P16229: Robofish 3.1 - Navigation

Integrated System Build & Test with Customer Demo

Table of Contents

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Team Vision for System Level Demo with Customer


Test Results Summary

Encountered Problems

Electrical team experienced two main issues when attempting to complete the system build. A trace corresponding to channel 1 on board 0xFF was burned by an accidental short. The channel is no longer used and does not correspond to an issue as there are spare channels. The batteries and boards should be loaded with care to avoid this issue; Take care with multiple individuals.

The second issue is with regards to water proofing. A drill location for cable glands was incorrectly chosen due to a lip/embossed section of the case not allowing a proper seal with the provided gaskets. Therefore, a filing of the box and the use of room temperature vulcanized silicon (RTV) was used to seal the glands.

Electronics Box Space Improvements

Care and analysis was performed to minimize the amount of utilized space in the electronics box. The box is quite full and much time routing the signal wires corresponded to an easier installation. Aditionally, rotating the batery pack from the initial design by 90 degrees saved alot of room. Waterproofing of all entrances to the electronics box was performed utilizing RTV. Furthermore, the cables are installed into personal computer liquid cooling silicon tubing which is fed into Hammond Manufacturing waterproof cable glands. The extra space in the tube was removed by means of injected RTV. All cables inside the box are installed and ready for a preliminary swim.
Electrical Box

Electrical Box

On The Fly Improvements

The battery pack was electrically isolated by means of electrical tape at the holster connections. Previously this posed a high potential shorting issue with a stray/loose wire. Many of the battery holsters became physically, not electrically, disconnected from their nearest neighbor when installing and uninstalling batteries. This was handled by adhering perpendicular reinforcements.

Waterproof Testing

The electronics box was submerged in a 5-gallon bucket for 36 hours to ensure no leak during operation. The possibility of the fish swimming at a low altitude in a large pool may still create a leak. Due to the lack of pool time, corresponding to frigid temperatures, we have yet to test this condition. A 15-minute test of the same nature was performed on the pump box as the pump is water resistant.
Sealed Fish

Sealed Fish

Sealed Valve

Sealed Valve

Risk and Problem Tracking

Arduino Code

If a code revision is necessary, a USB cable has been soldered to the Arduino and will be attached to the fish. This minimizes the amount of times the fish will need to be disassembled during a pool test.

Board Damage

Board 0xFF was damaged during installation. A trace on channel 1 has lifted due to an unexpected short.

Pool Testing & Waterproofing

In the case where a deeper pool causes a leak in the electronic box more RTV will be applied to the cable glands and around the silicon tubing. If the leak occurs at a timed exposure longer than the Imagine RIT event the incident will be notarized but not accounted for. (i.e. greater than 8 hours for a leak to occur)

Functional Demo Materials

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Plans for next phase

Home | Planning & Execution | Imagine RIT

Problem Definition | Systems Design | Subsystem Design | Preliminary Detailed Design | Detailed Design

Build & Test Prep | Subsystem Build & Test | Integrated System Build & Test | Integrated System Build & Test with Customer Demo | Customer Handoff & Final Project Documentation