sample_proposal2_11-12.pdf

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2011

Minji Kim, IEEE UCSD President

Team Leads: Li Pi, Aurel Gunterus, Anton

Valencia, Jeffrey Wurzbach, Matias Altm

Shant Bayanduryan

2/10/2011

Micromouse

Matching Funds Proposal


2/9

OverviewMicromouse is an annual competition, held at the IEEE Region 6 spring meeting, in which an autonomous robot

must find its way to the center of a maze. This project requires a variety of skills including mechanical design,

circuit design, microcontroller programming, PCB layout, PCB assembly, and maze algorithms. The UCSD

Micromouse project was founded in fall 2006, and this will be our fifth consecutive year participating in the

competition. We have placed first in competition twice and second twice in the last four competitions we have

participated in. This year is the first year we have multiple sub teams taking independent design approaches.

The goal of this change is team structure is to increase the number opportunities for students to participate in

design activities. Additionally, we are starting California Micromouse Competition (CAMM), our own

Micromouse competition, to foster a wider field of competitors for our teams.

Student BenefitsStudents working on Micromouse have to apply knowledge acquired inside the classroom and learn a number of

skills not taught at UCSD. This project requires a number of skills including:

Circuit designPCB layout

Electronics assembly

Mechanical design

Mechanical fabrication and assembly

Embedded programming

Students assemble the PCBs.

TJ and Jeff cut hundreds of metal pegs for the maze.

A SolidWorks rendering of an initial chassis design.The electronics package, featuring a 55Mhz ARM

processor and 4-output switching power supply, custom

designed by Alex Forencich.


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The CompetitionThe mice are completely autonomous robots that

must find their way from a predetermined starting

position to the central area of the maze. The mouse

needs to keep track of where it is, discover walls as

it explores, map out the maze and detect when it

has reached the goal. Having reached the goal, the

mouse will typically perform additional searches of

the maze until it has found an optimal route from

the start to the center. Once the optimal route has

been found, the mouse will run that route in the

shortest possible time. Mice can run at up to three

meters per second, with current world records

around 6~7 seconds.

The first competition we are attending this year is being held at the IEEE Region 6 Southwest Area Meeting. The

SWA meeting will be held at the University of Nevada, Las Vegas on April 10, 2011. The meeting is held at adifferent university in the southwest area every year. Two years ago, we built a to-spec maze and hosted the

competition. This year we are starting our own supplementary competition, California Micromouse Competition

(CAMM), open any collegiate team. CAMM will be held at UCSD on May 22, 2011.

The SWA rules are available at:http://ieee.ucsd.edu/projects/micromouse/rules.php

The CAMM rules are available at:http://ieee.ucsd.edu/micromouse/rules.php

History

In 2006, Chris Aprea built the first UCSD Micromouse. He used

an OOPic processor board, Sharp distance sensors, and two

stepper motors. The processor did not have enough resources

to perform the calculations necessary to actually solve the

maze. The distance sensors failed shortly before the

competition causing the robot to spin around in circles.

In light of the failures of the first robot, a redesign was

necessary. Alex Forencich joined the team after the 2007

competition and designed a custom ARM processor board

replacing the underpowered OOPic board and shoddy motordrivers. The new robot performed much better, but still had several major problems. The mechanical frame of

the robot allowed the robot to get stuck in the maze after only traveling a short distance. The design was

difficult to debug due to the lack of useful debugging interfaces and the single-board construction. The robot

was completely redesigned for 2009 and it was largely successful at eliminating the problems of the past

designs. It demonstrated the ability to travel at least twice as far in the maze as the previous design, but it did

have one major flaw, the clearances between its frame and the maze wall left little to no room for error in the

control system of the robot. A smaller base was installed for the 2010 competition and the software was
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rewritten. The 2010 revision nearly solved the maze at the region 6 Southwest Area Meeting, but still won the

competition, and successfully solved the maze at an informal competition held at UCLA, earning a second place

finish. In 2009 we also built a full size, to-spec maze for practice and competition.

