Part V
Technical Presentation Competition
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Trinity College Home Robot Contests 2015 Rules
Contributed by: David Pietrocola, Allison Mathis
The ability to effectively communicate technical ideasand to describe designs is an increasingly importantskill for engineers and scientists. The TCFFHRCtechnical presentation competition aims to encour-age the development of such communication skills. In2015 the poster competition is required for all HighSchool and Senior teams and remains optional forother firefighting and RoboWaiter teams. We encour-age all teams to summarize and convey their effortsby designing and delivering a presentation that ex-plains the design and functionality of the robot.
Teams will present using a traditional scientific posterformat, which involves designing a poster followingestablished scientific poster templates (see below).
Entries will count toward the teams BURP score,which allows teams to be rewarded for effective com-munication abilities in addition to successful engi-neering design.Please see Section 4.2 on page 20 forscoring examples.
Guidelines
1. The poster presents the design of the team’s fire-fighting or assistive robot. Posters must includethe following sections and components, using atraditional scientific poster template:
• Abstract and Introduction• Problem description and definition• Design process• System design or schematic• Results• Conclusions and future improvements• Informative diagrams and photos.
Visit http://posterhall.org/igert2012 formany examples of common scientific posters,designed by graduate students from across theUnited States.
2. Teams will register for the poster competition aspart of our web-based registration process.
3. Maximum poster size is 1 m wide x 70 cm high.Minimum poster size is 80 cm wide x 60 cm high.Poster stands will be provided to those who reg-ister for the poster session.
4. The competition is split into two rounds:
• Judges will assess displayed posters dividedinto two groups: high school and below, anduniversity and above
• The top 5 teams from each group will de-liver a five-minute oral presentation usingthe poster as a visual aid.
A maximum of two team members may presentthe poster to the Judges, who are engineers anduniversity faculty. Presentation of the physicalrobot to the Judges is not permitted. A two-minute question and answer period between thepresenters and the Judges will follow.
5. All posters must use English. However, teams forwhom English is a second language may requestto have an official contest-provided interpreterwho can assist during the presentation. If youwish to have an interpreter at your poster presen-tation, please check the appropriate box on theregistration form and indicate the language. Un-official interpreters affiliated with the team arenot permitted; their presence will be grounds forimmediate disqualification of the team from therobot competition.
Judging Criteria
Posters are judged based on the following criteria:
1. Content – 40%
• Problem appropriately described with con-text given
• System architecture and overview described
• Appropriate level of detail provided
• Appropriate usage of the English languagein a scientific context
– grammar– style– tone and cadence
2. Visuals – 30%
• Easy to read and see
• Obvious logical sequence of material
• Useful and appropriate diagrams, photos,etc.
3. Presentation – 30%
• Appropriate overview, focus, preparation,and delivery
• Good articulation
• Appropriate response to judges questions
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Scoring
Each criterion (content, visuals, presentation) will bejudged, with each specification earning a score of 0, 5,or 10 points. The points will be summed to produce atotal score up to the maximum 100 points.
The poster’s final score will be the average of the in-dividual score values determined by each Judge.
Common Mistakes
Although a good poster will build on the points men-tioned above, you can make your poster better by fol-lowing these guidelines:
1. Create a technical poster, not a personal ad foryour robot.
2. Use plain backgrounds. Avoid busy patterns andbright colors.
3. Use large, simple fonts. If you cannot read everyword on your poster from a distance of 2 meters,neither can the Judges.
4. Describe your robot and project, not your school,your hometown, your friends, or the funny teammascot you made.
5. Do not include large photos of you, your team, oryour school. Only the robot matters.
6. Do not include inside jokes about your team.They belong within the team and have no placein a technical presentation.
7. Include technical details of your project, not justa list of robot components. Describe your uniquealgorithm that processes sensor data, the specialwheels you built, or the mechanical innovationthat distinguishes your robot from the others.
8. Do not glue robot parts to the poster. Use acamera and include only photos.
Oral Presentation Guidelines
1. Be prepared to explain your team’s design de-cisions and how each component or subsystemfunctions. The Judges may ask about sensors,navigation algorithms, motor control, propulsionmechanisms, or any other feature of your robot.
2. Practice, practice, practice! If two team memberswill present the material, practice both the rolesand the transitions between them.
Suggestion
A good way to determine whether you have madean effective poster is to hand it to someone who hasnever seen your work before. Leave the room for fiveminutes while they look at your poster. When youreturn, ask them to describe your project to you. Ifyour poster effectively presents the information aboutyour robot project, they will be able to give you areasonable overview of your work.
