RoboMasters 2016 National Robot Competition for College Students Competition Rules March 2016

The RoboMasters Organizing Committee reserves the right to revise and interpret the rules. The revised rules will be announced on our official forum. The competitions are subject to the latest version of the rules announced before the event.

Version: 4.0

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Organization structure Sponsors: The Communist Youth League of China The All-China Students' Federation The Shenzhen Municipal Government Undertaking organization: DJI Innovations Co., Ltd.

Organizers: Shenzhen Municipal Committee of the Communist Youth League Shenzhen Municipal Science and Technology Innovation Committee Nanshan District Government, Shenzhen Municipality

Supporting Organization: The China Youth Development Foundation

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Change log Version 2.0

Versioning rules modified. Overall structure of the rules revised. Certain restrictions or types of robots modified or combined.

Version 3.0 Competition rules specified. Teams comprising members from two or more universities or colleges permitted. The awards system announced. "Semi-automatic vehicle" specifically defined. Some restricting parameters for the robots revised.

Ver. 4.0 Principles and main events of competitions announced. Numbers of controllers and robots reduced. Robot types revised. Base allowed to move and defend itself automatically. The appearance and mounting methods of armor modified. Restrictions on robots confirmed. Rules of the Arena Competition revised.

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Background Robotics is currently one of the world's major cutting-edge technologies. It is now entering a new era over 50 years in the making. In the next 3 to 5 years, there will be a massive upsurge in the global robotics industry, and China will become one of its major world markets. With this in mind, a group of science and engineering university students from all over the world started the RoboMasters program to continue their robotic dreams under the auspices of DJI. Like other technological competitions, participants of RoboMasters must abide by its rules and regulations and behave in a responsible manner. The Competition Rules of the RoboMasters 2016 National Robot Competition for College Students are applicable to and must be observed by all team members, advisors, referees, managers, and competition organizers. All participants are required to be fair, just, and honest and present outstanding robotic creations to the audience.

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Purpose Promoting the development of practical education The RoboMasters Organizing Committee will join hands with local participating schools in the sub-division areas to advance the development of practical education related to cutting-edge technologies, encourage the training of teachers in relevant fields, establish practice centers and intelligent technology labs, train a generation of outstanding technical engineers and promote the practical application of technological achievements.

Expanding our influence The event is hosted by the Communist Youth League of China, the Secretariat of the All-China Students' Federation, and the Shenzhen Municipal Government, and top-class resources from all parts of society are also brought into play to make it an amazing showcase of technology. The RoboMasters 2016 National Robot Competition for College Students (hereinafter referred to as “RM2016”) draws society’s attention to robotics with its brilliant competition, strict scientific standards, and innovative event scheduling.

Increasing community participation During the RM2016, the Organizing Committee also hosts other roboticsrelated events in the hosting cities according to local conditions. At the same time, we will directly present rich interactive experiences and cutting-edge technologies to the audience through in-depth cooperation with companies in the field as well as full utilization of available resources.

Summarizing academic achievements Besides the technological competition, the event will also focus on summarizing academic and technical achievements in the field. By offering professional, systematic academic lectures, forums, exhibitions and other events, we hope to present the latest accomplishments in robot research and development achieved by participating teams, and promote in-depth exchange in related research.

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Table of Contents Organization structure Change log Background Purpose

2 3 4 5

Introduction to the Contest

7

Overview

8

Schedule

8

Qualifications

8

Eligibility

8

Rules

8

Responsibilities of Team Members

8

Award System

9

Robot Specifications Technical Overview

13

General Technical Requirements

13

Bullets

13

Base

14

Hero Robot

15

Rover

16

Drone

17

Referee system

17

Competition Rules

27

Overview of the competition system

28

Battlefield

28

Rune system

29

Robots deployed in a game

30

Victory Conditions

31

Contest process

31

Rules of the Arena Competition

32

Penalties and appeals

35

Penalty Information

36

Notes about appeals

37

Q&A methods

37

Notes about safety

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12

39

1 Introduction to the Contest

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RoboMasters 2016

Overview The RoboMasters 2016 National Robot Competition for College Students is a global competition hosted by the Communist Youth League of China, Shenzhen Municipal Government and the Secretariat of the All-China Students’ Federation. It is intended to offer a platform for university students to make technological innovations and to promote exchange and dialog among researchers in China and abroad. In the RoboMasters arena, you can thoroughly experience technological competition, show your charisma and talent and feel the power of teamwork, and sense the seamless connections between man and technology. The official languages of RM2016 are Chinese and English.

Schedule Contest

Date

Place

Remarks

District Competitions

July 11 - July 24, 2016

TBD

The exact number of District Competitions and their locations are based on the number and location of participating teams. (Specifics to be announced by the Organizing Committee prior to the event)

Challengers’ Competition

August 15 - August 28, 2016

Shenzhen

Teams that qualified in the Challengers’ Competition will compete with overseas teams for the 8 seats in the finals.

Arena Competition

August 15 - August 28, 2016

Shenzhen

Contest for individual awards

Grand Finals

August 15 - August 28, 2016

Shenzhen

Contest for the Champion of the Year

Qualifications Eligibility

All full-time university students registered in school before August 2016 and participating in a 3- or 4-year undergraduate or postgraduate program may enter the competition Rules • Participants must enter the contest in teams. Each participant can join only one team for the contest; • A single school can enter multiple teams in the contest. Teams with members from two or more schools are allowed; Such teams with members from two or more schools are called consortiums. Consortiums are formed by relevant participants, taking into account their ability to communicate and plan across institutions. Applications for forming a consortium must be submitted to the Organizing Committee before April 1, 2016, and the consortium is considered to be established upon the Organizing Committee's approval. Once established, consortiums cannot be split and can only participate in the contest as such. In the event that a consortium is split, it shall be considered that the consortium has quit the contest. A consortium's operating and R&D costs, personnel distribution, and any disputes that may arise from time to time must be handled by the consortium itself. The Organizing Committee takes no responsibility for any of these issues. • Each team shall have between 5 and 35 members, inclusive; • Each team shall have one team leader, one project manager and one PR manager; • The team leader may not take the position of project manager or PR manager, but another team member can act as both project manager and PR manager; • Each team can have up to three advisors. Advisors can give assistance to multiple teams; • Teams can participate in the Grand Finals only after qualifying in the District Competition or Challengers’ Competition; • The Arena Competition can be entered separately. Teams that do not compete in the Zone Competitions or Grand Finals can still enter the Arena Competition. -8-

