The Contest Theme:
“Clean Energy Recharging the World”
Outline of the contest:
A match is contested by Red and Blue teams. It lasts 3 minutes at most.
Each team consists of two robots: one Eco Robot and one Hybrid Robot. Eco Robot doesn’t have an actuator to drive itself. The driving force of Eco Robot is obtained indirectly from Hybrid Robot; for example, wind force, magnetic force, etc., or from the game ﬁeld structure, gravity force, etc.
Eco Robot carrying Wind Turbine Propeller departs from “Eco Robot Start Zone”. It runs along 3 zones; “3 Slopes and Hills” “River” “Down Hill”, and aims for “Wind Turbine Station” by receiving driving energy from Hybrid Robot.
After Eco Robot reaches at “Wind Turbine Station”, Hybrid Robot gets Wind Turbine Propeller from Eco Robot. Then Hybrid Robot climbs Wind Turbine Pole and assembles Wind Turbine Propeller on Wind Turbine Engine attached on top of Wind Turbine Pole. The team that successfully assembles Wind Turbine Propeller earlier is the winner of the game. This type of winning is called “Chai-Yo”.
The importance of Safety
Safety is one of the most important elements in the sustainable development of the ABU Robocon.
The safety of the designed robots is the ﬁrst and foremost issue for the safety principle of the contest. The participating teams, as the robot designers, are responsible for the safety of their robots.
The teams must work and cooperate closely with the organizers to ensure the utmost safety of the contest.
Safety must always be the top priority and it must be considered by all people involved in the contest including ofﬁcials, participants and spectators in all circumstances.
Teams are required to pay sufﬁcient attention to the safety of their robots before applying to take part in the contest.
Team members must wear running shoes with rubber sole, helmets, and safety goggles during the matches and test runs.
Domestic Contests in Each Country and/or Region
All domestic contests in each country and/or region organized to ﬁnd the representatives to participate in ABU Robocon 2016 Bangkok should conform to the rules. It is understood, however, that materials may not be available in some places. Domestic organizers are advised to use the best possible materials and adhere as closely as possible to the speciﬁcations laid down for the ﬁnal contest.
Terms and Definitions
Terms and definitions which are used in the rules of ABU Robocon 2016 Bangkok are given here.
|Eco Robot||An automatic robot. It doesn’t have an actuator to drive itself. It receives driving energy from Hybrid Robot. Also It has to use only a steering actuator to control its direction to track the path.|
|Hybrid Robot||Hybrid Robot: Either a semi-autonomous or fully autonomous robot. It indirectly drives Eco Robot; for example, using wind force, magnetic force, etc.|
|Actuator||A device that creates motion; for examples, motor, pneumatic piston, hydraulic piston, solenoid|
|Steering||An action that turns heading direction of a robot|
|Driving||An action that creates front motion of a robot|
|Semi-autonomous||Ability to work independently for some actions and also work according to commands from an operator|
|Fully autonomous||Ability to work independently without any helps from an operator|
1.Game Procedure and Competition Tasks
Once the game has begun, each team has to complete the tasks in the following sequences:
1.1 Setting of robots
1.1.1 One minute is given for setting of the robots before the game starts.
1.1.2 At most, three team members of each team can engage in setting of the robots. Pit crew cannot join setting.
1.1.3 Any teams that fail to complete setting of the robots within one minute can resume the setting again once the game starts.
1.2 Deployment of the robots and team members at the start of the game
1.2.1 Hybrid Robot must be started in Hybrid Robot Start Zone 1.
1.2.2 Eco Robot must be started in Eco Robot Start Zone. Wind Turbine Propeller must be placed on Eco Robot. It can be placed anywhere on Eco Robot’s body.
1.3 Slopes and Hills
1.3.1 3 Slopes and Hills Hybrid Robot starts from Hybrid Robot Start Zone 1. Eco Robot carrying Wind Turbine Propeller stands-by in Eco Robot Start Zone. Hybrid Robot must indirectly drive Eco Robot; for example, using wind force, magnetic force, etc. The remote driven Eco Robot travels 3 Slopes and Hills.
1.3.2 Hybrid Robot is allowed to extend its arm over Slopes and Hills in order to move close to Eco Robot during Slopes and Hills but cannot physically touch Eco Robot, Slopes and Hills.
