P16029: Robofish 3.2 - Object Retrieval
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Detailed Design

Table of Contents

Team Vision for Detailed Design Phase

Summarize:

Design Requirements

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

Switch Schematic

Switch Schematic

Switch Program

Switch Program

Alternative Hardware Switch

Xbee Communication Interface

Xbee Communication Interface

Xbee Communication Example

Xbee Communication Example

Jaw Operator

UML Diagram

UML Diagram

Jaw Design

Side View

Side View

Open Jaw

Open Jaw

Closed Jaw

Closed Jaw

Gears

Gears

Why we chose this design?

Drawings, Schematics, Flow Charts, Simulations

Electronics Schematic

Electronics Schematic

Electronics Schematic

Software Flow Diagram

The 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.
UML Diagram

UML Diagram

Hydraulic System

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.

Hydraulic System Schematic

Hydraulic System Schematic

The schematic can be downloaded here. (pdf)

Robofish Assembly

A CAD assembly of the Robofish has been completed.

There are a couple of things left to do:

The entire CAD Package can be downloaded here

Isometric View

Isometric View

Side View

Side View

Front View

Front View

Top View

Top View

Bottom View

Bottom View

Pump Case Assembly

Pump Case Assembly

Horizontal Profile Drawing

Horizontal Profile Drawing

Vertical Profile Drawing

Vertical Profile Drawing

Bill of Material (BOM)

Screenshot of the current BOM
Bill of Materials

Bill of Materials

Risk Assessment

Risk Assessment Mitigation

Risk Assessment Mitigation

Schedule and Test Plans for next phase

Planned Schedule of Tasks

Planned Schedule of Tasks

Planned Schedule of Tasks Timetable

Planned Schedule of Tasks Timetable


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