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NERC 2009

National Engineering Robotics Contest 2009 Final Draft
1. Introduction National Engineering Robotics Contest (NERC) is a joint project to promote research in robotics and its related fields in Pakistan. This contest provides a common environment for the integration and evaluation of various mechanical designs, algorithms and agent architectures. The aim of this year’s contest is to build an autonomous robot which is capable of moving in a specified arena and is able to place objects at predefined points in the arena. Over the years NERC has grown increasingly popular among students and university engineering departments across the country. We value the interest that our participants have shown and pledge to bring exciting new challenges every year for the advancement of robotics community at an increasingly wider scale. We welcome your participation in 5th National Engineering Robotics Competition (NERC 2009). Robotics is a buzz word at today’s technology forefronts. Due to exponential advancements in fields like high performance computing, computer vision, computer networks, material sciences and power electronics, the growth experienced by robotics in past few years is unprecedented. Robotics is the only field which can add precision while replacing the slow manual labor in contemporary industrial world. Thus this field faces enormous pressure from industry to produce all purpose mobile manipulator robots which can perform simple tasks like grab, navigate and place objects at desired locations autonomously. This year’s contest like the last year aims at the same application of robotics but raises the bar by a little. The contestants are expected to come up with autonomous robots that can place objects with increased amount of precision and feedback control. There are two leagues under which contestants will be evaluated; Indigenous robots league and Lego-robot league. The purpose of this contest is to develop a sense of problem-solving, technical design and ingenuity among the contestants. 2. Contest Categories The contest consists of two categories, each based on the focus of design and the level of technology used. We expect from the contestants of both categories to build an Autonomous Robot which should be able “To move in a specified arena and insert wooden pegs into the peg-stands placed at predefined points in the arena”. Both categories have separate prizes. There are some differences in the theme and rules for both the categories which are mentioned at the end of this document. Contestants are free to compete in any category. The two categories are:

Indigenous robots Indigenous robots are the ones that are constructed from scratch. Category 2 . Indigenous Robots 3. b. So that the total size of the arena becomes 600 X 366 cm. r & c. These Lines can assist the robot to find its path. Please see contest website for photograph of actual mat to be used. Their mechanical structure. Category 1. The Contest Arena is made by joining two Blue Waterproof Floor Mat sheets of size 600 X 183 cm each. There could be slight variation in the exact shade of the aforementioned mat. The peg stand will be made up of acrylic sheet of 3mm thickness. are designed and fabricated by the teams themselves. This kind of floor mat is commonly used in Toyota Hiace Vans b. There are 9 pigeon holes in all the stands which are arranged in the form of 3 X 3 grids. The Lines are made from 3 cm wide White Reflector Tape c. Please see the Floor-plan for detailed dimensions and . The Contest Arena Please review the Floor-plan before continuing a.CALL FOR PARTICIPATION NERC 2009 a. Fixed Lines are marked on the arena. e. controls etc. The height of all the stands from ground to bottom-most row of pigeon holes is 21 cm.Modular/Lego robots Modular/Lego robots are ones in which ready-made kits are used. Four peg-stands are placed on the arena marked n. However electronic control modules and sensors may be acquired non-indigenously.

the robot must be self-controlled without any human intervention. 7. Remote-control of any sort (wired or wireless) CANNOT be used. Peg Placement Technique The Robot must not use any destructive or dangerous methods to place the pegs. The robot must find the peg-stand (by virtue of its position or any other sensing technique) and place the pegs into the pigeon holes. The contestants will be asked to start from any point on this line. The white line from point A to B on the Floor-plan is the Start Zone. This means that the initial position of the robot will be variable. as illustrated in the grid shown below. The numbers would not be . Loading Pegs a. points will be deducted. Wooden peg would be cylindrical in shape with a diameter of 4 cm and length equal to 6 cm. It is also MUST for the robot to enter the arena from point B 4. 5. All the pegs can be loaded in the robot before Start 6.CALL FOR PARTICIPATION NERC 2009 preview. Rules for Peg Placement The pigeon holes in all the peg-stands will be considered to be numbered from 1 to 9. Total 8 wooden pegs are to be inserted in all the stands b. The Robot CANNOT split after the start of the game. However if an attempt to touch drops the peg-stand. d. The Robot may touch the peg-stand for sensing purposes. Any kind of support to the outlet / extension with the ground is NOT allowed. only one Robot is allowed to compete at a time. In this case team will be disqualified. Robot Operation Once turned on. attempting to climb the pegstand can be dangerous and the peg-stand may be dropped or break causing damage to the arena. petrol etc. It will have adequate weight. The dimensions of the wooden pegs can be seen from the Floor-plan as well e. The pigeon holes in the stands are made up of 3mm thick acrylic sheet (transparent sheet) and the stand will be made up of a harder material like aluminum. The position of all stands is fixed and these will be placed on the ground. Contestants are NOT allowed to touch their robots or enter the Contest Arena after startup. in its operation that can damage the arena. The robot must not use any harmful substances such as oil. however.