Modified March 16, 2015 Copyright 2014 by Trinity College 58 of 81
Part VI
Regional Contest Events
Modified March 16, 2015 Copyright 2014 by Trinity College 59 of 81
Trinity College Home Robot Contests 2015 Rules
Starting an Official RegionalEvent
Trinity College’s Fire-Fighting Home Robot Contestrules are published on the Contest Website at http://www.trinityrobotcontest.org/.
We invite you to use these rules without charge forthe limited purpose of use as the basis for a non-profiteducational project or to organize your own non-profitfirefighting robot contest. You acknowledge and agreeby your use of these rules, whether for an official re-gional contest or an unofficial contest, that TrinityCollege assumes no responsibility or liability for suchuse of the contest rules by you or any third parties.These rules are provided “as is” without any warrantyof any kind.
If you plan to use the Trinity rules, we request thatyou send a 50-100 word description of your activity tothe contest Director via email.
Your use of the Trinity rules does not automati-cally qualify your robot to participate in the officialTrinity College Fire-Fighting Home Robot Contest(“TCFFHRC”) to be held at Trinity College.
Requirements
Official regional contests are public events based onthe Trinity rules found on the Contest Website athttp://www.trinityrobotcontest.org/. The char-acteristics of official regional contests and Trinity’srelationship to them are listed below.
In order to hold an official regional contest, the con-test should meet these requirements:
• Longevity: regional contests will have a life spangreater than one year.
• Open participation: regional contest organizerswill publicize their contest and invite the publicto participate.
• Non-profit: Regional contests are not-for-profitevents.
• Qualification is not required for the TCFFHRC.
• Availability of advice: Regional contests may askTrinity for advice regarding event organization.
• Web links: We will put a link to each regionalcontest that meets these requirements on ourwebsite, and vice-versa.
Procedure
In order to become an official regional contest and toobtain the benefits listed above, please send the con-test director an email message indicating your interestand confirming your agreement to the requirementsdescribed above. In turn you will be sent an appli-cation form that asks such information as name anddate of event, expected participation, contest Divi-sions that you wish to offer, and names of sponsors.
When planning your event please note that normallyregional contests are held within eight weeks prior tothe official Trinity College Fire-Fighting Home RobotContest to be held at Trinity College.
Requests for new regional contests should be sent tothe Director at least six months before the next Trin-ity contest.
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Part VII
Appendix
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Appendix A
Scoring Examples, Firefighting Divisions
A.1 Junior and Walking Divi-sions
Example 1:
TRIAL 1
Actual Time AT = 285.742 Sec
Modes used: Standard Mode
Room Factor:
RF = 0.85: 2 rooms were searched
Operating Score OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 285.742 + 0 = 285.742
Mode Factor:
MF = 1 = 1.000
OS = 285.742 x 1.000 x 0.850 = 242.881
Final Score: FS = 242.881 <===
TRIAL 2
Actual Time AT = 232.614 Sec
Modes used:
(1) OM.candle = 0.75.........No candle Circle
Room Factor:
RF = 0.35: 4 rooms were searched
Penalty Points:
PP.dog = 50 robot kicked a dog.
PP.slide = 8 robot contacted wall for 16 cm.
Total PP = 58 points
Operating Score OS = TS x MF x RF
Time Score: TS = (AT + PP)
TS = 232.614 + 58 = 290.614
Mode Factor:
MF = 1 x OM.candle
MF = 1 x 0.75 = 0.750
OS = 290.614 x 0.750 x 0.350 = 76.286
Final Score: FS = 76.286 <===
TRIAL 3
Terminated Time:
FS = OS = 600.000 <<<<<
Completed Tasks:
Rooms searched: -30 x +1 = -30
FS = OS = AT + (task.search x rooms.searched)
FS = OS = 600 -30
Final Score FS = 570.000 <===
TFS = [FS(trial.1) + FS(trial.2) + FS(trial.3)]
TFS = [242.881 + 76.286 + 570.000] = 889.167
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Example 2:
TRIAL 1
Actual Time
AT = 285.742 Sec
Modes used:
Standard Mode
Room Factor:
RF = 0.85: 2 rooms were searched
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 285.742 + 0 = 285.742
Mode Factor:
MF = 1
MF = 1 = 1.000
OS = 285.742 x 1.000 x 0.850 = 242.881
Final Score: FS = 242.881 <===
TRIAL 2
Actual Time
AT = 232.614 Sec
Modes used:
(1) OM.candle = 0.75.........No candle Circle
Room Factor:
RF = 0.35: 4 rooms were searched
Penalty Points:
PP.dog = 50 robot kicked a dog.
