HAB-Sensing Autonomous Robotic Fish

1
HAB-SensingAutonomousRobotic Fish

• Jamie Jacobs, Stephen Garrett, Taha Tareen,
• Woodard Williams, Eric Jackson, Carl Coppola,
• Robert Morris, Allen Eyler

2
Problem Statement

• Robotic Fish
• IPMC Propulsion
• HAB Sensor
• Obstacle Avoidance
• IR Sensor
• Whiskers
• Directional Control
• Tri-axis Accelerometer
• Digital Compass
• Speed
• 1.5 cm/s minimum

3
Design Parameters

• Function
• Quality
• Environmental Conditions
• Size
• Weight
• Energy Consumption
• Reliability

4
Design Parameters

• Spatial Constraints
• Aesthetics
• Service Life
• Maintenance
• Mechanical Loading
• Delivery Date

5
What We Have Right Now

• Current Robotic Fish
• IPMC
• Schematics
• Thesis
• Parts List
• Design Ideas
• Bodies
• IPMC Schemes

6
What We Need to Get

• HAB Sensor
• IR Sensors
• Circuit Components
• DSC
• PCB
• Body Material

7
What Weve Found So Far

• HAB Sensor
• DSC
• PCB
• Body Material

8
What We HAB
9
What We HAB
10
What We HAB
11
What We HAB
12
What We Think Are Issues

• Heat Dissipation
• Propulsion
• Water-proofing
• Hydrodynamics
• GUI Development

13
What We Plan to Do

• Electrical
• Select and Acquire Sensors
• New PCB
• Acquire DSC
• Update GUI
• Mechanical
• Electronics Packaging
• Body Shape Design
• Body Manufacturing
• Waterproof Package

14
What We Plan to Do

• Testing
• Sensor
• Component
• Circuit
• Body
• Aquatic
• Component Fit and Operation
• Debugging
• Final

15
What Weve Come Up With

• Body Design 1

16
What Weve Come Up With

• Body Design 2

17
What Weve Come Up With

• Body Design 3

18
What Weve Come Up With

• Body Design 4