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Underwater Robotic Fish
Phase II: Buoyancy
Final Presentation
Project #15029
Multidisciplinary Senior Design
Rochester Institute of TechnologyPage 1
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Team Members and Roles
Page 2
Name Role
Sarah Bailey Project Manager and Buoyancy Lead
Chloe Bohlman Webmaster and Electrical Support
Mark Pitonyak Electrical Lead
Igor Drobnjak Systems Lead
Brandon Michale Biomedical Lead
Frederick Cookhouse Mechanical Lead
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Agenda
Page 3
● Problem Statement
● Buoyancy
● Communications
● Final Design
● Performance Vs. Requirements
● Final Budget - BOM Review
● Recommendations
● Documentation
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Problem Statement
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The objective of this project is to create an underwater robot that looks and
swims like a fish. The fish is to achieve these biomimetics by utilizing McKibben
muscles to hydraulically propel the fish. The fish will be able to swim forward
and turn, and have depth control using active buoyancy in both RC and
autonomous modes.
Objectives:
● Design an active buoyancy system
● Add underwater remote controlling
● Improve physical aesthetics of the fish
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Buoyancy
Page 3
The fish was successfully able to dive to a depth of 3 ft and return to the
surface utilizing manual control of the valves and ballast system.
See Videos Posted on EDGE
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Communication
Page 3
Problem:
High frequency wireless systems are
strongly attenuated in water.
Solution:
Developed a 315 MHz transceiver to
communicate with the fish underwater.
Results
Range in air: 300 ft
Range in water: 3 ft
Throughput: 10,000 bps
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Final Design
Page 3
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Performance vs. Requirements
Page 3
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Performance vs. Requirements
Page 3
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Performance Vs. Requirements
Page 3
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Final Budget - BOM Review
Page 3
Mechanical $ 232.81
Electrical $ 203.76
Main PCB $ 140.73
RF Transceiver $ 47.16
Controller PCB $ 8.81
TOTAL $ 633.26
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Recommendations
Page 3
● Shell
○ Devote more time and budget to testing shell
materials
○ Make small samples as with skin
○ If molding on foam, use solid core
○ If using fabric strips, dip in the resin instead of
painting it on
○ DO NOT LEAVE THIS UNTIL THE LAST FEW
WEEKS BEFORE IMAGINE
■ You will not finish on time. This has been
the case the past two years. Do not
become the third team to fail at this.
● Skin
○ Attach velcro by sewing it to the skin
○ This was a big concern for us, as when we went
to use the ecoflex, the velcro peeled right off,
leaving us with no practical method for holding
the skin on the tail
Recommendations have
been recorded in a
document for future teams
to reference. The left is an
example of one major
system that did not meet an
engineering requirement
and our recommendations
to prevent this issue in the
future.
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Documentation
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● Technical Paper
● Instruction Manual
● EDGE Website
● BOM
● Recommendations
● ImagineRIT Poster
● Performance Vs. Requirements