AIRWiki - User contributions [en]

File:FishBoard.svg

2008-10-14T19:12:14Z

AlessandroNava: uploaded a new version of "Image:FishBoard.svg"

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T19:09:40Z

AlessandroNava: /* Final design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T19:09:02Z

AlessandroNava: /* Electronics */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:FishBoard.svg

2008-10-14T19:08:23Z

AlessandroNava:

File:BasicOscillator.svg

2008-10-14T19:07:12Z

AlessandroNava:

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:46:12Z

AlessandroNava:

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:38:30Z

AlessandroNava: /* Final design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:38:09Z

AlessandroNava: /* Final design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.jpg|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:PesceUpWeb.png

2008-10-14T02:36:29Z

AlessandroNava:

File:PesceSideWeb.png

2008-10-14T02:35:53Z

AlessandroNava:

File:Body 3D 1.png

2008-10-14T02:24:44Z

AlessandroNava:

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:22:14Z

AlessandroNava: /* '''Part 2: project description''' */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

User:MaurizioMercurio

2008-10-14T02:16:40Z

AlessandroNava:

{{SMWUser
|firstname=Maurizio
|lastname=Mercurio
|email=dott(dot)mercurio(dot)maurizio(dot)(at)gmail(dot)com
|advisor=GiuseppinaGini
|projectpage=ZOIDBERG - An autonomous bio-inspired Robotic fish
|photo=Escape.jpg|
}}

'''Maurizio Mercurio'''

nato a Benevento (BN) il 26-07-1982

e-mail: dott(dot)mercurio(dot)maurizio(dot)(at)gmail(dot)com

'''Esperienza professionale'''

- ''Marzo 2008 - in corso:'' Docente di elettrotecnica, elettronica, fisica, meccanica, matematica presso scuola superiore privata.

- ''Marzo 2007 - Giugno 2007:'' Tutor presso il Politecnico di Milano

- ''Settembre 2004 - Settembre 2005:'' Collaboratore di Ricerca presso il Dipartimento di Progettazione e Gestione Industriale, Università degli Studi di Napoli Federico II

'''Istruzione e formazione'''

- ''Settembre 2001 – Marzo 2005'' Laurea in Ingegneria informatica (1° livello) votazione 92/110 con tesi: "Sviluppo di un simulatore automobilistico veloce 2D"

- ''Settembre 1996 - Luglio 2001'' Ragioniere Programmatore - specializzazione in informatica, voto 100/100, Istituto Tecnico Commerciale Statale S. Rampone di Benevento (BN)

'''Attualmente''' tesista presso AIRLab sede di Lambrate, progetto [[ZOIDBERG - An autonomous bio-inspired Robotic fish]] - Sviluppo di un pesce robot attuato mediante polimeri elettroattivi

User:FrancescoMilli

2008-10-14T02:16:04Z

AlessandroNava:

{{SMWUser
|firstname=Francesco
|lastname=Milli
|email=francesco(dot)milli(at)mail(dot)polimi(dot)it
|advisor=GiuseppinaGini
|projectpage=ZOIDBERG - An autonomous bio-inspired Robotic fish
|photo=France.jpg
}}

'''Francesco Milli'''

nato a Milano il 25-03-1984

e-mail: francesco<dot>milli<at>mail<dot>polimi<dot>it

'''Attualmente''' tesista presso AIRLab sede di Lambrate, progetto [[ZOIDBERG - An autonomous bio-inspired Robotic fish]]

User:AlessandroNava

2008-10-14T02:15:04Z

AlessandroNava:

{{SMWUser
|firstname=Alessandro
|lastname=Nava
|email=alessandro(dot)nava(at)mail(dot)polimi(dot)it
|advisor=GiuseppinaGini
|projectpage=ZOIDBERG - An autonomous bio-inspired Robotic fish
|photo=alessandronava.jpg
}}

'''Alessandro Nava'''

nato a Milano il 27-12-1983

e-mail: alessandro<dot>nava<at>mail<dot>polimi<dot>it

'''Istruzione e formazione'''

- ''Settembre 2002 – Settembre 2006'' Laurea in Ingegneria informatica (1° livello) votazione 95 con tesina: "Progettazione di un controllore neurale per un robot bioispirato"

- ''Settembre 1997 - Luglio 2002'' Perito industriale capotecnico - specializzazione in elettronica, voto 95/100, Istituto Tecnico Industriale E. Breda - Salesiani di Don Bosco, sede di Sesto San Giovanni (MI)

'''Attualmente''' tesista presso AIRLab sede di Lambrate, progetto [[ZOIDBERG - An autonomous bio-inspired Robotic fish]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:14:12Z

AlessandroNava: ZOIDBERG - An autonomous bio-inspired RoboFish moved to ZOIDBERG - An autonomous bio-inspired Robotic fish: Robofish is not a word

