IED Clean Up
Challenge DescriptionIED Clean-Up, the 2006-07 I&I Humanitarian Mission, is performed on a 20’ x 5’ elevated rectangular surface (pictured above) known as Piotrowski Flats. “The Flats” are comprised of six numbered sectors measuring 6’ x 2.5’ and the Detonation Zone measuring 5’ x 2’. The Detonation Zone is separated from the six sectors by a 5.5” wall.
This challenge simulates a very real situation found in post-war scenarios around the globe. Only recently have robotic solutions to these problems become viable. The object of the humanitarian mission is for multiple robotic inventions to safely pass and remove unexploded ordinance in the form of model IED’s (see above) from sectors 1 and 2, though sectors 3-6, to the Detonation Zone where the ordinance can be safely disposed of without harm to local villages (see below) or people.
There are a total of six IEDs (each consisting of a 3.75” x 1.5” x .75” rectangular base and a pin that must stay inserted in the base to prevent detonation) that need to be safely disposed of over the wall and into the Detonation Zone in the challenge. Three IEDs originate in the outermost third of Sector 1, with the other three originating in the outermost third of sector 2. Sectors 3, 4, 5, & 6 contain villages (7” x 1.5” x 2.5” in size) in unspecified locations that must remain safe and undisturbed by IEDs and robots.
The entire class must work together to develop a plan for safe execution of the mission. Each team is assigned a sector and is solely responsible for building and operating its robot, but strong communication and design collaboration between teams is essential to mission success.
The class works together to achieve mission success. The end goal is to achieve a “perfect score” – safe removal of all IEDs with no damage to villages, people, or robots on the first mission attempt. In reality, this would be the only acceptable result for anyone involved. However, this is a simulation and thus point values are attached to the challenge.
IED safely disposed: 50 points IED detonated anywhere but Detonation Zone: -25 points Disturbed Village (touched by robot): -10 points Detonation in Village (touched by IED): -25 points Deduction for mission attempts after initial attempt: -5 points each (perfect score = 300)
<C1> At the beginning of a mission attempt, each IED and Village will be placed in its starting position by the I&I Instructor prior to each team placing its robot entirely within the boundaries of its assigned sector.
<C2> Each team shall consist of no more than one driver and one “spotter” during the execution of a mission attempt
<C3> During a mission attempt, the driver and spotter may not touch any robot. Any infraction will bring an immediate end to the mission attempt.
<C4> Robots that leave The Flats are considered out of play and will not be returned to the mission attempt.
<C5> During a mission attempt, robots may be operated only by the drivers and/or by software running in the on-board control system.
<C6> All parts of a mission attempt (strategy, placement, movement, etc) must be executed within 45 minutes. Teams may practice with the IEDs, during the design phase, but may not practice on The Flats themselves. All mission attempts must be fully executed or run until the 45-minute time frame expires, whichever comes first, regardless of score. In the event of absent students, substitutes will be used for mission attempts. Mission attempts will be run in pursuit of highest possible score or until specified days for challenge execution expire.
<C7> All robots that are part of a mission attempt at its conclusion must have handled a minimum of 2 IEDs. Once a robot handles and IED, it may not handle that same IED again in the same mission attempt. Violating one or both of these handling rules will result in an unscored mission attempt and the mission attempt deduction will be applied.
<C8> Robots may not intentionally detach parts.
<C9> Sectors 2, 3, and 6 experience frequent radio signal inconsistencies. Thus, robots that are assigned to these sectors must have stationary bases and must operate on tether. Also, any robot assigned to Sector 1, 4, or 5 that finds itself entirely within the boundaries of Sector 2, 3, or 6 will become disabled and remain in that location for the remainder of the mission attempt. These robots may NOT operate on tether.
<C10> An IED will detonate when: - the gold “pin” is entirely removed from its position in the red base - it slides on any surface for a distance longer than 3”.
<C11> Challenge field and element tolerances may vary by as much as +/-1”, teams must design their robots accordingly.
<S1> If at any time the robot operation is deemed unsafe or has damaged the challenge field, surface, or barriers, by the determination of the instructor, the offending team may be disqualified and asked to be re-inspected prior to another mission attempt.
<S2> If a robot goes completely off of The Flats, it will not return to the field for the remainder of the match.
<R1> Only ONE robot will be allowed to compete per team.
<R2> Every robot will be required to pass a full inspection before being cleared to participate. This inspection will ensure that all robot rules and regulations are met. a. If significant changes are made to a robot, it must be re-inspected
<R3> The following types of mechanisms and components are NOT allowed: a. Those that could potentially damage playing field components. b. Those that could potentially damage other robots. c. Those that pose an unnecessary risk of entanglement or safely hazard.
<R4> At the start of any mission attempt, each robot must be entirely within the boundaries of its assigned sector and NOT in contact with IEDs, villages, or other robots.
<R5> Fixed-base/tethered robot teams must construct a robot base that attaches/affixes to its assigned sector “floor” according to guidelines set forth by the I&I Instructor. Please collaborate early and often on this item.
<R6> Robot construction is constrained to the following:
a. The entire contents of ONE Vex Starter Kit (Excluding box and packing materials) b. ONE Vex rechargeable power pack c. Up to two additional motors/servos (NOT two of each) d. Unlimited Vex kit style nuts, bolts, screws, and other fasteners e. One additional Vex add on, choosing from tank treads, shaft encoder, line follower, or ultrasonic sensor. f. Unlimited extra spacers and metal parts from existing class inventory. g. Each robot MUST include a minimum of 1 and maximum of 2 custom parts created in CAD and produced on the 3D printer. See I&I Instructor for guidelines/restrictions. h. The following additional components may also be supplied by teams and used : •Ten (10) elastic bands, #32 size only •12” of 1/8” Nylon Rope •6” of 3/4” Wide Velcro •12” x 12” of Non-Slip Pad •Rigid paper or transparencies for displaying team number
<R7> All additional parts that are used (beyond the Vex started kit and rechargeable battery) must be tracked through a Bill of Materials (BOM). This list will be included in your Engineering Notebook along with the documentation of your entire design process. These must be present in your design notebook at inspection in order to compete. THE EXPECTATION OF SIGNIFICANT IMPROVEMENT OF ALL DESIGN NOTEBOOKS IS IN PLACE.
<R8> No more than one transmitter may control a single robot. No modification of the Vex transmitter is allowed of ANY kind.
<R9> Parts may NOT be modified as follows: a. Motors, extension cords, sensors, controllers, battery packs, and any other electrical component of the Vex Robotic Design System may NOT be altered from their original state in ANY way. b. Welding, soldering, brazing, gluing or attaching in any way that is not provided within the Vex System will NOT be allowed. c. Bending/Cutting of Vex metal may ONLY happen with ADDITIONAL metal parts from the hardware kit and MUST be approved by the I&I Instructor
<R10> The Robot receiver must be accessible by the I&I Instructor. a. The radio crystal must be easily removed from the robot b. Crystals will be provided as necessary prior to each mission attempt