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Project Micromouse: Minitaur

Project Micromouse: Minitaur. Team Excelsior. MEET THE TEAM!. Fall 2013 Team Lead. Devon Griggs. Computer Science. Electrical Engineer. Emilia Holbik . Devin Helmgren. Janel Raab. Computer Science. Electrical Engineer. Secondary Adviser: Tammy VanDeGrift, PhD.

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Project Micromouse: Minitaur

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  1. Project Micromouse: Minitaur Team Excelsior

  2. MEET THE TEAM! Fall 2013 Team Lead Devon Griggs Computer Science Electrical Engineer Emilia Holbik Devin Helmgren Janel Raab Computer Science Electrical Engineer

  3. SecondaryAdviser: Tammy VanDeGrift, PhD Primary Adviser: Wayne Lu, PhD • Client: Wayne Lu, PhD and University of Portland IEEE Chapter Industrial Adviser: Leon Clark, Urban Robotics

  4. Fort Worth, TX ~ March 17, 2014 National and International Competition: autonomous and self-reliant robotic PURPOSE: Create a qualifying Micromouse robot for the Region 6 Micromouse Competition To provide the foundation for future optimization IEEE APEC Conference: Micromouse Competition

  5. The Competition! • The micromouse can make it way back to the start of the maze autonomously • In between runs the micromouse must wait a minimum of 1s. • The square the micromouse starts at will always have 3 walls • The micromouse shall not be fed the maze information The maze is 16x16 multiples of an 18cm x 18 cm unit square The mircomouse must fit in a 25cm x 25cm square region The micromouse has a time limit of 7 minutes on the maze, in which it may make up to 7 runs If the micromouse is “touched” points will be lost

  6. Block Diagram of Minitaur

  7. Motor System Block Diagram

  8. Optical Sensors Block Diagram

  9. Parts Ordered!! Microcontroller: PIC18F452 Motor Driver: TA8080K IR Sensors: Sharp GP2D120 (Short – 3) Sharp GP2Y0A02YK(Long – 1) Motor: 100:1 Micro Metal Gearmotor Encoder: Optical Encoder Wheels: Solarbotics RW2i Wheel Maze: small plywood test maze

  10. The Biggest Concerns So Far… Problem: Incompatible Parts Solution: Minitaur will be constructed so that it can use various types of parts as needed. Also a prototype will be constructed first, to ensure the parts are compatible Problem: Software does not fit in limited capacity of the device Solution: Use a bigger memory capacity microcontroller or a different microcontroller Problem: Improper tracking and sensor reading Solution: Intensive testing, small scale and large scale to ensure that the sensors are working correctly

  11. Milestones to Fall Semester Final Budget Request from Shiley School (10/1/13) Functional Specification Final v1.0 (10/4/13) Minitaur turns on (10/20/13) Autonomous Algorithm Decided (10/27/13) Minitaur can sense a wall (10/30/13) Minitaur drives straight (11/3/13) Maze Traversal Algorithm Implemented (11/10/13) Design Document Final v1.0 (11/15/13) Minitaur turns left and right (11/17/13) Maze information can be stored (11/24/13) Maze Traversal optimized (12/8/13) Send PCB Layout to be Fabricated (12/8/13)

  12. Milestones to Fall Semester Minitaur Traverses Back to Start (1/19/14) Minitaur Traverses Fastest Route (1/26/14) First Full System Test, Debrief, Bug Fixing (2/2/14) Full System Test 2, Debrief, Bug Fixing (2/16/14) Full System Test 3, Debrief, Bug Fixing (3/2/14) Full System Test 4, Debrief, Bug Fixing (3/9/14) APEC IEEE Micromouse Competition (3/17/14) Final Report v1.0 (4/4/14) Founder’s Day Presentation (4/8/14)

  13. Conclusion

  14. QUESTIONS???

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