Research Project
Eel Larvae Breeding System
Project Duration
2020
Role and Contribution
Lead Hardware & Software Developer (Full Contribution)
Technologies and Skills Applied
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Embedded Hardware Design (OrCAD: Schematic Design, PCB Layout)
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Embedded Software Development (STM32: C with RTOS)
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UI Design and Development on Linux (Qt, QML)
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Mechanical Design (CAD)
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Control Algorithms
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Hardware Integration and Electrical Installation
Introduction
Supported by the National Institute of Fisheries Science of Korea, I developed an Eel Larvae Breeding System to successfully rear eels from the larval stage to adulthood—a feat previously considered impossible in aquaculture.
Goal of the Project
I developed the central control unit for the robotic manipulator, which dispenses feed to the larvae and cleans contaminants from the tank using water jets. To achieve this, I designed a custom PCB capable of not only driving the manipulator’s servo motors but also regulating fluid flow (water and feed) via internal valves and peristaltic pumps.
To ensure stable operation in harsh industrial environments, the PCB was designed with full galvanic isolation (using optocouplers and isolators) for all power and signal lines.
Implementation
To control the servo actuators, an STM32 microcontroller running a Real-Time Operating System (RTOS) was employed on the control board. The system utilises a serial interface to transmit commands to the motors. Crucially, both the serial interface and motor power are galvanically isolated to protect against external noise and Electrostatic Discharge (ESD).
Since the robotic arm must supply both fresh water for cleaning and feed for the larvae, the system integrates two distinct fluid lines. Internal peristaltic pumps deliver the precise volume of fluid required, while solenoid valves direct the flow. To prevent spoilage, a Peltier-based refrigeration unit is integrated directly into the hardware to keep the feed fresh.
The entire system is operated via an external Graphical User Interface (GUI) based on Qt (C++). The underlying software architecture is built on a robust state machine diagram to ensure fail-safe operation.
State Machine Diagram for the Eel Larvae Breeding System Control GUI (Nov 2020)
Conceptual Schematic Design for the System (Jul 2020)
Developed PCB for the Breeding System (Aug 2020)
Galvanic Isolation for Industrial Environment (Jul 2020)
Developed Enclosure and Internal Wiring/Fluid Piping of the Control Unit (with Feed Refrigerator Window) (Nov 2020)
