User Tutorial for Aqua-Sim I. Introduction II. The
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1. terminate ns_ at opt stop 003 a_ 1 terminate ns_ at opt stop 004 a_ 2 terminate Finally we will run our simulation with the following command Sme u In this example we have constructed a one hop fully connected network Every node will transmit its data to the sink node R MAC protocol is used in the MAC layer to coordinate the data transmission After the simulation we can see the simulation results as follows SINK 0 terminates send 0 recv 23 SINK 3 terminates send 6 recv 0 SINK terminates send 10 recv 0 SINK 2 terminates send 9 recv 0 god the energy consumption is 0 448000 which calculates the throughput for every node and the overall energy consumption III 2 Multi hop network Simulation example In this example we will show you how to set up a mobile multi hop underwater network Broadcast MAC protocol and VBF routing protocol will be used here And the complete Tcl file for this example can be found on underwatersensor uw_tcl vbf_example tcl VBF protocol is a geographic routing protocol Based on location information a forwarding path is specified by the vector from the source to the destination and forms a routing pipe As shown in Fig 3 when S1 sends its packets to the surface buoy SO every node in the routing pipe will participate in the packet relay Not close to the vector gt No Forward Fig 3 VBF working process To use VBF protocol an important parameter2. is the width of the routing pipe and it can be specify as Sa_ 1 attach vectorbasedforward Sopt width Then we should add VBF protocol and the broadcast MAC protocol into the underwater sensor node as follows set opt mac Mac UnderwaterMac BroadcastMac set opt adhocRouting Vectorbasedforward Sns_ node config adhocRouting Sopt adhocRouting IType SoptiIl macType Sopt mac ifqType Sopt ifq ifqLen Sopt ifqlen antType Sopt ant propType Sopt prop phyType Sopt netif channelType Sopt chan agentTrace OFF routerTrace OFF mactTrace ON topolnstance Stopo energyModel Sopt energy txPower Sopt txpower rxPower Sopt rxpower Next we need to construct the mobile nodes in the network And here we specify a mobile node on the water surface and its position is 440 0 0 set node _ 1 Sns_ node 1 Snode_ 1 set sinkStatus_ 1 Sgod_ new_node node 1 Snode_ 1 set X_ 440 Snode_ 1 setY_ 0 Snode 1 setZ_ 0 Snode_ 1 set passive 1 Next we specify the mobility model of this node as follows The node here randomly chooses a speed between max_speed and min speed and move in a randomly chosen direction Its position is updated every position_update_interval seconds Snode_ 1 set max_speed Sopt maxspeed Snode_ 1 set min_speed Sopt minspeed Snode_ 1 set position_update_interval_ Sopt position_update_interval Snode_ 1 move Then we need to set up a traffic agent for this node It fir
3. to be a underwater sink node which will receive packets from other nodes And this node is passively moving in the network node_ 0 set sinkStatus_ 1 node_ 0 set passive 1 All nodes in the network are managed by a global object god_ and here we add this node to the god_ object god_ new_node node_ 0 Here we set the position of this node as 0 0 0 node_ 0 set X_ 0 node_ 0 set Y_ 0 node_ 0 set Z_ 0 Here we construct a underwater sink which is responsible for data sending and receiving We then attach this sink to the node set a_ O new Agent UWSink ns_ attach agent node_ 0 a_ 0 In this example we do not simulate the routing protocol and thus we set its next hop to node 0 Every packet generated by node 0 will be sent to node 0 node_ 0 set_next_hop 0 In the same way we will construct other three nodes in the network In this example every node in the network will send its data to node 0 And then we create a new ns_ object set ns_ new Simulator Then we set node 1 2 3 to start its data transmission at 20 seconds Node 1 and node 3 will start a traffic pattern with exponential distribution and node 3 will transmit at a constant bit rate ns_ at 20 a_ 1 exp start ns_ at 20 a_ 2 cbr start ns_ at 20 a_ 3 exp start And every node will stop its data transmission when the simulation ends ns_ at opt stop 001 a_ 0 terminate ns_ at opt stop 002 a_ 3