The robot can not place more than two pegs in the similar numbered pigeon-hole even on a different stand.CALL FOR PARTICIPATION NERC 2009 marked physically on the pigeon holes but we would take them to be in that sequence for our understanding and for all practical purposes. If contestants want to add a flag. The decorations must also be within the size limit i. that is. they may do so. The robot can place a maximum of three pegs in a single stand. A maximum of 3 placement outlets are allowed on the robot.e. If the area of the robot base is more than 1200 cm2 or the dimension of any side increases 60 cm points will be deducted. all the top right holes will be taken as number 1. contestants are not allowed to place any markers. the area of the shadow of the robot if light is projected from top must not increase 1200 cm 2.e. top centered one as number 2 and so on. The numbering sequence for different stands will be in correspondence with each other. 1 4 7 2 5 8 3 6 9 8. For example if a peg is placed in pigeon-hole No. the outlet from which one peg is placed so with three placement outlets a maximum of three pegs can be placed at a time in a stand. It means more than two pegs placed into the same numbered hole even on a different stand will not be counted. All robots will be carefully measured. The weight of robot including decorations must not exceed 14 kg. with the area of 1200 cm 2 the linear dimension of any side must not increase 60 cm. beacons or reflectors in the contest area to aid in the robot’s navigation. . 9. However. Robot Size and Weight The robot must fit within 1200 cm2 i. 1200 cm 2 and 60 X 60 cm. non-functional items to the robot. By one placement outlet we mean. “r” or “c”. All sensors mounted on the robot will be counted as part of the robot’s total dimensions. The robot must also fit within a box of 60 X 60 cm i. See Floor-plan for picture.e. hat or other purely decorative. Sensors There is no restriction on the type of sensors that can be used. then the robot may place one and only one more peg in the same numbered hole on any of the stands “e”. 1 on stand “n”. Points will be deducted if the robot does not fulfill the size and weight criteria.

The robot must not have any wired connections with its surroundings. Duration of Match a. Machine must be constructed so that it can be started in minimum possible operation(s) d. 11. Maximum THREE retries can be awarded by the match referee. After a “Retry” is called out by a team. Power sources that are considered dangerous or unsuitable by the Contest Officials shall not be permitted. Once the machine moves. The time starts when the robot enters the arena through point B of the start zone 13. For retry there would be no "time out" and the global clock would be running. team members will not be allowed to touch the machine or enter in the Contest Arena e. schools etc. team may be asked to stop the machine earlier if the referees decide that the task cannot be acquired due to mechanical problems or for safety reason b. This can be done by any of the members of the team. robots must be started again from the Start Zone. b. Teams a. After calling a retry the score will become zero. Each team will be given 1 minute for setting up the machine at the start point c. 12. retries are allowed. Machine can start at the instant when the start signal is given. Each team will be given maximum 4 minutes to complete their task. Power Supply The robot must be battery-powered. they will be provided by the field staff. Each team can comprise of Maximum 6 members. Voltage of the machine’s electrical power source must not exceed 48 Volt DC. Retry If the robot is strayed due to some reason. However. The Robots can be built by teams of currently registered students from Engineering Institutions. However . reset and restart from the Start Zone. they are allowed to pick the machine from the contest arena. If the students from two different Institutes/Universities join hands and form a team in collaboration then the name of the Institute/University with maximum number of students in such a team would be registered.CALL FOR PARTICIPATION NERC 2009 10. If the team wants to reload pegs. Polytechnic Institutions. Points will be deducted for each retry. For each retry.

Overweight Robot (Weight exceeding 18 kg) 5 points 5 points 5 points Disqualified Disqualified 5 points 10 points Disqualified . Deduction of Points a. Targeting same pigeon whole x for the third time will be given 0 marks If two or more teams have same points then decision will be made on the basis of time. the team scoring maximum in minimum time would be the winner.CALL FOR PARTICIPATION NERC 2009 each team will be judged on the basis of maximum scores in any individual try (not necessarily the last one). Overweight Robot (Weight between 16 and 18 kg) h. i. Extreme minor details will be on the discretion of judges. The time for placing the last peg will be used to take time-based judgments. Points a. Placing 1st peg into any stand b. Placing more than two pegs into a pigeon hole* 25 points 20 points 10 points 0 points 0 points *If a robot places a peg into any pigeon hole number x of one stand then it can place only one more peg into the same pigeon hole number x of any other stand. 14. Placing 2nd peg into any stand c. Robot goes out of the Contest Arena b. Overweight Robot (Weight between 14 and 16 kg) g. Oversize Robot (Size between 1200 and 1500 cm 2) d. Placing 4th (or more) peg into a single stand e. Placing 3rd peg into any stand d. Retry c.e. If the team has committed retries then the best score for any individual try (not necessarily the last one) will be considered for judgment. Oversize Robot (Robot does not fit in 60 X 60 cm) f. Oversize Robot (Size exceeding 1500 cm2) e.

