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Premium member Presentation Transcript KRCI - 2007 Kontes Robot Cerdas Indonesia 2007: KRCI - 2007 Kontes Robot Cerdas Indonesia 2007 2 & 3 Juni 2007 di Graha ITS, Surabaya Panitia KRI & KRCI 2006 DP3M Dikti, Depdiknas Penyelenggara : Direktorat Jenderal Pendidikan Tinggi Departemen Pendidikan Nasional Tujuan: Tujuan Tujuan KRCI 2006 adalah : Menumbuh kembangkan dan meningkatkan kreatifitas mahasiswa di Perguruan Tinggi Mengaplikasikan Ilmu Pengetahuan dan Teknologi kedalam dunia nyata Meningkatkan kepekaan mahasiswa dalam pengembangan bidang teknologi robotika Membudayakan iklim kompetisi dilingkungan perguruan tinggi Mendukung pengembangan dan penggunaan sistem kontrol yang lebih maju pada rancangan robot. Tema: Tema Tema untuk Kontes Robot Cerdas Indonesia 2007 adalah ROBOT PEMADAM API Tema ini diselaraskan dengan tema yang ditentukan oleh Trinity College FIRE-FIGHTING ROBOT CONTEST 2007Waktu dan Tempat Pelaksanaan: Waktu dan Tempat Pelaksanaan KRCI – 2007 akan dilaksanakan pada Tanggal: 02 – 03 Juni 2007 di GRAHA ITS Institut Teknologi Sepuluh Nopember SurabayaDivisi/Kategori: Divisi/Kategori Kontes KRCI -2007 dibagi dalam 2 (dua) Divisi, yaitu : Divisi Senior, meliputi : Divisi Wheeled Robot Divisi Legged Robot Divisi Senior batasi khusus hanya untuk peserta mahasiswa Divisi Expert Non Swarm Swarm Divisi Expert terbuka untuk peserta mahasiswa maupun untuk peserta umumDENAH LAPANGANDivisi SeniorWheeled Robot & Legged Robot : DENAH LAPANGAN Divisi Senior Wheeled Robot & Legged Robot Denah Lapangan Divisi Expert: Lantai Bawah Lantai Atas Denah Lapangan Divisi ExpertPandangan Samping: Pandangan SampingPandangan Atas: Pandangan Atas Lantai Bawah Lantai AtasSlide10: DENAH LAPANGAN Divisi Expert Lantai AtasSlide11: DENAH LAPANGAN Divisi Expert Lantai BawahSistem Pertandingan: Sistem Pertandingan Setiap Robot akan harus melakukan 3(tiga) kali “Trial Run”. Setiap “Trial Run” diberikan waktu : 5 menit utk mencari & Mematikan Api, dan 2 menit untuk kembali ke “Home Position”. Setiap Robot melakukan “TRIAL RUN” pertama mengikuti urutan satu persatu. Setelah semua Robot melakukan “Trial Run” Pertama, diteruskan dengan “Trial Run” Kedua dengan urutan yang sama satu persatu. Setelah semua Robot melakukan “Trial Run” Kedua, diteruskan dengan “Trial Run” Ketiga dengan urutan yang sama satu persatu.Penilaian(Scoring): Penilaian(Scoring) Final Score (Nilai akhir) merupakan Jumlah Score dari dua Trial Run yang terbaik. Final Score terkecil Sebagai Pemenang Cara Scoring & Penalty dijelaskan dibagian Theme & Rules pada bagian akhir.PESERTA (1): PESERTA (1) Tim peserta mahasiswa dari perguruan tinggi terdiri dari 2 (dua) mahasiswa dan 1 (satu) dosen pembimbing. Tim peserta mahasiswa bisa mengikutkan robot yang berbeda untuk ketiga kontes pada divisi yang berbeda. Tim peserta umum bukan mahasiswa maksimum terdiri dari 3 (tiga) orang peserta. Tim peserta umum hanya dapat mengikutkan robotnya pada kontes divisi expert saja.Peserta (2): Peserta (2) Tim mahasiswa dari Perguruan Tinggi dapat mengajukan proposal ke Panitia KRCI – 2007 dengan persetujuan Pembantu/Wakil Rektor/ Ketua/ Direktur/ Dekan Bidang Kemahasiswaan masing-masing perguruan tinggi. Satu Perguruan Tinggi dapat mengajukan maksimum 5 usulan proposal KRCI (dan 5 usulan proposal KRI). Tim peserta umum dapat mengajukan secara langsung proposal ke Panitia KRCI – 2006 dengan melampirkan surat keterangan dari perusahaan atau perorangan. Peserta perorangan harus melampirkan alamat jelas dari anggota Tim, serta fotokopi KTP (Kartu Tanda Penduduk) dari ketua Tim. Proposal Calon Peserta: Proposal Calon Peserta Semua proposal yang masuk ke panitia paling lambat tanggal 15 Januari 2007 stempel pos, akan diseleksi oleh Dewan Juri untuk menentukan sejumlah tim yang memenuhi persyaratan untuk tampil dalam KRCI – 2007. Formulir pengajuan (Application Form) dapat dilihat pada Lampiran 3. Seleksi Peserta: Seleksi Peserta Kriteria seleksi yang digunakan adalah : Rancangan Mekanik Robot Sistem Kontrol Robot Sensor dan Rangkaian Interface Algoritma Perangkat LunakProses Seleksi: Proses Seleksi Seleksi dilakukan dalam dua tahap evaluasi Evaluasi tahap pertama: dilakukan evaluasi administratif berupa proposal (rangkap 3), ijin dari institusi, jumlah proposal setiap institusi, proposal diterima panitia sebelum batas akhir. Batas akhir: 15 Januari 2007 Evaluasi tahap kedua A: dilakukan evaluasi laporan perkembangan pembuatan robot berupa foto robot, video robot yang menunjukan bahwa robot dapat mencari dan mematikan lilin, file presentasi laporan perkembangan pembuatan robot. Batas Akhir: 19 Maret 2007 (CD dan cetak presentasi) Evaluasi tahap kedua B: dilakukan melalui kunjungan ke lokasi yang telah ditentukan. Untuk itu calon peserta diminta hadir pada waktunya untuk memaparkan perkembangan pembuatan robot, mendemonstrasikan robot, serta kesiapan calon peserta untuk mengikuti KRCI 2007. Minggu kedua April 2007Pendanaan: Pendanaan Peserta mahasiswa yang lolos seleksi dan