Robotics Competition

2017

Spotter Snake

1. Introduction:

For a country like India where 50% of its population is engaged in agricultural activities,
inefficient agricultural practices and inadequate storage facilities can lead to high wastage
and quality deterioration of food grains. Thus, being one of the leading countries in
agricultural production, India still faces problem of scarcity of food grains. Rats, mice and
other rodents have long been a problem on farms where food and nesting sites are plentiful.
They are carriers of a number of diseases and are responsible for contaminating farm feed
and water supplies causing diseases that are harmful to both livestock and humans.

Consider a scenario where grains are stored in silos after harvest. There are congested and
uneven tracks between the silos that are difficult for humans to monitor. This may lead to a
rise in rodent attacks and infestation. A biomorphic robot resembling a Snake that is capable
of traversing such tracks may be a solution for regular scanning of the warehouse.

This is the challenge we pose in e-Yantra Robotics Competition (eYRC-2017) in a unique

theme titled Spotter Snake. Through this theme, we help you unleash your imagination and
discover your talent in 3D designing to build a biomorphic hyper-redundant snake robot that
is capable of traversing the prevailing terrain on the arena and also sense differene types of
rodents and insects. We divide the theme into a number of tasks to build the robot in a step-
by-step manner making the process easier and more interesting for you.

Challenges in this theme include: microcontroller programming, 3D design and printing,

simulation and joystick design for wireless communication. Teams may also develop various
gaits such as: serpentine, sidewinding and catterpillar.

After building the bot, you need to navigate it in an arena defined by the e-Yantra team. The
team that performs the task fastest with the minimal penalties as per rules will be the
WINNER.

ALL THE BEST!

ERTS LAB
IIT Bombay www.e-yantra.org
 Robotics Competition
2017

2. Theme Description:

The top view of the arena is shown in Figure 1.

The arena represents an agricultural warehouse infested with Rodents.

The arena consists a grid of 22 x 22 cells. The rows of the grid are identified by 1, 2, 3, 4, …
etc. and the columns of the grid are identified by A, B, C, D, … etc. Hence each of the cells
in the grid can be addressed using the notation A1, B2, C5, … etc. Dimensions of each cell in
the grid is 11 cm x 11 cm.

Figure 1: Arena

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The centre of the arena consists of a circle labeled Start Zone. The Spotter Snake (referred
to as the Snake Robot henceforth), must be placed inside the Start Zone.

Rodent

Silo

Hurdle

Ramp

Rodent (on Ramp)

Figure 2: Example arena setup

Four kinds of objects can exist in the arena:

Note: An example arena setup is shown in Figure 2. This figure will be used as a
running example for illustrating and describing the four objects.

1. Rodents: A Rodent covers an area which is 4 cells long and 1 cell wide. A maximum of
6 Rodents can be given.
Figure 3 shows a 3D representation of a Rodent. Typically, Rodent has two parts: Head
and Body (Note: An exception case of Rodent is explained in Ramp section). Head is
represented by a white thermocol box placed at one end. The Body is represented by a
rectangular colored patch covering 3 cells. The Rodent is characterized by 2 properties,

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 Robotics Competition
2017
viz. Color and Orientation. There are two possible colors - Red(R) and Blue(B). There
are four possible orientations of the Rodent with reference to its Head - North(N),
South(S), East(E) and West(W). Hence the Rodent can have a total of 8 configurations
as shown in Figure 4.

The placement of a Rodent is denoted by cell position of its Head.

Construction of Rodent is explained in Section 3.2.

Head

Body

Figure 3: 3D Representation of Rodent

Figure 4: Possible Configurations of Rodent

Table 1 shows an example Rodent Configuration Table for placement of Rodents in the arena.
Note that, if this Rodent Configuration Table is given, the Rodents will be placed as shown in
Figure 2.

Table 1: Rodent Configuration Table

Rodent
Property Position
Number
Rodent - 1 (Blue, West) G19
Rodent - 2 (Red, North) N2
Rodent - 3 (Blue) Ramp - 1

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2. Ramps: A Ramp covers an area which is 4 cells wide and 5 cells long. A maximum of 2
Ramps can be given.
Figure 5 shows a 3D representation of a Ramp. This acts as an uneven terrain of
warehouse in the arena. A Ramp can have two Orientations - Horizontal (H) and
Vertical (V) as shown in Figure 6.

Figure 5: 3D Representation of Ramp

Figure 6(a): Horizontal Ramp Figure 6(b): Vertical Ramp

A Ramp may have a Rodent - Red (R) or Blue (B) - present on it. On a Ramp, a Rodent
is represented only by its Body. For example, if a Blue Rodent is present on a Ramp, a
Blue rectangular patch will be pasted on the Ramp as shown in Figure 7.

The placement of a Ramp is denoted by cell position of its four corners.

