| Budget Amount *help |
¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2014: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2013: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2012: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
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| Outline of Final Research Achievements |
The small robotic fish which we developed in this study period has a camera to look ahead and another camera to take pictures of the bottom of the water. Internal FPGA executes the digital image correlation (DIC) by using the bottom image of which the camera took a picture to estimate the robot's position. This robot can estimate its position by using the DIC and the gyro sensors which can measure the roll and yaw angle of robot in water. Moreover, we developed another robotic fish SAPPA which miniaturized up to 170 millimeters in the total length. Although the robot is very small, it has high mobility and can recognize a fish, for example, goldfish.
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