PP.slide = 8 robot contacted wall for 16 cm.
Total PP = 58 points
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 232.614 + 58 = 290.614
Mode Factor:
MF = 1 x OM.candle
MF = 1 x 0.75 = 0.750
OS = 290.614 x 0.750 x 0.350 = 76.286
Final Score: FS = 76.286 <===
TRIAL 3
Terminated Time:
FS = OS = 600.000 <<<<<
Completed Tasks:
Rooms searched: -30 x +1 = -30
FS = OS = AT + (task.search x rooms.searched)
FS = OS = 600 -30
Final Score FS = 570.000 <===
TFS = [FS(trial.1) + FS(trial.2) + FS(trial.3)]
TFS = [242.881 + 76.286 + 570.000] = 889.167
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Trinity College Home Robot Contests 2015 Rules
A.2 High School Division
Example 1:
TRIAL 1
Terminated Time:
FS = OS = 600.000 <<<<<
Final Score FS = 600.000 <===
TRIAL 2
Actual Time
AT = 150.304 Sec
Modes used:
(1) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 0.35: 4 rooms were searched
Penalty Points:
PP.slide = 1 robot contacted wall for 3 cm.
Total PP = 1 points
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 150.304 + 1 = 151.304
Mode Factor:
MF = 1 x OM.furniture
MF = 1 x 0.75 = 0.750
OS = 151.304 x 0.750 x 0.350 = 39.717
Final Score: FS = 39.717 <===
TRIAL 3
Actual Time
AT = 243.772 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 0.35: 4 rooms were searched
Penalty Points:
PP.dog = 50 robot kicked a dog.
Total PP = 50 points
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 243.772 + 50 = 293.772
Mode Factor:
MF = 1 x OM.start x OM.furniture
MF = 1 x 0.8 x 0.75 = 0.600
OS = 293.772 x 0.600 x 0.350 = 61.692
Final Score: FS = 61.692 <===
TFS = [FS(trial.1) + FS(trial.2) + FS(trial.3)]
TFS = [600.000 + 39.717 + 61.692] = 701.409
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Example 2:
TRIAL 1
Actual Time
AT = 267.921 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 0.35: 4 rooms were searched
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 267.921 + 0 = 267.921
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 267.921 x 0.360 x 0.350 = 33.758
Final Score: FS = 33.758 <===
TRIAL 2
Actual Time
AT = 285.709 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 1.00: 1 room was searched
Operating Score
OS = TS x MF
Time Score:
TS = (AT + PP)
TS = 285.709 + 0 = 285.709
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 285.709 x 0.360 = 102.855
Final Score: FS = 102.855 <===
TRIAL 3
Actual Time
AT = 195.246 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 1.00: 1 room was searched
Penalty Points:
PP.candle = 200 robot touched a candle 4 times.
Total PP = 200 points
Operating Score
OS = TS x MF
Time Score:
TS = (AT + PP)
TS = 195.246 + 200 = 395.246
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 395.246 x 0.360 = 142.289
Final Score: FS = 142.289 <===
TFS = [FS(trial.1) + FS(trial.2) + FS(trial.3)]
TFS = [ 33.758 + 102.855 + 142.289] = 278.902
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A.3 Senior Division
Example 1:
TRIAL 1
Actual Time
AT = 199.434 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 1.00: 1 room was searched
Penalty Points:
PP.dog = 50 robot kicked a dog.
PP.slide = 3 robot contacted wall for 7 cm.
Total PP = 53 points
Operating Score
OS = TS x MF
Time Score:
TS = (AT + PP)
TS = 199.434 + 53 = 252.434
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 252.434 x 0.360 = 90.876
Final Score: FS = 90.876 <===
TRIAL 2 Senior
Actual Time
AT = 132.824 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 0.50: 3 rooms were searched
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 132.824 + 0 = 132.824
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 132.824 x 0.360 x 0.500 = 23.908
Final Score: FS = 23.908 <===
TRIAL 3
Terminated Time:
FS = OS = 600.000 <<<<<
Final Score FS = 600.000 <===
TFS = [FS(trial.1) + FS(trial.2) + FS(trial.3)]
TFS = [ 90.876 + 23.908 + 600.000] = 714.785
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Example 2:
TRIAL 1
Actual Time
AT = 76.790 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 0.50: 3 rooms were searched
Penalty Points:
PP.slide = 1 robot contacted wall for 2 cm.
