{"id":15761,"date":"2026-06-29T21:43:14","date_gmt":"2026-06-29T21:43:14","guid":{"rendered":"https:\/\/8657085.xyz\/?p=15761"},"modified":"2026-06-29T21:43:14","modified_gmt":"2026-06-29T21:43:14","slug":"micro-submarines-that-swim-chase-and-recharge-themselves-deliver-a-hands-off-aquarium-experience","status":"publish","type":"post","link":"https:\/\/8657085.xyz\/?p=15761","title":{"rendered":"Micro-Submarines That Swim, Chase, and Recharge Themselves Deliver a Hands-Off Aquarium Experience"},"content":{"rendered":"<p> <div style=\"display: grid; grid-template-columns: 300px 160px; gap: 2px; width: 460px; background: #eee; padding: 2px;\">\r\n\r\n  <!-- \u6574\u884c\u5bbd\u5e7f\u544a -->\r\n  <div style=\"grid-column: 1\/-1; width: 460px; height: 250px; background: #ccc; display: grid; place-items: center;\">\r\n  <script async type=\"application\/javascript\" src=\"https:\/\/a.magsrv.com\/ad-provider.js\"><\/script> \r\n <ins class=\"eas6a97888e2\" data-zoneid=\"5876674\"><\/ins> \r\n <script>(AdProvider = window.AdProvider || []).push({\"serve\": {}});<\/script>\r\n  <\/div>\r\n  <div style=\"grid-column: 1\/-1; width: 460px; height: 90px; background: #ccc; display: grid; place-items: center;\">\r\n  <script async type=\"application\/javascript\" src=\"https:\/\/a.magsrv.com\/ad-provider.js\"><\/script> \r\n <ins class=\"eas6a97888e2\" data-zoneid=\"5876676\"><\/ins> \r\n <script>(AdProvider = window.AdProvider || []).push({\"serve\": {}});<\/script>\r\n  <\/div>\r\n\r\n  <!-- \u5de6\u4fa7\u7ad6\u6392 -->\r\n  <div style=\"height: 250px; background: #ccc; display: grid; place-items: center;\">\r\n  <script async type=\"application\/javascript\" src=\"https:\/\/a.magsrv.com\/ad-provider.js\"><\/script> \r\n <ins class=\"eas6a97888e2\" data-zoneid=\"5876672\"><\/ins> \r\n <script>(AdProvider = window.AdProvider || []).push({\"serve\": {}});<\/script>\r\n  <\/div>\r\n  <div style=\"height: 500px; background: #ccc; display: grid; place-items: center;\">\r\n  <script async type=\"application\/javascript\" src=\"https:\/\/a.magsrv.com\/ad-provider.js\"><\/script> \r\n <ins class=\"eas6a97888e2\" data-zoneid=\"5876680\"><\/ins> \r\n <script>(AdProvider = window.AdProvider || []).push({\"serve\": {}});<\/script>\r\n  <\/div>\r\n\r\n  <!-- \u53f3\u4fa7\u6469\u5929\u697c\uff08\u548c\u5de6\u4fa7\u5b8c\u5168\u5bf9\u9f50\uff09 -->\r\n  <div style=\"grid-row: 3\/5; height: 750px; background: #ccc; display: grid; place-items: center;\">\r\n  <script async type=\"application\/javascript\" src=\"https:\/\/a.magsrv.com\/ad-provider.js\"><\/script> \r\n <ins class=\"eas6a97888e2\" data-zoneid=\"5876678\"><\/ins> \r\n <script>(AdProvider = window.AdProvider || []).push({\"serve\": {}});<\/script>\r\n  <\/div>\r\n  \r\n  <script async type=\"application\/javascript\" src=\"https:\/\/a.magsrv.com\/ad-provider.js\"><\/script> \r\n <ins class=\"eas6a97888e6\" data-zoneid=\"5876682\"><\/ins> \r\n <script>(AdProvider = window.AdProvider || []).push({\"serve\": {}});<\/script>\r\n<\/div><br \/>\n<\/p>\n<div>\n<p><img decoding=\"async\" src=\"https:\/\/images.techeblog.com\/wp-content\/uploads\/2026\/06\/29131126\/micro-submarine-fish-aquarium.jpg\" alt=\"Micro-Submarine Fish Aquarium\" width=\"1280\" height=\"853\"\/><br \/>Peter\u2019s dad floated the idea five years earlier. An aquarium sounded nice, yet the feeding schedule and water changes did not. The comment lingered until Peter teamed up with Filip on the CPSdrone project to build something better. Small submarine-like machines now patrol a glass tank in place of live fish. Each one carries its own motors, battery, and controller inside a sealed body. They move on command or follow simple rules that keep them cruising without constant human input.<\/p>\n<p><span id=\"more-248442\"\/><br \/><iframe title=\"Engineering Micro-Submarines To Replace Fish\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/M733JzO3LBE?