::International Robot Olympiad::

Robot Soccer

MiroSot

INTRODUCTION

As shown in the figure below, in the MiroSot category there are three robots sized 7.5cm X 7.5cm X 7.5cm. The playground is 170cm X 130cm, including the goal post. The CCD camera is placed at a height of 2m above the playground. Each team will have its own host computer. The duration of a game shall be two equal periods of 5 min each, with a half time interval of 10 minutes during which the participants can change batteries and modify the strategy.

The robot system is composed of the battery, the motor driving parts, the micro-controller and the communication part. Communication between the host computer and the robots is wireless using infrared transmission technology. The host computer of each team sends data to the robots to control them. The information sent is the velocity of the left and the right wheel of each robot. The human operator should not directly control the motion of their robots either with a joystick or by keyboard commands under any circumstances, except start, stop and restart commands. Other information, such as game strategy, can be communicated to robots only when a game is not in progress. The rules of the robot soccer, which are defined by FIRA (please refer to the rules in the FIRA homepage, (http://www.fira.net), are similar to a real soccer game including fouls, free kicks, penalty kicks. etc.

For each team, the robot soccer system is mainly composed of three robots, the vision system and the host computer. The vision system contains of a color CCD camera and an image grabber board for processing the image information. The camera is the external image sensor. The cooperation and control of mobile robots and the game strategies have to be implemented.

The host computer transmits commands about the strategy after processing the vision data, which contains information about the position of the ball and the robots.
The objective of the Internet education program is to understand the functioning of the micro-robots, the robot soccer system in general and how to design of the application software

GAME RULES

=> http://www.fira.net/soccer/mirosot/rules_slm.html

RoboLab Soccer

There will be no age limit on the Robot Soccer Competition. The Soccer Robots should use RCX and at least 50% LEGO products, which can be from any set. There are no limitations on sensors and programming language. Participants should bring their robots ready-to-go, and not assemble during the competition.Robot Soccer should be played with 2 robots on each team.

Playing Field

	SIZE
	The playing field is 48 inches (122 cm) by 72 inches (183 cm).
	FLOOR
	The floor of the playing field will be covered with a printed gray scale that will be available from Semia Limited( www.semia.com )or RoboCup Junior.The playing field may be placed on a table or on the floor. Every effort shall be made to ensure that the field is flat and level. However, it is recommended that teams design their robots to have a ground clearance of at least 1cm in order to cope with slight curvatures of the surface.

	WALLS
	Walls shall be placed all around the field, including behind the goals. The walls shall be painted with black and shall be 5.5 inches (14 cm) high.

	GOALS
	The width of each goal is 18 inches (45 cm). The back of the goals will be painted black. The interior wall of the goals will be painted grey, consisting of 75% White and 25% Black


	LIGHTING
	Teams must come prepared to calibrate their robots based on the lighting conditions at the venue. Every effort will be made to keep ambient light to a low level with infra red sources from incandescent lights and natural lighting removed. The committee will release the range of light readings to be expected, at least one month prior to the event.

ROBOTS

	DIAMETER
	The standing robot must fit inside an upright 22cm diameter cylinder. Robots will be measured with all parts fully extended.

	HEIGHT
	The robot height must be 22cm or less.

	MARKING/COLORING
	Competitors are encouraged to decorate their robots to give them individuality, however colors of robots should not interfere with light sensors readings of other robots.

Team Structure

A team shall consist of no more than 2 robots and 4 humans. Each team must nominate a captain who will control the robots through the game.

Ball

An electronic ball shall be used, which will be provided by Wiltronics . The ball will transmit infra-red (IR) light. The ball will be close to 7.5 cm in diameter.

Inspection

	SIZE INSPECTION
	The robots will be examined by a panel of referees before the start of the tournament to ensure that they meet the constraints described above. While being inspected, each robot must be at its maximum size; i.e., anything that protrudes from the robot must be fully extended. Any violations of the constraints may disqualify a robot from the tournament.

	Authenticity of Students Work
	Team members will be asked to explain the operation of their robots in order to verify that the construction and the programming of the robot is their own work. Robots must be predominantly constructed by the students. Commercial kits may be used but must be substantially modified by the students. Teams will be disqualified at the discretion of the tournament referee if robots are not essentially the work of the students.

	Mentor Exclusion
	Mentors will not be allowed in the inspection area or take part in any discussions while inspection is taking place.

