Journal publications


  • L.D.Chambers, O.Akanyeti, R. Venturelli, J.Ježov, J. Brown, M. Kruusmaa, P.Fiorini, W.M.Megill, "A fish prespecive: detecting flow features while moving using an artificial lateral line in steady and unsteady flow", Journal of The Royal Society: Interface 6 October 2014, vol 11 no. 99.
  • Akanyeti et al. (21 authors), "FILOSE: a svenning* robot", IEEE Robotics and Automation Magazine, to appear.link (external link)
  • G. Toming, L. D. Chambers, M. Kruusmaa, "Experimental study of hydrodynamic forces acting on artificial fish in a von Karman vortex street", Underwater Technology, Vol 32, No 2, July 2014, 81-92 (11)..
  • Hadi El Daou, Taavi Salumae, Lily D. Chambers, William M. Megill, and Maarja Kruusmaa, "Modelling of a Biologically Inspired Robotic Fish Driven by Compliant Parts", Bioinspiration and Biomimetics, IoP, Vol. 9, No 1, 2014. link (external link)
  • Taavi Salum�e, Maarja Kruusmaa, "Flow-Relative Control of an Underwater Robot", in Proceedings of the Royal Society:A, 469: 20120671 (link (external link)).
  • Otar Akanyeti, Lily D Chambers, Jaas Je�ov, Jennifer Brown, Roberto Venturelli, Maarja Kruusmaa, William M Megill and Paolo Fiorini, "Self-motion effects on hydrodynamic pressure sensing. PartI:forward backward motion",Bioinspiration & Biomimetics, Volume 8 Number 2, 2013 (link (external link))
  • Francesco Rizzi, Antonio Qualtieri, Lily D. Chambers, William M. Megill and Massimo De Vittorio, "Parylene conformal coating encapsulation as a method for advanced tuning of mechanical properties of an artificial hair cell" Soft Matter, (2013), DOI: 10.1039/c2sm27566j.(link (external link))
  • Antonio Qualtieri, Francesco Rizzi, Gianmichele Epifani, Andres Ernits, Maarja Kruusmaa, Massimo De Vittorio, "Parylene-coated bioinspired artificial hair cell for liquid flow sensing", Microelectronic Engineering, Elsevier, Volume 98, October 2012, Pages 516�519 (link (external link)).
  • Roberto Venturelli, Otar Akanyeti, Francesco Visentin, Jaas Je�ov, Lily D Chambers, Gert Toming, Jennifer Brown, Maarja Kruusmaa, William M Megill and Paolo Fiorini, �Hydrodynamic pressure sensing with an artificial lateral line in steady and unsteady flows�, Bioinspiration & Biomimetics Volume 7, Number 3, (2012) 036004, doi:10.1088/1748-3182/7/3/036004. (link (external link))
  • Qualtieri, F. Rizzi, M.T. Todaro, A. Passaseo, R. Cingolani, M. De Vittorio, �Stress-driven AlN cantilever-based flow sensor for fish lateral line system�, Microelectronic Engineering, Microelec. Eng. 88 (2011) 2376. (link (external link))
  • T. Salum�e, M. Kruusmaa, �A flexible fin with bio-inspired stiffness profile and geometry�, Journal of Bionic Engineering 8.4, Elsevier, 2011, pp. 418-428. (link (external link))
  • Otar Akanyeti, Roberto Venturelli, Francesco Visentin, Lily Chambers, William M Megill and Paolo Fiorini �What information do Karman streets offer to flow sensing?�, Bioinspiration and Biomimetics, Volume 6, Number 3 (2011) 036001, doi:10.1088/1748-3182/6/3/036001. (link (external link))
  • E. Lavendelis, J. Viba. �Optimal Synthesis Methods for Invention of New Mechatronic Systems in Vibrotechnics�. Solid State Phenomena. Volume 147-149 (2009) ISSN 1012-0394. Part B of �Diffusion and Defect Data�: ISSN 0377-6883. Mechatronic Systems and Materials III. Trans Tech Publications Ltd. 2009. pp. 432. � 437. (link (external link))
  • J. Viba, L. Shtals, A. Vilkajs, E. Kovals. �Synthesis of Vibrator with Air or Water Flow Excitation�. Solid State Phenomena. Volume 147-149 (2009) ISSN 1012-0394. Part B of �Diffusion and Defect Data�: ISSN 0377-6883. Mechatronic Systems and Materials III. Trans Tech Publications Ltd. 2009. pp.462. � 467. (link (external link))
  • V. Mironov, J. Viba, L. Shtals. �Use of Electromagnetic Impulse System for Transportation of Dry Materials and Solid Bodies�. Solid State Phenomena. Volume 147-149 (2009) ISSN 1012-0394. Part B of �Diffusion and Defect Data�: ISSN 0377-6883. Mechatronic Systems and Materials III. Trans Tech Publications Ltd. 2009. pp. 474. � 479. (link (external link))
  • Janis Viba, Gundars Liberts, Vladimirs Gonca. �CAR ROLLOVER COLLISION WITH PIT CORNER�. Research Journal of Vilnius Gediminas Technical University and Lithuanian Academy of Sciences. TRANSPORT. ISSN 1648-4142 print / ISSN 1648-3480 online. 2009. pp. 76 � 82. (link (external link))
  • J. Viba, L. Shtals, M. Eiduks. �Energy Extraction From Air or Water by Vibrations�. Latvian Journal of Physics and Technical Sciences. 2009. N0 2 (Vol. 46), Riga. p. 3 � 12. (link (external link))
  • J. Viba, J. Fontaine, M. Kruusmaa. �Motion Control Optimization of Robotic Fish Tail�. Journal of Vibroengineering. December 2009, Volume 11, Issue 4. Pages (607 � 736), NoP (504 � 520), ISSN 1392-8716. (link (external link))

