Estimation System of Disturbance Force and Torque for Underwater Robot Based on Artificial Lateral Line

Abstract

The motion-control precision of a shallow-sea underwater robot is seriously affected by external disturbances such as wind, waves and ocean currents. Due to the lack of a specialized disturbance-sensor system, the disturbance force and torque cannot be sensed effectively. Inspired by bionics, an artificial lateral-line system for estimating external disturbances of an underwater robot is presented in this paper. In the system, the pressure of water is first collected through the pressure-sensor array. Then, the pressure data is processed by a series of algorithms, and the disturbance force and torque are observed from the data. Both multiple linear regression and the artificial neural network method are used to fit the mathematical models of the disturbances. Finally, the system is validated experimentally to be effective and practical. The underwater robot senses the disturbance force and torque from the water indirectly through the artificial lateral-line system, which will improve the accuracy of motion control.

Research on the application of artificial lateral line system for different sensing effects of fish

“…The lateral line system of fish has numerous sensory ciliated cells named neuromast. According to the different prescription positions of the neuromast, it can be divided into two types: superficial neuromast and canal neuromast [3]. For details, see the next chapter.…”

“…Secondly, hair cells are prone to generate excited or inhibited polar responses based on changes in kinocilium and stereocilia relative positions. Based on the layout and functional emphasis of the neuromast in different situations, it can be divided into two categories: superficial neuromast and canal neuromast[3]. In Figure2, the red dots represent the superficial neuromast, and the orange dots represent the canal neuromast.…”