Ship detection and tracking is an important task in video surveillance in inland waterways. However, ships in inland navigation are faced with accidents such as collisions. For collision avoidance, we should strengthen the monitoring of navigation and the robustness of the entire system. Hence, this paper presents ship detection and tracking of ships using the improved You Only Look Once version 3 (YOLOv3) detection algorithm and Deep Simple Online and Real-time Tracking (Deep SORT) tracking algorithm. Three improvements are made to the YOLOv3 target detection algorithm. Firstly, the Kmeans clustering algorithm is used to optimize the initial value of the anchor frame to make it more suitable for ship application scenarios. Secondly, the output classifier is modified to a single Softmax classifier to suit our ship dataset which has three ship categories and mutual exclusion. Finally, Soft Non-Maximum Suppression (Soft-NMS) is introduced to solve the deficiencies of the Non-Maximum Suppression (NMS) algorithm when screening candidate frames. Results showed the mean Average Precision (mAP) and Frame Per Second (FPS) of the improved algorithm are increased by about 5% and 2, respectively, compared with the existing YOLOv3 detecting Algorithm. Then the improved YOLOv3 is applied in Deep Sort and the performance result of Deep Sort showed that, it has greater performance in complex scenes, and is robust to interference such as occlusion and camera movement, compared to state of art algorithms such as KCF, MIL, MOSSE, TLD, and Median Flow. With this improvement, it will help in the safety of inland navigation and protection from collisions and accidents.
Symmetry in nodes operation in underwater wireless sensor networks (WSNs) is crucial sothat nodes consume their energy in a balanced fashion. This prevents rapid death of nodes close towater surface and enhances network life span. Symmetry can be achieved by minimizing delay andensuring reliable packets delivery to sea surface. It is because delay minimization and reliability arevery important in underwaterWSNs. Particularly, in dense underworks, packets reliability is of seriousconcernwhen a large number of nodes advance packets. The packets collide and are lost. This inefficientlyconsumes energy and introduces extra delay as the lost packets are usually retransmitted. This is furtherworsened by adaptation of long routes by packets as the network size grows, as this increases the collisionprobability of packets. To cope with these issues, two routing schemes are designed for dense underwaterWSNs in this paper: delay minimization routing (DMR) and cooperative delay minimization routing(CoDMR). In the DMR scheme, the entire network is divided into four equal regions. The minor sinknodes are placed at center of each region, one in each of the four regions. Unlike the conventionalapproach, the placement of minor sink nodes in the network involves timer based operation and isindependent of the geographical knowledge of the position of every minor sink. All nodes havingphysical distance from sink lower than the communication range are able to broadcast packets directlyto the minor sink nodes, otherwise multi-hopping is used. Placement of the minor sinks in the fourregions of the network avoids packets delivery to water surface through long distancemulti-hopping,which minimizes delay and balances energy utilization. However, DMR is vulnerable to informationreliability due to single path routing. For reliability, CoDMR scheme is designed that adds reliabilityto DMR using cooperative routing. In CoDMR, a node having physical distance from the sink greaterthan its communication range, sends the information packets by utilizing cooperation with a singlerelay node. The destination and the relay nodes are chosen by considering the lowest physical distancewith respect to the desired minor sink node. The received packets at the destination node are merged byfixed ratio combining as a diversity technique. The physical distance computation is independent of thegeographical knowledge of nodes, unlike the geographical routing protocols. This makes the proposedschemes computationally efficient. Simulation shows that DMR and CoDMR algorithms outperformthe counterpart algorithms in terms of total energy cost, energy balancing, packet delivery ratio (PDR),latency, energy left in the battery and nodes depleted of battery power.
