The current expansion of the Internet of things (IoT) demands improved communication platforms that support a wide area with low energy consumption. The 3rd Generation Partnership Project introduced narrowband IoT (NB-IoT) as IoT communication solutions. NB-IoT devices should be available for over 10 years without requiring a battery replacement. Thus, a low energy consumption is essential for the successful deployment of this technology. Given that a high amount of energy is consumed for radio transmission by the power amplifier, reducing the uplink transmission time is key to ensure a long lifespan of an IoT device. In this paper, we propose a prediction-based energy saving mechanism (PBESM) that is focused on enhanced uplink transmission. The mechanism consists of two parts: first, the network architecture that predicts the uplink packet occurrence through a deep packet inspection; second, an algorithm that predicts the processing delay and pre-assigns radio resources to enhance the scheduling request procedure. In this way, our mechanism reduces the number of random accesses and the energy consumed by radio transmission. Simulation results showed that the energy consumption using the proposed PBESM is reduced by up to 34% in comparison with that in the conventional NB-IoT method.

Theoretical guarantees of capture become complicated in the case of a swimming fish or fish robot because of the oscillatory nature of the fish heading. Building on the connection between a swimming fish and the canonical Chaplygin sleigh, a novel state feedback control law is shown to result in closed-loop dynamics that exhibit a limit cycle resulting in steady forward-swimming motion in a desired heading. Analysis of this limit cycle reveals boundaries on the size of the oscillations around the desired heading, which are then used to specify under what conditions (e.g., prey speed, predator speed, control gains) capture is guaranteed. By changing the desired swimming direction in response to prey movements, the control law is shown to be capable of pure pursuit, deviated pure pursuit, intercept, and parallel navigation in simulation. An experimental demonstration of pure pursuit by a flexible fish-inspired robot actuated with an internal reaction wheel is described.