Journal Article
Maximized hydrodynamic stimulation strategy for placement of differential pressure and velocity sensors in artificial lateral line systems
Yang, Z., Gong, Z., Jiang, Y., Cai, Y., Ma, Z., Xin Na, Dong, Z. and Zhang, D.
Record Number:
5666
Year:
2022
Journal:
IEEE Robotics and Automation Letters
Pages:
2170-2177
Volume:
7
Abstract:
Abstract—Fish can perceive the surrounding flow field using
their lateral line systems, consisting of canal neuromasts (CNs)
for flow pressure gradient perception and superficial neuromasts
(SNs) for flow velocity detection. Although various artificial lateral
line (ALL) systems have been developed inspired by the lateral
line of fish, few studies have combined both pressure and velocity
sensors for hydrodynamic perception, and how to optimize sensor
placement remains unanswered, particularly on three-dimensional
models. Herein we proposed a maximized hydrodynamic stimulation
strategy for sensor placement optimization. We built a fish
model and designed an ALL system by mimicking the geometry of
a blind cavefish, Sinocyclocheilus tianlinensis. Differential pressure
sensors and hot-film flow velocity sensors were used to mimic
the CNs and SNs, respectively, with optimized sensor placement.
The simulation and experimental results on yaw angle detection
suggested that both sensor placement of our ALL system and
distribution of the biological lateral line showed good agreement
with the maximized hydrodynamic stimulation strategy. Our ALL
system could detect a wall within a distance of 0.1 body length,
comparable to the perception ability of cave fish. The new sensor
placement strategy can be used to equip ALL systems on bionic
robotic fish and other underwater vehicles.
Index Terms—Biomimetics, sensor fusion, artificial lateral line,
sensor placement.
Times Cited:
1
Relevent Species:
Related Records:
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