An underwater electrosensory membrane bio-inspired by weakly electric fish
Artificial sensory system is promising to navigate in cluttered and turbid underwater environment by achieving similar functions of biological electrosense of weakly electric fish. In this paper we designed an electrosensory membrane that can operate in a full 3-dimensional mode. Algorithms on the o...
| Main Authors: | , , |
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| Format: | Conference Paper |
| Published: |
2016
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| Online Access: | http://hdl.handle.net/20.500.11937/51413 |
| _version_ | 1848758692317495296 |
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| author | Wang, Ke Cui, Lei Do, Khac Duc |
| author_facet | Wang, Ke Cui, Lei Do, Khac Duc |
| author_sort | Wang, Ke |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Artificial sensory system is promising to navigate in cluttered and turbid underwater environment by achieving similar functions of biological electrosense of weakly electric fish. In this paper we designed an electrosensory membrane that can operate in a full 3-dimensional mode. Algorithms on the object localization were also designed and tested based on numerical methods of electric field forward simulation. We combined the statistic learning method by training a multilayer neural network and a probabilistic approach by applying a constrained unscented Kalman filter (CUKF). This exploits the merits of fast estimation and precise signal marching process. Experimental results showed that the detection and localization with the reported sensor were quick and accurate, with errors of around 10 mm using one-step neural network mapping and about 5 mm in close-range using CUKF. This work demonstrated the effectiveness of proposed electrosensory membrane and algorithms. |
| first_indexed | 2025-11-14T09:48:02Z |
| format | Conference Paper |
| id | curtin-20.500.11937-51413 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:48:02Z |
| publishDate | 2016 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-514132017-09-13T15:46:01Z An underwater electrosensory membrane bio-inspired by weakly electric fish Wang, Ke Cui, Lei Do, Khac Duc Artificial sensory system is promising to navigate in cluttered and turbid underwater environment by achieving similar functions of biological electrosense of weakly electric fish. In this paper we designed an electrosensory membrane that can operate in a full 3-dimensional mode. Algorithms on the object localization were also designed and tested based on numerical methods of electric field forward simulation. We combined the statistic learning method by training a multilayer neural network and a probabilistic approach by applying a constrained unscented Kalman filter (CUKF). This exploits the merits of fast estimation and precise signal marching process. Experimental results showed that the detection and localization with the reported sensor were quick and accurate, with errors of around 10 mm using one-step neural network mapping and about 5 mm in close-range using CUKF. This work demonstrated the effectiveness of proposed electrosensory membrane and algorithms. 2016 Conference Paper http://hdl.handle.net/20.500.11937/51413 10.1109/IROS.2016.7759727 restricted |
| spellingShingle | Wang, Ke Cui, Lei Do, Khac Duc An underwater electrosensory membrane bio-inspired by weakly electric fish |
| title | An underwater electrosensory membrane bio-inspired by weakly electric fish |
| title_full | An underwater electrosensory membrane bio-inspired by weakly electric fish |
| title_fullStr | An underwater electrosensory membrane bio-inspired by weakly electric fish |
| title_full_unstemmed | An underwater electrosensory membrane bio-inspired by weakly electric fish |
| title_short | An underwater electrosensory membrane bio-inspired by weakly electric fish |
| title_sort | underwater electrosensory membrane bio-inspired by weakly electric fish |
| url | http://hdl.handle.net/20.500.11937/51413 |