Table of Contents
Team Vision for Detailed Design PhaseSummarize:
- Prepare for the Gate Review
- Ensure that both teams were finalized between interfaces utilized
- Our team finalized open ended questions relating to subsystems of the fish
- CAD drawings were finalized and perfected, ready for use
- Jaw design was 3D printed, edited, then printed again
- McKibbon muscle parts were ordered
The customer requirements, engineering requirements, and House of Quality have been combined into a single document found here.
Prototyping, Engineering Analysis, Simulation
Hardware Switch Implementation
Alternative Hardware Switch
Why we chose this design?
- Easily grabs objects
- Fitting and easily attachable to the body
- Light weight
- Low drag force
- Uses one McKibbon muscle
Drawings, Schematics, Flow Charts, Simulations
Software Flow DiagramThe software for our project is primarily focused around the Raspberry Pi and the image processing that it will be doing to determine the location of the object. The primary flow of the program deals with the Raspberry Pi's interaction with the camera and the frame it captures. Based on the information it receives it will send a PWM signal to the valve controlling buoyancy to control its decent or ascent, and also send the information to P16229's Arduino which controls the swimming of the fish. In the software it will communicate with the Arduino utilizing four physical pins on both devices to communicate specific quadrants within the frame. Once the information is communicated to the Arduino, the swimming movement of the fish will be controlled by P16229's Arduino and the algorithms programmed into it.
The hydraulic schematic was updated again to use a single 4-way value instead of two 3-way valves. This simplifies the tubing layout and should reduce the pressure losses caused by pumping water through the valves.
A CAD assembly of the Robofish has been completed.
There are a couple of things left to do:
- Mount the camera case
- Attach the jaw muscle
- Determine the best location for the depth sensor
- Design a mount for the circuit boards inside the waterproof case
The entire CAD Package can be downloaded here
Bill of Material (BOM)Screenshot of the current BOM
- One of the biggest risks that our team will face involves the programming behind the scenes of our subsystems.
- In order to mitigate this, we will design an overall programming structure that will be the "backbone" code.
- The "backbone" structure will include basic controls and object avoidance.
- Then following success of the basic programming, the teams will build in levels for each successive subsystem.
- The first subsystem that will be incorporated will be Imagine Processing, followed by Buoyancy Control.
- If at any point we find that there are problems involved with a subsystem, we just move back a level to debug the program.
- You can find our current risk assessment here.
Schedule and Test Plans for next phase
- This is a preliminary schedule for what will take part in the first two weeks, up to week 7 for MSD II.
- In a joint effort, these are some of the major tasks that need to be accomplished at the beginning of the semester.
- Some of these deadlines will change based on future testing and results.
- Some of the deadlines in here include the final due date for the constructed body of the fish, when programming will begin and certain deadlines for testing such as buoyancy.