kiss institute for practical robotics -...

AutonomousAerialRobotTournamentKISSInstituteforPracticalRobotics

2017

08Fall

Document Version 1.2

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TableofContents

KIPR/Botball/GCERSponsors....................................................................................3

ChangeLog..................................................................................................................4

KIPRAutonomousAerialRobotTournament...............................................................5KIPRAutonomousAerialRobotTournamentGame..................................................................................5ThisYear’sGame........................................................................................................................................................5TheBoard....................................................................................................................6Zones...............................................................................................................................................................................7Target..............................................................................................................................................................................7TargetMarkers...........................................................................................................................................................7TargetVelocity............................................................................................................................................................7

NavigationMarkers..................................................................................................................................................7

GameRules..................................................................................................................8LandingtoScore.........................................................................................................................................................8TouchingtoScore.......................................................................................................................................................8

TeamMembership....................................................................................................................................................8TargetVisualIdentifiers.........................................................................................................................................8SpiritoftheGame......................................................................................................................................................8CompetitionRounds.................................................................................................................................................9

Scoring.......................................................................................................................10TieBreaking..............................................................................................................................................................10RobotConstructionRules...........................................................................................11

TournamentLogistics.................................................................................................12

GameMaterials.........................................................................................................13

GameBoardSetup.....................................................................................................13

AdviceforTournamentParticipants...........................................................................13

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KIPR/Botball/GCERSponsors

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ChangeLogVer Date Description1.1 March9th,2017 Minormodificationstooriginal.1.2 June5th,2017 AddedsectionregardingtheuseofTargetMarkers.In

addition,providedclarificationonthemovementoftheTargets.

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KIPRAutonomousAerialRobotTournamentKIPRproducestheKIPRAutonomousAerialRobotTournamenteachyearattheGlobalConferenceonEducationalRobotics.Thecurrentgamewillcontinuetoberevisedanduseduntilateamisabletosuccessfullycompleteallchallengesrepeatedly.

KIPRAutonomousAerialRobotTournamentGameTheKIPRAutonomousAerialRobotTournamentGameisanautonomousroboticschallengedesignedanddistributedeachyearbytheKISSInstituteforPracticalRobotics(KIPR)toencourageautonomousroboticseducation.ThisdocumentpresentstheofficialgamerulesfortheKIPRAutonomousAerialRobotTournamentGame.Thesegamerulesarefreeforeducationaluseandareusedincollegecoursesandroboticseventsthroughoutthecountry.ForthelatestinformationontheKIPRAutonomousAerialRobotTournament,pleasevisithttp://www.kipr.org/aerial-robot.ForinformationonKIPR’sBotballEducationalRoboticsProgramforstudentsinmiddleschoolandhighschoolvisithttp://www.botball.org.

ThisYear’sGameThisyearthefocuswillbeasimpleyetcomplextask:landing.SpaceXhasmadeahistoricleapforwardthispastyearwithbeingabletolandtheirreusableFalcon9rocketboostersonapredeterminedlandingzone.Thiswasanincredibleengineeringfeat,andwearegoingtotrytotackleitwiththisyear’sgame.Infrontofyouarefourlandingpads.Thefirstisfixedandstationary,howeverthenextthreearemoving.Youwillneedtosuccessfullylandonmultiplepadsinordertowinthisyear’schallenge.Thefurtherawaythepad,thefasteritmoves.Padswillmoveinapredictablemannerwhereyourrobotwillbeabletocalculatetheappropriatetrajectorytoland.Toaidinthelandingprocess,teamscanplacetheirownlandingmarkersonthepads.

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TheBoardTheKIPRAerialChallengeGameBoardis8feetby20feet,anddividedinto5equalzonesasdelineatedbyblacktape.1-inchPVCpipesurroundstheentireboard.OntheboardisonestationarytargetinZoneA,followedbythreemovingtargetontopofCreates.

Notethatthediagramsinthisdocumentaremeantforillustrativeanddescriptivepurposes,ratherthanforaccuracy.Pleaseconsulttheconstructionguidefordetailsonconstruction.

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ZonesAllZoneswillhaveablacklinedividingthem,equallycoveringbothpanels.Thelinewillbecomposedof1.875-inchDuckBrandDuctTape.