mengikuti KRCI – 2006 akan mendapatkan : Dana bantuan pembuatan robot sebesar Rp.3,000,000,- dari panitia, Biaya transportasi dari perguruan tinggi ke tempat pelaksanaan KRCI kelas ekonomi dan Akomodasi Tim selama 4 hari (2 mahasiswa dan 1 dosen pembimbing) Peserta perorangan dan perusahaan biaya sendiri.Akomodasi: Akomodasi Akomodasi untuk peserta kontes dari Peserta mahasiswa akan menggunakan Asrama Haji Sukolilo Surabaya atau tempat lain yang akan ditentukan oleh Panitia. Peserta umum yang lolos seleksi dan akan mengikuti KRCI – 2007 harus menyediakan sendiri biaya transportasi dan akomodasi selama mengikuti kontes di Jakarta. Panitia dapat menyediaan informasi mengenai fasilitas akomodasi yang ada di dekat Kampus Institut Teknologi Sepuluh Nopember Surabaya.Penghargaan: Penghargaan Panitia menyediakan penghargaan bagi Juara Pertama untuk setiap Divisi, Runner-Up untuk setiap Divisi, Peserta dengan Inovasi Terbaik dan Robot dengan Desain Paling Ekonomis penghargaan lain yang akan ditentukan kemudian oleh Panitia.Jadwal kegiatan KRCI – 2007 : Jadwal kegiatan KRCI – 2007 Alamat Penyelenggara: Alamat Penyelenggara Direktorat Penelitian dan Pengabdian kepada Masyarakat ( Ditlitabmas ) Direktorat Jenderal Pendidikan Tinggi Departemen Pendidikan Nasional. Wisma Aldiron Dirgantara Jl. Jen. Gatot Subroto Kav.72, Pancoran Jakarta Selatan Telp. 021-79188073, Fax. 021-79188074 Website : http://www.krci.eepis-its.edu http://www.dikti.org E-mail : firstname.lastname@example.org atau email@example.comSlide24: KRCI - 2006 Kontes Robot Cerdas Indonesia 2006 RULES AND REGULATIONS Diadopsi dan dimodifikasi sebagian dari Rules and Regulation TRINITY COLLEGE FIRE-FIGHTING ROBOT CONTEST 2006 2-3 Juni 2007 Graha Sepuluh Nopember Institut Teknologi Sepuluh Nopember Surabaya Please Click Buttorn To download Rules&Theme.doc 1. CONTEST OBJECTIVE (1): 1. CONTEST OBJECTIVE (1) The specific goal of this contest is to build a computer controlled Robot that can move through a model floor plan structure of a house, find a lit candle and then extinguish it in the shortest time subject to a few operating factors (see Scoring Procedure, section # 23). 1. CONTEST OBJECTIVE (2): 1. CONTEST OBJECTIVE (2) This is meant to simulate the real-world operation of a Robot performing a fire protection function in an actual home. The candle represents a fire which has started in the home and which the Robot must find and then extinguish. However, the real goal of the contest is to advance Robotics technology and knowledge both in the competing individuals and in the world in general while using Robotics as an educational tool to enhance students' learning. 2. DIVISIONS: 2. DIVISIONS SENIOR - This division is for anyone out of high school, that is, college students contestants. All the rules and Operating Mode (see section # 18) options apply to this division and the candle can be in any of the rooms. WALKING - This division is for any Robot that uses only legs to move around. The number of legs does not matter. The size restriction on the Robot is slightly changed to allow Robots that are a maximum of 46 cm long, 31 cm wide and 31 cm high. All the rules and Operating Mode (see section # 18) options apply to this division, except that the candle will only be placed in one of the two big room. EXPERTS - This is the most advanced division and as such it has a number of modifications to the rules and changes to the arena. This division is open to anyone willing to take the challenge. For more specific information (see section # 25).2. DIMENSIONS AND SPECIFICATIONS: 2. DIMENSIONS AND SPECIFICATIONS This is a contest that simulates real-world activities and capabilities. As such, there are many areas of uncertainty that a Robot must be able to handle in order to succeed. The goal of the contest is not to make a Robot that can perform only in the laboratory, but carry out its function in the real-world with all the variations and problems that exist there. Therefore, all the dimensions and specifications listed in these rules are given merely as a general aid to the participants. None of them are meant to be exact and will vary somewhat at the actual contest. Any Robot that is meant to function in the real-world needs to be able to handle these uncertainties. This contest like the real world is imprecise and your Robot needs to be able to deal with it.ROBOT SIZE: ROBOT SIZE Robot must be able to fit in a box 31 cm long by 31 cm wide by 31 cm high. If the Robot has feelers to sense an object or wall, the feelers will be counted as part of the Robot’s total dimensions. The Robot can not separate into multiple parts and must never extend itself beyond the 31 cm allowed. If contestants want to add a flag, hat or other purely decorative, non-functional items to the Robot, they may do so as long as the item has absolutely no effect on the operation of the Robot. As noted previously, the Robots in the Walking Division can be up to 46 cm long.Slide30: ROBOT WEIGHT There are no restrictions on