Design of a 3-D Printed, Modular Lateral Line Sensory System for Hydrodynamic Force Estimation

Abstract

AbstractThis paper presents a sensory system that is biologically inspired by the lateral line sensory system found in fish. This artificial lateral line system provides sensory information to be used in vehicle control algorithms, both to reduce model complexity and to measure hydrodynamic disturbances. The system presented in this paper is a modular implementation that can fit around a vehicle without requiring modifications to the hull. The design and manufacturing processes are presented in detail along with considerations for sensor placement and port spacing. An algorithm for calculating the hydrodynamic forces acting on the surface of a vehicle is derived and experimentally validated. An underwater motion capture system and strain sensors are used to calculate a reference hydrodynamic force that compares favorably with the hydrodynamic force calculated by the lateral line system.