2016 National Robot Competition for College Students

Responsibilities of Team Members Advisor: As head of a team, the Advisor is responsible for building and managing the team. The advisor is responsible for the safety of team members and their property, as well as for directing and managing team expenses during the contest; ensuring that the team leader reports project progress and other issues to the Organizing Committee; instructing the team leader in drafting plans, solving R&D issues, and completing technical reports on time; and helping the team to complete the contest successfully. Team leader: The team leader is responsible for the team’s technologies and strategies. The team leader is also responsible for the division of work, central planning, as well as the arrangement and modification of strategies during the contest. Project manager: The project manager is the manager for the overall project. The project manager controls the project's overall progress; comprehensively considers R&D costs, work safety and other issues; makes overall management decisions, and makes decisions regarding project targets (including progress, outcome, costs, etc.). PR manager: The PR manager is responsible for promoting the team's project. The PR manager is responsible for recording information to be used later for internal and external promotion and for the team publicity. The PR manager is also responsible for building and managing a variety of channels to raise the profile of the event and the team. Contacts: The advisor, team leader, and project manager are the organizers of the team and as such are responsible for communications with the RoboMasters Organizing Committee. Any information that the rest of the team members would like to exchange with the Organizing Committee must go through the organizers.

Award System

Winners of the Grand Finals Award

Ranking

Qty.

Reward

1

Championship trophy Championship medals Grand prize certificate Championship certificate RMB 200,000 (pre-tax)

1

First runner-up trophy First runner-up medals Grand prize certificate First runner-up certificate RMB 100,000 (pre-tax)

Second Runner-up

1

Second runner-up trophy Second runner-up medals Grand prize certificate Second runner-up certificate RMB 50,000 (pre-tax)

4th - 8th Place

5

Grand prize certificate Certificate of Honor RMB 20,000 (pre-tax)

2nd Prize

9th - 16th Place

8

2nd prize certificate Certificate of Honor RMB 10,000 (pre-tax)

3rd Prize

17th - 32nd Place

16

3rd prize certificate Certificate of Honor

Champion

First Runner-up Grand Prize

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RoboMasters 2016

District Competition Awards System Award

Ranking

Reward

1st Prize in District Competitions

The top 24 teams in the District Competitions are qualified by rank for the Grand Finals.

District Competition trophy (Grand Prize, First Runner-up, and Second Runner-up) District Competition 1st Prize Certificate Certificate of Honor Qualification Certificate for the Grand Finals RMB 10,000 (pre-tax)

2nd prize in District Competitions

The top teams in the District Competitions by rank, apart from those that qualified for the Grand Finals

District Competition 2nd Prize Certificate Certificate of Honor Qualification Certificate for the Challengers’ Competition (1st and 2nd Place teams only)

Teams in Zone Competitions that did not win 1st or 2nd prize

District Competition 3rd Prize Certificate Certificate of Honor

3rd prize in District Competitions

Rewards for the Challengers’ Competition Award

Ranking

Reward

Challengers’ Competition

Top 8 teams

Qualification Certificate for the Grand Finals RMB 10,000 (pre-tax)

Note: The Challengers’ Competition will start before the Grand Finals. Domestic and overseas teams registered for the Challengers’ Competition will compete for the 8 spots to qualify for the Grand Finals.

Rewards for the Arena Competition Award

Airstrike

Ground attack

Qty.

Reward

1

Certificate of Honor RMB 25,000 (pre-tax) Additional reward for open source technology: up to RMB 55,000 (pre-tax)

1

Certificate of Honor RMB 35,000 (pre-tax) Additional reward for open source technology: up to RMB 85,000 (pre-tax)

Note: The award will be given to the top team in the Arena Competition. If the team is willing to make the technologies used in the contest open to the public, then an additional open source prize will be awarded. The exact amount awarded will be determined by the review team appointed by the Organizing Committee.

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2016 National Robot Competition for College Students

Individual rewards Individual rewards are encouragement for teams or individual participants that have displayed outstanding performance in a specific field of the contest. These teams or participants are considered excellent models due to their professionalism, competitive spirit, and cooperative attitude during in the contest. Award

Qty.

Reward

Outstanding Advisor

5

Certificate of Honor RMB 5,000

Outstanding Project Manager

4

Certificate of Honor RMB 2,000

Outstanding PR Manager

4

Certificate of Honor RMB 2,000

Outstanding Judge

5

Certificate of Honor RMB 2,000

Outstanding Technical Report

10

Certificate of Honor RMB 2,000

Most Creative

2

Certificate of Honor RMB 2,000

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2 Robot Specifications

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2016 National Robot Competition for College Students

Technical Overview Four types of robots are used in this contest: base, hero robot, rover, and drone. All of these must be designed and prepared by members of the participating teams. In the contest, two teams will fight against each other in a specified field. Referee systems officially provided by the host will be mounted on the robots used in the contest. Images taken by the cameras mounted on the robots will be transmitted in real time to the screens in front of the controllers outside the battlefield using HD image transmission modules. By watching the images, the controllers control the robots, moving them around the complex battlefield and attacking the opposing team's robots and base to win the game. In addition, robots that are automated to some degree can be used in the contest in order to maintain a high technological standard. The referee system will record the hit points (HP) of the robots and damage taken from other robots' attacks; monitor the operation of the shooting mechanism and chassis power; cut off the main power supply when the HP of a robot drops to zero; and transmit the information to the respective computers and server in real time so that the server can automatically decide which team wins the game. To keep the games practical, fair, and safe, robots must be designed and engineered in strict accordance with the technical requirements below.

