RCRJ soccer pravila

• 
• 

Detalji

Kategorija: RCRJ

Objavljeno Petak, 07 Studeni 2014 17:10

Napisao/la Željko

Hitovi: 9676

RoboCupJunior Soccer Rules 2014

RoboCupJunior Soccer Technical Committee 2014:

Katsumi Masaoka (Japan), CHAIR, Ova e-mail adresa je zaštićena od spambota. Potrebno je omogućiti JavaScript da je vidite.
Luis José López (Mexico), Ova e-mail adresa je zaštićena od spambota. Potrebno je omogućiti JavaScript da je vidite.
Maverick Luk (Macao & Hong Kong), Ova e-mail adresa je zaštićena od spambota. Potrebno je omogućiti JavaScript da je vidite.
Paul Manns (Germany), Ova e-mail adresa je zaštićena od spambota. Potrebno je omogućiti JavaScript da je vidite.
Rob Quatrone (USA), Ova e-mail adresa je zaštićena od spambota. Potrebno je omogućiti JavaScript da je vidite.
Gio Spina (Canada), Ova e-mail adresa je zaštićena od spambota. Potrebno je omogućiti JavaScript da je vidite.
These are the official rules for RoboCupJunior 2014. They are released by the RoboCupJunior
Soccer
Technical Committee for Soccer. These rules have priority over any translations.

Teams are advised to check the RoboCupJunior Soccer site ( http://rcj.robocup.org/soccer.html )
for OC
procedures and requirements for the competition.

Preface:
In the RoboCupJunior soccer challenge, teams of two autonomous mobile robots compete against
another team in matches. They must look for an infrared-light-emitting ball, trying to score
into a color-coded goal in a special field built in a way that resembles the actual field for
human soccer. Robots are required to have full autonomy from humans, technical designs, and
ingenious programming by their developers.

Participants of this challenge are required to give the best of their abilities in programming,
robotics, electronics and mechatronics, but also to contribute on teamwork and knowledge sharing
with other participants, regardless of culture, age or result in the competition. All are expected
to compete, learn, have fun and grow.

The changes determined by the Technical Committee for this year’s rules aimed to favor skills over
brute force in the games, with safer conditions for both robots and humans. The rules
better work out situations of aggressive robots that cause damage to IR balls, robots and
fields; control unrealistic kicker force that cause damage to IR balls and referees; and reduce
the excessive need for human intervention in a stressful attempt to maintain game continuity.

0. Construction and Programming have to be performed exclusively by the students

Robots must be constructed and programmed exclusively by student members of the team. Mentors,
teachers, parents or companies should not be involved in the programming and debugging of robots.

 

1. TEAM

1.1 Regulations
A team consists of two or more members.

Each team must have a captain. The captain is the person responsible for communication with
referees. The team can replace its captain during the competition. Team is allowed to have only the
fewest possible members beside the field during game play: they will usually be the captain and an
assistant team member.
1.2 Violations
Teams that do not abide by the rules are not allowed to participate.

Any person close to the playing field is not allowed to wear any yellow or blue clothes that can be
seen by the robots (to avoid interference with the goal color). A referee can require a team member
to change clothes or to be replaced by another team member if interference with goal color is
suspected.

The referee can interrupt a game in progress if any kind of interference from spectators is
suspected (color clothing, IR emitters, camera flashes, mobile phones, radios, computers, etc.).

 

2. ROBOTS

2.1 Number of robots / substitution

Each team is allowed to have at most two robots. The substitution of robots during the competition
within the team or with other teams is forbidden.

 

2.2 Interference

Robots are not allowed to be colored yellow or blue in order to avoid interference with the goal
colors. Yellow or blue parts used in the construction of the robot must either be occluded by other
parts from the perception by other robots or be taped/painted with a neutral color.

The robot must not emit infrared light. However, optical sensors (e.g. infrared-distance-sensors)
may be used as long as they do not affect other robots. This needs to be proved by a referee or an
OC member if a claim is placed by the other team.

