1. Robofish Charging Station (RCS)
Preliminary Detailed Design Presentation

2. Agenda System Overview Preliminary 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 System JN

4. 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

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

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

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

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

9. Preliminary Design - Robofish Docking (Software)LA

10. Preliminary Design - Robofish Docking (Software)LA

11. 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

12. 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

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

14. 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

15. 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

16. 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

17. 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

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)
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
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 JN

19. 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

20. 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

21. 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

22. 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

23. 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

24. 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

25. Questions?