From: mwtilden@math.uwaterloo.ca (Mark W. Tilden)
Newsgroups: comp.robotics,sci.electronics,sci.engr,sci.engr.mech,sci.engr.control,comp.ai.neural-nets,comp.ai.edu,comp.ai,can.ai,can.general,ieee.general,rec.models.rc,ont.events,tor.general,ont.sf-lovers
Subject: BEAM Robot Olympics: Flying Robot Competition Rules
Keywords: It's a toughie.
Date: 7 Oct 92 00:56:26 GMT
Organization: University of Waterloo



An addendum to:

   The Second BEAM Robot Olympics and Micromouse Competition:

                      Ontario Science Centre,
                     Toronto, Ontario, Canada.
                        Apr 22 - 25, 1993


                          Sponsored by:
IEEE Canada, ITRC, VSPANS Robotics, and the University of Waterloo.


The  BEAM Robot Olympics is not so much a series of technological
competitions  as  a chance for robot enthusiasts to present their
designs   to   each other, the press, and the public.  It is also
an open forum for anyone who wants to get started in the field to
compete  and  compare.  Any and every robot will be considered so
long as it does not come exclusively from a kit or store.  Robots
of  similar  ability  will be pitted against each other in simple
competitions,  but generally robots will be judged on sophistica-
tion  of behavior, novelty of design, efficiency of power source,
and quality of hardware innovation.

We did have  10  basic  competitions,  but a  Chris Thompson from 
Georgia Tech  proposed  the  following  and said he could build a 
machine that might  just  do  it.  After a bit of hashing, we are 
proud to include a new BEAM Olympics category:  The Aerobot Comp-
etitions.  Flying robots on the prowl.

Please direct all  questions  and comments about this competition 
to Chris Thompson <jt34@prism.gatech.edu>, and  general questions 
about the BEAM olympics to  Mark Tilden <mwtilden@watmath.uwater-
loo.ca>, or by real mail to:


               BEAM Robot Olympics
               c/o: Mark W. Tilden
               MFCF, University of Waterloo
               Ontario, Canada
               N2L-3G1
               (519)885-1211 x2454

        -=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-


ADDENDUM #1:

BEAM Robot Olympics: AEROBOT SEEK COMPETITION:

Please direct all questions or comments to
Chris Thompson, Georgia Tech,
<jt34@prism.gatech.edu>


OBJECT:

Given  a  square  drop zone of 25 feet by 25 feet, build an AUTO-
NOMOUS  flying  vehicle  which  can find a target randomly placed
within  this  area and drop a marker on it. Competitors will race
against  the  clock  and  for points based on the accuracy of the
drop.  The fastest to return and cross the start/finish line with
the most accurate drop wins.


RESTRICTIONS :

-  Size  is  restricted  only  by  access  to the exhibition hall
through  normal  doors (34" x 84").  Smaller craft are encouraged
with  a  10  second  bonus  for the smallest craft completing the
task.

- Robot competitors may not use any combustible energy sources to
power  the craft. Any energy source may be employed in the design
so  long as it can be proved that it is non-combustible in nature
and  does  not emit toxic substances.  Tethers are acceptable for
power and/or data links.  Lighter-than-air structures are permis-
sible  for lift.

-  Competitors  may  touch  the  ground  only when outside of the
designated  drop  zone.  All  competitors must remain aloft while
inside the drop zone at a minimum altitude of 24 inches. Multiple
takeoffs  and landings per attempt are permissible outside of the
drop zone.

-  Competitors  will  be  allowed  10  minutes to setup before an
attempt  is made and a maximum of 10 minutes to complete the task
after  crossing the start line.  All competitors must be equipped
with an emergency cutoff mechanism remotely operable.

-  Target  markers  may  be  of any solid design/construction. No
paints,  dyes, or other dispersive markers are permissible. Para-
chute deployment is acceptable but not required. Resting position
relative  to  the target will be used for accuracy determination.
Markers  must  be  of  less  than 8 inches in diameter when fully
extended.   Distance  to  the  target  will  be measured from the
geometric middle of the markers landing point.

- Competitors may position navigation aids of any non-combustible
design, i.e. radio, IR, strobe, etc., within the drop zone. These
may  serve to identify the area, provide guidance, or establish a
reference  for  navigation.  An additional aid may be left at the
stop  location  for  return navigation.  No competitor may modify
the environment to control ambient noise, lighting, or other dis-
traction.


