Problem
Research questions and friction points this paper is trying to address.
Fiber Bragg Grating
Hydrodynamic Perception
Underwater Robots
Bioinspired
Fiber Bragg Grating Whiskers for Bioinspired Hydrodynamic Perception on Underwater Robots
🤖 AI Summary
研究通过模仿海豹胡须设计FBG触须，用于水下机器人感知流体动力学，实现对移动目标的追踪。
📝 Abstract
Harbor seals track hydrodynamic trails with their vibrissae, enabling passive perception of moving targets in dark or turbid water. Inspired by this capability, we present compact fiber Bragg grating (FBG) whiskers for underwater robots. Like seal whiskers, they have a non-uniform taper and elliptical cross-section. Controlled towing experiments show a monotonic relative-flow response from 0.1 to 0.6 m/s, a strong reduction of self-induced oscillation relative to a cylindrical baseline, and a pronounced dependence on angle of attack. Experiments with a pitching foil show that the whiskers can detect the characteristic vortices shed by a stationary or moving source, detectable several seconds after the source has passed. Using this information, a single front-mounted whisker enabled a small underwater robot to distinguish between continuing straight and executing a turn, selecting the correct branch in 17 of 20 trials (85.0%) from whisker signals alone. These results connect bioinspired hydrodynamic sensing to robot action and suggest the utility of whiskers for tracking underwater objects.
Innovation
Methods, ideas, or system contributions that make the work stand out.
fiber Bragg grating whiskers
bioinspired hydrodynamic perception
underwater robots
non-uniform taper
elliptical cross-section
🔎 Similar Papers
No similar papers found.
💼 Related Jobs
No related jobs found.