Infrared light reflecting materials must not be used on the outside. If robots are painted, they
must be painted matte. Minor parts that reflect infrared light could be used as long as other
robots are not affected. A team claiming that their robot is affected by the other team’s
robot reflecting infrared light has to show the proof/evidence of the interference.

 

2.3 Control

The use of remote control of any kind is not allowed. Robots must be started manually by
humans and be controlled autonomously.

 

2.4 Communication

Robots are not allowed to use any kind of communication during game play unless the communication
between two robots is via Bluetooth class 2 or class 3 (range shorter than 20 meters)
or via ZigBee. Teams are responsible for their communication. The availability of frequencies
cannot be guaranteed.

 

2.5 Agility

Robots must be constructed and programmed in a way that their movement is not limited to only one
dimension (that means one axis). They must move in all directions, for example by turning. Robots
must respond to the ball in a direct forward movement. For example, it is not enough to basically
just move left and right in front of their own goal, but also to move directly towards the ball in
a forward movement. At least one team robot must be able to seek and approach the ball anywhere on
the field, unless the team has only one robot on the field at that time.

Robots must be constructed and programmed in a way that they do not enter the goal. Robots are
allowed to use the cross-bar.

 

2.6 Handle

 

All robots must have a stable handle to hold and to lift them. The handle must be easily
accessible, for example on top of a robot. The dimensions of the handle may exceed the 22 cm
height limitation, but the part of the handle that exceeds this 22 cm limit cannot be used to
mount components of the robot.

 

2.7 Additional regulations of the sub-leagues

A tournament may be organized in different sub-leagues. Each sub-league (e.g. “Open League”
and “Light Weight League”) may have its own additional regulations, including regulations
affecting the construction of robots. Such regulations will be published by the RoboCupJunior
Soccer Technical Committee and become a part of this rule.

2.8 Violations

Robots that do not abide by the specifications/regulations are not allowed to play. If
violations are detected during a running game the team is disqualified for that game. If similar
violations occur repeatedly, the team can be disqualified from the tournament.

 

3. FIELD

3.1 Kind of field

There is only one kind of field for all sub-leagues.

3.2 Dimensions of the field

The playing-field is 122 cm by 183 cm. The field is marked by a white line which is part of the
playing-field. Around the playing-field, beyond the white line, is an outer area of 30 cm width.
The floor near the exterior wall includes a wedge, which is an incline with a 10 cm base and 1 cm
rise for allowing the ball to roll back into play when it leaves the playing field. Total
dimensions of the field, including the outer area, are 182 cm by 243 cm. It is recommended that the
field be positioned 70 to 90 cm off the ground.

3.3 Walls

Walls are placed all around the field, including behind the goals and the out-area. The height of
the walls is 14 cm. The walls are painted matte black.

3.4 Goals

The field has two goals, centered on each of the shorter sides of the playing field. The goal inner
space is 60 cm width, 10 cm high and 74 mm deep, box shaped. It has a cross-bar on top (to prevent
robots from entering the goal and to allow checking if the ball scored). The goal “posts” are
positioned over the white line marking the limits of the field. The cross-bar is exactly over the
white line. The interior walls and the cross-bar of each goal are painted, one goal yellow, the
other goal blue. The exterior (including the goal post and frame) are painted black (see the field
diagrams).

 

3.5 Floor

The floor consists of green carpet on top of a hard level surface. The carpet should be of a
quality that will resist the wear and tear of spinning wheels. All straight lines on the field
should be painted and have a width of 20 mm.

3.6 Neutral spots

There are five neutral spots defined in the field. One is in the center of the field. The other
four are adjacent to each corner, located 45 cm along the long edge of the field, aligned with each
goal post towards the middle of the field (from the goal post). The neutral spots can be drawn with
a thin black marker.

3.7 Center circle

A center circle will be drawn on the field. It is 60 cm in diameter. It is a thin black marker
line. It is there for
Referees and Captains as guidance during kick-off.

3.8 Penalty areas

In front of each goal there is a 30 cm wide and 90 cm long penalty area.

