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Robotic Sensing Fish Electrical: Jamie Jacobs, Woodard Williams, Stephen Garrett, Taha Tareen Mechanical: Carl Coppola, Eric Jackson, Robert Morris, Allen Eyler Sponsors: Xiabo Tan and Elena Litchman Faculty Advisors: Jongeun Choi and Dean Aslam DESIGN TESTING Overview Design Requirements A robotic fish recently A robotic fish recently developed by the Smart developed by the Smart Microsystems Microsystems Laboratory has been altered Laboratory has been altered to provide a fish capable to provide a fish capable of detecting Harmful Algal of detecting Harmful Algal Blooms. The fish is Blooms. The fish is propelled by a electro- propelled by a electro- active polymer and has active polymer and has onboard power, electronic onboard power, electronic control, wireless control, wireless communication, and communication, and navigational modules. The navigational modules. The fish interacts wirelessly fish interacts wirelessly with a base station and a with a base station and a Graphical User Interface Graphical User Interface This projects aim was to This projects aim was to develop a novel, robotic develop a novel, robotic fish-based mobile sensor for fish-based mobile sensor for detecting Harmful Algal detecting Harmful Algal Blooms in two dimensional Blooms in two dimensional bodies of water bodies of water Research and identify an Research and identify an applicable Cyanobacterial applicable Cyanobacterial Sensor (Algae Sensor) Sensor (Algae Sensor) Interface the above sensor Interface the above sensor both mechanically and both mechanically and electrically electrically Update the Graphical User Update the Graphical User Interface Interface Equip the fish with wireless Equip the fish with wireless feedback controls for feedback controls for directional heading directional heading Use the wireless feedback to Use the wireless feedback to control the direction of control the direction of movement movement Interface sensors for Interface sensors for obstacle avoidance obstacle avoidance Fish must swim at 1.5 cm/s or Fish must swim at 1.5 cm/s or faster faster Xiabo Xiabo Tan Tan Elena Elena Litchman Litchman Jongeun Jongeun Choi Choi Dean Dean Aslam Aslam Design Layout The fish body is made of The fish body is made of fiberglass and aluminum. The fiberglass and aluminum. The internal circuitry consists internal circuitry consists of a controller PCB board and of a controller PCB board and battery pack. The “brain” of battery pack. The “brain” of the fish is a Digital Signal the fish is a Digital Signal Controller and a XBee Controller and a XBee wireless communication wireless communication module. module. HAB sensor tested with HAB sensor tested with Digital Signal Digital Signal Controller using graphical Controller using graphical user interface (GUI) user interface (GUI) Performance tests were Performance tests were completed with the wireless completed with the wireless communication module (XBee) communication module (XBee) IR sensors were tested for IR sensors were tested for obstacle avoidance using XBee obstacle avoidance using XBee and GUI and GUI The body was tested to ensure The body was tested to ensure that the design was that the design was watertight and buoyant watertight and buoyant RESULTS Populated Controller PCB Populated Controller PCB Bare Controller PCB Bare Controller PCB HAB sensor, IR sensors, HAB sensor, IR sensors, XBee Module, and internal XBee Module, and internal circuitry all successfully circuitry all successfully fulfilled the requested fulfilled the requested design requirements design requirements Protoboard Layout Protoboard Layout

Robotic Sensing Fish

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DESIGN. TESTING. This projects aim was to develop a novel, robotic fish-based mobile sensor for detecting Harmful Algal Blooms in two dimensional bodies of water. Design Requirements. Robotic Sensing Fish. Research and identify an applicable Cyanobacterial Sensor (Algae Sensor) - PowerPoint PPT Presentation

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Page 1: Robotic Sensing Fish

Robotic Sensing FishElectrical: Jamie Jacobs, Woodard Williams, Stephen Garrett, Taha Tareen

Mechanical: Carl Coppola, Eric Jackson, Robert Morris, Allen EylerSponsors: Xiabo Tan and Elena Litchman Faculty Advisors: Jongeun Choi and

Dean Aslam

DESIGN TESTING

Overview

Design Requirements

A robotic fish recently developed A robotic fish recently developed by the Smart Microsystems by the Smart Microsystems Laboratory has been altered to Laboratory has been altered to provide a fish capable of provide a fish capable of detecting Harmful Algal Blooms. detecting Harmful Algal Blooms. The fish is propelled by a electro-The fish is propelled by a electro-active polymer and has onboard active polymer and has onboard power, electronic control, power, electronic control, wireless communication, and wireless communication, and navigational modules. The fish navigational modules. The fish interacts wirelessly with a base interacts wirelessly with a base station and a Graphical User station and a Graphical User InterfaceInterface

This projects aim was to develop a This projects aim was to develop a novel, robotic fish-based mobile novel, robotic fish-based mobile sensor for detecting Harmful Algal sensor for detecting Harmful Algal Blooms in two dimensional bodies Blooms in two dimensional bodies of waterof water

Research and identify an Research and identify an applicable Cyanobacterial Sensor applicable Cyanobacterial Sensor (Algae Sensor)(Algae Sensor)

Interface the above sensor both Interface the above sensor both mechanically and electricallymechanically and electrically

Update the Graphical User Update the Graphical User InterfaceInterface

Equip the fish with wireless Equip the fish with wireless feedback controls for directional feedback controls for directional headingheading

Use the wireless feedback to Use the wireless feedback to control the direction of movementcontrol the direction of movement

Interface sensors for obstacle Interface sensors for obstacle avoidanceavoidance

Fish must swim at 1.5 cm/s or Fish must swim at 1.5 cm/s or fasterfaster

Xiabo TanXiabo Tan Elena LitchmanElena Litchman Jongeun ChoiJongeun Choi Dean AslamDean Aslam

Design Layout

The fish body is made of fiberglass The fish body is made of fiberglass and aluminum. The internal and aluminum. The internal circuitry consists of a controller circuitry consists of a controller PCB board and battery pack. The PCB board and battery pack. The “brain” of the fish is a Digital “brain” of the fish is a Digital Signal Controller and a XBee Signal Controller and a XBee wireless communication module.wireless communication module.

HAB sensor tested with Digital HAB sensor tested with Digital Signal Controller using graphical Signal Controller using graphical user interface (GUI)user interface (GUI)

Performance tests were completed Performance tests were completed with the wireless communication with the wireless communication module (XBee)module (XBee)

IR sensors were tested for IR sensors were tested for obstacle avoidance using XBee obstacle avoidance using XBee and GUIand GUI

The body was tested to ensure The body was tested to ensure that the design was watertight and that the design was watertight and buoyantbuoyant

RESULTS

Populated Controller PCBPopulated Controller PCB Bare Controller PCB Bare Controller PCB

HAB sensor, IR sensors, XBee HAB sensor, IR sensors, XBee Module, and internal circuitry Module, and internal circuitry all successfully fulfilled the all successfully fulfilled the requested design requirements requested design requirements

Protoboard Layout Protoboard Layout