TargetEachtargetwillbea2’x2’x1’cardboardbox.OntopoftheboxwillbeaVelcroX-shapedpattern(hookside)thataTargetMarkercanattachto.ThetargetinZoneAwillbeplacedonthegroundonthelinethatseparatestheStartingBoxandZoneA,howeveritwillbereferredtotheZoneAtarget.ThisnamingconventionwillapplyfortheZoneBtarget,whichrunsthelinebetweenZoneAandZoneB.ThissamestyleappliesforZonesCandD’stargets.ThetargetsintherestofthezoneswillbeontopofCreatesprogrammedtodriveinapredeterminedpattern.

TargetMarkersTheTargetMarkermaycontainelectronicsthatinvolvetheuseofLEDstopassivelyemitalight,visibleorinvisibletohumans.ThismainlypertainstotheuseofinfraredLEDstoprovidenavigationpointstoadrone.Microcontrollers,microprocessors,motors,servos,oranyothersimilardevice,maynotbeused.TheTargetMarkerdoesnotcountagainstyourindependentstructurecount.Ifunsureifsomethingispermitted,thenasktheFAQ.ThethicknessoftheTargetMarkermaynotexceed1-inchandmaynotextendoutsideofthetargetsurface.Theweightofthemarkermaynotexceed3pounds.ATargetMarkerthatfailstheserequirementsisnotpermittedtobeusedduringthecompetition.Judgesreservetherighttothoroughlyinspectthemarkeratanypointduringthecompetition.

TargetVelocityZonesB,C,andDeachhavekinetictargets.Theywillstartoutasshownintheboarddiagram.Eachwillline-followalongtheblacktapeuntilitsensesabump,inwhichcaseitwillstop,reversedirection,andcontinuetheline-followingalgorithm.Itisnotguaranteedthattherobotswillcontinuefollowingthelinethroughoutthedurationofthegameduetowheelslippage,disabledrobots,etc.Thetargetsmayventureoutoftheirzone,buttheirpointvaluedoesnotchange. SpeedZoneBTarget 3cm/sZoneCTarget 6cm/sZoneDTarget 10cm/s

NavigationMarkersNavigationmarkersappearineachzoneandintheStartingBox.Theyarecomposedoftwo1-footstripsofblack1.875-inchDuckBrandDuctTapearrangedintoacrossshape.Theyarelocatedinthecenterofthezone,andthenatthecenterofthetwo4’x4’sectionswithinthezone.

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GameRules

LandingtoScoreInorderforarobottoscoreonatarget,therobotmustlandsuccessfullyandcometorest(propellerscanbespinning)ontopoftheboxforatleastfiveseconds.Eachboxcanonlybescoredonamaximumoftentimes.Theaerialrobotmustdescendontothetargetwithoutgravitybeingtheonlysourcedrivingtherobotdownwards.Teamsmaylandonthesameboxmultipletimes,butnotconsecutively.Forexample,ateamcanlandonZoneA’sbox,stayfor5seconds,andtakeoff.InordertoscoreonZoneA’stargetagain,theymustmakealandingattemptontoanotherzone’starget.Ifateammakesalandingattemptintoanotherzoneandmisses,thenthedronemustbestationaryforatleast5secondsonthegroundbeforebeingeligibletoscoreonZoneA’stargetagain.Teamsthatappeartobeintentionallylandingonthegroundandnotmakinganattemptatlandinginordertoscorerepeatedlyonthesametargetmaynotbeawardedpointsatthejudge’sdiscretion.Consecutivelandingsonthesametargetwillnotdisqualifyateam,butitwillonlycountforthefirstlanding.

TouchingtoScoreIfateamattemptstolandandmisses,butmakescontactwiththetargetintheprocess,thenpointswillbeawardedaccordingtothescoresheet.However,thisruleisintendedtoprovideteamswithpointsformakinganattemptasdeterminedbythejudge.Teamswhotrytosweepthroughthefieldofplaytomakecontactwithboxeswillnotbeawardedpoints.Teamscanonlyearnthesetouchpointsonceintheround.

TeamMembershipTeamscanbecomprisedofK-12agedstudents,collegestudents,professionalengineers,hobbyists,poets,andanyoneelsefulfillingthecriteriaaboveareallencouragedtoparticipate.

TargetVisualIdentifiersTheboxeswillhaveaVelcroX-shapedpatternontopofthem.Themarkerthatyourteamprovidesdoesnothavetoencompassthe2’x2’targetarea.Itcanbeanythingtoaidyournavigation,orbesomethingthatlooksfun.

