Multisensor Processing Algorithms for Underwater Dipole Localization and Tracking Using MEMS Artificial Lateral-Line Sen
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Multisensor Processing Algorithms for Underwater Dipole Localization and Tracking Using MEMS Artificial Lateral-Line Sensors Saunvit Pandya,1 Yingchen Yang,1 Douglas L. Jones,2 Jonathan Engel,1 and Chang Liu1 1 Micro
and Nanotechnology Laboratory, University of Illinois, Urbana-Champaign, Urbana, IL 61801, USA Science Laboratory, University of Illinois, Urbana-Champaign, Urbana, IL 61801, USA
2 Coordinated
Received 1 January 2006; Revised 12 June 2006; Accepted 16 July 2006 An engineered artificial lateral-line system has been recently developed, consisting of a 16-element array of finely spaced MEMS hot-wire flow sensors. This represents a new class of underwater flow sensing instruments and necessitates the development of rapid, efficient, and robust signal processing algorithms. In this paper, we report on the development and implementation of a set of algorithms that assist in the localization and tracking of vibrational dipole sources underwater. Using these algorithms, accurate tracking of the trajectory of a moving dipole source has been demonstrated successfully. Copyright © 2006 Saunvit Pandya et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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MOTIVATION
In nature, almost all species of fish use arrays of cilium-like haircell sensors in a lateral-line configuration for flow sensing and near-field hydrodynamic imaging [1]. Each haircell sensor in the lateral line is capable of measuring local fluid flow velocity. Fish utilize the lateral-line organ for a rich set of behaviors including schooling, navigation, predator avoidance, and prey capture. Manmade underwater vehicles currently use technologies such as sonar or optical systems for navigation and imaging. However, these established methods have limitations. Active sonar, for example, may reveal the location of the source. Furthermore, many sonar systems rely on pulse-echo width analysis. This method has limited resolution and does not work well in close range. Optical systems cannot operate in deep or murky waters. In light of these limitations, a biomimetic flow sensing system inspired by the fish lateral line could augment or complement current technologies. Potential applications would include imaging and maneuvering control for autonomous underwater vehicles (AUVs), intrusion detection (ID) systems, and hydro-robotics. For example, underwater vehicles and platforms equipped with artificial lateral lines could detect intruders (e.g., a swimmer) based on the hydrodynamic signature, thereby allowing unprecedented methods of threat monitoring.
An engineering equivalent of the biological lateral-line organ, an artificial lateral line, has never been developed. This is primarily due to the fact that commercially available flow sensors are typically bulky and therefore not amenable for high-density array integration. However, recent advancement in micromachining and MEMS makes it po
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