Nuke-Clear

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EVENT HEADS
Aiyush Suhasaria
asuhasaria@robotix.in
+91-9832114141

Somewhere in there the grace of a ballet dancer joins with the strength of an SAS squaddie, the dignity of an ancient kind, the nerve of a bomb disposal officer.

~ Eamonn Dunphy

" Forced to play a dangerous game of cat-and-mouse in the chaos of war, an elite Army bomb squad unit must come together in a city where everyone is a potential enemy and every object could be a deadly bomb. "


  Countless men have laid down their lives fighting to dispose off bombs from war sites. Every breakthrough in the field of technology happens due to change and the reaction to undo it. Building robots to do a life threatening job for humans seems to be the next step ahead. Be a part of this change... Robotix 2012 invites you to take part in the Image Processing event 'Nuke-Clear' where only the best survive!

Build an autonomous image processing robot which can traverse around rooms, locate and disarm bombs.

Remote disarmament of bombs using Image Processing

  1. The robot has to navigate to different rooms (bombsites) connected via multiple paths in the arena.
  2. It has to detect the bombs located in the bombsites by blinking an LED.
  3. Once the robot locates a bomb, it has to diffuse it by pressing the correct button given on the diffusion box before it detonates. (The buttons will be differentiated on the basis of color which can be detected by an on board camera)





Key:

Black: Inaccessible area / Obstacles
White: Accessible paths
Red squares: Bomb
Red Triangles, Blue Squares: Harmless Objects
Yellow: Safe zone

  1. Arena consists of four rooms (aka bombsites) connected with a network of pathways with each corridor of sufficient width.

  2. The bombsites are labeled ‘A’, ‘B’, ‘C’ and ‘D’.

  3. There will be exits from each bombsite as shown in the arena picture. Between two adjacent rooms, a safe zone will exist where the robot will be considered to be unharmed during the detonation of any bomb.

  4. Multiple bombs may be placed in different locations of every bombsite.

  5. Each bomb will be enclosed by obstacles from three sides, ie, only one side of the bomb will be exposed.

  6. Bombs will be red cubes.

  7. Besides bombs, there may be harmless objects kept in the arena:
    a.) Cubes of same dimensions kept in the arena but, of different color.
    b.) Triangular prisms kept in the arena of any color (It may be same as that of the bomb.)

  8. Near the bombs and other objects there will be a platform with two buttons colored yellow and green in a vertical plane in front of the exposed side of the bomb.


Specifications:

  1. The walls will be made of cloth hung over bamboo which will be black in color. The height of the walls will be (1m).

  2. The arena will be spread out in an area of 8m x 6m.

  3. The floor of the room will be made of concrete (pictures of the same shall be uploaded later).

  4. The bombs and harmless objects of maximum dimensions (20cm x 20cm x 20cm) (l x b x h) will be present in the arena.

  5. All other obstacles and inner walls will be of the height 20 cm.

  6. Each button will be of the diameter 7.5 cm.(The center of the button will be at a height of 10 cm from the floor)

  7. There will be four over-head cameras each covering a bombsite. Together their field will cover the whole arena including the pathways.

  8. The four video feeds will be provided to the participants via USB cables one at time.

  9. All the given dimensions can have a tolerance of 5% unless specified otherwise.

Watch how to diffuse the bomb : http://www.youtube.com/watch?v=-jTv1sl7PR0

  1. A team may have a maximum of 4 members.
  2. No two teams can have common participants.
  3. The participants from different institutes/colleges can form a team together.
  4. Right spirit of participation is expected from the participants.

  1. The robot will be placed at the starting point in bombsite A before the beginning of the run.
  2. The timer of the bombs will start at the beginning of the run for each room. Time set on the bombs will be 7 minutes. (That is the time to cover one room)

Video Feed:

  1. The team will be provided with four live video feeds each covering a bombsite and together covering the whole arena. Only one camera feed will be active at a time.
  2. The feeds will be given through USB cables connected to the cameras, all provided by the Robotix team.
  3. The camera drivers will be provided to the team at the time of registration in the venue.(The camera Provided by the ROBOTIX team is Logitech-B910-the link for specifications is here)
  4. In case the contestant team wishes to use their own camera, they are free to do so. The placing of the overhead camera if provided by the participant will be done by the robotix team.
  5. Participants are free to use multiple cameras and sensors on their robots. Only one off-board camera is allowed.
  6. A bombsite will become a safe zone if all bombs in that bombsite are diffused.

Detection

  1. The position of the LED used to indicate the detection of a bomb must be informed to the Robotix team before the commencement of the event.
  2. The LED should blink (as perceived by a human eye) for a minimum of 3 seconds to indicate the detection of a bomb.