THE DROP ZONE:

The  drop  zone will be a square area of approximately 625 square
feet  (25  ft.  per  side)  comprised of whatever floor color and
illumination  are typical for the auditorium.  Boundaries of this
zone  will  be marked with a 1 inch wide white tape stripe with 1
inch  wide  black  tape  stripes on either side.  The target will
consist  of  a matt-black circle 3 feet in diameter with a filled
white  circle  3  inches in diameter at the center.  A competitor
may  place  a  beacon(s) of their own design at the center of the
target during an attempt.  The object is to find the target, drop
the marker as close to the center of the white circle, and return
over  the  finish  line  in the least amount of time. Competitors
will be scored on total time required to complete the task plus 1
second  for  every  inch  from the center of the white target the
marker  comes  to  rest.   A  minimum height of 24 inches must be
maintained at all times while over the drop zone.


THE FLIGHT:

The flight begins when a competitor crosses the start/finish line
in the air.  A maximum runway length of fifteen feet will be pro-
vided  for  both  take-off  and  return landings. The builder may
assist  in  take-off and landings if desired, but only behind the
start/finish line. The starting line will be placed at the end of
the  runway. NO HUMAN INTERVENTION of any kind is allowed while a
competitor  is  beyond the start/finish line except to retrieve a
deviant  participant.  Any operator input beyond the start/finish
will disqualify the competitor's entire attempt.  Each competitor
is allotted one official attempt only.  A 10 second bonus will be
given to devices which take off and land completely without human
intervention.

Once  airborne,  a  competitor's path is limited only by the con-
fines  of  the  auditorium  and  the  safety of the spectators as
determined by the judges.  Any competitors judged unsafe will not
be  permitted  to  fly  and  any unsafe trajectories must be ter-
minated  upon command of the judges.  Partially completed designs
are  encouraged for display; however, manual or operator assisted
demonstration of capabilities will not be allowed during the com-
petition.  These may be included later as time permits

-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-

ADDENDUM #2:

BEAM Robot Olympics: AEROBOT DECATHLON:

Please direct all questions or comments to
Chris Thompson, Georgia Tech,
<jt34@prism.gatech.edu>


OBJECT:

Build an AUTONOMOUS flying vehicle which is capable of performing
ten precision tasks (events) while in the air. The events include
flying quickly, flying slowly, flying close to the ground, flying
high,  turning  left and right, flying straight and level, flying
in   a   circle,   landing,   taking  off,  and  remaining  aloft
(endurance).


RESTRICTIONS :

-  Size  is  restricted  only  by  access  to the exhibition hall
through  normal  doors (34" x 84").  Smaller craft are encouraged
with  a  10  point  bonus  for  the smallest craft completing any
event.

-   Robot  competitors may not use any combustible energy sources
to power the craft. Pre-tensioned springs, elastics, electric, or
compressed  energy sources are allowed.  Any energy source may be
employed  in  the  design  so long as it can be proved that it is
non-combustible  in  nature  and  does not emit toxic substances.
Tethers  are  acceptable  for  power and/or data links.  Lighter-
than-air structures are permissible for lift.

- Competitors may touch the ground only in the designated landing
zone.  All  competitors  must  remain aloft while outside of this
area  at  a  minimum altitude of 24 inches. Separate takeoffs and
landings per event are permissible but not required.

-  Competitors  will  be  allowed  10  minutes initially to setup
before  an  attempt is made and a TOTAL OF 10 MINUTES FLYING TIME
TO  COMPLETE  ALL  EVENTS  except endurance.  Each competitor may
attempt the nine basic flying tasks as many times as desired dur-
ing  the  10  minutes. The endurance test will be held separately
after the nine basic flying events.

- Competitors may position navigation aids of any non-combustible
design,  i.e.  radio,  IR, strobe, etc., within the demonstration
zone.  These may serve to identify the area, provide guidance, or
establish  a  reference  for navigation. An additional aid may be
left at the start/stop location for return navigation.

-All  competitors  must  be  equipped  with  an  emergency cutoff
mechanism  remotely  operable.


THE DEMONSTRATION ZONE:

The  drop  zone will be a square area of approximately 625 square
feet  (25  ft.  per  side)  comprised of whatever floor color and
illumination  are typical for the auditorium.  Boundaries of this
zone  will  be marked with a 1 inch wide white tape stripe with 1
inch  wide  black  tape  stripes on either side.  Additionally, a
single  white  line will mark the centerline of this area and may
be  used  as a guiding path.  Performance scoring will take place
only  while the vehicle is within the demonstration zone and fly-
ing autonomously.


