Fire Fighting. Objective. Robot. Fire Fighting. Name of Event: Robots per Team: 1

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1 Fire Fighting Name of Event: Robots per Team: 1 No. of Players: Robot Control: Event Summary: Fire Fighting 2 players/team Autonomous This is an autonomous robot competition between 2 teams to extinguish as many occurrences of fire as possible at different positions in the arena. - Adopted from Trinity College Fire Fighting Objective Robot Participants are required to build an autonomous, self-contained mobile robot that is able to enter every room in the arena, identify a candle with fire and extinguish it by means of blowing only. To build a robot that will avoid blowing candles without fire and candles with false fire until it reaches the grand fire which is located on the 2 nd floor of the arena Robot Dimension and Specifications There is no size and weight limit for the dimension of the robot The maximum height of the robot shall NOT exceed 20cm Expanding robots are NOT allowed Airborne robots are NOT allowed Robot Restrictions WRG Version Robots must be using any INEX microcontroller as the core processor of the robot For the Junior Category: Use of external motor driver for motion control is NOT allowed Maximum of 2 motors for movement Only line tracing, touch and flame sensors are allowed in any quantities For the Senior Category: Use of external motor driver for motion control is NOT allowed No limit on the number of motors for movement The player can use sensors listed in Table 1. The total number of sensors is six (6).

2 Table 1. Types of Sensors for Senior Category Fire/Flame Sensor Touch Sensor Distance/Ultrasonic Sensor Rotary Encoder Sensor Hall Effect/Speed Sensor For the Open Category There is no restriction on the number of motors and sensors Robots can only use a fan to extinguish the fire; up to 2 fans are allowed Robot Control Game Elements The robot shall be autonomous. No external form of control or any external intervention is allowed The robot is to be started with a single Toggle-type/push switch Playing Field The size of the playing field is approximately 2.3m x 4m (230cm x 400cm) The arena is divided into 2 symmetry sections with walls The floor may be either smooth or textured (like linoleum or carpet). It may have steps of up to ±3 mm height at joins between rooms. Figure 1. Playing Field (isometric view)

3 Figure 2. Playing Field for Junior Figure 3. Playing Field for Senior and Open For Junior category, the thickness of the line is 2 to 2.5 cm The height of the wall is 20 cm Each section has 14 candles: 7 candles are lit and 7 candle have false fire The design of the playing field may change. This design is for WRG The Candle Candle with Fire The diameter of the candle is between 3cm to 4cm. The candle will be mounted on top of a small base. 3 to 4 cm Figure 4. Candle with Fire The candle flame will be from 8 cm to 12 cm above the nominal floor level. The exact height and size of the flame may vary depending on the condition of the candle and its surrounding.

4 There are 14 candles with a fire that are randomly placed inside the arena; seven (7) candles with fire per team s section Candle with False Fire The diameter of the candle is between 3cm to 4cm. The candle will be mounted on top of a small base The candle is attached with a tassel to check the presence of wind. If the robot blows to extinguish the fire at this point, it makes the tassel move There are 14 candles with a false fire that are randomly placed inside the arena; seven (7) candles with false fire per team s section Grand Fire The grand fire spot is located on the end of each section The candle flame will be from 8 cm to 12 cm above the nominal floor level. The exact height and size of the flame may vary depending on the condition of the candle and its surrounding The grand fire is equipped with a mechanism to protect the candle s flame. The mechanism is rotated continuously at a low speed. Base and fire protective wall are rotating at low speed. The candle s position is fixed. 3 to 4 cm Figure 5. Candle with False Fire Figure 6. Grand Fire

5 START Game Proper 4.1. Start Upon the referee s instructions, the robot must be placed at the starting point. At the referee s signal, the player must press the switch of the robot to start the run. The robot must enter fully into EVERY room and identify the candle with fire. The robot must blow the candle with fire and must NOT blow the candle with false fire. The robot shall navigate into EVERY room until it reaches the grand fire Scoring The maximum point that can be earned by a team is 170 points. Table 2. Point System CANDLE WITH A FIRE CANDLE WITH A FIRE BLOWN OUT CANDLE WITH A FALSE FIRE BLOWN NOT BLOWN If a candle with fire is extinguished by the robot, 10 points will be given to the team If the candle with fire blown out is extinguished by the robot, there will be a deduction of 10 points. The deduction can only be done once If a candle with false fire is NOT blown by the robot, 10 points will be given. Points will be given only once If a candle with false fire is blown out by the robot, there will be a deduction of 10 points. The deduction can only be done once If the grand fire is extinguished by the robot, 30 points will be given to the team. - ± X ± - - Figure 7. Sample Score Map Table 3. Marks of Scoring Mark Description A candle with a fire is blown or a false fire is NOT blown - A candle with a false fire is blown A candle with a fire blown out is blown or a candle with false ± fire is blown X A candle with a fire that is blown outside the room No mark means, a candle with a fire is NOT blown out

6 4.3. End Restart and Repair 5.1. Restart When the robot extinguishes the grand fire, time will be stopped and the game ends When 3 minutes has elapsed, the game ends When the robot bumps the candle or the base, the game ends When the player decides to stop the game and calls the attention of the referee, the game ends. This can only happen if the robot can no longer play during the run The player can restart the robot anytime by informing the referee The player places the robot back on the starting point For every restart declared by a player, the referee will extinguish a candle near the grand fire in the player s section If no more fires to extinguish, a restart is no longer allowed Repair The player can repair his/her robot between restarts. During the repair, running time continues. Environmental Conditions Penalties 6.1. Teams must come prepared to adjust their robots due to the lighting conditions at the venue Lightings and ground conditions may vary a little along the course in the arena The arena may be affected by magnetic fields (e.g. generated by under floor wiring and metallic objects) Teams should prepare their robots to handle expected lightning interference such as camera flash from spectators. The referees and teams are only allowed to stay near the arena Sportsmanly conduct is expected from players. Any misconduct, act of cheating, foul language or intentional action to harm the opponent or the robot shall be dealt with by the judges with the recommendation of the referee Penalties can range from losing a match, a game or being banned from the game.