Hybrid Robot must indirectly drive Eco Robot from Remote Driving Zone. The remote driven Eco Robot, carrying Wind Turbine Propeller must cruise along the zig zag River and completely enter Highland.
1.5 Down Hill
Eco Robot uses gravitational force to drive itself in Down Hill. Hybrid Robot is allowed to decelerate or control the motion of Eco Robot from outside No Entry Zone. Eco Robot carrying Wind Turbine Propeller slides along Down Hill from Highland and enters Wind Turbine Station completely.
1.6 At the Wind Turbine Station, Hybrid Robot takes Wind Turbine Propeller completely out from Eco Robot.
1.7 Hybrid Robot in autonomous mode climbs Wind Turbine Pole in order to assemble Wind Turbine Propeller.
1.7.1 If Hybrid Robot is a fully autonomous robot from the beginning, Hybrid Robot is allowed to continuously climb Wind Turbine Pole immediately.
1.7.2 If Hybrid Robot is controlled by an operator in the previous task(s), Hybrid Robot has to move to Hybrid Robot Start Zone 2 after taking Wind Turbine Propeller completely out from Eco Robot.
188.8.131.52 With permission from the referee, Hybrid Robot in manual mode must be transformed to autonomous mode. The transformation must be conducted in Hybrid Start Zone 2. Team members can enter the contest field and touch Hybrid Robot during transformation.
184.108.40.206 Once Hybrid Robot in manual mode is transformed to autonomous mode, it cannot be reverted back to manual mode again throughout that game.
1.8 Hybrid Robot carrying Wind Turbine Propeller climbs Wind Turbine Pole and assembles Wind Turbine Propeller on Wind Turbine Engine attached on top of Wind Turbine Pole.
1.9 The team that successfully assembles Wind Turbine Propeller earlier is the winner of the game. This type of winning is called “Chai-Yo”.
1.10 Team members are not allowed to touch any robots except during starting operation, Hybrid Robot’s transformation, or retry.
2. Retries of Robots
2.1 A retry can be made only after the referee permission.
2.2 Team members are allowed to touch the robots while preparing for a retry.
2.3 Retries of Eco Robot or Hybrid Robot or both robots at the same time can be made as many times as necessary.
2.4 A retry is compulsory if Eco Robot falls out of the traveling path or Wind Turbine Propeller falls out of Eco Robot or Eco Robot conducts any violations.
2.5 Restart position after a retry of Eco Robot is assigned as follows:
￼Last Position of Eco Robot before Retry
|Restart Position of Eco Robot|
|Eco Robot does not enter Hill 1.||Eco Robot Start Zone|
|Eco Robot has passed Hill 1 but does not enter Hill 2 completely.||Hill 1|
|Eco Robot has passed Hill 2 but does not enter Hill 3 completely.||Hill 2|
|Eco Robot has passed Hill 3 but does not enter Highland completely.||Hill 3|
|Eco Robot has passed Highland but does not enter Wind Turbine Station completely.||Highland|
|Eco Robot has entered Wind Turbine Station but Hybrid Robot does not successfully take Wind Turbine Propeller out from Eco Robot completely.||Eco Robot restarts at its last position where the task was fail. Hybrid Robot restarts at Hybrid Robot Start Zone 1|
The team is allowed to restart Eco Robot at any restart positions locating before the assigned restart position. The score will be adjusted according to the restart position.
2.6 A retry is compulsory if Hybrid Robot conducts any violations.
2.7 Restart position after a retry of Hybrid Robot is assigned as follows:
2.7.1 A retry of Hybrid Robot before transformation to autonomous mode is made at Hybrid Robot Start Zone 1 only.
2.7.2 If a retry occurs when Hybrid Robot has already transformed to become autonomous robot but does not touch Wind Turbine Pole yet, Hybrid Robot restarts the retry at Hybrid Robot Start Zone 2.
2.7.3 If a retry occurs when Hybrid Robot has already started climbing Wind Turbine Pole but does not assemble Wind Turbine Propeller
successfully yet, Hybrid Robot restarts the retry by re-climbing Wind Turbine Pole again.
2.7.4 If only Hybrid Robot asks for a retry not both robots, only Hybrid Robot comes back to Hybrid Robot Start Zone 1. Eco Robot still stays at the last position.
2.8 Strategies premised on the use of retries are allowed.
3. Deciding the Winner
3.1 The first team that Hybrid Robot successfully climbs Wind Turbine Pole and assembles Wind Turbine Propeller is the winner of the game by knock-out. This type of winning is called “Chai-Yo”.
