Light Penetrating the Seawater Column as the Indicator of Oil Suspension-Monte Carlo Modelling for the Case of the Southern Baltic Sea.

The strong need to control investments related to oil extraction and the growing demand for offshore deep-water exploration are the reasons for looking for tools to make up a global underwater monitoring system. Therefore, the current study analyses the possibility of revealing the existence of oil-in-water emulsions in the water column, based on the modelling of the downwelling radiance detected by a virtual underwater sensor. Based on the Monte Carlo simulation for the large numbers of solar photons in the water, the analyses were carried out for eight wavelengths ranging from 412 to 676 nm using dispersed oil with a concentration of 10 ppm. The optical properties of the seawater were defined as typical for the southern Baltic Sea, while the oil emulsion model was based on the optical properties of crude oil extracted in this area. Based on the above-mentioned assumptions and modelling, a spectral index was obtained, with the most favourable combination of 555/412 nm, whose value is indicative of the presence of an oil emulsion in the water.

EP-ADTA: Edge Prediction-Based Adaptive Data Transfer Algorithm for Underwater Wireless Sensor Networks (UWSNs).

The underwater wireless sensor network is an important component of the underwater three-dimensional monitoring system. Due to the high bit error rate, high delay, low bandwidth, limited energy, and high dynamic of underwater networks, it is very difficult to realize efficient and reliable data transmission. Therefore, this paper posits that it is not enough to design the routing algorithm only from the perspective of the transmission environment; the comprehensive design of the data transmission algorithm should also be combined with the application. An edge prediction-based adaptive data transmission algorithm (EP-ADTA) is proposed that can dynamically adapt to the needs of underwater monitoring applications and the changes in the transmission environment. EP-ADTA uses the end-edge-cloud architecture to define the underwater wireless sensor networks. The algorithm uses communication nodes as the agents, realizes the monitoring data prediction and compression according to the edge prediction, dynamically selects the transmission route, and controls the data transmission accuracy based on reinforcement learning. The simulation results show that EP-ADTA can meet the accuracy requirements of underwater monitoring applications, dynamically adapt to the changes in the transmission environment, and ensure efficient and reliable data transmission in underwater wireless sensor networks.

A Novel Paradigm for Underwater Monitoring Using Mobile Sensor Networks.

This paper presents a novel autonomous environmental monitoring methodology based on collaboration and collective decision-making among robotic agents in a heterogeneous swarm developed within the project subCULTron, tested in a realistic marine environment. The swarm serves as an underwater mobile sensor network for exploration and monitoring of large areas. Different robotic units enable outlier and fault detection, verification of measurements and recognition of environmental anomalies, and relocation of the swarm throughout the environment. The motion capabilities of the robots and the reconfigurability of the swarm are exploited to collect data and verify suspected anomalies, or detect potential sensor faults among the swarm agents. The proposed methodology was tested in an experimental setup in the field in two marine testbeds: the Lagoon of Venice, Italy, and Biograd an Moru, Croatia. Achieved experimental results described in this paper validate and show the potential of the proposed approach.

A Hybrid Energy Equating Game for Energy Management in the Internet of Underwater Things.

The Internet of Underwater Things (IoUT) is an evolving class of Internet of Things and it is considered the basic unit for the development of smart cities. To support the idea of IoUT, an Underwater Sensor Network (USN) has emerged as a potential technology that has attractive and updated applications for underwater environment monitoring. In such networks, route selection and cluster-head management are still challenging. As the optimal routes always lead to congestion and longer delays while the cluster-head mismanagement leads to ending the USN lifespan earlier. In this paper, we propose a cooperative clustering game that is based upon energy heterogeneity and a penalty mechanism to deal with the cluster head mismanagement issue. Then, we use a non-cooperative evolutionary game for the best relay selection; the results prove that this utility function is the most suitable solution for the relay selection and its strategy selection converges to Nash Equilibrium. The proposed framework is compared with recent schemes using different quality measures and we found that our proposed framework performs favorably against the existing schemes for all of the evaluation metrics.

Object Classification in Semi Structured Enviroment Using Forward-Looking Sonar.

