A speed measurement method for underwater robots using an artificial lateral line sensor

doi:10.1088/1361-665X/ac358e

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	A speed measurement method for underwater robots using an artificial lateral line sensor
	Zhang,Zhuoliang 1,2; Zhou,Chao 2; Cao,Zhiqiang 2; Tan,Min 2; Cheng,Long 2; Deng,Sai 2; Fan,Junfeng 2
刊名	Smart Materials and Structures
	2021-11-22
卷号	31 期号:1
关键词	artificial lateral line speed of underwater robot hybrid loss function calibration in noisy environment flow sensor
ISSN号	0964-1726
DOI	10.1088/1361-665X/ac358e
通讯作者	Zhou,Chao()
英文摘要	Abstract Underwater robot technology has made considerable progress in recent years. However, due to the harsh environment and noise in the flow field near the underwater robots, it is difficult to measure some basic parameters, including swimming speed. The traditional speed measurement methods for underwater robots have the disadvantages of being limited by the environment and bulky. In order to overcome these shortcomings, an artificial lateral line (ALL) sensor based on cantilever structure was developed in this paper. According to the deformation of cantilever beam under water impact, the swimming speed of underwater robots can be measured. In addition, an ‘end-to-end’ calibration algorithm was proposed to calibrate the ALL sensor in the noisy environment, avoiding the complicated noise modeling and filter design process. To reduce the risk of overfitting, a hybrid loss function based on physical model was adopted. Compared with the classical calibration method, our method can reduce the error by 47.8%. Our sensor achieved an average absolute error of 0.07897 m s?1, and can measure water speed up to 3 m s?1.
语种	英语
出版者	IOP Publishing
WOS记录号	IOP:SMS_31_1_015011
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/46376]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Zhou,Chao
作者单位	1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, People’s Republic of China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, People’s Republic of China
推荐引用方式 GB/T 7714	Zhang,Zhuoliang,Zhou,Chao,Cao,Zhiqiang,et al. A speed measurement method for underwater robots using an artificial lateral line sensor[J]. Smart Materials and Structures,2021,31(1).
APA	Zhang,Zhuoliang.,Zhou,Chao.,Cao,Zhiqiang.,Tan,Min.,Cheng,Long.,...&Fan,Junfeng.(2021).A speed measurement method for underwater robots using an artificial lateral line sensor.Smart Materials and Structures,31(1).
MLA	Zhang,Zhuoliang,et al."A speed measurement method for underwater robots using an artificial lateral line sensor".Smart Materials and Structures 31.1(2021).