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MORA is a centimeter-scale underwater robot being developed at Olin's LAIR (Labratory for Adaptation, Inclusion, and Robotics). The goal of the project is to create a low-cost, efficient, and small robot for swarming applications. We are currently experimenting with a simple, cheap actuator to propel our fish, a multi-jointed design to mimic the motion and harness the efficiency of real fish, as well as a soft body to waterproof electronics and smooth out the swimming motion. Our mechanical designs aim to be easily manufacturable, both in terms of time and resources, to account for future use in swarms. Software-wise, we strive to write readable and modular code that allows for a variety of scenarios and future development.
We have three main thrusts of research this semester: miniaturization, autonomy and swimming gait development, and actuator feedback. See below for more details:
We have a 12cm long, tethered robot fish. Our next step is to move all of the electronics inside, removing the tether which impedes the fish's motion, and taking the next step towards having a swarm of MORAs. How do we put batteries inside of a tiny fish, waterproof them, and make the easily chargeable/replaceable? How do we downsize our electronics board and waterproof it, perhaps getting into some soft robotics techniques? We will be playing with soft silicone skins, miniaturizing electronics, and waterproofing. In the process, the physical fish body may need to get modified as well.
MORA can currently swim forwards at a slow speed. How do we increase the speed and efficiency of the forward swimming gait? Perhaps we build a model and find the optimal set of parameters for the movement of the robot, maybe using some ML. How do we use the three independently actuated joints to turn the robot? Can we add a remote controlled feature to the robot? This project involves exploring the control of our three actuators to achieve better forward and turning swimming gaits, and adding wireless communication for debugging and direct control of the robot.
Our MIC actuator can move back and forth, and controlling the PWM signal and turning off the current for some time can force the MIC to move in a sinusoidal motion. However, we only know if the actuator is either right or left. Can we get positional feedback for our actuators to create a more accurate control loop? We will be playing around with Hall effect sensors to measure the direction of electric fields. Additionally, there is potential to find other tiny, inexpensive actuators, like RC plane motors which use the same MIC principle, but are already configured for proportional control.
For more information, contact Katya Soltan at katya.soltan@students.olin.edu.
Last edited by Katya Soltan: 9/8/2018