The penalty areas are marked by a black line of 20 mm width. The line is part of the area. A robot
is considered inside the Penalty Area when it is completely inside.
3.9 Lighting and Magnetic Conditions

The fields should be placed in a way that the influence by external infrared light is as low as
possible and that the magnetic field of the earth is disturbed as little as possible.
Perfect conditions cannot be guaranteed, however. Teams must come to tournaments being prepared
to calibrate their robots based on the lighting and magnetic conditions at the venue.

 

4. BALL

4.1 General ball specification

A well-balanced electronic ball shall be used. The ball will emit infrared (IR) light set to pulsed
mode.

4.2 Official suppliers for pulsed balls

Currently, there is one ball that has been approved by the RoboCupJunior Soccer Technical
Committee:
● RoboSoccer RCJ-05 ball operating in MODE A (pulsed) made by EK Japan/Elekit (www.elekit.co.jp)
Technical details are in the Appendix: “Technical Specification for Pulsed Soccer Ball”.
4.3 Tournament balls

Balls for the tournament must be made available by the organizers. Organizers are not responsible
for providing balls for practice.

 

5. GAMEPLAY

5.1 Game procedure and length of a game

The game will consist of two halves. The duration of each half is 10-minutes. There will be a
5-minute break in between the halves.

The game clock will run for the duration of the halves without stopping (except if or when a
referee wants to consult an official). The game clock will be run by a referee or a
referee assistant (see Rule 7.1 for the description of a referee assistant).

Teams are supposed to be at their field table 5 minutes before their game starts. To be at the
inspection table does not count in favor of this time limit. Teams can be penalized one goal per
minute at the referee's discretion if they are late for the game start. If a team does not report
within 5 minutes of the game start, it forfeits the game and the winning team is awarded a 5-0 win.

 

5.2 Pre-match meeting

At the start of the first half of the game, a referee will toss a coin. The team mentioned first in
the draw shall call the coin. The winner of the toss can choose either which end to kick to, or to
kick off first. The loser of the toss will settle for the other option. After the first half, teams
will switch sides. The team not kicking off in the first half of the game will kick off to begin
the second half of the game.

 

5.3 Kick-off

Each half of the game begins with a kick-off. All robots must be located on their own side of the
field. All robots must be halted. The ball is positioned by a referee in the center of the field.

The team kicking off places their robots on the field first. Robots cannot be placed nor remain
behind the goal line or in the outer area. Robots cannot be repositioned once they have been
placed.

The team not kicking off will now place their robots on the defensive end of the field. All robots
on the team not kicking off must be at least 30 cm away from the ball (that means outside the
center circle).

The referee may adjust the placement of the robots to make sure that the robots are placed properly
within the field positions.

On the referee's command (usually by whistle), all robots will be started immediately by each
captain. Any robots that are started early will be removed by the referee from the field and
treated as a damaged robot.

 

5.4 Human interference

Except for the kick-off, human interference from the teams (e.g. touching the robots) during the
game is not allowed unless explicitly permitted by a referee. Violating team/team member(s) can
be disqualified from the game.

The referee or a referee assistant can help robots to get unstuck, but only if the ball is not
being disputed near them, and also if that situation was created from the interaction between
robots (i.e. it was not a design or programming flaw of the robot alone). The referee or a referee
assistant will pull back the robots just enough for them to be able to move freely again.

5.5 Ball movement

A robot cannot hold a ball. Holding a ball means taking full control of the ball by removing all of
its degrees of freedom. Examples for ball holding include fixing a ball to the robot's body,
surrounding a ball using the robot's body to prevent access by others, encircling the ball or
somehow trapping the ball with any part of the robot's body. If a ball stops rolling while a robot
is moving or a ball does not rebound when rolled into a robot, it is a good indication that the
ball is trapped.

The only exception to holding is the use of a rotating drum that imparts dynamic back spin on the
ball to keep the ball on its surface. Such a device is called a dribbler.

Other players must be able to access the ball.

