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Data Processing Methods of Flow Field Based on Artificial lateral line Pressure Sensors

Journal of Bionic Engineering 2022年第6期19卷 1797-1815页

作者： Bing Sun Yi Xu Shuhang Xie Dong Xu Yupu Liang School of Electronics and Information Engineering Beihang UniversityBeijing100191BeijingChina School of Automation Science and Electrical Engineering Beihang UniversityBeijing100191BeijingChina

The estimation of the type and parameter of flow field is important for robotic fish.Recent estimation methods cannot meet the requirements of the robotic fish due to the lack of prior knowledge or the under-fitting of the model.A processing method including data preprocessing,feature extraction,feature selection,flow type classification and flow field parameters estimation,is proposed based on the data of the pressure sensors in an Artificial lateral line.Probabilistic Neural Network(PNN)is used to classify the flow field type and the Generalized Regressive Neural Network(GRNN)is the best choice for estimating the flow field parameters.Also,a few filtering methods for data preprocessing,three methods for feature selection and nine parameters estimation methods are analysis for choosing better method.The proposed method is verified by the experiments with both simulation and real data.

关键词： Robotic fish Artificial lateral line Data processing Neural network

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Fish lateral line Inspired Flow Sensors and Flow-aided Control: A Review

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Journal of Bionic Engineering 2021年第2期18卷 264-291页

作者： Yufan Zhai Xingwen Zheng Guangming Xie State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design LabCollege of EngineeringPeking UniversityBeijing 100871China Institute of Ocean Research Peking UniversityBeijing 100871China Peng Cheng Laboratory Shenzhen 518055China

Any phenomenon in nature is potential to be an inspiration for us to propose new ideas.lateral line is a typical example which has attracted more interest in recent years.With the aid of lateral line,fish is capable of acquiring fluid information around,which is of great significance for them to survive,communicate and hunt underwater.In this paper,we briefly introduce the morphology and mechanism of the lateral line first.Then we focus on the development of Artificial lateral line which typically consists of an array of sensors and can be installed on underwater robots.A series of sensors inspired by the lateral line with different sensing principles have been summarized.And then the applications of Artificial lateral line systems in hydrodynamic environment sensing and vortices detection,dipole oscillation source detection,and autonomous control of underwater robots have been reviewed.In addition,the existing problems and future foci in this field have been further discussed in detail.The current works and future foci have demonstrated that Artificial lateral line has great potentials of applications and contributes to the development of underwater robots.

关键词： lateral line Artificial lateral line bio-inspired flow sensor flow-aided control underwater robot

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