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Researchers Use Biomimicry and 3D Printing to Develop Robotic Fish

Developed robotic fish prototype.

3D printed robotic fish have all sorts of applications, from underwater data acquisition and detecting toxins in the water to studying and saving real fish, or just adding a new pet to the family. A group of engineering researchers from the University of Firat in Turkey are using biomimetic design to come up with flexible solutions for different marine applications, like observing organisms, examining underwater resources, finding and combating pollution, coastline security, surveying submerged areas, and fault detection in pipelines.

Detailed mechanical configuration of the 3D printed robotic fish.

The researchers, inspired by the carp fish for their 3D printed robotic fish, recently published a paper, titled “Mechatronic Design and Manufacturing of the Intelligent Robotic Fish for Bio-Inspired Swimming Modes,” about their use of 3D printing, robotics, and biomimicry to develop an Autonomous Underwater Vehicle (AUV).

The abstract reads, “This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs-1 and excellent three-dimensional swimming performance is obtained.”

Two of the most important things to consider when designing a 3D printable, biomimetic robotic fish are its body structure and swimming modes, so the researchers spent a lot of time observing and examining fish to get the design right. According to the paper, over 85% of fish swim by bending their bodies and/or caudal fins, also known as BCF, while the rest swim with their median and/or pectoral fins (MPF).

Forward and turning swimming patterns of a Carangiform carp fish for one period.

“There are two basic approaches in robotic fish design. First is the biomimetic design which has certain requirements such as a tail with the size and number of joints to provide body travelling wave, and the ability to stay at a certain depth with the control of the center of gravity,” the researchers wrote. “The second design approach uses only the movement effects of fish, but it is not physically inspired by real fish.”

The autonomous swimming performance of the robotic fish prototype.

Bio-inspired robotic fish use oscillatory and/or undulatory body motions. The University of Firat team’s robotic fish prototype replicates BCF-type Carangiform swimming modes with its propulsive, servo motor-driven tail mechanism; it also features anterior, rigid, torpedo-shaped body to hold all of the sensors and electronics, along with the Center of Gravity (CoG) control mechanism for moving up and down.

The 3D models of the robotic fish were first designed in SOLIDWORKS and then transferred to Voxelizer, before being 3D printed with PLA material, though the flexible caudal fin was made with a silicone mold. Epoxy resin was used to cover each part in order to prevent possible micro pore leakage, and after the robotic fish was assembled, its surface was covered with synthetic paint to prevent leaks caused by capillary cracks.

Because robotic fish need to be able to perceive static and dynamic objects in their environment while they swim around, the team added three Sharp infrared distance sensors to their fish, which weights roughly 3.1 kg and is about 500 mm long, 76 mm wide, and 215 mm high. A two-link tail mechanism provides the necessary thrust for the fish to move.

The designed front sight unit and angles of sight.

“This study presents the biomimetic design and manufacturing of the intelligent robotic fish prototype (i-RoF) based on bio-inspired swimming to perform real-world exploration and survey missions,” the researchers concluded. “The robotic fish prototype for three-dimensional motion abilities is investigated in the real experimental system. In these analyses, more than 72 different experimental studies were performed to obtain the characteristics of the prototype.

“In order to test the sealing performance of the mounted parts, they run during 6 hours in a water-filled test pool. The success of sealing tests is observed.”

Future research could center around examining the 3D printed robotic fish prototype’s closed-loop control performances using different control structures, as well as testing its swimming ability in different watercourses.

Co-authors of the paper include Mustafa Ay, Deniz Korkmaz, Gonca Ozmen Koca, Cafer Bal, Zuhtu Hakan Akpolat, and Mustafa Can Bingol.

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Recent Graduate Wins Award for 3D Printed Robotic Fish

Jefferson Talbot, a recent graduate of Embry-Riddle Aeronautical University, had an idea after watching his college roommate carefully pack up his fishbowl and fish every time he had to leave the dorms for a few days. A robotic fish, he thought, would be much easier to take care of. He thought back to a fish skeleton he had doodled in his class notes a couple of years ago, and decided to take the design a step further, as he had recently obtained a 3D printer. He 3D modeled and printed a skeletal fish structure and then went to work filling it out with muscle, fins and skin.

Talbot entered the project in the Project of the Year 2018 contest put on by Dassault Systèmes. The projects in the competition had to be completed with Dassault software, and the contest received 173 entries from 29 different countries. One Jury Prize was awarded, based on several criteria such as innovation, originality, technicality and optimal use of the software. 10 other winners were selected by Facebook users, and three brand project prizes were also awarded.

The Jury Prize this year went to Talbot for his ingenious robotic fish idea.

