Abstract
The extensive water pollution caused by production activities is a key issue that needs to be addressed in the aquaculture industry. The dynamic monitoring of water quality is essential for understanding water quality and the growth of fish fry. Here, a low-cost, low-noise, real-time monitoring and automatic feedback biomimetic robotic fish was proposed for the dynamic monitoring of multiple water quality parameters in aquaculture. The biomimetic robotic fish achieved a faster swimming speed and more stable posture control at a swing angular velocity of 16 rad/s by using simulation analysis. A fast swimming speed (0.4 m/s) was achieved through the control of double-jointed pectoral and caudal fins, exhibiting various types of movements, such as straight swimming, obstacle avoidance, turning, diving, and surfacing. As a demonstration of application, bionic robotic fish were placed in a lake for on-site water sampling and parameter detection. The relative average deviations in water quality parameters, such as water temperature, acidity and alkalinity, and turbidity, were 1.25%, 0.07%, and 0.94%, respectively, meeting the accuracy requirements for water quality parameter detection. In the future, bionic robotic fish are beneficial for monitoring water quality, fish populations, and behaviors, improving the efficiency and productivity of aquaculture, and also providing interesting tools and technologies for science education and ocean exploration.