the weight of the Robot. ROBOT CONSTRUCTION MATERIALS There are no restrictions on the types of materials used in the construction of the Robot.4. THE HOUSE FLOOR PLAN STRUCTURE AND FEATURES : 4. THE HOUSE FLOOR PLAN STRUCTURE AND FEATURES The walls of the structure will be made of wood and will be 33 cm. high. The walls will be painted with flat white latex paint. The floor of the arena will be a smooth, wood surface painted with flat black latex paint. Any seams in the floor will be taped over and painted with the same flat black latex paint. The seams in the floor section may not be perfectly flat however. Make sure that your Robot can handle a discontinuity of up to 5 mm, if necessary. All hallways and doorways to room will be 46 cm wide. There will not be a door in the doorways, just a 46 cm opening. There will be a white 2.5 cm wide line made with white tape across each doorway to indicate the entrance to each room.Slide32: The floor of the arena will be originally painted black, but some Robots may use foam, powder or other substances to attack the candle flame. Our best efforts will be made to clean up after each Robot, but there is no guarantee that the floor will stay uniformly black throughout the entire contest. The floor may also have small (3 mm diameter) red or blue dots on it to indicate the potential locations of candles and furniture. Unless you are operating in the Uneven Floor mode (see Operating Modes, section #18), the floor will be level with no ramps or stairs. 5. AMBIENT LIGHTING: 5. AMBIENT LIGHTING Contestants will be given time on the contest days to make ambient light level readings, if necessary, to calibrate their Robot. Once set on Friday, the lighting in the contest area will not be changed to suit individual competitors. Part of the challenge of the contest is to make a Robot that can operate in real world situations and that includes inconsistent lighting, shadows, glare, etc.6. ROBOT OPERATION: 6. ROBOT OPERATION Once turned on, the Robot must be autonomous -self-controlled- without any human intervention. These are to be computer controlled and not manually controlled devices. The Robot can bump into or touch the walls of the arena as it travels, but it can not mark or damage the walls in doing so. However there will be a penalty for touching a wall. (See Penalties section) The Robot cannot leave anything behind as it travels through the arena. It can not make any marks on the floor of the arena that aid in navigation as it travels. Any Robot that deliberately, in the judges’ opinion, damages the contest arena (including the walls) will be disqualified. This does not include any accidental marks or scratches made in moving around. The Robot must, in the opinion of the judges, have found the candle before it attempts to put it out. The Robot can not just flood the arena structure with CO2 and put out the candle out by accident.Slide35: The Robot will start at the Home Circle location marked by the H in a circle on the arena floor plan (see Attachment 2). The actual Home Circle will be a solid white circle (without the H) on the floor. The 30 cm diameter white Home Circle will be in the center of the 46 cm hallway. There is a no gap in the outer wall of the arena behind the Home Circle. This part of the wall can be removed to allow contestants easier access to their Robots in setting them up, but the wall can be replaced in this section if it helps the Robot’s operation. Robots may also use any placement fixtures if they help the Robot initially align itself in the Home Circle. The Robot must start within the Home Circle, but once started, it can go in any direction desired SENSORS(1): SENSORS(1) There is no restriction on the type of sensors that can be used as long as they do not violate any of the other rules or regulations. Contestants are not allowed to place any markers, beacons or reflectors on the walls or floors to aid in the Robot’s navigation. Robot builders should be aware that many cameras transmit infrared light as part of their automatic focusing systems. Ambient lighting in the contest room may also be a source of IR, visible and UV light. During the course of the contest, sunlight may come into the contest room through open outside doors. The sunlight will not shine directly on the arenas, but may be detectable by very sensitive sensors. Slide37: During the course of the contest, judges at other arenas may be lighting candles or lighters. These incidental flames will be above the arena and further away than the candle, but still may be detectable by a undiscriminating sensor. In setting up the arena, contest officials may put their arms into the arena and some very sensitive sensors may mistake that IR emission as the flame. If a Robot uses light sensors to find the candle or detect walls or furniture, it is the Robot builder's responsibility to design their Robot to prevent these and other unintended UV, visible and IR sources from interfering with its operation. Part of the challenge of