## 6 Conclusions  
This article shows the design and implementation of a soft autonomous robot actuated by SMA, capable of performing vertical and horizontal movements, to travel along given paths in the water, this robot is controlled by a fuzzy visual control and is applied in thermal monitoring, representing measured data as thermal maps. Robot development has an analytical background, beginning with the analysis of the jellyfish Chrysaora hysoscella, from which a CAD model was obtained, the basis for this model. A CAE and CFD analysis were done, validating the design, along with CFD equations showing similar values for the acceleration that is reflected with a value of 3.8 cm/s\({}^{2}\) using the CFD and 3.38 cm/s\({}^{2}\) in the calculated values. The jellyfish body implemented was made with flexible silicone and consists of five spring-shaped SMAs: a central one in a circular shape and four lateral springs radially separated 90 degrees anchored from the center to one end of the bell. To control the robot movements, a fuzzy controller was implemented because the jellyfish body is made of soft material. In addition, the behavior of the SMA has bidirectional hysteresis when changing phase, so finding an exact model is highly complex, and the fuzzy controller implemented generated a low error range, generating an accuracy of \(\pm\)2.165 cm and a repeatability of 0.973 for vertical movements and an accuracy of \(\pm\)1.479 cm and a repeatability of 0.944 for lateral movements, after tests were applied. Data from the controller (PWM output 0-255) were used as input for the control board and power control board (specifically the Mosfets IRF540-N) that regulate the current supplied to the respective SMA, generating the movement. The kinematic parameters produced during the movement of the jellyfish show that after each contraction, there are peaks of velocity, increases in movement and acceleration, and also the jellyfish bell diameter shows a fast variation during the first 33% of the total contraction time. Comparing the displacement data (vertical movements) of the robotic jellyfish against jellyfish of the species Sarsia sp. and Proboscidactylla flavicirrata, it can be emphasized that in the curves generated with the results for displacement, speed has a highly similar behavior, achieving speeds of up to 2.5 cm/s (Robotic jellyfish), compared to 2.8 cm/s of the mentioned species. The use of MATLAB as an interface allowed temperature data acquisition, robot location, control of autonomous movements and generation of thermal maps, as well as identifying the jellyfish state and monitoring its temperature status. The Jellyfish robot is proposed as a means to monitor not only temperature but also other environmental variables (Ph, contamination (turbidity)). Temperature was chosen to demonstrate it due to its ease of management and the fact that it is reversible, not contaminating the water and thus allowing the opportunity to repeat experiments without changing it. **Author Contributions:** Conceptualization, C.C.U. and S.T. ; methodology, C.C.U. ; software, C.C.U. ;; validation, C.C.U. ; formal analysis, C.C.U. ; investigation, C.C.U. ; resources, A.B. ; data curation, C.C.U. ; writing--original draft preparation, C.C.U. ; writing--review and editing, C.C.U., S.T. and A.B. ; visualization, C.C.U., S.T. and A.B. ; supervision, S.T. and A.B. ; project administration, S.T. and A.B. ; funding acquisition, A.B. All authors have read and agreed to the published version of the manuscript. **Funding:** Comunidad de Madrid: RoboCity2030-DIH-CM,423 Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by \"Programs de Actividades I+D en la424 Comunidad Madrid\" and cofunded by Structural Funds of the EU. **Acknowledgments:** The research leading to these results has received funding from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by \"Programs de Actividades I+D en la Comunidad Madrid\" and cofunded by Structural Funds of the EU.