P15029: Air Muscle Underwater Fish Phase 2 - Buoyancy

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Project Summary

Project Information

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 R/C and autonomous modes.

This project is a continuation of P14029, who built a robotic fish capable of swimming forward and turning. The project was an exercise in biomimicry and used artificial McKibben muscles to propel the robot.

Goals and Objectives

Design an active buoyancy system
Add underwater remote controlling
Program an autonomous swim mode
Improve physical aesthetics of the fish

The complete Project Summary can be viewed here.

The Project Readiness Package can be viewed here

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Project Name: Underwater Fish Phase II - Buoyancy
Project Number: P15029
Project Family: Biomedical Track
Start Term: 2141 (Fall 2014)
End Term: 2135 (Spring 2015)
Faculty Guide: Rick Lux, ralddm@rit.edu
Primary Customer: Dr. Kathleen Lamkin-Kennard, kaleme@rit.edu
Sponsor (Financial Support): Boeing
Other Sponsors

Team Members

Fred, Sarah, Chloe, Igor, Brandon, Mark

Member	Role	Contact
Sarah Bailey	Project Manager	sxb7058@rit.edu
Chloe Bohlman	Webmaster	cab8880@rit.edu
Fred Cookhouse	Mechanical Lead	fjc8904@rit.edu
Mark Pitonyak	Electrical Lead	mcp3579@rit.edu
Igor Drobnjak	Systems Lead	ixd8340@rit.edu
Brandon Micale	Biomedical Lead	bnm2143@rit.edu

Acknowledgements

Our guide Rick Lux and our customer Dr. Lamkin-Kennard
Mark Schiesser from Triline Automation
Dr. Sciremammano
Dr. Gomes
Dr. Walter
Dr. Schrlau
Last Year's Team P14029

Table of Contents MSD I

Problem Definition	Systems Design	Subsystems Design	Detailed Design
Project Statement Customer Requirements Engineering Requirements House of Quality Constraints Week 3 Review Presentation	Functional Decomposition Morphological Chart Benchmarking Concept Development Systems Architecture Feasibility Risk Assessment Systems Design Review	Electrical Subsystems Buoyancy Subsystem Tail Structure Full Skeletal Structure Air Muscles Pumps Documentation Subsystems Design Review	Design Overview Drawings and Models Electronic Schematics PCB Layouts Signal Flow Charts Testing and Prototyping Risk Assessment Bill of Materials Requirements Design Review Presentations

Table of Contents MSD II

Week 5	Week 8	Week 11	Week 14
Ballast Tank Testing Skin Color Testing Tail Motion Testing Electronics	Waterproofing Pump Composite Head Electronics Prototype Tail Motion Testing Problem Tracking Updated Project Plan	Pump Communication System Swimming Algorithm Electronics Hardware Air Muscles Buoyancy System Eco-Flex Skin Problem Tracking Schedule to Imagine	Documentation Performance vs Requirements Imagine RIT Final Videos

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Table of Contents MSD I

Table of Contents MSD II