The Centre for Research in Robotics and Underwater Technologies (CIRTESU) at the Universitat Jaume I in Castelló has developed an experimental modular, bio-inspired robotic fish prototype (UJIFISH) for inspection, hybrid teleoperation and sensor deployment in aquaculture. Its innovation lies in a functional design that eliminates stress factors such as propellers and high-intensity lighting, while maintaining high standards of modularity and interoperability.
The biomimetic platform has been designed to minimise environmental disturbance and reduce stress in fish by using bio-inspired undulatory propulsion, which lowers mechanical noise, hydraulic turbulence and physical disruption. The system is equipped with a modular sensing system for real-time data acquisition and image transmission, with hybrid communication capabilities via cable or acoustic modem. It features a panoramic vision system with a 180-degree field of view and can operate at depths of up to 20 metres, with remote control ranges of up to 150 metres vertically and 500 metres horizontally.
UJIFISH incorporates sensors for continuous measurement of water temperature and depth, with the option to integrate additional sensors to monitor parameters such as salinity, pH, dissolved oxygen and gases. It enables direct inspection of net structures and monitoring of environmental conditions around fish, and includes a deployment system for transporting and releasing auxiliary components at specific locations. Its geometry and movement have been scaled to match adult fish, producing smoother hydrodynamic profiles and reducing acoustic disturbance.
Experimental results have confirmed the prototype’s functional viability, demonstrating high manoeuvrability and reliable target detection accuracy in controlled tests involving net inspection, teleoperation, data collection and sensor deployment. According to the research team, the flexibility of UJIFISH-I is essential in aquaculture environments, where monitoring requirements and technological constraints vary depending on species, infrastructure and environmental conditions.
UJIFISH-I represents a significant step forward in precision aquaculture and underwater robotics, supporting environmentally responsible operations and reducing the need for human intervention in hazardous underwater environments. Future developments will focus on improving autonomy, endurance and sensing capabilities, including the integration of advanced sensors and an artificial swim bladder system for active buoyancy control, enabling greater depth ranges and improved energy efficiency.
The project is part of the ThinkInAzul programme, supported by the Spanish Ministry of Science and Innovation, the European Union NextGenerationEU funds and the Generalitat Valenciana. The prototype has been tested at CIRTESU’s water tank facilities and at Port Castelló.
Article
Andrea Pino, Alejandro Solís, Max Puig, Sergio Balaguer, Rosario Vidal, Pedro J. Sanz, Raúl Marín. UJIFISH-I: A modular and bioinspired robotic fish for inspection, hybrid teleoperation and sensor deployment in aquaculture, Ocean Engineering, Volume 354, Part 2, 2026, 124917, ISSN 0029-8018, https://doi.org/10.1016/j.oceaneng.2026.124917.
https://www.sciencedirect.com/science/article/pii/S0029801826007511
Ocean Engineering
10.1016/j.oceaneng.2026.124917
Observational study
Animals
UJIFISH-I: A modular and bioinspired robotic fish for inspection, hybrid teleoperation and sensor deployment in aquaculture
1-May-2026