Wolf-Homeyer Sabine, Engelmann Jacob, Schneider Axel
Biomechatronics Group, Faculty of Engineering and Mathematics, University of Applied Sciences, Bielefeld, Germany.
Bioinspir Biomim. 2016 Aug 17;11(5):055002. doi: 10.1088/1748-3190/11/5/055002.
Weakly electric fish use self-generated electric fields for communication and for active electrolocation. The sensor part of the biological system consists of a vast amount of electroreceptors which are distributed across the skin of the electric fish. Fish utilise changes of their position and body geometry to aid in the extraction of sensory information. Inspired by the biological model, this study looks for a fixed, minimal scanning strategy compiled of active receptor-system movements that allows unique identification of the positions of objects in the vicinity. The localisation method is based on the superposition of numerical extracted contour-rings of rotated and/or linearly shifted EEVs (Solberg et al 2008 Int. J. Rob. Res. 27 529-48), simulated by means of FEM. For the evaluation of a movement sequence, matrices of unique intersection points and respective contrast functions are introduced. The resultant optimal scanning strategy consists of a combination of a linear shift and a rotation of the original EEV.
弱电鱼利用自身产生的电场进行通信和主动电定位。生物系统的传感器部分由大量分布在电鱼皮肤上的电感受器组成。鱼利用其位置和身体几何形状的变化来辅助提取感官信息。受生物模型的启发，本研究寻找一种由主动受体系统运动组成的固定的、最小化的扫描策略，该策略能够唯一识别附近物体的位置。定位方法基于通过有限元法模拟的旋转和/或线性移动的电场矢量图（EEVs）的数值提取轮廓环的叠加（Solberg等人，2008年，《国际机器人研究杂志》27卷，第529 - 48页）。为了评估运动序列，引入了唯一交点矩阵和相应的对比度函数。由此产生的最优扫描策略由原始EEV的线性移动和旋转组合而成。
