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The Scenario
A terrible disaster has hit the city and caused a large chemical storage unit to rupture spilling thousands of litres of toxic chemicals in the centre of the city. There is a Victim trapped in a sinking Rescue Capsule in the chemical spill. It has been decided that the best form of rescue is the deployment of an autonomous robot that can navigate to the chemical spill, rescue the victim, and exit the chemical spill.
Your team has been asked to design, make, and execute a robot to complete this challenge.
The robot can be deployed at the start tile or air dropped to any designated tile that is at least two tiles away from the chemical spill (Drop Zone). The nominated Drop Zone can be different for each round.
Riley Rover Rescue (beginners): The robot must navigate to the scene, find, and then rescue the victim by pushing or dragging the Rescue Capsule out of the chemical spill. It will do this by following a continuous black line on a white background. It may include inclines that do not to exceed 10° from the horizontal - the bridge tile or ramp (see below).
Primary Rescue Line: The robot must navigate to the scene, find and then rescue the Victim by pushing or dragging the Rescue Capsule out of the chemical spill. The robot must then save itself by exiting the chemical spill via the ‘Spill Access Point’.
On the way, the robot could encounter tiles with a (green patch) left or right turn and obstacles including a water tower, debris, speed bumps, ramps or a see-saw. After negotiating the randomly selected path, the robot arrives at a green coloured area which indicates a chemical spill. While the clock is still ticking the robot must find “the victim” before pushing or dragging them out of the chemical spill to safety. The Victim is considered rescued when it is completely outside the Chemical Spill. The robot must then save itself by exiting the chemical spill via the ‘Spill Access Point’.
Robots: Use Lego EV3 and Lego Spike Prime to build and program your robot. Other robots can be used if they have the necessary sensors and can be built to achieve the task.
The field: The field will consist of tiles, with differing patterns. Tiles may include but are not limited to the designs shown below. The arrangement of tiles may vary between rounds.
Competition: Teams will compete in a number of preliminary rounds which culminate in a final head-to-head round where the top three teams will be awarded first, second and third place as a result of them demonstrating the best solutions to the challenges according to the rules.
Game length: 120 seconds
Robots handlers: For each round, one team member is to be nominated as the Robot Handler. Only the Robot Handler is permittedto enter the Game Zone and handle the robot during the round. All other team members must remain outside the Game Zone.
Pre-Game: The Referee will ask the Robot Handler if they would like to nominate a Drop Zone (any tile that is at least two tiles away from the chemical spill). If the Robot Handler elects a Drop Zone, the tile will be marked with the Drop Zone Puck in one of the corners. The robot must start from either the start tile or the nominated Drop Zone when starting or after a lack of progress is called.
Game Play:
The entire robot start behind the join between the two tiles.
Robots may move in any direction from the Drop Zone.
The robot must follow the line completely to enter the Chemical Spill.
The Victim is considered rescued when it is completely outside the Chemical Spill.
Validation of work
All teams must submit annotated code.
To be elligle for a special award they must submit an A3 poster
Electronic Submission
Before registration closes, each team must electronically submit their poster and program or source code to the event organisers via the event web site or as otherwise directed. Teams can continue to work on their robot, programs and this journal after submission.
Primary Line Rescue steps to success
Primary Line Rescue steps to success
Build and program your robot to achieve each of the following steps
Follow a black line with two sensors. On the EV3 these should be mounted about 1 Lego beam width (approx. 7mm) from the surface.
2. Water tower. Add a touch sensor to the front of the robot. Program the robot to navigate its way around an obstacle. The robot detects the obstacle with the touch sensor, reverses, then navigates around the object. A Robot is expected to navigate around obstacles and reacquire the line within 30 cm of the obstacle.
You can use either the ultrasonic sensor or the touch sensor for this task. Try both to see what works best.
3. Turn corners (not required for beginner rescue). Program each of the two sensors to turn left or right on detecting green.
4. The Bridge. Fixed sensors may lose the line at the top of the slope. This can be overcome by build a “floating sensor” where the sensors move up and down with the contours of the mat. Make sure they don't get stuck on the speed bumps.
You can also use the gyro sensor to detect when the robot reaches the top of the slope and program it to move forward for a few cms to find the line. The gyro sensor (built into the Spike robot) measures pitch, roll, and yaw, allowing you to determine the hub's orientation. Pitch is the up-and-down movement around the Y-axis.
5. The See-Saw. Fixed light sensors too close to the surface can cause problems. If the centre of balance is too far forward the robot may overbalance.
6. Speed bumps and Debri. Speed bumps have a maximum height of 10 mm. and will be fixed on the floor. Debris have a maximum height of 3 mm and are not fixed on the floor. Sensors can catch on speed bumps and debri - sensors should be about 1 Lego beam width off the surface; ~7 mm. Lego ball caster can get stuck on speed bumps - use Omniwheel or an alternative glide mechanism.