Construction of Ramp is explained in Section 3.3

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 Robotics Competition
2017

Figure 7: Blue Rodent present on Ramp - 1

Table 2 shows an example Ramp Configuration Table for placement of Ramps in the
arena. From the Table, Ramp - 1 has no Rodent present on it and is oriented Vertically.
Ramp - 2 has Blue Rodent present on it and is oriented Horizontally. Note that, if this
Ramp Configuration Table is given, Ramps will be placed as shown in Figure 2.

Table 2: Ramp Configuration Table

Ramp
Orientation Rodent Color Ramp Position
Number
Ramp - 1 Vertical -- (Q10, T10, T14, Q14)

Ramp - 2 Horizontal Blue (O17, O20, S17, S20)

3. Silos: Silo is a cylindrical object that occupies a single cell in the arena. A maximum of
6 Silos can be given. Figure 8 gives a 3D representation of a Silo. Silo acts as an
obstacle to be avoided by the Snake Robot while traversing in the arena.

Figure 8: 3D Representation of Silo

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 Robotics Competition
2017
The placement of a Silo is denoted by its cell position.

Construction of Silo is explained in Section 3.2.

Table 3 shows an example Silo Position Table for placement of Silos in the arena. Note
that, if this Silo Position Table is given, the Silos (labeled as 1, 2 and 3) will be placed as
shown in Figure 2.

Table 3: Silo Position Table

Silo Number Position
Silo - 1 C9
Silo - 2 T4
Silo - 3 K17

4. Hurdles: A Hurdle covers an area which is 3 cells long and 1 cell wide. A maximum of
2 Hurldes can be given. Figure 9 shows a 3D representation of a Hurdle. This acts as an
uneven terrain of warehouse in the arena. The Snake Robot can choose to avoid the
Hurdles or go over them.
Hurdles can be in either Horizontal or Vertical orientation. The possible configurations
are shown in Figure 10.

Figure 9: 3D Representation of Hurdle

Figure 10: Horizontal and Vertical Hurdles

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 Robotics Competition
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The placement of a Hurdle is denoted by cell positions of its ends.

Construction of Hurdle is explained in Section 3.3.

Table 4 shows an example Hurdle Configuration Table for placement of Hurdles in the
arena. Note that, if this Hurdle Configuration Table is given, Hurdles will be placed as
shown in Figure 2.

Table 4: Hurdle Configuration Table

Hurdle Number Hurdle Configuration Hurdle Position
Hurdle - 1 Vertical (H4, H6)
Hurdle - 2 Horizontal (D19, G19)

The aim of this theme is to design a wireless joystick controlled Snake Robot that can
traverse the Arena and is capable of detecting different “types” of Rodents.

The Snake Robot has to complete these Tasks:

A. Detecting Rodents in the Arena: While traversing the arena, the Snake Robot must
detect color of all the Rodents placed in the arena (including those placed on Ramps)
using color sensor and glow the corresponding colored LED on its Head. Rodent
detection should be completely autonomous. There must be no communication
between the wireless joystick and the Rodent detection circuit.

All Rodents in the Arena must be successfully detected by Snake Robot in order to
complete the task.

B. Crossing a Ramp: The Snake Robot must climb the Ramp from one side and cross to
the other side. For Successful Crossing of Ramp (CR), entire body of Snake Robot
must cross Line A and Line B. Refer Figure 11(a) and Figure 11(b).

Line A
Line B

Head

Figure 11(a): Head of Snake Robot is crossing Line A

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 Robotics Competition
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Tail

Line A Line B

Figure 11(b): Entire body of Snake Robot has crossed Line A and Line B

3. Arena:

The arena for this theme is simplified abstraction of an agricultural warehouse.

Each team has to prepare the arena. Preparing the arena consists of three major steps:

1. Printing the arena design on flex sheet

2. Preparing the Rodent and Silo
3. Construction of Ramp and Hurdle

NOTE: Teams are not allowed to make any changes in the arena design. Any team
making unauthorized modifications will be disqualified from the competition.

3.1 Printing the arena design on flex sheet:

The Arena design to be printed on a flex sheet is as shown in Figure 13. A

Ramps_Rodents_Hurdles.pdf file was provided to the teams in Task 2 (Figure 12). Each
team must have printed this flex design according to the instructions given along with
the .pdf file.

WARNING: Please be careful while handling the flex sheet - avoid folding it like a bed-
sheet since the resultant folds will cause problems while the robot moves. One way of
“flattening” flex if it has been compromised is to hang it for a few hours in the sun -- it
tends to straighten out. Never attempt ironing it or applying heat of any kind -- it may
be a fire hazard.

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Figure 12: Ramps_Rodents_Hurdles.pdf

Details of arena design: (Refer Figure 13)

 Dimension of flex sheet is 9.5 ft x 8.5 ft.

 Start Zone at center is circle of diameter 66 cm.
 Dimension of each cell in the arena: 11 cm x 11 cm.