Total PP = 1 points
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 76.790 + 1 = 77.790
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 77.790 x 0.360 x 0.500 = 14.002
Final Score: FS = 14.002 <===
TRIAL 2
Actual Time
AT = 165.175 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 1.00: 1 room was searched
Penalty Points:
PP.dog = 50 robot kicked a dog.
PP.slide = 6 robot contacted wall for 13 cm.
Total PP = 56 points
Operating Score
OS = TS x MF
Time Score:
TS = (AT + PP)
TS = 165.175 + 56 = 221.175
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
OS = 221.175 x 0.360 = 79.623
Final Score: FS = 79.623 <===
TRIAL 3
Actual Time
AT = 187.638 Sec
Modes used:
(1) OM.start = 0.8..........Arbitrary Start
(2) OM.return = 0.8.........Return Trip
(3) OM.extinguisher = 0.75...No Air Extinguisher
(4) OM.furniture = 0.75......Furniture Mode
Room Factor:
RF = 0.35: 4 rooms were searched
Penalty Points:
PP.candle = 100 robot touched a candle 2 times.
PP.dog = 50 robot kicked a dog.
Total PP = 150 points
Operating Score
OS = TS x MF x RF
Time Score:
TS = (AT + PP)
TS = 187.638 + 150 = 337.638
Mode Factor:
MF = 1 x OM.start x OM.returntrip x OM.extin-guisher x OM.furniture
MF = 1 x 0.8 x 0.8 x 0.75 x 0.75 = 0.360
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OS = 337.638 x 0.360 x 0.350 = 42.542
Final Score: FS = 42.542 <===
TFS = [FS(trial.1) + FS(trial.2) + FS(trial.3)]
TFS = [ 14.002 + 79.623 + 42.542] = 136.168
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Appendix B
Start Button Locations
Section 5.2.3 on page 27 describes the requirementsfor the Start Button. This Appendix provides exam-ples of acceptable and unacceptable Start Button lo-cations.
B.1 Mechanical Linkage
Figure B.1 shows a mechanical linkage between aStart Button at the top of a robot and an electricalswitch located on the body. The top of the linkagemust have a flat button-shaped actuator on the rod orshaft.
B.2 Acceptable Locations
Figure B.2 on the following page shows an ideal StartButton location on the highest part of the robot,above all other parts, with clear identification andcolor coding.
Figure B.3 on the next page shows an acceptableStart Button location. The white sensor housing atthe front of the robot is less than 2 cm above theStart Button.
B.3 Unacceptable Locations
The Start Button in Figure B.4 on the following pagewill not be acceptable in the 2015 contest, because itis below the top of the fan blade tips and more than 2cm below other mechanical parts.
The Start Button in Figure B.5 on the next page willnot be acceptable in the 2015 contest, because it is
Figure B.1: Mechanical Start Button Linkage(dsc00871 - Mechanical Start Button Linkage.jpg)
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Figure B.2: Ideal Start Button Location (dsc00892 -Start Button Location 2.jpg)
Figure B.3: Acceptable Start Button Location(dsc00884 - Start Button Location 1.jpg)
Figure B.4: Incorrect Start Button Location(dsc00887 - Unacceptable Start Button Location1.jpg)
not on the top surface of the robot and more than 2cm below other mechanical parts.
The Start Button in Figure B.6 on the following pagewill not be acceptable in the 2015 Contest, because itis below the top of the fan blade arc, not on the topsurface of the robot, and more than 2 cm below othermechanical parts.
Figure B.5: Incorrect Start Button Location(dsc00933 - Unacceptable Start Button Location2.jpg)
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Figure B.6: Incorrect Start Button Location(dsc00913 - Unacceptable Start Button Location3.jpg)
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Appendix C
Standard Sound Start Device
Judges will use only the Standard Sound Start Deviceduring the contest. Teams may not bring their owndevices to the arena during trials.
C.1 Operation
The Sound Start Device emits two selectable tones:3.8 kHz and 2.5 kHz. The actual frequencies emit-ted by the starting devices will be within 3 percent ofthese nominal values.
The specified sound modules produce approximately90 dB SPL at 1 foot. The SPL will be higher at themicrophone, due to the closer distance, but there isno specification for the actual intensity.
The selected tone will sound for at least 5 secondsafter the Judge presses the Tone button.
The robot must start with the Sound Start Deviceapproximately 25 mm from the robot’s microphone.The Device has a 25 mm rod indicating this distance;the rod will not touch the robot.
