P16229: Robofish 3.1 - Navigation
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Customer Handoff & Final Project Documentation

Table of Contents

Team Vision for Final Demo and Handoff

Summarize:

Test Results Summary

Risk and Problem Tracking

Forward locomotion issues have caused delays when implementing the necessary systems; a new risk has emerged. The fish may not swim for Imagine RIT. This risk can be reduced by testing time and hard work. Connection problems to the camera from the raspberry pi have caused electrical system downtimes rendering the fish untestable. Problems tensioning the muscles to the tail have resulted in poor testing data with regards to forward locomotion. Problems with muscles blowing have resulted in mechanical system down time. A video, link below, shows the fish at an early week into the phase. Forward locomotion was displayed with use of a large swim period and fin.

A video of forward locomotion and object avoidance found in the link below.

Forward Locomotion in Tow Tank

Object Avoidance Demonstration

Final Project Documentation

The newest version of the Bill of Materials can be found here (BOM) Bill of Material 5/5/2016

Final Electrical PCB Schmatics are shown in the images below

RBFSH Main Control Board Schmatic

RBFSH Main Control Board Schmatic

Companion Board Schmatic

Companion Board Schmatic

In Out Board Schmatic

In Out Board Schmatic


Service to the wiring in the electrical box can be performed by cross-referencing the following four images which represent the necessary connections.

RBFSH Main Control Board Wiring

RBFSH Main Control Board Wiring

Companion Board Wiring

Companion Board Wiring

In Out Board Wiring

In Out Board Wiring

Arduino Wiring

Arduino Wiring

Raspberry PI Wiring

Raspberry PI Wiring

Software revisions for the Arduino code can be located in the software revisions folder on the edge depository (Root Directory) (Software Revisions Link). The revision for the code running on imagine RIT will be >3.004 as optimizations are still occurring. The last few revisions are documented below



Rev: 3.002
Author: Ryan Wade Selby
Description:
(1) Debugging PWM patterns (Still Incorrect)
(2) Seconds/Flap = 2.4


Rev: 3.003
Author: Ryan Wade Selby
Description:
(1) Corrected PWM Patterns
(2) Always Intake and Exhaust for 5% of the period... avoid over pressurizing the lines


Rev: 3.004 Author: Ryan Wade Selby
Description:
(1) Reduced valve test time in the begining of the program


Improved communications and team member delivery can improve upon the late delivery of the fish. It is practical to utilize the system in a further MSD program. Increases in the electrical box volume can reduce the headache associated with rewiring the fish.

Functional Demo Materials

Plans for Wrap-up


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