7. Ramps, elevated tiles and doorways. Tiles may be elevated and connected with ramp tiles. Doorways may be 180 mm wide and 180 mm high. Robots must be able to pass through the Doorway without moving it significantly from its original position.
8. Chemical Spill & Ultrasonic Sensor. Program the Ultrasonic Sensor to look for the victim and rescue it. Robots must demonstrate a search algorithm to the Rescue Capsule.
Primary Rescue Line robots must not increase in size, extend or use a device intended to sweep the Victim.
A Chemical Spill will be green in colour and be distinguishable from the background colour of the tile by the light sensors. It may be any shape and size.
At the point where the black line meets a Chemical Spill, there will be a piece of smooth reflective tape (the Spill Access Point) to indicate that the robot is entering the Chemical Spill. The Spill Access Point will have a minimum size of 70 mm x 20 mm.
Rules for following the Line:
Where there are multiple paths, the robot may take any path.
Where the line is discontinuous, and there is no continuous path through the tile, the robot may search for the recommencement of the line, but must not completely leave the tile before re-finding the line.
A robot is considered to be following the line as long as some part of the robot is over the line while being viewed from directly above the robot by the referee.
Where a line exists, some portion of the line segment should be under the robot
Scoring:
Teams will be awarded 10 points for each line followed tile that their robot successfully negotiates. For example, robots reaching the fourth tile would have successfully negotiated three tiles and be awarded 30 points.
Teams will gain an extra four points for each intersection marker they correctly follow. For example, if a robot correctly follows both shortcut markers on the roundabout, it will be awarded 10 points for completing the line follow of the tile and 8 points (4 + 4) for correctly following the two shortcut markers.
Rescue Teams will be awarded an additional 20 points for fully exiting the Chemical Spill via the Spill Access Point. The robot must reacquire the line and begin to line follow after successfully rescuing the Victim or attempting to rescue the Victim before the points are awarded.
6.6.5 Points will be awarded only once for successful completion of an element of the course.
6.6.6 In Primary Rescue, five points will be deducted from the score for each Lack of Progress, up to a maximum of 20 points deducted.
A Lack of Progress is called when:
The robot is touched by a human.
The robot knocks over the Doorway or moves it significantly from the original position.
The robot is stuck in the same place or moves completely out of the field.
The robot exits the Chemical Spill in a direction other than via the ‘Spill Access Point’ or exits without attempting a rescue.
The robot ceases to follow the line. Robots are not allowed to take shortcuts within a tile, the line shape must be substantially followed on that tile unless there is an obstacle on that tile that must be avoided, or the line is discontinuous. See diagram at right.
The robot fails to reacquire the line before exiting the tile.
If a Lack of Progress occurs, the robot must be repositioned at one of the Start Tiles and started. Only the Robot Handler is allowed to start the robot. There is no limit to the number of Resets due to lack of progress within a round, but the game clock will continue running during all Resets and Restarts.
Scoring additional points. The Robot Handler may choose to make further attempts at the course to earn additional points available for completing tiles, obstacles, speed bumps, etc. that have not already been earned by calling a Lack of Progress and re-starting from a designated Start Tile.
Robotics Fundamentals (http://winthropdc.com/Robotics/)
Below are articles relating to some of the fundamental concepts specifically to the Robocup Junior Australia competition:
#Robotics Programming a Line Following Robot – Part 1
#Robotics Programming a Line Following Robot – Part 2
#Robotics Designing and Building a Line Following Robot
#Robotics Using the EV3 Colour Sensor in RGB mode
#Robotics Programming a Self Calibrating Line Following Robot
#Robotics Handling intersection shortcut markers
#Robotics Handling water tower or obstacles
#Robotics Finding objects with an Ultrasonic sensor
#Robotics Line Rescue Completing the rescue
#Robotics Line Rescue Additional Considerations
Robotics Fundamentals (http://winthropdc.com/Robotics/)
Below are articles relating to some of the fundamental concepts specifically to the Robocup Junior Australia competition:
#Robotics Programming a Line Following Robot – Part 1
#Robotics Programming a Line Following Robot – Part 2
#Robotics Designing and Building a Line Following Robot
#Robotics Using the EV3 Colour Sensor in RGB mode
#Robotics Programming a Self Calibrating Line Following Robot
#Robotics Handling intersection shortcut markers
#Robotics Handling water tower or obstacles
#Robotics Finding objects with an Ultrasonic sensor
#Robotics Line Rescue Completing the rescue
#Robotics Line Rescue Additional Considerations
This video shows Rescue in action:
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