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This work focuses on developing a complete non-linear dynamic model comprising entirely kinematic and hydrodynamic effects of Carangiform locomotion based on the Lagrange approach by adapting the parameters and behaviors of a real carp. In order to imitate biological features, swimming patterns of a real carp for forward, turning and up-down motions are analyzed by using the Kineova 8.20 software. The proportional optimum link lengths according to actual size, swimming speed, flapping frequency, proportional physical parameters and different swimming motions of the real carp are investigated with the designed robotic fish model. Three-dimensional (3D) locomotion is evaluated by tracking two trajectories in a MATLAB environment. A Reaching Law Control (RLC) approach for inner loop (Euler angles-speed control) and a guidance system for the outer loop (orientation control) are proposed to provide an effective closed-loop control performance. In order to illustrate the 3D performance of the proposed closed loop control system in a virtual reality platform, the designed robotic fish model is also implemented using the Virtual Reality Modeling Language (VRML). Simulation and experimental analysis show that the proposed model gives us significant key solutions to design a fish-like robotic prototype.

This paper presents mechatronic design and manufacturing of a biomimetic Carangiform-type autonomous robotic fish prototype (i-RoF) with two-link propulsive tail mechanism. For the design procedure, a multi-link biomimetic approach, which uses the physical characteristics of a real carp fish as its size and structure, is adapted. Appropriate body rate is determined according to swimming modes and tail oscillations of the carp. The prototype is composed of three main parts: an anterior rigid body, two-link propulsive tail mechanism, and flexible caudal fin. Prototype parts are produced with 3D-printing technology. In order to mimic fish-like robust swimming gaits, a biomimetic locomotion control structure based on Central Pattern Generator (CPG) is proposed. The designed unidirectional chained CPG network is inspired by the neural spinal cord of Lamprey, and it generates stable rhythmic oscillatory patterns. Also, a Center of Gravity (CoG) control mechanism is designed and located in the anterior rigid body to ensure three-dimensional swimming ability. With the help of this design, the characteristics of the robotic fish are performed with forward, turning, up-down and autonomous swimming motions in the experimental pool. Maximum forward speed of the robotic fish can reach 0.8516 BLs -1 and excellent three-dimensional swimming performance is obtained.

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Aim: Nutritional therapy in chronic kidney disease (CKD) requires certain regulations in the diet of the patients. Patients’ self-management becomes possible with the development of mobile phones and their software. In the current study, a smartphone application that could be used to increase dietary compliance of CKD stage 4-5 and hemodialysis patients was developed. It is aimed that patients can control the dietary intake of energy, protein, sodium, potassium, phosphorus, and fluid by using the developed mobile application. Subjects and Method: The mobile application has been developed by the researchers until the final control and test phase. Later, the final control and test phase of the developed application were carried out by 5 expert dietitians, 5 specialist doctors, and 5 hemodialysis patients. Results: The majority of the participants stated that the application was easy to use, interesting, visually well designed, contains sufficient reliable information, and that they can recommend it to other patients. Participants who examined the application also offered suggestions about the application. Conclusion: The application was updated according to the evaluations and suggestions of the participants. The final application was formed to be ready for the use of the patients.