A speed measurement method for underwater robots using an artificial lateral line sensor
文献类型：期刊论文
| 作者 | Zhang,Zhuoliang1,2 ; Zhou,Chao2; Cao,Zhiqiang2; Tan,Min2; Cheng,Long2; Deng,Sai2; Fan,Junfeng2
|
| 刊名 | Smart Materials and Structures
 |
| 出版日期 | 2021-11-22 |
| 卷号 | 31期号:1 |
| 关键词 | artificial lateral line speed of underwater robot hybrid loss function calibration in noisy environment flow sensor |
| ISSN号 | 0964-1726 |
| DOI | 10.1088/1361-665X/ac358e |
| 通讯作者 | Zhou,Chao() |
| 英文摘要 | Abstract Underwater robot technology has made considerable progress in recent years. However, due to the harsh environment and noise in the flow field near the underwater robots, it is difficult to measure some basic parameters, including swimming speed. The traditional speed measurement methods for underwater robots have the disadvantages of being limited by the environment and bulky. In order to overcome these shortcomings, an artificial lateral line (ALL) sensor based on cantilever structure was developed in this paper. According to the deformation of cantilever beam under water impact, the swimming speed of underwater robots can be measured. In addition, an ‘end-to-end’ calibration algorithm was proposed to calibrate the ALL sensor in the noisy environment, avoiding the complicated noise modeling and filter design process. To reduce the risk of overfitting, a hybrid loss function based on physical model was adopted. Compared with the classical calibration method, our method can reduce the error by 47.8%. Our sensor achieved an average absolute error of 0.07897 m s?1, and can measure water speed up to 3 m s?1. |
| 语种 | 英语 |
| WOS记录号 | IOP:SMS_31_1_015011 |
| 出版者 | IOP Publishing |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46376]  |
| 专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Zhou,Chao |
| 作者单位 | 1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, People’s Republic of China 2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, People’s Republic of China |
| 推荐引用方式 GB/T 7714 | Zhang,Zhuoliang,Zhou,Chao,Cao,Zhiqiang,et al. A speed measurement method for underwater robots using an artificial lateral line sensor[J]. Smart Materials and Structures,2021,31(1). |
| APA | Zhang,Zhuoliang.,Zhou,Chao.,Cao,Zhiqiang.,Tan,Min.,Cheng,Long.,...&Fan,Junfeng.(2021).A speed measurement method for underwater robots using an artificial lateral line sensor.Smart Materials and Structures,31(1). |
| MLA | Zhang,Zhuoliang,et al."A speed measurement method for underwater robots using an artificial lateral line sensor".Smart Materials and Structures 31.1(2021). |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。