GhostSwimmer: Tactically Relevant, Biomimetically Inspired, Silent, Highly Efficient and Maneuverable Autonomous Fish Robot Navy STTR FY2008 Sol No.: Navy STTR FY2008 Topic No.: N08-T030 Topic Title: GhostSwimmer: Tactically Relevant, Biomimetically Inspired, Silent, Highly Efficient and Maneuverable Autonomous Fish Robot Proposal No.: N08A-030-0202 Firm: Boston Engineering Corporation 411 Waverley Oaks Road Suite 114 Waltham, Massachusetts 02452 Contact: Michael Rufo Phone: (781) 314-0723 Web Site: www.boston-engineering.com Abstract: GhostSwimmer is a tactical, efficient, biomimetic autonomous artificial fish UUV that employs the actual mechanics and dynamics of biological fish to create the ultimate in efficient swimming while remaining responsive to the needs of current covert, riverine, and littoral missions. It endeavors to attack problems facing current UUVs. A product of the combined experience of David Barrett (Olin College), inventor/developer of MIT's groundbreaking Robo-Tuna, and Michael Rufo (Boston Engineering), inventor/developer of marsupial underwater UUV/Crawler technologies, it mimics the actual motion of a tuna (one of nature's fastest and most maneuverable fish). This proposal doesn't represent "another university research program" but endeavors to create a functional fish robot in Phase I that proves its advantages. The program's focus is to reduce the mechanics of robotic swimming to practice. An important part of GhostSwimmer is its use of fins and their effect on its maneuverability. GhostSwimmer has the ability to adjust its dorsal, pectoral, and caudal fins in concert to provide significant thrust, maneuverability, and propulsive efficiency. This effort develops the integration of artificial muscles for fin and tail actuation. Modularity and use of COTS technology as well as inexpensive prototyping hardware allow GhostSwimmer to be cost effective and inexpensive to upgrade. Benefits: It is anticipated that this research will open many opportunities for both Boston Engineering, Olin College and the sponsor. The work described in this proposal provides a significant advancement in the development of autonomous, maneuverable, and efficient UUVs. BEC intends to leverage these efforts to further develop robotic and underwater capability as well as further the development of peripheral and enabling technologies such as power management, advanced sensing, and improved low power control electronics (all of which are ongoing internal efforts at BEC). Olin College's robotics program will gain reputation and in house experience to further their own robotic system goals and development programs and will be able to spin off many SCOPE (Senior Design) projects from this effort and further their expertise in biomimetic robotics for the future. Artificial fish are expected to be used in a wide variety of non military markets including: oil rig inspection, wharf and bridge pylons safety monitoring, sports fishing active lures, under water swimming robotic companion, and entertainment. Mr. Rufo has already been informally working with contacts from entities such as US Army Corps of Engineers on the development of underwater payloads and inspection systems, respectively. The development of the GhostSwimmer technology allows BEC to meet the needs of other clients who can benefit from it. This includes current commercial customers for both bridge inspection and ocean-based power harvesting technologies. Return