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ABSTRACTThis paper conveys some of the results of a research project involving the design and tests of biomimetic underwater vehicle which is intended for implementation of intelligence, surveillance and reconnaissance tasks. The research presented in this paper is based on the theoretical and practical study. All major subsystems of the robot are specified and briefly described. The mechanical design is based on modular structure. Two types of modules, dry and wet, are specified. The major parts of the tail module were checked with the use of the finite element method. Moreover, hardware and software parts of robot's control subsystem and Simulink model of static depth regulator are briefly presented. The final part presents main parameters and basic functionality of the built biomimetic underwater vehicle.

The paper presents a research on a marginal zone near Knyszewicze in the southern part of Sokółka Hills (northeastern Poland). Terminal moraine hills are arranged amphitheatrically in a lobal pattern. Dynamics of the Knyszewicze frontal ice-sheet lobe during the Saale Glaciation and successive stages of the marginal zone near the village of Knyszewicze were reconstructed based on sedimentary and geomorphological analysis, using a digital elevation model and morpholineaments. Three main phases of the Knyszewicze glacial-lobe activity were identified including accumulation of glaciofluvial deposits, advances of the ice margin and ice-lobe retreat. Moraine hills developed at a stable ice-lobe terminus, initially as short end-moraine fans with the following sequence of lithofacies Gh⇒SGh⇒Shor Gm⇒Gh⇒Sh. Such a sequence indicates cyclic sheet-floods. During a small but dynamic advance of the ice sheet terminus, these deposits were moved forward and monoclinally folded, then furrowed with sloping faults due to horizontal pressure. Typical thrust-block push moraines developed in this way. Ice sheet advance took place when permafrost was present in the substratum and very high water pressure occurred at glacial terminus. Inside a lobal configuration of moraines, there is a rich inventory of glacial forms with a classic terminal depression in the central part. Based on this landform pattern, their shape, rhythm and glaciotectonic disturbances, the land relief may be referred to as a hill-hole pair.The structure of Horczaki Knoll, deposited on the sub-Quaternary tectonic structure, significantly contributed to a development of this marginal zone.

Paper presents gradual progress in the development of biomimetic mobile underwater robot with undulating propulsion starting from the rugged but functional first version of CyberFish through very agile and manoeuvrable second and third version till fifth one – accurately imitating real fish. Trends in BUUV technology is briefly described in the introduction. The second and third sections describe previous, and actual state of CyberFish project successfully carried out at Cracow University of Technology and focusing on the succeeding robots design and construction. Paper is summarized with problems of the BUUV technology development yet to be solved.

The paper is focused on presenting first steps in attempting to build model of the motion of the biomimetic underwater vehicle (BUV) based on experimental studies of traveling wave parameters on the robots speed. In the introduction the mechanical and electronic part of the fifth version of BUV called CyberFish is shortly presented as well as its enhanced motion principle based on traveling wave. The second paragraph covers experiment description and discusses its results.

Fish-like swimming has been attracting scientists and engineers attention since many years resulting in attempts of mathematical description of fish movement and its implementation in many interesting prototypes of underwater vehicles. In this paper, conception of research on simulation, implementation and control of bionic underwater vehicle BUV with undulating propulsion is presented. In the next sections, introduction and mathematical model of bionic underwater vehicle motion are included. Then, the last implementation of the robotic fish called CyberFish, which movement is based on the presented mathematic description is presented and shortly described. In the last sections, conception of research on control system of BUV and conclusions are presented.

Unmanned underwater vehicles which use biomimetic mechanisms are becoming increasingly useful in the realisation of tasks requiring silent and efficient propulsion. Complex fish kinematics are simplified to some extent and implemented in such vehicles. One of the essential fish behaviours is their ability to adjust their buoyancy using a swim bladder. This paper covers the issues concerning the implementation of artificial swim bladders as well as depth regulators in two underwater vehicles: biomimetic and hybrid. The control of vehicle depth through buoyancy change was examined in the computer simulation and in the experiment. Two types of artificial swim bladder were tested – a rigid cylinder with a piston and an elastic container with a water pump.

Unmanned underwater vehicles which use biomimetic mechanisms are becoming increasingly useful in the realisation of tasks requiring silent and efficient propulsion. Complex fish kinematics are simplified to some extent and implemented in such vehicles. One of the essential fish behaviours is their ability to adjust their buoyancy using a swim bladder. This paper covers the issues concerning the implementation of artificial swim bladders as well as depth regulators in two underwater vehicles: biomimetic and hybrid. The control of vehicle depth through buoyancy change was examined in the computer simulation and in the experiment. Two types of artificial swim bladder were tested – a rigid cylinder with a piston and an elastic container with a water pump.