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 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