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Best Path for PhD in Engineering - which Undergrad Major at which Colleges?

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I am a junior in high school trying to decide which colleges I will apply to next year. My ultimate goal is a PhD in Engineering so I can work in R & D for robotics. Somebody told me that I should major in Math or Physics (instead of engineering) as an undergrad so I have a solid foundation in these fields. Is this true? Also, I would like to minimize any debts or loans as much as possible. So, as a likely National Merit Finalist, I am considering applying to a NM scholarship college Honor program (U Kentucky, U Oklahoma, UT Dallas, etc.) However, to have a better chance at admission to great graduate engineering programs, should I look into more competitive colleges - Michigan (in-state), Vanderbilt, etc.? My current stats: GPA - 4.0 UW / 4.83 W PSAT 1500/1520 ACT/SAT - taking in April All IB classes (Diploma) at a Midwest Suburban Public HS Thank you for the advice!

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