3.2 If neither team achieves “Chai-Yo” at the end of the 3 minutes match, the winner is decided based on the earning scores. The team that earns higher score after score deduction from violation is the winner. The score of each task is described as follows:
Zone where Eco Robot has completely entered
|Hill 1||10 points|
|Hill 2||10 points|
|Hill 3||10 points|
|Wind Turbine Station||10 points|
|Hybrid Robot successfully takes Wind Turbine Propeller completely out from Eco Robot.||10 points|
* Points are given only once per each task.
3.3 The game result
3.3.1 The game result is announced after the end of the 3 minutes match and the referee already checks and confirms the completed tasks and the faulty actions of the robots.
3.3.2 The match will end when
220.127.116.11 End of 3 minutes.
18.104.22.168 One of the teams is disqualified.
22.214.171.124 One of the teams achieves “Chai-Yo”.
3.3.3 A total score of 100 points is given to the team that achieves
“Chai-Yo” during group stage.
3.4 in case of a draw, the winner is decided based on the following order.
3.4.1 The team that gets the last earning score earlier.
3.4.2 The team that total weight of the robots is lighter.
3.4.3 The team that is judged by the referee as the winner of that match.
4. Robots Design and Development
4.1 Regulations for both Eco Robot and Hybrid Robot
4.1.1 Each team has to build 2 robots: one Hybrid Robot and one Eco Robot.
4.1.2 Each robot cannot be split into sub-units or connected by flexible cords.
4.1.3 Communication between robots is not allowed.
4.1.4 The robots in the contest must be built by the team members from the same university/college/polytechnic.
4.1.5 Weights of the robots The total weight of Hybrid Robot, Eco Robot, controller, cable, primary set of batteries and any equipment or devices used in the entire contest must not exceed 40 kg. However, the back-up set of batteries of the same type, weight and voltage as the primary set of batteries, is exempted.
4.1.6 Power sources of the robots
126.96.36.199 Each team must prepare its own power sources.
188.8.131.52 The voltage of the power sources used by each robot must not exceed DC 24V.
184.108.40.206 The pressure of the compressed air power must be not more than 6 bars.
220.127.116.11 The organizer has the right to declare and prohibit any dangerous and inappropriate power sources.
4.2 Eco Robot
4.2.1 Eco Robot must have its dimension no less than 400 mm in width, length and height all the time. There is no limitation on the maximum dimension of Eco Robot. (Refer also to Appendix 3.2 on Robot Box)
4.2.2 Eco Robot is allowed to use only one actuator to steer heading direction of the robot. The actuator is not allowed to drive the robot. The driving force of Eco Robot is obtained indirectly from Hybrid Robot; for example, wind force, magnetic force, etc., or from the game field structure; for example, gravity force, etc.
4.3 Hybrid Robot
Hybrid Robot can be either semi-autonomous or fully autonomous robot.
4.3.1 Hybrid Robot must have its dimension no larger than 1,000 mm in width, length and height all the time. (Refer also to Appendix 3.2 on Robot Box)
4.3.2 The robot is allowed to expand, stretch or extend as long as the dimension is still within the limit dimension.
4.3.3 Hybrid Robot cannot physically touch Eco Robot except during taking Wind Turbine Propeller from Eco Robot at Wind Turbine Station.
4.3.4 Semi-autonomous Hybrid Robot operation
18.104.22.168 An operator is allowed to operate the robot for all tasks except Wind Turbine assembly task.
22.214.171.124 The operator can be inside the game field for all tasks except during Wind Turbine assembly task that no one is allowed to stay in the game field.
126.96.36.199 Hybrid Robot is operated by the operator through a connected cable. The length of cable from Hybrid Robot to the controller must be in between 1,000 mm and 3,000 mm.
188.8.131.52 An infrared, visible ray, sonar, sound, or wireless radio frequency remote control is prohibited. The operator is not allowed to ride on the robot.
184.108.40.206 Semi-autonomous Hybrid Robot has to transform to autonomous mode before climbing Wind Turbine Pole only inside Hybrid Robot Start Zone 2. It is not allowed to remove any parts out of Hybrid Robot during the transformation.
4.3.5 Fully autonomous Hybrid Robot operation
220.127.116.11 if Hybrid Robot is designed as a fullt autonomous robot, all team members must be outside the game field except during start operation or a retry.
