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— An artificial lateral line consists of a set of flow sensors arranged around a fish-like body which aims at localizing the surrounding moving objects, a common example of which is a vibrating sphere, called a dipole. The presence of diverse sources of uncertainty in the flow environment and flow sensors leads to an error in localization and thus… (More)
This study develops a method for optimum design of an artificial lateral line system, which tracks underwater objects by using the extended Kalman Filter (EKF). Sensor noise and model uncertainty are considered for design optimization. Dependency of the optimum setting of the EKF and the design parameters on the amount of uncertainty is investigated as well.
Inspired by the lateral line of aquatic vertebrates, an artificial lateral line (ALL) system can localize and track an underwater moving object by analyzing the ambient flow caused by its motion. There are several studies on object detection, localization and tracking by ALL systems, but only a few have investigated the optimal design of the ALL system, the… (More)