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ROBOTICS DEVELOPMENT PROJECT IN ARMENIA

Competitions/UAV 2015-2016/Compeition Rules

UNMANNED AERIAL VEHICLE


1.    The Challenge

1.1.    The Challenge

The challenge is to fly a robot toward a given geographical location (TP1), search for a label (LABEL) that carries a series of signs and a number. Then trying to read that number and use it as an index in a table of geographical location points (GLP Table) in order to find the next destination (TP2). Robot should reach the new destination, drop a box there and get back to takeoff location (TLP).  

1.2.     Definitions

1.2.1 Competition Clock
The teams are given a limited time period ‘Competition Time’ to enter the game field, set up the robot and do the job. This period is whole the time the team has to represent itself and their robot in the competition day.

1.2.2 Geographical Location Point (GLP)
A GLP is an absolute geographical location point. It is defined by three parameters: latitude, longitude and elevation. For example (40°16’20.37”N, 44°22’49.70”E, 1209M) is a GLP point. GLP data has 10m accuracy.

1.2.3 Take-Off and Landing Point (TLP)
TLP is a GLP that defines the place where robot must take-off and land. In case of VTOL (Vertical Take-Off and Landing) robots, it will indicate the location of helipad and will be called TLP-V. In case of CTOL (Conventional Take-Off and Landing) robots, two TLPs will indicate start and end points of the runway and will be called TLP-S and TLP-E respectively.

1.2.4 Target Points (TP1, TP2)
TP1 is the first GLP that robot must get itself on top of that. There is a 4 x 4 m rectangular black and white printed label called LABEL stretched at TP1. The LABEL contains information about location of TP2. TP1’s location is being given to team by jury/organizer on competition day.
TP2 is the GLP that robot must drop its load (box) at. Robot must calculate the location of TP2 by reading the number mentioned on LABEL, putting it in GLP Table and extracting TP2’s location. There is another black and white printed label at TP2 called TARGET. The load must be dropped with maximum distance of 15 m from center of TARGET. 

1.2.5 GLP Table
A GLP is a 2 column table that contains information for multiple GLPs. The first column is a two digit index number and the second column contains location information for GLP and is a set of latitude, longitude and elevation data. As a result each row contains information for one GLP.
The following line is an example for a row in GLP Table:

27, (40°16’20.37”N, 44°22’49.70”E, 1209M)

27 is the index number and the rest the geographic location for that GLP. If the number on LABEL is 27 then TP2’s location is (40°16’20.37”N, 44°22’49.70”E, 1209M).
The GLP Table contains maximum of 100 GLP data (rows) and is in .CSV text format.
The GLP Table is being given to team by jury/organizer on competition day. Teams should upload this data to robots controller.

1.2.6 Labels (LABEL, TARGET)
Labels are white sheets with black printings on it.
LABEL is a 4 x 4 m rectangle with some lines, signs, a two digit number and a QR code equivalent of that number on it. The number is the index number to be searched in GLP Table in order to get the TP2’s location. LABEL is placed and stretched at TP1.
TARGET is 4 m diameter circle with some lines and signs on it to indicate the point that robot load must be dropped at. TARGET is placed and stretched at TP2.

1.3. Team Members

1.3.1.    The competition has no age limits.

1.3.2.    The team may consist of university students, graduates, professionals or any person with any level of education.     

1.3.3.    One of the team members will be assigned as team’s supervisor.


2. The Contest Area, TLPs and TPs

2.1. Contest Area Specifications

2.1.1.    The contest area is consisted of an open area including stands for teams/organizer, a runway and pad for vertical takeoff and landing aircraft and is called (TLP).

2.1.2.    The field is an open area with no constructions and includes two target points (TP1 and TP2).

2.1.3.    All measurements and dimensions have 10% tolerance.

2.1.4.    Maximum distance between any TLP and TP1 is 2500 m.

2.1.5.    Maximum distance between any TLP and TP2 is 2500 m.

2.1.6.    Maximum distance between TP1 and TP2 is 2500 m.

2.1.7.    Maximum overall travel distance is 6000 m.
        (TLP to TP1 plus TP1 to TP2 plus TP2 to TLP)

2.1.8.    Organizer will provide the geographical location (GLP) of TLP well before the contest. Teams will have access to TLP before contest.

2.1.9.    Organizer will provide an open area of about 50~60 m2 plus a 220v electric power source for each team. Each of these spaces is dedicated to one team. The team can use this space for its base at the contest area. 

2.2. TLP (Take-Off and Landing Point)

2.2.1.    The TLP consists of a runway with length of at least 300 m and width of 30 m. The runway is defined by 2 GLPs. TLP-S for starting point of runway and TLP-E for end point of runway.

