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THE SAN DIEGO ROBOTICS SOCIETY

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Rules for the 2nd Contest on June 2, 2001

The major change from last year is that the "Playing Field"
was defined as a rectangle and then a wall one foot outside
the rectangle. it considerably simplifies the rules if we
just dump the two different boundaries and have the walls be
the boundary.

San Diego Robotics Society Navigation Contest.
Date: Saturday, June 2, 2001

Rules: (NOTE: All terms in quotes have specific meanings or
dimensions that are described in detail later in the rules.)

The navigation contest is divided into three separate
events.
 

BASIC NAVIGATION EVENT:
Robots will be required to start in a "Starting Block", near
the bottom center of the rectangular "Playing Field". There
will be four obstacles placed at the four corners of the
"Inner Rectangle". Each robot must traverse an approximate
rectangular path by passing to the outside of all four
obstacles, while staying inside the "Playing Field", and
return to the "Starting Point". Robots will have five
minutes to complete each run. Time permitting, multiple runs
will be scheduled.

Complex Navigation Event:
Same "Playing Field" as the Basic Navigation Event above.
Robots will be required to circle each obstacle in the
following order: NE, SW, SE, NW, and return to the "Starting
Point". Robots will have seven minutes to complete each run.
Time permitting, multiple runs will be scheduled.

Mine Clearing" Event:
The "Inner Rectangle" for the two events above will not
apply to this event. In the upper [one third] of the playing
area, eight to ten coin shaped objects will be placed at
random. They will all look similar, however most of them
will be inert dummies (non-magnetic), and three of them will
be "mines" or magnets. Robots will have ten minutes to
discover and "mark" as many mines as possible.

"Marking" a mine can be done in one of three ways: 1) By
placing some small marker, such as a coin or small chip,
within eight inches of the mine, 2) By emitting an audible
tone while the robot is within eight inches of a "mine", and
3) by flashing lights or LEDs. Participants will be required
to tell the judges which signal they use prior to the event.

Should any part of any robot touch any "live mine" at any
time, the mine will "explode". The robot shall then be
considered damaged and the round ended.

LINE FOLLOWING EVENT:
Robots will follow a predefined path using the standard
white floor tiles with 3/4 inch black electrician's tape.
Most successful runs of five wins a prize. Fastest time wins
a prize.

BOMB DISPOSAL EVENT:
Robots will extinguish a candle in the standard Trinity Fire
Fighting house which is an 8 X 8 foot house with four rooms.

DEFINITIONS:

Calibration Period: The hour before events start should be
used for calibration of sensors. This is the time for
participants to make any adjustments, light readings or any
other calibrations desired due to existing or changing
ambient light or other conditions.

Event environment: For information, the events will take
place in an enclosed room; a standard basketball size gym
with hardwood floors. The arena uses GE Multi-Vapor 250w
lamps whose light appears similar to normal flourescent
lighting. Although there are several large doors into the
gym, and they could be opened by spectators, there is
otherwise no expectation of robots having to deal with
direct sunlight.

Starting Order: Robot starting order will be chosen by
random drawing.

Control and Processing: Robots must have all processing on
board. There can be no external processors or telemetry
between the robot and any device external to the robot.

Robot Specifications:

   Size: There are no size restrictions.

   Weight: There are no weight restrictions.

Power: Robots must have self contained, quiet, non-polluting
power sources.

BEACONS:
A beacon is defined as any device that transmits, receives,
or reflects any energy, such as acoustic/sonar, microwave,
radio wave (HF, RF, UHF, etc.), light, laser (eye safe
lasers only!), or infrared energy. Beacons must be placed
prior to a robot starting an event and must be removed
immediately thereafter. No power will be available for
beacons, so any required power must be self-contained in
beacons or supplied by the participant. Any number of
beacons are allowed as long as they are placed as described
in the next paragraph.

