MicroMouse

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MicroMouse
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Abstract

• The micro mouse project is a robot that is
  programmed to solve a maze that consists of 16 x
  16 unit squares with each unit square being 18 cm
  x 18 cm. The robotic mouse cannot be larger
  either in length or in width, than 25
  centimeters, but there are no restrictions on the
  height. The mouse is made up of a
  micro-processor, sensors, stepper motor, chassis,
  and batteries. The Basic Stamp processor is
  programmed with PBasic language. The sensors
  detect at both short and long distances. A pair
  of short range sensors will help correct the
  direction of the mouse, while another pair of
  long range sensor will help the mouse turn at the
  right time. The Basic Stamp program will be
  written to help the mouse navigate through the
  maze. Also, the program will determine if the
  mouse should stop, go forward or backward, or
  turn left or right. This will be based on the
  data that are sent from the sensors to the
  processor.

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Competition

• Sponsored by IEEE
• Worldwide competitions
• Regional Competitions
• CSUF located in region 6
• UCLA-March 2003
• 16 x 16 block maze
• Self contained robot
• 18 cm2 block size
• 500 limit

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Parts Lists
Quantity Description Price () Total Bought from (part )
1 Basic stamp 2 49.00 49.00 Parallax (BS2-IC)
1 Board of Education 65.00 65.00 Parallax (28150)
2 Servo Motors 12.00 24.00 Parallax (900-00005)
3 Sharp IR sensors-short range(GP2D120) 10.50 31.50 Hobby engineering (1060)
2 Sharp IR sensors Long range GP2D12 10.50 21.00 Hobby engineering (1061)
5 JST 3-pin connectors 2.00 10.00 Hobby engineering (1182)
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Parts Lists
2 Analog to Digital converter (ADC0831) 8.00 16.00 Parallax (ADC0831)
4 2.75 Girder .75 3.00 Hobby engineering (1439)
4 2.7 Frame (2 tab) 2.00 8.00 Hobby engineering (1451)
4 1.15 Frame (1 tab) 1.00 4.00 Hobby engineering (1444)
2 1.5 X .9 U-Bar 1.00 2.00 Hobby engineering (1448)
25 Nuts and Bolts Free N/A Ask Jimmy
Not including shipping costs and local taxes
Total 233.50
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System Diagram
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Over Flow Algorithm

• Overflow algorithm
• Assign cells with values
• Represents a certain distance to the center of
  the maze

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Over Flow Algorithm

• Flow chart inserted here

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Backup Program

• Memory limitation to 32 bytes of variable space
• Optimization or/and room for improvement
• 2k of EEPROM

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Proximity

• Forward errors begins when a mouse is either too
  close or too far from the wall ahead
• Offset errors, which happens often, is caused by
  being too far to the left or to the right as you
  pass through a cell
• Heading error is known as pointing at walls
  rather than down the middle of the cell

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Forward Error
Offset Error
Heading Error
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Proximity

• Flow Chart

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Sensors

• Sensors
• GP2D120
• Range 4-15 cm
• Initial use of potentiometer, then A2D interface

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Analog to Digital Converter

• ADC0831
• 8 bit, 5 volt, with I/O Control
• Low Chip Select to initiate clock pulse
• Reads output from most significant to least
  significant
• High chip select to stop
• Done through PBasic program

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Stepper Motors

• Non-linear characteristics
• Internal drivers controlled through basic stamp
• 3 pin out ground, high, pulse
• Example, 1.4 kHz is the command frequency for
  PBasic program input for stop command, i.e. 750

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Integrated Schematic with A2D sensor and
microcontroller
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Problems and Solutions

• Analog sensors and reverse logic
• Adjustment of straight path and turns
• PBasic programming logic
• Inadequate programming language
• If statements
• Battery life
• Distance motor reaction change
• Characteristics change

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Conclusion

• Team project
• ABET Requirements
• Interdisciplinary project
• ECS exposure
• Artificial Intelligence
• Valuable learning experiences

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• Thank you!

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Questions?