*156B Week 9

Overview of Status of Analysis, Design, Fabrication, Tests, etc.

• • Putting things together for complete test

  • Testing running steppers off batteries

  • Things are coming together and we should be ready to test the complete design in water once we figure out some smaller issues (SSHing into RPi on school’s network has been problematic)

Accomplishments from Previous Week

• • Printed acrylic housing (All)

  • Tested waterproofing by leaving assembled jelly (without electronics) overnight in water (All)

  • Figured out driver wasn’t working w/ help of Steve Roberts and got a replacement (Michael)

  • Wrote code to actuate tentacles for testing (Michael)

  • Assembled complete robot and checked component fits (Ciara)

  • Tested running propulsion motor off 11.1 V battery (stepper worked!) (Michael & Trevor)

  • Laser cut tentacles and began assembly (Damian)

  • Laser cut gaskets (Trevor)

  • Performed Solidworks analysis to estimate overall buoyancy and center of mass (Damian and Ciara)

  • Printed steering gears (Damian)

  • Tested battery wiring harness and charged batteries (Ciara)

Goals for Next Week (list names after each item). Use specific and measurable objectives.

• • Write multithreaded code to run propulsion, steering, and record video (Michael)

  • Buy Brass, Shim Stock/spring steel, crimpable wire, and power supply for Raspberry Pi that Jules can keep (Damian)

  • Machine tentacles out of gasket material and shim stock (Ciara)

  • Machine steering weights (Trevor)

  • Test propulsion ability (All)

  • Check complete assembly’s buoyancy/weight and adjust accordingly (All)

  • Find out how to ssh over wifi (most likely problematic b/c UCSD wifi) (Michael and Trevor)

  • Stretch goal - Run Pressure Test (All)

  • Machine delrin spacer (Trevor)

Sponsor Comments from Last Meeting and Actions Taken to Address these Comments (indicate date of comments and if via email or in person)

• • Dome’s radius of curvature

    • Will it work with/be good for the camera?

  • Viewing angle of camera

Instructor Comments from Last Meeting and Actions Taken to Address these Comments  (indicate date of comments and if via email or in person)

• • Look into tubing for wires to avoid problems with them crossing

    • No problems w/ ropes crossing at current angles of rotation

  • Concerned about buoyancy/center of mass

    • Solidworks estimates say we’re currently more than neutrally buoyant

    • Considerably more buoyant than SW estimate if using smaller 11.1 V battery

Comments from Other Students in the Class (indicate date of comments and if via email or in person)

• • Michal (in-person, 5/22) - The tentacles have space between them making it possible for water to not be propelled the way you want it.

Risks and Areas of Concern

• • Steering ability

  • Time

  • Focus is on project outcome, not report/webpage (running out of time to make high quality ones)

  • Buoyancy and center of mass

  • Ability to implement and test controls, ability to orient itself properly

Resources or Information Required but not Available

• • O-scope for Rm 312 (suggested by Steve Roberts...may not be so useful now we’ve sorted the driver issues)

  • Pressure testing availability

Schedule

• • Describe upcoming milestone

  • Update Gantt chart.

Budget (list amount spent and amount remaining)

• • Spent: $1,045

  • Remaining: $1,455

Progress on Report and Webpage

• • 2nd draft completed

  • Webpage updated

  • Reviewed other team’s report