P16229: Robofish 3.1 - Navigation

Planning & Execution

Table of Contents

This website documents our journey through MSD, and includes work-in-progress as well as latest results.

Team Setup

Team Members:

Corey Muench (Systems Lead): Leading Robofish systems objectives from an electronics standpoint. Facilitating the power and signal flow from batteries, through control circuitry and analog electronic, to the McKibben muscle valves.

Nicholas Gulati (Biomedical Lead): Interfacing with electrical and mechanical teams to improve the performance of the fish. Provide unique design approaches and models that improve upon the physiological relevance of the design.

Jon Nguyen (Project Manager-Electrical Engineer): Provide direction and guidance to the team while contributing to the electrical team.

Matthew Yap (Mechanical Lead): Lead the mechanical engineering aspects of the design including but not limited to: mechanics, statics, buoyancy, etc.

Ryan Wade Selby (Electronics Lead): Lead the design and decisions thereof regarding the electronic components of the system including but not limited to: batteries, microcontrollers, sensors.

Khalfan Alzaabi (Mechanical Engineer): Member of the mechanical team tasked with mechanical engineering aspects of the design including but not limited to: mechanics, statics, buoyancy, etc.

Team Values and Norms

In order to establish a basis upon which actions and expectations an be built, our team constructed a list of norms and values.


Value - The sorts of behaviors your team values

  1. Effective Communication
  2. The ability to collaborate and have effective meetings
  3. Punctual and Informative progress reports when required
  4. Collaboration with and cooperation between Robofish teams


Norm - Definitions of acceptable and unacceptable levels of behavior

  1. Professional and respectful during reviews and meetings
  2. Team members must be willing to listen to others’ ideas
  3. Team members are expected to attend all monday and saturday meetings
  4. Team members are expected to make informed, defendable design decisions, not arbitrary ones.
  5. Criticism must be productive and well thought out

Project Plans & Schedules


It is important to have a plan to ensure that we do not fall behind. The clear definition of deadlines also enables accountability.


Project Plan

Project Plan

For reference the Project Plan Document can be found here.

REV 2 as of (09/14/15)

Risk Assessment and Growth Curves

At this stage we began to assess potential risks that we may encounter. These will become important in planning and designing our prototypes as we transition into Phase 2 of MSD1.


Preliminary Risk Assessment

Preliminary Risk Assessment

For reference the Preliminary Risk Assessment Document can be found here.

Meeting Minutes, Notes, & Actions

Meeting notes began in Phase 2 and will begin to appear in this section of documentation.

Peer Reviews


In order to maintain a productive group dynamic and prevent conflicts, a constructive group peer review was performed.

Inputs and Source

  1. Team members.
  2. Template and Example.
  3. Reference doc.
  4. Guide.

Outputs and Destination

Peer review documents were shared with team guide. They will not be, however, made public. This is due to the fact that the team has agreed that this information is private and ensures that honest feedback is provided.

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