“There is a growing interest around the world in bringing robots and AI (artificial intelligence) into the home,” Talbot said. “Given the love of toy robot dogs in the past decades, I thought there might be interest in a fish. I figured that if I wanted a robot fish, there probably are other tech-obsessed people who would be interested in non-humanoid robots for their homes too.”

Talbot, who graduated with a Bachelor of Science in Aerospace Engineering, spent much of his last year working on the fish, using his own 3D printer as well as the school’s Makerspace Lab. He is still working on the newest iteration of the CAD model, trying to add more lifelike features and finalize the locomotion systems so that he can file for a patent. Once he has designed a fully autonomous fish capable of swimming for days or weeks without human contact, he will scale the design down into a smaller fish that can fit into an aquarium.

“In addition to the structural aspects of the fish, I have also begun basic work on the electrical and control systems,” he said. “An assortment of touch sensors, accelerometers, gyroscopes, cameras, LiDAR modules, pumps, servos, motors, Arduino boards, and Raspberry Pi boards was considered and a mix of them will be implemented in future iterations of the fish.”

The potential for Talbot’s design could go far beyond simply offering a cool new pet. He envisions the design being used by wildlife researchers who need to study underwater ecosystems without disturbing marine life. The system could also be adapted into a robotic snake that could help reach people trapped under rubble after disasters, or to inspect structures too large or dangerous for humans.

Talbot would like to work in the fields of biorobotics, biomedical engineering, or bionic prosthetics. You can learn more about his robotic fish project here.

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[Source: Embry Riddle Aeronautical University]

3D Printing News Briefs: June 29, 2018

In today’s 3D Printing News Briefs (the last one this month, how is the summer going by so quickly?!), a few companies are announcing special honors and recognitions, and then we’re sharing stories stories about some interesting new 3D printing projects, and finally wrapping things up before the weekend with some business news. Renishaw’s Director of R&D has been honored by the Royal Academy of Engineering, while MakerBot earned an important designation for its 3D printing certification program for educators and Renovis Surgical Technologies received FDA approval for its new 3D printed implant. Festo is introducing three new bionic robots, one of which is partially 3D printed, and CINTEC is using 3D printing for its restoration of a famous government house. GE wants to use blockchains for 3D printing protection, and ExOne announced a global cost realignment.

Royal Academy of Engineering Honors Renishaw’s Chris Sutcliffe

Earlier this week, the Royal Academy of Engineering (RAE) awarded a Silver Medal to Professor Chris Sutcliffe, the Director of Research and Development of the Additive Manufacturing Products Division (AMPD) for global metrology company Renishaw. This award is given to recognize outstanding personal contributions to British engineering, and is given to no more than four people a year. The Silver Medal Sutcliffe received was in recognition of his part in driving the development of metal 3D printed implants in both human and veterinary surgery, and also celebrates his successful commercialization of 3D printed products with several companies, including Renishaw, and the University of Liverpool.

“Throughout my career I’ve worked hard to commercialise additive manufacturing technology. As well as AM’s benefit to the aerospace and automotive sectors, commercialisation of AM and associated technologies has been lifechanging for those with musculoskeletal diseases,” said Sutcliffe. “The award celebrates the successes of the engineers I have worked with to achieve this and I am grateful to receive the award to recognise our work.”

MakerBot’s Certification Program for Educators Gets Important Designation

One of the leaders in 3D printing for education is definitely MakerBot, which has sent its 3D printers to classrooms all over the world. Just a few months ago, the company launched a comprehensive, first of its kind 3D printing certification program, which trains educators to become 3D printing experts and create custom curriculum for STEAM classrooms. An independent review of the program showed that it meets the International Society for Technology in Education (ISTE) standards, and it has earned the prestigious ISTE Seal of Alignment from the accreditation body. In addition, a survey conducted over the last three years of over 2,000 MakerBot educators shows that the percentage of teachers reporting that MakerBot’s 3D printers met their classroom needs has doubled in just two years.

“This data shows that MakerBot isn’t just growing its user base in schools. We’re measurably improving teachers’ experiences using 3D printing,” said MakerBot CEO Nadav Goshen. “Much of this impressive teacher satisfaction is thanks to the effort we’ve put into solving real classroom problems—like the availability of 3D printing curriculum with Thingiverse Education, clear best practices with the MakerBot Educators Guidebook, and now training with the new MakerBot Certification program.”

Earlier this week, MakerBot exhibited its educator solutions at the ISTE Conference in Chicago.