General Technical Requirements To keep the games practical, fair, and safe, robots must be designed and engineered in strict accordance with the technical requirements below. • Energy requirements: Robots may only use electric or pneumatic power. The power supply must consist only of intelligent batteries specified by the host. The total energy consumption of any single robot may not exceed 200Wh, the voltage may not exceed 36V, and the compressed air pressure may not exceed 0.8MPa. • Wireless devices: Apart from the robot controllers, HD image transmitters, wireless data links, and other wireless devices provided by the host, all wireless devices are prohibited in the contest. • Optical approaches: The use of any optical approaches in situations where such approaches are necessary must not bring harm to any controller, referee, or member of the staff or audience. Apart from laser marking (only 1 laser marker can be mounted on each robot), other lighting effects are not permitted on the robots. • Visual markings: The Organizing Committee will set obvious marks that can be easily identified in the official referee system for the automated parts to identify and aim at. • Sensors: The sensors (such as laser range finders, cameras, ultra sonics, infrared rays, etc.) may not be mounted such that the armor is covered.

Bullets The bullets used in the games will be provided by the Organizing Committee. 17mm and 42mm bullets will be used. Type I: 17mm bullet

17 mm

Material

Diameter

Mass

Plastic (TPE 90 Shore "A")

17 mm (-3% - 0%)

2.6 g (±5%)

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RoboMasters 2016 Type II: 42 mm bullet

42 mm

Material

Diameter

Mass

Golf ball

42.65 mm (±5%)

45.75 g (±5%)

Base A base must be prepared by each team. One base is allowed in a game, and it must be placed in the base camp. It can move freely in a limited area. Image transmission and remote control are not available for it. Large-size armor is mounted on the top and around the body. When it is attacked, its HP will drop accordingly. One 17mm firing mechanism, for which manual control is not permitted, can be mounted on a base for self-defense. Base Item

Limit

Penalty for exceeding limit

Remarks

All

-

-

Available

-

Large-size armor mounted on the top and around the body.

10,000

-

-

Fully automated

-

-

17mm

-

-

Initial ammo

200

-

All bullets must be emptied and then reloaded before each game.

Ammo reloading capability

Yes

-

-

Max. speed (m/s)

25

Some HP will be deducted

HP will be deducted by one of three percentages according to the severity of the violation.

Free

-

The frequency used by the armor module to sense damage is 10Hz.

Max. mass (kg)

25

-

-

Chassis power (watt)

80

Some HP will be deducted

See penalty information for details

800 x 800 x 800

-

-

1000 x 1000 x 1000

-

-

Base area

-

-

Start of the game

-

-

Effective for Referee system Initial HP Operation mode Bullet type

Cyclic rate (rounds/ min)

Max. initial size Size during contest Scope of activity Activation conditions

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2016 National Robot Competition for College Students

Hero Robot A hero robot must be engineered by each team. The hero robot is the main force of the team, and only one hero robot can be used in a game. One image transmitter and one remote control can be mounted on the robot. One 17mm shooter and one 42mm shooter can also be mounted. The hero robot can shoot, take bullets from the ammunition depot, reload ammunition, convey items, etc. Its firing rate and cyclic rate are restricted by the referee system. Hero Robot Limit

Penalty for exceeding limit

Remarks

All

-

-

Available

-

Large-size armor mounted around the body

Initial HP

5,000

-

-

Operation mode

Free

-

-

17mm & 42mm

-

-

0

-

-

Ammo reloading capability

Yes

-

-

Max. mass (kg)

25

-

-

Chassis power (watt)

160

Some HP will be deducted

See penalty information for details

800 x 800 x 800

-

-

Size during contest

1200 x 1200 x 1200

-

Scope of activity

The entire battlefield

-

-

Start of the game

-

-

Item Effective for Referee system

Bullet type Initial ammo

Max. initial size

Activation conditions

Hero robot's shooting mode Item

Limit

Penalty for exceeding limit

Remarks

15

Some HP will be deducted

See penalty information for details

300

60

Some HP will be deducted

See penalty information for details

No more than 5 rounds per second may be fired.

The interval between firing 2 rounds shall not be less than 1 second.

-

Based on the whole robot

17mm bullets

42mm bullets

Max. speed (m/s)

25

Cyclic rate (rounds/min)

Rate control

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RoboMasters 2016

Rover Rovers must be independently designed and engineered by each team. Only one 17mm diameter firing mechanism can be mounted on a rover. One image transmitter and one remote control can also be mounted on each rover. Its firing rate and cyclic rate are restricted by the referee system. Rover Limit

Penalty for exceeding limit

Remarks

All

-

-

Available

-

Small-size armor mounted around the body

Initial HP

1500

-

-

Operation mode

Free

-

-

17mm

-

-

0

-

-

Yes

-

-

Max. speed (m/s)

25

Some HP will be deducted

Cyclic rate (rounds/min)

300

-

No more than 5 rounds may be fired per second.

Some HP will be deducted

Max. mass (kg)

15

-

-

Chassis power (watt)

80

Some HP will be deducted

See penalty information for details

-

It may not exceed 500mm in height, and its orthographic projection on the ground may not exceed a 600 x 600 square.

700 x 700 x 600

-

It may not exceed 600mm in height, and its orthographic projection on the ground may not exceed a 700 x 700 square.

The whole battlefield

-

-

Start of the game

-

-

Item Effective for Referee system

Bullet type Initial ammo Ammo reloading capability

Rate control

Max. initial size (mm)

Size during contest (mm)

Scope of activity Activation conditions

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600 x 600 x 500

HP will be deducted by one of three percentages according to the severity of the violation. Based on the whole robot

2016 National Robot Competition for College Students

Drone The referee system will not be installed on any drone. Drones do not have HP. During a contest, a team may not attack the drone of the opposing team. The drone must move only in a specified area. It offers a bird's-eye view of the whole battlefield to team members by sending image signals back to operating room. It can also bomb the base of the opposing team with 42mm bullets. Only one drone can be used in a game. Team members in the control room can send voice commands to the drone controller through the communication device provided by the host, but voice cannot be sent back from the drone controller to the control room. Drone Item

Limit

Penalty for exceeding limit

Remarks

Type

Multirotor

-

Three or more rotors

All

-

-

Referee system

Not available

-

Camera image transmission module provided by the host must be separately installed.

