论文标题
电场耦合振荡器，用于水下机器人技术集体电化学感知
Electric-field-coupled oscillators for collective electrochemical perception in underwater robotics
论文作者
论文摘要
这项工作探讨了由电场在水下机器人技术中的集体任务中使用电场结合的非线性振荡器的应用。这种耦合的振荡器在清晰和胶体（泥浆，底部淤泥）水中运行，代表了一个集体电化学传感器，该传感器对全球环境参数敏感，公共电场的几何形状以及自动载水下车辆的空间动力学（AUV）。该方法在硬件和软件中实现，可用于在机器人组中创造全球意识，这些机器人具有有限的传感和通信功能。使用来自不同AUV的振荡器可以扩展与单个AUV的电偶极子相关的范围限制。证明了该技术的应用，用于检测AUV的数量，它们之间的距离，介电对象的感知，行为同步以及通过“电气镜”之间的“集体自我自我”和“集体非自我”之间的歧视。这些方法已在新鲜和盐水中的AUV中实施。
This work explores the application of nonlinear oscillators coupled by electric field in water for collective tasks in underwater robotics. Such coupled oscillators operate in clear and colloidal (mud, bottom silt) water and represent a collective electrochemical sensor that is sensitive to global environmental parameters, geometry of common electric field and spatial dynamics of autonomous underwater vehicles (AUVs). Implemented in hardware and software, this approach can be used to create global awareness in the group of robots, which possess limited sensing and communication capabilities. Using oscillators from different AUVs enables extending the range limitations related to electric dipole of a single AUV. Applications of this technique are demonstrated for detecting the number of AUVs, distances between them, perception of dielectric objects, synchronization of behavior and discrimination between 'collective self' and 'collective non-self' through an 'electrical mirror'. These approaches have been implemented in several research projects with AUVs in fresh and salt water.