FDA Grants Clearance for 3D Printed Interbody Spinal Fusion System

California-headquartered Renovis Surgical Technologies, Inc. announced that it has received 510(k) clearance from the FDA for its Tesera SA Hyperlordotic ALIF Interbody Spinal Fusion System. All Tesera implants are 3D printed, and use a proprietary, patent-pending design to create a porous, roughened surface structure, which maximizes biologic fixation, strength, and stability to allow for bone attachment and in-growth to the implant.

The SA implant, made with Renovis’s trabecular technology and featuring a four-screw design and locking cover plate, is a titanium stand-alone anterior lumbar interbody fusion system. They are available in 7˚, 12˚, 17˚, 22˚ and 28˚ lordotic angles, with various heights and footprints for proper lordosis and intervertebral height restoration, and come with advanced instrumentation that’s designed to decrease operative steps during surgery.

Festo Introduces Partially 3D Printed Bionic Robot

German company Festo, the robotics research of which we’ve covered before, has introduced its Bionic Learning Network’s latest project – three bionic robots inspired by a flic-flac spider, a flying fox, and a cuttlefish. The latter of these biomimetic robots, the BionicFinWave, is a partially 3D printed robotic fish that can autonomously maneuver its way through acrylic water-filled tubing. The project has applications in soft robotics, and could one day be developed for tasks like underwater data acquisition, inspection, and measurement.

The 15 oz robot propels itself forward and backward through the tubing using undulation forces from its longitudinal fins, while also communicating with and transmitting data to the outside world with a radio. The BionicFinWave’s lateral fins, molded from silicone, can move independently of each other and generate different wave patterns, and water-resistant pressure and ultrasound sensors help the robot register its depth and distance to the tube walls. Due to its ability to realize complex geometry, 3D printing was used to create the robot’s piston rod, joints, and crankshafts out of plastic, along with its other body elements.

Cintec Using 3D Printing on Restoration Work of the Red House

Cintec North America, a leader in the field of structural masonry retrofit strengthening, preservation, and repair, completes structural analysis and design services for projects all around the world, including the Egyptian Pyramids, Buckingham Palace, Canada’s Library of Parliament, and the White House. Now, the company is using 3D printing in its $1 million restoration project on the historic Red House, which is also known as the seat of Parliament for the Republic of Trinidad and Tobago and was built between 1844 and 1892.

After sustaining damage from a fire, the Red House, featuring signature red paint and Beaux-Arts style architecture, was refurbished in 1904. In 2007, Cintec North America was asked to advise on the required repairs to the Red House, and was given permission to install its Reinforcing Anchor System. This landmark restoration project – the first where Cintec used 3D printing for sacrificial parts – denotes an historic moment in structural engineering, because one of the reinforcement anchors inserted into the structure, measuring 120 ft, is thought to be the longest in the world.

GE Files Patent to Use Blockchains For 3D Printing Protection

According to a patent filing recently released by the US Patent and Trademark Office (USPTO), industry giant GE wants to use a blockchain to verify the 3D printed parts in its supply chain and protect itself from fakes. If a replacement part for an industrial asset is 3D printed, anyone can reproduce it, so end users can’t verify its authenticity, and if it was made with the right manufacturing media, device, and build file. In its filing, GE, which joined the Blockchain in Transport Alliance (BiTA) consortium in March, outlined a method for setting up a database that can validate, verify, and track the manufacturing process, by integrating blockchains into 3D printing.

“It would therefore be desirable to provide systems and methods for implementing a historical data record of an additive manufacturing process with verification and validation capabilities that may be integrated into additive manufacturing devices,” GE stated in the patent filing.

ExOne to Undergo Global Cost Realignment

3D printer and printed products provider ExOne has announced a global cost realignment program, in order to achieve positive earnings and cash flow in 2019. In addition to maximizing efficiency through aligning its capital resources, ExOne’s new program will be immediately reducing the company’s consulting projects and headcount – any initial employee reductions will take place principally in consulting and select personnel. The program, which has already begun, will focus first on global operations, with an emphasis on working capital initiatives, production overhead, and general and administrative spending. This program will continue over the next several quarters.

“With the essential goal of significantly improving our cash flows in 2019, we have conducted a review of our cost structure and working capital practices. We are evaluating each position and expense within our organization, with the desire to improve productivity. As a result, we made the difficult decision to eliminate certain positions within ExOne, reduce our spending on outside consultants and further rely on some of our recently instituted and more efficient processes,” explained S. Kent Rockwell, ExOne’s Chairman and CEO. “Additional cost analyses and changes to business practices to improve working capital utilization will be ongoing over the next several quarters and are expected to result in additional cost reductions and improved cash positions. All the while, we remain focused on our research and development goals and long-term revenue growth goals, which will not be impacted by these changes, as we continue to lead the market adoption of our binder jetting technology.”

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