弱电鱼是一种能够依靠电场进行水下环境探测的鱼类。受弱电鱼水下电磁感知的启发，延展出了极低频水下电场感知的研究方向。当前的研究主要分为三个分支进 行：第一，基于生物行为实验研究弱电鱼感知机理。第二，弱电鱼感知器官的神经学 研究。第三，基于电场的水下目标探测研究。当前，这三个主要方向的研究都以弱电 鱼为基础，但并没有深入的去研究弱电鱼的感知机理。因此，本文以电磁学和神经科 学为理论基础，从弱电鱼信号测量和处理、弱电鱼探测和感知细胞感知的仿真模型构 建的角度出发，对弱电鱼电磁感知机理进行研究。研究工作包括以下三个部分：

第一，弱电鱼电磁感知机理的研究。基于弱电鱼生物特性的研究和基本电磁场理 论，物体的存在会对弱电鱼的电场造成扰动，弱电鱼皮肤的感觉器官能感知到电场的 变化，由于电场扰动形成与视觉类似的“电子图像”，因此认为基于电场扰动的“电子图像”是弱电鱼实现物体感知和环境探测的基础理论。在该理论的基础上，以弱电鱼的生物特性和水下电场信号测量为依据，将弱电鱼的电器官用一对偶极子模拟，并 基于 COMSOL 多物理场仿真软件平台建立了弱电鱼探测物体的有限元仿真模型。仿 真结果证明，物体的存在对电场造成了扰动，初步验证了“电子图像”理论的科学性。

第二，弱电鱼基于“电子图像”感知机理的验证。首先，基于上述的有限元仿真 模型，对不同物体在不同距离和大小下的电子图像进行仿真分析。结果表明：基于电 子图像的特征，弱电鱼可以实现对物体大小、位置和形状的预测，证明了“电子图像” 理论的正确性。其次，建立了前馈神经网络模型，可以实现通过电子图像数据，对物 体距离、大小、形状三个参数的预测。最后，建立了基于弱电鱼仿生的运动探测模型， 从模拟弱电鱼水下物体探测的角度，证明了弱电鱼基于电场扰动的“电子图像”理论 的正确性。该部分的研究，不仅验证了弱电鱼“电子图像”的感知机理，也为基于弱 电鱼仿生的水下电场探测提供理论基础，同时还提供了相应的信号分析方法。

第三，探索了弱电鱼感知的细胞机理和信号接收转换模型，验证了弱电鱼能够感 知到物体造成的电场扰动。基于弱电鱼信号特征和感知细胞结构，借鉴神经科学研究 里的 H­H（Hodgkin­Hexley）模型，建立了弱电鱼感知细胞的 H­H 模型，研究弱电鱼 电感知细胞对外界信号进行感知的机理。在此基础上，针对弱电鱼细胞参数特征，对 细胞模型进行仿真分析，探究了细胞对外界不同信号的响应特征，并计算了引起感知 细胞响应的最小电流阈值。随后，建立基于弱电鱼感知细胞的物体探测仿真模型，仿 真了弱电鱼探测物体时的电子图像数据，通过计算得知电场的扰动对应的电流值超 过引起细胞响应的最小幅值，得出弱电鱼能够对电场扰动进行探测结论。证明弱电鱼基于电场扰动的“电子图像”感知理论具有相应实现基础。为后续弱电鱼细胞层面感 知机理的研究奠定了基础，为弱电鱼接收器官的仿生实现提供了理论依据。

The weakly electric fish is a type of fish that can rely on electric field for underwater environment detection. Inspired by the underwater electromagnetic perception of weakly electric fish, the research direction of extremely low frequency underwater electric field perception is extended. The current research is divided into three main branches: First, the study of biological behavior. Second, Neurological research on sensory organs of weak electric fish. Third, the research on underwater target detection based on electric field. At present, the research in these three main directions is based on weakly electric fish, but there is no in­depth study of the perception mechanism of weakly electric fish. Therefore, based on the theory of electromagnetism and neuroscience, this paper studies the electromagnetic perception mechanism of weakly electric fish from the perspective of signal measurement processing and simulation model construction of weakly electric fish. The research work includes the following three parts:

Firstly, the study of electromagnetic perception mechanism of weakly electric fish. Based on the study of the biological characteristics of weakly electric fish and the basic electromagnetic field theory, the presence of objects will disturb the electric field of weakly electric fish. The sensory organs of the skin of weakly electric fish can perceive the change of electric field. Due to the formation of ”electronic images” similar to vision caused by electric field disturbances, it is believed that ”electronic images” based on electric field disturbances is the fundamental theory for weak electric fish to achieve object perception and environmental detection. Based on this theory, we simulated the electrical organs of the weakly electric fish with a pair of dipoles based on the biological characteristics of the weakly electric fish and the underwater electric field signal measurement. And then establish a finite element simulation model of the weakly electric fish to detect objects based on the COMSOL multiphysics field simulation software platform. The simulation results prove that the presence of the object causes perturbation to the electric field, which initially verifies the scientificity of the ”electronic image” theory.

Secondly, the verification of the ”electronic image” perception mechanism of the weak electric fish. First, based on the finite element simulation model, the electronic images of different objects at different distances and sizes are simulated and analyzed. The results show that based on the characteristics of electronic image as object change, weakly electric fish can predict the size, position and shape of the object, which proves the correctness of the ”electronic image” theory. Second, the feedforward neural network model is established. The neural network model can predict the distance, size and shape of the object through the electronic image data after the training. Finally, a motion detection model based on the bionic of weakly electric fish is established. From the perspective of simulating the detection of underwater objects by weakly electric fish, the correctness of the ”electronic image” theory based on electric field disturbance has been proven. This section of the study not only verifies the accuracy of the electric field perturbation­based ”electronic image” theory of the weakly electric fish, but also provides the results of the underwater object detection.

Thirdly, the cellular mechanism and signal reception conversion model of weakly electric fish perception are explored, verifying that weakly electric fish can perceive the electric field disturbance caused by objects. Based on the signal characteristics of weakly electric fish and the structure of sensing cells, and referring to the H­H model in neuroscience research, the H­H model of sensing cells of weakly electric fish is established to study the mechanism of sensing external signals by the electro­sensing cells of weak electric fish. On this basis, the simulation analysis of the cell model is conducted to explore the response characteristics of the cell to different signals from the outside world, and the minimum current threshold to cause the response of the perceptual cell was calculated for the characteristics of the weakly charged fish cell parameters. Subsequently, an object detection simulation model based on the perceptual cells of the weakly electric fish is established, and the electric image data when detecting objects are simulated. The result calculated that the current value corresponding to the perturbation of the electric field exceeds the minimum amplitude value that causes the cell response, which means the weekly electric fish is able to detect the perturbation of the electric field. It is proved that the ”electronic image” perception theory of weakly electric fish based on electric field disturbance has a corresponding realization basis. It laid the foundation for the follow­up research on the perception mechanism of weakly electric fish at the cell level and provides a theoretical basis for the bionic realization of the weak electric fish receiving organ.

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