5.6 Scoring

 

A goal is scored when the ball strikes or touches the back wall of the goal. Goals scored either by
an attacking or defending robot have the same end result: they give one goal to the team on the
opposite side. After a goal, game will be restarted with a kick-off from the team who
received the goal against. Before a kick-off, all damaged or out-of-bounds robots are allowed
to return to the playing field immediately if they are ready and fully functional.

5.7 Goalie

The robot moving first into the penalty area on a team’s defending side completely (with every part
of it) is designated as goalie until a part of it leaves the penalty area.

 

5.8 Pushing
Within the penalty area, the goalie has priority. Attacking robots are not supposed to push the
goalie in any way. If the attacker and the goalie touch each other and at least one of them has
physical contact with the ball, the ball will be moved to the nearest unoccupied neutral spot immediately.

If a goal is scored as a result of this pushed-situation, it will not be granted.

5.9 Lack of progress

Lack of progress occurs if there is no progress in the gameplay for a reasonable period of time and
the situation is not likely to change. Typical lack of progress situations are when the ball is
stuck between robots, when there is no change in ball and robot’s positions, or when the ball is
beyond detection or reach capability of all robots on the field. After a visible and loud count,
(usually a count of five, the length of the count could be decided by the OC before a competition
as long as it’s the same length within a sub-league) a referee will call “lack of progress” and
will move the ball to the nearest unoccupied neutral spot. If this does not solve the lack
of progress, the referee can move the ball to different neutral spots.

 

5.10 Out of bounds

If a robot’s entire body moves out beyond the white line of the field completely, it will be called
for being out of bounds. When this situation arises, the robot is given a one-minute penalty, and
the team is asked to remove the robot from the field. There is no time stoppage for the game
itself.

The one-minute penalty starts when the robot is removed from play. Furthermore, any
goal scored by the penalized team while the penalized robot is on the field will not be granted.
Out-of-bounds robots can be fixed if the team needs to do so.

After the penalty time has passed, robot will be placed on the unoccupied neutral spot nearest to
where it has been taken off, and not directly aiming towards the ball.

A referee can waive the penalty if the robot was accidentally pushed out of bounds by any other
robot. In such a case, the referee may have to slightly push the robot back onto the field.

The ball can leave and bounce back into the playing field. The referee calls “out of reach”, and
will move the ball to the nearest unoccupied neutral spot when one of the following condition
occurs:
1) the ball remains outside the playing field too long,
2) any of the robots are unable to return it into the playing field (without their whole body
leaving the playing field), or
3) the referee determines that the ball will not come back into the playing field.

 

 

5.11 Damaged robots

If a robot is damaged, it has to be taken off the field and must be fixed before it can play again.
A damaged robot must remain off the field for at least one minute.

A robot is damaged especially when:
● it does not respond to the ball, or is not able to move (it lost pieces, power, etc.).
● it continually moves into the goal or out of the playing field.
● it turns over on its own accord.

Computers and repair equipment are not permitted in the playing area during gameplay.
Usually, a team member will need to take the damaged robot to an “approved repair table” near the
playing area, located inside the competitors working area. A referee may permit robot sensor
calibration, computers and other tools in the playing area, only for the 5 minutes before the start
of each half.

After a robot has been fixed, it will be placed on the unoccupied neutral spot nearest to where it
has been taken off, and not directly aiming towards the ball. A robot can only be returned to the
field if the damage has been repaired. If the referee notices that the robot was returned to the
field with the same original problem, s/he could ask the robot to be removed, and proceed the game
as if the robot had not been returned.

Only the referee decides whether a robot is damaged. A robot can only be taken off or
returned with the referee’s permission.

If both robots from the same team are deemed damaged during gameplay, the clock continues and the
remaining team gets one initial goal and rests while waiting for the opponent's return to play. The
remaining team will also get one additional goal for each minute the opponent's robots remain
damaged. After five minutes of absence, the team with no functional robots forfeits the game.
However, these rules only apply when none of the two robots from the same team were damaged as the
result of the opponent team violating the rules.

