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HAB-Sensing Autonomous Robotic Fish

HAB-Sensing Autonomous Robotic Fish. Jamie Jacobs, Stephen Garrett, Taha Tareen, Woodard Williams, Eric Jackson, Carl Coppola, Robert Morris, Allen Eyler. Problem Statement. Robotic Fish IPMC Propulsion HAB Sensor Obstacle Avoidance IR Sensor Whiskers Directional Control

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HAB-Sensing Autonomous Robotic Fish

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  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 We’ve 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 We’ve Come Up With… • Body Design 1

  16. What We’ve Come Up With… • Body Design 2

  17. What We’ve Come Up With… • Body Design 3

  18. What We’ve Come Up With… • Body Design 4

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