Biomimetic Underwater Vehicle Wall Surface Recognition Using Dynamic Pressure
Date Issued
2016
Date
2016
Author(s)
Wang, Ying-Fu
Abstract
Machine learning method is used to study the wall detection possibilities of a swimming Biomimetic Autonomous Underwater Vehicle (BAUV) by measuring the dynamic pressure surrounding the vehicle body. A BAUV of 90cm length, 25cm width and 50cm high with pressure sensors on body sides and on its head was built to sense the pressure around the BAUV. An architecture for the design of a two-class pressure signals classifier in an underwater environment is proposed. The classifier is based on a support vector machine, features vector are dynamic pressure signals processed by a band-pass filter and then their root-mean-square values are ensemble to represent the feature values. Feature vectors for classification are adaptively selected to form significant feature vectors by a feature selection method. Finally, the classifier is used for classifying the selected features. It is shown that a BAUV could use the dynamic pressure signals to estimate the presence of a solid wall beside it by the classifier. Keywords: Biomimetic Autonomous Underwater Vehicle, lateral line, swimming kinematics, environmental detection
Subjects
Biomimetic Autonomous Underwater Vehicle
lateral line
swimming kinematics
environmental detection
Type
thesis
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