2009 RULES AND REGULATIONS

IV RoboWaiter Trinity College 2009 Assistive Robotics Contest

1.1 Eligibility

1.2 Prizes

1.3 Goals

1.4 Setting

1.5 Basic Task

1.6 Rules

1.7 Scoring Example

1.8 RoboWaiter FAQ

1.9 RoboWaiter Image Gallery

The 2009 Assistive Robotics Contest RoboWaiter is sponsored by the Connecticut Council on Developmental Disabilities. Click here for a link to the website.

1.1 Eligibility

RoboWaiter is open to any team registered in the TCFFHRC.  To register for RoboWaiter, check the box on the registration form.  Teams may enter kit or unique robots.

1.2. Prizes

Cash prizes for first, second, and third place will be awarded by RoboWaiter sponsor, the Connecticut Council on Developmental Disabilities.

1.3. Goals

1.  Perform assistive task in which an individual with a disability directs robot operation.

2.  Basic task is accessible and will be made more realistic in the future.

1.4 Setting

The competition simulates a situation where a person with a disability wishes to move a plate of food from a refrigerator to the table where the person, represented by a doll, is sitting in a wheelchair. Click here to see a photograph of this doll. The arena includes a second chair, a sink, a table, and a shelf that represents the refrigerator shelf. The arena also includes a second doll, standing at some arbitrary location. Click here to see a photo of the second doll. Click here to see an image of the Arena Layout. Click here to see an image of the refrigerator shelf.

1.5 Basic task

When directed by a signal from the judge, the robot will move to the shelf, pick up the plate, and place it on a table. This action will be fully autonomous.

The judge may initiate robot operation by using either a manual starting switch or a 3.5 kHz beeper—the same device used as the audio start device in the firefighting competition. Either method is acceptable and will receive no scoring deduction.

1.6 Rules

1. The competition takes place in a square arena that simulates a kitchen. The arena is approximately 2.5 m on a side and has a black floor and white walls that are approximately 30 cm high (Figure A). The home circle is white and is approximately 40 cm in diameter.

2. Except for any devices that it deploys while transporting the 10 cm in diameter plate, the robot must fit into a cube measuring 30 cm on a side.

3. Approximate dimensions of the table are width (W) =50 cm and length (L) = 70 cm. The top of the table is will be between 21 and 23 cm higher than the floor. Click Here to see an image of the table.

4. The plate is located on a shelf measuring approximately W = 40 cm and L = 50 cm. The top of the shelf is also 21 - 23 cm high (Figure B).

5. There are three bright red light-emitting diodes fixed to the edge of the shelf, separated by 2.0 ± 0.1 cm center-to-center (Figure B). The mid-point of the plate’s edge is lined up as closely as possible with the middle LED.

6. The table has one bright LED at the center of each table side. The table’s LEDs and the shelf LEDs are identical and have equal brightness. All LED currents will be approximately 30 mA. The LED manufacturer Everlight and their part # is 333-2SDRT/S530-A3 or from Mouser Part # 638-333-2SDRTS5303. The link to the part is  http://www.mouser.com/Search/ProductDetail.aspx?qs=6olcXJbp99Rg50Bl73JMvA==.

7. The plate is round and 10 ± 0.3 cm in diameter. The plate is located at the front edge of the shelf. The robot must pick up the plate and place it on the table. To see a photo of the plate, Click Here. A steel washer is glued to the base of the plate to add weight. Also fixed to the bottom of the plate are four plastic feet, which help to limit slippage of the plate on the shelf. The total weight of the plate, including the steel washer and the plastic feet is approximately 50 grams. Click Here to see an image of the underside of the plate.

8. The sink serves as an obstacle and has the same footprint as the table. The sink is approximately 25 cm high. Click Here to see an image of the sink.

9. Each chair has a footprint of approximately 20 cm x 20 cm. Click Here to see an image of the chair.

10. Each robot gets three runs. Robots in groups a),  b), and c)  below will be eligible for the (cash) first, second, or third prizes. Winners will be taken from the top group first, the second group next, etc. until the three winners have been identified. The groups are a) Top group: successful on three runs. Ranking in this group determined by time. b) Next group: two successful runs. Ranked by time. c) Bottom group: one successful run. Ranked by time.