this contest is to design a Robot that can find the candle flame and ignore everything else.Slide38: ELECTRICITY The maximum electrical requirements for any system needing electricity at the arena will be 5 amps at 220 VAC. CABLES If the Robot is connected to an external computer system for instructions and/or power make sure that the cable is long enough for the Robot to get to all areas of the arena. If a contestant wants to hold the cable above the walls while the Robot runs, they can, but if during the trial, in the opinion of the judges, they use the cable to assist the Robot, then that trial will be ended with no score.Running Conditions(1): Running Conditions(1) The Robots will be assigned numbers to determine the order in which they will compete in the contest. Each Robot will make a trial run in the arena in the order in which it is assigned. After every Robot has made its first trial, then the whole process will begin again for the second trial. In other words, the Robots will compete consecutively and when everyone is done with their first attempt, then the whole process will repeat for the second and finally third attempts.Running Conditions(2): Running Conditions(2) Contestants will have time between their trials to make any adjustments, modifications or repairs to their Robot, but once the Robot before them has completed its trial, then they will have 1 minute to get their Robot in the arena and started on its trial. There will be a special clock at each arena which the judges will start when they call for the next contestants to get ready. Their Robot must begin its trial before that clock reaches 1 minute. Any Robot that is not ready to run after 1 minute will forfeit its chance at that trial. It may still compete in any other trials that are left. Once assigned, the order of running will not be changed. If you are not ready, then you’ve missed your turn. The time between turns is undetermined and is controlled by how long the other competitors take to complete their trials.Running Conditions: Running Conditions Once the Robot is ready, the location of the candle and any furniture, shall be determined, the candle and the furniture shall be put in the proper locations. The contestants will show a judge how to actuate the Robot and then the judge will actually press whatever buttons necessary to start the Robot.TIME LIMITS: TIME LIMITS In order to achieve the contest objective of building a Robot that can find and extinguish a fire in a house, finding the fire within a reasonable period of time is very important. The maximum time limit for a Robot to find the candle will be 5 minutes. After 5 minutes the trial will be stopped. The maximum time for the Robot to return to the Home circle in the Return Trip mode will be 2 minutes. If in any trail, a Robot gets stuck in a loop and performs the same movement 5 times in a row, that trial will be stopped. Any time the Robot does not move at all for 30 seconds, the trial will be stopped. Stopping a trial run for any of the above reasons will have no impact on any of the other two trial runs that the Robot has.SCORING : SCORING The Robot with the lowest Final Score (FS) is the winner. The Final Score is calculated from a number of different factors : Operating Mode (OM) : (1.2) or (1.0) or (0.95) Mode Factor (MF) : Multiply of OMs Return Trip (RT) : (1.0) or (0.8) Room Factor (RoF) : (1.0) (0.85) (0.50) (0.35) Reliability Factor (RF) : (1.0) or (0.90) Penalty Points(PP) : +5 per hit +1 per 2 cm sliding18. OPERATING MODES(1): 18. OPERATING MODES(1) For any trial, the lower the Operating Score (OS), the better. The simplest method of running a Robot is in the Standard Operation mode. There are 5 different Operating Modes (OM) which contestants can choose to apply to their Robot either individually or in combination to change the Operating Score for that trial. 18. OPERATING MODES(2): 18. OPERATING MODES(2) These 5 Operating Modes are : The Tethered, Sound Activation, Return Trip, Furniture, and Uneven Floor. The last two Operating Mode are for Expert Division RobotsSlide46: STANDARD OPERATION In this mode there are no wires connecting the Robot to anything. The deciding factor in determining this mode is whether there is a tether/wire connected to the Robot. The Mode Factor for running in the Standard Mode is 1.0 (OM= 1.0) TETHERED In this mode, the Robot has a wire connecting it to either an external computer or power supply. This Mode Factor is actually a penalty and increases the Operating Score. If the Robot has its own on-board power supply and is controlled by either an on-board computer or via a wireless link to another computer then it will not be in this mode and will not have an increased score. The Mode Factor for running in the Tethered mode is 1.2 (OM = 1.2).Sound Activation: Sound Activation Instead of being manually activated by the pressing of the buttons on the Robot or on the keyboard, the Robot activates itself when it detects a sound signal like that of a smoke alarm