4 April 2012 Localization of a moving dipole source underwater using an artificial lateral line
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Abstract
Motivated by the lateral line system of fish, arrays of flow sensors have been proposed as a new sensing modality for underwater robots. Existing studies on such artificial lateral lines (ALLs) have been mostly focused on the localization of a fixed underwater vibrating sphere (dipole source). In this paper we examine the problem of tracking a moving dipole source using an ALL system. A nonlinear estimation problem is formulated based on an analytical model for the moving dipole-generated flow field, which is subsequently solved with the Gauss-Newton method. The effectiveness of the proposed approach is illustrated with simulation results.
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Ahmad T. Abdulsadda, Xiaobo Tan, "Localization of a moving dipole source underwater using an artificial lateral line", Proc. SPIE 8339, Bioinspiration, Biomimetics, and Bioreplication 2012, 833909 (4 April 2012); doi: 10.1117/12.916440; https://doi.org/10.1117/12.916440
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KEYWORDS
Sensors

Optical spheres

Sensing systems

Robots

Error analysis

Fourier transforms

Biomimetics

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