Publications in Conference Proceedings


  • D. S. Jung, P.P. Pott, T. Salume, M. Kruusmaa, "Flow aided path following of an underwater robot", In Proc. of the IEEE Int. Conf. of Robotics and Automation (IEEE ICRA 2013), May 6-10, Karlsruhe, to appear (pdf (external link))
  • Gert Toming, Taavi Salume, Asko Ristolainen, Francesco Visentin, Otar Akanyeti and Maarja Kruusmaa, "Fluid Dynamics Experiments with a Passive Robot in Regular Turbulence", In Proc. of The 2012 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2012), December 11-14, 2012, Guangzhou, China
  • J. Jeov, Lily Chambers, Otar Akanyeti, Maarja Kruusmaa, Sensing oscillations in unsteady flow for better robotic swimming efficiency, in Proc. Of IEEE Conference on Systems, Man and Cybernetics (IEEE SMC 2012), Korea, Seoul, Oct 14-17, 2012. pdf (external link)
  • H. El Daou, T. Salume, G. Toming, M. Kruusmaa, "Bio-inspired Compliant Robotic Fish: Design and Experiments", IEEE International Conference on Robotics and Automation (IEEE ICRA 2012), St. Paul, USA, May 14-18, 2012 (pdf (external link))
  • T. Salume, I. Rano, O. Akanyeti, M. Kruusmaa, "Against the flow: A Braitenberg controller for a fish robot", IEEE International Conference on Robotics and Automation (IEEE ICRA 2012), St. Paul, USA, May 14-18, 2012 (pdf (external link))
  • William M Megill, Lily D Chambers, Jennifer C Brown, "The challenges of biomimetic underwater navigation using a lateral line", Proceedings of the International Bionic Engineering Conference 2011, Sept 18-20, 2011, Boston .
  • J. Brown, L. Chambers, K. M. Collins, O. Akanyeti, F. Visentin, R. Ladd, P. Fiorini, W. M. Megill, The Interaction Between Vortices and a Biomimetic Flexible Fin, 12th Conference Towards Autonomous Robotic Systems, 2011 (pdf).
  • J. Brown, L. Chambers, W. M. Megill, "DPIV analysis to investigate turbulent fluid structure interactions", Congress Flow Sensing in Air and Water, Bonn, Germany, July 17-21, 2011 (to appear)
  • O. Akanyeti, M. Kruusmaa, W. M. Megill, P. Fiorini, "Analysing Krmn Vortex Streets from a Situated Perspective", Congress Flow Sensing in Air and Water, Bonn, Germany, July 17-21, 2011 (pdf).
  • Hadi El Daou, Taavi Salumae, Asko Ristolainen, Gert Toming, Madis Listak, Maarja Kruusmaa, "A Bio-mimetic Design and Control of a Fish-like Robot using Compliant Structures", In Proceedings of The 15th IEEE International Conference on Advanced Robotics (ICAR 2011), Tallinn, 2011 (pdf).
  • Keri M. Collins, Jennifer C. Brown, Ryan R. Ladd, Lily D. Chambers, Adrian Bowyer, William M. Megill, "Variable stroke timing of rubber fins duty cycle improves force", In Proceedings of The 15th IEEE International Conference on Advanced Robotics (ICAR 2011), Tallinn, 2011.
  • Janis Viba, Vitaly Beresnevich, Semyon Tsyfansk, Maarja Kruusmaa, Jean-Guy Fontaine, William Megill, New Designs of Fin Type Propulsive Devices of Robotic Fish, Proceedings of the 2011 IEEE International Conference on Advanced Robotics: 15th International Conference on Advanced Robotics (ICAR 2011), Tallinn, Estonia, June 20-23, 2011.
  • Mart Anton, Madis Listak, "Hydrodynamic Optimization of a Relative Link Lengths for a Biomimetic Robotic Fish", In Proceedings of The 15th IEEE International Conference on Advanced Robotics (ICAR 2011), Tallinn, 2011 (pdf).
