In wireless sensor networks (WSNs), energy efficiency can simultaneously guarantee robustness to link loss and node failure and is a key design goal of routing protocols because WSNs are strongly constrained in terms of transmission reliability, transmission delay, and energy consumption. Braided multipath routing has become a powerful tool for tolerating node failures and link losses, with high reliability and efficient data transmission rates. In this paper, we propose a novel network coding-based braided multipath routing called NC-BMR protocol. It integrates a data compression-based network coding method with the construction of hierarchical multiparent nodes (HMPNs) topology for the routing with coordinated data forwarding manner and a multipackets-based time scheduler strategy (MTSS). Its perfect transmission efficiency is achieved by only attaching a little control information with data packets. We validated NC-BMR based on the TOSSIM platform and compared it to several previous methods. Theoretical analysis and simulation results demonstrate its performance improvement in terms of the transmission reliability, delay, and overhead.

The development of a maneuverable underwater high-speed vehicle is worthy of attention and study using supercavitation drag reduction theory and technology. The supercavity shape determines the hydrodynamics of the vehicle, and especially during a maneuver, its unsteady characteristics have a significant impact on the motion stability of the vehicle. The three-dimensional dynamic model of a ventilated supercavitating vehicle is established using the unsteady supercavity dynamic model based on the rigid body dynamics theory as an extension of the vehicle's longitudinal dynamic model in our recent work. The vehicle's accelerating and decelerating motions are simulated in the straight flight state using a self-developed numerical method based on the vehicle's dynamic model with the designed control law. Motion characteristics are analyzed on the evolution laws of the vehicle's motion state variables and control variables and the supercavity's characteristic parameters (i.e., ventilation cavitation number, supercavity maximum diameter and supercavity length) in the acceleration motions. The evolution laws in the accelerating and decelerating motions are compared, and the effects of the acceleration on the laws are further analyzed. This study lays the foundation for the in-depth study of the hydrodynamic characteristics and motion stability of ventilated supercavitating vehicles in maneuvering states.

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The shear flow on the large-scale gas-water wall inside a ventilated supercavity exhibits gas entrainment mode and determines the change law of the supercavity's gas loss, significantly impacting the shape and dynamics of the supercavity. Therefore, to develop an accurate prediction model and a ventilation control method for a supercavity under complex motion conditions, it is required to systematically and quantitatively study the shear flow characteristics and rules. This study calculates and comparatively analyzes the shear layers on either side of the supercavity wall based on numerical simulations of ventilated supercavitating flows in an unbounded field using the gas-vapor-water multi-fluid model. It is shown that the external shear layer with a very irregular outer boundary is considerably thinner than the internal shear layer. We further analyze the flow and distribution characteristics of all the phases in the shear layers with and without the influence of gravity. Our analysis confirms that all the phases exhibit a similar velocity change rule along the supercavity radial direction in the shear layer, whereas gas and water phases exhibit opposite radial phase distribution trends. It was also seen when natural cavitation occurs that the vapor phase is mainly distributed in the head of the supercavity. Moreover, at the same radial position, it was seen that the vapor velocity was higher than the gas velocity and slightly lower than the water velocity. Using the shear flow and phase distribution characteristics, a shear-layer gas loss model is established and validated for ventilated supercavitating flows.

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