2. M & M EE 296 Final Presentation Spring 2004

3. Presentation Overview Team Member Introduction Project Overview Overall Design Description Final Project Status Problems and Solutions Outstanding Problems

4. Alex Gomera Sophomore: electrophysics?!?! Favorite EE Teacher: F. Koide I hope to be like that man 

5. David Larson Systems Track Least Favorite Prof.: Prof.Siu

6. Paul Ramirez Lower Track: Computer Systems Favorite Teacher: Prof. Dobry Quote: EE rules! Arnold & Me Me

7. Project Overview Build a fully autonomous robot Mouse Abilities: Navigate and solve an arbitrary 16x16 maze in 10 minutes Find the center of the maze in the shortest path or shortest amount of time Programmed algorithms to: Record mouse movement in maze Find shortest path and avoid traps

8. Overall Design Description Initial Goals Hardware Chassis / Motors Batteries Perf Board Layout Sensor Layout Software

9. Initial Goals A working, cost-efficient micromouse Well designed both internally and externally Gain knowledge from current teams and advisor Right turn / left turn mouse Robust code for tracking Strong chassis to hold circuits together Heat sinks to prevent overheating

10. Hardware 7.5x11.5cm Chassis 2 sheets of Aluminum connecting the 2 motors at the center 9. 6V unipolar stepping motors 8 AA Energizer brand rechargeable niMh batteries

11. Hardware 3 perf boards 2 boards for the left and right sensors 3 rd board for the driver circuit and power

12. Hardware 16 top down IR sensors (pic) Placed in front of mouse Picture of LEDs (label tracking, stopping, turning) 6 in the front for tracking and correction 6 in back for tracking and correction 2 outer middle for left / right turns

13. Board 1: Sensor Circuit 12 Tracking sensors 2 Left/right turn sensors 2 Braking sensors

14. Board 2: Power Voltage regulators Switch Vcc I/O

15. Board 3: Driver Circuit “M” logo 8 Mosfets Leds

16. Final Project Status Hardware development complete Rabbit processor issues that prevent the micromouse from running Software development Planned to implement driver circuit tests and sensor tests for tracking Implementation and troubleshooting of tracking code

17. Problems and Solutions Time conflicts Time spent on project Malfunction of rabbit and driver circuit Use of DMM to check for any short circuits, correct power flow into elements Visually check and inspect for loose connections Solder and resolder if necessary Visually check if circuits, sensors, processor are properly connected Sensor layout Sensors were soldered too close together Found replacement sensors and salvaged the rest

18. Problems and Solutions Faulty motor Right motor demagnitized Found a replacement motor Driver circuit not working Certain elements were not grounded Software Sending 0 as outputs instead of 1s “Processor not detected” error message

19. Problems and Solutions Downtime while waiting for shipping Hardware not locally available Processor Mosfets

20. Experience Gained Reading and building from circuit schematics Dynamic C language Critical thinking and logic skills by algorithm development Soldering and resoldering circuits

21. Experience Gained Team development and communication skills Understanding processor functions and capabilities Understanding how hardware and software are interconnected Use of innovation in design process Understanding behavior of circuit elements

22. 20 20 Hindsight Delegate specific responsibilities to each team member Ensure all members know proper methods for connecting processor and other circuit elements before initial test runs Order extra components before a fault occurs Begin design process earlier

23. Summary Overall 296 project experience Challenging, time consuming, yet fun Developed skills in software and hardware development Small step towards being future successful electrical engineers

24. Many thanks for all your help! Puanani (Advising) PACK Rat Hawaiian Punch Asphalt Lost Café (Sensors) Rabbit Support Prof. Tep Dobry (Advising)

25. Questions?