ABSTRACT Condition and performance monitoring of underwater equipment and infrastructure is of one the major concern for marine industries. In the past two decades, several technique and methods have been developed for efficient monitoring of marine structures. Fish robots potentially can be used as an efficient device for under water monitoring. The design is aimed at high maneuverability, efficiency and the ability to control velocity suitable for underwater surveillance using wi-fi camera. Recently fish robots are widely used in various applications such as ocean investigations, military operations and marine environment protection. It requires high performance autonomous underwater vehicles especially for propulsion and great benefits with flexible manoeuvrability. This project is focused on the fish propulsion mechanism, robotic fish overall design and dynamic model of robotic fish propelled by the pectoral fins and flexible tail. The tail part of the fish is attached to the active body segments which are connected in series through rotational springs and the hydrodynamic force will act on each segment. It can navigate efficiently over a given distance with a good balance of speed and manoeuvrability. Different mathematical propulsive waveforms are combined with an inverse kinematics-based approach for generating fish body motions. To control this robotic fish, a four-channel radio controller with 40 kHz frequency, was used. Swimming mode of this robotic fish is categorized in harengiform swimming mode that use its tail and peduncle for propulsion and is faster, and has better maneuverability compared to its counterparts
INTRODUCTION Water resources and aquatic ecosystems have been facing various material, chemical and natural threats. Like industrial contamination, and offensive waste disposal. The chemical leakages may also have dangerous impact on human health and sustainability of ecosystem. Submarines have been considered to be the most successful in this respect till now but clearly, they lack several important features of natural swimmers like flexibility, ease of maneuverability and energy efficiency which led to fish swimming being better adapted ecologically in comparison to submarines. A new paradigm in unmanned underwater exploration has been unleashed with the introduction of Patrol fish. A patrol fish would serve as a perfect agent for such a exploration missions. Biomimetic fish like robots are gaining popularity as they can be used extensively in under water investigations and marine applications like checking quality of water, level of contamination by chemical discharge and oil spills, certain space applications, underground investigations and certain rescue missions. To achieve high agility in water, some robotic fish, including soft-body and multiple-link tails, use multiple actuators or a compliant actuation mechanism to make the body-tail
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