Underwater Robotic Fish

Week 3 Review PresentationProject #15029

Multidisciplinary Senior Design Rochester Institute of Technology

Phase II: Buoyancy

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Team Members and Roles

Name Major Role

Sarah Bailey ME Project Manager, ME Support

Mark Pitonyak EE Electrical Engineering Lead

Chloe Bohlman EE Webmaster, EE Support

Frederick Cookhouse ME Mechanical Design Lead

Igor Drobnjak ME Systems Lead, ME Support

Brandon Micale BME Biomedical Lead

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Agenda

Feel free to ask questions throughout the presentation

Customer Constraints Engineering Requirements House of Quality Issues and Risks Interviews and Connections Project Plan

Problem Statement Background Benchmarking and

Research Customer, Sponsors, and

Stakeholders Use Scenario Customer Requirements

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Problem StatementThe objective of this project is to create an underwater robot that looks and swims like a fish. The fish is to achieve these biomimetics by utilizing McKibben muscles to hydraulically propel the fish. The fish will be able to swim forward and turn, and have depth control using active buoyancy in both RC and autonomous modes.

Deliverables

Robotic fish that meets requirements

Detailed instruction manual

Objectives

Design an active buoyancy system

Add underwater remote controlling

Program an autonomous swim mode

Improve physical aesthetics of the fish

Background

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Benchmarking and Research

RIT

MITMIT

FESTO

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Customer, Sponsors, Stakeholders

Customer

Dr. Kathleen Lamkin-Kennard

Sponsor Stakeholders

Researchers

Military personnel

Future MSD students

Underwater explorers

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Use Scenario

1. User turns on fish and places into body of water

2. User swims fish remotely, testing forward, turning, ascent, and descent movement

3. User turns on autonomous mode

4. Fish exhibits autonomous control of forward, turning, ascent, and descent movement

5. User turns off autonomous mode

6. User retrieves fish from water and turns off

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Customer RequirementsProject Category Customer Need # Description Importance

Build CN01 Fish shall be waterproof 9Build CN02 Fish shall be corrosion resistant 3Build CN03 Fish shall resemble an underwater creature 9Build CN04 Fish shall be mechanically and electrically robust 3Build CN05 Fish shall be a smaller size 9

Movement CN06 Fish shall use McKibben muscles for propulsion 9Movement CN07 Fish shall be able to swim forward 9Movement CN08 Fish shall be able to turn while swimming 3Movement CN09 Fish shall have active depth control 9Movement CN10 Fish shall be able to hold depth 9Movement CN11 Fish shall be able to swim autonomously 3Operation CN12 Fish shall be remotely controllable 9Operation CN13 Fish shall have obstacle detection 3Operation CN14 Fish shall be safe to operate and handle 9

Documentation CN15 Documentation of analyses shall be provided 9Documentation CN16 Detailed instruction manual shall be provided 9

Customer Needs

Und

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ater

Fish

Pha

se II

Buo

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y

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Customer Constraints

Fish uses McKibben muscles for propulsion. Muscles actuate with water pumped in from surroundings. Both RC and autonomous operation

Engineering Requirements

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Project Engineering Req. # Customer Need # Description Target Ideal VerifiableER01 CN01 Depth at which impervious to leaks 3 ft More OperationER02 CN02 Exposed material meets ASTM 610 specification All TestingER03 CN03 Skin material feel Silicone InspectionER04 CN03 Skin material flexibility Silicone InspectionER05 CN03 Robot appearance Fish InspectionER06 CN04 Continuous battery operation time 1 hr More OperationER07 CN05 Body length (max) 2 ft MeasurementER08 CN06 Locomotion type Body caudal fin InspectionER09 CN07 Forward swim speed (min) 0.1 ft/s More MeasurementER10 CN08 Turning radius 3 body lengths Less MeasurementER11 CN09 Descent rate (max) 0.2 ft/s More MeasurementER12 CN09 Ascent rate (max) 0.2 ft/s More MeasurementER13 CN10 Constant depth variation ±10% Body Height Less MeasurementER14 CN11 Swim time without human intervention 1 min More OperationER15 CN12 R/C range 50 ft More OperationER16 CN13 Object detection distance (max) 3 ft More OperationER17 CN14 On-board voltage (max) 24 VDC Testing

Engineering RequirementsU

nder

wat

er F

ish P

hase

II B

uoya

ncy

House of Quality

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Issues and Risks

1. Buoyancy Creating a system for

active buoyancy

2. Communication Remote controlling

underwater

3. Aesthetics Modeling Silicone skin

4. Air Leaking Waterproofing the fish

5. Muscle Failure

6. Electronics Failure

7. Battery Life

8. Barrier Detection Failure

9. Damage Survival

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Risk ManagementID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner

 

Describe the risk briefly

What is the effect on any or all of the project deliverables if the cause actually

happens?

What are the possible

cause(s) of this risk?

   

L*S

What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of

this occurring?

Who is responsible for

following through on mitigation?

1Fish buoyancy doesn’t work

The project is a failure

Improper calculationsOverlooked information

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Test buoyancy on non-essential parts before integrating with electrical components; have

stand-in weights

Lead Mech. Eng. and

Mech. Eng.

2Fish leaks and ruins electrical components

Wasted resources and time

Improper sealing, wrong

sealant, unseen cracks in case

3 2 6

Ensure proper sealants are used. Use a double wall system to reduce risk of leaks. Maintain work documents to prevent improper closing techniques

Mech. Eng. And Elec. Eng.

3Project Scope is

too largeProject deliverables are not met on time

Ineffective Project limits

3 3 9Frequent (weekly) meetings to ensure goals are on track and

metAll

Interviews and Connections

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Dr. Lamkin-Kennard Dr. Walter Dr. Schrlau Dr. Sciremammano

Primary contact for air muscles,

aesthetic qualities, and lab usage.

Contact for buoyancy calculations and

aspects to improve from last year’s

prototype.

Contact for underwater

applications and communications, as well as buoyancy.

Contact for buoyancy calculations and fluid movement throughout

pump and fish.

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Project Plan Example

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Questions?