Project Micromouse: Minitaur
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Transcript of Project Micromouse: Minitaur
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Project Micromouse: Minitaur
Team Excelsior
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MEET THE TEAM!
Emilia Holbik
Janel RaabDevin Helmgren
Devon GriggsFall 2013 Team Lead
Electrical Engineer
Electrical EngineerComputer Science
Computer Science
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Primary Adviser: Wayne Lu, PhD
Secondary Adviser: Tammy VanDeGrift, PhD
Client: Wayne Lu, PhD and University of Portland IEEE Chapter
Industrial Adviser: Leon Clark, Urban Robotics
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IEEE APEC Conference: Micromouse Competition
Fort Worth, TX ~ March 17, 2014National 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
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The Competition!• 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
• 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
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Block Diagram of Minitaur
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Motor System Block Diagram
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Optical Sensors Block Diagram
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Parts Ordered!!Microcontroller: PIC18F452
Motor Driver: TA8080KIR Sensors: Sharp GP2D120 (Short – 3)
Sharp GP2Y0A02YK(Long – 1)Motor: 100:1 Micro Metal Gearmotor
Encoder: Optical EncoderWheels: Solarbotics RW2i Wheel
Maze: small plywood test maze
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The Biggest Concerns So Far…
Problem: Incompatible PartsSolution: 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 deviceSolution: Use a bigger memory capacity microcontroller or a
different microcontroller
Problem: Improper tracking and sensor readingSolution: Intensive testing, small scale and large scale to
ensure that the sensors are working correctly
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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)
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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)
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Conclusion
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QUESTIONS???