4. 1 0e4 Mac UnderwaterMac RMac set ND_window_ 2 Mac UnderwaterMac RMac set ACKND_window_ 4 Mac UnderwaterMac RMac set PhaseOne_window_ 7 Mac UnderwaterMac RMac set PhaseTwo_window_ 2 Mac UnderwaterMac RMac set IntervalPhase2Phase3_ 2 Mac UnderwaterMac RMac set ACKRevInterval_ 0 1 Mac UnderwaterMac RMac set duration_ 0 1 Mac UnderwaterMac RMac set PhyOverhead_ 8 Mac UnderwaterMac RMac set large_packet_size_ 560 70 bytes Mac UnderwaterMac RMac set short_packet_size_ 80 10 bytes Mac UnderwaterMac RMac set PhaseOne_cycle_ 1 deleted later Mac UnderwaterMac RMac set PeriodInterval_ 1 Mac UnderwaterMac RMac set transmission_time_error_ 0 0 Next we set up a underwater channel chan_1_ which will be used in our network set chan_1_ new opt chan And we then construct the underwater node by combining all different network layers as follows All nodes in the network will use this node model ns_ node config adhocRouting opt adhocRouting IlType Sopt l macType opt mac ifqT ype Sopt ifq ifqLen opt ifqlen antType opt ant propType opt prop phyType opt netif agentTrace OFF routerTrace OFF macTrace OFF topoInstance topo energyModel opt energy txPower opt txpower rxPower opt rxpower initialEnergy opt initialenergy idlePower opt idlepower channel chan_1_ Next we construct network nodes by using the above node model set node_ 0 ns_ node 0 node 0 is set
5. User Tutorial for Aqua Sim I Introduction Disclaimer This tutorial is maintained and being expanded by the UWSN Research group at the University of Connecticut The purpose of this tutorial is to make it easier for new Aqua Sim users to use Aqua Sim to create their own underwater network scenarios for simulation purposes In this tutorial we will lead you through some simple examples introducing more and more new features about Aqua Sim as we go along The ultimate goal is that after a short time you are able to use Aqua Sim efficiently Aqua Sim is based on network simulator NS 2 Please understand that we cannot give you a full reference manual for NS 2 here There are better sources for NS 2 on http www isi edu nsnam ns If you have any suggestions find any bugs or problems have any comments and also if you have any new well documented examples that could be added here please send email to the Aqua Sim user mailing list II The Basics II 1 Downloading Installing Aqua Sim You can download Aqua Sim package from http uwsn engr uconn edu Aqua Sim Currently Aqua Sim is based on NS 2 2 30 package Aqua Sim package includes all components of NS 2 2 30 as well as the new underwater network component After downloading Aqua Sim first unzip it with tar xvvzf Aqua sim 2 30 ns tar gz And then go to the sub directory ns 2 30 run install which will install the whole package of Aqua Sim automatically If there ar
6. ay Aqua Sim can evolve independently Ns 2 Basics Fig 1 Relationship between Aqua Sim and NS 2 Aqua Sim follows the object oriented design style of NS 2 and all network entities are implemented as classes in C Currently Aqua Sim is organized into four folders uw common uw mac uw routing and uw tcl The codes simulating underwater sensor nodes and traffic are grouped in folder uw common the codes simulating acoustic channels and MAC protocols are organized in the folder of uw mac The folder uw routing contains all routing protocols The folder uw tcl includes all Otcl script examples to validate Aqua Sim Fig 2 plots the class diagram of Aqua Sim In the figure the UnderwaterNode object is the abstraction of the underwater sensor node It encapsulates many useful information of the node such as its location and its moving speed It is a global object and can be accessed by any object in Aqua Sim The UnderwaterChannel object represents the underwater acoustic channel There is only one UnderwaterChannel object in the network and all packets are queued here before being delivered The UnderwaterChannel object also provides public interface to upper layers and thus the object in the upper layer such as a routing layer object can easily get to know the channel properties VBVA A der w freee eed TMAC UnderwaterNode i RMAC MAE Falka PFE der E derive derive 4 4 4 use cal
