Journal of Bionic Engineering (2023) 20:543–557https://doi.org/10.1007/s42235-022-00282-1

 Design and Realization of a Novel Hybrid?Drive Robotic Fish for Aquaculture Water Quality Monitoring

 Yiting Ji1,2,3,4 · Yaoguang Wei1,2,3,4  · Jincun Liu1,2,3,4 · Dong An1,2,3,4 

1 National Innovation Center for Digital Fishery, China Agricultural University, Beijing 100083, China 

2 Key Laboratory of Smart Farming Technologies for Aquatic Animals and Livestock, Ministry of Agriculture and Rural Afairs, China Agricultural University, Beijing 100083, China

3 Beijing Engineering and Technology Research Centre for Internet of Things in Agriculture, China Agricultural University, Beijing 100083, China 

4 College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China

 AbstractThunniform swimmers (tuna) have a swinging narrow sequence stalk and a moon-shaped tail fn, which performs poorly at slow speed, higher acceleration and turning maneuverability. In most cases, faster speed and higher maneuverability are mutually rejection for most marine creatures and their robotic opponents. This paper presents a novel hybrid tuna-like swimming robot for aquaculture water quality monitoring, which interleaves faster speed and higher maneuverability. The robotic prototype emphasizes on streamlining and enhanced maneuverability mechanism designs in conjunction with a narrow caudal propeller to the tail. The innovative design endows the robot to easily execute the multi-mode swimming gait, including forward swimming, turning, diving/surfacing. The capabilities of our robot are validated through a series of indoor swimming pool and feld breeding ponds. The robotic fsh can achieve a maximum speed up to about 1.16 m/s and a minimum turning radius less than 0.46 Body Lengths (BL) and its maximum turning speed can reach 78.6 ? /s. Due to its high speed, maneuverability and relatively small size, the robotic fsh shed light on intelligent monitoring in complex aquatic environments.

 Keywords Hybrid-drive biomimetic robot fsh · Water quality monitoring · Multimodal swimming gait