Minefield

Event Category:Autonomous Robotics

Problem Statement:

Build a semi-autonomous robot capable of detecting hidden metal mines and rescuing stranded victims using gesture recognition in a minefield.

Task

  • The arena will consist of victims which would be simulated by green blocks(Round 1) and hidden metallic mines which will be under the arena surface.
  • The robot has to be semi-autonomously controlled, with the clasping mechanism and locomotion being manually controlled by the participant through gesture recognition using wrist movements only.
  • Adding to gesture recognition, the robot will also have to implement autonomous metal detection to detect hidden mines under the surface of the arena.
  • The robot’s task is to rescue the victims by depositing them in the safe zone one at a time while avoiding the mines.
  • In the second round, the robot will aslo have to avoid obstacles.

Arena

Round 1:

Arena-Round 1

 

Round 2:

Arena-Round 2

 

This is how the actual arena will be visible to everyone:

Actual image

  1. The Arena is of the size 3m*3m.
  2. The Victims will be placed at any random positions in the arena.
  3. The Victims will not be placed inside the region depicting a mine in Round 1 but they might be present inside a mine in the Round 2.
  4. The Start zone will be a 30cm*30cm square area at one of the corners of the arena.
  5. The safe zone will be a circular quadrant of radius 40 cm at the diagonally opposite corner of the start zone.
  6. No participant will be allowed to step on the arena,
  7. The robot and the participating team must not harm the arena in any way. If done, then a penalty will be imposed on the team and the magnitude of the penalty will be decided by Team Robotix.

The obstacles have been depicted by cuboids as of now. The actual shape of the obstacles will be posted soon.

Shown arena is for demonstrative purposes. It is tentative and is subject to change.

Rounds

Round 1

  • There will be a maximum of 6 mines.
  • There will be a maximum of 4 victims.
  • Total run time allotted is 4 minutes.

Round 1 will consist of victims and mines , and the participant has to use gesture recognition to control motion of the robot and has to clasp the victims present in the arena and take them to the safe zone(rescue zone) while avoiding mines.

 

Arena

Arena-Round 1

 

Arena is subject to change.

Round 2

  • There will be a maximum of 8 mines.
  • There will be a maximum of 6 victims.
  • There will be a maximum of 4 obstacles.
  • Total run time allotted is 6 minutes.

Round 2 will differ from round one in these aspects

  • there will be obstacles on the arena simulated by cuboids (upto 4 in number). These obstacles need to be avoided.
  • there will be more number of victims and mines.
  • There might also be a possibility of some victims being placed on a mine itself.

Arena

Round-2

The obstacles have been depicted by cuboids as of now. The actual shape of the obstacles will be posted soon. 

Arena is subject to change.

To be announced.

Rules And Specifications

  1. All arena dimensions have a tolerance of 10%.
  2. Each team can consist of a maximum of 4 members.
  3. Each team should have unique participants i.e. no two teams can have even a single participant common.
  4. The team members can be from different institutes or colleges.
  5. The right spirit of participation is expected from the participants.
  6. The decision of the Team ROBOTIX will be final and binding.

 

Round 1:

  1. The robot has to start from the start zone and avoid the mines which are shown depicted by black circles in the arena.
  2. Negative points will be awarded if bot steps on a mine.
  3. There will be a maximum 4 victims in Round 1 and the victims.
  4. The robot has to traverse on the arena and approach the victim.
  5. On reaching the victim it has to clasp it using a gripping mechanism and deposit it in the safe zone.
  6. The runtime for this round is 4 minutes.
  7. There can be a maximum of two timeouts (each of 1 min) and one restart in this round.
  8. The robot has five lives, i.e. if the robot steps five times on the mines, his round will end.
  9. Every time the robot steps on a mine, it loses a life.
  10. Points will be deducted depending on the number of times a mine is stepped on, i.e. on stepping for the first time, say 100 points will be deducted. If the robot steps on a mine for a second time, 150 points will be subtracted and so on.
  11. Restarts are allowed only before the robot steps on the mines for the fifth time.