Operation mode

Free

-

-

42mm

-

-

Ammo reloading capability

Yes

-

Recharges ammo by itself in the landing area.

Max. mass (kg)

4

-

Battery included, no load.

600 x 600 x 500

-

Size without rotors

10

-

Bullets included

Opposing team's area

-

Flying space to be set out by safety ropes.

Landing area

-

-

Effective for

Bullet type

Max. initial size (mm) Max. carrying ability (qty.) Scope of activity Location for take-off and landing

Note: Drones must release the bombs using gravity. Other firing mechanisms may not be used. Propeller guards are required; propellers may not be exposed. Ropes, slide rings, and elastic safety ropes are prepared above the battlefield for protecting the drones. Space for a connector must be reserved above the main frame (above the plane of the propellers).

Referee system The referee system will be provided by the Organizing Committee. It records the attacks from other robots and the HP, monitors the operation of the shooting mechanism and chassis power, and transmits this information to the respective computers and server in real time so that the server can automatically decide which team wins the contest and guarantee that the contest has been fair. Participating teams must reserve mechanical and electrical interfaces in the design according to the requirements of each contest type as well as relevant announcements of the Organizing Committee so that the referee system can be easily installed. Components of the referee system The referee system is composed of the modules below: Camera image transmission module

Bullet speed detection module Connecting any two wires will create a circuit.

Armor module

HP indicator module Referee system master control Field interaction module

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RoboMasters 2016 • Camera image transmission module: Captures camera images in real time, and sends them back to the screen in front of the controllers in the control room. • Bullet speed detection module: Detects the cyclic rate and muzzle velocity of the bullets fired from the robots' firing mechanisms. If the detected rate and velocity are higher the limit, penalties will be assessed accordingly. • Armor module: Composed of armor sheets and sensor, it protects a robot's internal structure, detects bullet hits on the robot, and deducts HP accordingly. • Field interaction module: Interacts with functional points in the battlefield by exchanging information with them to perform tasks. • Master control module: Controls the robot's main power supply, checks chassis power, and shows the amount of HP with an indicator column. When its power exceeds the limit, a penalty will be assessed. When HP drops to zero, the main power supply will be automatically cut off. To keep resets to a minimum, when the main power supply is cut off, a limited power supply will be reserved for the robot's automatic control module.

Sizes and interfaces Camera image transmission module 4×M2.5, mounting hole,

24.5

Screw-in length less than 5mm

Heartbeat lamp,

Top of the barrel may not be covered

32

95

84

One each at the front, left, and right side

60

Sizes of mounting holes are shown in the diagram above.

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2016 National Robot Competition for College Students

Bullet speed detection module

*Φ21

±0.03

*6 ±0.20

4

Φ6 * Suggestions:

63 ±0.20

Smaller than 8mm

2.50

Optoelectronic switch

90

2.50

Diameter larger than 6mm

When the barrel is mounted, the U-shaped channel must point upwards.

*3 ±0.20

Muzzle

*12 ±0.20

Limitations for 17mm bullet barrels:

* Wall thickness no less than 1mm

* Barrel shall be more than 90mm long, free of coverage

Notes:

Section A-A

1. Sizes marked with * are the most important; A

2. The optoelectronic switch must not be covered and changes in light must not impact its proper functioning;

A

3. Transparent materials are not permitted.

Note: T  he barrel's inside diameter should be determined based on bullet diameter and other requirements of the team.

Limitations for 42mm bullet barrels (drone not included):

When the barrel is mounted, the U-shaped channel must point upwards. 6

Muzzle 0 Φ48 - 0.10

±0.20

*69

90

±0.20

±0.20

4

*18

Optoelectronic switch

2.50

6

±0.20

Φ6*

* Suggestions: Diameter larger than 6mm

Smaller than 8mm

Smaller than 8mm

6

Diameter larger than 6mm

Φ

* Suggestions:

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Φ 6

RoboMasters 2016 Section A-A

Notes:

A

A

1. Sizes marked with * are the most important; 2. The optoelectronic switch must not be covered and changes in light must not impact its proper functioning; 3. Transparent materials are not permitted.

* T he barrel must be more than 90mm long and uncovered

Note: The barrel's inside diameter should be determined based on bullet diameter and other requirements of the team. Armor module

Customized armor designed by participants

Armor modules provided by the host

Armor modules provided by the host Customized armor designed by participants Fig. 1

Components of armor 1. The  impact armor module provided by the host is shown in Fig. 2. The sensor, lamp and circuit will be encapsulated in a separate module; 2. The  armor support provided by the host is shown in Fig. 3. It is rigidly connected to the armor module; 3. There  must not be any rigid connection or cushioning structure between the protective armor designed by participants and the armor module provided by the host. See Fig. 1 for reference.

Indicator strip in red or blue for each of the teams

Impact sheet: 3mm 6061-T6 aluminum alloy sheet

Fig. 2

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2016 National Robot Competition for College Students

A

A-A

Supports and armor module connected with bolts.

The base for installation of supports

M3

95

39.8 1

25

95 135

A

18.50

3

15

80 95

95

Fig. 3 Rover's armor module

125

125

25

190 230

95 Fig. 4 Armor around the body of the hero robot and base

18.5

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RoboMasters 2016 View A

25

132

Scale 1:2

95

Fig.5 Armor on the top of the base

A

Installation requirements 1. In order to install the armor modules provided by the host around a robot, mounting holes of the given sizes must be reserved on the chassis. As shown in Fig. 6, the sizes and locations of the mounting holes on each of the four sides must be the same; 95

1 95

95

4

3 2

25 10 95 Fig. 6

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2016 National Robot Competition for College Students 2. The  supports for mounting the armor around the body must be installed on the same horizontal plane, and be rigidly connected to the chassis. See Fig. 8 for reference; 3. The lowest edge of armor of the base and hero robot must be between 400mm and 500mm from the ground; 4. As  shown in Fig. 7, an area of 145° on the outside of the armor must not be covered; 5. The bottom of supports for the armor around the body must be horizontal. The armor shall be mounted as shown in Fig. 8 (mounted at the front, back, left, and right sides)

