) process. The design of clustering and routing techniques for IoD networks in smart cities shows the novelty of the study. A wide range of experimental analyses is carried out and the comparative study highlighted the improved performance of the SIRSS-CIoD technique over the other approaches.     

Link stability and mobility in ad hoc wireless networks

The fact that ad hoc networks are required to support mobility of individual network nodes results in problems arising when routing data. These problems include route loss, poor longevity of established routes and asymmetric communications links. Mobility of nodes also increases the control traffic overhead and affects the performance of the protocol. Mobility can, however, be exploited to improve route longevity when establishing the route. In some situations, the source of information is not available (e.g. GPS information in the underground), hence protocols relying on this information will fail to operate correctly. In such situations, alternative `self-content' information should be available to perform the needed task of routing. Three novel schemes that make use of such information, the heading direction angle, to provide a mechanism for establishing and maintaining robust and long-lived routes are presented. The results show that these schemes reduce the overhead and increase the route longevity when compared with the AODV protocol. The schemes described can operate as a standalone mechanism or can be adopted by other routing protocols in order to improve their performance.     

Efficient Routing Protection Algorithm in Large-Scale Networks

With an increasing urgent demand for fast recovery routing mechanisms in large-scale networks, minimizing network disruption caused by network failure has become critical. However, a large number of relevant studies have shown that network failures occur on the Internet inevitably and frequently. The current routing protocols deployed on the Internet adopt the reconvergence mechanism to cope with network failures. During the reconvergence process, the packets may be lost because of inconsistent routing information, which reduces the network’s availability greatly and affects the Internet service provider’s (ISP’s) service quality and reputation seriously. Therefore, improving network availability has become an urgent problem. As such, the Internet Engineering Task Force suggests the use of downstream path criterion (DC) to address all single-link failure scenarios. However, existing methods for implementing DC schemes are time consuming, require a large amount of router CPU resources, and may deteriorate router capability. Thus, the computation overhead introduced by existing DC schemes is significant, especially in large-scale networks. Therefore, this study proposes an efficient intra-domain routing protection algorithm (ERPA) in large-scale networks. Theoretical analysis indicates that the time complexity of ERPA is less than that of constructing a shortest path tree. Experimental results show that ERPA can reduce the computation overhead significantly compared with the existing algorithms while offering the same network availability as DC.     

ACO–EEOLSR: enhanced energy model based link stability routing protocol in mobile ad hoc networks

A mobile ad hoc network (MANET) has abundant mobile nodes that are free to communicate independently in many locations. Many existing energy models address the inadequacy of resources based on Ad hoc On-demand Multipath Distance Vector and Optimized Link State Protocol (OLSP) routing protocols for MANET along with various parameters. The architecture of energy-efficient routing mechanisms is a challenging problem in a MANET. In this work, a novel energy-aware routing model is introduced for MANET comprising an ant colony optimization (ACO) enhanced approach to energy-efficient-optimized link state routing (named ACO–EEOLSR). Initially, the route discovery is progressed by means of neighbor estimation and also with the authentication of link stability. Parameters such as energy, distance, and hop count are employed as willingness nodes, where both the energy and distance are entrenched through the OLSP. Consequently, the hop count is applied via the ACO system that is beneficial for link stability. After the acceptance of an acknowledgement, the hop count is authorized for further performance analysis. This approach increases the Quality of Service and also uses less energy compared to other energy models. The accomplished simulation upshot depicts that the ACO–EEOLSR outperforms the EEOLSR scheme with respect to the performance metrics of energy consumption, packet delivery ratio, total remaining time, average network lifetime, and a variance of energy.     

延时受限启发式组播路由算法

给出了一种带延时约束的组播路由算法，旨在确定组播路由，不仅要使网络通信的费用达到最小，而且要保证源节点到每个目的节点的延时满足给定约束。此算法具有易于实现、计算量小且所需传递信息量小等优点。仿真结果表明此算法性能良好。     

An Efficient and Reliable Multicasting for Smart Cities

The Internet of thing (IoT) is a growing concept for smart cities, and it is compulsory to communicate data between different networks and devices. In the IoT, communication should be rapid with less delay and overhead. For this purpose, flooding is used for reliable data communication in a smart cities concept but at the cost of higher overhead, energy consumption and packet drop etc. This paper aims to increase the efficiency in term of overhead and reliability in term of delay by using multicasting and unicasting instead of flooding during packet forwarding in a smart city using the IoT concept. In this paper, multicasting and unicasting is used for IoT in smart cities within a receiver-initiated mesh-based topology to disseminate the data to the cluster head. Smart cities networks are divided into cluster head, and each cluster head or core node will be responsible for transferring data to the desired receiver. This protocol is a novel approach according to the best of our knowledge, and it proves to be very useful due to its efficiency and reliability in smart cities concept because IoT is a collection of devices and having a similar interest for transmission of data. The results are implemented in Network simulator 2 (NS-2). The result shows that the proposed protocol shows performance in overhead, throughput, packet drop, delay and energy consumption as compared to benchmark schemes.     