SpiritoftheGameIfyourteamhascomeupwithacreativetechniquetotakeadvantageofaloopholeintherules,thenaskitontheFAQ.Teamsthatshowuptothecompetitionthattakeadvantageoftherulesinawaythatdefeatsthespiritofthegamemayresultintheirrunsnotbeingawardedpoints.

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CompetitionRounds1. Theaerialrobot(s)maynotleavethestartingboxuntilthestartinglighthas

turnedon.2. Thelightwillturnonatthejudge’scommand(atatimeoftheirchoosing)

andthegametimerwillstartatthatpoint–therobotsmustbeabletoautonomouslysensewhenthegamehasstarted.

3. Teamswhoseaerialrobotsleavethestartboxaftertheteamindicatesthattheyarereadybutbeforethelightsturnonwillreceiveafault.

4. Twofaultsinarowwillcausetheteamtoreceiveascoreof0forthatround.5. Allaerialrobotsmustpowerdowntheirmobilitysystemwithin180seconds

ofthestartlightsturningon(aerialrobotsshouldbeontheground).6. Eachteamwillhaveatleastthreecompetitionrounds(thejudgesmay

increasethenumberforallteams,iftheyfeelitiswarrantedandtimeisavailable).

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ScoringThefollowingiswhatjudgeswillbeusingforscoringatthetournament.Teamswillhavetheirtwohighestrunsaveragedtogether.Thiswilldeterminethestandings.Ifthereisatie,thenrefertotheTieBreakerlist.

TieBreaking1. TeamlandedontheZoneDtarget2. TeamlandedontheZoneCtarget3. TeamlandedontheZoneBtarget4. TeamlandedontheZoneAtarget5. TeamscoringthemosttimesontheZoneDtarget6. TeamscoringthemosttimesontheZoneCtarget7. TeamscoringthemosttimesontheZoneBtarget8. TeamscoringthemosttimesontheZoneAtarget9. TeamtouchedtheZoneDtarget10. TeamtouchedtheZoneCtarget11. TeamtouchedtheZoneBtarget12. TeamtouchedtheZoneAtarget

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RobotConstructionRulesThefollowingrulesapplytoallrobotstobeenteredintheKIPRAutonomousAerialRobotTournamentGame:

1. Forpurposesofthiscompetition,anaerialrobotisanyself-poweredaerialvehiclethatisunderautonomouscomputercontrol.Thecontrolcomputercanbeontheaerialrobot,orelsewhereontheteam’sentry.

2. Noground-basedrobotsarepermittedinthisyear’sgame.3. Ballisticentriesarenotallowed--norareotherswhichusehighpressureor

chemicalrocketpropellant.4. Ateam’sentry(allmaterialsplacedonthegame-board)mustmasslessthan

10kg(22pounds).5. Ateam’sentry(allmaterialsplacedonthegame-board)mustfitwithintheir

(virtual)startingboxeswithoutrestraint(otherthanpressingagainstinterioredgeofanygameboardPVCborderingthestartingbox).

6. Theteam’sentrymaynotcontainorreleasepressurizedmaterialsatgreaterthan7bar(100psi).

7. Theteam’sentrymaynotreleaseanyliquidsduringthegame,orbefore,during,orafterthegamewhiletheteamisatthegametable.

8. Theteam’sentrymaynotreleaseanygasseswhileatthegametablethatareconsideredhazardousbythejudges,orareatatemperaturebelow0°C(32°F)orabove50°C(122°F).

9. Robotsmaynotcontainfeatures(manipulators,protrusions,ormaterials)thataredesignedto,oraredeemedbythejudgeslikelyto,causedamageordestructiontothegameboard,ortogamepieces.Propellersshouldbeshieldedsoastobeunlikelytodamagethehoops.

10. Robotsmustoperateautonomously.Noexternalpowerorcontrolfromoutsideofthegameboardareawillbeallowed.

11. Eachteammayonlyhaveamaximumoffiveindependentstructuresonthegameboardatatime.

12. Ateam’sentrymaybemadeoutofanymaterialsorparts(includingBotballandnon-Botballkits)aslongastheentryconformstotheconstructionrulesabove.

