PowerPoint Presentation

RIT Multidisciplinary Senior DesignBiomimetic Robotic Fish Powered ByHydraulic McKibben MusclesFelix LiuSeaver WrisleyJohn ChiuZachary NovakProject Goals Prove feasibility of hydraulic McKibben musclesBuild a fully submersible robotic platformExecute realistic fish motion with a fish-like appearance

Background: Whats a McKibben Muscle?A fluid-powered muscleBraided sheath and soft rubber tubingImagine inflating a Chinese finger-trap.Pressurized Fluid

[1] Laboratory, S. I., 2013, Development of High Hydraulic Pressure Mckibben Artificial Muscle and Its Application to Light Spreader, 8/6/13, http://www.act.sys.okayama-u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.html

[2] http://en.wikipedia.org/wiki/File:Sam_animation-real-muscle.gif

3Why are they Important?Seen as a stakeholder in several technologies:

Human prostheticsSmoother motionBiomimeticSoft roboticsIdeal actuators for underwater applicationsCan use surrounding fluid

Would be nice if we could strengthen this slide. Could do numbers on artificial muscles prosthetics, good idea? anything else? Ankle foot orthotic?

Increased visibility and demonstration of their capabilities advances them toward other applications

Source: http://edge.rit.edu/edge/P14253/public/FinalDocuments/Final_paper/P14253_TechPaper_Final.docx

4Formal Design Process

System Level DesignProblem Definition and PlanningSubsystem Level DesignDetailed DesignBuild, Test, and IntegrateFinal ProductLiterature review and MATLAB motion simulations aided design decisionsAdvanced planning allowed for optimized layout for buoyancy and C.O.G.Preliminary testing made for efficient system integrationSay something to the effect of: our team employed a formal design process throughout the project, from documenting the needs, going through design reviews, and the entire build and testing phases enabling us to complete the project by Imagine RIT

https://mycourses.rit.edu/d2l/le/content/466680/viewContent/2570452/View (took the idea for the little flow arrows from)5Design Features

Watertight acrylic enclosureFluid systemInternal centrifugal pumpSolenoid valve bankHydraulic McKibben musclesControlsArduino, batteries, necessary circuitryWater resistant electronic compartment with temperature monitoringBluetooth-controlled through smartphone appMotion parameters from literatureBody-caudal type locomotionPhase delays captured in solenoid timingAppearanceComposite fiberglass shell with realistic paint-jobRubberized Spandex/Lycra fabric as tail skin

How far do we want to go into fish motion parameters, since we didnt really document how close we were to published values.6ResultsVideo 1Videos:

1. Video that Johns mom took: times 1:07-1:13 (its enough to show a couple of oscillations). 6 sec.2. Turning video: times 0:02-0:08 (captures it turning). 6 sec.3. GoPro video of fish coming towards and going past the camera: times 0:11-0:19. 8 sec.7ResultsVideo 2Videos:

1. Video that Johns mom took: times 1:07-1:13 (its enough to show a couple of oscillations). 6 sec.2. Turning video: times 0:02-0:08 (captures it turning). 6 sec.3. GoPro video of fish coming towards and going past the camera: times 0:11-0:19. 8 sec.8ResultsVideo 3Videos:

1. Video that Johns mom took: times 1:07-1:13 (its enough to show a couple of oscillations). 6 sec.2. Turning video: times 0:02-0:08 (captures it turning). 6 sec.3. GoPro video of fish coming towards and going past the camera: times 0:11-0:19. 8 sec.9ResultsVery realistic, successful, and inexpensive prototypeFormal design process greatly aided in meeting deadlines, including ImagineRITWent beyond customer requirements with addition of Bluetooth communicationProves the feasibility of using McKibben muscles autonomously and hydraulicallyFor more information:Project website, http://edge.rit.edu/edge/P14029/public/Home Search YouTube for RIT Robotic FishFinal project paper available during the poster sessionNeed to have a summary slide to drive home the video.10AcknowledgementsThis project would not have been possible without help and guidance from many individuals. Special thanks to:

Dr. Kathleen Lamkin-KennardRick LuxDave Hathaway, Rob Kraynik, and the ME Machine ShopKwadwoOpong MensahJohn Bonzo and the Brinkman Lab11References[1][2]References will go back here after everythings finalized12