In underwater wireless sensor networks, stability and reliability of the network are of paramount importance. Stability of the network ensures persistent operation of the network that, in consequence, avoids data loss when nodes consume all the battery power and subject to death. Particularly, nodes bearing a low pressure of water die early in the usual routing approach due to being preferred choices for data routing. Reliability ensures minimization of the adverse channel effects on data packets so that the desired information is easily extracted from these packets. This article proposes two routing protocols for underwater wireless sensor networks: reliable and stability-aware routing and cooperative reliable and stability-aware routing. In reliable and stability-aware routing, energy assignment to a node is made on the basis of its depth. Sensor nodes having the lowest depth are assigned the highest amount of energy. This energy assignment is called the energy grade of a node and five energy grades are formed in the proposed network from top to bottom. The energy grade along with energy residing in a node battery and its depth decide its selection as a forwarder node. The reliable and stability-aware routing uses only a single link to forward packets. Such a link may not be reliable always. To overcome this issue, the cooperative reliable and stability-aware routing is proposed which introduces cooperative routing to reliable and stability-aware routing. Cooperative routing involves the reception of multiple copies of data symbols by destination. This minimizes the adverse channel effects on data packets and makes the information extraction convenient and less cumbersome at the final destination. Unlike the conventional approach, the proposed schemes do not take into account the coordinates of nodes for defining the routing trajectories, which is challenging in underwater medium. Simulation results reveal a better behavior of the proposed protocols than some competitive schemes in terms of providing stability to the network, packet transfer to the ultimate destination, and latency.
An efficient algorithm for the persistence operation of data routing is crucial due to the uniqueness and challenges of the aqueous medium of the underwater acoustic wireless sensor networks (UA-WSNs). The existing multi-hop algorithms have a high energy cost, data loss, and less stability due to many forwarders for a single-packet delivery. In order to tackle these constraints and limitations, two algorithms using sink mobility and cooperative technique for UA-WSNs are devised. The first one is sink mobility for reliable and persistence operation (SiM-RPO) in UA-WSNs, and the second is the enhanced version of the SiM-RPO named CoSiM-RPO, which utilizes the cooperative technique for better exchanging of the information and minimizes data loss probability. To cover all of the network through mobile sinks (MSs), the division of the network into small portions is accomplished. The path pattern is determined for MSs in a manner to receive data even from a single node in the network. The MSs pick the data directly from the nodes and check them for the errors. When erroneous data are received at the MS, then the relay cooperates to receive correct data. The proposed algorithm boosts the network lifespan, throughput, delay, and stability more than the existing counterpart schemes.
Designing an efficient, reliable, and stable algorithm for underwater acoustic wireless sensor networks (UA-WSNs) needs immense attention. It is due to their notable and distinctive challenges. To address the difficulties and challenges, the article introduces two algorithms: the multilayer sink (MuLSi) algorithm and its reliable version MuLSi-Co using the cooperation technique. The first algorithm proposes a multilayered network structure instead of a solid single structure and sinks placement at the optimal position, which reduces multiple hops communication. Moreover, the best forwarder selection amongst the nodes based on nodes’ closeness to the sink is a good choice. As a result, it makes the network perform better. Unlike the traditional algorithms, the proposed scheme does not need location information about nodes. However, the MuLSi algorithm does not fulfill the requirement of reliable operation due to a single link. Therefore, the MuLSi-Co algorithm utilizes nodes’collaborative behavior for reliable information. In cooperation, the receiver has multiple copies of the same data. Then, it combines these packets for the purpose of correct data reception. The data forwarding by the relay without any latency eliminates the synchronization problem. Moreover, the overhearing of the data gets rid of duplicate transmissions. The proposed schemes are superior in energy cost and reliable exchanging of data and have more alive and less dead nodes.
In underwater acoustic sensor networks (UASNs), energy awareness, best path selection, reliability, and scalability are among the key factors that decide information delivery to the sea surface. Existing protocols usually do not combine such performance-affecting factors in information routing. As a result, the performance of such protocols usually deteriorates if multiple performance factors are taken into account. To cope with such performance deterioration, this article proposes two routing protocols for UASNs: energy and path-aware reliable routing (EPRR) and cooperative EPRR (Co-EPRR). Compared with the counterpart systems, the proposed protocols have been designed to deal with the problem of long propagation delays and achieve network reliability. The EPRR scheme uses nodes’ physical distance from the surface with its depth, which minimized the delay of packet transmission. The channel interaction time has been reduced, therefore, reducing unwanted channel effects on the data. Furthermore, the density of the nodes in the upper part of the network prevents data loss and limits the rapid death of the nodes. The second proposed scheme, Co-EPRR, uses the concept of routing information from the source to the destination on multiple paths. In Co-EPRR routing, the destination node can receive more than one copy of the data packet. This reduces unfavorable channel effects during data delivery. Both the schemes show good performance in terms of packet delivery ratio, received packet analysis, and end-to-end delay.
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