  • F. Visentin, M. C. Fiazza, O. Akanyeti, R. Venturelli, P. Fiorini, "Towards Flow-Sensing Robots: Situated Analysis for PIV Flow Imaging", In Proceedings of International Conference on Advanced Robotics (ICAR), Tallinn, 2011 (pdf).
  • Maarja Kruusmaa, Taavi Salumae, Gert Toming, Andres Ernits, Jaas Jeov, "Swimming Speed Control and on-board Flow Sensing of an Artificial Trout", In Proc. of IEEE Int. Conf. of Robotics and Automation (IEEE ICRA 2011), Shanghai, China, May 9-13, 2011 (pdf).
  • Hadi El Daou, Taavi Salumae, Asko Ristolainen, Gert Toming, Madis Listak, Maarja Kruusmaa, "A bio-mimetic design of a fish-like robot with compliant tail", In Proceedings of the International Workshop on Bio-Inspired Robots, Nantes, France, April 6-8 2011 (pdf).
  • Cecilia Tapia Siles, Ryad Chellali, "Simulation of semi-passive underwater locomotion with a CPG based controller", In Proceedings of the International Workshop on Bio-Inspired Robots, Nantes, France, April 6-8 2011 (pdf).
  • Otar Akanyeti and M. Camilla Fiazza, Novelty Detection in Laminar and Turbulent Flows, in Proceedings of the International Workshop on Bio-Inspired Robots, Nantes, France, 6--8 April 2011 (pdf).
  • Antonio Qualtieri; Francesco Rizzi; Maria Teresa Todaro; Adriana Passaseo; Massimo De Vittorio, Stress-driven AlN cantilever-based flow sensor for fish lateral line system. 36th International Conference on Micro and Nano Engineering 19-22 September 2010, Genova, Italy.
  • Akanyeti, O., Fiazza, C., Fiorini, P.: Attentional Mechanisms for Lateral Line Sensing through Spectral Analysis. In International Conference on Simulation and Adaptive Behaviour: From Animal to Animats, (SAB), Paris, France, 2010 (pdf).
  • O. Akanyeti, A. Ernits, C. Fiazza, G. Toming, G. Kulikovskis, M. Listak, R. Raag, T. Salume, P. Fiorini, M. Kruusmaa, In Proc. of IEEE Int. Conf on Robotics and Automation, IEEE ICRA 2010, Ancorage, Alaska, May 3 - 8, 2010 (pdf).
  • C. Fiazza, T. Salume, M. Listak, G. Kulikovskis, R. Templeton, O. Akanyeti, W. Megill, P. Fiorini, M. Kruusmaa, "Biomimetic Mechanical Design for Soft-Bodied Underwater Vehicles" IEEE Oceans 2010 conference, Sydney, Australia (pdf).
  • C. Tapia S, R. Chellali, Simple Karman Street model, IEEE Oceans 2010 conference, Sydney, Australia.
  • Cecilia Tapia, Thierry Hoinville, and Ryad Chellali, Locomotion through Karman Street Using Adaptive Oscillator, A D A P T I V E 2009, November 15-20, 2009 - Athens/Glyfada, Greece
  • Viba J., Kruusmaa M., Fontaine J.-G.. Robotic fish motion control optimization. XVI International Symposium of vibro shock machines Dyvis. - Moscow, 2009.p. 469 478.
  • Cifanskis S., Viba J, Jakushevich V, Kruusmaa M., Megil W. Investigation of a robotic fish fin mover functioning. XVI International Symposium of vibro shock machines Dyvis . - Moscow, 2009. p. 385. 392.(in Russian).
  • Viba J., Gonca V., Shvabs J., Kruusmaa M., Fontaine J.-G., Megil W., Fiorini P. Stiffness of thin laminar rubber-metallic elements under compress. XVI International Symposium of vibro shock machines Dyvis . - Moscow, 2009. p. 97. 103. (in Russian).

