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Electrolocation of multiple objects based on temporal sweep motions

机译：基于时间扫描运动对多个对象进行电定位

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Weakly electric fish use self-generated electric fields to identify prey, explore their surroundings, and communicate with conspecifics. They have electroreceptors over their entire skin surfaces, and readings from these electroreceptors form electric images. The characteristics of electric images include important information such as the locations, shapes, and electrical properties of target objects. The lateral distance to a target object can be estimated using the rate between maximal slope and maximal amplitude, or relative slope, and provides a direct cue to localize target objects, irrespective of size and electrical properties. Sensor readings acquired from distributions of electroreceptors are interpreted as spa tial electric images. Temporal electric images can be assessed using a single electroreceptor by back-and-forth swimming. Some species of weakly electric fish engage in back-and-forth swimming behavior during foraging and can use spatiotem poral information to localize objects. With active body movement and forward swimming, a single electroreceptor can scan the time course of potential perturbation caused by a target object. If there is more than one target object, electric images may be distorted by interactions between individual images. In this paper, we suggest that temporal relative slope is an effective measure for the electrolocation of multiple objects by robotic systems. We investigate the characteristics of temporal relative slopes based on back-and-forth sweeping motions to localize multiple spherical objects via modeling experiments. This method can be applied to biomimetic robotic systems in the underwater environment.
机译：弱电鱼利用自生电场识别猎物，探索其周围环境并与物种进行交流。他们在整个皮肤表面都有电感受器，这些电感受器的读数会形成电图像。电图像的特征包括重要信息，例如目标对象的位置，形状和电特性。可以使用最大斜率和最大振幅或相对斜率之间的比率来估算到目标物体的横向距离，并提供直接提示来定位目标物体，而与大小和电气特性无关。从电感受器的分布获取的传感器读数被解释为空间电图像。可以使用单个电感受器通过来回游泳来评估时间电图像。一些弱电鱼在觅食期间会来回游泳，并可以使用时空信息来定位对象。通过主动的身体运动和向前游泳，单个电感受器可以扫描由目标物体引起的潜在扰动的时间过程。如果目标物体不止一个，则电子图像可能会由于各个图像之间的相互作用而失真。在本文中，我们建议时间相对斜率是通过机器人系统对多个对象进行电定位的有效措施。我们研究了基于来回扫掠运动的时空相对坡度的特征，以通过建模实验来定位多个球形物体。该方法可以应用于水下环境中的仿生机器人系统。

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