DESIGN
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
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
Robotic Sensing Fish
TESTING
Electrical: Jamie Jacobs, Woodard Williams, Stephen Garrett, Taha Tareen
Mechanical: Carl Coppola, Eric Jackson, Robert Morris, Allen Eyler
Sponsors: Xiabo Tan and Elena Litchman
Faculty Advisors: Jongeun Choi and Dean Aslam
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)
Fish must swim at 1.5 cm/s or faster
IR sensors were tested for obstacle
avoidance using XBee and GUI
Design Layout
The body was tested to ensure that the
design was watertight and buoyant
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