Practical searching for freshwater fish by small robotic fish equipped with camera and FPGA

2014 Fiscal Year Final Research Report

• Project/Area Number: 24560301
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka City University
• Principal Investigator: TAKADA Yogo 大阪市立大学, 大学院工学研究科, 教授 (70295682)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 移動ロボット / アクアロボット / 数値流体力学 / 魚 / 生態系修復・整備

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.

Free Research Field

ロボット工学