Small Robotic Fish with Two Magnetic Actuators for Autonomous Tracking of a Goldfish

Aritani, Takuya; Kawasaki, Norioki; Takada, Yogo

doi:10.5226/jabmech.8.69

Cited by 7 publications

(5 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Therefore, a velocity at 150 mm from the shooting mechanism of the robotic fish was calculated to determine the velocity required to penetrate 18 mm. In terms of the base distance of 150 mm, COMET (the robotic fish made in a previous study) could track goldfish by approaching within 100-200 mm [11]. At 100 mm, the distance between the robotic fish and the fish is too close to track, as the fish move considerably quickly within the image captured by a camera inside the robotic fish.…”

Section: B Results Of Experimentsmentioning

confidence: 99%

“…Several studies using small robotic fish, such as fish tracking using image processing on robotic fish and improving turning capabilities, have been conducted for ecological surveys [8][9][10]. Furthermore, the robotic fish COMET (Compact Observation Machine Equipped with Tailfin) developed by Aritani et al can track fish without being aware of it [11]. We believe that the function of tagging a targeted fish, in addition to this feature, will allow robotic fish to contribute to the early detection and removal of abnormal or dead fish.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Development of a Small Robotic Fish With a Function to Tag Mackerel

Shinojima,

Naka,

Kawasaki

et al. 2023

J. Abmech

Self Cite

View full text Add to dashboard Cite

Aquaticecosystems have changed significantly in recent years. Consequently, small robotic fish can be utilized to exterminate non-native and farmed fish that have contracted diseases. In this study, we have developed a robotic fish equipped with a spear-shooting mechanism to tag it. Experiments were conducted in which a robotic fish shot a spear underwater into a stationary mackerel. The specific characteristics of the spear required to penetrate a stationary mackerel while the robotic fish was swimming were determined through experiments.

show abstract

Section: B Results Of Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of a Small Robotic Fish With a Function to Tag Mackerel

Shinojima,

Naka,

Kawasaki

et al. 2023

J. Abmech

Self Cite

View full text Add to dashboard Cite

show abstract

“…Next, the Gaussian noise 𝑒𝑒 𝑣𝑣 with a variance of 0.2 was added to represent the velocity fluctuation. Finally, the position in the global coordinate system was calculated using Equation (7).…”

Section: A Methods Of Swimming-path Estimation Using Imumentioning

confidence: 99%

“…Such robots are expected to be employed in oceanographic studies, including data collection for the conservation of underwater environments and endangered species [5]. In particular, the development of fish-like robots that swim by wriggling their bodies and fins instead of using propeller propulsion is noteworthy because of the highly efficient locomotion of fish-like robots in water [6] [7]. As an example of a fish-like robot, Katzschmann et al [8] developed a robot, called "SoFi," which has a tail fin made of soft material to realize fish-like tail undulation, to infiltrate into the marine environment for ecological surveys.…”

Section: Introductionmentioning

confidence: 99%

Route Estimation Toward Autonomous Swimming of Robotic Fish

Tomi,

Araya,

Kitano

et al. 2024

IEEE Access

View full text Add to dashboard Cite

Underwater robots that imitate aquatic life, such as fish-like robots, have attracted attention for oceanographic studies from the viewpoint of morphological affinity for marine life. The existing studies concerning fish-like robots have primarily focused on the swimming mechanism and locomotive performance, and few studies have been conducted on techniques for self-position estimation and obstacle avoidance despite their indispensability in the autonomous navigation of fish-like robots. Therefore, this study aimed to explore a self-positioning estimation method for robotic fish in an environment where global positioning system (GPS) and pre-defined landmarks are not available. To this end, we first developed a fish-like robot that has a laterally flattened shape, which can mimic the swimming pattern of a fish moving forward by waving a tail fin. Next, we realized the function of simple obstacle avoidance using optical distance sensors for autonomous swimming from a practical perspective. Subsequently, we implemented a real-time swimming-path estimation using the posture derived from the inertial measurement unit (IMU) outputs and the swimming speed measured in advance. Furthermore, a swimming path correction method using a particle filter based on a pre-constructed magnetic map was investigated as an alternative to the GPS correction method. Experiments confirmed the accuracy of the swimming path estimation using the proposed method under various conditions, including obstacle avoidance.

show abstract

“…On the contrary, based on the results obtained from biological experiments and numerical simulations, several bioinspired fish robots were developed. Aritani et al (2019) designed COMET, which is a fish-like robot that can automatically track a live goldfish. They reported that further improvement of the turning performance is needed for autonomous tracking of another species of fish.…”

mentioning

confidence: 99%

Numerical study on the effects of aspect ratio of two types of fin folds on the propulsion performance by fish larvae’s swimming simulation

Bamba

Fukui

Morinishi

2021

JFST

View full text Add to dashboard Cite

For clarification of an ecological system or application to ship propulsion mechanisms, studies of fish swimming have been conducted. However, many parts remain unexplained due to complexity and diversity of the swimming mechanism. In this study, we focused on the shape change of the fish larvae's fin fold and investigated effects of aspect ratio of fish larvae's fin fold on its propulsion performance by numerical simulations. Flow around the fish model was simulated by the regularized lattice Boltzmann method. To describe curved boundary on a Cartesian grid, the virtual flux method was applied. 4-tired multi block method was employed, and calculation domain was divided into 4 blocks with different grid resolutions. In this simulation, aspect ratio was defined by the ratio of fin fold length to fin fold width at the tail end, and fish models with different aspect ratio of fin fold were applied under constant surface area condition. As a result, vortices were generated along the fish body, and edge vortices pairs rotating in the opposite direction were observed at the fin fold. The edge vortices contributed to generate thrust force by increasing the front-back pressure difference at the fin fold. Compared to lower aspect ratio models, higher aspect ratio models generated more edge vortices pairs during a cycle. Accordingly, at lower aspect ratio, thrust force became larger by the wider fin fold, but amplitude of swimming speed changes in a cycle also became larger. In contrast, higher aspect ratio models swam efficiently by stabilizing its swimming speed.

show abstract

Small Robotic Fish with Two Magnetic Actuators for Autonomous Tracking of a Goldfish

Cited by 7 publications

References 13 publications

Development of a Small Robotic Fish With a Function to Tag Mackerel

Development of a Small Robotic Fish With a Function to Tag Mackerel

Route Estimation Toward Autonomous Swimming of Robotic Fish

Numerical study on the effects of aspect ratio of two types of fin folds on the propulsion performance by fish larvae’s swimming simulation

Contact Info

Product

Resources

About