Characterization of a harbor seal whisker-inspired flow sensor

Beem, Heather R.; Hildner, Matthew; Triantafyllou, Michael

doi:10.1109/oceans.2012.6404978

Cited by 17 publications

(12 citation statements)

References 4 publications

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“…The use of a memory alloy spring ensures measurements are reproducible. In contrast with earlier studies [15][16][17], this sensor also exhibits a directional load response and high sensitivity to external stimuli, due to the no-contact electrostatic or contact-electrification principle of TENG [22]. Moreover, using the signal data, model fitting with respect to w 3 and d is carried out.…”

Section: Discussionmentioning

confidence: 99%

“…In such a sensor array [15], the forces are transmitted along the vibrissae fibers to a load plate bonded to embedded MEMS barometers potted in polyurethane rubber, which act as force sensors. A fluid motion sensor was designed in previous studies [16][17][18], which was inspired by seals, who use their whiskers to find and follow underwater wakes. To date, triboelectric nanogenerators (TENGs) have not been built with a whisker-like structure.…”

Section: Introductionmentioning

confidence: 99%

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A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping

Wang

et al. 2021

Research

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Since designing efficient tactile sensors for autonomous robots is still a challenge, this paper proposes a perceptual system based on a bioinspired triboelectric whisker sensor (TWS) that is aimed at reactive obstacle avoidance and local mapping in unknown environments. The proposed TWS is based on a triboelectric nanogenerator (TENG) and mimics the structure of rat whisker follicles. It operates to generate an output voltage via triboelectrification and electrostatic induction between the PTFE pellet and copper films (0.3 mm thickness), where a forced whisker shaft displaces a PTFE pellet (10 mm diameter). With the help of a biologically inspired structural design, the artificial whisker sensor can sense the contact position and approximate the external stimulation area, particularly in a dark environment. To highlight this sensor’s applicability and scalability, we demonstrate different functions, such as controlling LED lights, reactive obstacle avoidance, and local mapping of autonomous surface vehicles. The results show that the proposed TWS can be used as a tactile sensor for reactive obstacle avoidance and local mapping in robotics.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping

Wang

et al. 2021

Research

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“…An additional need is for the continued refinement of the sensor design to more thoroughly evaluate and mimic the unique morphology of seal vibrissae (see e.g., [43]). Pinnipeds possess the most highly specialized vibrissae of any animal group, and the unique morphology of these structures is thought to enable their unsurpassed ability to extract complex information from hydrodynamic flow fields [19].…”

Section: Discussionmentioning

confidence: 99%

Development of an artificial sensor for hydrodynamic detection inspired by a seal’s whisker array

et al. 2016

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Nature has shaped effective biological sensory systems to receive complex stimuli generated by organisms moving through water. Similar abilities have not yet been fully developed in artificial systems for underwater detection and monitoring, but such technology would enable valuable applications for military, commercial, and scientific use. We set out to design a fluid motion sensor array inspired by the searching performance of seals, which use their whiskers to find and follow underwater wakes. This sensor prototype, called the Wake Information Detection and Tracking System (WIDTS), features multiple whisker-like elements that respond to hydrodynamic disturbances encountered while moving through water. To develop and test this system, we trained a captive harbor seal (Phoca vitulina) to wear a blindfold while tracking a remote-controlled, propeller-driven submarine. After mastering the tracking task, the seal learned to carry the WIDTS adjacent to its own vibrissal array during active pursuit of the target. Data from the WIDTS sensors describe changes in the deflection angles of the whisker elements as they pass through the hydrodynamic trail left by the submarine. Video performance data show that these detections coincide temporally with WIDTS-wake intersections. Deployment of the sensors on an actively searching seal allowed for the direct comparison of our instrument to the ability of the biological sensory system in a proof-of-concept demonstration. The creation of the WIDTS provides a foundation for instrument development in the field of biomimetic fluid sensor technology.

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“…force, bending moment, or deflection at the vibrissal base) and the external flow disturbances remain unknown. Several whiskerlike sensors [20][21][22][23][24] have been fabricated and used to investigate the correlations between the electrical signal outputs and different flow conditions (uniform flow [22], flow vibration [24], and von Kármán vortex street [20,22]). Yet, simplifications in the whisker geometry and flow conditions as well as the use of non-whisker materials limit their implications in realistic flow sensing of seal whisker.…”

Section: Introductionmentioning

confidence: 99%

Flow-signal correlation in seal whisker array sensing

Liu¹,

Jiang²,

Zheng³

et al. 2021

Bioinspir. Biomim.

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Phocid seals detect and track artificial or biogenic hydrodynamic trails based on mechanical signals of their whisker arrays. In this paper, we investigated the correlations between flow structures and whisker array signals using a simplified numerical model of fluid–structure interaction (FSI). Three-dimensional (3D) wakes of moving paddles in three different shapes (rectangular plate, undulated plate, and circular cylinder) were simulated using an in-house immersed-boundary-method-based computational fluid dynamics solver. One-way FSI was then simulated to obtain the dynamic behavior and root signal of each whisker in the two whisker arrays on a seal head in each wake. The position, geometry, and material properties of each whisker were modeled based on the measurements reported in literatures. The correlations between the wake structures and whisker array signals were analyzed. It was found that the patterns of the signals on the whisker arrays can reflect the strength, timing, and moving trajectories of the jets induced by the vortices in the wakes. Specifically, the rectangular plate generates the strongest starting vortex ring as well as the strongest jets, while the undulated plate generates the weakest ones. These flow features are fully reflected by the largest whisker signal magnitude in the rectangular plate sensing and the smallest one in the undulated plate sensing. Moreover, the timing of the signal initiation and the maximum signal agree well with the timing of the jet reaching the arrays and the maximum flow speed, respectively. The correlation coefficient between the moving trajectories of the jet and the movement of the high signal level region in the array was found to be higher than 0.9 in the rectangular plate case. The results provide a physical insight into the mechanisms of seal whisker flow sensing.

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Characterization of a harbor seal whisker-inspired flow sensor

Cited by 17 publications

References 4 publications

A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping

A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping

Development of an artificial sensor for hydrodynamic detection inspired by a seal’s whisker array

Flow-signal correlation in seal whisker array sensing

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