7. e any problems about the installation you might report to us or ask the the Aqua Sim user mailing list After the installation is complete you should make sure that your path points to the ns allinone bin directory where links to the ns and nam executables in the ns 2 and nam 1 directories can be found II 2 Starting Aqua Sim You start Aqua sim with the command ns lt tclscript gt assuming that you are in the directory with the ns executable or that your path points to that directory where lt tclscript gt is the name of a Tcl script file which defines your simulations You could also just start Aqua Sim without any arguments and then enter your Tcl commands in the Tcl shell but that is definitely less comfortable Everything else depends on the Tcl script The script might create some output on stdout it might write a trace file or it might start nam to visualize the simulation Or all of the above These possibilities will all be discussed in later sections Currently there are a variety of Tcl scripts for Aqua Sim in the ns 2 30 underwatersensor uw_tcl II 3 Aqua Sim Architecture Aqua Sim is in parallel with the CMU wireless simulation package As shown in Fig 1 Aqua Sim is independent of the wireless simulation package and is not affected by any change in the wireless package On the other hand any change to Aqua Sim is also confined to itself and does not have any impact on other packages in NS 2 In this w
8. l Jeall i Pecorino UnderwaterChannel Fig 2 Aqua Sim Architecture HI The TCL Examples in Aqua Sim In this section you are going to develop Tcl scripts for Aqua Sim which simulate both one hop and multi hop underwater network scenarios You are going to learn how to deploy underwater nodes in the three dimensional underwater network scenarios how to set up underwater acoustic channels how to configure the MAC routing and application layer protocols and how to configure the data transmissions from one node to another III 1 One hop network Simulation example Now we are going to write the first Tcl scripts for Aqua Sim You can write your Tcl scripts in any text editor like Vi or Emacs And in this example we will show you how to set up a simple one hop network with several nodes and we will use R MAC as the MAC protocol The whole Tcl file of this example can be found in underwatersensor UW_TCL rmac star 4 tcl R MAC is a reservation based MAC protocol designed for long delay underwater sensor networks which is proposed by the UWSN lab at University of Connecticut In R MAC all nodes are synchronized and R MAC schedules the transmission of control packets and data packets to void data packet collision completely R MAC can achieve high energy efficiency and fairness First of all we need to specify several parameters which will be used for our simulations set opt chan Channel UnderwaterChannel Here we specify the com
9. munication channel that we will use for this simulation is the underwater acoustic channel Channel UnderwaterChannel here means UnderwaterChannel which defined as one type of channel in Aqua Sim set opt prop Propagation UnderwaterPropagation The propagation model here is UnderwaterPropagation which simulates the underwater acoustic signal propagation in the underwater environment Both the long propagation delay and the high attenuation ratio are considered in this model You can change the parameters in this propagation model For example we can set the propagation speed and the attenuation rate set opt netif Phy UnderwaterPhy The physical layer model for this example is UnderwaterPhy which is a kind of physical layer model adopted by Aqua Sim In this physical layer model the half duplex property as well as the energy model is modeled here set opt mac Mac UnderwaterMac RMac set opt ifq Queue DropTail The MAC protocol we will use in this example is R MAC protocol and the queue model in the network is DropTail queue which always drops packets at the tail if the queue is full set opt txpower 1 set opt rxpower 0 1 set opt ant Antenna OmniAntenna The transmitting power of every underwater node is 1 watt and the receiving power is 0 1 watt The antenna we use is the omni antenna which can transmit signal in all direction equally Next we specify the parameters for the R MAC protocol Mac UnderwaterMac set bit_rate_
10. st specify the routing pipe width for the VBF protocol as Sopt width which is a user defined parameter And then it set its destination location to be 20 10 20 where the sink node is assumed to be set a_ 1 new Agent UWSink Sns_ attach agent Snode_ 1 a_ 1 Sa_ 1 attach vectorbasedforward Sopt width Sa_ 1 cmd set range Sopt range Sa_ 1 cmd set target x 20 Sa_ 1 cmd set target y 10 Sa_ 1 cmd set target z 20 In the same way we can randomly construct multiple mobile nodes in the network all send its data packets to the destination with VBF and broadcast MAC protocols
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