Electric-field-coupled oscillators for collective electrochemical perception in biohybrid robotics

Abstract

This work explores the application of nonlinear oscillators coupled by an electric field in water, inspired by weakly electric fish. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a collective electrochemical sensor that is sensitive to global environmental parameters, the geometry of the common electric field and spatial dynamics of autonomous underwater vehicles (AUVs). Implemented in hardware and software, this approach can be used to create global awareness in a group of robots, which possess limited sensing and communication capabilities. Using oscillators from different AUVs enables extension of the range limitations related to the electric dipole of a single AUV. Applications of this technique are demonstrated for detecting the number of AUVs, distances between them, perception of dielectric objects and synchronization of behavior. Recognizing self-/nonself-generated signals by electric fish is re-embodied in a technological way through an ‘electrical mirror’ for discrimination between ‘collective self’ and ‘collective nonself’. These approaches have been implemented in several research projects with bioinspired/biohybrid systems in fresh and salt water, and electrochemical sensing in fluidic media.