AIRWiki - User contributions [en]

Zoidberg II, powering robot fish

2010-01-14T17:22:41Z

MarcoPerri: /* Videos of the robot in action */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===

Zoidberg II was initially thought to be the successor of Zoidberg I, the robot fish made by F. Milli, A. Nava, M. Mercurio. After studing several documents on smart materials, we decided to change the actuator from IPMC to Shape Memory Alloy and do a new robot fish, completely different Zoidberg I.

The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

{{#ev:youtube|LYQ8wcNxqik}}
*[http://www.youtube.com/watch?v=LYQ8wcNxqik External link]

Zoidberg II, powering robot fish

2010-01-14T17:19:34Z

MarcoPerri: /* Videos of the robot in action */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===

Zoidberg II was initially thought to be the successor of Zoidberg I, the robot fish made by F. Milli, A. Nava, M. Mercurio. After studing several documents on smart materials, we decided to change the actuator from IPMC to Shape Memory Alloy and do a new robot fish, completely different Zoidberg I.

The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

{{#ev:youtube|_LYQ8wcNxqik}}
*[http://www.youtube.com/watch?v=LYQ8wcNxqik External link]

Zoidberg II, powering robot fish

2010-01-14T17:17:14Z

MarcoPerri: /* Videos of the robot in action */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===

Zoidberg II was initially thought to be the successor of Zoidberg I, the robot fish made by F. Milli, A. Nava, M. Mercurio. After studing several documents on smart materials, we decided to change the actuator from IPMC to Shape Memory Alloy and do a new robot fish, completely different Zoidberg I.

The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====
{{#ev:youtube|_LYQ8wcNxqik}}
*[http://www.youtube.com/watch?v=LYQ8wcNxqik External link]

Zoidberg II, powering robot fish

2009-10-28T16:53:13Z

MarcoPerri: /* State of the art */

Zoidberg II, powering robot fish

2009-10-28T16:52:41Z

MarcoPerri: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===

Zoidberg II was initially thought to be the successor of Zoidberg I, the robot fish made by F. Milli, A. Nava, Merurio. After studing several documents on smart materials, we decided to change the actuator from IPMC to Shape Memory Alloy and do a new robot fish, completely different Zoidberg I.

The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:48:56Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===

The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

File:Actuator Board.png

2009-10-28T16:48:34Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T16:48:20Z

MarcoPerri: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===

The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:45:45Z

MarcoPerri: /* Videos of the actuator tests */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:45:25Z

MarcoPerri: /* Videos of the actuator tests */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:44:45Z

MarcoPerri: /* Videos of the actuator tests */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

[[Media:Dritto.mov]]

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:43:23Z

MarcoPerri: /* Final design */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:43:15Z

MarcoPerri: /* Tests and results */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:43:00Z

MarcoPerri: /* Videos of the robot in action */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

Zoidberg II, powering robot fish

2009-10-28T16:42:44Z

MarcoPerri: /* Videos of the actuator tests */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. It's the first prototype, handly realized in wood.
In the videos we can see the two principal movements of the robot: in the first we have straight swimming and in the latter we have turning move.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T16:37:27Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

We have several boards: the main board control every functionality of the fish and contains a microcontroller unit (PIC18F4431), un Inertial Measurement Unit (ADIS16360), a thermometer sensor for internal temperature (ADT7301), a circuit to detect battery status and all connectors to the other boards.

The pressure board include an SCP-1000 SPI sensor to check pressure informations and external temperature.
In the proximity board there are the Sharp GD2P120 Ultrared sensor to control the distance between robot and obstacles and four photoresistor to detect the position of light coming externally.
Final board is the actuator board used to control fin movements and check fin's current. This value is send to microcontroller which decides autonomously if this current should be increased or decreased.