Route computation in large road networks: a hierarchical approach

The optimal route between a given origin and destination needs to be computed in a fast and efficient manner in dynamic route guidance systems. Conventional routing algorithms have been found to be inadequate when applied directly to large road networks. Algorithms based on the concept of hierarchical abstraction make use of the knowledge about the road network to reduce search and provide near-optimal solutions. A generic procedure is presented for organising a given road network as a multiple-layer hierarchy. An efficient hierarchical routing algorithm is proposed, which breaks down the route search into a number of individual searches in small sub-networks. The algorithm incorporates a heuristic layer-switching technique to improve its performance without compromising the accuracy. The hierarchical routing algorithm was tested on the road network of Singapore and the solutions were found to be comparable to the optimal least-cost paths.     

自组网中一种基于跨层负载感知的蚁群优化路由协议

将蚁群优化和跨层优化方法结合起来,提出了一种基于跨层负载感知和蚁群优化的路由协议(CLAOR)。协议将整个路径中各节点MAC层的总平均估计时延和节点队列缓存的占用情况结合起来,共同作为路由选择和路由调整的重要度量标准进行按需路由发现和维护,通过拥塞节点丢弃蚂蚁分组以及借助部分兼具蚂蚁功能的数据分组实现正常路由表的维护等方法,减少了控制开销,增加了算法的可扩展性,较好地解决了自组网中现有基于蚁群优化的路由协议中普遍存在的拥塞问题、捷径问题和引入的路由开销问题。仿真结果表明,CLAOR在分组成功递交率、路由开销以及端到端平均时延等方面具有优良性能,能很好地实现网络中的业务流负载均衡。     

Sea trials of an underwater, ad hoc, acoustic network with stationary assets

The diverse roles of deployable underwater assets have increased the need for ad hoc networking capability. This capability is defined as the ability to form acoustic communication links by deploying assets in a non-deterministic manner, without depending on a priori route and positioning information. Each asset represents a node in the network, and can act as a data source, sink or router, and initiates, stores or relays data, respectively. Data packets may be hopped over a few nodes before arriving at the designated destination. This ad hoc network consists of two main layers: the medium access control (MAC) layer to resolve node contention, and the ad hoc routing layer to manage routing information. In the MAC layer, both random access and timedivision protocols are applied. The protocol in the routing layer is responsible for route setup and route maintenance. This concept of multiple-hop, ad hoc networking was implemented during sea trials conducted in Portland Harbour, UK, involving up to six nodes. The trial was designed with the aim of gaining application experience in ad hoc network deployment and in assessing the performance of the protocols in a real operating environment. The emphasis was on modem integration, and the stability and reliability of packet transport. The trial results and their subsequent analysis demonstrated the robustness of the network in performing ad hoc routing and resolving node contention in a realistic and acoustically challenging environment.     

A load-balanced routing method for large-scale mesh multiprocessors

Research on message routing in large-scale mesh multiprocessors usually focuses on routing in light traffic. Studies employ simple routing methods that are not load-balanced but do not need route initiation before message transmission. In non-light and/or non-uniform input traffic situations, maximum bandwidth utilization and average latency of such routing methods can be poor due to congestion caused by unbalanced load in global mesh regions. Existing load-balanced routing methods applied in mobile ad hoc mesh networks require route initiation before message transmission, which is not acceptable in mesh multiprocessors. In this research, we designed a load-balanced hierarchical mesh-routing method without route initiation. We organize a large-scale mesh into a virtually structured hierarchical mesh structure. Global mesh routing can thus be transformed into a number of load-balanced routing subtasks at levels of hierarchical submesh regions. In such a structure, we designed periodical hierarchical traffic state polling and distribution with very low overhead. We developed two congestion-avoidance routing methods for load-balanced routing at levels of submesh regions with polled traffic states. Experimental results show that maximum bandwidth utilization and average latency in non-light and/or non-uniform input traffic situations can be improved significantly in comparison with ordinary mesh multiprocessor routing methods.     

