Designing future underwater vehicles: Principles and mechanisms of the weakly electric fish
Designing future underwater vehicles: Principles and mechanisms of the weakly electric fish
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DOI：
10.1109/joe.2004.833210
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发表时间：
2004-07-01
影响因子：
4.1
通讯作者：
Burdick, JW
中科院分区：
文献类型：
--
作者：
MacIver, MA;Fontaine, E;Burdick, JW
未来的水下航行器将越来越多地被要求在杂乱的环境中工作并与周围环境互动。这些车辆需要能够在短距离内高效工作并在低速下具有高度机动性的传感器。 To obtain insights into principles and mechanisms of low-speed operation in cluttered environments, we examine a fish that excels in this regime, the black ghost knifefish Apteronotus albifrons.这种鱼在黑暗或浑浊的水中捕食，利用短程自生电场来感知周围环境。与这种独特的传感模式相结合的是一种不寻常的带状鳍推进系统，该系统可在低速下提供高多向机动性。为了更好地理解这种鱼的身体形态和常见动作之间的关系，我们利用了理想化的椭球体模型、基尔霍夫方程和用于生成轨迹的最优控制算法。我们提供的证据表明，常见的鱼类轨迹是最佳的，并且这些轨迹补充了鱼类的感官能力。我们还讨论了鱼的传感和推进系统的原型，以期为需要在几何复杂环境中具有高机动性的水下航行器设计提供替代方法。
Future underwater vehicles will be increasingly called upon to work in cluttered environments and to interact with their surroundings. These vehicles will need sensors that work efficiently at short range and be highly maneuverable at low speed. To obtain insights into principles and mechanisms of low-speed operation in cluttered environments, we examine a fish that excels in this regime, the black ghost knifefish Apteronotus albifrons. This fish hunts in dark or turbid water using a short-range self-generated electric field to sense its surroundings. Coupled with this unique mode of sensing is an unusual ribbon fin propulsion system that confers high multidirectional maneuverability at low speeds. To better understand the relationship between body morphology and common maneuvers of this fish, we utilized an idealized ellipsoidal body model, Kirchhoff's equations, and an optimal control algorithm for generating trajectories. We present evidence that common fish trajectories are optimal, and that these trajectories complement the sensory abilities of the fish. We also discuss prototypes of the sensing and propulsion systems of the fish with a view to providing alternative approaches for underwater vehicle design where high maneuverability in geometrically complex environments is needed.