of between 3.0 kHz and 4.0 kHz. This is the frequency commonly used in smoke detectors and is created by piezo-electric devices available at Radio Shack and many other sources. Once turned on, the Robot can not start to move until the sound signal is activated. If the Robot starts to move before the sound signal is activated, for example because it mistakenly detected ambient room noise (even the sound of another Robot being activated in a different arena), then the trial can still count, but the Robot will not get credit for operating in the Sound Mode. If the Robot does not start to move in response to the sound signal it will not be given a second chance (i.e. another press of the sound button) to run in the sound mode for that trial. Sound Activation (2): Sound Activation (2) The sound signal device can be held at any distance from the Robot that the contestants want and can continue for up to 5 seconds. The time for the trial will begin when the sound signal is created and not when the Robot actually starts to move in response to that signal. There will be an official sound signal device at the contest, but contestants can bring and use their own sound devices operating within the proper frequency range if they want. There will be a 5% reduction in score for a Robot operating in this mode. The Operating Mode factor for running in the Sound Activation mode is 0.95 (OM = 0.95).Return Trip: Return Trip After extinguishing the candle, the Robot returns to the Home Circle. It does not have to retrace its path in returning to the Home Circle or even take the most efficient route, it just must get back, but without going into any other rooms along the way. In other words, once it has put out the candle, it must leave that room and return to the Home Circle without entering any other rooms. The Robot will be considered to have returned to the Home Circle if the Robot stops with any part of the Robot within the 30 cm white Home Circle. The Robot does not have to be in the same position that it was when it started the contest.Return Trip: Return Trip If a Robot is entered to run in the Return Trip mode and finds and extinguishes the candle, but doesn’t return to the Home Circle, the Robot would not be disqualified. Instead the Robot would drop back into the Standard Operation Mode and it would just receive the Operating Score with no Return Trip mode factor reduction. The Actual Time (AT) score will include just the time the Robot takes to find and extinguish the candle. It will not include the time for the Robot's return trip to the Home Circle. Operating in this mode will result in a 20% reduction in the score. The Operating Mode factor for running in the Return Trip mode is 0.8 (OM = 0.8).PENALTIES: PENALTIES The goal of this contest is to be as real world realistic as possible. Therefore there are two actions while not illegal, are not what would be a good operating procedures in the real world. There are Penalty Points (PP) added to the Actual Time (AT) of any Robot which does them. You can still do these things, but you will get points added to your Time Score if you do. Don’t let these penalties scare you too much. These penalties are generally a small price to pay for a Robot that actually manages to accomplish the task.Touching a Wall: Touching a Wall Any Robot that touches a wall with any part of its body or feeler, either deliberately or accidentally will have 5 points added to its Actual Time score for each time it touched a wall. Any Robot that slides along a wall will have an additional 1 point added to its time score for each 2 cm of wall it touched as it was sliding along. A Robot can still touch a wall to orient itself, but it will be penalized for doing so. (PP = +5 per hit and PP = +1 per 2 cm of sliding) There are no penalties counted for hitting the wall on the Return Trip back to the Home Circle after extinguishing the candle. Touching the Candle: Touching the Candle Any Robot that touches the candle or its base with any part of its body or feeler, either deliberately or accidentally while the candle is lit, will have 50 points added to its Actual Time score. If the touch occurs as part of the actual extinguishing process (i.e. smothering the flame with a wet sponge) or after the candle is extinguished, there is no penalty. This touching refers only to a part of the Robot’s body and does not include any water, air or other material that the Robot might use to extinguish the candle. (PP = +50)ROOM FACTOR(1): ROOM FACTOR(1) In order to make the contest realistic and to encourage the creation of smart Robots, we have deliberately added uncertainty into the contest. The Robot does not know in which of 4 rooms the candle is in. Sometimes a Robot gets lucky and the candle is in the first room it searches and sometimes a Robot is unlucky and the candle is in the 4th room searched. The unfairness of this is that finding the candle in the 4th room you look in is a lot harder and takes longer than finding it in the 1st room you