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired RoboFish

2008-10-14T02:14:12Z

AlessandroNava: ZOIDBERG - An autonomous bio-inspired RoboFish moved to ZOIDBERG - An autonomous bio-inspired Robotic fish: Robofish is not a word

#REDIRECT [[ZOIDBERG - An autonomous bio-inspired Robotic fish]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:10:26Z

AlessandroNava: /* Final design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:09:17Z

AlessandroNava: /* Final design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_interno.jpg|The two halves of the hull open and wired up
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T02:07:31Z

AlessandroNava:

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.png|Final review board schematic
Image:Zoidberg_incapsulamento.jpg|Assembly of the structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:59:03Z

AlessandroNava:

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Images Section ===

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:53:38Z

AlessandroNava:

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:50:42Z

AlessandroNava:

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automata realized by Shuxiang Guo, Yuya Okuda and Kinji Asaka, which is actuated with the same type of polymer that we used.

It is discussed in:
[[media:FishrobotICPF.pdf | ICPF Actuator-based Novel Type of Underwater Micro Biped Robot with Multi DOF]]

=== Preliminary part design ===

The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:38:44Z

AlessandroNava: /* Preliminary part design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
[[media:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

=== Preliminary part design ===

The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermitting circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermitting circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:29:07Z

AlessandroNava: /* Preliminary part design */

[[Image:ZoidbergLogo.png|thumb|right|300px|Proposed artwork]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired robot.
The project's aim is to realize a robotic fish actuated by a particular electroactive polymer of ICPF type (Ionic Conducting Polymer Film).

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;
* Useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* Useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
[[media:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

=== Preliminary part design ===

The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modelling clay.
The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_PLUS.jpg|Developed test body
Image:Test_propulsion.png|Propulsion test
</gallery>
<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:23:33Z

AlessandroNava: /* Preliminary part design */

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:12:28Z

AlessandroNava:

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:01:10Z

AlessandroNava:

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T01:00:14Z

AlessandroNava:

[[Image:ZoidbergLogo.png|thumb|right|300px|Zoidberg]]
== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
[[media:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

=== Preliminary part design ===

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_propulsion.png|Propulsion test
Image:Test_PLUS.jpg|Developed test body
Image:Test_circuit.jpg|Test circuit
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
</gallery>

File:ZoidbergLogo.png

2008-10-14T00:56:45Z

AlessandroNava:

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T00:52:16Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
[[media:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

=== Preliminary part design ===

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_propulsion.png|Propulsion test
Image:Test_PLUS.jpg|Developed test body
Image:Test_circuit.jpg|Test circuit
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit (simplified) schematic
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T00:50:50Z

AlessandroNava: /* Preliminary part design */

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-10-14T00:50:21Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]
* useful other internet links: [http://it.youtube.com/watch?v=1JnPQdOBf44&feature=related]

=== State of the art ===
[[media:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

=== Images Section ===
<gallery>
Image:Zoidberg_incapsulamento.jpg|Encapsulated structure
Image:Zoidberg_interno.jpg|Internal arrangement
</gallery>

=== Preliminary part design ===

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_propulsion.png|Propulsion test
Image:Test_PLUS.jpg|Developed test body
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.png|Test circuit schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

File:BasicOscillator.png

2008-10-14T00:48:22Z

AlessandroNava:

File:FishBoard.png

2008-10-14T00:48:00Z

AlessandroNava:

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-17T16:38:05Z

AlessandroNava: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[media:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_propulsion.png|Propulsion test
Image:Test_PLUS.jpg|Developed test body
Image:Schema_1.png|Schematic of the first board
Image:Schema_2.png|Schematic of the second board
Image:Test_circuit.jpg|Test circuit
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-17T16:37:03Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Image:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_propulsion.png|Propulsion test
Image:Test_PLUS.jpg|Developed test body
Image:Schema_1.png|Schematic of the first board
Image:Schema_2.png|Schematic of the second board
Image:Test_circuit.jpg|Test circuit
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-17T16:36:16Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Image:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

<gallery>
Image:Test_forma_1.png|First test body shape
Image:Test_propulsion.png|thumb|300 px|Propulsion test
Image:Test_PLUS.jpg|thumb|300 px|Developed test body
Image:Schema_1.png|thumb|300 px|Schematic of the first board
Image:Schema_2.png|thumb|300 px|Schematic of the second board
Image:Test_circuit.jpg|thumb|300 px|Test circuit
</gallery>

