Modeling the electric image produced by objects with complex impedance in weakly electric fish

Motion parallax for object localization in electric fields

Parallax, as a visual effect, is used for depth perception of objects. But is there also the effect of parallax in the context of electric field imagery? In this work, the example of weakly electric fish is used to investigate how the self-generated electric field that these fish utilize for orientation and communication alike, may be used as a template to define electric parallax. The skin of the electric fish possesses a vast amount of electroreceptors that detect the self-emitted dipole-like electric field. In this work, the weakly electric fish is abstracted as an electric dipole with a sensor line in between the two emitters. With an analytical description of the object distortion for a uniform electric field, the distortion in a dipole-like field is simplified and simulated. On the basis of this simulation, the parallax effect could be demonstrated in electric field images i.e. by closer inspection of voltage profiles on the sensor line. Therefore, electric parallax can be defined as the relative movement of a signal feature of the voltage profile (here, the maximum or peak of the voltage profile) that travels along the sensor line peak trace (PT). The PT width correlates with the object's vertical distance to the sensor line, as close objects create a large PT and distant objects a small PT, comparable with the effect of visual motion parallax.

Biologically Inspired Catheter for Endovascular Sensing and Navigation

Minimally invasive treatment of vascular disease demands dynamic navigation through complex blood vessel pathways and accurate placement of an interventional device, which has resulted in increased reliance on fluoroscopic guidance and commensurate radiation exposure to the patient and staff. Here we introduce a guidance system inspired by electric fish that incorporates measurements from a newly designed electrogenic sensory catheter with preoperative imaging to provide continuous feedback to guide vascular procedures without additional contrast injection, radiation, image registration, or external tracking. Electrodes near the catheter tip simultaneously create a weak electric field and measure the impedance, which changes with the internal geometry of the vessel as the catheter advances through the vasculature. The impedance time series is then mapped to a preoperative vessel model to determine the relative position of the catheter within the vessel tree. We present navigation in a synthetic vessel tree based on our mapping technique. Experiments in a porcine model demonstrated the sensor’s ability to detect cross-sectional area variation in vivo. These initial results demonstrate the capability and potential of this novel bioimpedance-based navigation technology as a non-fluoroscopic technique to augment existing imaging methods.

Amplitude information-frequency characteristics for multi-frequency excitation of underwater active electrolocation systems

Underwater active electrolocation technology is a new kind of technology for underwater detection and environmental perception, whose discovery was inspired by the active electrolocation systems of weakly electric fish. The amplitude information-frequency characteristics (AIFC) obtained by an underwater active electrolocation system (UAES) can effectively assess information about probed objects, such as their material composition, shape, and conductivity. Traditionally, single-frequency excitation has been employed in a UAES, which can make object detection inefficient and time-consuming. We employed multi-frequency signals for excitation in a UAES, to improve the efficiency of detection. We used three kinds of multi-frequency excitation signals-square wave, single pulse, and biphasic pulse, to detect objects under water. To improve the accuracy of measurements, we developed an AIFC recognition algorithm. The experimental results showed that the multi-frequency excitation detection method is effective and feasible. We demonstrated that the electrodes are strongly coupled to the UAES and can result in non-negligible errors that have often been previously ignored. In addition, graphite electrodes performed much better than titanium electrodes for multi-frequency signal detection, and bio-inspired multi-frequency pulse excitation signals gave more accurate results than the square-wave signal.

Representation of object's shape by multiple electric images in electrolocation

Weakly electric fish generate an electric field by discharging an electric organ located on the tail region. An object near the fish modulates the self-generated electric field. The modulated field enables the fish to perceive objects even in complete darkness. The ability to perceive objects is provided by the electrosensory system of the fish. Electroreceptors distributed on the fish's skin surface can sense the modulated field, on the basis of transdermal voltage across the skin surface, called electric images. The fish can extract object's features such as lateral distance, size, shape, and electric property from an electric image. Although previous studies have demonstrated the relationship between electric-image features and object's distance and size, it remains unclear what features of an electric image represent the object's shape. We make here a hypothesis that shape information is not represented by a single image but by multiple images caused by the object's rotation or fish movement around the object. To test the hypothesis, we develop a computational model that can predict electric images produced by the rotation of differently shaped objects. We used five different shapes of resistive objects: a circle, a square, an equilateral triangle, a rectangle, and an ellipsoid. We show that differently shaped objects of a fixed arrangement generate similar Gaussian electric images, irrespective of their shapes. We also show that the features of an electric image such as the peak amplitude, half-maximum width, and peak position exhibit the angle-dependent variations characteristic to object rotation, depending on object shapes and lateral distances. Furthermore, we demonstrate that an integration effect of the peak amplitude and half-maximum width could be an invariant measure of object shape. These results suggest that the fish could perceive an object shape by combining those image features produced during exploratory behaviors around the object.

A study of amplitude information-frequency characteristics for underwater active electrolocation system

Weakly electric fish sense their surroundings in complete darkness by their active electrolocation system. For biologists, the active electrolocation system has been investigated for near 60 years. And for engineers, bio-inspired active electrolocation sensor has been investigated for about 20 years. But how the amplitude information response will be affected by frequencies of detecting electric fields in the active electrolocation system was rarely investigated. In this paper, an electrolocation experiment system has been built. The amplitude information-frequency characteristics (AIFC) of the electrolocation system for sinusoidal electric fields of varying frequencies have been investigated. We find that AIFC of the electrolocation system have relevance to the material properties and geometric features of the probed object and conductivity of surrounding water. Detect frequency dead zone (DFDZ) and frequency inflection point (FIP) of AIFC for the electrolocation system were found. The analysis model of the electrolocation system has been investigated for many years, but DFDZ and FIP of AIFC can be difficult to explain by those models. In order to explain those AIFC phenomena for the electrolocation system, a simple relaxation model based on Cole-Cole model which is not only a mathematical explanation but it is a physical one for the electrolocation system was advanced. We also advance a hypothesis for physical mechanism of weakly electrical fish electrolocation system. It may have reference value for physical mechanism of weakly electrical fish active electrolocation system.