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><noscript><iframe title=\"Engineering Micro-Submarines To Replace Fish\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/M733JzO3LBE?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/noscript><br \/>Four tiny brushed motors provide each of these micro-submarines with complete underwater freedom. Two are in charge of forward push and turning, while the remaining two handle depth adjustments. The propellers are located in the back, sides, or bottom of the submarine, depending on its orientation. Lead weights regulate the buoyancy to keep it from sinking or floating away on its own. The most challenging issue is that all of the heavy lifting occurs outside of the water. A Raspberry Pi sits on a shelf above the tank, observing everything through a camera. Each sub has many bright ArUco markings on top of it, allowing the program to always know where it is and where it is pointing. The team devised a mechanism for transferring commands from the Raspberry Pi to the Arduino Pro Mini within each sub, even when submerged.<\/p>\n<div class=\"aawp\">\n<div class=\"aawp-product aawp-product--horizontal aawp-product--ribbon aawp-product--sale\" data-aawp-product-asin=\"B0FL9DN3GY\" data-aawp-product-id=\"241247\" data-aawp-tracking-id=\"tec02e-20\" data-aawp-product-title=\"Xtra Muse Vlogging Camera with 1   CMOS &amp; 4K\/120fps Videos Pocket Camera with 3-Axis Gimbal Stabilizer Fast Focusing Face\/Object Tracking Digital Video Camera for Photography Digital Camera\">\n<p>    <span class=\"aawp-product__ribbon aawp-product__ribbon--sale\">Sale<\/span><\/p>\n<div class=\"aawp-product__thumb\">\n<p>            <img decoding=\"async\" class=\"aawp-product__image\" src=\"https:\/\/m.media-amazon.com\/images\/I\/31XzrbVtP4L._SL160_.jpg\" alt=\"Xtra Muse, Vlogging Camera with 1'' CMOS &amp; 4K\/120fps Videos, Pocket Camera with 3-Axis Gimbal Stabilizer...\"\/><\/p><\/div>\n<div class=\"aawp-product__content\">\n<p>            Xtra Muse, Vlogging Camera with 1&#8221; CMOS &amp; 4K\/120fps Videos, Pocket Camera with 3-Axis Gimbal Stabilizer&#8230;        <\/p>\n<div class=\"aawp-product__description\">\n<ul>\n<li>Cinematic-Style Footage &#8211; Experience the power of Xtra Muse&#8217;s 1-inch CMOS sensor, capable of recording breathtaking 4K resolution videos at 120fps&#8230;<\/li>\n<li>Ultra-Steady Shooting &#8211; No more shaky videos! Xtra Muse&#8217;s advanced 3-axis gimbal camera stabilizer ensures exceptional smoothness. Enjoy smooth&#8230;<\/li>\n<li>Effortless Framing &#8211; Enjoy Xtra Muse&#8217;s expansive 2-inch touch screen, and switch between horizontal and vertical shooting effortlessly.<\/li>\n<\/ul><\/div>\n<\/p><\/div>\n<\/div>\n<\/div>\n<p>\nThe combination produces smooth, lifelike paths. The crew had to experiment with a PID controller to get the subs to move in the appropriate direction without abrupt pauses and starts. One variation merely moves the subs to random spots, allowing them to wander freely among the plants and decorations. Another allows one sub to be the chaser while the others try to evade it in a game of underwater tag. The low-maintenance docking is a useful feature. A station on the tank\u2019s bottom has inductive charging coils similar to those used in wireless phone docks. Electromagnets then help to pull the sub into position without the need for corrosive metal contact points. Once it\u2019s properly installed, electricity travels through the water to charge the small battery. If the submarine\u2019s battery is running low, the overhead camera may direct it to the dock.