Current work

2026-11-05 I am working to add 220 degree fisheye cameras, one on either side, to capture the scene, with a band of overlapping stero vision. Image tensors from the cameras will be processed by inexpensive neural networks to generate stereo vision in the band and compensate for oscillation of the Phish, using marine snow and other objects and information as a reference. This compensation will be used in the motor feedback system. This will also allow the Phish to steer, using only the motor; I call this "torque steering". Here is a cross-section of the stereo-vision band and a video demonstrating torque steering. 

The Phish will also be able to shift its battery pack from one side to the other, so that it can shift between "fish" and "marine mammal" orientations.  Orientation shifting and toque steering will allow the Phish to navigate in 3-dimensional space and follow a light or other object. Put the light on a person's waste and the Phish will follow, shooting 360 video. Select a view of the person or other object; recognize pipes, fish, humans, boat hulls. Put the light in a goal in a water polo game and the Phish will try to swim to the goal. Play a water polo game around the Phish. Try to interfer with the Phish as it tries to get to the light. A first Phish on a first side interfering with a second Phish on a second side.  Schools of Phish on either side.