Robotic Sensing Fish

1. 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) Interface the above sensor both mechanically and electrically Update the Graphical User Interface Equip the fish with wireless feedback controls for directional heading Use the wireless feedback to control the direction of movement Interface sensors for obstacle avoidance Fish must swim at 1.5 cm/s or faster Overview A robotic fish recently developed by the Smart Microsystems Laboratory has been altered to provide a fish capable of detecting Harmful Algal Blooms. The fish is propelled by a electro-active polymer and has onboard power, electronic control, wireless communication, and navigational modules. The fish interacts wirelessly with a base station and a Graphical User Interface Protoboard Layout HAB sensor tested with Digital Signal Controller using graphical user interface (GUI) Performance tests were completed with the wireless communication module (XBee) IR sensors were tested for obstacle avoidance using XBee and GUI The body was tested to ensure that the design was watertight and buoyant Design Layout Electrical: 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 The fish body is made of fiberglass and aluminum. The internal circuitry consists of a controller PCB board and battery pack. The “brain” of the fish is a Digital Signal Controller and a XBee wireless communication module. RESULTS HAB sensor, IR sensors, XBee Module, and internal circuitry all successfully fulfilled the requested design requirements Bare Controller PCB Populated Controller PCB Xiabo Tan Elena Litchman Jongeun Choi Dean Aslam