本論文主要是設計與製作一個利用胸鰭進行水中活動之魟魚型機器人。本論文之機器魚機構設計上，使用螺桿與水箱解決機器魚重心與比重調整問題，使用TMS320DM6437影像處理晶片與CCD攝影機實現即時影像處理之功能，並將影像處理後所獲得之資訊傳送給運動控制晶片PIC16F877，使機器魚做出相對應之動作，完成水下目標物自動追蹤之目的。此外結合頻率為1.2GHz的影像無線通訊模組，將機器魚在中水拍攝到的影像即時回傳給使用者，讓使用者同步獲得機器魚周遭環境資訊。

This thesis designs and implements a ray-typed robot using the pectoral fins as its propulsive power and control mechanisms. The design of utilizing two screws solves the problem of center of gravity. Two water tanks are used to solve the problem of specific gravity.
The ray-typed robot combines an image-processing chip(DSP6437)and a CCD camera to perform real-time image processing functionalities and to transmit the information to its motion controller (PIC16F877). The motion controller controls the robot to track its target according to the calculated result from the processed image information. In addition, the robot uses a wireless transmission module to send video signals to its user. So that the underwater information can be obtained at the same time.

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