4.4 Examination of the robots
4.4.1 Participating robots are examined prior to the test run on the day before the contest and again on the day of the contest before it begins. The team that fails the examination is not allowed to participate in the test run or contest.
4.4.2 Details of what to be examined and how will be provided at a later date.
If a violation occurs, 5 points will be immediately deducted. A retry is compulsory after each violation. The violations are categorized as follows:
5.1 Any parts of any robots or Wind Turbine Propeller moves out of the game field.
5.2 Any parts of any robots or Wind Turbine Propeller enters the opposing team area or the space above it.
5.3 Any parts of Hybrid Robot touch Eco Robot or Wind Turbine Propeller, except during taking Wind Turbine Propeller from Eco Robot at Wind Turbine Station.
5.4 Any parts of Hybrid Robot touch Slopes, Hills, River, Highland, Down Hill.
5.5 Any parts of Hybrid Robot enter No Entry Zone or the space above it.
5.6 Hybrid Robot stays outside Remote Driving Zone while Eco Robot is traveling in River.
5.7 Hybrid Robot stays inside Remote Driving Zone but any other parts of Hybrid Robot move beyond the polygon area formed by Remote Driving Zone, Slope 3, and Hill 3 while Eco Robot is traveling in River.
5.8 Any team members touch any parts of any robots except controller or cable of Hybrid Robot.
5.9 The team makes a false start. The game (both teams) will be restarted.
5.10 Other actions that infringe on the rules without mentioning in the disqualification are considered as violations.
A team will be disqualified if it commits any of the following actions during the match:
6.1 The team damages or tries to damage the field, facilities, equipment or opponent’s robots.
6.2 The team performs any acts that are not in the spirit of fair play.
6.3 The team fails to obey instructions or warnings issued by the referees.
6.4 The team has made false start for three times in the same match.
7. Safety Issues of the Robots
7.1 All robots must be designed and manufactured as to pose no danger of any kinds to any persons in the venue.
7.2 All robots must be designed and manufactured as to cause no damage to any robots of the opposing team or the field.
7.3 Safety rules
7.3.1 The use of explosives, fire or dangerous chemicals is prohibited.
7.3.2 If a laser is used, it must be of class 2 or less. In designing and preparing the laser, full care must be taken to protect all persons at the venue from harm during all procedures. In particular, the beams must be so oriented that they cannot shine into the eyes of the spectators.
Two teams (Red and Blue teams) compete in each match.
8.1 Each participating country or region in the contest can be represented by one team only. Thailand, as the host country, may be represented by two teams.
8.2 A team consists of three students, called team members, and one instructor who all belong to the same college, university or polytechnic. The three students of the team are entitled to participate in the match.
8.3 In addition, three members of pit crews are allowed to assist in the pit area and to carry the robots to the field, but cannot participate in the match including setting. The members of the pit crews must be students of the same college, university or polytechnic as the team.
8.4 Participation of post-graduate students is not permitted.
9.1 The legitimacy of any actions not provided in this rule book will be subject to discretion of the referees.
9.2 The dimensions, weights, etc., of the field, facilities and equipment described in this rule book have a margin of error of plus or minus 5% unless otherwise stated. However the dimensions and weights of the robots as shown in the rule book are the maximum and cannot be tolerated.
9.3 All questions should be addressed to the official website of the ABU Asia-Pacific Robot Contest 2016 Bangkok, http://www.aburobocon2016.com FAQ section will be provided on the site.
9.4 Notification of any additions and/or corrections to this rule book will be made on the official web site.
9.5 The referees may demand additional explanations on safety issues when the safety of a robot is deemed to be in question.
10. Game Field: Structure and Specifications
10.1 The field consists of a Game Area having the dimension of 14,000 mm x 14,000 mm and surrounded by a wooden fence with the height of 100 mm and the thickness of 50 mm. The game field is divided equally for two teams by a wooden fence with the height of 100 mm and the thickness of 50 mm. The competing teams are Red and Blue teams. (Figures 1)
10.2 White lines “Grid lines” with the width of 30 mm made of non-shiny sticker are drawn on the floor of the Game Area which can be used to guide the motion of Hybrid Robot and are drawn on the traveling path of Eco Robot which can be used to guide the motion of Eco Robot.
