Acknowledgement I would like to thank MR. BHARAT SANKLECHA for giving me an opportunity to stand here and present a topic of my will. My sincere gratitude even to those who have been with during the making of this presentation. At the end the most important ones my parents with whose blessings I always blessed. Shubham Goyal Introduction • The micromouse competition has been running since the late 1970s around the world. As far as I know, the modern form of the competition originates in 1980 or so. • Essentially, you have a wooden maze made up of a 16 by 16 grid of cells. Mice must find their way from a predetermined starting position to the central area of the maze unaided. • The mouse will need to keep track of where it is, discover walls as it explores, map out the maze and detect when it has reached the goal. • As if that was not enough, the winner is the mouse that manages this the fastest. Lets dig in past Sorry….not this deep.. • 1977 IEEE Spectrum magazine introduced the concept of the micromouse. In May 1977, Spectrum announced the 'Amazing Micromouse Competition' which would be held in 1979 in New York. There were 15 competitors running out of around 6000 initial entries. This competition involved mice finding their way out of a 10' by 10' maze. • When the competition was held, the winner was a high-speed, dumb wall follower. • 1980 Professor John Billinsley, of Portsmouth Polytechnic, modified the rules and introduced the first European competition - held in London at Euromicro. • the rule changes required the mice to find a goal in the centre of the maze and wall followers could be prevented from finding the goal. There were 200 enquiries and 100 entries, but only 9 mice at the finals. • Nick Smith's Sterling Mouse became the first ever (and that year the only) micromouse to find the centre and know it had done so. Although performance was less than stunning at about 0.18m/s, it was and still is a remarkable feat. • 1981 • At the Micro Expo Exhibition in Paris there was a micromouse competition heat. Five mice were present. • First place went to Nick Smith with Sterling Mouse, reaching the centre in less than 3 1/2 minutes. • The second UK micromouse contest was held at Wembly. Dave Woodfield's Thumper was the winner with a best time of 47 seconds. • Nick Smith's Sterling Mouse was placed second with a best time of 1min 37sec. • Alan Dibley took third place with Thezius which did two traversals with a best time of 2min 27sec. Thezius was especially interesting in that the processing power was provided by the relatively new ZX80 personal computer. 1982 The British finals of the Euromouse '82 competition were held at the Earls Court Computer fair in April. From a field of seven finalists, Alan Dibley took first and second places. 1985 The 'First World Micromouse Competiton' was held in Tsukuba, Japan. Mazes were sent to a number of countries around the world in order to encourage entries. A wide range of mice from all over the world competed. The world champion was Noriko-1 from Japan. The top six places were taken by Japanese entries. Seventh was Dave Woodfield from England with Enterprise. 1986 The US had its first competition, held in Atlantic City, organised, I believe, by the IEE. Dave Otten of MIT had his first competition entry with Mitee Mouse I. Unfortunately it came last. 1987 The IEE World Micromouse Championship in London saw 13 micromice competing. The winner was Dave Otten who managed to win both first and second prize with Mitee Mouse I and Mitee Mouse II. 1989 The IEE UK Championship held during july in London was won by members of a Singapore team that took 6 of the to 8 places. Dave Woodfield's Enterprise came in 5th while Dave Otten's Mitee Mouse III was placed second. All three of the top mice were within a half second of each other. 1992 The seventh annual IEE micromouse competiton was held in London. Nine mice ran. The winner was Mitee Mouse III with the best overall score. It’s a fair game..so it has rules.. • There are minor regional variations of the competition rules. • mice must be subject to the following size constraints - width 25cm, length 25cm. There is no height limit. • Mice must be completely self-contained and must receive no outside assistance. • the power source is non-polluting - internal combustion engines would probably be disqualified on this count. • it must not jump over, climb, scratch, damage or destroy the walls of the maze. BRAIN EYES SPINE LIMBS SLA7024 IC • The drive electronics will be provided by an Allegro SLA7024 IC. • This chip can drive a single motor in either unipolar or bipolar mode with chopper controlled current limiting. • One annoyance of this chip is that the designers seem to have taken delight in making it hard to physically wire up. • If you don't want the expense or complication of the specialist chip, you could use the simpler and cheaper UCN5804B stepper driver. If this is I.C SLA7024..then I regret opting for electronics. L297 IC • If you use the 7024, you will need to provide a suitable set of signals at the inputs to the chip that will turn on and off the coils of the motor in the correct sequence. • . Each motor needs one chip and each chip needs four signals. Thus you have a single port being used to control the two motors. • The direction of the motor depends upon the order the coils are excited so by stepping up or down a table of values in the microprocessor, you can get full control. A bit of twiddling with the upper and lower four bits of data at the port gives independent control. Children..this is IC L297..and no more questions or I’ll mark you absent. Stepper motors • Obviously limbs are the wheels which are used and the need to be strong, well gripped and big so that they cover a big distance. • But here I mean is that what we need to put to make those wheels work. • Motors are used to drive these wheels as in • DC motors • Stepper motors • Leggo motors • DC motors we all know but these are not very fast and get heated up very soon. • Leggo motors are the latest technology but these are very fast and a bit difficult to control until and unless you are perfect. • These need extra sensors to remote their speed. • So the choice left is the stepper motors. • The are simple, easy and fast. The chassis • The chassis contains the mean weight of the mouse. • It has all the I.Cs, motors, sensors, connections and the most important the batteries. • Batteries are the meal for the mouse i.e, they need to be very efficient but light or else mouse will not run well. • The common batteries used are • AA alkalines • AA NiMH AA NiCd PP3 NiCd the preferable ones are AA NiMH batteries as they can provide 1500 mAh throughout their life time. Sensors • IR sensors • Odometric IR Sensors • These are good and simple. • They purely work on the principle of light. • But if the maze is not well lit then your mouse can loose its way. Sorry boss..this happened because of the light. Odometric Sensors • These are the latest technology being used in micromouse nowadays. • These are pretty fast and do not work on the principle of light. • These are pre-fed sensors. • But in this calculations need to be perfect. Mazes India so far…. • Several competitions are organised in India every year for micromouse and the best ones are sent to present it at international level. • People have gone several times from renowned colleges like IITs, NITs and VIT but they could not make a mark ever. • One of our senior too in the PEC fest but his robot did not work. • This year in APEC, out of total of 22 entries, 5 were from India and all from VIT and they could only secure the last 5 places. My efforts on the project Ah !! What all to do..all the time I am busy with research work. • The mouse I made was with a friend of mine in CSE stream. • It was very basic with a simple DC motor and was controlled with a remote. • The another we made was fully auto. • It was line follower which ran with the help of IR sensors. • We are in the making of the fastest micromouse possible till date which will consist of leggo motors and odometric sensors. A video Bibliography • All the data has been cribbed from • http://www.tic.ac.uk/micromouse/refs.asp • http://www.tic.ac.uk/micromouse/guide/index.asp • http://micromouse.cs.rhul.ac.uk/mtech/rules_main.shtml www.micromouseonline.com • Google.co.in • Google.co.in/images Now please excuse me….as my flight is waiting…. Sir the deligates on mars are waiting for your honoured presence. Thanks a lot for bearing with me….