Complex three-link tail system design 1 amplifies tail motion whilst minimis- ing fish body motion, required for stable video stream Forward kinematics method applied to design motion amplifying linkage. Single motor used to entirely mimic fish swimming motions 1: Sayyed Farededdin Masoomi: Design, Fabricaon, and Swimming Performance of a Free-Swimming Tuna-Mimec Robot a Free-Swimming Tuna-Mimec Robot Kinematics Roboc Fish A custom PCB was manufactured for the electrical requirements: Atmel microcontroller Required for hardware interrupts PWM 2 driver Servo & LED control IMU 3 Live pitch and roll update Pressure sensor Live depth data Motor driver Driver for tail linkage and buoyancy system PCB Raspberry Pi 3 Model B A raspberry pi micro-computer was used as the main processor. This was essenal for encoding the live video stream. 2: Pulse width modulaon 3: Ineral measurement unit Team members: Ben Fortune Mark Rayne Ben Mitchell Winston Poh Director of Final Year Projects: Dr. Mark Jermy Client: Dr. Sharyn Goldsen (School of Biological Sci- ences, University of Canterbury) Supervisor: Dr. Stefanie Gutschmidt Technicians: Julian Murphy, Garry Coon Other University staff: Dr. Mark Jermy, Dr. Don Clucas, Julian Phillips, David Read Technical help: Nils Jensen Problem Statement The University of Canterbury's Department of Biological Sciences requires an underwater vehicle to traverse the coastal waters of Kaikoura, to obse- rve marine life with minimal disturbance to them. Water sample collection is also a required feature. Specification Operation to depths up to 20 m underwater Minimum 30 minutes operation on full charge High resolution live video stream for navigation in highly turbid environ- ment Problem Statement Peripheral driver circuit board Tail linkage driver motor RaspberryPi single-board computer for data and video processing Water sampling valves Tail linkages Pectoral fin servos Depth control syringe and motor Rib-reinforced silicone tail Biomimetic Robotic Fish Tether for real-time video stream- ing and control. Two sampling vials Up to 20m depth control Up to 30 minutes operation on full charge Solution Li-Po batteries (rechargeable) Camera and stabilizer servo Design Caudal Fin Pectoral Fins Fish Head Window Electronics