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Optimal sensor placement for artificial swimmers

Published online by Cambridge University Press:  10 December 2019

Siddhartha Verma Open the ORCID record for Siddhartha Verma [Opens in a new window] ,
Costas Papadimitriou ,
Nora Lüthen ,
Georgios Arampatzis  and
Petros Koumoutsakos Open the ORCID record for Petros Koumoutsakos [Opens in a new window]
Siddhartha Verma
Affiliation:
Computational Science and Engineering Laboratory, Clausiusstrasse 33, ETH Zürich,CH-8092, Switzerland Department of Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton,FL33431, USA Harbor Branch Oceanographic Institute, Florida Atlantic University, Fort Pierce, FL34946, USA
Costas Papadimitriou
Affiliation:
Department of Mechanical Engineering, University of Thessaly, Pedion Areos, GR-38334Volos, Greece
Nora Lüthen
Affiliation:
Computational Science and Engineering Laboratory, Clausiusstrasse 33, ETH Zürich,CH-8092, Switzerland
Georgios Arampatzis
Affiliation:
Computational Science and Engineering Laboratory, Clausiusstrasse 33, ETH Zürich,CH-8092, Switzerland
Petros Koumoutsakos*
Affiliation:
Computational Science and Engineering Laboratory, Clausiusstrasse 33, ETH Zürich,CH-8092, Switzerland
*
†Email address for correspondence: petros@ethz.ch
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Abstract

Natural swimmers rely for their survival on sensors that gather information from the environment and guide their actions. The spatial organization of these sensors, such as the visual fish system and lateral line, suggests evolutionary selection, but their optimality remains an open question. Here, we identify sensor configurations that enable swimmers to maximize the information gathered from their surrounding flow field. We examine two-dimensional, self-propelled and stationary swimmers that are exposed to disturbances generated by oscillating, rotating and D-shaped cylinders. We combine simulations of the Navier–Stokes equations with Bayesian experimental design to determine the optimal arrangements of shear and pressure sensors that best identify the locations of the disturbance-generating sources. We find a marked tendency for shear stress sensors to be located in the head and the tail of the swimmer, while they are absent from the midsection. In turn, we find a high density of pressure sensors in the head along with a uniform distribution along the entire body. The resulting optimal sensor arrangements resemble neuromast distributions observed in fish and provide evidence for optimality in sensor distribution for natural swimmers.

JFM classification

Biological Fluid Dynamics: Swimming/flying
Type
JFM Papers
Information
Journal of Fluid Mechanics , Volume 884 , 10 February 2020 , A24
Copyright
© 2019 Cambridge University Press

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Verma et al. supplementary movie 1

A larva-shaped swimmer detecting disturbances generated by a rotating cylinder.

Download Verma et al. supplementary movie 1(Video)
Video 8.9 MB

Verma et al. supplementary movie 2

An adult-shaped swimmer detecting an oscillating cylinder.

Download Verma et al. supplementary movie 2(Video)
Video 8.2 MB

Verma et al. supplementary movie 3

Vorticity field around a static larva in the presence of a horizontally oscillating cylinder.

Download Verma et al. supplementary movie 3(Video)
Video 2.7 MB

Verma et al. supplementary movie 4

Vorticity field around a static larva in the wake of a D-shaped__cylinder.

Download Verma et al. supplementary movie 4(Video)
Video 5.3 MB