 So, I'm Mateus Xavier. I'm doing a PhD in electrical engineering at the University of Newcastle within the Precision Mechatronics Lab. My PhD topic is about the design fabrication and control of bi-inspired soft robots with a variety of applications. So we're working at bi-inspired soft robots for not only minimally invasive procedures to be used in endovascular surgery, but also for underwater gliders. And in this case we're looking at how to develop a soft mental ray robot inspired to explore the Great Barrier Reef. This was actually a top-up proposed by CSRO and their idea was they wanted to develop a soft mental ray robot for exploration of the Great Barrier Reef. And the current problem is they have an underwater glider which is rigid, but this underwater glider has very limited mobility and it also damages the reef when it interacts with the reef. And also they've had multiple problems with fish interacting with the underwater glider as well because it's quite large. So at the moment we're working at a soft mental ray version of that which will improve maneuverability, so it will improve turning motions and it will also allow for a larger or longer stay in the water. So in this case we just got a mental fin which has pneumatic chambers on the inside and once you pressurize that that leads into bending motion. And you can combine multiple sets of those, so this for example would be bending upwards and you can put another one on top which would be bending downwards as well. So here it is that we are currently facing and we're investigating at the moment as well is if you want to make very small chambers inside the actuators or if you want to make very small details you're limited by the capabilities of the 3D printing which is how we manufacture most of these robots. So that's one of the problems. Also sensing is going to be a big problem because considering we're going to be underwater our electronics is very limited. I can already see that we can achieve maneuvering and turning motions but we're still investigating the actual proportion of the robot still which is what we're going to be working on for the next year and a half.