 

5.12 Multiple defense

Multiple defense occurs if more than one robot from the defending team enters its penalty area with
some part and substantially affects the game. The robot farther from the ball will be moved to the
center neutral spot. If multiple defense happens repeatedly, the robot will be deemed damaged.

5.13 Interruption of Game

In principle, a game will not be stopped.

A referee can stop the game if there is a situation on or around the field which the referee wants
to discuss with an official of the tournament or if the ball malfunctions and a replacement is not
readily available.

When the referee has stopped the game, all robots must be stopped and remain on the field
untouched. The referee may decide whether the game will be continued/resumed from the
situation in which the game was stopped or by a kick-off.

 

6. CODE OF CONDUCT

6.1 Fair Play

It is expected that the aim of all teams is to play a fair and clean game of robot soccer. It is
expected that all robots will be built with consideration to other participants. Robots are not allowed to cause deliberate interference with or damage to other robots during normal game play. Robots are not allowed to cause damage to the field or to the ball during normal game play.

Humans are not allowed to cause deliberate interference with robots or damage to the field or the ball.

6.2 Behavior

All participants are expected to behave themselves. All movement and behavior is to be of a
subdued nature within the tournament venue.

6.3 Help

Mentors (teachers, parents, chaperones, and other adult team-members including translators) are not
allowed in the student work area unless it is explicitly but temporarily permitted by a member of
the organizing committee. Only participating students are allowed to be inside the work area.

Mentors must not touch, build, repair or program any robots.

6.4 Sharing

The understanding that any technological and curricular developments should be shared among the
RoboCup and RoboCupJunior participants after the tournament has been a part of world RoboCup
competitions.

 

6.5 Spirit

It is expected that all participants, students, mentors and parents alike, will respect the
RoboCupJunior mission.
It is not whether you win or lose, but how much you learn that counts!

6.6 Violations / Disqualification

Teams that violate the code of conduct can be disqualified from the tournament. It is also possible
to disqualify only single person or single robot from further participation in the tournament.

In less severe cases of violations of the code of conduct, a team will be given a warning by
showing it a yellow card. In severe or repeated cases of violations of the code of conduct a team
can be disqualified immediately without a warning by showing it the red card.

 

7. CONFLICT RESOLUTION

7.1 Referee and referee assistant

All decisions during the game are made by the referee or the referee assistant who are in charge of
a field, and the persons and the objects surrounding the field. During gameplay, the decisions made
by the referee and/or the referee assistant are final.

Any argument with the referee or the referee assistant can result in a warning. If the argument
continues or another argument occurs, this may result in immediate disqualification from the game.

At the conclusion of the game, the referee will ask the captains to sign the score sheet. By
signing the score sheet the captains accept the final score on behalf of the entire team.

 

7.2 Rule clarification

 

Rule clarification may be made by members of the RoboCupJunior Soccer Technical
Committee and Organizing Committee, if necessary even during a tournament.

7.3 Rule modification

If special circumstances, such as unforeseen problems or capabilities of a robot occur, rules may
be modified by the RoboCupJunior Soccer Organizing Committee Chair in conjunction with
available Technical Committee and Organizing Committee members, if necessary even during a
tournament.

 

7.4 Regulatory statutes

Each RoboCupJunior competition may have its own regulatory statutes to define the procedure of the
tournament (for example the SuperTeam system, game modes, the inspection of robots, interviews,
schedules, etc.). Regulatory statutes become a part of this rule.

 

League Regulations 2014

1. Preamble

 

According to rule 2.7 of the RoboCupJunior Soccer Rules, each league has its own additional
regulations. They become a part of the rules.

Soccer will consist of two sub-leagues. These sub-leagues are called “Open League” and
“Light Weight
League” (See 2.1 Dimensions). Each sub-league can be further divided into primary and secondary.