search. To reduce the impact of "luck" and give some credit to the more sophisticated Robots that can search multiple rooms successfully, there will be a Room Factor involved in the scoring that will be multiplied by the Time Score to get the Operating Score. ROOM FACTOR(2): ROOM FACTOR(2) The more rooms a Robot has to search before it finds the candle, the lower the Room Factor and thus the better the Operating Score. If the candle is in the 1st room searched, the Room Factor will be 1.0 If the candle is in the 2nd room searched, the Room Factor will be 0.85 If the candle is in the 3rd room searched, the Room Factor will be 0.50 If the candle is in the 4th room searched, the Room Factor will be 0.35 It does not matter in which order the Robot searches the rooms. The only thing that matters is how many rooms the Robot has searched before it finds the candle.ROOM FACTOR(3): ROOM FACTOR(3) Some Robots have extremely sensitive sensors and can tell if the candle is in the room by merely looking in the doorway as it passes by. The Robot does not have to have entered a room to be considered as having searched it. Any Robot going past a doorway that it has not gone past before will be considered to have searched that room. If the Robot has already searched a room and then goes past the doorway again on its way to a different room, that room will not be counted twice.23. SCORING PROCEDURE: 23. SCORING PROCEDURE Slide58: A. Multiply the Operating Modes together to get the Mode Factor (MF) OM=(Tethered=1.2, or Sound = 0.95, or Standard Operation = 1.0), RT=Return=0.8 MF = OM x RT B. Record the Actual Time (AT) in seconds needed to put out the candle C. Add all the Penalty Points (PP) together. hitting a wall = 5 points per hit sliding along wall = 1 point per 2 cm, touching the candle or base while the candle is lit = 50 points D. Record the Room Factor (RF) (1st room = 1.0, 2nd room = 0.85, 3rd room = 0.50, 4th room = 0.35) E. Add the Actual Time to the Penalty Points to get the Time Score (TS) TS = AT + PP F. Multiply the Time Score, Room Factor and Mode Factor together to get the Operating Score (OS) for that trial. OS = TS x RF x MF G. After 3 trials, add the two lowest Operating Scores together to get the Sum of Best 2 Trials (SB2T) H. If the Robot had 2 successful trials, the Reliability Factor (RF) is 1.0 If the Robot had 3 successful trials, the Reliability Factor is 0.9 I. Multiply the Sum of Best 2 Trials times the Reliability Factor to get the Final Score (FS) FS = SB2T x RF J. The Robot with the lowest Final Score (FS) is the winner.30. QUALIFICATION TRIALS(1): 30. QUALIFICATION TRIALS(1) On Friday, at their discretion, the competitors will need to qualify to prove that they can indeed function in the arenas. Each Robot will have 3 chances to find and extinguish the candle, subject to the following: The 3 Qualification Trials do not have to be run consecutively. A Robot can come back after adjustments to try again. Once a Robot has successfully qualified by finding and extinguishing the candle, it does not have to complete any further trials. A Robot only has to find the candle once to be qualified for the contest on Saturday. If the Robot can not find and extinguish the candle once during its 3 Qualification Trials, then it has not qualified for the contest on Saturday. The contestants can place the candle where ever they want. The actual time to complete a Qualification Trial will not matter, but the Robot must successfully find and extinguish the candle within the 5 minute limit. The rules concerning not moving for 30 seconds or repeating the same movement 5 times will apply.30. QUALIFICATION TRIALS(2): 30. QUALIFICATION TRIALS(2) H. When you are ready to make a Qualification Trial, you will notify the Qualification Judges and they will give you a trial position. (For example: "There are 3 Robots ahead of you in line and when they are done then you go.") I. When it is your time to make your Qualification Trial you will have 1 minute to get set up and begin. If you can't begin within the 1 minute then that particular Qualification Trial is over. J. The Qualification period will be end at 10 pm on Friday. Any Robots that have not qualified by that time FOR ANY REASON will not be qualified for the contest on Saturday. It is your responsibility to Qualify before the Qualification period ends. K. The Qualification Trials will only take place on Friday. There will be a short practice session on Saturday, but there will NOT be any Qualification Trials on Saturday. L. Robots do not have to qualify in the same operating modes that they will run in on Saturday.25. EXPERT DIVISION: 25. EXPERT DIVISION Since 2005, we have increased the challenge by including both fire-fighting and search-and-rescue tasks. Expert Division Robots will carry out the tasks of a fire department scout Robot that searches for a baby in a two-story house, marks the baby’s location, and puts out fires and in 2007 we allowed robots swarms. The first floor of the house consists