1. HAB-Sensing Autonomous Robotic Fish Jamie Jacobs, Stephen Garrett, Taha Tareen, Woodard Williams, Eric Jackson, Carl Coppola, Robert Morris, Allen Eyler

2. 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

3. Design Parameters Function Quality Environmental Conditions Size Weight Energy Consumption Reliability

4. Design Parameters Spatial Constraints Aesthetics Service Life Maintenance Mechanical Loading Delivery Date

5. What We Have Right Now… Current Robotic Fish –IPMC –Schematics –Thesis –Parts List Design Ideas –Bodies –IPMC Schemes

6. What We Need to Get… HAB Sensor IR Sensors Circuit Components DSC PCB Body Material

7. What We’ve Found So Far… HAB Sensor DSC PCB Body Material

8. What We “HAB”

12. What We Think Are Issues… Heat Dissipation Propulsion Water-proofing Hydrodynamics GUI Development

13. 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

14. What We Plan to Do… Testing –Sensor –Component –Circuit –Body Aquatic Component Fit and Operation –Debugging –Final

15. What We’ve Come Up With… Body Design 1

16. What We’ve Come Up With… Body Design 2

17. What We’ve Come Up With… Body Design 3

18. What We’ve Come Up With… Body Design 4