For RoboCupJunior 2014, there are three sub-leagues as follows:
● Light Weight League – Primary
● Light Weight League – Secondary
● Open League

2. Regulations

2.1 Dimensions

Robots will be measured in an upright position with all parts extended. A robot’s dimensions must
not exceed the following limits:

sub-league Open League
Light Weight League

size / diameter Ø 22.0 cm
Ø 22.0 cm

height 22.0 cm *
22.0 cm *

weight 2400 g **
1100 g **

ball-capturing zone 3.0 cm
3.0 cm

voltage 15.0 V
12.0 V

* The handle of a robot may exceed the height.
** The weight of the robot includes that of the handle.

Ball-capturing zone is defined as any internal space created when a straight edge is placed on the
protruding points of a robot. This means the ball must not enter the concave hull of a robot by
more than 3 cm. Furthermore, it must be possible for another robot to take possession of the ball.

 

2.2 Limitations

Voltage pump circuits are permitted only for a kicker solenoid drive. All other electrical circuits
inside the robot cannot exceed 15.0 V for Open League and 12.0 V for Light Weight League. Each
robot must be designed to allow verifying the voltage of power packs and its circuits, unless the
nominal voltage is obvious by looking at the robot, its power packs and connections.

Pneumatic devices are allowed to use natural air only.

Kicker strength is subject to compliance check at any time during the competition. During gameplay,
a referee can ask to see a sample kick on the field before each half, when a damaged robot is
returned to the field, or when the game is about to be restarted after a goal. If the referee
strongly suspects that a kicker exceeds the power limit, he can require an official measurement with the 'Kicker Power Measure Device'. (See 

the Appendix ‘Kicker Power Measure Device’ for details.)

2.3 Construction

Robots must be constructed exclusively by the student members of a team. Mentors,
teachers, parents or companies may not be involved in the design, construction, and assembly of
robots.

For the construction of a robot, any robot kit or building block may be used as
long as the design and construction are primarily and substantially the original work of a
team. This means that commercial kits may be used but must be substantially modified by the team.
It is neither allowed to mainly follow a construction manual, nor to just change unimportant parts.

Indications for violations are the use of commercial kits that can basically only be assembled in
one way or the fact that robots from different team(s), build from the same commercial kit, all
basically look or function the same.
Robots must be constructed in a way that they can be started by the captain without the help of
another person. Since a contact with an opponent robot and/or dribbler that might damage some parts
of robots cannot be fully anticipated, robots must have all its active elements properly protected with resistant
materials. For example, electrical circuits and pneumatic devices, such as pipelines and bottles, must be
protected from all human contact and direct contact with other robots. When batteries are
transported or moved, it is recommended that safety bags be used. Reasonable efforts should be
made to make sure that in all circumstances robots avoid short-circuits and chemical or air leaks.

 

2.4 Programming

Robots must be programmed exclusively by student members of the team. Mentors,
teachers, parents or companies should not be involved in the programming and debugging of robots.

For the programming of the robots, any programming language, interface or
integrated development environment (IDE) may be used. The use of programs that come together
with a commercial kit (especially sample programs or presets) or substantial parts of such
programs are not allowed. It is not allowed to use sample programs, not even if they are
modified.

 

2.5 Inspection and Interviews

Robots must be inspected and certified every day before the first game is played. The Organizing
Committee may request other inspections if necessary. The routine inspections include:
● Weight restrictions for the particular sub-league (see 2.1).
● Robot dimensions (see 2.1).
● Voltage restrictions (see 2.1 and 2.2).
● Kicker strength limits, if the robot has a kicker. (See the Appendix ‘Kicker Power Check
Device’.)

Proof must be provided by each team that its robots comply with these regulations, for example, by
a detailed documentation or log book. Teams may be interviewed about their robots and the
development process at any time during a tournament.

The Organizing Committee will arrange to interview teams during the first few days of the event
(see 2.3, 2.4, and 2.6). Teams must bring both robots and their computer code to the interview.

During an interview, at least one member from each team must be able to explain particularities
about the team's robots, especially with regards to its construction and its programming. An
interviewer may ask the team for a demonstration. The interviewer may also ask the team to write a simple program during the interview 

to verify that the team is able to program its robot.

