1. Robofish Charging Station (RCS)
Detailed Design Presentation

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

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

4. 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

5. 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

6. Final Design - StructureCP

7. 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

8. 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

9. 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

10. 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

11. Final Design - Robofish Docking Plan A Robofish Side Software

12. Final Design - Robofish Docking Plan A RCS Side Software

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

14. 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 < CP

15. 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

16. 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

17. 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

18. 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
Accucel-6 Balancer/Charger LiHV Capable
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

19. 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

20. 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

21. 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

22. 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

23. 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

24. 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

25. Questions?