1. Underwater Robotic Fish Week 3 Review Presentation Project #15029 Multidisciplinary Senior Design Rochester Institute of Technology Phase II: Buoyancy

2. Team Members and Roles NameMajorRole Sarah BaileyMEProject Manager, ME Support Mark PitonyakEEElectrical Engineering Lead Chloe BohlmanEEWebmaster, EE Support Frederick CookhouseMEMechanical Design Lead Igor DrobnjakMESystems Lead, ME Support Brandon MicaleBMEBiomedical Lead 1

3. Agenda 2 Feel free to ask questions throughout the presentation  Customer Constraints  Engineering Requirements  House of Quality  Issues and Risks  Interviews and Connections  Project Plan  Problem Statement  Background  Benchmarking and Research  Customer, Sponsors, and Stakeholders  Use Scenario  Customer Requirements

4. Problem Statement The objective of this project is to create an underwater robot that looks and swims like a fish. The fish is to achieve these biomimetics by utilizing McKibben muscles to hydraulically propel the fish. The fish will be able to swim forward and turn, and have depth control using active buoyancy in both RC and autonomous modes. 3 Deliverables  Robotic fish that meets requirements  Detailed instruction manual Objectives  Design an active buoyancy system  Add underwater remote controlling  Program an autonomous swim mode  Improve physical aesthetics of the fish

5. Background 4

6. Benchmarking and Research 5 RIT MIT FESTO

7. Customer, Sponsors, Stakeholders 6 Customer Dr. Kathleen Lamkin-Kennard Sponsor Stakeholders Researchers Military personnel Future MSD students Underwater explorers

8. Use Scenario 1.User turns on fish and places into body of water 2.User swims fish remotely, testing forward, turning, ascent, and descent movement 3.User turns on autonomous mode 4.Fish exhibits autonomous control of forward, turning, ascent, and descent movement 5.User turns off autonomous mode 6.User retrieves fish from water and turns off 7

9. Customer Requirements 8

10. Customer Constraints 9  Fish uses McKibben muscles for propulsion.  Muscles actuate with water pumped in from surroundings.  Both RC and autonomous operation

11. Engineering Requirements 10

12. House of Quality 11

13. Issues and Risks 1.Buoyancy  Creating a system for active buoyancy 2.Communication  Remote controlling underwater 3.Aesthetics  Modeling Silicone skin 4.Air Leaking  Waterproofing the fish 5.Muscle Failure 6.Electronics Failure 7.Battery Life 8.Barrier Detection Failure 9.Damage Survival 12

14. Risk Management 13 IDRisk ItemEffectCauseLikelihoodSeverityImportanceAction to Minimize RiskOwner Describe the risk briefly What is the effect on any or all of the project deliverables if the cause actually happens? What are the possible cause(s) of this risk? L*S What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of this occurring? Who is responsible for following through on mitigation? 1 Fish buoyancy doesn’t work The project is a failure Improper calculations Overlooked information 236 Test buoyancy on non-essential parts before integrating with electrical components; have stand-in weights Lead Mech. Eng. and Mech. Eng. 2 Fish leaks and ruins electrical components Wasted resources and time Improper sealing, wrong sealant, unseen cracks in case 326 Ensure proper sealants are used. Use a double wall system to reduce risk of leaks. Maintain work documents to prevent improper closing techniques Mech. Eng. And Elec. Eng. 3 Project Scope is too large Project deliverables are not met on time Ineffective Project limits 339 Frequent (weekly) meetings to ensure goals are on track and met All

15. Interviews and Connections 14 Dr. Lamkin-Kennard Dr. WalterDr. SchrlauDr. Sciremammano Primary contact for air muscles, aesthetic qualities, and lab usage. Contact for buoyancy calculations and aspects to improve from last year’s prototype. Contact for underwater applications and communications, as well as buoyancy. Contact for buoyancy calculations and fluid movement throughout pump and fish.

16. Project Plan Example 15

17. Questions? 16