Design and Implementation of a Biologically Inspired Swimming Robot - An EPS@ISEP 2014 Spring Edition Project
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Track 3 - A robot in the classroom Authors: Alicia Ishii, Magdalena Heibeck, Marcin Blazejewski, Rasmus Nybjörk, Abel J. Duarte, Benedita Malheiro, Cristina Ribeiro, Fernando Ferreira, Manuel F. Silva, Paulo Ferreira and Pedro Guedes https://www.youtube.com/watch?v=IlyFzuQAIfA&index=3&list=PLboNOuyyzZ85UwWh70luNvKIhX8U1gxug
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Design and Implementation of a Biologically Inspired Swimming Robot - An EPS@ISEP 2014 Spring Edition Project
- 1. Why? How? Conclusions Design and Implementation of a Biologically Inspired Swimming Robot An EPS@ISEP 2014 Spring Project Alicia Ishii Magdalena Heibeck Marcin Blazejewski Rasmus Nybjörk Abel J. Duarte1,2 Benedita Malheiro1,3 Cristina Ribeiro1,4 Fernando Ferreira1 Manuel F. Silva1,3 Paulo Ferreira1 Pedro Guedes1 1 ISEP/IPP - School of Engineering, Polytechnic Institute of Porto 2 REQUIMTE/LAQV 3 INESC TEC 4 INEB TEEM15 — 8th October 2015 EPS Team European Project Semester Swimming Robot
- 2. Why? How? Conclusions Why? How? Conclusions EPS Team European Project Semester Swimming Robot
- 3. Why? How? Conclusions Where do we live? In the surface of Earth, the “Blue Planet” EPS Team European Project Semester Swimming Robot
- 4. Why? How? Conclusions Where do we live? In the surface of Earth, the “Blue Planet” Did you have already seen blue earth? EPS Team European Project Semester Swimming Robot
- 5. Why? How? Conclusions Where do we live? In the surface of Earth, the “Blue Planet” Did you have already seen blue earth? Earth’s surface is 70% water and 30% earth, so why is the planet called earth? EPS Team European Project Semester Swimming Robot
- 6. Why? How? Conclusions Different Perpectives Let’s go explore the Oceans EPS Team European Project Semester Swimming Robot
- 7. Why? How? Conclusions Different Perpectives Let’s go explore the Oceans XV/XVI century EPS Team European Project Semester Swimming Robot
- 8. Why? How? Conclusions Different Perpectives Let’s go explore the Oceans XV/XVI century Let’s know the place where we live EPS Team European Project Semester Swimming Robot
- 9. Why? How? Conclusions Different Perpectives Let’s go explore the Oceans XV/XVI century Let’s know the place where we live XXI century EPS Team European Project Semester Swimming Robot
- 10. Why? How? Conclusions Different Perpectives Let’s go explore the Oceans XV/XVI century Let’s know the place where we live XXI century Not an option, but a need EPS Team European Project Semester Swimming Robot
- 11. Why? How? Conclusions Robots “Robots are a kind of toy.”? EPS Team European Project Semester Swimming Robot
- 12. Why? How? Conclusions Robots “Robots are a kind of toy.”? Toys should be taken very seriously. EPS Team European Project Semester Swimming Robot
- 13. Why? How? Conclusions Robots “Robots are a kind of toy.”? Toys should be taken very seriously. Pedagogical value of toys? Time spent with toys? Hidden curriculum? EPS Team European Project Semester Swimming Robot
- 14. Why? How? Conclusions Robots “Robots are a kind of toy.”? Toys should be taken very seriously. Pedagogical value of toys? Time spent with toys? Hidden curriculum? They exist physically. EPS Team European Project Semester Swimming Robot
- 15. Why? How? Conclusions Robots “Robots are a kind of toy.”? Toys should be taken very seriously. Pedagogical value of toys? Time spent with toys? Hidden curriculum? They exist physically. They move! EPS Team European Project Semester Swimming Robot
- 16. Why? How? Conclusions Building Robots Physics, Mechanics, Design, Electricity/Electronics, Programming EPS Team European Project Semester Swimming Robot
- 17. Why? How? Conclusions Building Robots Physics, Mechanics, Design, Electricity/Electronics, Programming All with complex interactions. EPS Team European Project Semester Swimming Robot
- 18. Why? How? Conclusions Building Robots Physics, Mechanics, Design, Electricity/Electronics, Programming All with complex interactions. Cooperation between people from different areas and cultures: 1.1 Presentation We are an international team of four members, presented in detail in Table 1. We take part in the European Project Semester (EPS) 2013/2014 at Instituto Superior de Engenharia do Porto (ISEP) that started in the end of February 2014 and lasted for four months. During the EPS program we worked on the project “Biologically Inspired Swimming Robot” that will be presented in this report. Additional classes about Teambuilding, Project Management, and Communication as well as about Marketing, Sustainability and Ethics & Deontology serviced the progress of the main project. Table%1:%Presentation%of%Team%Members1% ALICIA%MORENO%ISHII% MAGDALENA%HEIBECK% MARCIN%BLAZEJEWSKI% RASMUS%GABRIEL% NYBJÖRK% Building Engineer Naval Architecture and Maritime Engineering Mechanical Engineering and Computer Science Electrical Engineering Spain Germany Poland Finland 1.2 Motivation EPS Team European Project Semester Swimming Robot
