Real-time position and pose prediction for a self-propelled undulatory swimmer in 3D space with artificial lateral line system.

IF 3.1 3区计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY

Bioinspiration & Biomimetics Pub Date : 2024-06-05 DOI:10.1088/1748-3190/ad493b

Ruosi Liu, Yang Ding, Guangming Xie

引用次数: 0

Abstract

This study aims to investigate the feasibility of using an artificial lateral line (ALL) system for predicting the real-time position and pose of an undulating swimmer with Carangiform swimming patterns. We established a 3D computational fluid dynamics simulation to replicate the swimming dynamics of a freely swimming mackerel under various motion parameters, calculating the corresponding pressure fields. Using the simulated lateral line data, we trained an artificial neural network to predict the centroid coordinates and orientation of the swimmer. A comprehensive analysis was further conducted to explore the impact of sensor quantity, distribution, noise amplitude and sampling intervals of the ALL array on predicting performance. Additionally, to quantitatively assess the reliability of the localization network, we trained another neural network to evaluate error magnitudes for different input signals. These findings provide valuable insights for guiding future research on mutual sensing and schooling in underwater robotic fish.

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利用人工侧线系统对三维空间中的自航起伏游泳者进行实时位置和姿势预测。

本研究旨在探讨使用人工侧线系统预测具有鲤鱼状游泳模式的起伏游泳者的实时位置和姿势的可行性。我们建立了一个三维计算流体动力学模拟，以复制自由游动的鲭鱼在各种运动参数下的游动动态，并计算相应的压力场。利用模拟的侧线数据，我们训练了一个人工神经网络来预测游鱼的中心点坐标和方向。我们进一步进行了综合分析，以探讨人工侧线阵列的传感器数量、分布、噪声幅度和采样间隔对预测性能的影响。此外，为了定量评估定位网络的可靠性，我们训练了另一个神经网络，以评估不同输入信号的误差幅度。这些发现为指导未来水下机器鱼的互感和求学研究提供了宝贵的见解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bioinspiration & Biomimetics 工程技术-材料科学：生物材料

CiteScore

5.90

自引率

14.70%

发文量

132

审稿时长

3 months

期刊介绍： Bioinspiration & Biomimetics publishes research involving the study and distillation of principles and functions found in biological systems that have been developed through evolution, and application of this knowledge to produce novel and exciting basic technologies and new approaches to solving scientific problems. It provides a forum for interdisciplinary research which acts as a pipeline, facilitating the two-way flow of ideas and understanding between the extensive bodies of knowledge of the different disciplines. It has two principal aims: to draw on biology to enrich engineering and to draw from engineering to enrich biology. The journal aims to include input from across all intersecting areas of both fields. In biology, this would include work in all fields from physiology to ecology, with either zoological or botanical focus. In engineering, this would include both design and practical application of biomimetic or bioinspired devices and systems. Typical areas of interest include: Systems, designs and structure Communication and navigation Cooperative behaviour Self-organizing biological systems Self-healing and self-assembly Aerial locomotion and aerospace applications of biomimetics Biomorphic surface and subsurface systems Marine dynamics: swimming and underwater dynamics Applications of novel materials Biomechanics; including movement, locomotion, fluidics Cellular behaviour Sensors and senses Biomimetic or bioinformed approaches to geological exploration.