2.2.2.    There will be 100 m open space before TLP-S and after TLP E.

2.2.3.    Although an additional point will be defined as TLP-V for VTOL robots by organizer, teams can use any point in between the TLP-S and TLP-E as TLP-V.

2.2.4.    Team can place and stretch its own signs or markings at TLP to aid autonomous landing and take-off. It may contain active signals. It can be placed at any point on runway or at maximum distance of 20 m from TLP.

2.3. TP1 and LABEL

2.3.1.    The TP1 is the first destination robot should reach after take-off. The GLP of TP1 will be given the team minutes before start of the competition to teams. Teams should upload the GLP data of TP1 (as well as GLP table) into robots controller.

2.3.2.    LABEL is a black and white 4 x 4 m (16 m2) sheet with white background and black signs and texts on it. It is virtually divided to 4 quarters. Upper left quarter contains an arrow pointing upward. Lower left quarter contains a two digit number (Arial font, bold). Upper right quarter contains an equivalent QR code of the same number. And the lower right quarter contains some text about competition title, logos and names of organizer and its sponsors. There are 3 ‘L’ shaped lines at 3 corners.

2.3.3.    LABEL is placed and stretched on ground at TP1.

2.3.4.    An example for LABEL at TP1. Number 34 comes as an example. The number on actual LABEL can be any 2 digit number ranging 00~99.
 



2.4. TP2 and TARGET

2.4.1.    The TP2 is the second target robot should reach at. Robot must extract the TP2’s GLP from GLP Table using the 2 digit number robot has read on LABEL at TP1 as index number.

2.4.2.    TARGET is a black and white circular sheet with 4 m diameter, white background and some lines and text on it.

2.4.3.    TARGET is placed and stretched at TP2.

2.4.4.    Robot should drop its payload at TP2, with maximum distance of 15 m from center of TARGET.

2.4.5.    An example for TARGET at TP2.


 


 


3. The Robot

3.1.    Type and Dimension

3.1.1.    The robot can have any construction type including VTOL (Vertical Take-Off and Landing), CTOL (Conventional Take-Off and Landing), STOVL (Short Take-Off and Vertical Landing) and… . Like helicopter, quad-copter, airplane, airship or … 

3.1.2.    There are no limits for robot size. It must fit on organizers provided facilities in contest area.

3.1.3.    There are no limits for robot weight.

3.2.    Control

3.2.1.    The robot must operate autonomously with no human aid except for take-off and landing procedures. 

3.2.2.    Take-off and landing can be handled by team members using wireless controllers. Maximum allowable distance for non autonomous operation is 100 m from TLP.

3.2.3.    Autonomous take-off and landing will have bonus points.

3.2.4.    Robot may have one or more controllers. Controllers can be embedded in robot or being placed on ground in contest area.

3.2.5.    Robot can use organizer’s provided communication platform as well as its own communication system. For later team must make sure its system does not generate any interferences with other equipment in contest place.

3.3.    Power Source

3.3.1.    Robot can use any type of energy source. External energy source is not allowed except solar energy. Robot can use solar energy.

3.3.2.    Robot cannot be powered by an external stationary supply using wires. Power source must be embedded in robot.

3.4.    Construction

3.4.1.    Any robot kit or building material may be used, as long as the robot fits the above specifications and as long as the design and construction are primarily the original work of the team.

3.4.2.    Robot can use any type of engine. Electric, reciprocating, wankel, jet or… engines can be used. Teams are responsible for safe operation of their robots and engines.

4. The Payload

4.1.    Structure of the Payload

4.1.1.     Payload is a solid cylindrical or rectangular object.

4.1.2.     Payload’s minimum weight is 100 g.

4.1.3.     Payload’s minimum length is 5 cm.

4.1.4.     Payload’s minimum width is 5 cm.

4.1.5.     Payload’s minimum depth is 5 cm.

4.1.6.     Payload may be a solid piece of material or may contain liquid.

4.1.7.     Payload is provided by team.

4.2.    Dropping the Payload

4.2.1.    Payload must remain undamaged after being dropped. Team should make provisions for handling and dropping the payload safely.

4.2.2.    Robot can use any type of parachute or cover for dropping the payload.

4.2.3.    Payload must be dropped at maximum 15 m distance from center of TARGET (or LABEL). The location that payload has become stationary will be considered as dropping point.


5. Communication

5.1.    Concept

5.1.1.    Robot must be connected to a ground controller. This connection can be used for command and control, sending images or live video streaming.

5.1.2.    Team must provision a failsafe communication for shutting down the robot in case of emergency.

5.2.    Communication Links Provided by Organizer

5.2.1.    Organizer will provide communication platform like conventional mobile networks. Teams must check with organizer the availability, compatibility, capability and quality of the network.

