Bio-inspired Underwater Sensing and Control with Mechanosensitive Hairs
Abstract
Project Summary The long-term goal of this research project is to investigate an underwater robotic perception and control system based on the lateral line and vestibular systems in fish that will support a closed-loop control system using bio-inspired, multi-modal sensing. The proposed research activities will highlight biological experimentation based on emerging tools such as functional imaging (a technique used in parallel with optogenetics) that aims to resolve the role of multimodal sensing in behavior. The specific research objective is to apply tools from comparative physiology, material science, and dynamical control systems to solve the problem of closed-loop sensing and robotic control with artificial lateral line and vestibular organs. The technical approach to reach this objective will be to (1) conduct behavioral experiments on larval and juvenile zebrafish using sensory deprivation and functional imaging to elucidate the relative roles of the lateral line submodalities and the vestibular system; (2) fabricate and optimize mechanosensitive hairs using electroactive polymers to emulate superficial and canal neuromasts and the vestibular system in fish; and (3) conduct bio-inspired sensing and control experiments with a swimming robot in a vortex street using hair-based sensors to achieve Kármán gaiting behavior. The project team will be led by PI Paley (aerospace controls) at the University of Maryland and include co-PIs McHenry (fish biology) at UC Irvine and Tan (smart material sensors) at Michigan State. Funding is requested to support three graduate student positions and inter-university exchanges for cross-disciplinary interaction and training during a three-year period of performance.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 12, 2016
- Source ID
- N000141512246
Entities
People
- Derek Paley
Organizations
- Office of Naval Research
- United States Navy
- University of Maryland