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by Bin Zhang, Gaurav S. Sukhatme, Aristides A. G. Requicha
in IEEE/RSJ International Conference on Intelligent Robots and Systems
http://cres.usc.edu/pubdb_html/files_upload/402.pdf
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Abstract:
Abstract — We describe the design and construction of an underwater sensor actuator network to detect extreme temperature gradients. We are motivated by the fact that regions of sharp temperature change (thermoclines) are a breeding ground for certain marine microorganisms. We present a distributed algorithm using local communication based on binary search to find a thermocline by using a mobile sensor network. Simulations and experiments using a mote test bed demonstrate the validity of this approach. We also discuss the improvement in energy efficiency using a submarine robot as a data mule. Comparisons between experimental data with and without the data mule show that there are considerable energy savings in the sensor network due to the data mule. I.
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