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Maximizing network lifetime in this situation is open, and many works can be done for this issue The main concern of the power-ef cient topology control algorithm proposed in recent years is to reduce the transmission range of nodes while maintaining moderate connectivity However, because traf c in ad hoc networks is typically dynamic, a load-sensitive power-ef cient topology control may further reduce the total energy consumption in ad hoc networks and prolong the network lifetime Power management can save a signi cant amount of energy for nodes in ad hoc networks because nodes are scheduled to switch to the sleeping state when they are in the idle mode However, nding an optimal schedule is still open.

lected in a point-of-interest ow and stored in a point-of-interest map. The strategies employed for selecting the actual scan area are called focus of attention or visual search strategies. SPIN illustrates key issues with computer vision in support of AACR. The vision subsystem must contain both high level abstractions needed to extract and classify previously unseen objects, along with substantial a priori models of known classes of objects such as people, buildings, furniture, and vehicles. In addition, the identi cation of such objects from one minute to the next will be errorful. Vision-capable AACR therefore integrates knowledge across sensory domains, including the domain of RF-based location knowledge and user interaction, to reliably identify just those aspects of the scene that must be recognized in order to support the AACR information services use case(s). Although still computationally intensive, the technology includes open source algorithms and well-understood methods for detecting, recognizing, and tracking known types of objects in visual scenes [258, 260 263, 265]. 10.3.4 Cognitive Vision

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For example, the following questions need to be answered in the optimal schedule: when to switch to sleep mode, how long to stay in sleeping state, how a node can send or receive signaling message when in sleeping state, and so on Moreover, power management involves many challenging problems for the upper layers For example, since there always exists a subset of nodes in any region, traditional broadcasting and multipath routing protocols would not work ef ciently in such environment Thus, either of these routing protocols are redesigned to adjust to such a situation, or the power management scheme is carefully designed take into account these considerations Another interesting problem is the tradeoff between energy conservation by power management and network performance Because the network can only make use of a subset of nodes at any time, packet delay is inevitably increased.

SPIN exempli es computer vision systems, a rich domain with decades of research, relevant to AACR. The binocular vision system of the Mars Lander from the Caltech Jet Propulsion Laboratory (JPL), for example, provides APIs by which a robot controller interacts with a scene-depth map to avoid negative obstacles, shallow depressions that are dif cult to perceive. Dr. Jim Albus of the National Institutes of Standards and Technology (NIST) has published a standard computer-vision architecture, 4D RCS, that navigates Army vehicles through a forested area without hitting trees [264], suggesting vision-capable AACR in future automobiles. The summer 2004 issue of AAAI Magazine on cognitive vision [265] addresses chronic AACR vision problems. Computer vision based on invariant triples enhances the reliability of object identi cation from a single digital frame. For example, wheels, windows, and the front grille of an automobile exhibit clusters of triples that reveal the orientation and scale of automobiles in a traf c <Scene/>. In the Bert-and-Ernie use case, a CWPDA worn as eyeglasses might avoid a car, particularly if the oncoming vehicle s AACR detects an emergency <RF/> beep from the child s CWPDA. An AACR that detects rapidly increasing automobile engine and tire noise might yell, Look out via speech synthesizer, causing the child to look around quickly and thus enabling the vision or optical ow system to con rm the danger of the oncoming vehicle so the car can be asked via RF to break in milliseconds, not in the seconds it takes for the distracted driver to notice the child.

How to strike a balance between them in power management is a critical issue to the application of power management in ad hoc networks..

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