In the past two decades, robotic sh have received signicant interest due to their various
perceived applications. Designing robotic sh is a challenging task, partly due to the delicate
need of waterproong. In addition, one needs to optimize the hydrodynamic performance
while accommodating the constraints on size, cost, and feasibility of manufacturing.
In this work, two bio-inspired robotic sh prototypes propelled by a pair of pectoral ns
and a caudal n have been developed. The rst prototype has been used as a tool for mod-
eling, control, and educational purposes. The second one will be used for a museum exhibit
at the MSU Museum. For these robots, a novel design for pectoral ns is presented, which
has demonstrated excellent hydrodynamic performance. The robotic sh is mathematically
modeled by incorporating the rigid body dynamics with hydrodynamics of the caudal and
pectoral ns, which are captured with Lighthill's elongated-body theory and blade element
theory, respectively. The mathematical model is validated experimentally.
For the second robotic sh, a wireless charging system has been developed. A mathe-
matical model for the wireless charging system is presented and validated by experimental
results. An automatic docking system is also developed, which lifts the robotic sh out of
water for wireless charging and places it back in water afterwards.
Finally, a webcam-based navigation system for the robotic sh is presented. The system
is designed to allow interactions between a user and the robot. The user can assign a target
point anywhere in the working area of the tank, and the robotic sh will track that target.
حسين نعيم حسن ناصر | Hussein Naeem Hasan Naser | 7381