kiss institute for practical robotics -...
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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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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.