- 19. Why? How? Conclusions Biologically Inspired Not copy-paste from nature. EPS Team European Project Semester Swimming Robot
- 20. Why? How? Conclusions Biologically Inspired Not copy-paste from nature. Look into many different ideas. EPS Team European Project Semester Swimming Robot
- 21. Why? How? Conclusions Biologically Inspired Not copy-paste from nature. Look into many different ideas. To really look is hard work. EPS Team European Project Semester Swimming Robot
- 22. Why? How? Conclusions Biologically Inspired Not copy-paste from nature. Look into many different ideas. To really look is hard work. Then do a remix EPS Team European Project Semester Swimming Robot
- 23. Why? How? Conclusions Logo In a world where most consumers have a wide variety of potential business oose from to meet their needs, the initial interaction with a brand often is the mo fluential. To make our bran known, a good logo is essential. In the Figure 8 the “Br sh” logo is presented. Figure%8:%BroQFish%Logo% 3 Market Analysis Team Identity Motivation EPS Team European Project Semester Swimming Robot
- 24. Why? How? Conclusions The Real Thing for the robot: a long, agile tail with a fin at its end generates forward propulsion, a pair of pectoral fins located at the sides of the body can control the robot´s swimming depth and one at the bottom used for steering left/right. When turned perpendicular to fluid flow, the fins are also aimed to break the robot effectively. The developed architecture resembles a fish successfully and ensures steering with a command-response pattern that is easy to handle Figure%20:%Final%Architecture%of%the%swimming%Robot% The model in Figure 20 already contains conclusions of the discussion of individual components that is presented in the following Section 7.3. 7.3 Components This section details the components used for the realization of a prototype, which is based on the architecture introduced in the previous section. Electronics Propulsion EPS Team European Project Semester Swimming Robot
- 25. Why? How? Conclusions Electronics Arduino Uno Motor shield 3 Servos (lateral fins + bottom fin) Motor for tail Battery EPS Team European Project Semester Swimming Robot
- 26. Why? How? Conclusions Propulsion Motor + Irregular shaft (an innovative approach) Movement depends on: Motor speed Shaft shape Rotating shaft is bended, vertical slots in the segments provide enough space for the shaft to move freely, in horizont level tail segments move in accordanc to the shaft´s shapEPS Team European Project Semester Swimming Robot
- 27. Why? How? Conclusions Conclusions Too many constraints – good for creativity EPS Team European Project Semester Swimming Robot
- 28. Why? How? Conclusions Conclusions Too many constraints – good for creativity Students cooperated in the project, in a correct way EPS Team European Project Semester Swimming Robot
- 29. Why? How? Conclusions Conclusions Too many constraints – good for creativity Students cooperated in the project, in a correct way Waterproofing, Buoyancy, Power budget, Material choice, etc... –different knowledge areas were covered EPS Team European Project Semester Swimming Robot
- 30. Why? How? Conclusions Conclusions Too many constraints – good for creativity Students cooperated in the project, in a correct way Waterproofing, Buoyancy, Power budget, Material choice, etc... –different knowledge areas were covered A prototype was produced and tested EPS Team European Project Semester Swimming Robot
- 31. Why? How? Conclusions Conclusions Too many constraints – good for creativity Students cooperated in the project, in a correct way Waterproofing, Buoyancy, Power budget, Material choice, etc... –different knowledge areas were covered A prototype was produced and tested Sustainability was considered during all the phases of the project EPS Team European Project Semester Swimming Robot
- 32. Why? How? Conclusions Conclusions Too many constraints – good for creativity Students cooperated in the project, in a correct way Waterproofing, Buoyancy, Power budget, Material choice, etc... –different knowledge areas were covered A prototype was produced and tested Sustainability was considered during all the phases of the project EPS Team European Project Semester Swimming Robot
- 33. Why? How? Conclusions Thanks Many thanks! For the attention! And for the questions you will make! EPS Team European Project Semester Swimming Robot