**4. Experimental results and analysis**

We can summarise our final conclusion from our experimental results as follows:

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Increasing the number of nodes with constant origin makes TORA unstable, and its energy consumption increases by 518% when the number of nodes increases from 25 to 50. DSDV has shown fixed behaviour in all scenarios due to its table driven specification. DSR has acted better than AODV and CBRP in similar situations, and FSR has mostly had values between those of DSR and AODV. CGSR has had no constant behaviour and sometimes performs better than DSR, although sometimes worse. However, its overall performance is similar to that of DSR.

Fig. 12. Energy consumption as a function of origin traffic for seven protocols

## **5. Conclusion**

In this article, Mobile Ad Hoc networks are described, and some of the most important routing protocols are studied. The results obtained from the assessment and comparisons of the energy consumption were shown for DSR, AODV, DSDV, TORA, FSR, CBRP and CGSR protocols. Parameters were considered for a mobile Ad Hoc networks, as well as a basic state. Different results were given by changing the selected parameters. Based on these results, the DSR and AODV protocols have shown better performance than other protocols, and for all scenarios, TORA has had the worst result. DSDV has fixed behavior in all scenarios due to its table driven specification.

### **6. References**


262 Real-Time Systems, Architecture, Scheduling, and Application

Increasing the number of nodes with constant origin makes TORA unstable, and its energy consumption increases by 518% when the number of nodes increases from 25 to 50. DSDV has shown fixed behaviour in all scenarios due to its table driven specification. DSR has acted better than AODV and CBRP in similar situations, and FSR has mostly had values between those of DSR and AODV. CGSR has had no constant behaviour and sometimes performs better than DSR, although sometimes worse. However, its overall performance is

Fig. 12. Energy consumption as a function of origin traffic for seven protocols

In this article, Mobile Ad Hoc networks are described, and some of the most important routing protocols are studied. The results obtained from the assessment and comparisons of the energy consumption were shown for DSR, AODV, DSDV, TORA, FSR, CBRP and CGSR protocols. Parameters were considered for a mobile Ad Hoc networks, as well as a basic state. Different results were given by changing the selected parameters. Based on these results, the DSR and AODV protocols have shown better performance than other protocols, and for all scenarios, TORA has had the worst result. DSDV has fixed behavior in all

Akkaya. K and Younis. M, "A Survey of Routing Protocols in Wireless Sensor Networks, " in

Bagad V. S, Dhotre A, Computer Networks – II, Chapter 8, ISBN 818431616X,

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Areas In Communications, VOL. 22, NO. 7, Pages 1357-1373, September 2004

MANETs and Their Impact on Reactive Routing Protocols, IEEE Journal On Selected

the Elsevier Ad Hoc Network Journal, Vol. 3/3, pp. 325349, 2005.

9788184316162, Technical Publications, 2009

similar to that of DSR.

**5. Conclusion** 

**6. References** 

scenarios due to its table driven specification.


**13** 

*Spain* 

**Real-Time Motion Processing Estimation** 

Motion estimation is a low-level vision task which manages a high number of applications as sport tracking, surveillance, security, industrial inspection, robotics, navigation, optics, medicine and so on. Unfortunately, many times it is unaffordable to implement a fully functional embedded system for real-time operation which works in a while with enough accuracy due the nature and complexity of the signal processing operations involved.

In this chapter, we will introduce different motion estimation systems and their implementation when real-time is required. For the sake of clarity, it will be previously shown a general description of the motion estimation paradigm. Subsequently, three

The present chapter is thus organized as follows, after an introductory part, the second section is regarding the motion estimation and optical flow paradigms, the similarities and differences to understand the real-time methods and algorithms. Later will be performed a classification of motion estimation systems according different families and enhancements for further approaches. This second section is finished with a plethora of real-time

The third section focuses on three different case studies of real-time optical flow systems developed by the authors, where also are presented the throughput and resource consuming

The fourth section analyses the performance and the resources consumed by each one of this three specific real-time implementations. The rest of the sections, fifth to seventh, approaches the conclusion, the acknowledgements and the bibliography, respectively.

The term "optic flow" was named by James Gibson after the Second World War, when he was working on the development of tests for pilots in the U.S. Air Force (Gibson, 1947). His basic principles provided the basis for much of the work of computer vision 30 years later (Mar, 1982). In later publications, Gibson defines the deformation gradient image along the

systems regarding low-level and mid-level vision domain will be explained.

data from a reconfigurable platform (FPGA-based) used in the implementation.

implementations of the systems explained previously.

motion of the observer, a concept that was dubbed "flow".

**1. Introduction**

**2. Motion estimation** 

**Methods in Embedded Systems** 

*Department of Computer Architecture and Automation* 

Guillermo Botella and Diego González

*Complutense University of Madrid,* 

