Abstract
This paper introduces the near-field detection system of an underwater robot based on the fish lateral line. Inspired by the perception mechanism of fish’s lateral line, the aim is to add near-field detection functionality to an underwater vehicle. To mimic the fish’s lateral line, an array of pressure sensors is developed and installed on the surface of the underwater vehicle. A vibrating sphere is simulated as an underwater pressure source, and the moving mechanism is built to drive the sphere to vibrate at a certain frequency near the lateral line. The calculation of the near-field pressure generated by the vibrating sphere is derived by linearizing the kinematics and dynamics conditions of the free surface wave equation. Structurally, the geometry shape of the detection system is printed by a 3D printer. The pressure data are sent to the computer and analyzed immediately to obtain information of the pressure source. Through the experiment, the variation law of the pressure is generated when the source vibrates near the body, and is consistent with the simulation results of the derived pressure calculation formula. It is found that the direction of the near-field pressure source can distinguished. The pressure amplitude of the sampled signals are extracted to be prepared for the next step to estimate the vertical distance between the center of the pressure source and the lateral line.
Highlights
A great deal of research about underwater vehicles has been conducted by researchers around the world
The pressure gradient sensed by the lateral line, an array between successive pores and stimulates the canal neuromast. This sensing mechanism provides of commodity piezoelectric pressure sensors is utilized to be the sensing platform on the underwater a vehicle new perspective forfish’s researchers and engineers such a sensing system that could be usedby to act as the lateral line
The control system of the near-field detection system of underwater vehicle is composed of a micro-controller, a pressure a source movement module, and and ahydrostatic host computer data
Summary
A great deal of research about underwater vehicles has been conducted by researchers around the world. Electronics 2019, 8, 566 vehicles perceive the changes of water flow at a close range, detect underwater targets, and accomplish underwater tasks more accurately are urgent problems to solve. Researchers are focusing more attention to the movement and perception mechanism of changes flow marine at a close range, detectfor underwater targets, and accomplish fish. DeVries et al combined IPMC sensors and embedded pressure sensors to pressure sensor arrays to locate underwater objects which are packaged on a flexible liquid crystal form closed-loop control and tested to estimate flow rates, angles of attack, and the relative position polymer substrate [14]. Eighteight piezoelectric sensors theside sideofofthe theunderwater underwater robot.
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