Chemical plume tracking. 2. Multiple-frequency modulation

The purpose of this research is to estimate the effect of turbulent mixing on the information content in a chemically encoded signal, to investigate the effect of the presence of multiple encoded frequencies, and to evaluate the information contained in the higher harmonics of the coherence spectra. The virtual plume instrument is used to mimic the flow conditions and signal patterns in a real chemical plume. Two-frequency modulation experiments are performed using solenoid valves to introduce concentration plugs of a marker into the carrier flows at certain constant frequencies. In our experiments, the length of the delay elements and the dispersion were varied to mimic different characteristics of the turbulent plume. In addition, an artificial but uncorrelated white noise was added to the raw amperometric signals in order to simulate the "noisy" conditions existing in a real plume. Our experiments reveal that the introduced turbulence has only a marginal effect on the coherence spectra. Moreover, it is shown that when the second frequency is present in the plume, both fundamental frequencies can be unambiguously assigned. Higher harmonics in the coherence spectra have been found to depend on the distance from the source. These findings are important for understanding of the mechanism of chemotaxis and may also lead to the design of optimized search algorithms for chemical plume tracking robots.