Game Play

Pre-game setup

Organizers will make every effort to provide the teams access to the competition area at least two hours before the start of the competition. They will also strive to allow at least 10 minutes of setup time before each game. Participants should be aware, however, that conditions may arise where this much time cannot be provided.

Length of Game

The game will consist of two 10-minute halves, with a 5-minute break in the middle. The game clock will run for the duration of the game (two 10-minutes halves), without stopping (exception noted in "Damaged Robots"). The referee will be in charge of the game clock.The clock will be stopped for halts of play and positioning of robots during finals play.

Selection of Kick Off and Ends

Selection of ends of kick off will be done by the toss of a coin. The referee will toss the coin and the first mentioned team in the draw shall call. The winner of the toss can choose either which end to kick to or to kick off first. Having made that decision, the loser of the coin toss will choose the other option.The team not kicking off first, shall kick off to begin the second half.

Kick-Offs

- Each half of the game begins with a kick-off. At the time of a kick-off, all robots must be in located on their own side of the field. All robots must be halted. The ball is positioned by the referee in the center of the field, and all robots on the team not kicking off must be at least 6in (15cm) away from the ball. The team not kicking off, places their robots first and the team kicking off may place one robot near the ball. The referee may adjust the placement of the robots to their satisfaction.
- On the referee's whistle, the robot kicking off will be started by remote control or by a human team member. The robot will then strike the ball. This same robot cannot re-contact the ball until 1 second has elapsed. After the robot has contacted the ball all robots must be started immediately. When 5 seconds has passed, the referee will blow the whistle again and if any robots have not been started, a free kick will be given to the opposing team. If the robot taking the kick off has not struck the ball after 5 seconds, other robots can be then be started

Humans

In general, movement of robots by humans is not acceptable. There are three exceptions to this rule: see "Kick-Offs", "Stuck Robots" and "Damaged Robots". Before the start of each match, teams should designate one human who will be allowed to start, place, remove and replace robots during the game, based on the stated rules.
Team members within the vicinity of the playing field are to remain seated while the ball is in play, unless otherwise directed by the referee.

Ball Movement and Control

- The ball must go forward from the kick-off, or else the kick-off will be repeated. If a kick-off needs to be repeated more than three times, the kick-off right is passed to the other team.
- A player cannot "hold" a ball. Holding a ball means taking a full control of the ball by removing all of its degrees of freedom. For example, this would mean fixing a ball to the robot's body or surrounding a ball using the robot's body to prevent access by others.
- The ball must be visible at all times. It cannot be underneath a robot! No encircling clamp or entrapment of the ball is allowed. Other players must be able to access it. The gap in arms in front of the player must not exceed 1.5 times the diameter of the ball. Arms must not protrude any further than 50% of the diameter of the ball.
- The ball may be lifted during play by the robots. However, the height of the ball from the table must not endanger spectators, the referees or human team members!!

Scoring

- The ball must be free rolling to score a goal. The only exception to this is when a robot makes first contact with the ball less than 15 cm in front of the goal.
- Once the ball has gone into the goal area and goal has been called by the umpire, the ball will be placed manually back in the center of the playing field. If the ball crosses the goal line 5.5in (14cm) above the table, the goal is disallowed and a free kick is awarded to the defending team.
- After a goal is scored, a kick-off will occur. The non-scoring team will be awarded the ball. See "Kick-Offs".

Goalie

If desired, teams may designate one player as a goalie. Note that the goalie is subject to the same foul rules as the other robots on the field. See "Fouls".

Fouls

The following fouls are defined:

	Lack of progress.
	If it is deemed by the referee that game play has stopped, then a free kick is awarded to whichever team effectively moved the ball last. A game is considered stopped if the ball has not been touched by any robot for 20 seconds or it appears that no robots are likely to hit the ball. Lack of progress is also considered when the ball is entrapped by two or more robots, but not involving the wall of the field. If the ball is stuck against the wall :see 6.11 Ball entrapped on the wall

	Non-moving robots.
	If the referee determines that a robot is not moving for a period of 20 seconds or longer, the referee may remove it from the playing field or at the request of a team member. Participants may repair the robot and ask that it be put back in play after at least one minute.

	Multiple Defense.
	When more than one robot from the defending side enters the defense zone and substantially affects the game, a foul will be called and a free kick will be declared.

