Fig. 6 Signal flow within the system. The command flow from a human diver to the robot. The diver sends acoustic commands such as thrust, left/right, and up/down as well as camera modes from the transmitter within the diver interface module. The analog signal travels several meters underwater and is then amplified by the receiver and parsed by the microcontroller. The microcontroller adjusts the pump speed, the dive plane position, the BCU, and the mode of the camera.
- Table 1 Communication experiments.
Cumulative results of the acoustic communication during four of the six dives, spanning 2 days and averaging about 40 active minutes per dive. Note that “steady commands” are commanded states that persisted for at least 1 s. Observations were made at an average depth of 8.1 m, a maximum depth of 18 m, a range between transmitter and receiver of 0 to 10 m, and a transmit acoustic power of 137.3 dB SPL re 1 μPa.
Dive 3 Dive 4 Dive 5 Dive 6 Total commands obeyed 67 30 111 93 Total commands missed 55 62 46 57 Steady commands obeyed 55 26 75 78 Steady commands missed 25 31 7 21 Percent of steady
commands obeyed68.8% 45.6% 91.5% 78.8% Fish timeouts (reversions to
neutral state)63 34 81 81 Percent of dive spent
timed out12.3% 8.0% 7.3% 8.1%
Supplementary Materials
robotics.sciencemag.org/cgi/content/full/3/16/eaar3449/DC1
Materials and Methods
Fig. S1. Wax core fabrication.
Fig. S2. Tail fabrication.
Fig. S3. External gear pump.
Fig. S4. Buoyancy control system.
Fig. S5. Additional buoyancy control experiments.
Fig. S6. Acoustic reflections.
Fig. S7. Motor’s broad spectrum noise.
Fig. S8. Acoustic range tests.
Fig. S9. Performance of tone detection algorithm.
Fig. S10. Ocean communication tests.
Table S1. Color measurements of exposed parts.
Table S2. Dive summaries.
Table S3. Tail strokes.
Movie S1. Underwater experiments.
Additional Files
Supplementary Materials
Supplementary Material for:Exploration of underwater life with an acoustically controlled soft robotic fish
Robert K. Katzschmann,* Joseph DelPreto, Robert MacCurdy, Daniela Rus
*Corresponding author. Email: rkk{at}csail.mit.edu
Published 21 March 2018, Sci. Robot. 3, eaar3449 (2018)
DOI: 10.1126/scirobotics.aar3449This PDF file includes:
- Materials and Methods
- Fig. S1. Wax core fabrication.
- Fig. S2. Tail fabrication.
- Fig. S3. External gear pump.
- Fig. S4. Buoyancy control system.
- Fig. S5. Additional buoyancy control experiments.
- Fig. S6. Acoustic reflections.
- Fig. S7. Motor’s broad spectrum noise.
- Fig. S8. Acoustic range tests.
- Fig. S9. Performance of tone detection algorithm.
- Fig. S10. Ocean communication tests.
- Table S1. Color measurements of exposed parts.
- Table S2. Dive summaries.
- Table S3. Tail strokes.
- Legend for movie S1
Other Supplementary Material for this manuscript includes the following:
- Movie S1 (.mp4 format). Underwater experiments.
Files in this Data Supplement:
