Team Jake!

In the early weeks of the Fall 1998 semester at UC Berkeley, fate drew together a motley crew of four engineers, destined to create JAKE 2000. Why "Jake"? Well, don't you think Jake is a cute name for a robot? What is Jake's goal? Put simply, to take over the world. More specifically, to trounce other schools in the annual IEEE Micromouse contest by autonomously solving an unknown maze in the least time of all competing mice.

Status: haven't worked on Jake in some time; this web page needs work.

Our Stuff

• robot-01.zip [24kB] Tobin's differential motion control simulator (requires BGI drivers; includes Borland C source)
• navigate-01.zip [27kB] Tobin's maze navigation simulator (includes Borland Pascal 7.0 source)
• bgi.zip [97kB] Borland Graphics Interface (BGI) drivers (required by motion sim)
• mazes.zip [18kB] Mazes from past competitions (required by both simulators)

Take a look at some of our Design drawings

• Expansion board design 3/5/99 [note: I no longer think inversion is necessary]
• Differential Drive equations, part 1
• Top view drawing
• Side view drawing

Take a look at some pictures of jake!

• The front sensor array
• Jake assembled, but unpopulated
• A cool shot of jake, assembled but unpopulated
• Jake without sensor wings
• Jake's parts, populated but unassembled
• Dan holding completed Jake
• Jake in sample maze
• Tobin and Brandon in the lab

Useful stuff

• The FingerBoard
• Mobile Robots: Inspiration to Implementation. The de facto reference on this topic.
• The Art of Electronics
• UC Berkeley IC Stock list
• UCSEE Micromouse

Our team!

Brandon Kuczenski	mbk@uclink4.berkeley.edu	841-2699	4172995
Tobin Fricke	tobin@uclink4.berkeley.edu	841-6890	2544656
Nghia Diep	nmdiep@uclink4.berkeley.edu	704-8928	4617222
Dan Stangel	dgs@cory.eecs.berkeley.edu	540-0901

Links

• Robotics FAQ file from comp.robotics.*, in nice HTML format.
• UC Berkeley IC Stock list
• UCSEE Micromouse -- us!, also see the UCSEE page.
• CSULB's Micromouse page tells about them. They won first place a couple times.
• Berkeley Hang-Gliding Club

• 68HC11 projects at MIT (FTP Site) including the "F1 Board" and the "HandyBoard".
• Handyboard website at MIT. The HandyBoard is overkill for our project but contains good info on the 68MC11.
• MiniBoard at, yes, MIT. This one looks like it has potential: four motor controllers, eight analog inputs, eight digital inputs, RS232 serial port. Alas, it only has 2K of memory. (?)
• Marvin Green's BotBoard, and he sells PCBs. Seattle Robotics Society sells BotBoard 1 kits.
• The FingerBoard -- looks really good. 32k RAM, too! Documentation very high quality.

• Some IR gizmo

• Genetic algorithm maze solver -- Interesting but not very useful for micromouse.
• "A Potential Maze Solving Algorithm for a Micromouse Robot" -- what could be better? Follow the links and you'll find "Use of image warping techniques to correct and interpret infrared sensor data for navigation" as well!
• Someone's PhD thesis on PCB routing with info about maze theory that might be handy

• Dallas Semiconductor, makers of lots of fun components, including high speed versions of the intel 8051 (effective speed 82.5 Mhz compared to original 8051, according to data sheets)
• DigiKey
• Mouser
-- good small-quantity prices; smaller selection
• Marshall -- good dist., including Sharp IR components
• BGMicgo
• CW Tech sells MiniBoards for $120, minimum order 5 units. what nonsense!
• Douglas Electronics sells MiniBoard PCB's for $10 (or $7.50 in quantities of 2-9, etc). That's more like it! Also, we wouldn't need to fully populate the board.. For instance, no SPI jacks, no second motor interface.

• "If you are a student working from a university, the [Motorola] University Support office (602 952 3855) will handle customer support. You can mail or fax parts requests to the following address: Motorola Semiconductor Parts Sector; University Support 56--106; P.O. Box 52073; Phoenix, AZ 85072 (fax number 602 952 3621). You must enclose a photocopy of your student ID cad as proof of university status with the request"
-- miniboard suppliers reference.
• 68hc11 documentation

• Dave Everett's page

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