Underwater robot technologies are crucial for marine resource exploration and autonomous manipulation,and many breakthroughs have been achieved with key indicators(e.g.,dive depth and navigation range).However,due to ...Underwater robot technologies are crucial for marine resource exploration and autonomous manipulation,and many breakthroughs have been achieved with key indicators(e.g.,dive depth and navigation range).However,due to the complicated underwater environment,the state-of-the-art sensing technologies cannot handle all the needs of underwater observations.To improve the autonomous operating capacity of underwater robots,there is an urgent need to develop underwater sensing technology.Therefore,in this paper,we first introduce the development of underwater robot platforms.We then review some key sensing technologies such as underwater acoustic sensing,underwater optical sensing,underwater magnetic sensing,and underwater bionic sensing.Finally,we point out the challenges of underwater sensing technology and future directions in addressing these challenges,e.g.,underwater bionic sensing,new underwater material development,multisource information fusion,and the construction of general test platforms.展开更多
Cavefish, with sensitive lateral lines, can swim freely and locate preys in invisible and complex cave environments, though their eyes are greatly degenerated. Investigations on the morphology and distribution charact...Cavefish, with sensitive lateral lines, can swim freely and locate preys in invisible and complex cave environments, though their eyes are greatly degenerated. Investigations on the morphology and distribution characteristics of their lateral line systems would benefit our understanding of the high-sensitivity mechanism of the fish. In this study, the arrangement and morphology of the lateral lines are described for two species ofSinocyclocheilus： S. macrophthalmus and S. microphthalmus, which live in the karst caves in Guangxi, China. The behavior experiments indicate that the lateral line system of the S. macrophthalmus is more sensitive at a low vibration frequency range from 20 Hz to 70 Hz. The cephalic and trunk lateral line systems both contribute to the efficient object-locating capability. For both of the two species of cavefish, the diameter of the lateral canal nearby the neuromasts is narrower than that nearby the canal pores. This variation can increase the normal pressure to the surface of the cupula, and increase the sensitivity of the canal lateral line system.展开更多
基金This work is supported by the National Key Research and Development Program of China(2019YFB1310300)National Nature Science Foundation of China under Grant(61722311,61821005).
文摘Underwater robot technologies are crucial for marine resource exploration and autonomous manipulation,and many breakthroughs have been achieved with key indicators(e.g.,dive depth and navigation range).However,due to the complicated underwater environment,the state-of-the-art sensing technologies cannot handle all the needs of underwater observations.To improve the autonomous operating capacity of underwater robots,there is an urgent need to develop underwater sensing technology.Therefore,in this paper,we first introduce the development of underwater robot platforms.We then review some key sensing technologies such as underwater acoustic sensing,underwater optical sensing,underwater magnetic sensing,and underwater bionic sensing.Finally,we point out the challenges of underwater sensing technology and future directions in addressing these challenges,e.g.,underwater bionic sensing,new underwater material development,multisource information fusion,and the construction of general test platforms.
基金supported by the National Key Research and Development Program of China(2021YFA1401100)the National Natural Science Foundation of China(61974014)the Innovation Group Project of Sichuan Province(20CXTD0090).
文摘Cavefish, with sensitive lateral lines, can swim freely and locate preys in invisible and complex cave environments, though their eyes are greatly degenerated. Investigations on the morphology and distribution characteristics of their lateral line systems would benefit our understanding of the high-sensitivity mechanism of the fish. In this study, the arrangement and morphology of the lateral lines are described for two species ofSinocyclocheilus： S. macrophthalmus and S. microphthalmus, which live in the karst caves in Guangxi, China. The behavior experiments indicate that the lateral line system of the S. macrophthalmus is more sensitive at a low vibration frequency range from 20 Hz to 70 Hz. The cephalic and trunk lateral line systems both contribute to the efficient object-locating capability. For both of the two species of cavefish, the diameter of the lateral canal nearby the neuromasts is narrower than that nearby the canal pores. This variation can increase the normal pressure to the surface of the cupula, and increase the sensitivity of the canal lateral line system.
