. The Biological bulletin. Biology; Zoology; Biology; Marine Biology. BEHAVIOR 231 Reference: B/o/. Bull 189: 231-232. (October/November, 1995) Explorations of Turbulent Odor Plumes with an Autonomous Underwater Robot T. R. Const (MIT Sea Grant Program), F. Grasso. D. Mountain, and J. Atema Lobsters extract information from complex signals in tur- bulent odor plumes and it guides them to mates or food sources. To test hypotheses about this guidance information, we have developed a robot as a physical model of a lobster. Here we present the results of experiments designed to test the efficacy o
. The Biological bulletin. Biology; Zoology; Biology; Marine Biology. BEHAVIOR 231 Reference: B/o/. Bull 189: 231-232. (October/November, 1995) Explorations of Turbulent Odor Plumes with an Autonomous Underwater Robot T. R. Const (MIT Sea Grant Program), F. Grasso. D. Mountain, and J. Atema Lobsters extract information from complex signals in tur- bulent odor plumes and it guides them to mates or food sources. To test hypotheses about this guidance information, we have developed a robot as a physical model of a lobster. Here we present the results of experiments designed to test the efficacy of amplitude information—a single component of a complex signal—in guidance. The robot used a bilateral pair of conduc- tivity sensors (sensor surface spacing = 5-7 cm. 5 cm separating two 1 -cm wide sensors) to sense a salt plume simulating an odor plume. The experiments were performed in a fresh-water flume with a mean flow rate of cm/s. A vl/NaCl solution (containing crystal violet for visualization and ethanol to adjust buoyancy) was injected parallel to the flow from a 2 mm diameter nozzle into the flume at a rate of 250 ml/min. The resulting plume had two distinct regions: a proximal cone originating at the source, and a distal patch field downstream from the jet. The proximal jet is the region where the velocity of the jet exceeds the mean flow in the flume. The distal patch field corresponds to plume positions downstream from the proximal cone where the mean flow is the major source of plume velocity (relative to the floor). Two robot control algorithms were tested: 1. The robot turns toward the side with the higher salt conduc- tance signal or goes forward if the difference between the right and left sensor signals drop below 9 j/S. 2. As in # 1, with the added feature that the robot goes backward if the conductances of both sensors drop below a threshold of7MS. The robot was placed in the center of the flume. 90 cm down- stream from the plume source, and w
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Keywords: ., bookauthorlilliefrankrat, booksubjectbiology, booksubjectzoology