145° 145°

145° 145°

Fig. 7

Fig. 8

5. During the contest, relative movement between any armor module and the robot's body is not permitted. 6. The protective armor designed by participating teams can be decorated by the teams as they wish, but the armor modules provided by the host may not be modified or decorated in any way. 7. There are two types of armor modules. Small-sized armor modules are mounted around the body of the rover (shown in Fig. 3). Large-sized armor modules are mounted around the body of the hero robot and base (shown in Fig. 4). Two large-sized armor modules are combined and mounted on the top of a base (shown in Fig. 5). Fig. 5 shows how to mount the armor modules. The two armor modules must be in the same plane, and the gap between them may not exceed 1cm. - 23 -

RoboMasters 2016 Damage calculation The armor module can distinguish between hits from 17mm bullets and those from 42mm bullets. 17mm bullets cause 50 points damage, and 42mm bullets 500 points. (The threshold value is 10m/s for 17mm bullets and 6m/s for 42mm bullets.) Field interaction module The effective detection distance is 100mm (±5%). The specific sizes and installation method of this module are to be determined. Main control and HP display module 4×M3 50 50

50

4×M3

50

φ 4.50

30 Base installation size

Foe/friend identifier

254 Status light

207

OLED indicator Main control circuit board

2×φ 4.50

30

Base frame (install facing down. Fastening pins can be used.)

130

68

HP indicator

Surface of rover's armor

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74

2016 National Robot Competition for College Students

50 4×M3

50

50

4×M3

50

ɸ 4.50

30 Base installation size Status light 254

207

Foe/friend identifier

Main control circuit board

2×φ 4.50

30 68

Base frame (install facing down. Fastening pins can be used.) OLED indicator

HP indicator

130

Surface of hero robot's armor HP indicator module and rear armor of hero robot and base

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RoboMasters 2016 The sides and back of the HP indicator column may not be covered. The rear armor and HP indicator module of a robot must be installed as shown in the above diagram. Any team can read game data (such as time, HP value, hits received, etc.) from the serial port on the main control board. (See the referee system manual for details)

Battery and base frame Battery types: RM_TB47 & RM_TB47D Capacity: 4500 mAh Battery base frame:

100

37.50

±1

Compatible with TB47 and TB47D batteries

The distance between the bottom of the mounting hole and the bottom of the battery

Power supply output

Battery side view

101.50 74 ±0.10

Outside diameter of mounting hole φ 7

Diameter of mounting hole

φ3.20 ±0.20

±0.50

41

74.40

±0.10

57

Space must be reserved for the battery

75

±0.50

Battery base frame installation diagram

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3 Competition Rules

- 27 -

RoboMasters 2016

Overview of the competition system RM2016 is made up of District Competitions, Challengers’ Competition, Arena Competition, and Grand Finals. District Competition: Competition regions will be set according to the number and locations of participating teams. Twenty-four of the participating teams will directly enter RM2016 Grand Finals. The number of teams that can directly enter the Grand Finals from a District Competition shall be determined by the proportion of participating teams in the area to the total number of participating teams countrywide. The specific numbers will be announced by the Organizing Committee before the contest begins. Challengers’ Competition: Teams qualified for the Challengers’ Competition in the District Competitions will contest with overseas teams for the remaining 8 seats in the finals. Grand Finals: 32 teams will start the contest in Shenzhen for the championship. Arena Competition: This is a separate event that is separately applied for. Teams that have not participated in the District Competitions or Grand Finals can take part in the Arena Competition. Note: The Organizing Committee is entitled to make changes in the schedule, competition rules, and other areas. The final plan will be announced the Organizing Committee's announcement before the contest begins.

Battlefield

Small rune point

Wasteland

Road pavement items River Island Column B Conveyor belt

Landing area Column A Road Drawbridge Ammunition depot Large rune point Start area

Base area

Diagram of the battlefield (sample) Note: The above diagram shows the battlefield for the contest. It is subject to changes in the future. See battlefield notes for details.

Base area: This is the area in which the base can move during a contest. It is separated from the rest of the field with a 15cm fence. The base can move only in this area, and other ground robots cannot enter this area. Start area: This is the area where the ground robots of both teams start when a contest begins. Conveyor belt: As shown in the diagram above, it is located on the road area next to the start area. The conveyor belt is still in the 1st minute after a game begins. After that, it moves away from the start area at the speed of 1m/s. This makes it easy for robots to leave the base but difficult for them to return. Landing area: This is the area where drones take off, land, and reload ammo. Ammunition depot: Prepared by each team, it shall be placed in an appointed location in the team's area and supply 17mm bullets for the team's robots. It shall not be larger than 1000mm x 1000mm x 1000mm. It cannot move by itself and no firing mechanism may be mounted on it. At the beginning of a game there will be 100 bullets (insufficient to destroy the hero robot or base of the opposing team). Tubes prepared by the host will reload 100 17mm bullets for each team every 30 seconds.

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2016 National Robot Competition for College Students Island: Surrounded by the river (the circular area in the diagram), it is a resource area for both teams at the center of the field. It is prepared by the Organizing Committee. There is a cylindrical container in which bullets are held. A number of 17mm and 42mm bullets are held in the container. The bottom of the container is fixed, and the bullets within the container can to some degree flow from side to side. The island is divided by wood boards in the middle to prevent the teams from interfering with each other. River: It encircles the island, and works as an obstacle. Road area: This is the connected area in the field, located slightly above the field. Its surface is flat, and lines are drawn on it. There is no fence on either side of the road. Wasteland: This is the planar area of the field. There are slight ups and downs. When robots move in the area, they may not be as agile as usual. Rune point: This is the area where runes are generated. A rune will randomly appear at one of the rune points every 20 seconds during the game. See the rune system's description for details. Columns A & B: This is the mechanism by which the lifting of the drawbridge is controlled. On the top of the columns there are a small number of golf balls. Drawbridge: This is the traffic control mechanism of the road. Under normal conditions, the leaf of the bridge will sometimes raise to cut off the traffic (the time when the leaves are raised is longer than the time when they are lowered). In addition, if a team's drone lands on Column A, the leaf of that team's drawbridge will be lowered for traffic. When the drone leaves the column, the leaf will be raised. If a team's drone lands on Column B, the drawbridge of the opposing team will be lowered for traffic. When the drone leaves the column, the leaf of the opposing team's drawbridge will be raised. Road pavement items: These are movable items in the specified areas in the field. They can be used to pave certain areas so that the ground robots can pass more easily. Steel cable: The steel cable, through which there is a slide ring, is prepared above the field. The protective cable connected to the slide ring shall be tied to the top of the drone to restrict its movement and protect it from damage.

