Robotic Sensing Fish

1
Robotic Sensing Fish
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

• 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

Design Requirements
Overview
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
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
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
Populated Controller PCB
Bare Controller PCB
Xiabo Tan
Elena Litchman
Jongeun Choi
Dean Aslam