The submarine exploration using robots has been increasing in recent years. The automation of tasks such as monitoring, inspection, and underwater maintenance requires the understanding of the robot's environment. The object recognition in the scene is becoming a critical issue for these systems. On this work, an underwater object classification pipeline applied in acoustic images acquired by Forward-Looking Sonar (FLS) are studied. The object segmentation combines thresholding, connected pixels searching and peak of intensity analyzing techniques. The object descriptor extract intensity and geometric features of the detected objects. A comparison between the Support Vector Machine, K-Nearest Neighbors, and Random Trees classifiers are presented. An open-source tool was developed to annotate and classify the objects and evaluate their classification performance. The proposed method efficiently segments and classifies the structures in the scene using a real dataset acquired by an underwater vehicle in a harbor area. Experimental results demonstrate the robustness and accuracy of the method described in this paper.

Real-Time Communication Support for Underwater Acoustic Sensor Networks †.

Underwater sensor networks represent an important and promising field of research due to the large diversity of underwater ubiquitous applications that can be supported by these networks, e.g., systems that deliver tsunami and oil spill warnings, or monitor submarine ecosystems. Most of these monitoring and warning systems require real-time communication in wide area networks that have a low density of nodes. The underwater communication medium involved in these networks is very harsh and imposes strong restrictions to the communication process. In this scenario, the real-time transmission of information is done mainly using acoustic signals, since the network nodes are not physically close. The features of the communication scenario and the requirements of the communication process represent major challenges for designers of both, communication protocols and monitoring and warning systems. The lack of models to represent these networks is the main stumbling block for the proliferation of underwater ubiquitous systems. This paper presents a real-time communication model for underwater acoustic sensor networks (UW-ASN) that are designed to cover wide areas with a low density of nodes, using any-to-any communication. This model is analytic, considers two solution approaches for scheduling the real-time messages, and provides a time-constraint analysis for the network performance. Using this model, the designers of protocols and underwater ubiquitous systems can quickly prototype and evaluate their solutions in an evolving way, in order to determine the best solution to the problem being addressed. The suitability of the proposal is illustrated with a case study that shows the performance of a UW-ASN under several initial conditions. This is the first analytic model for representing real-time communication in this type of network, and therefore, it opens the door for the development of underwater ubiquitous systems for several application scenarios.

A MAC Protocol to Support Monitoring of Underwater Spaces.

Underwater sensor networks are becoming an important field of research, because of their everyday increasing application scope. Examples of their application areas are environmental and pollution monitoring (mainly oil spills), oceanographic data collection, support for submarine geolocalization, ocean sampling and early tsunamis alert. The challenge of performing underwater communications is well known, provided that radio signals are useless in this medium, and a wired solution is too expensive. Therefore, the sensors in these networks transmit their information using acoustic signals that propagate well under water. This data transmission type not only brings an opportunity, but also several challenges to the implementation of these networks, e.g., in terms of energy consumption, data transmission and signal interference. In order to help advance the knowledge in the design and implementation of these networks for monitoring underwater spaces, this paper proposes a MAC protocol for acoustic communications between the nodes, based on a self-organized time division multiple access mechanism. The proposal was evaluated using simulations of a real monitoring scenario, and the obtained results are highly encouraging.

Normal-Direction Graded Hemispheres for Ionic Flexible Sensors with a Record-High Linearity in a Wide Working Range.

Flexible pressure sensors developed rapidly with increased sensitivity, a fast response time, high stability, and excellent deformability. These progresses have expanded the application of wearable electronics under high-pressure backgrounds while also bringing new challenges. In particular, the nonlinearity and narrow working range lead to a gradually insensitive response, principally because the microstructure deforms inconsistently on the device interfaces in the whole working range. Herein, we report an ionic flexible sensor with a record-high linearity (R2 = 0.99994) in a wide working range (up to 600 kPa). The linearity response comes from the normal-direction graded hemisphere (GH) microstructure. It is prepared from poly(dimethylsiloxane) (PDMS)/carbon nanotubes (CNTs)/Au into flexible and deformable electrodes, and its geometry is precisely designed from the linear elastic theory and optimized through finite element simulation. The sensor can achieve a high sensitivity of S = 165.5 kPa-1, a response-relaxation time of <30 ms, and superb consistency, allowing the device to detect vibration signals. Our sensor has been assembled with circuits and capsulation in order to monitor the function state of players in underwater sports in the frequency domain. This work deepens the theory of linearized design of microstructures and provides a strategy to make flexible pressure sensors that have combined the performances of ultrahigh linearity, high sensitivity, and a wide working range.