C.2 Hardware
Figure C.1 shows a Standard Sound Start Device.
Figure C.2 on the following page shows the dual-frequency Standard Sound Start Device used in theRoboWaiter Advanced Division.
C.3 Schematic
Figure C.3 on the next page shows the schematic dia-gram of the circuitry inside the Sound Start Device.
Figure C.1: A Standard Sound Start Device (Stan-dard Sound Start Device - StartBox-12_030.jpg)
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Figure C.3: Standard Sound Start Device Schematic (StartBoxSchematicBW.png)
Figure C.2: A dual-frequency Standard SoundStart Device for the RoboWaiter Advanced Divi-sion (Standard Sound Start Device - RoboWaiter -SB_RW_Advanced033.jpg)
Figure C.4 on the following page shows the compo-nent layout inside the case.
C.4 Parts List
Table C.1 on the next page lists the parts required toconstruct a Standard Sound Start Device.
The circuit can be hand wired on a prototyping boardor laid out on a custom PCB to suit your enclosure;we do not provide a PCB layout.
C.5 Construction
Adjust trimpot R3 for 5 second sound duration aftereach press of switch SW1.
Add 25 mm nonconductive rod near the buzzer tomaintain the correct standoff distance from therobot’s microphone.
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Part Manufacturer Manuf. Part Number Mouser P/NSW1 pushbutton switch E-Switch PS-1040A-RED 612-PS1040A-REDSW2 on/off switchBattery holder (6 x AA) Eagle 12BH364-GR 12BH364-GRBuzzer (2.5 kHz) Mallory PK-20A25WQ 539-PK-20A25WQBuzzer (3.8 kHz) Mallory PK-20N38WQ 539-PK-20N38WQIC1 NE555N (various) NE555N 511-NE555NR3 100K 10% pot Bi Tech 68WR100KLF 858-68WR100KLFR1,R2 100K 1% res Xicon 100K-RC 271-100K-RCR4 402K 1% res Xicon 402K-RC 271-402-RCC1 0.01 uF/50V cap Vishay D103Z25Z5VF63L6R 594-D103Z25Z5VF63L6RC2 10 uF/15V tantalum Kemet T322C106K015AT 80-T322C106K015ATAA batteries x 6CasePrinted circuit board
Table C.1: Standard Sound Start Device Parts List (StartBoxPartsList.ods)
Figure C.4: Interior view of Standard Sound StartDevice (Standard Sound Start Device - Interior -StartBox12_031.jpg)
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Appendix D
RoboWaiter Refrigerator Hardware
Figure D.1: Refrigerator Door LED array (Beacon-Board 216 - scaled.jpg)
D.1 Refrigerator Door Beacon
D.1.1 Hardware
Figures D.1 and D.2 show the LED array and drivercircuit board.
D.1.2 Schematic
Figure D.3 on the following page gives the beacondriver schematic and parts list.
Figure D.2: Refrigerator Door LED array in IR light(BeaconIRs 217 - scaled.jpg)
D.2 Refrigerator Door Sensor
D.2.1 Layout
Figure D.4 on the next page shows the sensor moduleinstalled in the black-painted arena floor.
D.2.2 Schematic
Figure D.5 on page 77 shows the sensor schematicand parts list.
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Figure D.3: Refrigerator Beacon Schematic and Parts List (Beacon Schematic - scaled.png)
Figure D.4: Refrigerator Door sensor module (FloorSensor 215 - scaled.jpg)
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Figure D.5: (Floor Sensor Schematic - scaled.png)
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Appendix E
Robot Inspection Table Checklist
All robots must pass an inspection at the Robot In-spection Table before competing. See Section 2.8 onpage 15 for more details.
The sample RIT Checklist on page 79 itemizes somephysical and performance requirements, but yourrobot must comply with all the requirements of thisrules document.
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Figure E.1: Sample RIT Checklist Form (Robot Inspection Table Checklist2015F.png)
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Appendix F
Trial Options Sheet
The Trial Options Sheet specifies all of the OperatingModes that apply to each of a robot’s Trial Runs in aContest arena.
Teams competing in the Junior, High School, and Se-nior Divisions must present a Trial Options Sheet,similar to the sample on page 81, to the Judge at thearena when they arrive for their robot’s trial. Thesheet must contain the options for the current trial;teams do not need to select options for future trials.
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Figure F.1: Sample Trial Options Sheet (FF Contest Trial Options2015F.png)
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