Robofish Charging Station (RCS) Preliminary Detailed Design Presentation

Agenda System Overview Preliminary 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 System JN

Preliminary Design - Structure Overall Dimensions of RCS: 64” x 53” x 36” 3 Main Sub Assemblies Floatation_ASSY Controls_ASSY SolarPanels_ASSY Isometric View CP

Preliminary Design - Structure Things to Note: Structure made of 8020 Extruded Aluminum, already have 8 pieces (6 ft long) 8 Five Gallon Shipping Pails will be used as floats Side View CP

Preliminary Design - Buoyancy Feasibility: Buoyancy Calculations 1 gallon of water = 8.36 lbs Floatation Pails = 40 gallons 40 gallons * 8.36 lbs/gallon = 334.4 lbs Buoyancy Force = 334.4 lbs Estimated RCS Weight: 256.5 lbs Isometric View CP

Preliminary Design - Robofish Docking Guides will be used to guide the Robofish into an attachment port CP

Preliminary Design - Robofish Docking (Plan B) Rotating table to position fish beneath guides Feasibility: Miniature Prototype JM

Preliminary Design - Robofish Docking (Software) LA

Preliminary Design - Robofish Docking (Software) LA

Preliminary Design - Robofish Attachment Making the electrical and physical connection between the RCS and the Robofish Note: The pins represent solenoid connectors, to be designed next phase BM

Preliminary Design - Robofish Attachment Using continuity measurements on a multimeter to test for shorting between ports. Open: 0 Short: 1 Even in water, there is no shorting and the connections are being made appropriately. BM

Preliminary Design - Solar Power Harvesting and Storage System for directing power from the solar panels to the RCS output connectors BM

Preliminary Design - Solar Power Harvesting and Storage Feasibility: Solar Power Tests Requirement: 148 Wh to fully charge Robofish Assumption: 11 hours of sunlight each day Tests Performed Worst Case: Raining, full cloud coverage, in shade of building Average: Cloudy day Best Case: Sunny, few clouds Note: This test is not sufficient but improves confidence LA

Preliminary Design - Solar Power Harvesting and Storage Feasibility: Solar Power Calculations Using Solar Data from NREL Rochester has on average 4.07 (kWh/m2/day) of solar radiation During the worst months Rochester has 1.90 (kWh/m2/day) of solar radiation A solar panel area of .865 m^2 will harvest enough power on an average day during the worst case month of the year (1 panel is .68 m^2) LA

Preliminary Design - 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

Preliminary Design - 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, reconnects load when charging complete (timed). When arduino not powered, pull-up/down resistors ensure proper switch state. Switch design not settled - transistors vs relays Relays: higher current, more efficient, larger (space concerns) Transistors: Less efficient, smaller BM

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) McMaster-Carr 4135T74 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 JN

Estimated Overall Cost Item Ordered From Quantity Cost/Item Total Cost Rectangular Pail (5 gal) McMaster-Carr 8 $23.74 $189.92 Grape Solar 100 W Solar Panel 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 - $37.90 Final Costs (before tax or shipping) $616.41 JN

Test Plan Tests necessary to demonstrate all requirements are met: Depth Test RCS Battery Capacity Test Energy Delivery Test Energy Harvesting Test Robofish Attachment Test Buoyancy and Stability Test Waterproof Test Automated Process Test Plan Contains: Objectives Test Criteria Test Resources Test Procedures Results Conclusions Test Plan JM

State of the Fish Messy, poorly documented wiring Poor quality code, didn’t compile Was not waterproof Slowing work substantially Battery system completely unusable Fire Hazard Loose wires, completely disconnected peripherals Solutions: Rewiring fish Replaced battery Waterproofed

Risk Assessment Major Risks Planned Actions Guide mechanism on station does not adequately position Robofish for attachment Begin to construct guide mechanisms and test for effectiveness. Backup plan of using a rotating table was prototyped. Robofish cannot see far enough to recognize and approach station Fix the RoboFish, rewrite the object detection program, and test in pool. Re-colour the pole to make it more detectable by RoboFish camera. Robofish cannot provide force necessary to make connection with RCS Redesign connector to severely reduce attachment force (< 1 lb). Complete design of solenoid system to lock RoboFish to RCS. JN

Design Overview and Confidence Feature Feasibility Performed Team Confidence in Current Design (1-10 scale) Structure CAD Model 8.2 Buoyancy Buoyancy Calculations 8.5 Robofish Docking Small working prototype made 4.2 Robofish Attachment Connector Prototype made 5.3 Solar Power Harvesting and Storage Solar power calculations and Solar panel testing 8.3 Robofish Power Delivery System Batteries Tested 7.0 JM

Plans for Detailed Design Phase Finalize designs and continue to conduct feasibility analysis Areas of focus for next phase: Robofish Docking - Guide Robofish Attachment - Solenoid system Revise test plans and create set-up schematics to aid test operators Compile and organize all design materials onto edge Document, document, document JM

Questions?