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MSU ECE 480 - Final Proposal

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Autonomous Robotic Fish to detect Harmful Algae Blooms (HABS)FINAL PROPOSAL:Design Team: 4 Team Facilitator: Dean AslamTeam members: Taha Tareen, Jamie Jacobs, Stephen Garrett, Woodard Williams Eric Jackson, Carl Coppola, Robert Morris, Allen EylerDate: 02/4/09EXECUTIVE SUMMARYAquatic ecosystems are undergoing dramatic changes due to human activities and change in climate, which results in environmental pollution and affects human wellbeing. The proliferation of Harmful Algal Blooms (HABs) is caused by cyanobacteria producing toxins which accumulate rapidly in water bodies, thus proposing a great danger to our lives. At Michigan State University, the goal is to advance knowledge and transform lives. Through detecting harmful algal blooms (HABS) in three-dimensional water bodies, this project gives students an opportunity to achieve the goals of MSU by making the world a healthier place.To achieve the goals set by the team, the most critical issues surrounding the project are the implementation of Graphical User Interface (GUI), digital signal controller (DSC), and the wireless integration. The following steps are to be taken as the basic requirements of the project. For bacteria detection the HAB sensor will be interfaced in to the circuit and the GUI will be updated accordingly. An infrared sensor (IR) will also be implemented for avoiding collisions in water bodies. The electricalcasing inside the fish will be made for locking the circuit inside and is according to the conceptual design of the robotic fish itself which also has a compass integrated for the direction movement. Finally demonstrating the fish in the water tank or a lake will provide the results and ensure success.The final design is a smooth body fish, similar to the current shape, with two fins used for balance and one bottom fin used as a rudder. The bottom rudder fin will be used for direction control. Whiskers will be placed on the front of the fish for collision detection. The PCB, battery pack, and servo will be contained in an aluminum water tight container inside the fish body. The bulk of the weight will be distributed towards the middle of the fish to provide the best weight distribution scheme. Upon completion the robotic fish will sense HAB, avoid harmful collisions, and swim in the intended direction.0TABLE OF CONTENTS Introduction………………………………………………………………....2 Background …………………………………………………………….......2 Design Specifications………………………………………………….........2-6 Table 1 and 2…………………………………………………...............3 Table 3 and 4…………………………………………………………...4 Table 5,6 and 7…………………………………………………………5 FAST Diagram……………………………………………………………...6-7 Figure 1………………………………………………………………….7 Conceptual Designs…………………………………………………….......7-10 Figure 2 and 3…………………………………………………………..8 Figure 4 and 5…………………………………………………………..9 Figure 6 and 7…………………………………………………………..10 Rankings of Conceptual Design………………………………………........11 Table 8 and 9…………………………………………………………..11 Proposed Design Solution…………………………………………………..12 Figure 8………………………………………………………………...12 Risk Analysis……………………………………………………………….12-13 Project Management Plan…………………………………………………..13-15 Budget………………………………………………………………………..15 Table 10…………………………………………………………………15 1INTRODUCTIONWith the environment constantly changing due to human abuse of the planet, scientists are constantly faced with the challenge of coming up with new, more effective methods of understanding/predicting an ecosystem’s response time to global change. One of the more severe concerns of the planet is the aquatic ecosystems. As a result of different contaminants and toxins already disturbing our water, proper functionality of ecosystems and human welfare are dangerously at risk. More specifically, the abundance of harmful algal blooms (HABs) is becoming a more critical issue. In freshwater, HABs are caused by cyanobacteria producing potent toxins. These toxins can negatively impact water supplies and accumulate in fish. In the purpose of this project is to continue the development of an autonomous robotic fish that can detect harmful blooms. Consequently, this specific research should be able to open the door for better ways of monitoring the various water bodies of the Earth, and in the future, better ways of understanding ecosystem behavior. BACKGROUNDIn 2005, the robotic fish project was initiated by the Smart Microsystems Laboratory (SML) on the campus of Michigan State University. The mission of SML is to enable smarter, smaller, integratedsystems by merging advanced modeling, control and design methodologies with novel materials and fabrication processes. The purpose of this task was to build small mobile platforms to be used in aquatic wireless sensor networks. Since August of 2005, SML has developed three generations of robotic fish. The first design, G1, was developed by a senior design team. It was equipped with a microcontroller and wireless communication and was controlled through graphical user interface. The outer shell was a commercially available toy fish, modified to accommodate the circuitry. In August 2006, the G1 greatly improved on the specific problems such as space optimization and waterproofing of the circuit. The second version of


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MSU ECE 480 - Final Proposal

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