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Contents
Contents
Micromouse Handbook
Tak Auyeung, Ph.D.
Contents
Copyright Notice
Before Getting Started
Who is likely to succeed?
Drive to ``make it work''
Possession of an inquisitive Mind
Ability to stay cool when things seem hopeless
Self Discipline
Timeline
Backward Timeline
Robot Components
Drive System
The Physics
Error Consideration
Tire
Wheel
Ball Transfer
Bearing, shaft, etc.
Gearing
Motors
Types of Stepper Motors
How to Choose a Stepper Motor?
Energy System
Chemistries
Voltage Regulation
Logic Voltage Regulators
Stepper Booster
Energy Calculation
Charging and Discharging
Chassis
Materials
Metal
Plastic
Wood
Physics
Common Robotics Theories
Differential Steering
Displacements
Velocity
Acceleration
Stepper Motor Control
Displacement
Steering
Efficient Implementation
Noise Related Problems and Solutions
Sources of Electrical Noise
Basic Theories
Digital Circuits
High Current Circuits
Methods to Reduce Noise
Basic Theories
PID Loop
The Theory
From Continuous to Discrete
Practical Concerns
Resolution of Output
The Resolution of
and
The Resolution of the Integration Term
The Resolution of the Differential Term
Micromouse
Project Management
The Necessity
Resource Requirements
Finance
Tools and Materials
Time
Personnel Issues
Regular Meetings
Focus on the Tasks
Task Management
Task Forces
Communication
Timeline
The Competition
Specification for the Maze
Specifications for the Micro Mouse
Rules for the Contest
Errors
Sources of Errors
Wheel Errors
Stepper Motor Errors
Traction Related Errors
Maze Tolerance
Reducing Errors
Tire Width
Wheel Roundness
Wheel Center
Traction
Detecting Errors
Length to Sensors
Sensor Placement (Lookdown Sensors)
Distance Sensors
Error Toloerance and Correction
Tolerance
Correction
Sensors
Purposes
Sensor Types
Range Finding
Existence
Sensing
Common Issues
Failure Rate
Repeatability
Accuracy
Digital versus Analog
Sample Time
Using Common Sensor Types
Phototransistor-IrED Pairs
Reflective Triangulated Ranging Sensors
High Level "AI" Algorithm
What is it?
The Ideal Algorithm and the Practical Algorithm
The Floodfill Algorithm
Basic Theory
The Algorithm
Implementation
Map Representation
Grading Policy
Grading by Group or Individually
Group Grading
Individual Grading
Assembly
PCB Related Assembly Techniques
Tools
Lighting
Magnification
PCB Cleaning
Solding Tools
Soldering Tips
Flux
Desolding Braids
Desoldering Plungers/Guns
PCB Preparation
Partitioning a PCB
Soldering
Diagnosis
Desoldering
Software/Hardware Tools
AVR Programming Tools
Getting Linux
VMWare Workstation (non-free)
Installing Debian over the Web
Dual Booting
Specify Minimal Packages
Upgrading to the Unstable Distribution
Get the Rest of the Packages
Get the AVR tools
About this document ...
Tak Auyeung 2003-09-29
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