Hardware development of AUV based on phototaxis movement of Chlamydomonas

Abstract

We developed AUV to realize phototaxis movement of single-celled organism, Chlamydomonas. Chlamydomonas moves spirally and reach to a light source by using only one optical sensor. Our developed AUV has only one actuator and one optical sensor based on phototaxis mechanism. The AUV is composed of a sealed conatiner, a screw, and an exterior. The sealed conatiner contains battery and motor. A shape of the screw is asymmetry to realize spiral movement. The exterior makes water flow. An experiment shows that our AUV has an ability to float with spiral movement.]