Software Code Available


The toolbox is based on a group of classes and allows vector field (DPIV) data analysis and visualization.

Master Thesis


Gert Toming Development And Characterization Of A Hydrodynamic Test Bench And Digital Particle Image Velocimetry System, Master Thesis, University of Tartu, Faculty of Science and Technology, Institute of Physics, 2009

Taavi Salume Design of a compliant underwater propulsion mechanism by investigating and mimicking the body of a rainbow trout (Oncorhynchus mykiss), Master thesis, Faculty of Mechanical Engineering, Institute of Mechatronics, 2009

Kaspar Kaarlep. The Effect Of Material Viscoelasticity On The Performance Of Biomimetic Tail Fin Actuators. MSc Thesis, Faculty of Science, Institute of Physics, Tallinn University of Technology, 2012

Karl-Henrik Lhmus, Robotic Reconstruction of the Fossil Fish RHINOPTERASPIS, Master thesis, Faculty of Mechanical Engineering, Institute of Mechatronics, Tallinn Univesrity of Technology 2012.

David Carl Jung Stagnation Point Control of a Flow Sensing Underwater Robot, Darmstadt University, Institut fr Elektromechanische Konstruktionen, Fachgebiet Mikrotechnik und Elektromechanische Konstruktionen, estimated time of thesis defence: September 2012.

Guntis Kulikovskis. 2 year Program: Techniques, Mechanics and Mechanical Engineering. Variable structures of motion analysis and synthesis of a continuous stream of environmental

Veronika Gribovska. 2 year Program: Techniques, Mechanics and Mechanical Engineering. Use of auto vibration biomechanical models for power system analysis.

Imants Kaktabulis. 2 year Program: Techniques, Mechanics and Mechanical Engineering. Floating craft vibration motor mathematical model and prototype creation

Stnislavs Noskovs: 2 year Program: Techniques, Mechanics and Mechanical Engineering. Motion dynamics analysis of object in the air and water

Andrejs Pavars: 2 year Program: Techniques, Mechanics and Mechanical Engineering. Power Development analysis in different muscle types, using pneumatic muscle model

MPhil: Andy Leszewski, Modelling a Swimming Fish as a Series of Linked Harmonic Oscillators, Ocean Technologies Laboratory, Dept. of Mechanical Engineering, University of Bath, (2012)

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