Below are shown all the schematics and first test circuit, based on a 555 chip.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T16:23:15Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Power Board.png

2009-10-28T16:22:44Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T16:22:29Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Power_Board.png]]
[[Image:Pressure_Board.png]]
[[Image:Proximity_Board.png]]
[[Image:Actuator_Board.png]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Basetta Astabile.jpg

2009-10-28T16:22:02Z

MarcoPerri:

File:Proximity Board.png

2009-10-28T16:21:42Z

MarcoPerri:

File:Pressure Board.png

2009-10-28T16:21:12Z

MarcoPerri:

File:Main Board.png

2009-10-28T16:20:38Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T16:20:28Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Main_Board.png|Main Board
Image:Power_Board.png|Power Board
Image:Pressure_Board.png|Pressure Board
Image:Proximity_Board.png|Proximity Board
Image:Actuator_Board.png|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Main_Board.png]]
[[Image:Power_Board.png]]
[[Image:Pressure_Board.png]]
[[Image:Proximity_Board.png]]
[[Image:Actuator_Board.png]]
[[Image:Basetta_Astabile.jpg]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T16:18:33Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Main_Board.jpg|Main Board
Image:Power_Board.jpg|Power Board
Image:Pressure_Board.jpg|Pressure Board
Image:Proximity_Board.jpg|Proximity Board
Image:Actuator_Board.jpg|Actuator Board
Image:Basetta_Astabile.jpg|Test circuit
</gallery>

[[Image:Main_Board.jpg]]
[[Image:Power_Board.jpg]]
[[Image:Pressure_Board.jpg]]
[[Image:Proximity_Board.jpg]]
[[Image:Actuator_Board.jpg]]
[[Image:Basetta_Astabile.jpg]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T16:16:41Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>
[[Image:Main_Board.jpg]]
[[Image:Power_Board.jpg]]
[[Image:Pressure_Board.jpg]]
[[Image:Proximity_Board.jpg]]
[[Image:Actuator_Board.jpg]]
[[Image:Basetta_Astabile.jpg]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T16:12:26Z

MarcoPerri: /* Electronics */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>
[[Image:Main_Board.jpg]]
[[Image:Power_Board.jpg]]

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T16:06:45Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|Thermoshaping machine
Image:Fresa.jpg|Milling cutter
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Fresa.jpg

2009-10-28T16:01:05Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T16:00:55Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|CATIA model
Image:Fresa.jpg|CATIA model
</gallery>
[[Image:Fresa.jpg]]

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Termoformante.jpg

2009-10-28T16:00:18Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T16:00:06Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|CATIA model
</gallery>
[[Image:Termoformante.jpg]]

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:59:36Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

In next images there are tools and machinery that we used to realize the structure of the robot fish.

<gallery>
Image:Termoformante.jpg|CATIA model
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:55:16Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first image below represents the model designed with CATIA software; it's shown inside the position and the shape of every component used. In the second there is the prototype realized with the high density polyurethane; it represents the left and the right part of the robot fish disposed on horizontal plane. In the last image we can see the external skin in plastic, made with the thermoshaping technic.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Prototype in polyurethane
Image:Modello_Plastica.jpg|External skin in plastic
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Modello Plastica.jpg

2009-10-28T15:42:17Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T15:42:03Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>
[[Image:Modello_Plastica.jpg]]

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:41:40Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Modello Poliuretano.jpg

2009-10-28T15:41:18Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T15:41:05Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|CATIA model
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>
[[Image:Modello_Poliuretano.jpg]]

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:39:55Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|First test body shape
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Forma CATIA.jpg

2009-10-28T15:39:19Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T15:38:57Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|First test body shape
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>
[[Image:Forma_CATIA.jpg]]

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:38:40Z

MarcoPerri: /* State of the art */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|First test body shape
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:36:10Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|First test body shape
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

File:Forma CATIA.JPG

2009-10-28T15:35:23Z

MarcoPerri:

Zoidberg II, powering robot fish

2009-10-28T15:33:57Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|First test body shape

Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:33:02Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

[[Image:Forma_CATIA.jpg|First test body shape]]
<gallery>
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:32:39Z

MarcoPerri: /* Part 2: project description */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
[[Image:Forma_CATIA.jpg|First test body shape]]
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:31:35Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Image:Forma_CATIA.jpg|First test body shape
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]

Zoidberg II, powering robot fish

2009-10-28T15:31:13Z

MarcoPerri: /* Mechanical structure */

== '''Part 1: project profile''' ==

=== Project name ===
Zoidberg II, powering robot fish

=== Project short description ===
This project is aimed at designing, constructing and improving autonomous robot fish, starting from the ZOIDBERG project. It will be able to swim deeply in the water, to communicate and to orient in a free space thanks to several sensors mounted on-board.

