Fish can save energy via proprioceptive sensing

Lade...
Vorschaubild
Dateien
Li_2-in3gsbj885gu6.pdf
Li_2-in3gsbj885gu6.pdfGröße: 2.42 MBDownloads: 167
Datum
2021
Autor:innen
Liu, Danshi
Deng, Jian
Xie, Guangming
Herausgeber:innen
Kontakt
ISSN der Zeitschrift
Electronic ISSN
ISBN
Bibliografische Daten
Verlag
Schriftenreihe
Auflagebezeichnung
ArXiv-ID
Internationale Patentnummer
Angaben zur Forschungsförderung
Projekt
Open Access-Veröffentlichung
Open Access Hybrid
Core Facility der Universität Konstanz
Gesperrt bis
Titel in einer weiteren Sprache
Forschungsvorhaben
Organisationseinheiten
Zeitschriftenheft
Publikationstyp
Zeitschriftenartikel
Publikationsstatus
Published
Erschienen in
Zusammenfassung

Fish have evolved diverse and robust locomotive strategies to swim efficiently in complex fluid environments. However, we know little, if anything, about how these strategies can be achieved. Although most studies suggest that fish rely on the lateral line system to sense local flow and optimise body undulation, recent work has shown that fish are still able to gain benefits from the local flow even with the lateral line impaired. In this paper, we hypothesise that fish can save energy by extracting vortices shed from their neighbours using only simple proprioceptive sensing with the caudal fin. We tested this hypothesis on both computational and robotic fish by synthesising a central pattern generator (CPG) with feedback, proprioceptive sensing, and reinforcement learning. The CPG controller adjusts the body undulation after receiving feedback from the proprioceptive sensing signal, decoded via reinforcement learning. In our study, we consider potential proprioceptive sensing inputs to consist of low-dimensional signals (e.g. perceived forces) detected from the flow. With simulations on a computational robot and experiments on a robotic fish swimming in unknown dynamic flows, we show that the simple proprioceptive sensing is sufficient to optimise the body undulation to save energy, without any input from the lateral line. Our results reveal a new sensory-motor mechanism in schooling fish and shed new light on the strategy of control for robotic fish swimming in complex flows with high efficiency.

Zusammenfassung in einer weiteren Sprache
Fachgebiet (DDC)
570 Biowissenschaften, Biologie
Schlagwörter
Konferenz
Rezension
undefined / . - undefined, undefined
Zitieren
ISO 690LI, Liang, Danshi LIU, Jian DENG, Matthew J. LUTZ, Guangming XIE, 2021. Fish can save energy via proprioceptive sensing. In: Bioinspiration & biomimetics. Institute of Physics Publishing (IOP). 2021, 16(5), 056013. ISSN 1748-3182. eISSN 1748-3190. Available under: doi: 10.1088/1748-3190/ac165e
BibTex
@article{Li2021-08-16energ-54731,
  year={2021},
  doi={10.1088/1748-3190/ac165e},
  title={Fish can save energy via proprioceptive sensing},
  number={5},
  volume={16},
  issn={1748-3182},
  journal={Bioinspiration & biomimetics},
  author={Li, Liang and Liu, Danshi and Deng, Jian and Lutz, Matthew J. and Xie, Guangming},
  note={Article Number: 056013}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/54731">
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/28"/>
    <dc:language>eng</dc:language>
    <dcterms:issued>2021-08-16</dcterms:issued>
    <dc:creator>Deng, Jian</dc:creator>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dc:contributor>Deng, Jian</dc:contributor>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/54731"/>
    <dcterms:rights rdf:resource="https://rightsstatements.org/page/InC/1.0/"/>
    <dc:contributor>Li, Liang</dc:contributor>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2021-08-26T08:06:10Z</dc:date>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/43615"/>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:contributor>Xie, Guangming</dc:contributor>
    <dc:creator>Li, Liang</dc:creator>
    <dc:creator>Xie, Guangming</dc:creator>
    <dcterms:title>Fish can save energy via proprioceptive sensing</dcterms:title>
    <dc:contributor>Liu, Danshi</dc:contributor>
    <dc:creator>Lutz, Matthew J.</dc:creator>
    <dc:contributor>Lutz, Matthew J.</dc:contributor>
    <dc:creator>Liu, Danshi</dc:creator>
    <dc:rights>terms-of-use</dc:rights>
    <dspace:hasBitstream rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/54731/1/Li_2-in3gsbj885gu6.pdf"/>
    <dcterms:abstract xml:lang="eng">Fish have evolved diverse and robust locomotive strategies to swim efficiently in complex fluid environments. However, we know little, if anything, about how these strategies can be achieved. Although most studies suggest that fish rely on the lateral line system to sense local flow and optimise body undulation, recent work has shown that fish are still able to gain benefits from the local flow even with the lateral line impaired. In this paper, we hypothesise that fish can save energy by extracting vortices shed from their neighbours using only simple proprioceptive sensing with the caudal fin. We tested this hypothesis on both computational and robotic fish by synthesising a central pattern generator (CPG) with feedback, proprioceptive sensing, and reinforcement learning. The CPG controller adjusts the body undulation after receiving feedback from the proprioceptive sensing signal, decoded via reinforcement learning. In our study, we consider potential proprioceptive sensing inputs to consist of low-dimensional signals (e.g. perceived forces) detected from the flow. With simulations on a computational robot and experiments on a robotic fish swimming in unknown dynamic flows, we show that the simple proprioceptive sensing is sufficient to optimise the body undulation to save energy, without any input from the lateral line. Our results reveal a new sensory-motor mechanism in schooling fish and shed new light on the strategy of control for robotic fish swimming in complex flows with high efficiency.</dcterms:abstract>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/43615"/>
    <dcterms:hasPart rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/54731/1/Li_2-in3gsbj885gu6.pdf"/>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/28"/>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2021-08-26T08:06:10Z</dcterms:available>
  </rdf:Description>
</rdf:RDF>
Interner Vermerk
xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter
Kontakt
URL der Originalveröffentl.
Prüfdatum der URL
Prüfungsdatum der Dissertation
Finanzierungsart
Kommentar zur Publikation
Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Begutachtet
Ja
Diese Publikation teilen