Free Kick

Free kicks are taken after a foul or a stoppage in play. If the free kick is taken after a foul, the ball is placed at the point where the foul was committed. If the free kick is taken after a stoppage in play, the ball remains in place. If the ball is within 6in (15cm) of a wall or the goal line, the ball will be placed 6in (15cm) from the wall or goal line. All defending robots must be placed at least 6in (15cm) from the ball. The team receiving the free kick may place one robot near the ball. Other robots further than 15cm away cannot change their position on the field, but may be rotated while remaining in that position.The robot will then strike the ball. This same robot cannot re-contact the ball until 1 second has elapsed. After the robot has contacted the ball all robots must be started immediately. When 5 seconds has passed, the referee will blow the whistle again and if any robots have not been started, a free kick will be given to the opposing team. If the robot taking the kick off has not struck the ball after 5 seconds, other robots can be then be started.

Ball Entrapped at the Wall

If a robot or robots have the ball trapped against the wall and the referee deems that there is no chance of it being freed. He can remove the ball to the nearest available point 45cm out from the nearest goal post. The referee will also free any robots, with minimal movement, which are still stuck.

Offside

There are no offside rules.

Timeouts

There are no timeouts in the game.

Substitution

Substitution of robots is strictly forbidden. Each team is allowed two and only two robots, both of which must pass inspection prior to the commencement of the tournament. Any team found violating this rule will be disqualified.

Stuck Robots

Humans are not allowed to free robots that are stuck, except at the referee's discretion. In this case, the referee may initiate a stoppage of play, and then one human team member may move the stuck robot(s) only far enough to free them. The referee may re-position the robot(s) as well.

Damaged robots

If robots fall apart during game play, with the referee's permission, one team member may remove the damaged robot from the field. The team may fix the damaged robot on the spot and return it after at least one minute, to a position on the field determined by the referee. Play continues during removal, repair and replacement. Playing Field

Modification

Modification or damage to the playing field and/or the game ball is forbidden. Should this occur, the game is suspended, and the appropriate restoration is done immediately, before the game resumes. If the referee deems that one team caused the damage purposely or maliciously, then that team may be disqualified.

Charging/Attacking

During play, if a robot utilizes a device or an action which continuously exerts, or whose primary purpose appears to be, serious damage to other robots' functions, the referee can present a yellow card as a warning to the responsible robot. A team member must then remove the robot from the playing field and correct the problem; play will continue (as in "Damaged Robots"). Once the correction is made, the robot may resume play under an approval by the umpire. In case the problem is repeated, the umpire presents a red card and the offending robot will be permanently removed from the game. This rule could be invoked on a robot should it continuously charge a robot not in possession of the ball.

Sabotage

There is no sabotage allowed. Robot that cause deliberate interference with other robots will be disqualified. Robots that perform serious and repeated charging and/or attacking of other robots, effecting damage to another robot's functions, is not allowed.

Fair play

Aside from the above items, no regulations are placed against possible body contacts, charging, dangerous plays, obstructions, etc. However, it is expected that the aim of all teams is to play a fair and clean game of robot soccer.

Comflict Resolution

	Game Play
	During the running of the game the umpire's decision is final.

	Rule Clarification
	Resolution of dispute and interpretation of ambiguity of rules shall be made by three officials, who will act as the tournament committee, designated prior to the tournament. The umpires shall not have any relationship with any of the teams entered in the tournament. Ambiguities shall be resolved by referring to the RoboCup Junior Australia regulations.

	Rule Modification
	The tournament committee may make specific modifications to the rules to allow for special problems and/or capabilities of a team's robots. This is provided that there are no major objections from a majority of the contestants.

Environment

	Sharing
	An understanding that has been a part of World Robocup Competitions, is that any technological advantage must be shared with other competitors after the event. This allows the competition to develop and encourages further development. Any student developments must be published on request on the RoboCup Junior web site after the event.

	Wireless Communication
	No wireless or infra-red (IR) communication devices will be allowed in the tournament hall.

	Spirit
	It is hoped that all participants, students and mentors, will respect the RoboCup Junior mission. The referees will officiate within the spirit of the event. "It is not whether you win or lose, but how much you learn that counts."

	Consideration for other teams
	Competitors are not to enter setup areas of other leagues or other teams, unless invited to do so by team members.

	Behavior
	All movement and behavior is to be of a subdued nature within the tournament venue. Participants who misbehave may be asked to leave the building and risk being disqualified from the tournament, at the discretion of the referees, umpires and conference organizers.