Rune system There are two types of runes: large runes and small runes. Large runes appear in small numbers. They can notably enhance a team’s combat ability, and play a decisive role in the game. Small runes appear large numbers, and can slightly increase a team’s combat ability.

Small rune Occurrence: When a game begins, a rune will appear randomly at each of the four rune points. When any robot touches a rune, the rune disappears, and the robot gains a power-up corresponding to the rune. Once a rune is touched by a robot, another rune will appear at the same rune point after 20 seconds. Type

Functions

Occurrence probability

Remarks

40%

If the robot has lost less than 200 HP, its HP will be restored to maximum.

The damage received by the robot in the next 10 seconds is reduced by 50%.

20%

Triggering two defense runes does not double the effect. When the second rune is triggered, the effect of the first rune disappears and the effect and timing of the second rune start.

Resource 50 17mm bullets are added to rune the team's depot.

40%

The bullets will be added to the depot in 3 to 5 seconds.

Recovery 200 HP are immediately rune restored. Defense rune

Large runes Occurrence: As shown in the large rune diagram, there is a 3x3 grid on each side of the island. The target images listed in the target diagram will randomly appear in the 9 blocks, Target A in 8 of them and Target B in one. Each array will remain for 1 second. Then, the next random array will appear. A transparent damage detector/sensor will be installed in front of each block. Robots located in the red area can fire bullets, and when the block on which Target B appears is hit, the team is awarded 1 point and another array of targets is immediately shown. When a team gains 5 points, a large rune will be

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RoboMasters 2016 activated, and all of that team’s robots receive a corresponding power-up. If the block showing Target B is not hit in 1 second, or if one of the other blocks is hit, the score will be reset to zero. The large rune system starts to run 2 minutes after a game begins. Either teams can win a large rune power-up by scoring 5 points. When one team accomplishes the mission and receives a large rune power-up, the large rune mechanism is discontinued for 2 minutes. When any robot activates a large rune, the combat ability of its team increases by 50% for 1 minute.

3x3 grid

Diagram of large rune area

A

B Diagram of targets

Note: The two targets above are for reference purposes only. The basic elements of the images in the game will be the same, but the particular shapes may change. The targets actually used in the game are official.

Robots deployed in a game Qty.

Type of robot

Control method

Referee system

Image transmitter

1

Hero robot

Free

Available

Available

Firing 17mm and 42mm bullets

5,000

0-4

Rover

Free

Available

Available

Firing 17mm bullets

1500

0-1

Drone

Free

Camera image transmission module only

Available

Dropping 42mm bullets from the air

Not available

1

Base

Automatic

Available

Not available

Firing 17mm bullets

10,000

Attack method

HP

Note: Each team can participate in the game as long as the team has base and hero robots that conform to the requirements. No more than 6 robots may be used by a team during a game. Except for the base, each robot must be controlled by only one remote control.

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2016 National Robot Competition for College Students

Combat diagram

Victory Conditions The conditions for victory are listed in the order below: 1. A  team wins a game when it destroys the base of the opposing team (i.e. its HP reaches zero). 2. A  game lasts for 5 minutes. If neither team can destroy the opposing team's base by the end of a game, the team whose total remaining HP of its base and surviving robots is higher wins. 3. If  the total remaining HP of all robots of each team are the same, a rematch will be played.

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RoboMasters 2016

Contest process Check-in: Each team must arrive at the check-in area at least 60 minutes before the game begins. The team leader shall go through the check-in procedure. To make sure that the robots to be used in the game conform to the competition rules and requirements, the Organizing Committee will examine the hardware and software of the robots after the team checks in. Robots that pass the examination can enter the contest site. Pre-game rules • When a game begins, beside the drone controller, only 3 controllers are allowed per participating team. • After a game begins, all of each team's robots can fight for any resources on the battlefield, and launch attacks against the robots and base of the opposing team through tactical coordination, utilizing the terrain, etc. During the game, teams may not maliciously run into and damage the robots of the opposing team, nor may they shoot the opposing team's drone. The chassis power, cyclic rate, and bullet muzzle velocity of the robots are monitored by the referee system in real time. The limitations set forth in the rules must not be violated (See Section II Codes for the Robots for details). • Any robot on either team can occupy the HP recovery area to restore its HP. (See 3.3.1 The Battlefield for details) • Drones may not take off or attack the opposing team until the game has begun. A team's drone is allowed to fly in the air above the opposing team's area (See 3.3.1 The Battlefield for details). • After a robot has fired all of its bullets, it can reload ammunition at the team's depot at the center of the field (See 3.3.1 The Battlefield for details). Drones can reload ammunition at the team's landing area. (Drones must reload ammunition automatically. Ammunition may not be reloaded manually). • Once a game has begun, all controllers may not leave their specified positions without approval. • During the game, all robots may only use the bullets provided by the host. • Robots may not be disassembled into several smaller robots or subsystems that are connected with flexible cables. • Team members in the same control room can communicate with each other. Team members in the control room can send voice commands to the drone controller through the communication device provided by the host, but voice cannot be sent back from the drone controller to the operating room. • Referees reserve the right to stop the game in the event that any safety issue occurs. Any participant may ask a referee on the team's side to stop the game. If the request is reasonable, the chief referee shall decide whether or not the game should be stopped, and, if the game is so stopped, select a time to continue the game or hold a rematch. Rules between games • Once a game is over, the members of each team shall bring its robots back to the team's start area. When the first half of a game is over, a three-minute countdown will start automatically. • The pre-game rules also apply here. Confirmation of the results Once a game is over, the team leaders shall confirm the score of the game by signing a paper at the bench within 5 minutes. If a team leader neither signs the paper within the allotted time nor makes any appeal, it is deemed that the team has acknowledged the result.