Round 2

  1. The robot has to start from the start zone and avoid the mines which are shown depicted by circles on the simulative arena but which will actually be invisible.
  2. Negative points will be awarded on stepping on a mine.
  3. There will be a maximum of 6 victims in this round.
  4. The robot has to traverse on the arena and approach the victim while avoiding the mines and obstacles.
  5. On reaching the victim it has to clasp it using a gripping mechanism and deposit it in the safe zone.
  6. The runtime for this round is 6 minutes.
  7. There can be a maximum of three timeouts (each of 1 min) and two restarts in this round.
  8. The robot has five lives, i.e. if the robot steps five times on the mines, his round will end.
  9. Every time the robot steps on a mine, it loses a life.
  10. Points will be deducted depending on the number of times a mine is stepped on, i.e. on stepping for the first time, 75 points will be deducted. If the robot steps on a mine for a second time, 100 points will be subtracted and so on.
  11. Restarts are allowed only before the robot steps on the mines for the fifth time.

Mines

  1. The mines will be metal plates 15 cm in diameter concealed under the arena surface.
  2. They are represented by a red outline on the simulative arenas(this means that the red outline will not be on the actual arena but only on the representation provided to you on the site)
  3. If the robot steps on a mine during the run an indicator such as a light/alarm will go off

Victims

  1. The victim will be a light wooden cube of side 5 cm. (the weight may vary).
  2. The position of the victims will be completely random and decided by team robotix and is not fixed.
  3. The Victim would be considered to be completely rescued only when it is deposited in the safe zone. (however there will still be points for reaching the victim avoiding the mines.)

Saving the Victim

  1. For saving the victim the robot has to avoid all the mines and reach near the victim.
  2. The robot has to reach out to each Victim , clasp it using the gripping mechanism and deposit it in the safe zone.

Robot traversal

  1. The semi-autonomous robot has to start from the start zone as marked in the arena.
  2. After it enters the arena, it needs to move according to the placement of mines and victims.
  3. The participant can not use simple push buttons or any kind of buttons for gesture recognition. Participant is required to control the bot on the basis of wrist movements and tilt of the palm.
  4. For the Time bonus to be awarded, it is essential for the robot to reach at least 2 Victims and deposit at least 1 in the safe zone.

Initial Orientation of Robot

  1. The participant is allowed to decide the initial orientation of his robot(s)
  2. Team ROBOTIX reserves the right to disallow any initial orientation of the robot inside the  starting  zone  if  it  gives  the  participant  an  undue advantage solely based on the judge's discretion.

TECHNICAL -

  • A standard 220 Volt AC power supply will be provided by Team ROBOTIX in the arena.
  • It is suggested that the participant try to make a wireless robot. In which case the wireless bot should be battery powered on-board.
  • All Circuitry and sensory equipment placed on the robot should be adhering to the ROBOT SPECIFICATIONS.
  • Participants will have to bring their own programmers, cables and software. No Programmers will be supplied.
  • Hard Coding is not allowed.
  • All the dimensions of the arena and the Victims are to be considered with a tolerance of 15%.

All dimensions and the arenas are tentative as of now.

 

  • No part/mechanism of/on the robot should exceed the given dimensions before the commencement of the event run.
  • Each robot can have maximum dimension of 30*30*25 cm3 (L*B*H) respectively.
  • The robots can exceed their respective dimensions once the event commences.
  • Gesture recognition of navigation and clasping should be done using wrist gestures only by using accelerometers, image processing etc.
  • LEGO kits or its spare parts or pre-made mechanical parts are not allowed. (http://en.wikipedia.org/wiki/Lego_Mindstorms)
  • Ready-made gearboxes, sensors, development boards can be used but no other part of the robot should contain any ready-made components. Simple car bases with no extra features may be used.
  • The bots should not harm the StepUp event arena in any way. If it does so, a penalty will be imposed on the team. The magnitude of the penalty will be decided by Team ROBOTIX.

Scoring

Positives :

  • Successfully picking up a victim (V) : 100
  • Successfully reaching a victim to the safe zone (N) : 150
  • Removing path blockers (P) : 75
  • Time bonus (Y) = Time left in seconds

Negatives:

  • Stepping on a mine for the first time : -75
  • Stepping on a mine for the second time : -100
  • Stepping on a mine for the third time : -150
  • Stepping on a mine for the fourth time : -200
  • Dropping the victim (D) : -50
  • Timeouts (T) : -100
  • Restarts (R) : -250

Scoring Formula:

Base score(B) : 1000

Score for each round = B + (V x 100) + (N x 150) + (P x 75) + Y -Points for stepping on mines - (D x 50) -(T x 100) -(R x 250)

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