Robofish Charging Station (RCS) Detailed Design Presentation

Agenda System Overview Detailed Design & Feasibility BOM & Budget Test Plans Risk Assessment Plans for Next Phase JN

System Overview Functional Decomposition Systems: Structure Buoyancy Robofish Docking Robofish Attachment Solar Power Harvesting and Storage Robofish Power Delivery JN

Feasibility Summary Structure Buoyancy Robofish Docking Stability analysis: Concluded station can recover form 10 degrees of tilt Full CAD model Buoyancy Weight estimation Buoyancy Analysis: Concluded system can hold up to 334 pounds Robofish Docking Small scale prototype of guides Small scale prototype of alternative plan Robofish Attachment Prototype of system: Proved feasibility of microswitch/motor system Solar Power Harvesting & Energy Storage Solar availability calculations: Concluded 2 solar panels is sufficient Solar panel tests: Concluded 2 solar panels is sufficient LA

Robofish Charging Station Design - Structure Overall Dimensions of RCS: 64” x 54” x 36” 4 Main Sub Assemblies Floatation_ASSY Controls_ASSY SolarPanels_ASSY Connector_ASSY Isometric View CP

Final Design - Structure CP

Final Design - Floatation Selection Current Selection: Floatation Device = $100 Sealant = $0 TOTAL = $100 Easier to mount guides to (rectangular prism) Won’t have to seal Optional Selection: Floatation Device = $28 Sealant = $48 TOTAL = $76 Harder to mount guides to Have to seal CP

Final Design - Guide Construction Styrofoam (or similar foam) to be used as the material for the guides. Plan to reach out to local businesses for donations of foam If the foam isn’t waterproof, then a Krylon 1311 Spray will be used to waterproof the foam CP

Feasibility - Stability Notes: Stability is determined by the couple created between the buoyancy force and the force due to gravity As the station tilts, this couple creates a restoring force to rebalance the station When the angle of tilt is too large, the critical angle is reached where the restoring force can no longer right the station Center of Buoyancy Calculations Conclusion:The RCS will remain stable to at least 10° of tilt (likely more) JM

Feasibility - Image Processing Question: How far can the RoboFish see underwater? Raspberry Pi image processing code through Python. Set resolution equal to camera’s of 480 x 300. Attempt to detect the colour red and Its ranges of hues painted on the pole underwater. Maximum distance of detection = 5 meters JN

Final Design - Robofish Docking Plan A Robofish Side Software

Final Design - Robofish Docking Plan A RCS Side Software

Final Design - Robofish Attachment Making the electrical and physical connection between the RCS and the Robofish JM

Final Design - Robofish Attachment Research paper from UC Berkeley To prevent cross threading, the bolt threads must engage the nut within a ±2° angle The Robofish connector will be channelled into the chamfer on the RCS connector. Then, an internal chamfer on the RCS Connector will locate the Robofish Connector and align the connectors within ±2° Nicolson, Edward J., and Ronald S. Fearing. "Compliant Control of Threaded Fastener Insertion." (n.d.): n. pag. UC Berkeley. Web. 6 Dec. 2016. <https://robotics.eecs.berkeley.edu/~ronf/PAPERS/icra93.pdf>. CP

Final Design - Solar Power Harvesting and Storage System for directing power from the solar panels to the RCS output connectors. Updates: Fuse added to lead acid battery Solar panels used in P16250 were acquired from Alfred State SUNY College of Technology. Current progress: determining status of solar panels (returned, given to customer, etc.). BM

Robofish Power Delivery System Power from the charging port to the fish, safely. We must Disconnect the load Connect the charger Charge Battery Disconnect charger Reconnect load GB

Robofish Power Delivery System Arduino pro powered directly by charging connection - 12v tolerant, same as charge connector voltage Arduino boots, program controls switches, initiates charging, powers off automatically when station disconnects fish (loses power) Replaced switches with single SPDT relay - smaller, more efficient, flips automatically as soon as 12v connection made Minimized components controlled by arduino in order to improve reliability. GB

