Updated: 09 August 2016

1. Concept
The percentage of world aging population has been rapidly increasing due to theadvancement in medical science. One of the main issues of the aging population is that theirhealth problems require them to take more medicines than younger population.
As a result, elderly people with many diseases tend to end up with taking multiple
medicines at the same time. However, there are many physical effects of aging such aschanging eyesight and memory disorder which are at greatest risk for taking medicines
correctly.
One way to help solving this problem is to use a pillbox to make it easier for them tomanage their medication lists. However, it might be inconvenience for them to fill up a pillbox
with many types of medications and consequently the caregiver is need.
The contest’s objective is to support contestants’ creativity and engineeringknowledge to build robots taking care of elder people by maximally filling the correct pills into
corresponding pillboxes within the time limit.
2. Objective
The main objective of this contest is to design and construct robots to support elderlypeople by dropping in pills into corresponding pillboxes.

3. The Field
3.1 The robot contest is played on a 6 m x 4.3 m square field, as shown in Figure 1. The
field can be divided into 4 main parts, which include 1) medicine shelves (A1 - A5), 2) slopes(B1 - B5), dispensation area locating in the front (C1) and the two sides of the field (C2 - C3),and 4) pillboxes (D1 - D2).
3.2 Slopes which are B1 to B5 located on top of the 40 mm field height, as shown inFigure 2. The medicine shelves are located on the slopes which are 1 m width and 1.5 m depth.
There are three different heights of the slopes, including 1.1, 1.5, and 2 m for B1 and B5, B2
and B4, and B3, respectively.
3.3 The medicine shelves with 300 mm width, 170 mm height, and 188.5 mm depth are
shown in Figure 3.
3.4 The C1 area has 0.3 m height, 6 m width, and 2.44 m depth. The starting points forthe first robots of the red team and the blue team are in the C1.2 and C1.3 areas, while thestarting points for the second robots are in the C2.1 and C3.1 areas, respectively. Some ofyellow pills are placed on the C2.2 and C3.2 areas. Slopes C4.1 and C4.2 which are 0.82 m x
0.3 m x 0.1 m are located in front of the C2 and C3 areas.
3.5 Pillboxes D1 and D2 are located at C1.2 and C1.3 areas. Each box in the pillboxes
has 0.5 m width, 0.3 m length, and 0.45 m height. In Figure 4, there are partitions with 100 mm
height separating C1.2 and C1.3 from pillboxes D1 and D2.
4. Marking
4.1 A black tape with 25.4 mm width and 700 mm long is laid on C1.1 area at the centerof each medical shelf.
5. The Pills
5.1 There are 4 different pill shapes, which include tablets, oval pills, capsules, and herbballs.

5.2 Pill sizes are shown in Figure 5. A tablet is 80 mm diameter and 40 mm thick. An oval
pill is 70 mm width, 140 mm length, and 40 mm thick. A capsule is 70 mm diameter and 170 mm
length and 70 mm thick. An herb ball is 80 mm diameter.
5.3 There are 60 pills coming in different shapes and each of the first three shapes has 8pills in red and another 8 pills in blue color. For the herb balls, the total number of the pills is 12
in which there are 3 pills located at zone C2.2, another 3 pills located in the C3.2 area, 2 pills
are located on the medicine shelves and the other 4 pills are placed on C1.1 area. Detail of thelocation of pills on the medicine shelves A1 – A5 is shown in Table 1.
6. Required Materials and Robot Rules
6.1 Each team will have to design and construct 2 robots for completing the task. Therobots can be remotely controlled, fully autonomous, or semi-autonomous.
6.2 Materials allowed for robot construction
6.2.1 Materials supplied from the host and given to each team
6.2.2 Materials provided in the workshop
6. 2. 3 Other materials requested by any teams. After being approved by thecommittee members, it is their team’s responsibility to buy them within the budget provided.
6.3 Inappropriate and dangerous materials are prohibited in building the two robots.
6.4 There are many forms of energy resource that are allowed to be used, which include
gravitational potential energy, elastic potential energy, and energy from provided battery and airtank.
6.5 Robots can be built without shape and weight limit.
6.6 Robots must have a starting size of no larger than 500 mm x 500 mm x 500 mm;
however, they can expand to any sizes during the round.

