A Review of Morphology Characteristics and Sensing Mechanisms of Harbor Seal Whiskers
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摘要: 凭借其三维波浪状独特外形的胡须, 斑海豹展现出卓越的水下感知能力. 研究证实, 斑海豹可感知流速低至245 μm/s的微弱涡流, 还能追踪180 m外的目标在35 s前遗留下的水中尾迹. 这一能力凸显出斑海豹胡须在水下涡流感知和目标尾迹追踪方面的独特优势. 目前, 以斑海豹胡须为原型的传感器设计已成为仿生科学与工程领域的研究热点, 在水下目标探测与识别等方面展现出广阔应用前景. 本文首先梳理斑海豹胡须形态特征和几何建模方面的研究成果, 总结并对比不同概化模型的优势与不足. 随后, 综述斑海豹胡须仿生模型水动力特性方面的研究进展, 涵盖均匀流场和尾迹流场中仿生模型的尾流特性和振动响应、斑海豹胡须的感知机理、阵列胡须之间的相互作用, 以及人工智能方法在感知信号识别中的应用等方面. 最后, 针对现有研究存在的不足和关键问题, 展望斑海豹胡须仿生科学与工程应用需要关注的若干研究方向.Abstract: With their uniquely three-dimensional, wavy whiskers, Harbor seals (Phoca vitulina) exhibit exceptional underwater sensing capabilities. Studies have shown that Harbor seals can detect weak vortices with flow velocities as low as 245 μm/s and can track hydrodynamic trails left by targets up to 180 meters away and as long as 35 seconds earlier. These abilities highlight the remarkable advantages of Harbor seal whiskers in underwater vortex sensing and hydrodynamic trail tracking. Bio-inspired sensor designs based on Harbor seal whiskers have thus become a research hotspot in biomimetic science and engineering, demonstrating promising applications in underwater target detection and recognition. This paper first reviews research progress on the morphological characteristics and geometric modeling of harbor seal whiskers, summarizing and comparing the strengths and limitations of different simplified models. It then provides an overview of advances in the hydrodynamic characteristics of biomimetic whisker models, covering wake features and vibration responses of such models in uniform and wake flows, the sensing mechanisms of harbor seal whiskers, interactions within whisker arrays, and applications of artificial intelligence methods in sensing-signal recognition. Finally, based on the shortcomings and key open questions in existing research, the paper outlines several research directions that warrant attention for advancing biomimetic science and engineering applications of harbor seal whiskers.
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Key words:
- Harbor Seal Whiskers /
- Geometric Morphology /
- Hydrodynamic Characteristics /
- Vortex Sensing /
- Biomimetic