10.3 Game area of each team
10.3.1 “Hybrid Robot Start Zone 1” is a square area with the length of 1,000 mm each side. At the beginning of the game, Hybrid Robot has to stay at Hybrid Robot Start Zone 1.
10.3.2 “Eco Robot Start Zone” is a polygon area with the width of 600 mm. Eco Robot Start Zone of Red team is in pink color. Eco Robot Start Zone of Blue team is in sky-blue color. At the beginning of the game, Eco Robot has to stay at Eco Robot Start Zone.
10.3.3 “3 Slopes and Hills” are parts of Eco Robot’s traveling path having the width of 600 mm. There are 3 sets of Slope and Hill. (Figures 2)
Hill 1 is 200 mm, Hill 2 is 400 mm, and Hill 3 is 600 mm above the floor respectively. Slope 1 connects Eco Robot Start Zone with Hill 1.
Slope 2 connects Hill 1 and Hill 2. Slope 3 connects Hill 2 and Hill 3.
10.3.4 “River” is a part of Eco Robot’s traveling path having the width of 600 mm. River is zigzag seen from top view.
10.3.4.1 Islands locating at the inner corners near River to obstruct straight motion from Hill 3 to Highland of Eco Robot. Each Island is an isosceles triangular prism with the triangular base of 200 mm, the triangular height of 100 mm. The prism height is up to 100 mm from the surface of River. (Figures 3)
10.3.5 “Down Hill” is a part of Eco Robot’s traveling path having the width of 600 mm. Down Hill descends from 600 mm above the floor until the floor level. Down Hill is a wave curve seen from top view. (Figures 4)
10.3.6 “Wind Turbine Station” is a rectangular area connected with Down Hill. It is the area where Hybrid Robot takes Wind Turbine Propeller out from Eco Robot. Hybrid Robot climbs Wind Turbine Pole locating inside Wind Turbine Station in order to assemble Wind Turbine Propeller.
10.3.7 “Hybrid Robot Start Zone 2” is a square area with the length of 1,000 mm each side. In this area, Hybrid Robot transforms to autonomous mode before climbing up Wind Turbine Pole.
10.3.8 “Ground Area” is an area where Hybrid Robot is allowed to perform any actions which do not violate the rules.
10.3.9 “No Entry Zone” is a quarter of circular area. Hybrid Robot is not allowed to enter or extend any parts of the robot above this area.
10.3.10 “Remote Driving Zone” is a designated area where Hybrid Robot is allowed to remotely drive Eco Robot on the zigzag River. Hybrid Robot is not allowed to exit this area as long as Eco Robot is still in River. However, Hybrid Robot is allowed to extend its arm over Slope 3 and Hill 3 during remote driving.
10.4 Accident Protection Guards (Sponge) are installed at the left and right sides along Down Hill to protect the damage of Eco Robot that falls from Down Hill.
Wind Turbine and Tools Specifications
Wind Turbine consists of Wind Turbine Pole, Wind Turbine Engine, and Wind Turbine Propeller. (Figures 5)
11.1 Wind Turbine Pole is made of a hollow cylindrical Poly Vinyl Chloride (PVC) standard 4-inch pipe with outside diameter of 114 mm and the total length of 2,300 mm after including 5 mm thickness plates at both ends.
11.2 Wind Turbine Engine is a rectangular block with the width of 200 mm, the height of 200 mm, and the length of 300 mm. It is attached on top of Wind Turbine Pole. Steel shaft with diameter of 28 mm is inserted inside Propeller Base made of a cylindrical steel plate with the diameter of 120 mm and the thickness of 5 mm. Propeller Base is used for magnetic attachment during the assembly.
11.3 Wind Turbine Propeller consists of Propeller and Base.
11.3.1 Propeller has 3 blades. The blades are 120 degree apart equally.
11.3.2 Base consists of 2 ring-plates each with the outside diameter of 120 mm, the inside diameter of 57 mm, and the thickness of 6 mm and a cap. The back ring-plate is attached with a magnetic ring-plate for attachment with Propeller Base during the assembly. Propeller is packed by the front ring-plate on one side and the back ring-plate on the other side. The cap has the outside diameter of 57 mm and the inside diameter of 48 mm.
11.4 Wind Turbine Mattress is prepared by the organizer to protect the damage of Hybrid Robot that falls from Wind Turbine Pole. Team members should protect their Hybrid Robot during climbing Wind Turbine Pole by using the prepared Wind Turbine Mattress.