5.3.    Other Communication Links

5.3.1.    Teams can use their own wireless communication. Teams must check the usage permissibility of their network with organizer, from early development stages of their work.

5.3.2.    In order to avoid radio interferences, teams must get permission from organizer before turning their transmitters on.


6. Navigation

6.1.    Satellite Navigation

Teams can use GPS or GLONASS receivers for navigation. They can also use A GPS.

6.2.    Beacon

Teams can place a maximum of 3 beacons with maximum 150 meter distance from nearest TLP. Type of beacons can be:
    RF Transceiver
    Light/IR Transceiver
    Laser Transceiver
RF transmission should comply with one of free frequency bandwidths available at the place of contest. Any interference with other equipment or devices is out of jury and organizers responsibility.

6.3.    Inertial Measurement

Robots can utilize any type of mechanical and/or electronic accelerometers, gyros or compasses. Like MEMS, laser gyros and….

6.4.    Mobile Network

Teams can use A GPS or any other network dependant positioning system available at contest place.
Teams must check the availability of positioning services with organizer.


7. Game Play

7.1.    Pre-Game Setup

7.1.1.    Organizers will make a reasonable effort to provide the teams’ access to the contest area.

7.1.2.    On the day of competition each team has ‘Competition Time’ minutes. All the teams’ activities, preparations, starts, restarts, games, finishes and … should be done in this time limit.

7.2.    Game Zone

7.2.1.    An area around the TLP will be designated as the ‘game zone’. No one is allowed inside the game zone except for the robot handlers and the referee/jury.

7.3.    Start of the game

7.3.1.    One team member is assigned as robot handler.

7.3.2.    The robot is placed at TLP and checked by referee.

7.3.3.    Team can choose which TLP to use.

7.4.    Restarts

7.4.1.    A robot may restart the game as the handler deem necessary within the competition period.

7.4.2.    At any restart, the robot must be positioned back at TLP and checked by the referee.

7.4.3.    There is no limit to the number of restarts within the competition period.

7.4.4.    On every restart all previously achieved points will reset to zero.

7.4.5.    A robot must restart if referee orders to.

7.5.    Finish of the Game

7.5.1.    Game is considered finished when the robot successfully dropped the payload at TARGET and got back to TLP.

7.5.2.    Team’s robot handler can ask for game finish. Team will save points already achieved. No more moves and points allowed unless a new restart.

7.6.    Safety

7.6.1.    Teams must provision a failsafe shutdown system for robot. It is necessary for situations when robots mistakenly exits contest space and travels toward nearby residential areas.

7.6.2.    Teams must make sure that operation of their robot won’t make danger for people and facilities at contest area.

7.6.3.    Teams must make sure their wireless communication, RF or laser guidance system has not negative or fatal effect on people and other equipment at place of the contest.

7.6.4.    Maximum allowable altitude respect to ground is 100 m.


8. Scoring
 

8.1 Technical Points

There are 50 points as ‘Technical evaluation’ points which will be awarded by jury before the competition.
Integrity, mobility, simplicity, reliability, innovation, fail safe design and other technological solutions are matters to be considered.

8.2. Game Points

8.2.1.    Autonomous take-off. (15 points)

8.2.2.    Autonomous landing. (25 points)

8.2.3.    Dropping the payload at maximum 15 m from LABEL. (10 points)

8.2.4.    Dropping the payload at maximum 15 m from TARGET. (40 points)

8.2.5.    Damaging the payload. (-20 points)

8.2.6.    Getting back to TLP. (20 points)

8.2.7.    Dropping payload at distance more that 30 m from TARGET or LABEL. (-20 points)

8.2.8.    Providing live video stream to a ground station visible for jury. (25 points)


9.     Rules & Fouls

9.1.    The robot violating any of the rules described below will be disqualified from the competition or forced to restart the robot from TLP.

9.2.    During qualification day, if there is any violation, detected by the jury, can be fixed till the competition day. The robots will be examined before the contest.

 

10.    Code of Conduct

10.1.    Fair Play

10.1.1.    Robots that cause deliberate interference with other robots or damage to the field and/or objects will be disqualified.

10.1.2.    Humans that cause deliberate interference with robots or damage to the field will be disqualified.

10.1.3.    It is expected that the aim of all teams is to play a fair and clean game.

10.1.4.    Jury’s decisions will override the rules described in this document. All participants must accept the decisions made by jury.

10.2.    Behavior

10.2.1.    Participants who misbehave may be asked to leave the competition area and risk being disqualified from the contest.

10.2.2.    The rules will be enforced at the discretion of the referees, officials, and local law enforcement authorities.




 

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