Motivated by the lateral line system of fish and amphibians, arrays of flow sensors have been proposed as a new sensing modality for underwater robots. Most existing studies on such artificial lateral lines have been focused on the localization of a vibrating sphere, also known as a dipole source. In this paper we investigate the problem of tracking a moving but non-vibrating cylindrical object and estimating its size and shape using an artificial lateral line system. Based on a nonlinear analytical model for the moving object-induced flow field, a two-stage extended Kalman filter is proposed to estimate the location, velocity, size, and shape of the object. Simulation results on tracking a cylinder with ellipsoidal cross-section are presented to illustrate the approach. On the experimental side, we demonstrate the use of an artificial lateral line prototype comprising six ionic polymer-metal composite (IPMC) flow sensors in the tracking and size estimation of a moving circular cylinder.
- Aerospace Division
Underwater Tracking and Size-Estimation of a Moving Object Using an IPMC Artificial Lateral Line
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Abdulsadda, AT, & Tan, X. "Underwater Tracking and Size-Estimation of a Moving Object Using an IPMC Artificial Lateral Line." Proceedings of the ASME 2012 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 2: Mechanics and Behavior of Active Materials; Integrated System Design and Implementation; Bio-Inspired Materials and Systems; Energy Harvesting. Stone Mountain, Georgia, USA. September 19–21, 2012. pp. 657-665. ASME. https://doi.org/10.1115/SMASIS2012-8129
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