CONTENTS

1 Introduction to robot…...................................................................................................1
1.1 Definition .......................................................................................................................1
1.2 Basic components of a robot….......................................................................................1
1.3 Types of Robots...............................................................................................................2
1.4 Application of robots.......................................................................................................2
2 About Robotic fish ..........................................................................................................3
3 Fish swimming patterns ...................................................................................................4
3.1 Constraints to swim underwater........................................................................................4
3.2 Swimming speed of different fishes ………………………………………………….......6
4 Challenges in building a robotic fish…………………………………………….……...…7
5 Principles of Robot fish swimming...................................................................................9
5.1 Four categories of design...................................................................................................9
6 Up and Down motion.......................................................................................................14
6.1 Up-Down Mode A………………………………………………………………….........14
6.2 Up-Down Mode B...........................................................................................................14
6.3 Up-Down Mode C...........................................................................................................15
6.4 Up-Down Mode D………………………………………………………………….........15
6.5 Up-Down Mode E............................................................................................................16
7 Turning modes of a robotic fish…………………………………………………….…….18
7.1 Turning Mode A………………………………………….………………………...…....18
7.2 Turning Mode B……………………………………………………………………….....19
7.3 Turning Mode C……………………………………………………………………….…20
8 Sensory system...............................................................................................................21
8.1 Block diagram of fish robot's sensory system…………………………………...………21
8.2 Robot Power Source ……………………………………………………………….........21
8.3 Photo Sensors ……………………………………………………………………………22
8.4 Pressure Sensor ……………………………………………………………………....….23
8.5 Humidity Sensor …………………………………………………………………….......23
8.6 Inclinometer.………………………………………………………………………..........24
8.7AudioSensor.……………………………………………………………………..............24
8.8 Electro Sensor……………………………………………………...…………………….25
8.9 Master Control Unit…………………………………………………………...…………25
9 Actuators and Motors…………………………………………………………………….26
9.1 Actuator selection……………………………………………………...……………...…26
9.2 Robotic fish Motor…………………………………………………………………….…26
10 Structural Features…………………………………………………...……………..……27
11 Final assembly structure……………………………………………...……….…………28
12 Current Models of robotic fish across globe…………………………………………..…30
13 Application and Future projects…………………………………………………............33
13.1Applications……………………………………………………………………………..33
13.2 Future Projects……………………………………………………………………........33
14 Bibliography…………………………………………………………………………....34
 List of Figures

Figure 1: Shark Robot……………………………………………………………………….3

Figure 2: Fish swimming categories……………………………………………………...…4
Figure 3: Fins of an angelfish………………………………………………...……………..5
Figure 4: Changing wave design…………………………………………………………….9
Figure 5: Body foil design………………………………………………………..………...10
Figure 6: Oscillating wing design………………………………………………..………....12
Figure 7: Oscillating plate design………………………………………………..……....13
Figure 8: Up-down mechanism using air bladder……………………..…………………....14
Figure 9: Up-down mechanism using servo motor…………………………..……………..15
Figure 10: Up-down mechanism by changing head tip angle……………….……………..15
Figure 11: Up-down mechanism by tail fin propulsion…………………………………....16
Figure 12: Up-down mechanism by moving weight………………….……………………17
Figure 13: Turning Mode A……………………………………….……………………….18
Figure 14: Turning Mode B………………………………………………………………..19
Figure 15: Turning Mode C………………………………………………………………..20
Figure 16: Block diagram of fish robot's sensory system………………………………….21
Figure 17: Photo sensors from TAOS. From left, models TSL250R, TSL253R and TSLG257.
Above the sensors is a diaphragm-type filter that can be used to limit the amount of light
entering the lens……………………………………………………….............................22
Figure 18:. Pressure sensors from Honeywell. From left, models 40PC100G and
DUXL01D…………………………………………………………………………………23
Figure 19: (a) The UniGraphics fish model for fabrication of the mold;
(b)Rubber skin painted on the mold……………………………………………27
Figure 20: Basic structure of a robotic fish……………………………………………..…28
Figure 21: Robo Tuna II,U.S.A………………………………………………………….. 30
Figure 22: Manta Ray, Germany…………………………………………………………..31
Figure 23: Red Snapper, Japan…………………………………………………..……......31
Figure 24: Structure of PPF-05……………………………………………………………32
 ABSTRACT
Natural evolution has made today’s fish beautiful swimmers with high efficiency and perfect
maneuver abilities. Biologically inspired approach has been widely adopted in the design of
advanced robotic systems so that these robots can operate in uncertain and dynamically
changing environments. Comparing with traditional plan-based approaches, it has advantages
of easy design, fast response, and robustness. Adapting fish’s biological characteristics in to
real time operating underwater robot has caught the fascination of many robotic engineers.
To realize fish-like propulsion and maneuvering abilities by a robotic system is a very
challenging task and requires a fully understanding of fish muscle structure, hydrodynamics
and the way to mimic. This paper overviews current robotic fish design research which is
focused on the biologically inspired design of robotic fish. This report also presents the
design of the sensory system of the fish robot. Different types of sensors will be studied, such
as photo/light sensors (sensible to other parts of the spectrum as well as the visible part),
humidity sensors, pressure sensors, accelerometers, electro sense, and others. These sensors
will allow the “fish robot” to emulate, as closely as possible, the behavior of a live fish.
Sructural features of a typical robotic fish are presented. Finally, a brief summary of robotic
fish applications and the future research direction are outlined.