| Underwater environment is a very complex environment. There is no light can beused for underwater imaging in dark night or deep sea area, which leads to the part orwhole loss of biological vision. On this condition, fish use lateral line system to sensethe pressure of the flow and hydrodynamic feature around. Based on this bionicmechanism, a design of artificial lateral line system and research of hydrodynamicsensing are explored. According to the distribution of fish lateral line in nature, arobotic fish is used as a carrier to design a novel artificial lateral line system.Experiments have been carried out for robotic fish in water and some results can beobtained. The main achievements are shown as the following:Firstly, combining the technology of robot and sensing, take participate in thedevelopment of the novel robotic fish. Using the novel robotic fish as a carrier, anartificial lateral line system has been designed. Complete the design anddemonstration of artificial lateral line system, installation and test of software andhardware, and further experiment and maintenance work.Secondly, using the designed artificial lateral line system, underwaterhydrodynamic sensing works have been carried out. Aiming at the speed estimationmethod, a speed estimation method for robotic fish based on pressure sensor is present.Based on property of pressure sensor, the relation model between pressure and speedwas fitted by experimental analysis. Using this relation model, the swimming speed ofrobotic fish can be calculated by pressure, which providing a new way to measure theswimming speed of robotic fish.Thirdly, using the sensing function of artificial lateral line system, the pressurevariation can be recorded when the robotic fish swims in different model. A patternrecognition algorithm is adopted to recognize the pressure variation around roboticfish, so can identify in which model the robot is, which can take quick control for it. |
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