作者：

Ahmad T. Abdulsadda^a & Xiaobo Tan^a*

作者单位：

a Smart Microsystems Laboratory, Department of Electrical and Computer Engineering , Michigan State University , East Lansing,MI , 48824 , USA

关键词：

• ionic polymer–metal composite (IPMC), lateral line system, neural networks, flow sensing, dipole source localization

摘要：

Most fish and aquatic amphibians use the lateral line system, consisting of arrays of hair-like neuromasts, as an important sensory organ for prey/predator detection, communication, and navigation. In this paper a novel bio-inspired artificial lateral line system is proposed for underwater robots and vehicles by exploiting the inherent sensing capability of ionic polymer–metal composites (IPMCs). Analogous to its biological counterpart, the IPMC-based lateral line processes the sensor signals through a neural network. The effectiveness of the proposed lateral line is validated experimentally in the localization of a dipole source (vibrating sphere) underwater. In particular, as a proof of concept, a prototype with body length (BL) of 10 cm, comprising six millimeter-scale IPMC sensors, is constructed and tested. Experimental results have shown that the IPMC-based lateral line can localize the source from 1–2 BLs away, with a maximum localization error of 0.3 cm, when the data for training the neural network are collected from a grid of 2 cm by 2 cm lattices. The effect of the number of sensors on the localization accuracy has also been examined.

文章全文下载地址：

http://www.tandfonline.com/doi/full/10.1080/19475411.2011.650233 

整理源自Taylor & Francis Online

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