of the 3m x 3m arena while the second floor measures 2m x 2m. Robots will reach the second floor via a ramp. There will be two bedrooms on the second floor. A simulated baby located in one of these upstairs bedrooms must be found and marked so that a fire department rescue robot can save the baby. Rescuing the baby is NOT part of the 2007 competition. In addition, the scout Robot must extinguish two candles. Candles can be located in any room on either floor.Robot SWARMS: Robot SWARMS Single robots or robot swarms may enter the Expert Division. A single robot designed for this competition would be able to perform all of the tasks below while in a robot swarm the tasks could be divided in many ways among the robots. Each swarm robot must conform to the size requirements in section 8. New Rule for 2007: All members of the swarm must fit, without touching one another, within a rectangular area 0.5 m. by 1.5 m. Judges will measure the swarm prior to one or more of the trials.The Expert Division Task: The Expert Division Task The goal is to complete the four tasks below. The tasks can be completed in any order. Put out candle 1; Put out candle 2; Find and mark the baby by placing an audible beeper (see specifications below) within 20 cm of the baby; Go up and down the ramp at least once. This must be accomplished in a controlled fashion.Rules for the Expert Division: Rules for the Expert Division Baby Beacon. The baby’s body heat will be simulated by a 15 Watt incandescent light bulb. The bulb will be painted flat black using heat-resistant paint available at auto parts stores. A photograph of the bulb and the baby in its bed can be seen by clicking on this link: Baby with heat source. Just as last year, white LEDs placed at each end of the baby’s bed serve as a “night lights” to further guide the robots. Maze Arrangement. As in the past, robots will not know the maze layout ahead of time. However, we will use only two layouts over the contest weekend-one arrangement during practice times on Friday and a second during the competition. We will use the same arrangement for all three trials during the competition, but candle and clutter locations will change from run to run.Rules for Expert Division: First Floor: Rules for Expert Division: First Floor i. The first floor will measure 3 meters by 3 meters square. (Click here for representative Expert Division arena) ii. The outer walls will be fixed, but the inner walls that define the hallways and rooms will be movable. iii. Wall height will be at least 27 cm and no more than 34 cm. iv. There will be 2 to 5 rooms on the first floor, and their position, size and doorway location will change from one trial to another. Note: A room will have at least a 2 by 2 grid area, where 1 grid length is approximately 50 cm. A room does not have to be rectangular and it may have alcoves and bends. The door to a room will not be smaller than 1 grid, but it could be wider. Everything else is a hallway. v. A room will only have one doorway and that doorway will be connected to the hallway and not to another room. vi. Hallways may lead to dead ends. vii. The hallways and doorways will be approximately 48 cm wide.Rules for Expert Division: Second Floor: Rules for Expert Division: Second Floor i. The second floor will measure approximately 2 meters by 2 meters square. (Click here for representative Expert Division arena diagrams.) ii. Wall height will be at least 27 cm but no more than 34 cm. iii. The outer walls will be stationary, but the inner walls that define the hallways and rooms may be moveable and may be moved from run to run iv. There will be 2 bedrooms on the second floor with connecting hallway(s). v. A room will only have one doorway and that doorway will be connected to the hallway and not to another room. vi. Hallways may lead to dead ends. vii. The hallways and doorways will be approximately 48 cm wide.Rules for Expert Division: Staircase: Rules for Expert Division: Staircase i. A straight ramp will connect the first and second floors. ii. The ramp will start and end on the edges of the floors. iii. The ramp will meet the lower and upper floors at 90-degree angles. iv. The ramp will not necessarily be centered on grid lines. v. The entrance to the ramp is not marked in any way. vi. The ramp angle will not exceed 15 degrees. vii. The width of the ramp will be approximately 48 cm. viii. The ramp will have walls that are similar, in height and style, to the walls of the arena. ix. The length of the ramp is not specified exactly, but it will be between 150 and 300 cm. x. The floor of the ramp will be covered with an adhesive backed non-slip surface similar to the type used on boat decks.Rules for Expert Division: Baby: Rules for Expert Division: Baby i. The baby is a toy doll made of soft fabric material. The baby is approximately 28 cm. in length. ii. The baby will emit simulated body heat produced by a 15 Watt incandescent light bulb painted flat black. A picture of the baby and the light bulb is shown