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NS-MIRACLE is a framework designed to enhance the functionalities provided by NS2. It provides an efficient engine for handling cross-layer messages and, enables the coexistence of multiple modules within each layer of the protocol stack. For instance, multiple IP, link layers, MACs or PHYs can be specified and used within the same node.
A underwater vehicle simulation test-bed with SAUVC swimming pool environment with 6-vectored thruster configuration vehicle operating in remote controlled and autonomous mode.