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Project Micromouse: “Microtaur”
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Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Dec 28, 2015

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Page 1: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Project Micromouse:“Microtaur”

Page 2: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Team Excelsior•Team Lead

▫Janel Raab•Team Members

▫Devon Griggs▫Devin Helmgren▫Emilia Holbik

•Faculty Advisor▫Dr. Wayne Lu

• Industry Representative▫Leon Clark, Urban Robotics

•Client:▫Dr. Wayne Lu

Page 3: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Project Overview

Page 4: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

MilestonesStatu

sDescription

Due Date

Completed

Completed

Drives straight and stops (without IR

sensor recognition)1/24/2014 1/17/2014

Completed

Turns 90 degrees (accuracy within 2

degrees)1/24/2014 1/24/2014

Completed

IR inputs converted from analog to digital

1/31/2014 1/29/2014

Completed

Recognizes presence/absence of

wall1/31/2014 1/31/2014

Page 5: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Milestones Continued

Status DescriptionDue Date

Completed

Completed

Tuple generated on device, and hardcoded

decision executed

2/14/2014

1/31/2014

Completed

Four step polling sequence

implemented, and tuple decisions nested

2/14/2014 1/24/2014

In Progress

February Program Review

2/14/2014 2/14/2014

In Progress

Autocorrect code prevents collision with

walls for 7 minutes

2/21/2014

Page 6: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Upcoming Milestones

DescriptionDue Date

Estimated Completio

nAI agent makes forced decision (1 option) on

hardware2/17/2014 2/17/2014

AI agent makes decision between 2 options on

hardware2/19/2014 2/19/2014

AI agent makes decision between 3 options on

hardware2/21/2014 2/21/2014

AI agent returns from a dead end 2/28/2014 2/28/2014

Page 7: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

And we’ve got our tickets!!!

Page 8: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

12.

53.

5 5 7 9 11 13 15 17 190

200

400

600

800

1000

1200

IR Sensor to CM Conversion Chart

Front IR SensorLeft IR SensorRight IR Sensor

Distance from Wall (CM)

Dig

ital

Valu

e

Page 9: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Demo 1: Robot in Small Maze

•http://youtu.be/DfPlyiX8KvY

Page 10: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.
Page 11: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Improvements/Concerns

•Autocorrect in steps 1, 2, 4 of poll•Post-turn autocorrect•Emergency stop wall collision

▫Left sensor▫Right sensor

•Tuple recognition accuracy vs. navigation accuracy

…Eventually add a gyroscope!

Page 12: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Demo 2: Agent in Virtual Environment

•http://youtu.be/QBK3F6fkazk

Page 13: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Improvements/Concerns

•Dead end pruning•Loading agent code to hardware

▫C++ compiler PIC Microcontroller compiler

•Tuple recognition accuracy

Page 14: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Other Concerns

Gaps in big maze!

Page 15: Project Micromouse: “Microtaur”. Team Excelsior Team Lead ▫Janel Raab Team Members ▫Devon Griggs ▫Devin Helmgren ▫Emilia Holbik Faculty Advisor ▫Dr. Wayne.

Conclusion

•March 17th in Fort Worth, TX

•Crunch time!

QUESTIONS?