Shape Classification Using a Single Seal-Whisker-Style Sensor Based on the Neural Network Method

Abstract

Seals, sea lions, and other aquatic animals rely on their whiskers to identify and track underwater targets, offering valuable inspiration for the development of low-power, portable, and environmentally friendly sensors. Here, we design a single seal-whisker-like cylinder and conduct experiments to measure the forces acting on it with nine different upstream targets. Using sample sets constructed from these force signals, a convolutional neural network (CNN) is trained and tested. The results demonstrate that combining the seal-whisker-style sensor with a CNN enables the identification of objects in the water in most cases, although there may be some confusion for certain targets. Increasing the length of the signal samples can enhance the results but may not eliminate these confusions. Our study reveals that high frequencies (greater than 5 Hz) are irrelevant in our model. Lift signals present more distinct and distinguishable features than drag signals, serving as the primary basis for the model to differentiate between various targets. Fourier analysis indicates that the model’s efficacy in recognizing different targets relies heavily on the discrepancies in the spectral features of the lift signals.

Keywords

• biomimetics
• harbor seal whiskers
• convolutional neural network
• underwater detection
• shape classification