THE FLIGHT ATTEMPT:

Timing  of  a  flight  begins when the robot competitor initially
leaves the ground.  The 10 minute clock then begins counting down
such  that  at the end of this time all 9 basic flying tasks must
be  completed.   A  maximum runway length of fifteen feet will be
provided  for both takeoff and return landings.  A competitor may
enter  and  leave the demonstration zone as many times as desired
during  this 10 minute interval, but all events must happen on or
in this area.

NO  HUMAN  INTERVENTION of any kind is allowed while a competitor
is  attempting  to complete a task/event within the demonstration
zone. However, in between attempts the vehicles may be controlled
manually  if  desired  and/or landed outside of the demonstration
zone.   A  typical flight might consist of a series of autonomous
passes  through  the  demonstration  zone  displaying a different
skill with each pass.  In between passes the craft might be flown
manually  while setting up for the next autonomous pass; however,
the 10 minute countdown continues.  A flight ends when a competi-
tor  lands  for the last time, the 10 minute flying time expires,
or  the  builder aborts.  Competitors need not attempt all events
to  participate;  in  fact,  even partially completed designs are
encouraged  for  display.   However,  a purely manual or operator
assisted demonstration of capabilities will not be allowed during
the competition but may be included later as time permits.

Once  airborne,  a  competitor's path is limited only by the con-
fines  of  the  auditorium  and  the  safety of the spectators as
determined  by the judges.  Any competitor judged unsafe will not
be  permitted  to  fly  and  any unsafe trajectories must be ter-
minated  upon  command  of  the  judges.  All competitors must be
capable  of  an  altitude  of  at  least 24 inches while over the
demonstration zone.


INDIVIDUAL AUTONOMOUS EVENT DETAILS

-  EVENT  SCORING:  Each competitor will be ranked in relation to
all  others  attempting an event and this ranking used as a score
(Highest = Best performer).

     - Maximum per event = N (total number of event participants)
     - Minimum per event = 0 (did not attempt event)

In  case  of  an  event tie the scores will be awarded equally to
those  tied.  (ex.  N  =  10,  3 tie for 2nd, 3 receive 9s).  The
highest  total  at  the  end  of  all events will be declared the
winner.

Although  objective  measures will be used as much as possible it
should  be  recognized  that measurements involving airborne com-
petitors will be at the final discretion of the judges.

-  SPEED:  Each  competitor  will  be given a chance to cross the
length of the demonstration zone as quickly as possible.

-  SLOW:  Each competitor will attempt to cross the length of the
demonstration zone in a straight line as slowly as possible up to
1  minute.  Hovering is permitted, but bonus marks are awarded to
designs which move steadily and without pause.

-  LOW:  Each  competitor  will  be given a chance to fly under a
paper  obstacle  in  the middle of the demonstration zone without
touching the ground.  The lower the better.

-  HIGH:  Each  competitor will be given an opportunity to fly as
high  as  possible  over the length of the drop zone up to 20 ft.
The higher the better.

-  TURNS:  Each  competitor will be given a chance to demonstrate
both left and right turning radii.  The smaller the better.

- STRAIGHT and LEVEL: Each competitor will be given the chance to
fly  as  straight as possible across the demonstration zone while
maintaining  a  specific  altitude at the beginning and end.  The
straighter and more constant the altitude the better.

- CIRCLE: Each competitor will be given the chance to demonstrate
the  ability  of the craft to fly in a circle while maintaining a
constant altitude within the demonstration zone.  The smaller the
better.

-  LANDING:  Each competitor will be given an opportunity to land
as  close  as  possible  to  a  designated point.  The closer the
better.

-  TAKE-OFF: Each competitor will be given the chance to take-off
in the minimum distance possible.  The shorter the better.

-  ENDURANCE:  This  event  will  be held after all others.  Each
competitor  will  be  given the chance to remain aloft within the
confines  of the demonstration zone for as long as possible up to
10  minutes.  The longer the better.  If possible, all robot com-
petitors  will  attempt  this  at the same time.  Last one flying
wins.

Is all.


-- 
Mark Tilden: _-_-_-__--__--_      /(glitch!)  M.F.C.F Hardware Design Lab.
-_-___       |              \  /\/            U of Waterloo. Ont. Can, N2L-3G1
     |__-_-_-|               \/               (519)885-1211 ext. 2454 
"MY OPINIONS, YOU HEAR!? MINE! MINE! MINE! MINE! MINE! AH HAHAHAHAHAHAHAHAHA!!"