发表机构
Stanford University; Shanghai Jiao Tong University; Tsinghua University（斯坦福大学; 上海交通大学; 清华大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
受港海豹触须流体感知能力启发，研发光纤布拉格光栅触须并验证其可辅助水下机器人仅通过触须信号区分直行与转弯，正确率达85%，为水下机器人流体感知提供新方案。
AI 中文摘要
港海豹通过其触须追踪流体动力轨迹，可在黑暗或浑浊水体中被动感知移动目标。受该能力启发，本文研发了用于水下机器人的紧凑型光纤布拉格光栅（FBG）触须，其如同海豹触须般具有非均匀锥度与椭圆形横截面。受控拖曳实验显示，该触须在0.1至0.6m/s范围内呈现单调的相对流响应，相比圆柱形基准触须，其自诱导振荡显著降低，且对攻角有明显依赖；俯仰箔实验表明，该触须可检测固定或移动源脱落的特征涡旋，且在源经过数秒后仍可检测到。利用该信息，单个前置安装的触须使小型水下机器人仅通过触须信号，在20次试验中17次正确区分直行与转弯动作，正确率达85.0%。这些结果将生物启发式流体动力感知与机器人动作关联，表明触须可用于追踪水下物体。
英文摘要
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.
Comments13 pages, 8 figures
