Prototype Update

The prototype will be a fully functioning model that will be able to traverse aquatic environments with stealth and hovering style swimming performance.  With two tails, the robotic tuna will achieve thrust via undulation of the peduncles which when synced out of phase of one another by ninety degrees will provide opposing cancellation of lateral motion, which in turn will provide for stability of the leading edge of the aquatic vehicle.  Coordination of said peduncles will be maintained through the programming of an arduino board to orchestrate a series of six servo motors. The arduino board, will be powered by a lithium ion battery source. There will two servo motors per peduncle or tail section of the mimetic robot tuna, as well as one servo motor each to control the pectoral fins which are located on the outermost side panels of the fish.  The servo motors are to control the fins via three bar linkage system mounted to the horn head of the servo motor and the hinged portion of the fins which will be synced by a timing belt. Design and implementation of said components will perform in synchronicity in attempt to mimic and optimize tuna fish swimming performance.