仿海豹胡须的光纤光栅触须，让水下机器人感知水流痕迹。
Fiber Bragg Grating Whiskers for Bioinspired Hydrodynamic Perception on Underwater Robots
- 用非均匀锥形椭圆截面光纤光栅模拟海豹胡须，灵敏响应水流变化。
- 在0.1~0.6 m/s流速下线性响应，自振显著减弱，角度依赖性强。
- 单个前装触须可助机器人85%准确识别转向路径，适合水下追踪。
海豹依靠胡须感知水下流动痕迹，可在黑暗或浑浊水中被动追踪移动目标。受此启发，我们开发了小型光纤布喇格光栅（FBG）触须用于水下机器人。其结构与海豹胡须一致，具有非均匀锥形和椭圆截面。可控拖曳实验显示，该触须在0.1至0.6米/秒流速范围内呈现单调相对流响应，相比圆柱基线自激振荡明显减少，且对攻角变化敏感。在俯仰翼实验中，触须可检测到静止或运动源产生的特征涡流，信号在源通过后仍可维持数秒。仅凭触须信号，单个前装触须使小型水下机器人在20次测试中正确选择分支17次（85.0%），实现直线前进与转向的区分。该成果将生物启发的水动力感知与机器人动作联结，表明触须在水下目标追踪中的应用潜力。
原文摘要 · Abstract (English)
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.
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