Detailed Design Presentation

Underwater Robotic Fish
Phase II: Buoyancy
Week 12 Review Presentation
Project #15029
Multidisciplinary Senior Design
Rochester Institute of Technology
Page 1
Team Members and Roles
Name
Role
Sarah Bailey
Project Manager and Mechanical Support
Chloe Bohlman
Webmaster and Electrical Support
Mark Pitonyak
Electrical Lead
Igor Drobnjak
Systems Lead
Brandon Michale
Biomedical Lead
Frederick Cookhouse
Mechanical Lead
Page 2
Agenda
General:
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Test Outline
Depth Sensor
Controls Flowchart
Electronics Schedule
Tri-Line Automation
Eco-Skin and Composite
Air Muscle Testing
Tail Testing
Buoyancy
CAD Modeling
New Risks
Bill of Materials
Schedule and Proposal
Page 3
Test Outline
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Solenoid Valves from Crab Project
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Variable Speed for Water Pump
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PWM Low Pass Filter
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Water Bottle Buoyancy Test
Waterproof Box Buoyancy Test
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Distance Sensor
Air Muscle Tests
Tail Actuation and Tensioning Cable Tests
Page 4
Depth Sensor
Page 5
Depth Sensor
Page 6
Controls Flowchart
Depth Subroutine
Forward Subroutine
Page 7
Electronics Schedule
Page 8
Tri-Line Automation - Valves
Mark’s Proposed Valves
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Meet with Mark
Schiesser
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Tuesday 11/11/2014
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Discussed project
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Toured Facility
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Tri-Line is willing to
donate whatever valves
and other materials we
may need.
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Presentations were sent
to Mark for review
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Literature regarding
valves received from
Mark
Page 9
Eco-Skin and Composite Body
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Contacted Professor
Ghoneim about using
composite materials
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Designed attachment point
for the eco-flex tail to the
head.
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Will help to streamline
body while providing
support to internal
mechanisms.
Eco-Flex Sleeve
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Composite Shell
Velcro
0.5
inch
Need to determine if
molding a shell of
composite is possible for
head/body design.
Page 10
Air Muscle Testing
Setup
Page 11
Air Muscle Testing
Muscle Lengths
Page 12
Air Muscle Testing
Force Gage - No Weight
Page 13
Air Muscle Testing
Force Gauge - 1lb Weight
Page 14
Tail Testing
Page 15
Tail Testing
Page 16
Buoyancy
Aquarium Pump
Gasket
Check Valve
Push to Connect
¼ inch Tubing
Silicon Sealant
Page 17
Buoyancy
Air Pressure Issue
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The Ballast Tank is way too light
and therefore, needs a lot of
Original
water in order to change
buoyancy level.
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With this large amount of water
the air pressure becomes too
Fixed
large and blows the gasket.
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Check Valve Issue
Possible Solutions:
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Weigh down ballast tank
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Purchased check valves
with at least 1lb weight
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Check Valve openings were too small - needed
and test
higher pressure to allow flow
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Fill with water and then
Solution: Check Valve openings were cut down
close ballast tank or
and drilled to have bigger openings.
close ballast tank and
Tested and resolved
then pump water in?
Page 18
CAD Modeling
Page 19
CAD Modeling
Page 20
CAD Modeling
Subject to Change
Page 21
CAD Modeling
Subject to Change
Page 22
New Risks
ID
1
2
Risk Item
Effect
Cause
Pump Stuttering
Will not get the right
amount of water
and pressure to air
muscles and ballast
tank.
Running the
pump at high
pressures
PCB Design
The PCB design
will not be correct
and/or will not work.
Design and build
was executed
incorrectly.
Soldering was
poor.
3
3
Tail Movement
The tail movement
Tensioning
does not follow fish
cables not
motion due to the
located correctly.
middle "freeSection designs
floating" piece
not detailed and
interfering with
analyzed.
movement.
4
Ballast Tank Air
Pressure
Too much water
needed in ballast
tank - creates
high air pressure
The gasket blows.
Likelihood
Importance
Action to Minimize Risk
Owner
Type
6
Monitor pump performance as
we test and evaluate how we
will need to design control
system to address and
minimize risk.
Mark and Fred
tech risk
3
9
Double and triple check PCB
board design with the team and
professors. Practice careful
soldering methods.
Mark and
Chloe
tech risk
2
3
6
Prototype full tail. Test all
ranges of motion.
Igor and
Brandon
tech risk
3
3
9
Discussed issue with Dr. S,
prototype and test with various
weights and methods.
Sarah
tech risk
2
Severity
3
Page 23
Bill of Materials
Screenshot
Page 24
Schedule
Proposed Detailed Design Date: 12/4/2014
See paper schedule for details
Page 25
Thank You!
Questions?
Page 26