13. Eachrobotmusthaveanamesuitableforbroadcastoverapublicaddresssystem.

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TournamentLogistics1. Ifthejudgesdeterminethatarobotviolatestheconstructionrules,whether

ornotachallengehasbeenmade,thatrobotwillnotbeallowedtorununtilithasbeenmodifiedtomeettherules.

2. Allcompetitionroundswilltakeplaceinsideanettedarena.Thenettingwillhavea10-ftby20-ftgroundfootprint.Soprepareaccordingly.

3. ConstructionrulesapplyonlytowhatisbroughttotheGameTable.4. Duringsetupteamsmayadjuststartinglights.5. StartinglightsmustbeattachedtothePVCpipeforastartingbox6. Startinglightsmaynotbeinphysicalcontactwithanyrobot7. Duringsetup,teamsmayperformanynecessarycalibrationsneededbytheir

robots.8. Setuptimeshouldbetwominutesorless.9. Foreachminuteorfractionthereofinexcessof2minutestheteam’sscore

willbereducedby20%.10. Gamedurationis180secondsoruntilteamcompletesthechallenge.11. Lightswillremainonfor175seconds,andflashthelast5secondsunlessthe

judgesstopthegamebecausearobothasreachedtheoppositeendzone.12. Oncethestartinglightsareturnedon,theroundcountsunlessajudgerules

outsideinterference.13. Robotsmustcutpowertotheirmotorsandturnofforstopissuingmotion

commandstoservosafter180secondsorriskforfeitingtheround.14. Therearenoinstantreplays,andattemptstousevideostoquestiona

decisionwillnotbeconsidered.15. Ifateamisunhappywiththejudges’decision,thentheyshouldchallengeit

thenandthere.Oncethescoresheetissigned,thereisnofurtherchallenging.

16. Challengestoscoringaftertheteamshaveleftthetablewillnotbeconsidered.

17. Teamscannottouch,borrowequipment,modifyrobotsorcomputers,ortransmitcommandstoanotherteam’sequipment(includingtheirpittable)withoutthepermissionandpresenceofamemberofthatteam.

18. ThevisualpropertiesandRFpropertiesaroundthearenaareunknown.Thejudgeswillattempttoremoveanyissues,butmightbelimitedbyresourcesandbuildingrules.Pleaseplanaccordingly.

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GameMaterialsThegamesurfaceis8’x20’

• 5piecesof4x8'MDF(122cmx244cm)orsomeotherunderlaytoscrewinto• 5piecesof4x8'white1/8”Masonite(122cmx244cm)• 90’ofSchedule401”PVCpipe

GameBoardSetup• Ateam'sentrymustbecompletelywithintheirstartingbox(45.5"wideand

93"long)atgamestart. • Thebaseofeachstartingboxisdefinedbytheboundariesgivenbythe

interioredgeofthePVCandtapedelineatingit.• The(virtual)heightofthestartingboxis15”(38cm).• Afterteamshavesetupandarereadytostart,thejudgeswillplaceZoneA

andBwallsatrandomlocations.• Allmeasurementsonofficialboards,whoseuncertaintyisnototherwise

specifiedwillbeasspecifiedwithin+/-1/2inch(12mm)or1%,whicheverisgreater.

AdviceforTournamentParticipantsTestyourrobotsfromstarttoend:

1. Gothroughtheentirestartingsequence2. Makesureyoucancalibratetothestartinglight3. Makesuretherobotsstopwhentheyaresupposedto:verifywitha

stopwatch!4. Doesthestartingsequenceworkwithverybrightoruncertainoverhead

lights?(tournamentwillbeheldinanetcontainmentonopenflooring)5. Testtheshieldingofyoursensors!

Checkhttp://www.kipr.org/aerial-robotregularlyforrulesupdates.CheckouttheKIPROpenandAerialRobotTournamentdiscussionandFAQathttp://community.botball.org

GoodLuck!

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© 2017 KISS Institute for Practical Robotics. All rights reserved. BOTBALL®, BOTGUY, and the BOTGUY design and character are trademarks and/or service marks of KISS Institute for Practical Robotics and may not be used without express written permission. LEGO, iRobot, and iRobot Create are registered marks of their respective owners. The KISS Institute is a 501c3 nonprofit organization. Our mission is to improve the public's understanding of science, technology, engineering, and math; develop the skills, character, and aspirations of students; and contribute to the enrichment of our school systems, communities, and the nation.