This paper presents a detailed study of uplink scheduling in narrowband internet of things (NB-IoT) networks. As NB-IoT devices need a long battery lifetime, we aim to maximize energy efficiency while satisfying the main requirements for NB-IoT devices. Also, as the NB-IoT scheduling problem is divided into link adaptation problem and resource allocation problem, this paper investigates the correlation between these two problems. Accordingly, we propose two scheduling schemes: the joint scheduling scheme, where the two problems are combined as one optimization problem, and the successive scheduling scheme that manages each problem separately but successively. Each scheme aims to maximize energy efficiency while achieving reliable transmission, satisfying delay requirements, and guaranteeing resource allocation specifications. Also, we investigate the impact of the selected devices to be served on the total energy efficiency. Accordingly, we propose two device selection techniques to maximize the total energy efficiency. The first technique exhaustively searches for the optimal devices, while the second sorts the devices based on a proposed priority score. The simulation results compare the successive and the joint scheduling schemes. The results show that the joint scheme outperforms the successive scheme in terms of energy efficiency and the number of served devices but with higher complexity. Also, the results highlight the impact of each proposed selection technique on the scheduling schemes’ performance.

This paper details a new extrinsic calibration method for scanning laser rangefinder that is precisely focused on the geometrical ground plane-based estimation. This method is also efficient in the challenging experimental configuration of a high angle of inclination of the LiDAR. In this configuration, the calibration of the LiDAR sensor is a key problem that can be be found in various domains and in particular to guarantee the efficiency of ground surface object detection. The proposed extrinsic calibration method can be summarized by the following procedure steps: fitting ground plane, extrinsic parameters estimation (3D orientation angles and altitude), and extrinsic parameters optimization. Finally, the results are presented in terms of precision and robustness against the variation of LiDAR’s orientation and range accuracy, respectively, showing the stability and the accuracy of the proposed extrinsic calibration method, which was validated through numerical simulation and real data to prove the method performance.