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From Rat to Robots and Back: Employi...

Huet, Lucie Anne.

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From Rat to Robots and Back: Employing Whisker Mechanics in Sensing Applications.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	From Rat to Robots and Back: Employing Whisker Mechanics in Sensing Applications./
作者:	Huet, Lucie Anne.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2016,
面頁冊數:	254 p.
附註:	Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.
Contained By:	Dissertation Abstracts International78-02B(E).
標題:	Mechanical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10160651
ISBN:	9781369155587

From Rat to Robots and Back: Employing Whisker Mechanics in Sensing Applications.
Huet, Lucie Anne.

From Rat to Robots and Back: Employing Whisker Mechanics in Sensing Applications. - Ann Arbor : ProQuest Dissertations & Theses, 2016 - 254 p.

Source: Dissertation Abstracts International, Volume: 78-02(E), Section: B.

Thesis (Ph.D.)--Northwestern University, 2016.

Whiskers are capable of providing a detailed sense of touch. Rats are especially adept with their vibrissae, or whiskers, using them in a variety of tasks. Replicating this ability by creating artificial whiskers could provide the field of robotics with a powerful and detailed sense of touch. This thesis explores how the kinematics and mechanics of whiskers direct the ways rats explore their environment. It also demonstrates a method to locate points of contact between their whiskers and objects, a necessary step in localizing objects and performing shape extraction. It examines in particular how the mechanical signals at the base of a whisker can be used to determine the contact point location and applies these findings to the design of artificial whiskers and to the analysis of neuronal signals in the rat brain.

ISBN: 9781369155587Subjects--Topical Terms:

649730
Mechanical engineering.

From Rat to Robots and Back: Employing Whisker Mechanics in Sensing Applications.
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520 $a Whiskers are capable of providing a detailed sense of touch. Rats are especially adept with their vibrissae, or whiskers, using them in a variety of tasks. Replicating this ability by creating artificial whiskers could provide the field of robotics with a powerful and detailed sense of touch. This thesis explores how the kinematics and mechanics of whiskers direct the ways rats explore their environment. It also demonstrates a method to locate points of contact between their whiskers and objects, a necessary step in localizing objects and performing shape extraction. It examines in particular how the mechanical signals at the base of a whisker can be used to determine the contact point location and applies these findings to the design of artificial whiskers and to the analysis of neuronal signals in the rat brain.
520 $a First, it quantifies "search space" of the vibrissal array about the rat's head, as defined by either the volume encompassed by the vibrissal array or the surface area formed by the tips. It draws conclusions about the size, shape, and location of the search space both when the vibrissae are at rest and as the rat whisks forward. Then the thesis delves into mechanical models of whiskers, creating a dynamic two-dimensional (2D) model and then a three-dimensional (3D) quasistatic model called Elastica3D. These models quantify the forces and moments at the base of a whisker as a whisker moves in free air, collides with an object, and then pushes against it. Elastica3D can be used both to analyze tracked data of whisker deflection and to run standalone simulations of whisking against an edge. Then Elastica3D is used to identify triplets of mechanical variables at the base of a whisker that can uniquely identify the contact point location. The thesis discusses how these findings affect the design of artificial whiskers for robots. Finally, it shows that these mechanical variables can be represented by action potentials ("spikes") of the trigeminal ganglion in the rat's brain.
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