 

2.6 Violations

Robots that do not comply with the above regulations are not allowed to play. If violations are
detected during a game play, the team is disqualified for that game. If similar
violations occur repeatedly, the team can be disqualified from the tournament.

Technical Specification for pulsed Soccer Ball

 

1. Preamble

Answering to the request for a soccer ball for RCJ tournaments that would be more robust to
interfering lights, less energy consuming and mechanically more resistant, the RCJ Soccer
Technical Committee defined the following technical specifications with the special
collaboration from EK Japan and HiTechnic.

Producers of these balls must apply for a certification process upon which they can exhibit the
RCJ-compliant label and their balls used in RCJ tournaments.

Balls with these specifications can be detected using specific sensors from HiTechnic (IRSeeker -
information on distance and angle) but also common IR remote control receivers
(TSOP1140, TSOP31140, GP1UX511QS, ... - on-off detection with a possible gross indication of
distance).

2. Specifications

2.1 IR light

The ball emits infra-red (IR) light of wavelengths in the range 920nm - 960nm, pulsed at a
square-wave carrier frequency of 40 KHz. The ball should have enough ultra-bright, wide angle LEDs
to minimize unevenness of the IR output.

 

2.2 Diameter

The diameter of the ball is required to be 74mm. A well-balanced ball shall be used.

2.3 Drop Test

The ball must be able to resist normal game play. As an indication of its durability, it should be
able to survive, undamaged, a free-fall from 1.5 meters onto a hardwood table or floor.

2.4 Modulation

The 40 KHz carrier output of the ball shall be modulated with a trapezoidal (stepped) waveform of
frequency 1.2 kHz. Each 833-microsecond cycle of the modulation waveform shall comprise 8 carrier
pulses at full intensity, followed (in turn) by 4 carrier pulses at 1/4 of full intensity, four
pulses at 1/16 of full intensity and four pulses at 1/64 of full intensity, followed by a space
(i.e. zero intensity) of about 346 microseconds. The peak current level in the LEDs shall be
within the range 45-55mA. The radiant intensity shall be more than
20mW/sr per LED.

2.5 Battery Life

If the ball has an embedded rechargeable battery, when new and fully charged it should last for
more than 3 hours of continuous use before the brightness of the LEDs drops to 90% of the initial
value. If the ball uses replaceable batteries, a set of new high-quality alkaline batteries should
last for more than 8 hours of continuous use before the brightness of the LEDs drops to 90% of the
initial value.

2.6 Coloration

The ball shall be neutral in color. In particular, it must not have any green, blue or yellow
coloration (to avoid confusion with the colors of the field and goals).

 

Kicker Power Measuring Device

 

1. Preamble

This Kicker Power Measuring Device can measure the power of a robot’s kicker. It is easy to build
with commonly accessible materials.

This device can measure the power of a robot’s kicker up to a length of 22cm.

2. Materials

Plastic Board A4 paper size

M3 Spacers (40mm length) 5

M3 Screw 10

3. Device schematics

The device schematics can be printed out from the diagram located at the end of the
document. Please be advised to check that the software you use to print the schematic does not
have a “scale to fit” option activated (i.e. check that it is configured to print at 100% or
“actual size” scale).

Note: The device schematics shows a straight line past the 22cm mark, while the photo shows the
line at that point to be curved. Either straight or curved lines are acceptable, but a curved line
will request more difficult cutting and the attached device schematic is simple enough for quick
construction.

 

4. Example of device construction

a. Print out the device schematics.
b. Paste the paper on a plastic board. The incline line (red lines) should be straight.
c. Cut out along the lines, and drill the holes.
d. The two boards should be connected using the 40mm spacers.

5. Inspection

a. Place a ball at the bottom of the ramp run of the device, and put the robot in front of the
ball, aiming the kicker towards the top of the ramp.
b. Activate the robot’s kicker for a single shot.
c. Measure the distance that the ball travelled on the device. The distance should not exceed 22
cm.