Abstract

 These pages contain the IUTMicrobot team description and its Intelligent Mouse Robotic project. The team was formed 3 years ago. We started with four members and carried out a few Robotics projects. At present the team has three members and is sponsored by Electrical and Computer Engineering Research Center (ECERC), Isfahan University of Technology (IUT). All three members are under-graduated students at Electrical and Computer Engineering Department, IUT. One of our future programs in our team, is participating in Robocup Rescue.

Introduction

This robot contributed in 2nd Intelligent Mice robotic contest in both "Cheese finder" and "Golf" fields. In cheese finder the robot called Mouse, should be placed in a pitch including different objects with different shapes and colors. One of them is called cheese and the robot should reach it. Our robot got the second place, with the time record of 5 seconds! (Judges added 5 seconds as an unidentified penalty and considered 10 seconds for robot!!!). By means of some additional mechanical structure which gives the robot ability to carry some tennis balls, the robot participated in Golf category too. And in this field the robot was qualified for final course and raced with 2 other robots in final .

A brief description of different fields and tasks is as follow:

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I-       Mechanical structure
 

          Mechanical structure is partly the same as our other robots. The right and left DC motors work separately. The gearboxes are really compact in this design. The robot can be put in a (12*9*10 cm3) box!!
 

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II-      Electronics
 

            The board placed on robot ,has 3 parts:

          -radio receiver

          -command decoder

          -motor driver The received signal is decoded ,then movement in desired direction is appeared.
 

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III-     Vision
 

            There is a USB web cam which is placed outside the pitch in a way that can scan all of pitch and objects inside .It is connected to an external processing unit (PC) outside the pitch . The program running on PC calculates the position of robot and objects in the field and exports proper commands to guide the robot to find out the the way .The control signals are put on external port of PC. A radio transmitter is connected to port and radiates the signals. There are some markers on robot for localization , calculating the robots situation (X), robots velocity ( V ) , or robots accelerate (A).