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					                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….

				
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