   Beacon Placement Area: All beacons must be placed in
one of, BUT NOT BOTH, of the following configurations:
   1. All beacons are placed outside of or on the outside
boundary of the playing field, and may not extend more than
one foot outside the playing field, or be higher that
eighteen inches.
   2. Beacons may be set on top of the any of the four 4" X
4" X 5" obstacles at the corners of the inside rectangle.

   PLAYING FIELD:  [Two optional sizes will be provided to
accommodate a wide range of robot sizes and speeds.]

  [LARGE SIZE OPTION:]
The playing field is a 22 X 30 foot rectangle, on a flat
hardwood floor, with the North and South sides being the 22
foot dimension. "North" as used here is an approximate
direction, not an exact North. The outer boundary of the
playing field will be a one foot high wall made of thin
unpainted plywood.

Using X, Y coordinates, the parts of the playing field are:

Outside Boundary: (One foot high wall) 22 X 30 feet

   ____________X__Y
   SW corner:.     0    0
   SE corner:..    22,   0
   NE corner:..    22, 30
   NW corner:..     0, 30

Inner Rectangle: 12 X 10 feet. (Imaginary; not drawn on
playing floor. Four obstacles (4" X 4" X 5" wooden blocks)
will be placed at the corners.)
   ____________X Y
   SW corner:..    8,14
   SE corner:.    16,14
   NE corner:.    16,24
   NW corner:..    8,24

Starting Point (Small dot on the floor):
   _____________X Y
   ..................      11, 3

SMALL SIZE OPTION:

The playing field is a 10 X 22 foot rectangle, with the
North and South sides being the 22 foot dimension. "North"
as used here is an approximate direction, not an exact
North.

Using X, Y coordinates, the parts of the playing field are:

Outside Boundary: (One foot high wall) 24 X 12 feet

   ____________X__Y
   SW corner:.      0,  0
   SE corner:..    22,  0
   NE corner:..    22,10
   NW corner:..    0, 10

Inner Rectangle: 12 X 10 feet. (Imaginary; not drawn on
playing floor. Four obstacles (4" X 4" X 5" wooden blocks)
will be placed at the corners.)
   ____________X Y
   SW corner:..   [3,3]
   SE corner:..  [12,3]
   NE corner:.   [12,7]
   NW corner:..   [3,7]

Starting Point (Small dot on the floor):
   _____________X Y
   ..................        3, 5

DETERMINING FINISH ORDER OF ROBOTS:

Basic Navigation Event and Complex Navigation Event:
Each robot will be required to have a mounted "pointer". The
pointer shall be an obvious appendage pointing to the ground
directly below any part of the robot. An example would be a
three-inch pencil taped to the right front corner of the
robot with the point down. The point of the pointer should
be approximately one inch off the ground.

At the end of each run, when the robot stops, or when time
runs out, the judges will measure the distance from the
bottom of the robot pointer to the "Starting Point". That
distance (in inches) shall be the score for that run. For
two runs, the score will be the sum of the distances for
each run. For three or more runs, the score will be the best
of all but one run (throw out one). Final rankings will be
first place for the shortest cumulative distance, to last
place for the longest cumulative distance. In the event of
ties after multiple runs, the tie shall be broken in favor
of the robot with the shortest single distance. Time for
runs will not be a factor in determining final place
positions.

"Mine Clearing" Event:
The mine clearing robots will accumulate points as described
below, with the lowest point score being the winner.

   0-420 points...Points for time for each run shall be
given at one point per second, up to a maximum of seven
minutes, or 420 points.

   -200 points.....Locating and marking all three mines and
returning to
the "Starting Block" in under seven minutes.

   -100 points.....For each mine located and marked.

   10 points........One or more robot wheels or legs touch
the outside boundary line of the playing field.

   100 points.......Robot completely exits the playing
field. (All parts of the robot that normally touch the
ground while the robot is moving are outside the playing
field.)

   200 points.......Robot wheel runs over a "mine".

Judges: One or more judges will be assigned for each event.
Judges may not participate in any event in which they are
participants. Judges decisions are final.


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This page was last updated on Jul. 07, 2001