Diffusion

  1. The color of the correct button to deactivate the bombs will be informed before the start of the run.
  2. Incase all the bombs are not deactivated within the allotted time, the clock will be stopped and points will be awarded based on the bombs detected, defused, the checkpoints covered, the penalties made and bonus awarded.
  3. If incorrect button is pressed, the penalty will be levied and points will be deducted from the final score.
  4. Only one button should be pressed. In case multiple buttons are pressed, points will be deducted from the final score same as the points deducted for pressing the incorrect button.
  5. If the time runs out while the bot is in the bombsite, points will be deducted from the final score.
  6. The lids of the bombs on diffusion of bombs(Pressing the correct button) will automatically flip and the top surface will become black.

Qualification and Scoring

  1. Points will be awarded based on the time taken to reach the bombsite, locating/detecting the bomb and defusing the bomb.
  2. Points will be deducted on displacing the bomb or touching it anywhere other than the buttons.
  3. There will two stages, qualification and final stages. Qualifying stage having fewer bombs and other objects. :
  4. The robot is required to cover two rooms in the qualification stage and four rooms in the final rounds.
  5. Each team will be given three runs during qualification stage and five runs during the Final Stage. The best score will be selected out of the same.
  6. Manual intervention of any kind will not be allowed during the run of the bot, the teams may however hold the laptops in their hands, which will not be considered as manual intervention. Only one participant will be allowed to hold the laptop and enter the arena.

  1. The robot can be powered on-board as well as off-board.
  2. Both on-board and off-board processing is allowed.
  3. No kind of external control will be allowed.
  4. All circuitry and sensory equipment should be placed on the robot adhering to the ROBOT SPECIFICATIONS.
  5. Participants will have to bring their own programmers, cables and software. No programmers will be supplied.
  6. Hard coding is NOT allowed. Hard coding is defined here. Absolute and instant disqualification will take place if hard coding is confirmed.
  7. The video feeds provided will be RGB, 29.97fps, 640x480 px.

Robot Specifications

The bot must be fully autonomous, i.e. No manual intervention is allowed once the run is started however, carrying the processing device for off board processing is allowed provided only one participant handles it and does not interact with it.


Dimensions
The bot should have maximum dimensions of (45cm x 45cm x 45cm)(l X b X h). The dimensions may however exceed after the beginning of the run.

Processing

  • Processing may take place off board.
  • Participants have to ensure that the wire does not touch any of the obstacles  and the wire remains slack throughout the run.
  • Any kind of interaction with the processing device is prohibited except carrying it during the run.



Power Supply
A fixed 220V power supply will be provided by the Robotix Team. Participants may choose to use their own power sources.
The power source used need not be on-board.

Navigation

  • The navigation can be done through image processing using a 2GHz processor.
  • The provided video feeds can be used to navigate through the arena
  • Cameras, optical sensors and infrared sensors can be installed in the robot for better maneuvering capabilities.

Mechanism
The buttons can be pushed using

  • Linear actuators
  • Rotating arms.
  • Spring Mechanisms
  • Rack and Pinion
  • Scissor Mechanism
  • A simple extended arm

Starting score will be 1000 points.

  • A checkpoint is cleared when a bomb is located. The bomb may be diffused once it has been detected.
  • There are multiple checkpoints and can be cleared in any order.
  • Time taken (in seconds) for the bot between consecutive checkpoints will be recorded.
  • For example, time taken from beginning to the clearance of the first checkpoint is T1. Time taken from the first to the second checkpoint is T2. Time taken from the second to the third checkpoint is T3 and so on.

Total time to clear one room is the sum of time taken between checkpoints, that is T where (T=T1+T2+T3...).

T, T1, T2, T3 and so on are measured in seconds.

Penalties:

  • If incorrect or multiple buttons are pressed. [ - 100 points ]
  • If any part of the bot is not in the safe zone at the time of detonation [ - 100 points ]
  • Touching the obstacles/walls. [ - 100 points]
  • Detecting wrong objects as bombs. [ - 200 points]

Bonus

  • Bonus points for detecting a bomb [ + 500 points per bomb ]
  • Bonus points for diffusing a bomb [ + 200 points per bomb ]


Score Formula : [ 1000 - T - Penalties + Bonus ] (For Each Room)


Disclaimer:

  • All teams must submit a copy of their final running code to the organizers.
  • The Robotix Team retains the right to publish these codes as it deems fit in electronic and printed forms, with due credit to participants.
  • The Decision of the Robotix Team is FINAL AND BINDING.

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