Major Components Needed Item Make Model Quantity Needed Current Quantity 100 W Solar Panel Grape Solar GS-Star-100W 2 1 Rectangular Pail (5 gal) (Current Option) McMaster-Carr 49525T68 8 17 AH Lead Acid Batteries MLS Electrosystem - 4 Solar Charge Controller EP Solar ET6415BND Multistar High Capacity 4S Multi-Rotor Lipo Pack Turnigy 912700006-0 Accucel-6 Balancer/Charger LiHV Capable 9052000071-0 1.5”x1.5”x50” T-Slot Aluminum 80/20 8020 Inc. 1515-LS-Black 80/20, 15 Series, 4 Hole Tee Plate 4341 LA

Estimated Overall Cost Item Ordered From Quantity Cost/Item Total Cost Rectangular Pail (5 gal) (Current Option) McMaster-Carr 8 $12.27 $98.16 Grape Solar 100 W Solar Panel (May be able to acquire/borrow from Alfred State SUNY College of Technology) Home Depot 1 $145.49 1.5”x1.5” T-Slot Aluminum 80/20 8020 Inc 2 $0.52/in $74.88 Multistar High Capacity Multi-Rotor Lipo Pack HobbyKing $59.55 80/20, 15 Series, 4 Hole Tee Plate 80/20 Inc $6.30 $50.40 Accuel-6 Balancer/Charger LiHV Capable $29.87 80/20, 15 Series, 5 Hole 90 Plate 4 $7.10 $28.40 Miscellaneous - $156.86 Final Costs (before tax or shipping) $643.61 BM

Test Plan Test Plan Engineering Requirements Tests necessary to demonstrate all requirements are met: Depth Test (ER1) RCS Battery Capacity Test (ER2) Energy Delivery Test (ER3) Energy Harvesting Test (ER4) Budget Review (ER5) Robofish Attachment Test (ER6) Buoyancy and Stability Test (ER7) Waterproof Test (ER8) Automated Process Test (ER9) Test Plan JM

Updated State of the Fish Messy, poorly documented wiring Loose wires, completely disconnected peripherals Both Raspberry pi and Arduino code polished and tested. Battery Replaced Waterproofed Current Task: Rewire and neaten wiring for ease of future improvements (20 hours assigned for MSD 2 - Currently plan has been established) Make detailed annotated documentation of improved wiring. JN

Risk Assessment Major Risks Planned Actions Electrochemical Migration (ECM). (Exposure to electrolytic solution creating short between terminals) Disconnect battery from connectors when not connected via hardware switch. Guide mechanism on station does not adequately position RoboFish for attachment. Proceed with second design - fish is baited by appropriately coloured LED/object, which is only visible from the opposite side of the station, getting the body of the RoboFish underneath the station to rise until it connects to the port on top guided by a funnel. Robofish is not properly aligned when attachment attempt is made Program RoboFish so that if no attachment is detected within 30 seconds of pole release, the RoboFish would sink 3 feet for 1 minute before attempting to find the red pole process again. JN

Plans for MSD2 What is left to complete in MSD I: Lengthen the connector guide surface length to position the Robofish before the attachment screw Add component to run attachment motor in reverse for releasing the Robofish Design adapter between attachment screw and motor Complete the MSD II Project Plan Pick out specific fuses for RCS circuit Ensure all electronic components are in the BOM JM

Plans for MSD2 Main Tasks: Build & Test Prep Obtain build materials and secure test equipment Ensure test facilities are available Subsystem Build & Test Construct all major subsystems and conduct preliminary testing on them Integrated System Build & Test Integrate the subsystems into the final assembly Conduct test plan to ensure product meets requirements Integrated System with Customer Demo Finalize integration and tests Demo product to customer Verification & Validation (Project Closure) Write technical paper, create poster, ensure all documentation is on edge Present at Imagine RIT A complete schedule is still in progress and should be finished by the gate review JM

Questions?