An Energy Based Dynamic AODV Routing Protocol in Wireless Ad Hoc Networks

In recent years, with the rapid development of the Internet and wireless communication technology, wireless Ad hoc networks have received more attention. Due to the limited transmission range and energy of nodes in Ad hoc networks, it is important to establish a reliable and energy-balanced transmission path in Ad hoc networks. This paper proposes an energy-based dynamic routing protocol based on the existing AODV routing protocol, which has the following two aspects of improvement: (1) In the route discovery process, a node selects a suitable route from the minimum energy consumption route and the energy-balanced route designed in this paper according to a “Mark” bit that representing remaining energy of a node. (2) Based on (1), a route interruption update strategy was proposed to restart the route discovery process when node energy was used excessively. Simulation results demonstrate that compared with AODV and other existing routing protocols, proposed algorithm can reduce network energy consumption and balance node energy, thus extending the network lifetime.     

一种ATM网络中的动态路由算法

针对前期工作中讨论的多阶段虚通道（ＶＰ）控制和ＶＰ拓扑优化问题，以及基于在每一个源目（ＳＤ）节点对之间存在一组备选路由集这一假设的相应的优化算法，提出了一个补充算法，它能够求出任意两节点间的所有可能路径。在此基础上，进一步研究了一种动态虚通路（ＶＣ）路由策略。与其它路由策略不同，它是在更一般的网络环境中加以考虑的。最后，给出了一个动态ＶＰ路由算法，这是动态ＶＣ路由策略中的一个重要组成部分。理论分析和试验结果表明，这些算法是正确的，且有极高的实用价值。     

A Secure and Effective Energy-Aware Fixed-Point Quantization Scheme for Asynchronous Federated Learning

Asynchronous federated learning (AsynFL) can effectively mitigate the impact of heterogeneity of edge nodes on joint training while satisfying participant user privacy protection and data security. However, the frequent exchange of massive data can lead to excess communication overhead between edge and central nodes regardless of whether the federated learning (FL) algorithm uses synchronous or asynchronous aggregation. Therefore, there is an urgent need for a method that can simultaneously take into account device heterogeneity and edge node energy consumption reduction. This paper proposes a novel Fixed-point Asynchronous Federated Learning (FixedAsynFL) algorithm, which could mitigate the resource consumption caused by frequent data communication while alleviating the effect of device heterogeneity. FixedAsynFL uses fixed-point quantization to compress the local and global models in AsynFL. In order to balance energy consumption and learning accuracy, this paper proposed a quantization scale selection mechanism. This paper examines the mathematical relationship between the quantization scale and energy consumption of the computation/communication process in the FixedAsynFL. Based on considering the upper bound of quantization noise, this paper optimizes the quantization scale by minimizing communication and computation consumption. This paper performs pertinent experiments on the MNIST dataset with several edge nodes of different computing efficiency. The results show that the FixedAsynFL algorithm with an 8-bit quantization can significantly reduce the communication data size by 81.3% and save the computation energy in the training phase by 74.9% without significant loss of accuracy. According to the experimental results, we can see that the proposed AsynFixedFL algorithm can effectively solve the problem of device heterogeneity and energy consumption limitation of edge nodes.     

改进的蚁群算法及其在卫星网络路由计算中的应用

介绍了蚁群算法的原理，然后对现有蚁群算法进行了一些改进，使它能够快速地收敛以满足高速变化的卫星网络拓扑结构．采用改进的虚拟拓扑策略解决了卫星网络拓扑高速变换的问题．将改进的蚁群算法应用于其上，并给出了相应的性能评估．所提出的改进的虚拟拓扑策略，能够大大减少一个系统周期内卫星网的时间片个数．应用于此基础上的改进的蚁群算法也体现了较好的性能．     

Flooding-limited for multi-constrained quality-of-service routing protocol in mobile ad hoc networks

Multi-constrained quality-of-service (QoS) routing is used to find routes in a network to satisfy multiple independent QoS constraints. This problem is considered to be NP-complete, and most existing QoS routing algorithms are based on maintaining a global network state at every node. A multi-constrained, flooding-limited, QoS routing method to deal with limited available resources and minimum computation in a dynamic environment is proposed. The solution is based on decomposition of a routing area and a restriction in the exchange of routing information. It reduces the size of the control messages, restricts the amount of routing information, minimises the overhead from the flooding of control traffic and decreases the complexity of path selection. It is also proved that the flooding-limited-path heuristic can achieve very high performance by maintaining entries in each node, which indicates that the performance of the limited-path heuristic is not sensitive to the number of constraints. Simulation results show that this protocol provides better performance than other protocols, especially with regards to end-to-end delay, throughput and packet loss.     