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-17T16:27:43Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Image:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|300 px|First test body shape]]
[[Image:Test_propulsion.png|thumb|300 px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|300 px|Developed test body]]
[[Image:Schema_1.png|thumb|300 px|Schematic of the first board]]
[[Image:Schema_2.png|thumb|300 px|Schematic of the second board]]
[[Image:Test_circuit.jpg|thumb|300 px|Test circuit]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-17T16:22:41Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Image:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|left|300 px|First test body shape]]
[[Image:Test_propulsion.png|thumb|left|300 px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|300 px|left|Developed test body]]
[[Image:Schema_1.png|thumb|left|300 px|Schematic of the first board]]
[[Image:Schema_2.png|thumb|left|300 px|Schematic of the second board]]
[[Image:Test_circuit.jpg|thumb|left|300 px|Test circuit]]

User:FrancescoMilli

2008-05-15T13:56:05Z

AlessandroNava:

{{User
|firstname=Francesco
|lastname=Milli
|email=francesco(dot)milli(at)mail(dot)polimi(dot)it
|advisor=GiuseppinaGini
|projectpage=ZOIDBERG - An autonomous bio-inspired RoboFish
|photo=France.jpg
}}

'''Francesco Milli'''

nato a Milano il 25-03-1984

e-mail: francesco<dot>milli<at>mail<dot>polimi<dot>it

'''Attualmente''' tesista presso AIRLab sede di Lambrate, progetto [[ZOIDBERG - An autonomous bio-inspired RoboFish]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:53:30Z

AlessandroNava: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Image:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|left|300px|First test body shape]]
[[Image:Test_propulsion.png|thumb|left|300px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|left|300px|Developed test body]]
[[Image:Test_circuit.jpg|thumb|left|300px|Test circuit]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:53:06Z

AlessandroNava: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Document:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|left|300px|First test body shape]]
[[Image:Test_propulsion.png|thumb|left|300px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|left|300px|Developed test body]]
[[Image:Test_circuit.jpg|thumb|left|300px|Test circuit]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:52:51Z

AlessandroNava: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Pdf:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|left|300px|First test body shape]]
[[Image:Test_propulsion.png|thumb|left|300px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|left|300px|Developed test body]]
[[Image:Test_circuit.jpg|thumb|left|300px|Test circuit]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:52:34Z

AlessandroNava: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[File:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|left|300px|First test body shape]]
[[Image:Test_propulsion.png|thumb|left|300px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|left|300px|Developed test body]]
[[Image:Test_circuit.jpg|thumb|left|300px|Test circuit]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:52:15Z

AlessandroNava: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== State of the art ===
[[Image:FishrobotICPF.pdf | Reference previous work]]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

[[Image:Test_forma_1.png|thumb|left|300px|First test body shape]]
[[Image:Test_propulsion.png|thumb|left|300px|Propulsion test]]
[[Image:Test_PLUS.jpg|thumb|left|300px|Developed test body]]
[[Image:Test_circuit.jpg|thumb|left|300px|Test circuit]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:35:12Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

- First test body shape

[[Image:Test_forma_1.png]]

- Developed test body

[[Image:Test_PLUS.jpg]]

- Propulsion test

[[Image:Test_propulsion.png]]

- Test circuit

[[Image:Test_circuit.jpg]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:34:24Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

- First test body shape
[[Image:Test_forma_1.png]]

- Developed test body
[[Image:Test_PLUS.jpg]]

- Propulsion test
[[Image:Test_propulsion.png]]

- Test circuit
[[Image:Test_circuit.jpg]]

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:33:56Z

AlessandroNava: /* Preliminary part design */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

=== Our Nafion EAP experiments on YouTube ===

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Preliminary part design ===

- First test body shape [[Image:Test_forma_1.png]];

- Developed test body [[Image:Test_PLUS.jpg]];

- Propulsion test [[Image:Test_propulsion.png]];

- Test circuit [[Image:Test_circuit.jpg]];

ZOIDBERG - An autonomous bio-inspired Robotic fish

2008-05-15T13:11:11Z

AlessandroNava: /* '''Part 2: project description''' */

== '''Part 1: project profile''' ==

=== Project name ===

ZOIDBERG - An autonomous bio-inspired robotic fish

=== Project short description ===
ZOIDBERG is a project about an autonomous bio-inspired RoboFish. The project's aim is to realize a bio-inspired fish actuated by a particular electroactive polymer (EAP) , ICPF (Ionic Conducting Polymer Film). The robot will be able to swim in autonomous way in response to different behaviours.

=== People involved ===

===== Project head =====

Prof.ssa Giuseppina Gini - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====

Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====

Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===

Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
* Use of mechanical tools. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of high-voltage circuits. Special gloves and a current limiter will be used.
* Robot testing. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* state of the art;
* preliminary studies and sketches;
* design notes and guidelines;
* description and results of experiments;
* photos and videos (they must have been uploaded with [[Special:Upload]] before you can insert them into this page);
* useful internet links: [http://en.wikipedia.org/wiki/Doctor_Zoidberg Dr. Zoidberg]

= Our Nafion EAP experiments on YouTube =

{{#ev:youtube|kDF3zGa5b-c}}

*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}

*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]