=== Dates ===
Start date: 2008/11/01

End date: 2009/12/23

=== People involved ===

===== Project head(s) =====
Prof. Gini Giuseppina - [[User:GiuseppinaGini]]

===== Other Politecnico di Milano people =====
Ing. Paolo Belluco - [[User:PaoloBelluco]]

===== Students currently working on the project =====
Andrea Parolina - [[User:AndreaParolina]]

Dario Simontacchi - [[User:DarioSimontacchi]]

Marco Perri - [[User:MarcoPerri]]

===== Students who worked on the project in the past =====
Francesco Milli - [[User:FrancescoMilli]]

Maurizio Mercurio - [[User:MaurizioMercurio]]

Alessandro Nava - [[User:AlessandroNava]]

=== Laboratory work and risk analysis ===
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:

Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
Use of soldering iron. Standard safety measures described in Safety norms will be followed.
Use of high-voltage circuits. Special gloves and a current limiter will be used.
Robot testing. Standard safety measures described in Safety norms will be followed.

== '''Part 2: project description''' ==
The project is composed by:

* State of the art;
* Preliminary studies and sketches;
* Design notes and guidelines;
* Description and results of experiments;

=== State of the art ===
The work that mostly influenced the design of our robot is a lower-scale automaton realized by Z. Wang, G. Hang, J. Li, Y. Wang and K. Xiao, which is actuated with the same type of SMA that we used.

It is discussed in:
[[media:Pesce SMA.pdf | A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin]]

=== Preliminary part design ===

==== Mechanical structure ====
The design of the body has evolved into the current shape through many development steps, in response to the varying specifications of the on-board electronics, to changes in the manufacturing process of the hull, and for a better approach to the hydrostatic balance problem.

The first two images below represents the early proposed mostly flat design, and a step of the manufacturing of a "master" hull component in a modeling clay. The third image shows a simple prototype made of polyurethane foam, tethered to the tank for power supply. It can be noted the original configuration of the tail components, which were mounted in a horizontal fin arrangement with two parallel actuators.

<gallery>
Media:Forma_CATIA.jpg|First test body shape
Image:Modello_Poliuretano.jpg|Developed test body
Image:Modello_Plastica.jpg|Propulsion test
</gallery>

==== Electronics ====

The first version of the on-board electronics was a two-boards arrangement. Due to problems and delays with the company responsible of the manufacturing of said boards, there are no working exemplars of this solution. In the meantime the circuit has been redesigned and simplified to fit a single board, and we put together a very simple intermittent circuit to carry the first autonomous tests (without the robot being tethered to the tank).

Below are shown, in order: the original schematics of the two boards, the schematic of the oscillator used for the first tests, based on a 555 chip, and the intermittent circuit assembled on a prototype board.

<gallery>
Image:Schema_1.png|First board schematic
Image:Schema_2.png|Second board schematic
Image:BasicOscillator.svg|Test circuit (simplified) schematic
Image:Test_circuit.jpg|Test circuit
</gallery>

==== Videos of the actuator tests ====

Here are some clips, filmed during the first experiments trying to have a working actuator. The polymer and the electrodes are held in place by rough adhesive, and the power is supplied by an external generator. we are manually changing the polarity of the current going through the actuator.

{{#ev:youtube|kDF3zGa5b-c}}
*[http://it.youtube.com/watch?v=kDF3zGa5b-c External link]

{{#ev:youtube|xNAmuwDQzKU}}
*[http://it.youtube.com/watch?v=xNAmuwDQzKU External link]

=== Final design ===
(todo)
<gallery>
Image:FishBoard.svg|Final review board schematic
Image:Zoidberg_interno.jpg|The hull open, exposing the wiring
Image:Zoidberg_incapsulamento.jpg|Internal arrangement of the structure
</gallery>
<gallery>
Image:PesceUpWeb.png|Complete robot, top view
Image:PesceSideWeb.png|Complete robot, side view
</gallery>

=== Tests and results ===
(todo)

==== Videos of the robot in action ====

{{#ev:youtube|_L9oLe1OXiU}}
*[http://it.youtube.com/watch?v=_L9oLe1OXiU External link]

{{#ev:youtube|ptSdlPzTORw}}
*[http://it.youtube.com/watch?v=ptSdlPzTORw External link]