HABSensing Autonomous Robotic Fish Jamie Jacobs Stephen Garrett
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 – Tri-axis Accelerometer – Digital Compass • Speed – 1. 5 cm/s minimum
Design Parameters • • Function Quality Environmental Conditions Size Weight Energy Consumption Reliability
Design Parameters • • • Spatial Constraints Aesthetics Service Life Maintenance Mechanical Loading Delivery Date
What We Have Right Now… • Current Robotic Fish – – IPMC Schematics Thesis Parts List • Design Ideas – Bodies – IPMC Schemes
What We Need to Get… • • • HAB Sensor IR Sensors Circuit Components DSC PCB Body Material
What We’ve Found So Far… • • HAB Sensor DSC PCB Body Material
What We “HAB”
What We “HAB”
What We “HAB”
What We “HAB”
What We Think Are Issues… • • • Heat Dissipation Propulsion Water-proofing Hydrodynamics GUI Development
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
What We Plan to Do… • Testing – – Sensor Component Circuit Body • Aquatic • Component Fit and Operation – Debugging – Final
What We’ve Come Up With… • Body Design 1
What We’ve Come Up With… • Body Design 2
What We’ve Come Up With… • Body Design 3
What We’ve Come Up With… • Body Design 4
- Slides: 18