11. Basic robot operation: a) Robot will start at a designated home point (Figure A). b) Judge will start the robot. Robot will find the plate, pick it up, and deliver it to the destination area on the table within four minutes. c) Judge will measure and record the time between start and end.

12. Operating Modes. When completed successfully the following options, available on each of the three runs, will result in reduced time scores via multiplication of actual time by time factors listed below.

Food premium

OM.Food = 0.8

The plate will contain a simulated food item (meat, potato, etc.) Multiplier will be earned if plate is delivered to the table without dropping the food.

Arbitrary starting location

OM.start = 0.85

The judge will choose the starting location at random. This arbitrary starting location will not be physically closer to the plate than the standard starting location.

Return Trip

OM.return = 0.80

The robot must return to where it started the run.  The robot need not be in the same orientation as when it started the trial.   The robot’s Actual Time (AT) recorded for the trial will be the time required to transfer the plate to the table not including the return trip.  However, the robot must return its starting location within 2 minutes; if not, then the Return Mode factor is not in effect.

1.7 Scoring Example

Trial 1

Robot starts at home position, finds plate and delivers it to the table successfully. No food on plate.

Measured time is AT = 78 seconds.

Score: Success = 1; Time = 78 seconds.

Trial 2

Robot starts at home position, finds plate with food on it, delivers plate to the table.

Actual Time AT = 56 seconds.

Score: Success = 1; Time = AT * OM.food = 56*0.8= 44.8 seconds.

Trial 3

Robot is placed in arbitrary location to start, finds plate filled with food, delivers plate to table, and returns to its starting point. Actual time for this trial is AT = 109 seconds.

Score: Success = 1; Time = AT * OM.food * OM.return * OM.start = 109*0.8*0.8*0.85 = 59.3 seconds.

Overall score

Success = 3; Time = 78 + 44.8 + 59.3 sec. = 182.1 sec

The robot is placed in the group with three successful runs—the most reliable group.  Order of finish will be determined by comparing overall time scores within that group.

1.8 RoboWaiter FAQ

1. Are the objects in the arena set at one position, or do they move from one run to another?

    The sink, shelf, table, and other objects are in fixed positions in the maze. The dimensions are listed under section 1.6 Rules and any changes will be posted immediately.

2. Do the shelf, table, and sink sit on the floor or hang out from the wall?

    The table and sink sit on the floor and the shelf hangs out from the wall.

3. What colors are the objects in the arena?

    There are pictures of the dolls under section 1.4 Setting. The table and chair are brown and the sink and shelf are white.

4. Are the LEDs photodiode or standard?

    Information regarding the LED lights can be found under section 1.6 Rules number six.

5. What is the weight of the food and plate?

    This information will be posted shortly.

6. Can there be a gripper or other similar device used to move the plate that extends out beyond the 30cm maximum size for the robot?

    The gripper can extend out beyond the 30cm.

7. Do the RoboWaiter and Fire Fighting competition go together? That is, is it possible only to enter into RoboWaiter?

    You can only enter RoboWaiter by itself, but it is not mandatory that this is done. The registration fee will be $30.

8. Why was there new material added to the plate?

    A metal ring was added to the base to make the plate heavier and this more stable, it is about 50 grams total now. Plastic feet were also added so that the plate will not slide as much. These should make the competition easier. The food will not weigh much more than the 50 grams.

9. What is the "food" on the plate?

    The "food" will be actual food, but will be light and small, such as cereal.

10. Can my robot have a metal detector to sense where the plate is?

    No. A robot is not allowed to use a metal detector to detect the location of the plate.

1.9 RoboWaiter Image Gallery

Click Here to see the layout of  the RoboWaiter arena and Click Here to see an image of the arena.

Click Here to see the shelf layout and Click Here to see an image of the shelf with plate.

Click Here to see an image of the plate. Click Here to see an image of the underside of the plate.

Click Here to see an image of the sink.

Click Here to see an image of the table.

Click Here to see an image of the chair.

Click Here to see an image of the doll in a wheelchair. Click Here to see an image of the second doll.