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A fish-shaped minimal prototype of lateral line system based on pressure sensing

机译：基于压力感应的鱼形最小横向线系统原型

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Lateral line is a unique organ, with which fish could sense surrounding environment by processing hydrodynamic information about local flow. This sensing mechanism provides a new perspective for researchers and engineers to build such a sensing system that could be applied to control and near field navigation for underwater robots and vehicles. In this paper, a pressure-sensing-based and fish-shaped minimal prototype is proposed, with two sensor arrays comprising eight pressure sensors acting as trunk lateral line. The effectiveness of our proposed prototype is validated by localizing a dipole source. Three methods, derivative free, quasi newton and genetic algorithm, are adopted to assess the sensing performance. Preliminary experiments demonstrate that the localization results match well with the actual positions of the dipole source in the direction along the artificial lateral line. While in the perpendicular direction, the localization results show increasing errors with the increase of dipole-sensor distance, but concentrate at a certain value at different distances. An error correction mapping is introduced to modify this deviation and the overall localization error is reduced to less than 0.06 Body Length (BL). In addition, by comparing the results obtained from different methods, we find that a simple algorithm can be effective for our proposed model-based scheme in localizing the dipole source.
机译：侧线是一种独特的器官，鱼类可以通过处理有关局部水流的流体动力学信息来感知周围环境。这种感测机制为研究人员和工程师提供了一种新的视角，以构建可用于水下机器人和车辆的控制和近场导航的感测系统。在本文中，提出了一种基于压力感测和鱼形的最小原型，该模型具有两个传感器阵列，其中包括八个用作躯干侧线的压力传感器。我们提出的原型的有效性通过定位偶极子源进行了验证。采用无导数，拟牛顿法和遗传算法三种方法对传感性能进行评估。初步实验表明，定位结果与偶极子源沿人工横线方向的实际位置非常吻合。在垂直方向上，定位结果显示出随着偶极子传感器距离的增加而增加的误差，但是集中在不同距离处的某个值上。引入了纠错映射来修改此偏差，并且将整体定位误差减小到小于0.06车身长度（BL）。另外，通过比较从不同方法获得的结果，我们发现一种简单的算法对于我们提出的基于模型的方案可以有效地定位偶极子源。

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