here. iii. Robots may employ a non-destructive probe to verify the baby’s position. Robots will be disqualified if the baby is injured. iv. The baby will be placed in a wooden bed. The height of the bed will be in proportion to the room size and the size of the baby. A drawing of the bed is shown here. Two bright white LED emitters will shine outward from the bed. Rules for Expert Division: Beeper: Rules for Expert Division: Beeper i. A straight ramp will connect the first and second floors. ii. The ramp will start and end on the edges of the floors. iii. The ramp will meet the lower and upper floors at 90-degree angles. iv. The ramp will not necessarily be centered on grid lines. v. The entrance to the ramp is not marked in any way. vi. The ramp angle will not exceed 15 degrees. vii. The width of the ramp will be approximately 48 cm. viii. The ramp will have walls that are similar, in height and style, to the walls of the arena. ix. The length of the ramp is not specified exactly, but it will be between 150 and 300 cm. x. The floor of the ramp will be covered with an adhesive backed non-slip surface similar to the type used on boat decks.Rules for the Expert Division: Rules for the Expert Division F. The robots in this division must be untethered and using either on-board computers or an external desktop computer with an RF link. There may not be any wires from the external computer to the robot. G. The Standard Mode in the Expert Division includes Sound, Uneven Floor, Furniture and Clutter modes. There is no Return Mode in the Expert Division. H. These standard modes are mandatory and failure to operate successfully within them on any trial will nullify the trial resulting in this tally and time: zero tasks, 6 minutes adjusted time—see Scoring below. I. There will NOT be a white line in the doorway to a room. J. Even though some part of the robot must still come within 30 cm of a candle before it attempts to extinguish the candle, there will NOT be a candle circle to indicate that the robot is within the correct distance. Thus the robot will somehow have to make sure it is close enough to the candle before it starts the extinguishing process.Rules for the Expert Division: Rules for the Expert Division K. The floor in the rooms may not be uniformly black or even smoothly flat. Some rooms may contain more real-world type floors made of such materials as linoleum, tile or even thin rugs (less than 5 mm). L. The walls in the Expert division may not be uniformly white or even smoothly flat. There could be pictures or other materials hung on the walls, which change the color, texture or reflectivity. In any case, nothing will extend more than 5 mm from the wall surface. Hanging objects represent a component of the Clutter Mode, and robots that knock hanging objects off of the walls will have failed to operate successfully in Clutter Mode (see Section H. above for scoring in this case). M. Eligibility for cash prize: In order to win a cash prize in the Expert Division, a robot must complete at least three tasks during the competition. N. Qualification: To qualify for the final competition, a robot must complete at least two tasks in one run within six minutes.Rules for the Expert Division: Rules for the Expert Division O. Starting Position. All starting positions will be in hallways. Robots will be placed in arbitrary starting locations and orientations by the arena judges. The order of placement (but not location or orientation) of the robots in a swarm may be specified by the team. At the start adjacent swarm robots will be separated by no more than 20 cm. P. All arena intersections will be at right angles. There will NOT be any diagonal hallways or walls. Q. All rooms will be at least 2x2 grids in size (a grid is approximately 48 cm on a side). Rooms do not have to be square or even rectangular. R. Other considerations A candle will NOT be place in a hallway. There may be more than one Furniture item in a room. The Room Factor discount (Section # 21) will NOT be applied to the Expert division. NO penalty is given when two members of a swarm touch each other. Scoring: Scoring The scoring method (see example below) counts completed tasks. It uses time as a differentiator among robots with the same number of completed tasks. A. Each robot or swarm is allowed three trials. B. The maximum run time for each run is 6 minutes. This time will be recorded for trials that are not fully completed. C. For each trial, judges count the number of tasks completed and measure the raw time and penalties. D. An adjusted time is computed by adding penalty time to raw time. E. The score is then taken as follows: i. Sum the number of completed tasks for the three trials; ii. Add the total adjusted run times for the three trials; Finishing rank is computed by the total number of tasks completed using time as the tiebreaker.Down Load Expert Division Rules: Down Load Expert Division Rules Please Click Button You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.