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2016 National Robot Competition for College Students

Rules of the Arena Competition • Competition system: The Arena Competition will be held after the Challengers’ Competition and before the Grand Finals. All teams participating in the Arena Competition will be ranked in order of tasks completed. • Place: (to be determined) • Entry conditions: Any team with drones or robots meeting requirements of the competition can participate.

Types of challenges: The two tasks below are available in the Arena Competition: 1. Airstrike A moving target (with distinctive visible features, moving at 1m/s to 1.5m/s) is placed on the field as shown in Fig. I. There is a white round opening on the top. During the game, a drone loaded with 10 golf balls drops the balls into the opening. Any team that is able to drop 8 balls in the opening will be ranked. Drones must meet the requirements of RoboMasters Competitions. Human intervention is not allowed at any time during the game. The balls must be dropped by gravity only.

White

Fig.1 The moving target (Unit: mm)

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RoboMasters 2016 2. Ground attack

White White White

White

White

Fig. 2 Ammunition box (Unit: mm)

A robot enters an unknown area (10m x 10m) where obstacles have been randomly arranged before the game. An ammunition box (size shown in Fig. 2) and a target (size shown in Fig. 3) are randomly placed on the battlefield. Timing starts immediately after a robot enters the area. Teams able to reload bullets within the specified time and hit the bull's eye three times will be ranked. Higher rank will be granted if the task is accomplished in a shorter time. Drones must meet the requirements of RoboMasters Competitions. Human intervention is not allowed at any time during the game. Robot must not be loaded with any bullets before the game starts.

White Black Red

Fig. 3 The target (Unit: mm) - 34 -

4 Penalties and appeals

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RoboMasters 2016

Penalty Information Failure to pass pre-game examination Robots that do not pass the pre-game examination cannot be used in the game. If a robot is then modified and passes the examination, it can be used in the game. Disqualifications in pre-game examination mainly include: 1. Power supply does not conform to the rules; 2. Wireless frequency does not conform to the rules; 3. Wired or wireless communication can be made between robots; 4. Optical approach does not conform to the rules; 5. Sensor installation does not conform to the rules; 6. Referee system installation does not conform to the rules (including non-conformant armor mounting, the indicator column being covered, non-conformant speed detection module installation, etc.); 7. Any size is over the limit; 8. Any mass is over the limit; 9. Drone type does not conform to the rules; 10. The drone's maximum carrying ability is over the limit; 11. Any firing mechanism is mounted on the drone; 12. Any other robots that the referees determine to be non-conformant. Cheating If any behavior listed below is detected during the game, the offending player will be ruled as cheating. The player's team will be ruled as losing the competition, and the team will not be able to participate in any part of RM2016. 1. Modifying or damaging the official referee system; 2. P erformance of any robot during a game not conforming with performance in pre-game examination (such as robot size, drone carrying ability, drone firing mechanism, referee system's installation method, etc.); 3. Any team member communicating with anyone outside of the control room during a game; 4. Any controller not being a member of the team, or using a robot not belonging to the team; 5. Any member manually controlling an automated robot; 6. Any bullet other than those provided by the host being used; 7. Any other behavior that is ruled by the referees as cheating. Fouls in the games If any behavior listed below is detected during a game, it will be ruled as a foul. Penalties will be given according to the specific circumstances of the foul. 1. If it is discovered that ammunition has been loaded in any robot before a game, the referee will ask the team to remove the ammunition from the robot. Any team that does not follow the instruction will be ruled as losing the game; 2. If any robot of a team performs a false start, the team will have a record of a false start, and the game will be restarted. If any robot of the team is found to perform a false start again, the robot will be excluded from the game, and the game will be restarted; 3. When any member of a team does not leave the field before the game starts, that team will be ruled as losing the game; 4. If the muzzle velocity for bullets exceeds the limit by 10% (inclusive), 10% of the robot's HP will be deducted; if the muzzle velocity is exceeds the limit by 10% to 20% (including 20%), 20% of the robot's HP will be deducted; if the muzzle velocity exceeds the limit by more than 20%, 40% of the robot's HP will be deducted; 5. If the cyclic rate of bullets exceeds the limit by 10% (inclusive), 10% of the robot's HP will be deducted; if the cyclic rate exceeds the limit by 10% to 20% (including 20%), 20% of the robot's HP will be deducted; if the cyclic rate exceeds the limit by more than 20%, 40% of the robot's HP will be deducted; - 36 -

