The scientific research focuses on biomimetic underwater robotic vehicles. The thrust of these underwater vehicles is caused due to oscillating fins (in contrast with today underwater vehicles which are propeller-based). Robotic fish are proved to be more efficient and easier to be controlled in low velocities. In our lab a prototype biomimetic robotic fish has been designed and coded. The fish moves with the help of a small maxon dc motor. A close-loop position control is implemented with the help of a microcontroller. It carries a small camera and has the ability to transmit video-streaming. The range of the angle and the oscillation frequency of the tail fin, as well as the direction of the fish can be controlled with the help of a GUI (graphical interface) and a transceiver.

For complete publications list see here

• Makrodimitris, M., Aliprantis, I., and Papadopoulos, E., “Design and Implementation of a Low Cost, Pump-Based, Depth Control of a Small Robotic Fish,” Proc. of the 2014 International Conference on Intelligent Robots and Systems (IROS ’14), Chicago, Illinois, Sept. 14–18, 2014, USA.

• Tsounis, V., Makrodimitris, M., Papadopoulos, E., “A Low Cost, Sensorless Drag Force Estimation Methodology via Current Measurements,” 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2014),July 8-11, 2014, Besançon, France.