1. Week 3 Review Team P14029 McKibben Muscle Robotic Fish Zak Novak John Chiu Seaver Wrisley Felix Liu

2. AGENDA Project statement Team members and roles Norms and values Stakeholders Customer needs and constraints Engineering requirements Background information Deliverables Timeline

3. PROJECT STATEMENT This project is designed to prove the feasibility of McKibben muscles for use in underwater robotic applications, and to develop core technology and a platform for other teams to use in the future. The project specifically seeks to develop a soft-bodied pneumatic fish that looks, moves, and feels like a fish. The robotic fish should be capable of swimming forward, backward, and turning, most likely using Body Caudal Fin propulsion, and the primary mechanism for generating the swimming motion must be McKibben muscles.

4. TEAM ROLES Team MemberMajorRole Zachary NovakMechanical EngineerProject Manager Seaver WrisleyMechanical EngineerLead Engineer Felix LiuMechanical EngineerControls & Electronics Lead John ChiuMechanical EngineerMechanical Design Lead

5. NORMS & VALUES Expectations – do MSD first Roles in the form of leads over specific areas based on team members individual strengths Action items assigned at weekly team meetings Decisions by consensus Frequent updates and communication with Faculty Guide Continual improvement

6. STAKEHOLDERS Primary customer Dr. Kathleen Lamkin-Kennard Secondary customers Future MSD teams RIT Underwater researchers Others interested in underwater exploration

7. CUSTOMER NEEDS AND CONSTRAINTS

8. ENGINEERING REQUIREMENTS

9. Fluid actuated muscle Can use water, air, etc. Internal pressure causes radial expansion and axial compression Nonlinear, but repeatable WHAT IS A MCKIBBEN MUSCLE? [1]

10. HOW A MCKIBBEN MUSCLE WORKS Weaved Sleeve Pneumatic Bladder End Caps Air hose

11. HOW A MCKIBBEN MUSCLE WORKS Pressurized Air [2]

12. Actuation speeds, force vs. deflection characterization data Can be used underwater Options for working fluids Coordination of multiple muscles FINDINGS FROM PREVIOUS AIR MUSCLE PROJECTS [3-6]

13. BACKGROUND – FISH LOCOMOTION [3-6]

14. BACKGROUND – FISH LOCOMOTION Body and/or Caudal Fin (BCF) UndulationOscillation Median and/or Paired Fin (MPF) Propulsion Type Implementation DifficultySpeedManeuverability BCFModerate- Low Moderate - HighModerate - Low MPF - UndulationHighModerateHigh MPF - OscillationModerateLowModerate Oscillation: <1/2 wave Undulation: >1 wave on fin [8] [7]

15. BACKGROUND – ROBOTIC FISH RESEARCH [11] [12] [10] [9]

16. TIMELINE

17. DELIVERABLES A working prototype for under $500 Moves like a fish Goes forward Goes backwards Turns Looks like a fish Feels like a fish Bill of materials Documentation of all analyses Detailed operator’s manual Supporting test data

18. QUESTIONS?

19. REFERENCES [1] Laboratory, S. I., 2013, Development of High Hydraulic Pressure Mckibben Artificial Muscle and Its Application to Light Spreader, 8/6/13, http://www.act.sys.okayama- u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.htmlhttp://www.act.sys.okayama- u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.html [2] http://en.wikipedia.org/wiki/File:Sam_animation-real-muscle.gifhttp://en.wikipedia.org/wiki/File:Sam_animation-real-muscle.gif [3] P08024, R. M. T., 2007, Air Muscle Artificial Limb Design, http://edge.rit.edu/content/P08024/public/Homehttp://edge.rit.edu/content/P08024/public/Home [4] P12029, Biomimetic Robo Ant, 2012, http://edge.rit.edu/content/P12029/public/Homehttp://edge.rit.edu/content/P12029/public/Home [5] P11029, Biomimetic Crab, 2011, http://edge.rit.edu/content/P11029/public/Homehttp://edge.rit.edu/content/P11029/public/Home [6] P13029, Robotic Tiger, 2013, http://edge.rit.edu/edge/P13029/public/Home/http://edge.rit.edu/edge/P13029/public/Home/ [7] http://esi.stanford.edu/exercise/exercise4.htmhttp://esi.stanford.edu/exercise/exercise4.htm [8] Kuntz, 2010, http://www.youtube.com/watch?v=2aOh4ad0Li8http://www.youtube.com/watch?v=2aOh4ad0Li8 [9] Ye, A centimeter-scale autonomous robotic fish actuated by IPMC actuator, 2007, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&tp=&arnumber=4522171&queryText%3Drobotic+fis h http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&tp=&arnumber=4522171&queryText%3Drobotic+fis h [10] Liu, Novel mechatronics design for a robotic fish, 2005, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=1545283&queryText%3Drobotic+fish http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=1545283&queryText%3Drobotic+fish [11] Liu, Essex Robotic Fish, 2006, http://cswww.essex.ac.uk/staff/hhu/jliua/http://cswww.essex.ac.uk/staff/hhu/jliua/ [12] Xu, Mimicry of fish swimming patterns in a robotic fish, 2012, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6237273&queryText%3Drobotic+fish http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6237273&queryText%3Drobotic+fish

20. TL;DR += Robotic Fish