Team Rosters

Name RoleTeam 1

Li Pi Lead

Nathaniel Delos Santos Software

Team 2

Matias Altman Lead

Ryan Gibbs Software

Steven Shaginyan Software

Team 3

Anton Valencia Lead

Alexey Voronin SoftwareCody Murray Software

Andrei Granada Hardware

Alexander Ming Hom Hardware

Team 4

Shant Bayanduryan Lead

Team 5

Aurel Gunterus Lead

Stephen Hamann Software

Bhaskara Rao Rupakula Hardware

Team 6

Jeff Wurzbach Lead/Hardware

Andrew Kubal Software

Peter Hetzel Software/Hardware

Kyle Johnson Software

Progress So Far

Team 1 (Li Pi)

o Using existing hardware (fully functional and proven 2009/2010 design), to focus on softwaredevelopment

o Replaced damaged batteries

o Robot is driving straight

o Plans to add some additional sensors

Team 2 (Matias Altman)

o Bought 3pi robot platform off-the-shelf

o Using atmega328 MCU


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o Custom sensor system designed, tested and fitted to the 3pi chassis

o Robot drives straight

Team 3 (Anton Valencia)

o Robot frame built

o Schematics completed

o Pref boards made of custom circuitry

o Using LPC2148Team 4 (Shant Bayanduryan)

o Robot frame built

o Using an OMAP3350 Hybrid ARM/DSP processor.

o Sensor system based on computer vision system

o Sensor hardware assembled

o Writing code to process vision system data

Team 5 (Aurel Gunterus)

o Robot frame built

o Using atmega328

o Schematics completed

o Writing motor control system

Team 6 (Jeff Wurzbach)

o Rapid prototype of robot frame built.

o Robot drives, but crashes into walls, using atmega328 based system

o Plans to layout custom circuit PCBs, changing to the LPC2148, and implement a custom sensor

design.

Work to be done

Team 1 (Li Pi)

o Implement expansion interface for additional sensors

o Create schematic for added sensor systems

o Rework Maze solver code

o Optimize control algorithm so that it allows faster movement

Team 2 (Matias Altman)

o Implement turning algorithm

o Layout and fab custom PCB for sensors

o Implement maze mapping algorithm

o Implement maze solving algorithm

o Test and optimize robot

Team 3 (Anton Valencia)

o Implement turning algorithm

o Implement maze mapping algorithm

o Implement maze solving algorithm

o Optimize control parameters

Team 4 (Shant Bayanduryan)

o Create motor control algorithm


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o Create turning algorithm

o Create maze mapping algorithm

o Create maze solving algorithm

o Optimize control system and vision system

Team 5 (Aurel Gunterus)

o Create memory management scheme

o Complete motor control systemo Implement turning algorithm

o Create maze mapping algorithm

o Create maze solving algorithm

o Test and optimize integrated system

Team 6 (Jeff Wurzbach)

o Create schematic and layout for custom PCB

o Port code from atmega328 to LPC2148

o Complete custom sensor design/testing

o Write turning method

o Implement maze mapping method

o Implement maze solver


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Budget and Fundraising EffortsThe total budget for Micromouse and California Micromouse Competitoin (CAMM) this year is $7,030. Our

Micromouse teams compose $3,030 of the total budget. CAMM accounts for $4,000 of the budget. Qualcomm

made a cash donation of $4,000 to Micromouse this year. We are requesting the Jacobs School to match

$3,028.44 ofQualcomms donation.

Item Description/Justification Amount

Parts

Team 1

PCB Fabrication Fabricate PCB for additional Sensors $125.00

Custom IR reflectance sensor assembly Fills in range gap left by current sensors on robot $85.00

3S1P - 11.1V Li-Po Battery Replace worn out batteries $125.00

Arduino Pro Mini Interface new sensors to current CPU $19.00

Sharp GP2Y0D810Z0F w/ carrier board Sensor to improve relibilty of maze mapping routine $42.00

Misc Electronic parts Cables, connectors, screws, standoffs, etc $50.00

2" Wheels with hard rubber tread Replacement wheels to improve traction on Maze $55.00