6.7 Two sets of radio control receivers and transmitters and control units supplied by thetechnical staff are required to be used for the two robots.
6. 8 Each team must provide some kinds of protection, especially from impact, to thegiven devices ( radio control receivers and transmitters and control units) so that they remainfunctionality. The team is responsible for the damage of the devices.
6.9 Teams can choose any control algorithms to be bested suited for their robots.
6. 10 Robots and other provided equipment cannot be moved out of the field without
permission.
7. Competition Rules
7.1 Two members from each team will take control of the two robots. These members
are not allowed to switch with other members in the team during a round.
7.2 Prior to the start of each round, each team will have 60 seconds to setup their robots
in their starting zones. For the red and blue teams, the first robot from each team will be locatedon the C2.1 and C3.1 zones and the second robots will be located on the C1.2 and C1.3 areas,respectively. Every parts of the robots must be inside the starting zones.
7.3 Robots can be moved out of their starting zones right after the starting signal.
7. 4 The two robots are responsible to pick up the pills and drop them off in theircorresponding pillboxes. The red team will need to pick up red tablets, oval pills and capsules
and also yellow herb balls and then drop them in pillboxes D1. On the other hand, the blue teamwill need to pick up blue tablets, oval pills and capsules and yellow herb balls and drop them inpillboxes D2.
7.5 Each round will be 120 seconds long.
7.6 Other competition rules
7.6.1 In case that any robots potentially damage the field and other robots, orpose a hazard to teams and other people within the competition area, the committee members

can request the robots to stop and maintain them in a safe condition. However, the competition
is still ongoing.
7.6.2 Any teams that not strictly respect the rules, the teams will be disqualified
from that round.
7.6.3 One representative from each team can inform to the committee members
if the team is not satisfied with the results either during or after the competition. This is needed
to be done before the next round is starting. The committee members will discuss and make thefinal decision together with representatives from the two teams. However, the request without
any proper reasons can result in a penalty or a loss in that game.
7.6.4 The competition rules are subject to change by the committee members tobe best suited for the contest and the changes made will be informed to all the contestants.
8. Scoring
8.1 The score will be counted at the end of each round.
8.2 Each of red and blue pills being dropped from medicine shelves will score 0.5 point
to the red and blue team respectively.
8.3 The team will score 1 point for each pill with the right shape and color dropped into
its corresponding pillbox.
8.4 If the pill with its color or shape is filled into the wrong pillbox, the team will suffer a-1 point penalty.
8.5 The team with higher score points will win the game each round.
9. Prohibition
9.1 Robots are not allowed to enter the robots’ starting points ( C1.2 or C1.3) of theopposing team.
9.2 Team members are only allowed to filled up the pills into their pillboxes.

9.3 Robots must be controlled without any physical contact.
9.4 Taking any items out of the field is not allowed for this contest.
9.5 Damaging the field, robots, objects, or human is strictly forbidden.
9. 6 Team members are not allowed to attempt to interfere with the opposing team’ srobots.
10. Figures and Table (Sizes might be subjected to change due to construction process.)

A1
B1

B2

C2.1
C2.2
C4.1
C1.2

A2A3

B3A4B4A5
B5

C3.1

0.56 m0.82 m

C3.2
0.7 m

0.42 m1.56 m
0.4 m

0.3 m

0.5 m

D1

0.3 m

C1.12m

D26m

C1.3 0.3 m C4.2

Figure 1: Field
A1 – A5

medicine shelves

B1 – B5

slopesC1

dispensation area 1

C2 – C3

dispensation area 2 and 3

D1 – D2

pill boxes

4.3 m1.5 m

1.1 m
1.5 m1.5 m
0.96 m

0.96 m

B1, B52m

1.5 m

0.96 m

B2, B4

B3

Figure 2: Slopes (B1 - B5)

8 mm
170 mm
50 mm
120 mm
300 mm
360 mm

120 mm188.5 mmFigure 3: Example of medicine shelf
100 mm

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Rll
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Yllow
YerbHell
BaeC
Bluuleaps

100 mm

ill
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etv
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Tee
BluBluFigure 4: Pill boxes for the red team (D1) and the blue team (D2)

80 mm

40 mm

40 mm
80 mm

70 mm

140 mm 170 mm

70 mm

Figure 5: Different pill shapes including tablet, oval pill, capsule and herb ball

Table 1: Location of pills on the medicine shelves A1 – A5
Shelf A1

Shelf A2

Red CapsuleBlue CapsuleBlue Capsule

Red CapsuleBlue Capsule

Red Capsule

Red CapsuleBlue CapsuleBlue Capsule

Red CapsuleBlue CapsuleBlue Capsule

Red Capsule

Red Oval Pill

Blue Oval Pill

Red Capsule

Red Oval Pill

Blue Oval Pill

Blue Oval Pill

Red Oval Pill

Blue Oval Pill

Blue Oval Pill

Red Oval Pill

Red Oval Pill

Blue Oval Pill

Red Oval Pill

Red Oval Pill

Blue Oval Pill

Blue Oval Pill

Red Tablet

Blue Tablet

Blue Tablet

Red Oval Pill

Red Tablet

Blue Tablet

Red Tablet

Red Tablet

Blue Tablet

Blue Tablet

Red Tablet

Blue Tablet

Blue Tablet

Red Tablet

Yellow Herb Ball

Blue Tablet

Red Tablet

Red Tablet

Yellow Herb Ball

1076543
2
1

Shelf A5

Red Capsule118

Shelf A4

Blue Capsule129

Shelf A3