Disqualification The following behavior shall be considered for disqualification by the referee and the team could possibly be disqualified: a. The Contest judges may stop any robot at any time if they feel that it is performing. or is about to perform. Performing any act that fails to comply with the spirit of Fair Play 16. In all matters of interpreting the rules before and during the Contest and in any issues not covered by these rules. any action that is dangerous or hazardous to people or equipment b. the decisions of the Contest Judging Committee will be final c. Additional information regarding the contest rules and regulations may be found in the FAQs and will be considered as part of the theme and rules. . Attempting to damage the game field b. Rules 5 a. Test Run Contestants will be given time for trial run a day before the contest to calibrate their robot/sensors on the actual arena/game field. Dropping peg-stand points 15.CALL FOR PARTICIPATION NERC 2009 i. New FAQs are uploaded frequently so keep watching the FAQ corner for new information 15.

Difference in Rules a. But for the university/institute participants. Rest of the rules are same as for indigenous robots .stands will be placed on the arena for the Lego robots b. it is compulsory that at least 50% of the robot is indigenous e. Both the stands would be on the same side of "start zone" demarcation line as illustrated in the figure below c. Only two peg. Total 6 wooden pegs are to be inserted in the two peg stands d.CALL FOR PARTICIPATION NERC 2009 Modular/Lego Robots 17. The contestants from schools can use the kits for making up the complete robot.

000. The same physical Robot CANNOT be entered twice even if two entry fees are paid. but a registration fee must accompany each entry.Complexity vs. modular design.00 each Rs.00 Rs.00 Rs.00 Rs 35. Head Mechatronics Department Our postal address is: Department of Mechatronics Engineering.g. 10.00 Rs.000. placement/fixing of modules on the base. 80.Method & Deadline Fill the registration form available on our website and send it to us with a non-refundable registration fee of Rs. use of PCB vs.CALL FOR PARTICIPATION NERC 2009 Registration. 5. 30.00 Rs.00 each Rs. use of appropriate connectors for cable terminations on boards . Please make your Check/ Draft/ Pay-Order payable to: Dr. Rawalpindi. Akhtar Nawaz Malik. 50. ruggedness of mechanism. simplicity of Mechanical Fabrication as well as cost of material + fabrication 4.00 Rs. placement of components on boards. vero/breadboard. the certificate of participation will be awarded to the participating students representing their respective Institute/University during the competition. Awards The prizes are: Winners 1st Runners-up 2nd Runners-up 3rd Runners-up 3 x Best Engineering Design Award* Winner NERC Lego Category 1st Runners-up NERC Lego Category 2nd Runners-up NERC Lego Category 5 x Participation & Performance Awards Youngest NERC Participant Awards** Rs.Mechanism for placing pegs 2. College of E&ME.000. Any individual or group can enter more than one Robot. 40.Electrical design features.000.000. 15.000.00 Apart from these prizes. layout of cables and their routing.000.Mechanical design features such as stability of platform. e. * The following will be checked for the Best Engineering Design Award 1. 500 for each Robot entering into the Contest.000. 15. Pakistan 46000 Ph: +92 51 927 8044 Please register as soon as possible so that you may be informed about all the updates on the competition via e-mail.000. 25. 3.00 Rs. Peshawar Road.000.

9278044 ++92.The age of the younger participants 2.Detailed viva of the younger participants regarding the construction and functioning of robot The Contest The Contest will be held in the College of Electrical and Mechanical Engineering.edu. The competition will be held in the first week of July 2009.edu.Artistic design of the robot ** The following will be taken into account while deciding for youngest NERC participant award: 1. Contacts College of Electrical & Mechanical Engineering Department of Mechatronics Engineering Peshawar Road Rawalpindi. National University of Sciences and Technology.51.pk www. Pakistan Phone: Fax: E-Mail: Website: ++92.pk/nerc . Rawalpindi.9278048 nerc@ceme.51.ceme.CALL FOR PARTICIPATION NERC 2009 5.

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