Subtotal $501.00

Team 2

3pi Robot Central kit to the micromouse robot $109.43

Various Parts Components to prototype the sensor board $36.69

PCB FabricationFabricate the sensorboard that takes lateral inputfrom the side $110.00

Breadboard Used in sensorboard prototyping $56.00

Tools Necessary for final assembly of the sensor board $120.00

Various Parts Necessary for final assembly of the sensor board $60.00

LCD screen necessary for debugging $20.00Subtotal $512.12

Team 3

Header Board LPC2148 Microcontroller Unit $81.90Sharp GP2D120XJ00F Analog DistanceSensor To determine the distance from the maze walls. $77.94

10:1 Micrometal Gearmotor HP For movement $63.80

Pololu 5" Robot Chassis RRC04A Chassis to build bot on $7.95

TB6612FNG Dual Motor Driver Carrier Motor Driver to control motor direction and speed $25.35

Pololu 42x19mm Wheel and Encoder Set Wheels and encoders to tell distance travelled $79.90

Pololu Robot Chassis RRC01A Chassis to build bot on $17.85

Ball Caster with 3/8 Metal Ball Balancing the bot $11.96Rechargeable NiMH Battery Pack, 8.4V Powering the bot $34.35

Voltage Regulator 3.3V Adjust power supply $5.85

Voltage Regulator 5V Adjust power supply $3.75

Connectors and Electrical ComponentsMiscellaneous components such as connectors andwires, also including costs for replacement parts. $60.00

Shipping Fees $35.96

Subtotal $506.56

Team 4


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Beagleboard xm

System on module (SOM) for DSP, realtime

computer vision. Connects to camera and motor

controller $179.00

TReX Jr Dual Motor Controller DMC02 For controlling the motors, interfacing to SOM $59.95

19:1 Metal Gearmotor /w encoder

To turn the wheels, provide information about

speed and direction $80.00

Wheels + mounting hubs

Wheels and the necessary hubs to mount them to

the motors $30.00

Xbox 360 Live Vision Camera Provide vision to the robot $20.00

Batteries

2 separate battery packs for powering the motors

and the SOM $40.00

D15V35F5S3 voltage regulator

Step down voltage regulator to power SOM and

motor controller $15.00

Chassis manufacturing Custom laser cut chassis $50.00

Components, connectors, hardware cables, connectors, screws, standoffs $30.00

Subtotal $503.95

Team 5

IR distance & proximity sensor Sensor for detecting distance and walls used for

heading correction $70.00

Stepper motors and connectors to drive the mouse $46.85

Arduino Uno microcontroller to control mouse $30.00

Battery and Charger to power up the mouse $76.93

Motor driver L293D backup to drive the stepper motor $17.87

Wheels regular and caster wheels $43.89

Easy Driver An easier to use driver for the motors $59.80

Electronic parts Misc parts, resistors, caps, voltage regulators, etc $60.00

Copper Plate For PCB prototype $15.00

PCB Fabrication PCB layout and fabrication $80.00

Subtotal $500.34Team 6

Header Board LPC2148 Microcontroller Unit $81.90

Sharp GP2D120XJ00F Analog Distance

Sensor To determine the distance from the maze walls. $51.96

30:1 Micrometal Gearmotor HP For movement $31.90

Custom PCB PCB fab $155.00

Pololu 42x19mm Wheel and Encoder Set Wheels and encoders to tell distance travelled $39.95

Ball Caster with 3/8 Metal Ball Balancing the bot $5.98

Rechargeable LiPo Battery Pack, 7.4V,

850mA-h Energy Storage $14.00

Motor driver chip (TB6612FNG) on carriermodule control the motor $16.90

Connectors and Electrical Components

Miscellaneous components such as connectors and

wires, also including costs for replacement parts. $40.00

OPA3250 Op Amp used in custom Analog Sensor design 26.88

Shipping Fees $40.00

Subtotal $504.47

California Micromouse Competition

$250 Grants, qty 10 Entice Other schools to come and compete $2,500.00


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Food for competition $500.00

Prize Money $1,000.00

Total $7,028.44

Blue shaded cells indicate parts that have already been purchased.

sample_proposal2_11-12.pdf

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