A bio-inspired electrocommunication system for small underwater robots

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

[1]  Guangming Xie,et al.  Neural controller for swimming modes and gait transition on an ostraciiform fish robot , 2013, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[2]  Ming Wang,et al.  Three-Dimensional Swimming , 2011, IEEE Robotics & Automation Magazine.

[3]  Milica Stojanovic,et al.  Underwater electromagnetic communications using conduction - Channel characterization , 2015, Ad Hoc Networks.

[4]  Auke Jan Ijspeert,et al.  Controlling swimming and crawling in a fish robot using a central pattern generator , 2008, Auton. Robots.

[5]  Milica Stojanovic,et al.  Underwater electromagnetic communications using conduction: channel characterization , 2012, Ad Hoc Networks.

[6]  Auke J. Ijspeert,et al.  Biorobotics: Using robots to emulate and investigate agile locomotion , 2014, Science.

[7]  Sachit Butail,et al.  Collective Response of Zebrafish Shoals to a Free-Swimming Robotic Fish , 2013, PloS one.

[8]  Bernd Kramer,et al.  Electroreception and Communication in Fishes , 1996 .

[9]  J. Joe,et al.  Digital Underwater Communication Using Electric Current Method , 2007, OCEANS 2007 - Europe.

[10]  Erfu Yang,et al.  Nonlinear Formation-Keeping and Mooring Control of Multiple Autonomous Underwater Vehicles , 2007, IEEE/ASME Transactions on Mechatronics.

[11]  Tim Esemann,et al.  Underwater Electric Field Communication , 2014, WUWNet.

[12]  Huosheng Hu,et al.  Biological inspiration: From carangiform fish to multi-joint robotic fish , 2010 .

[13]  F. Hanson,et al.  High bandwidth underwater optical communication. , 2008, Applied optics.

[14]  Yongnan Jia,et al.  Leader–Follower Flocking of Multiple Robotic Fish , 2015, IEEE/ASME Transactions on Mechatronics.

[15]  Dario Pompili,et al.  Underwater acoustic sensor networks: research challenges , 2005, Ad Hoc Networks.

[16]  A. Ijspeert,et al.  From Swimming to Walking with a Salamander Robot Driven by a Spinal Cord Model , 2007, Science.

[17]  Long Wang,et al.  Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish , 2009, IEEE Transactions on Industrial Electronics.

[18]  Maarja Kruusmaa,et al.  Flow-relative control of an underwater robot , 2013, Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences.

[19]  Kristi A. Morgansen,et al.  Geometric Methods for Modeling and Control of Free-Swimming Fin-Actuated Underwater Vehicles , 2007, IEEE Transactions on Robotics.

[20]  Henning Scheich,et al.  The jamming avoidance response of high frequency electric fish , 1972, Journal of comparative physiology.

[21]  Chunlin Zhou,et al.  Design and Locomotion Control of a Biomimetic Underwater Vehicle With Fin Propulsion , 2012, IEEE/ASME Transactions on Mechatronics.

[22]  T. Tsuchiya,et al.  Underwater Communication by Electric Current , 1976 .

[23]  Vijay Gupta,et al.  Coordinated Control of Robotic Fish Using an Underwater Wireless Network , 2011 .

[24]  Shugen Ma,et al.  Smooth transition for CPG-based body shape control of a snake-like robot , 2013, Bioinspiration & biomimetics.

[25]  Michael A. Peshkin,et al.  Finding and identifying simple objects underwater with active electrosense , 2015, Int. J. Robotics Res..

[26]  Wei Xiong,et al.  Underwater electric current communication of robotic fish: Design and experimental results , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[27]  Francesco Grimaccia,et al.  Smart integrated sensor networks for the marine environment , 2005, SPIE Micro + Nano Materials, Devices, and Applications.

[28]  Guangming Xie,et al.  CPG-based Locomotion Controller Design for a Boxfish-like Robot , 2014 .

[29]  Christine Chevallereau,et al.  Electric Sensor-Based Control of Underwater Robot Groups , 2014, IEEE Transactions on Robotics.

[30]  Daniela Rus,et al.  Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators. , 2014, Soft robotics.

[31]  Ming Wang,et al.  Control of Yaw and Pitch Maneuvers of a Multilink Dolphin Robot , 2012, IEEE Transactions on Robotics.

[32]  P. Moller.  Electric fishes : history and behavior , 1995 .

[33]  M. J. Tucker.  Conduction signalling in the sea , 1972 .

[34]  Long Wang,et al.  Coordinated Transport by Multiple Biomimetic Robotic Fish in Underwater Environment , 2007, IEEE Transactions on Control Systems Technology.

[35]  Li Wen,et al.  Quantitative Thrust Efficiency of a Self-Propulsive Robotic Fish: Experimental Method and Hydrodynamic Investigation , 2013, IEEE/ASME Transactions on Mechatronics.

[36]  A. Al-Shamma'a,et al.  Propagation of electromagnetic waves at MHz frequencies through seawater , 2004, IEEE Transactions on Antennas and Propagation.

[37]  A.B. Baggeroer,et al.  The state of the art in underwater acoustic telemetry , 2000, IEEE Journal of Oceanic Engineering.

[38]  Xiaobo Tan,et al.  Miniature Underwater Glider: Design and Experimental Results , 2014, IEEE/ASME Transactions on Mechatronics.

[39]  Shlomi Arnon,et al.  Underwater optical wireless communication network , 2010 .

[40]  C. Carr,et al.  Peripheral organization and central projections of the electrosensory nerves in gymnotiform fish , 1982, The Journal of comparative neurology.

[41]  Noah J. Cowan,et al.  Beyond the Jamming Avoidance Response: weakly electric fish respond to the envelope of social electrosensory signals , 2012, Journal of Experimental Biology.

[42]  Soon-Jo Chung,et al.  CPG-based control of a turtle-like underwater vehicle , 2008, Auton. Robots.

[43]  Chee Wee Kim,et al.  Channel characterization for underwater electric conduction communications systems , 2010, OCEANS 2010 MTS/IEEE SEATTLE.

[44]  K. E. Machin,et al.  The Mechanism of Object Location in Gymnarchus Niloticus and Similar Fish , 1958 .