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图 1 (ai)斑海豹胡须的正视图, (aii)侧视图(Hanke et al., 2010); 在剥夺视觉条件下, 斑海豹利用波浪状胡须感知并追踪物体运动轨迹, 包括(b)线性轨迹和(c)曲线轨迹 (蓝线表示物体轨迹, 红线表示斑海豹追踪轨迹); (d)实验中被暂时剥夺视觉的斑海豹(Schulte-Pelkum et al., 2007)
图 2 (a)斑海豹胡须的二维轮廓, (b)斑海豹胡须实物图(Ginter et al., 2012), (c)CT扫描得到的斑海豹胡须三维模型(Murphy et al., 2013), (d)某只成年斑海豹面部胡须长度分布图, (e)胡须曲率分布图, (f)胡须厚度分布图, (g)胡须固有频率分布图 (长度、曲率及厚度图中的空白区域表示胡须缺失, 固有频率图中的空白区域表示胡须过短, 无法测量其固有频率)(Zheng et al., 2025)
图 3 不同轴向位置灰海豹胡须切片实物图 (Kamat et al., 2024)
图 5 (a)提取胡须横截面形态参数 (a, b, θ, x, y, z) 构建几何框架的过程, (b)扫描的斑海豹胡须及相应构建的斑海豹胡须模型(Zheng et al., 2022)
图 6 (a)数值模拟中圆柱、椭圆柱及胡须模型的尾涡结构(Hanke et al., 2010), (b)染色可视化实验中圆柱、椭圆及胡须模型的尾涡结构(Beem & Triantafyllou, 2015)
图 8 (a)椭圆柱的二维尾涡模式, 不同波长−直径比条件下斑海豹胡须模型的5种典型尾涡模式: (b)二维尾涡模式, (c)准二维尾涡模式, (d)反相同步尾涡模式, (e)同相同步尾涡模式, (f)混合尾涡模式 (Lyons et al., 2023)
图 10 (a)胡须迎流攻角定义示意图, (b)斑海豹胡须鞍面与节面平均涡量图(α = 0°)(Wang & Liu, 2016), (c)弹性支撑的斑海豹胡须振幅(Wei et al., 2023), (d)不同迎流攻角胡须的尾涡图(Geng et al., 2024)
图 11 (a)圆柱尾迹中胡须模型“slaloming”振动响应机理(Beem & Triantafyllou, 2015), (b)圆柱尾涡与胡须的相互作用(张晓娜, 2020); (c)拍动桨板尾涡与胡须的相互作用侧视图(张晓娜, 2020); (d)拍动桨板尾涡与胡须的相互作用俯视图(张晓娜, 2020)
图 12 (a)尾鳍流场中斑海豹胡须振动研究实验装置(Zhao et al., 2024b); (b)尾鳍矩形涡环与胡须的相互作用机理; (c)尾鳍发卡涡结构与胡须的相互作用; (d)尾鳍矩形涡环结构与胡须的相互作用; (e)圆柱流场中胡须振动位移功率谱密度 (PSD)(Zhao et al., 2024b); (f)尾鳍流场中胡须振动位移功率谱密度 (PSD)(Zhao et al., 2024b); (g)圆柱流场与尾鳍流场中胡须振幅的对比(Zhao et al., 2024a)
图 13 (a)弹性胡须阵列数值模拟及刚性胡须阵列传感器(Zheng et al., 2022), (b)弹性海狮胡须阵列水动力实验(Muthuramalingam & Bruecker, 2019), (c)仿斑海豹胡须阵列传感器 (3 × 3布置胡须)(王森 等, 2022), (d)三种不同类型尾涡与弹性胡须阵列的相互作用(Liu et al., 2021)
图 14 (a) 不同机器学习模型的训练过程及识别精度对比 (Chang et al., 2025); (b) 基于 VT 算法从胡须阵列感知数据生成时空信号图的数据转换流程 (Bodaghi et al., 2023); (c) 基于 CNN-LSTM 算法的仿生海豹胡须摩擦电传感器阵列对遥控水下航行器运动轨迹、速度及状态的感知与验证 (含学习过程、真实值与预测值对比、旋转速率、均方根误差及训练损失)(Liu et al., 2025)
表 1 基于Hanke模型框架的斑海豹胡须测量参数
模型提出者 a (mm) b (mm) k (mm) l (mm) M (mm) λ=2M (mm) α (°) β (°) Hanke et al. (2010) 0.595 0.24 0.475 0.29 0.91 1.82 15.27 17.60 Hanke et al. (2010)(λ × 2) 1.82 3.64 Rinehart et al. (2017) 0.525 0.178 0.416 0.22 1.724 3.44 0.299 1.218 Kamat et al. (2024) 0.58 0.25 0.47 0.3 1.72 3.44 3.23 5.07 Ginter et al. (2012) 0.46* - 0.365 - 1.63 3.26 - - Murphy et al. (2013) 0.555* - 0.44 - 1.94 3.88 - - 注: 1) 由于Ginter等 (2012)与Murphy等 (2013)并未按照Hanke等 (2010)提出的模型框架进行测量, 因此部分参数由作者根据原文数据计算得出, 并以“*”标注. 
