@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",
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",
note = "2014 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2014 ; Conference date: 04-05-2014 Through 09-05-2014",
}