Locating Dipole Source Using Self-Propelled Robotic Fish With Artificial Lateral Line System

doi:10.1109/TASE.2023.3309905

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Locating Dipole Source Using Self-Propelled Robotic Fish With Artificial Lateral Line System
	Qiu, Changlin 1,3; Wu, Zhengxing 1,3; Wang, Jian 1,3; Tan, Min 1,3; Yu, Junzhi 2,3
刊名	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
	2023-09-04
页码	11
关键词	Underwater robot robotic fish artificial lateral line noise estimation dipole source localization
ISSN号	1545-5955
DOI	10.1109/TASE.2023.3309905
通讯作者	Yu, Junzhi(junzhi.yu@ia.ac.cn)
英文摘要	Artificial lateral line (ALL) sensors hold the potential to enhance the perception abilities of robotic fish by capturing surface pressure gradients and identifying near-field object, such as dipole source. However, the robotic fish's free-swimming motion introduces periodic low-frequency noise into the ALL data, while dipole sources with time-varying positions generate pressure signals with complex time-frequency characteristics. This paper proposes a complete solution to these challenges that would enable freely swimming robotic fish to locate dipole source. Firstly, an ALL system consisting of pressure sensors is integrated into the robotic fish, further constructing a real-time data acquisition and processing system. Secondly, to effectively estimate and remove the swimming-induced noise from the ALL data, a noise estimation model is developed based on the bionic motion mode and unsteady Bernoulli equation. Subsequently, short-time Fourier transform is applied to the high-quality data after noise elimination, followed by developing a convolution regression neural network for feature extraction and dipole source localization. Finally, extensive simulations and experiments are conducted to validate the effectiveness of the proposed methods and perform the positive impact of the noise estimation model. Remarkably, within the range of perception, the average accuracy of dipole source location can reach 13.6 mm, providing a promising reference for improving the perception abilities of underwater robots. Note to Practitioners-This paper is motivated by the problem of blind zones in near-field perception of underwater robots. The existing perception methods as visual sensing are limited by the dark and cloudy underwater environment, and are powerless in near-field localization. In addition, the artificial lateral line, as a potential near-field sensor, is challenging to be applied in self-propelled robots due to the swimming noise. This paper proposes an integrated near-field sensory system that includes an ALL sensor, a swimming noise elimination method and a dipole source localization method. Specifically, a fish-inspired ALL sensor is designed by high-accuracy pressure sensors and integrated into the robotic fish. To enhance localization performance, a swimming noise elimination model is constructed based on unsteady Bernoulli equation. Furthermore, a convolution regression network is developed for accurate localization of near-field objects. A series of simulations and experiments demonstrate the effectiveness and superiority of the proposed near-field sensory system. Hopefully, our proposed methods can provide valuable guidance and support for near-field object localization to improve the intelligent operation ability of underwater bionic robots, such as cooperative control, underwater navigation, environment exploration, and so forth.
资助项目	National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[U1909206] ; Joint Fund of Ministry of Education for Equipment Pre-Research[8091B022134]
WOS研究方向	Automation & Control Systems
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001064590400001
资助机构	National Natural Science Foundation of China ; Joint Fund of Ministry of Education for Equipment Pre-Research
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53185]
专题	多模态人工智能系统全国重点实验室
通讯作者	Yu, Junzhi
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 3.Chinese Acad Sci, Inst Automat, Lab Cognit & Decis Intelligence Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Qiu, Changlin,Wu, Zhengxing,Wang, Jian,et al. Locating Dipole Source Using Self-Propelled Robotic Fish With Artificial Lateral Line System[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2023:11.
APA	Qiu, Changlin,Wu, Zhengxing,Wang, Jian,Tan, Min,&Yu, Junzhi.(2023).Locating Dipole Source Using Self-Propelled Robotic Fish With Artificial Lateral Line System.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,11.
MLA	Qiu, Changlin,et al."Locating Dipole Source Using Self-Propelled Robotic Fish With Artificial Lateral Line System".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING (2023):11.