Electrolocation of objects in fluids by means of active sensor movements based on discrete EEVs

Weakly electric fish use self-generated electric fields for communication and for active electrolocation. The sensor part of the biological system consists of a vast amount of electroreceptors which are distributed across the skin of the electric fish. Fish utilise changes of their position and body geometry to aid in the extraction of sensory information. Inspired by the biological model, this study looks for a fixed, minimal scanning strategy compiled of active receptor-system movements that allows unique identification of the positions of objects in the vicinity. The localisation method is based on the superposition of numerical extracted contour-rings of rotated and/or linearly shifted EEVs (Solberg et al 2008 Int. J. Rob. Res. 27 529-48), simulated by means of FEM. For the evaluation of a movement sequence, matrices of unique intersection points and respective contrast functions are introduced. The resultant optimal scanning strategy consists of a combination of a linear shift and a rotation of the original EEV.

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

[2]  Christopher Assad,et al.  Electric field maps and boundary element simulations of electrolocation in weakly electric fish , 1997 .

[3]  Robert Bamler,et al.  Hydrodynamic object recognition: when multipoles count. , 2009, Physical review letters.

[4]  Han Wang,et al.  Shape Identification and Classification in Echolocation , 2014, SIAM J. Imaging Sci..

[5]  Christine Chevallereau,et al.  Environment reconstruction and navigation with electric sense based on a Kalman filter , 2013, Int. J. Robotics Res..

[6]  R. H. Hamstra,et al.  Coding properties of two classes of afferent nerve fibers: high-frequency electroreceptors in the electric fish, Eigenmannia. , 1973, Journal of neurophysiology.

[7]  M.A. MacIver,et al.  Designing future underwater vehicles: principles and mechanisms of the weakly electric fish , 2004, IEEE Journal of Oceanic Engineering.

[8]  B. Rasnow,et al.  The effects of simple objects on the electric field of Apteronotus , 1996, Journal of Comparative Physiology A.

[9]  Peter Moller,et al.  Locomotor and electric displays associated with electrolocation during exploratory behavior in mormyrid fish , 1984, Behavioural Brain Research.

[10]  Jacob Engelmann,et al.  The Schnauzenorgan-response of Gnathonemus petersii , 2009, Frontiers in Zoology.

[11]  B H Brown,et al.  Electrical impedance tomography (EIT): a review , 2003, Journal of medical engineering & technology.

[12]  M. A. MacIver.  The Computational Neuroethology of Weakly Electric Fish: Body Modeling, Motion Analysis, and Sensory Signal Estimation , 2001 .

[13]  J. E. Lewis,et al.  Neuronal Population Codes and the Perception of Object Distance in Weakly Electric Fish , 2001, The Journal of Neuroscience.

[14]  Christine Chevallereau,et al.  Underwater navigation based on passive electric sense: New perspectives for underwater docking , 2015, Int. J. Robotics Res..

[15]  Josselin Garnier,et al.  Shape recognition and classification in electro-sensing , 2014, Proceedings of the National Academy of Sciences.

[16]  André Longtin,et al.  Modeling the electric field of weakly electric fish , 2006, Journal of Experimental Biology.

[17]  Jacob Engelmann,et al.  Motor patterns during active electrosensory acquisition , 2014, Front. Behav. Neurosci..

[18]  Ruben Budelli,et al.  Electric fish measure distance in the dark , 1998, Nature.

[19]  J. Schmitz,et al.  Load sensing and control of posture and locomotion. , 2004, Arthropod structure & development.

[20]  V. Dürr,et al.  Antennal movements and mechanoreception: neurobiology of active tactile sensors , 2005 .

[21]  Kevin M. Lynch,et al.  Active Electrolocation for Underwater Target Localization , 2008, Int. J. Robotics Res..

[22]  G. von der Emde,et al.  Active electrolocation of objects in weakly electric fish , 1999 .

[23]  R. Budelli,et al.  Peripheral electrosensory imaging by weakly electric fish , 2006, Journal of Comparative Physiology A.

[24]  H. Ammari,et al.  Reconstruction of Small Inhomogeneities from Boundary Measurements , 2005 .

[25]  M. Bacher,et al.  A new method for the simulation of electric fields, generated by electric fish, and their distorsions by objects , 1983, Biological Cybernetics.

[26]  Gerhard von der Emde,et al.  Distance, shape and more: recognition of object features during active electrolocation in a weakly electric fish , 2007, Journal of Experimental Biology.

[27]  Christine Chevallereau,et al.  Underwater Reflex Navigation in Confined Environment Based on Electric Sense , 2013, IEEE Transactions on Robotics.

[28]  Frédéric Boyer,et al.  Object shape recognition using electric sense and ellipsoid's polarization tensor , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[29]  Horst Bleckmann,et al.  Coping with flow: behavior, neurophysiology and modeling of the fish lateral line system , 2012, Biological Cybernetics.

[30]  M. A. MacIver,et al.  Prey capture in the weakly electric fish Apteronotus albifrons: sensory acquisition strategies and electrosensory consequences. , 1999, The Journal of experimental biology.

[31]  David Isaacson,et al.  Electrical Impedance Tomography , 1999, SIAM Rev..

[32]  Josselin Garnier,et al.  Tracking of a Mobile Target Using Generalized Polarization Tensors , 2013, SIAM J. Imaging Sci..

[33]  Habib Ammari,et al.  Polarization and Moment Tensors: With Applications to Inverse Problems and Effective Medium Theory , 2010 .

[34]  Frédéric Boyer,et al.  Model for a Sensor Inspired by Electric Fish , 2012, IEEE Transactions on Robotics.

[35]  Josselin Garnier,et al.  Modeling Active Electrolocation in Weakly Electric Fish , 2012, SIAM J. Imaging Sci..