Design and Application Progress of Biomimetic Seal Whisker Sensors for Underwater Flow Field Sensing
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摘要: 海洋环境感知, 尤其是水下流场的高精度感知技术, 在海洋资源勘探、自主水下航行器(AUV)作业及国防安全等领域具有关键意义。然而, 在低能见度和复杂背景扰动下传统光学与声学感知手段在性能与适应性上均面临严峻挑战。海豹胡须的波浪状几何结构能够显著抑制背景流场产生的涡激振动、提升信噪比, 毛囊窦复合体则赋予其对微弱扰动的高灵敏检测能力, 仿海豹胡须感知技术被视为突破现有感知技术瓶颈的重要方向。本文系统回顾了该技术领域的发展现状, 重点包括: 海豹胡须感知机理的生物学基础; 基于光学、电阻、电容、压电与摩擦电等原理的仿生胡须结构设计、材料选型与性能优化策略; 以及其在固定平台和水下移动平台中的典型应用与实证效果。最后, 归纳了仿海豹胡须感知技术在稳定性、微型化与信号处理等方面面临的主要挑战, 旨在为流场仿生感知技术的理论研究与工程实践提供系统参考与技术支撑。Abstract: Marine environment sensing, especially high-precision underwater flow field sensing, is vital for marine resource exploration, autonomous undersea vehicle(AUV) operations, and national defense. However, under low visibility and complex disturbances, conventional optical and acoustic sensing methods face severe limitations in performance and adaptability. Seal whiskers’ undulated geometry suppresses vortex-induced vibrations(VIVs) and enhances signal-to-noise ratio(SNR), while the follicle-sinus complex(FSC) enables sensitive detection of subtle hydrodynamic cues. Biomimetic whisker sensors have emerged as a promising solution to current bottlenecks in sensing technologies. This review systematically summarized recent progress in this field, covering the biological sensing principles of seal whiskers, as well as the design strategies, material choices, and performance optimization of biomimetic sensors based on optical, resistive, capacitive, piezoelectric, and triboelectric mechanisms. Representative applications and effects on fixed and mobile platforms were discussed, followed by an overview of challenges in stability, miniaturization, and signal processing. This work aims to provide a systematic reference and technical support for the theoretical research and engineering practice of biomimetic flow sensing technologies.
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图 1 感官剥夺条件下的海豹行为学研究
Figure 1. Behavioral studies of seals under sensory deprivation conditions
图 6 基于石墨材料的电阻式仿生胡须传感器
Figure 6. Resistive bionic whisker sensor based on graphite material
图 7 基于碳纳米管的三维应变胡须传感器
Figure 7. Three-dimensional strain whisker sensor based on carbon nanotubes
图 9 基于平行板电容器的仿生胡须传感器
Figure 9. Bionic whisker sensor based on parallel plate capacitor
图 10 基于旋转平行板电容器的胡须传感器
Figure 10. Whisker sensor based on rotating parallel-plate capacitor
图 12 基于PVDF材料的压电式仿海豹胡须传感器
Figure 12. Piezoelectric seal whisker sensor based on PVDF material
图 13 基于PZT材料的压电式仿生胡须传感器
Figure 13. Piezoelectric bionic whisker sensor based on PZT material
图 14 基于电流体动力喷射打印的微型胡须传感器
Figure 14. Micro whisker sensor based on electrohydrodynamic jet printing
图 15 基于膜结构TENG的仿生胡须传感器
Figure 15. Bionic whisker sensor based on membrane structured TENG
图 16 受毛囊结构启发的摩擦电式仿生胡须传感器
Figure 16. Triboelectric bionic whisker sensor inspired by hair follicle structure
图 17 受海豹胡须启发的摩擦电式仿海豹胡须传感器
Figure 17. Triboelectric seal whisker sensor inspired by seal whiskers
图 23 人工海豹胡须用于多种流动分析
Figure 23. Artificial seal whiskers employed in multiple flow analyses
图 24 安装在海豹身上的电容式仿胡须水流传感阵列
Figure 24. Capacitive biomimetic whisker flow-sensing array mounted on live seals
图 25 用于多向流体动力学传感的仿生胡须水流传感器
Figure 25. Biomimetic whisker flow sensor for multi-axis hydrodynamic sensing
图 27 用于被动检测涡流的摩擦电式仿海豹胡须传感器
Figure 27. Triboelectric seal-whisker-inspired sensor for pa- ssive vortex detection
图 28 具有毛囊结构的摩擦电式仿海豹胡须传感器
Figure 28. Triboelectric seal-whisker-inspired sensor with follicle-mimicking structure
图 29 深度学习辅助的仿生水下摩擦电胡须传感器
Figure 29. Deep learning-augmented biomimetic underwater triboelectric whisker sensor
表 1 各类仿海豹胡须传感器特点对比
Table 1. Comparison of features among various seal-whisker-inspired sensors
类型 感知机理 优势 不足 典型适用场景 光学式 光纤干涉、图像识别 高灵敏度、高分辨率、
抗电磁干扰结构复杂, 难以小型化,
信号处理要求高精细流场监测、高分辨率应用、静态监测 电阻式 电阻变化(导电材料) 结构简单、低成本、
易阵列化非线性响应、湿度敏感 大规模阵列部署、低成本传感器
网络、短期监测电容式 电容变化 高灵敏度、低功耗、
稳定性好寄生电容、阵列元件间串扰、电磁干扰 多通道阵列、静态监测、高精度测量 压电式 压电效应(机电耦合) 高灵敏度、自供能、
响应迅速低电平输出、低频响应不足 水下扰动感知、能量受限平台、
自驱动系统摩擦电 摩擦电效应(静电感应) 自供能、成本低、
低频响应强耐磨性差、信号衰减、环境稳定性差 微弱扰动感知、低频应用、自驱动系统 
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