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表 2 采用的胡须等效直径及其计算方法
研究者 计算方法 文中等效直径Dm(mm) 模型比尺 使用模型 Witte et al. (2012) (3) 0.68 1∶1 Hanke et al. (2010) Kamat et al. (2024) (1) 0.80 1∶1 Kamat et al. (2024) 山龙祥 等 (2024) (2) 0.53 1∶1 Hanke et al. (2010) 宋立群 等 (2022) (2) 15.9 30∶1 Hanke et al. (2010) 张晓娜 (2020) (2) 0.53 1∶1 Hanke et al. (2010) Wei et al. (2023) (2) 15.9 30∶1 Hanke et al. (2010) Zhao et al. (Zhao et al., 2024a;
Zhao et al., 2024b)(2) 15.9 30∶1 Hanke et al. (2010) Geng et al. (2024) (3) 0.53 1∶1 Rinehart et al. (2017) Beem & Triantafyllou (2015) (3) 13.6 20∶1 Hanke et al. (2010), 增大了
胡须相邻椭圆面间距Liu et al. (2019) (3) 0.533 mm 1∶1 Rinehart et al. (2017),
设置胡须倾角为零
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表 3 不同波长−直径比胡须模型的水动力特性概览
学者 $ \lambda $(mm) $ \lambda /{D}_{m} $ CD CD,rms CL,rms Yrms Re 所采用胡须模型 Witte et al. (2012) 1.82 3.43 0.762 0.0032 0.0163 - 500 Hanke模型,
设胡须倾角为零3.64 6.86 0.767 0.0017 0.007 - Shan & Zhang (2025) 1.82 3.43 0.7502 0.0551 0.0057 0.0021 300 Hanke模型 2.65 5 0.7658 0.0557 0.0074 0.0038 3.64 6.86 0.7736 0.0541 0.101 0.0061 Lyons et al. (2023) 0.53 1 0.915 - 0.132 - 250 Hanke模型 1.06 2 0.877 - 0.068 - 1.82 3.43 0.815 - 0.006 - 2.65 5 0.812 - 0.015 - 3.64 6.86 0.828 - 0.018 -
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表 4 Lyons et al. (2020) 提出的几何参数描述方法
无量纲参数 水力学描述 基于Hanke几何参数体系的推导方法 T 平均厚度 T = b + l γ = C/T 长细比 C = acosα + kcosβ $ \lambda ={\lambda }^{\prime}/T $ 无量纲波长 $ {\lambda }^{\prime}=2M $ $A_{T}=A_{T}^{\prime}/T $ 横流向幅度 $ A_{T}^{\prime}=\left| b-l\right| $ $ A_{C}^{}=A_{C}^{\prime}/T $ 顺流向幅度 $ A_{C}^{\prime}=\left| a\cos \alpha -k\cos \beta \right| $ $ \varepsilon =2{\varepsilon }^{\prime}/{\lambda }^{\prime} $ 波动偏斜度 $ {\varepsilon }^{\prime}=\left| 2a\sin \alpha \right| $ $ \phi =2{\phi }^{\prime}/{\lambda }^{\prime} $ 波动对称度 $ {\phi }^{\prime}=\left| k\sin \beta -a\sin \alpha \right| $
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表 5 尾迹流场中上游尾流发生器类型及关键结论
文献 上游钝体 关键结论 研究方法 Beem & Triantafyllou (2015) 圆柱 胡须在上游圆柱尾迹低压区作用下呈交错穿梭运动. 实验研究 Shan & Zhang (2025) 圆柱、方柱、菱形柱 小间距时, 上游钝体剪切层附着于胡须, 显著抑制振动. 数值模拟 Morrison et al. (2016) 三角形桨板 相较均匀流场, 胡须升力增强约7倍, 表现出
更高的信噪比.数值模拟 宋立群 等 (2022) 圆柱 胡须振幅随钝体尺寸增大而增加, 随间距减小而减弱. 实验研究 Zhao et al. (Zhao et al., 2024a; Zhao et al., 2024b) 尾鳍 胡须振动主频锁定在尾流频率, 振幅随流速持续上升. 实验研究 张晓娜 (2020) 圆柱、长方形桨板 胡须升力与主频均锁定在上游尾流频率. 数值模拟 Li et al. (2025) 圆柱、方柱、三角柱 当尾流频率与胡须固有频率相等时发生共振,
振幅达最大值.实验研究
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