一种视频图像序列中运动对象的分割与跟踪算法

本文提出了一种视频图像序列中运动对象的分割与跟踪算法。该算法通过Canny算子检测出差帧图像的边缘信息，并结合当前帧与背景帧的边缘图像，提取出运动对象。在后续帧中通过建立前帧感兴趣运动对象与当前帧中各运动对象的帧间向量来跟踪当前帧中感兴趣的视频对象。实验结果表明，该算法可行，而且由于该算法简单、计算复杂度小，能很好地满足实时监控系统中对感兴趣运动对象的提取与跟踪。     

Prophet_TD Routing Algorithm Based on Historical Throughput and Encounter Duration

Opportunistic networks are self-organizing networks that do not require a complete path between the source node and the destination node as it uses encounter opportunities brought by nodes movement to achieve network communication. Opportunistic networks routing algorithms are numerous and can be roughly divided into four categories based on different forwarding strategies. The Prophet routing algorithm is an important routing algorithm in opportunistic networks. It forwards messages based on the encounter probability between nodes, and has good innovation significance and optimization potential. However, the Prophet routing algorithm does not consider the impact of the historical throughput of the node on message transmission, nor does it consider the impact of the encounter duration between nodes on message transmission. Therefore, to improve the transmission efficiency of opportunistic networks, this paper based on the Prophet routing algorithm, fuses the impact of the historical throughput of the node and the encounter duration between nodes on message transmission at the same time, and proposes the Prophet_TD routing algorithm based on the historical throughput and the encounter duration. This paper uses the Opportunistic Networks Environment v1.6.0 (the ONE v1.6.0) as the simulation platform, controls the change of running time and the number of nodes respectively, conducts simulation experiments on the Prophet_TD routing algorithm. The simulation results show that compared to the traditional Prophet routing algorithm, on the whole, the Prophet_TD routing algorithm has a higher message delivery rate and a lower network overhead rate, and its average latency is also lower when node density is large.     

Providing scalable location service in wireless sensor networks with mobile sinks

Location-based routing has been considered as an efficient routing paradigm for wireless sensor networks (WSNs). The performance of location-based routing highly depends on the way the position information of mobile sinks are updated and managed, which is the typical function of location service. Frequent location updating can improve the location accuracy at the expense of additional communication overhead. In this study, the authors propose a scalable location service for supporting efficient location-based routing in WSNs with mobile sinks. The proposed location service enables each sensor node to locate its closest (mobile) sink with low overhead. Analytical and simulation results show that it can significantly reduce the communication overhead for providing location service while maintaining high routing performance.     

Improved time-optimal B-spline feedrate scheduling for NURBS tool paths in CNC machining

Feedrate scheduling in computer numerical control (CNC) machining is of great importance to fully develop the capabilities of machine tools while maintaining the motion stability of each actuator. Smooth and time-optimal feedrate scheduling plays a critical role in improving the machining efficiency and precision of complex surfaces considering the irregular curvature characteristics of tool paths and the limited drive capacities of machine tools. This study develops a general feedrate scheduling method for non-uniform rational B-splines (NURBS) tool paths in CNC machining aiming at minimizing the total machining time without sacrificing the smoothness of feed motion. The feedrate profile is represented by a B-spline curve to flexibly adapt to the frequent acceleration and deceleration requirements of machining along complex tool paths. The time-optimal B-spline feedrate is produced by continuously increasing the control points sequentially from zero positions in the bidirectional scanning and sampling processes. The required number of knots for the time-optimal B-spline feedrate can be determined using a progressive knot insertion method. To improve the computational efficiency, the B-spline feedrate profile is divided into a series of independent segments and the computation in each segment can be performed concurrently. The proposed feedrate scheduling method is capable of dealing with not only the geometry constraints but also high-order drive constraints for any complex tool path with little computational overhead. Simulations and machining experiments are conducted to verify the effectiveness and superiorities of the proposed method. The full text can be downloaded at https://link.springer.com/article/10.1007/s40436-022-00413-1     

欧拉弹力模型的视频运动目标自适应图切检测

传统的视频运动目标图切检测算法基于低阶马尔科夫随机场,能量函数的低阶近似无法准确描述图像像素的空间相关性,导致图切检测结果过度平滑。本文提出一种基于高阶欧拉弹力模型的图切检测算法,利用欧拉弹性模型优化目标边界曲线和修正能量函数的低阶近似。算法通过利用前一帧图像的检测结果,对当前帧图像运动目标像素点数和前景背景邻接像素对数进行卡尔曼预测,并不断自适应调整当前帧的图像模型参数,实现了视频运动目标的连续全局优化检测。实验结果验证了欧拉弹力模型在视频运动目标检测中的有效性,其检测结果能够更好地满足人的视觉效果。