Real-Time Velocity Vector Resolving of Artificial Lateral Line Array With Fishlike Motion Noise Suppression

doi:10.1109/TRO.2023.3297050

	Real-Time Velocity Vector Resolving of Artificial Lateral Line Array With Fishlike Motion Noise Suppression
	Zhang, Zhuoliang1,2 ; Zhou, Chao1,2 ; Cheng, Long2,3 ; Wang, Xiaofei1,2 ; Tan, Min1,2
发表期刊	IEEE TRANSACTIONS ON ROBOTICS
ISSN	1552-3098
	2023-08-02
页码	16
通讯作者	Zhou, Chao(chao.zhou@ia.ac.cn)
摘要	The past decade has seen the rapid development of the robotic fish in many aspects. However, the velocity measurement problem has not been fully addressed, which limits the autonomy of the robotic fish. To this end, an artificial lateral line (ALL) sensor, inspired by the sensory organs of fish, is developed in this article. By measuring the deformation of the sensitive element, the local flow field around the robotic fish is sensed. According to the characteristics of fishlike motions, a fairing structure is proposed to suppress the turbulence noise and yaw motion noise caused by fishlike oscillation of the tail. This structure ensure that the flow measured by the ALL sensor is closer to laminar flow under viscous effects. Furthermore, to measure the magnitude and direction of the robotic fish velocity, an ALL sensor array is assembled by mounting multiple sensors on the robot's surface to sense the flow field distribution. Next, a kinematic-based fusion method is proposed for the array system, which obtained the real-time velocity vector of the robotic fish by solving overdetermined motion equations. The proposed ALL array system is tested on a freely swimming robotic fish, and our method achieves a mean absolute error of 0.018 m/s, a linearity (R2) of 0.951, and a position tracking error of 0.085 m. Additionally, the fairing structure is found to improve the signal-to-noise ratio by 116%.
关键词	Artificial lateral line (ALL) flow sensing turbulence noise suppression velocity of robotic fish
DOI	10.1109/TRO.2023.3297050
关键词[WOS]	FLOW ; GPS
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209] ; National Natural Science Foundation of China[62311530097]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:001043266200001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53892
专题	多模态人工智能系统全国重点实验室
通讯作者	Zhou, Chao
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhang, Zhuoliang,Zhou, Chao,Cheng, Long,et al. Real-Time Velocity Vector Resolving of Artificial Lateral Line Array With Fishlike Motion Noise Suppression[J]. IEEE TRANSACTIONS ON ROBOTICS,2023:16.
APA	Zhang, Zhuoliang,Zhou, Chao,Cheng, Long,Wang, Xiaofei,&Tan, Min.(2023).Real-Time Velocity Vector Resolving of Artificial Lateral Line Array With Fishlike Motion Noise Suppression.IEEE TRANSACTIONS ON ROBOTICS,16.
MLA	Zhang, Zhuoliang,et al."Real-Time Velocity Vector Resolving of Artificial Lateral Line Array With Fishlike Motion Noise Suppression".IEEE TRANSACTIONS ON ROBOTICS (2023):16.