We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power and computation by using a custom-built printed circuit board (PCB) and an 11-mAh 3.7-V 507-mg single-cell lithium-ion (Li-Ion) battery, which in conjunction enable autonomous swimming in excess of 18 min. The Swima can swim at speeds of up to 22.4 mm/s (0.56 Bl/s), achieves turning rates of up to 14°/s, and can follow 0-degree heading reference trajectories with root mean square (RMS) values of tracking errors of about 6.5° across multiple tests. This robot is the first subgram microswimmer with onboard power, actuation, and computation developed to date.

翻译：本文介绍Swima——一种受生物启发的900毫克游泳器，由两根10毫克高功密度（HWD）形状记忆合金（SMA）丝驱动。我们通过定制印刷电路板（PCB）和11毫安时3.7伏507毫克单芯锂离子（Li-Ion）电池实现了机载供电与计算，从而支持自主连续游泳超过18分钟。Swima最高游速可达22.4毫米/秒（0.56体长/秒），转向速率达14°/秒，并能以约6.5°的均方根（RMS）跟踪误差跟随0度航向参考轨迹。该机器人是迄今首个具备机载供电、驱动与计算能力的亚克级微型游泳器。