School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Beijing 100191, China.
School of Electronic and Information Engineering, Beihang University, No. 37 Xueyuan Road, Beijing 100191, China.
ISA Trans. 2019 Mar;86:110-121. doi: 10.1016/j.isatra.2018.10.039. Epub 2018 Nov 3.
Artificial lateral line is a multi-sensor system, mimicking the lateral line of fish to perceive the parameters of flow field. However, it can easily lead to information loss or redundancy with limited number of sensors due to unsuitable sensor placement. An optimal weight analysis algorithm is proposed to solve the problem on sensor placement of robotic fish. Firstly, signal features are extracted from the pressure data, which are collected from candidate sensor locations in different conditions. Then the improved distance evaluation is used to assess each feature, and the feature distance factor is regarded as the weight for distinguishing. Combined with the analysis of variance, the contribution vector of sensor locations is obtained. Three indexes selected by the algorithm are introduced to compare the sensor subsets. The results in both simulation and experiment show the effectiveness of the algorithm. The optimal number of sensors on the robotic fish is also studied.
人工侧线是一种多传感器系统，通过模拟鱼类的侧线来感知流场参数。然而，由于传感器位置不合适，传感器数量有限，容易导致信息丢失或冗余。提出了一种最优权重分析算法，以解决机器鱼传感器位置问题。首先，从压力数据中提取信号特征，这些压力数据是在不同条件下从候选传感器位置采集的。然后，采用改进的距离评估来评估每个特征，将特征距离因子视为区分的权重。结合方差分析，得到传感器位置的贡献向量。通过算法选择的三个指标来比较传感器子集。仿真和实验结果均表明了该算法的有效性。还研究了机器鱼的最佳传感器数量。
