Tactile tomographic fluid-flow imaging with a robotic whisker array

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Current sensory array systems do not fully exploit tactile sensing strategies widely used by vibrissal sensing animals to explore their surroundings. We develop a new tactile fluid-flow imaging technique, which relates rat's whisker movements to tomographic imaging to extract fluid-flow characteristics with a robotic whisker array. At high Reynolds numbers, the drag force on a whisker segment is proportional to the relative velocity squared, and acts as a distributed load along the whisker length. Therefore, we propose that it is possible to map out the 2-D cross-sectional mean fluid-flow velocity field with a robotic whisker array by measuring the moment sensed at each whisker base from different directions for tomographic reconstruction. The associated inverse problem for the tomographic image formation is formulated as a MAP estimation problem and solved computationally. The experimental results demonstrate that this new approach offers a fundamentally novel sensor technology for flow-field measurements.

Original languageEnglish (US)
Title of host publication2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6815-6819
Number of pages5
ISBN (Print)9781479928927
DOIs
StatePublished - Jan 1 2014
Event2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014 - Florence, Italy
Duration: May 4 2014May 9 2014

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
ISSN (Print)1520-6149

Other

Other2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014
CountryItaly
CityFlorence
Period5/4/145/9/14

Fingerprint

Flow of fluids
Robotics
Imaging techniques
Inverse problems
Flow velocity
Drag
Rats
Flow fields
Animals
Image processing
Reynolds number
Sensors

Keywords

  • Robotic whiskers
  • flow imaging
  • inverse problem
  • tactile sensing
  • tomography

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering

Cite this

Tuna, C., Jones, D. L., & Kamalabadi, F. (2014). Tactile tomographic fluid-flow imaging with a robotic whisker array. In 2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014 (pp. 6815-6819). [6854920] (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASSP.2014.6854920

Tactile tomographic fluid-flow imaging with a robotic whisker array. / Tuna, Cagdas; Jones, Douglas L; Kamalabadi, Farzad.

2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 6815-6819 6854920 (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tuna, C, Jones, DL & Kamalabadi, F 2014, Tactile tomographic fluid-flow imaging with a robotic whisker array. in 2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014., 6854920, ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 6815-6819, 2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014, Florence, Italy, 5/4/14. https://doi.org/10.1109/ICASSP.2014.6854920
Tuna C, Jones DL, Kamalabadi F. Tactile tomographic fluid-flow imaging with a robotic whisker array. In 2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 6815-6819. 6854920. (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings). https://doi.org/10.1109/ICASSP.2014.6854920
Tuna, Cagdas ; Jones, Douglas L ; Kamalabadi, Farzad. / Tactile tomographic fluid-flow imaging with a robotic whisker array. 2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 6815-6819 (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings).
@inproceedings{88f16a7402234f9ea63c9ec89b639fe8,
title = "Tactile tomographic fluid-flow imaging with a robotic whisker array",
abstract = "Current sensory array systems do not fully exploit tactile sensing strategies widely used by vibrissal sensing animals to explore their surroundings. We develop a new tactile fluid-flow imaging technique, which relates rat's whisker movements to tomographic imaging to extract fluid-flow characteristics with a robotic whisker array. At high Reynolds numbers, the drag force on a whisker segment is proportional to the relative velocity squared, and acts as a distributed load along the whisker length. Therefore, we propose that it is possible to map out the 2-D cross-sectional mean fluid-flow velocity field with a robotic whisker array by measuring the moment sensed at each whisker base from different directions for tomographic reconstruction. The associated inverse problem for the tomographic image formation is formulated as a MAP estimation problem and solved computationally. The experimental results demonstrate that this new approach offers a fundamentally novel sensor technology for flow-field measurements.",
keywords = "Robotic whiskers, flow imaging, inverse problem, tactile sensing, tomography",
author = "Cagdas Tuna and Jones, {Douglas L} and Farzad Kamalabadi",
year = "2014",
month = "1",
day = "1",
doi = "10.1109/ICASSP.2014.6854920",
language = "English (US)",
isbn = "9781479928927",
series = "ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6815--6819",
booktitle = "2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014",
address = "United States",

}

TY - GEN

T1 - Tactile tomographic fluid-flow imaging with a robotic whisker array

AU - Tuna, Cagdas

AU - Jones, Douglas L

AU - Kamalabadi, Farzad

PY - 2014/1/1

Y1 - 2014/1/1

N2 - Current sensory array systems do not fully exploit tactile sensing strategies widely used by vibrissal sensing animals to explore their surroundings. We develop a new tactile fluid-flow imaging technique, which relates rat's whisker movements to tomographic imaging to extract fluid-flow characteristics with a robotic whisker array. At high Reynolds numbers, the drag force on a whisker segment is proportional to the relative velocity squared, and acts as a distributed load along the whisker length. Therefore, we propose that it is possible to map out the 2-D cross-sectional mean fluid-flow velocity field with a robotic whisker array by measuring the moment sensed at each whisker base from different directions for tomographic reconstruction. The associated inverse problem for the tomographic image formation is formulated as a MAP estimation problem and solved computationally. The experimental results demonstrate that this new approach offers a fundamentally novel sensor technology for flow-field measurements.

AB - Current sensory array systems do not fully exploit tactile sensing strategies widely used by vibrissal sensing animals to explore their surroundings. We develop a new tactile fluid-flow imaging technique, which relates rat's whisker movements to tomographic imaging to extract fluid-flow characteristics with a robotic whisker array. At high Reynolds numbers, the drag force on a whisker segment is proportional to the relative velocity squared, and acts as a distributed load along the whisker length. Therefore, we propose that it is possible to map out the 2-D cross-sectional mean fluid-flow velocity field with a robotic whisker array by measuring the moment sensed at each whisker base from different directions for tomographic reconstruction. The associated inverse problem for the tomographic image formation is formulated as a MAP estimation problem and solved computationally. The experimental results demonstrate that this new approach offers a fundamentally novel sensor technology for flow-field measurements.

KW - Robotic whiskers

KW - flow imaging

KW - inverse problem

KW - tactile sensing

KW - tomography

UR - http://www.scopus.com/inward/record.url?scp=84905234123&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84905234123&partnerID=8YFLogxK

U2 - 10.1109/ICASSP.2014.6854920

DO - 10.1109/ICASSP.2014.6854920

M3 - Conference contribution

AN - SCOPUS:84905234123

SN - 9781479928927

T3 - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings

SP - 6815

EP - 6819

BT - 2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014

PB - Institute of Electrical and Electronics Engineers Inc.

ER -