Noise Suppression Method of Passive Electric Sense System for Robotic Shark
Penghang Shuai, Haipeng Li, Chao Zhou, Junfeng Fan, Xiaofei Wang, Yaming Ou, Jinan Yu
Abstract
Passive electric sense, a unique underwater perception ability in aquatic species, enables fish to detect external electrical signals and perform essential life activities in dark or turbid environments. Inspired by the passive electrosensing capability of natural shark, this letter proposes a low-cost hardware solution for the robotic shark's passive electric sense system to detect weak underwater electric fields. Furthermore, motion-induced electrode displacement generates dynamic electric field noise that interferes with measurements. We analyze the properties of this noise which is correlated with the body waves of the robotic shark, and then propose a suppression method based on the noise analysis. Next, simulation tests are conducted to demonstrate the time and frequency properties of dynamic electric field noise. Finally, through physical experiments, the robotic shark with passive electric sense system has successfully detected <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\mu$</tex-math></inline-formula> V-level underwater electric fields, and the proposed suppression method has improved the signal-to-noise ratio from 6.697dB to 9.445dB compared to the unfiltered situation.
BibTeX
@inproceedings{ral2026_noisesuppression,
title = {Noise Suppression Method of Passive Electric Sense System for Robotic Shark},
author = {Penghang Shuai and Haipeng Li and Chao Zhou and Junfeng Fan and Xiaofei Wang and Yaming Ou and Jinan Yu},
booktitle = {RA-L 2026},
year = {2026}
}