Robotic Fish: Design and Characterization of an Interactive iDevice-Controlled Robotic Fish for Informal Science Education

Abstract

I n this article, we present the design, development, and characterization of a biomimetic robotic fish remotely controlled by an iDevice application (app) for use in informal science education. By leveraging robots, biomimicry, and iDevices, we seek to establish an engaging and unique experience for free-choice learners visiting aquariums, zoos, museums, and other public venues. The robotic fish incorporates a three-degree-of-freedom tail along with a combined pitch and buoyancy control system, allowing for high maneuverability in an underwater three-dimensional (3-D) space. The iDevice app implements three modes of control that offer a vividly colored, intuitive, and user-friendly theme to enhance the user experience when controlling the biomimetic robotic fish. In particular, the implemented modes vary in the degree of autonomy of the robotic fish, from fully autonomous to remotely controlled. A series of tests are conducted to assess the performance of the robotic fish and the interactive control modes. Finally, a usability study on elementary school students is performed to learn about students' perception of the platform and the various control modes. Robotic Fish ExhibitsTechnology facilitates learning and expression in both academic and nonacademic environments [1], [2]. In particular, the use of robotics in university-level classes and museums has been shown to effectively excite and educate students and free-choice learners [3], [4]. In the context of underwater robotics, various robotic fish have been developed and displayed for the entertainment and education of the general public in exhibits at aquariums [5], expositions [6], and water gardens [7]. Although these robots have generated considerable interest from onlookers, none of the exhibits offered opportunities for people to directly interact with the robotic fish.Interactivity in exhibits is a crucial part of science learning in informal settings, whereby interactive components are recognized to improve subject retention and enhance both sociability and curiosity in participants [8], [9]. To this end, smart devices have become increasingly popular as a tool for enhancing education through the use of interactive applications [10], [11]. Young participants have been shown to prefer the use of smart devices over traditional mediums, and better educational outcomes are attained with this growing technology [12]. To actively engage participants, museums, galleries,

Interactive Robotic Fish: A Tool for Informal Science Learning and Environmental Awareness

“…The platform features a robotic fish, a pool for the robots, and iDevices to control the robotic fish [20]. The hardware of this platform also includes a camera stand fabricated from aluminum t-slotted bars, a web camera mounted 175 cm above the water surface, and a computer for video tracking and processing ( Figure 1).…”

“…The robotic fish were designed with a three degree-of-freedom multilinked tail design for propulsion. In addition, pitch and buoyancy control systems were implemented to provide rise and dive functionality [20]. Up to two robotic fish were available to be used by visitors.…”

“…The protocol to enable the communication between the iDevice, computer, and robotic fish was translated at a base station, where a message was passed between the iDevice application and the base station via Wi-Fi [20]. The message was converted to a low-frequency radio signal using an RF22 chip and sent to the robotic fish.…”

Design and characterization of a miniature free-swimming robotic fish based on multi-material 3D printing

“…Existing designs have explored multi-linked tails actuated by several servomotors (Hu 2006;Phamduy et al 2015;Yu et al 2004), single servomotors with compliant caudal fins Kopman et al 2015;Wang and Tan 2013), smart materials (Aureli et al 2010;Cen and Erturk 2013;Chen et al 2010;Rossi et al 2011), and fluidic soft actuators (Marchese et al 2014). However, due to the utilization of commercially available microcontrollers, batteries, or actuators, these free-swimming robotic fish are often several tens of centimeters in length, ranging from 13 to 46 cm (Aureli et al 2010;Chen et al 2010;Hu 2006;Kopman et al 2015;Marchese et al 2014;Phamduy et al 2015;Yu et al 2004). The creation of miniature free-swimming robotic fish, of few centimeters in size, presents a number of technical challenges, especially with regards to the need of housing an on-board power source and enclosing the electronics in a waterproof compartment.…”

An Autonomous Charging System for a Robotic Fish

“…This paper proposes a new solution for autonomous charging of a robotic fish [36,37] through a novel claw mechanism for docking guidance and direct contact. Similar to the state machines in [4,5,11], robust docking and charging are coordinated through a controller using video feedback from an overhead camera.…”