<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/images.techeblog.com\/wp-content\/uploads\/2026\/06\/29131111\/micro-submarine-fish-aquarium-1.jpg\" alt=\"Micro-Submarine Fish Aquarium\" width=\"1280\" height=\"720\"\/><br \/>The most difficult part of the development process was waterproofing. The hulls were made with a two-piece process on a Formlabs Form 4 resin printer, which generates exceedingly flat surfaces that seal exceptionally well. An O-ring separates the two sections, and the wire exit ports are sealed with UV-cured epoxy. Even though early prototypes continued to leak during pressure testing in a clear tube, a couple more sealing passes alleviated the most of the issues, and only a few of the motors ended up with stray epoxy caught in them; today they all spin at slightly different rates.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/images.techeblog.com\/wp-content\/uploads\/2026\/06\/29131118\/micro-submarine-fish-aquarium-2.jpg\" alt=\"Micro-Submarine Fish Aquarium\" width=\"1280\" height=\"720\"\/><br \/>At the moment, three finished units are cruising about the tank. To maintain peace and quiet, they replaced the regular gravel with artificial grass on the bottom. Each sub has a vivid paint job that resembles real fish patterns. There\u2019s a skull and some colorful flora on the side, and the small docking pads sit silently at one end.<br \/><span>[Source]<\/span><\/p>\n<\/p><\/div>\n<p><!-- \u603b\u5bb9\u5668\uff1a\u6700\u5927\u5bbd908px Grid\u7d27\u51d1\u5e03\u5c40 -->\r\n<div style=\"display: grid; grid-template-columns: 728px 160px; gap:2px; width:908px; background:#eee; padding:2px;\">\r\n\r\n  <!-- \u901a\u680f\u9876\u90e8\uff1a\u6700\u5927\u6a2a\u5e45 908x258 \u8de8\u6574\u884c -->\r\n  <div style=\"grid-column:1\/-1; height:258px; background:#ff6b6b; display:grid; place-items:center;\">\r\n    <!-- JuicyAds v3.0 -->\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async src=\"https:\/\/poweredby.jads.co\/js\/jads.js\"><\/script>\r\n<ins id=\"1114307\" data-width=\"908\" data-height=\"258\"><\/ins>\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async>(adsbyjuicy = window.adsbyjuicy || []).push({'adzone':1114307});<\/script>\r\n<!--JuicyAds END-->\r\n  <\/div>\r\n\r\n  <!-- \u7b2c\u4e8c\u901a\u680f\uff1a728\u00d790 \u901a\u680f -->\r\n  <div style=\"grid-column:1\/-1; 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display:grid; place-items:center;\">\r\n\t<!-- JuicyAds v3.0 -->\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async src=\"https:\/\/poweredby.jads.co\/js\/jads.js\"><\/script>\r\n<ins id=\"1114302\" data-width=\"133\" data-height=\"139\"><\/ins>\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async>(adsbyjuicy = window.adsbyjuicy || []).push({'adzone':1114302});<\/script>\r\n<!--JuicyAds END-->\r\n\t<\/div>\r\n    <div style=\"height:125px; background:#91e7ac; display:grid; place-items:center;\">\r\n\t\r\n<!-- JuicyAds v3.0 -->\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async src=\"https:\/\/poweredby.jads.co\/js\/jads.js\"><\/script>\r\n<ins id=\"1114303\" data-width=\"125\" data-height=\"125\"><\/ins>\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async>(adsbyjuicy = window.adsbyjuicy || []).push({'adzone':1114303});<\/script>\r\n<!--JuicyAds END-->\r\n\t<\/div>\r\n  <\/div>\r\n\r\n  <!-- \u53f3\u4fa7\u7ad6\u680f\uff1a160\u00d7600 \u6574\u5217\u9ad8\u5e7f\u544a -->\r\n  <div style=\"grid-row:3\/8; height:600px;  display:grid; place-items:center;\">\r\n    <!-- JuicyAds v3.0 -->\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async src=\"https:\/\/poweredby.jads.co\/js\/jads.js\"><\/script>\r\n<ins id=\"1114301\" data-width=\"160\" data-height=\"600\"><\/ins>\r\n<script type=\"text\/javascript\" data-cfasync=\"false\" async>(adsbyjuicy = window.adsbyjuicy || []).push({'adzone':1114301});<\/script>\r\n<!--JuicyAds END-->\r\n  <\/div>\r\n\r\n<\/div><br \/>\n<br \/> Micro-Submarines That Swim, Chase, and Recharge Themselves Deliver a Hands-Off Aquarium Experience<br \/>\n<br \/>#MicroSubmarines #Swim #Chase #Recharge #Deliver #HandsOff #Aquarium #Experience<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Peter\u2019s dad floated the idea five years earlier. 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