2016 National Robot Competition for College Students 6. If the chassis power of a robot exceeds the limits by 10% (inclusive), 10% of the robot's HP will be deducted; if the chassis power exceeds the limit by 10% to 20% (including 20%), 20% of the robot's HP will be deducted; if the chassis power exceeds the limit by more than 20%, 40% of the robot's HP will be deducted; 7. If any player intentionally bumps into the opposing team's robot, depot, or base, a warning will be issued to the team; 8. If any team's drone flies out of the specified flying area, a warning will be issued to the team; 9. If any team's controller leaves the specified position, the referee will instruct the player to go back to the position. The team will be ruled as losing the game if the player does not follow the referee's instructions; 10. If any team's robot leaves the field, the robot will be excluded from the game; 11. If any robot is disassembled into several smaller robots or subsystems that are connected with flexible cables, the team will be ruled as losing the game; 12. If any member of a team enters the field during a game without consent, the team will be ruled as losing the game; 13. Other behavior ruled by the referees to constitute a foul. Other fouls If any team engages in any other rule violations during a game, the referees can issue penalties accordingly. 1. Any team or player that fails to check in on time may not participate in the game. Anyone that enters the field without going through the check-in procedure will be deemed as cheating; 2. Any team that fails to go through the check-in procedure in time will be ruled as losing the game; 3. Any team that intentionally stays on the field or refuses to leave the field when a game is over and delays the process of the contest will be ruled as losing the game and be disqualified from the competition. 4. Any participant that uses any contraband articles will be disqualified from the competition and will be banned from RoboMasters competition for life. Severe violations may be subject to legal prosecution; 5. During a game, all participants must strictly follow the rules as well as local laws and regulations. Any participant that is found to have violated the law will be disqualified from the competition and may be subject to legal prosecution; 6. If any team member intentionally uses any robot or drone to attack or bump into any other person or endanger the safety of himself/herself or any other person, the team will be disqualified from the competition, banned from RoboMasters competitions for life, and may be subject to legal prosecution; 7. If any team member intentionally damages any robot of the opposing team, the game field, or related equipment, the team will be disqualified from the competitions, the participant involved will be banned from RoboMasters competitions for life, and may be subject to legal prosecution; 8. If any team member engages in a physical conflict with any referee, member of the opposing team, or audience member, the team will be disqualified from the competition, the member will be banned from RoboMasters competitions for life, and may be subject to legal prosecution; 9. A ny team that fails to cooperate with or intentionally delays an official examination will be disqualified from the competition; 10. For any activities that severely affect the competition process or violate the guidelines of a fair contest, the referee will assess penalties according to the nature of the violation. Note: 1. The chief referee has the right to rule on any activities not specifically included in the rules. The chief referee has the right to make the final ruling for any dispute. The Organizing Committee will not accept any appeal about any final ruling. 2. 100 HP will be deducted from a team's base for each warning received by the team after the second warning. 3. For a game in which a referee's ruling decides the winning and losing teams, the HP difference of the teams is considered to be zero.

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RoboMasters 2016

Notes about appeals • Deadline of an appeal: Appeals must be put forward within 5 minutes after the game is over. Appeals put forward outside this period will be deemed invalid. • Evidence for an appeal: The appealing party must provide specific, valid evidence within one hour. If specific, valid evidence is not available, the appeal will be declined. • R ight to appeal: During the competition, each participating team may appeal three times. Successful appeals are not counted against this. After three unsuccessful appeals, the Organizing Committee will not accept further appeals from the team. • Final ruling: The Organizing Committee will issue a final ruling within three hours after an appeal is lodged. Neither party can appeal against any final ruling issued by the Arbitration Committee.

Q&A methods Q&A platform RoboMasters Official Forum: http://bbs.robomasters.net/ Rules of posting Technical Q&A: "[RM2016 Technical Q&A] + topic" (Note: The title of a post must include the square brackets "[ ]") Rules Q&A: "[RM2016 Rules Q&A] + topic" (Note: The title of a post must include the square brackets "[ ]") Other questions (regarding materials, etc.) Q&A: "[RM2016 Other Q&A] + topic" (Note: The title of a post must include the square brackets "[ ]") Post category Please post any questions in "Contest issues" under "Contest" at RoboMasters' official forum (bbs. robomasters.net) so that our staff can collect the questions and give answers. Emergency Q&A Methods RoboMasters Support QQ: 2880600202 RoboMasters 2016 official QQ group for the Competitions: Participants Group I: 376160964 (This group is already full. Please join Entry Group II) Participants Group II: 339512109 Team Leader & Project Manager Group: 197669462 PR Manager Group: 234696084 (Note: Please specify "your school name + your real name" in the Remarks field when you join a group.) Phone: 0755-86152250 Ext. 82001 Mobile: 13603025380 Work hours: 10:00-12:30, 14:00-19:00 (Monday to Friday) Email: [email protected] (Mail subject: "School-name_RM2016 rules question") Feedback time Item

Schedule

Collect questions

Day 1 10:00AM-4:00PM

Analyze questions

Day 1 4:00PM- Day 2 10:00AM

Give answers

Day 2 10:00AM-1:00AM

Note: Q  uestions will be answered in 1 work day; urgent questions will be answered as soon as possible by specifically appointed staff.

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5 Notes about safety

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RoboMasters 2016 Safety is the most fundamental concern of the RoboMasters National Robot Competition for College Students. Therefore, all participants must pay attention to safety issues and are obliged to take necessary safety measures and be aware of safety issues during the engineering process in accordance with the stipulations in this section. • The engineering of any robot must not bring harm to any participant, referee, staff member, audience member, and it must not damage any equipment or part of the game field. • Gasoline engines, explosives, high pressure gases (over 0.8MPa), dangerous chemicals, etc. are prohibited. • Robots are potentially more dangerous after a firing mechanism has been mounted. Ensure that they will not cause injury directly or indirectly to any controller, referee, staff member, or audience member at any time. • All team members must pay attention to safety issues at all times during R&D and during the games. Advisors must give instruction and supervision regarding safety issues. During a game, Advisors must take into consideration the safety of the staff and audience. • Misoperation by a controller, losing control of the control system, or damage to parts may cause the robot to stop, speed up, or turn around suddenly. This may lead to contact or collision between the controller and robot, and may injure the controller or damage the robot. If a firing mechanism is suddenly triggered, the bullets may injure surrounding people. Necessary safety measures must be taken to prevent accidents like these (for example: do not drill alone; make sure that other people are at the scene to respond to possible accidents; wear safety goggles, helmets, and take other necessary protective measures; securely lock down the robot system during debugging; etc.) • The Organizing Committee has the right to take emergency measures for any malfunctioning robot (e.g. the robot is on fire, explodes, etc.) during a game.

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Contact us RoboMasters official forum: http://bbs.robomasters.net/ RoboMasters official website: http://www.robomasters.com/ RoboMasters official WeChat ID: RoboMastersNews RoboMasters official Weibo ID: @RoboMasters RoboMasters Support QQ: 2880600202 RoboMasters official email: [email protected] RoboMasters 2016 official QQ group for the Competitions: Entry Group I: 376160964 (This group is already full. Please join Entry Group II) Entry Group II: 339512109 Team Leader & Project Manager Group: 197669462 PR Manager Group: 234696084 (Note: Please specify "your school name + your real name" in the Remarks field when you join a group.) Phone: 0755-86152250 Ext. 82001 Mobile: 13603025380 Work hours: 10:00-12:30, 14:00-19:00 (Monday to Friday)

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