Figure 13: Arena Dimensions

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 Robotics Competition
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3.2 Preparing the Rodent and Silo:

Materials required for preparing the Rodent and Silo:

 Thermocol sheet
 White chart paper
 Printed flex sheet of Ramps_Rodents_Hurdles.pdf

A. Preparing Rodent:

Cut out one thermocol block of size 11cm x 11cm x 11cm. Cover it with white chart paper of
dimension 44cm x 11cm on all four sides.

Cut out the Red and Blue rectangular strips of dimensions 44cm x 11cm from the printed flex
sheet of Ramps_Rodents_Hurdles.pdf (Figure 12).

Paste the thermocol block on one end of the rectangular strip. The Rodent should resemble
Figure 14. Make total 6 such Rodents (3 Blue + 3 Red).

Figure 14: Construction of Rodent

B. Preparing Silo:

Cut out a cylinder of thermocol having diameter 11cm and height 15cm. Cover it with white
chart paper.

The Silo should resemble Figure 15. Make total 6 such Silos.

Figure 15: Construction of Silo

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 Robotics Competition
2017
3.3 Construction of Ramp and Hurdle:

Materials required for constructing the Ramp and Hurdle:

 MDF sheet (12 sq. ft., 3 to 5 mm thick)

 PVC Pipe (2 inch or 5 cm diameter)
 Cello-tape
 Printed flex sheet of Ramps_Rodents_Hurdles.pdf

A. Constructing Ramp:

Cut two pieces out of MDF sheet with dimension 44cm x 28cm as shown in Figure 16(a).
Join these pieces at longer end using cello-tape. Place PVC pipe beneath this joint and fix it
in place using cello-tape. After construction, the Ramp will be as shown in Figure 16(b).

Figure 16(a): Cut two pieces from MDF sheet

Figure 16(b): Ramp

Cut a Green patch of dimensions 75cm x 48cm out of the printed flex sheet of
Ramps_Rodents_Hurdles.pdf (Figure 12). Cover the Ramp using it such that centre black
line in patch matches the joint of two MDF sheets. The Ramp should resemble Figure 16(c).
Make total 2 such Ramps.

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 Robotics Competition
2017
If a Rodent is present on Ramp, use the remaining two colored rectangular strips of
dimension 44cm x 11cm. The color of the strip depends on the color of Rodent in the
provided Arena configuration. Figure 16(d) shows a Ramp with Red Rodent on it.

Figure 16(c): Ramp without Rodent

Figure 16(d): Ramp with Red Rodent

B. Constructing Hurdle:

Cut three pieces out of MDF sheet with dimensions as shown in Figure 17(a). Join these three
pieces using cello-tape as shown in Figure 17(b).

Figure 17(a): Cut three pieces from MDF sheet Figure 17(b): Hurdle after joining three MDF pieces

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 Robotics Competition
2017
Cut the Green patch of dimension 48cm x 17cm out of the printed flex sheet of
Ramps_Rodents_Hurdles.pdf (Figure 12). Cover the Hurdle using it. The Hurdle should
resemble Figure 17(c). Make such similar 3 more Hurdles.

Figure 17(c): Hurdle

4. Hardware Specifications:

 Snake Robot can be built only using the components/sensors provided in the robotic kit
(from e-Yantra) and the 3D printed brackets which have been provided to the team
(through a source approved by e-Yantra).
 Teams are allowed to create and design any type of mechanical mount/structure for the
body of Snake Robot.
 Teams are required to construct a Head for the Snake Robot. The Head should have
two RGB LEDs to resemble the eyes of the Snake Robot; these LEDs are used to
indicate the detection of Rodents in Arena. Teams have an opportunity to gain bonus
points for creativity and functionality of the Head.

Figure 18: Example for Snake Robot’s Head

An example for Snake Robot’s Head is shown in Figure 18. Teams are allowed to design
the Head using any kind of material that is available to them.
 The volume of all the 3D printed brackets/parts must not exceed 400 cc.
 The entire Snake Robot with all brackets connected must pass through a cylinder
having diameter of 100 mm.
 The Snake Robot must use minimum 6 and maximum 10 Servo motors.

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 Robotics Competition
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 The Snake Robot can be powered only through Li-Po battery provided to the teams in
the robotic kit and cannot use any other power source.
 There can be maximum of 2 Arduino Nano boards on the Snake Robot.

5. Software Specifications:

 e-Yantra has provided all teams with Arduino IDE - a free software for programming and
burning hex files to microcontroller.
 As per e-Yantra policy, all your code and documents are open-source and may be
published on the e-Yantra website.

6. Theme Rules:

Initially, the Snake Robot is placed at the Start Zone in the Arena.

Rules:

1. Arena setup in the form of four Tables:

a) Rodent Configuration Table
b) Ramp Configuration Table
c) Silo Position Table
d) Hurdle Configuration Table
will be given before start of a run.
2. When the team is ready to start the run, the Snake Robot should beep the buzzer for 2
seconds each. A Timer of 600 seconds (maximum time alloted for a run) will be started
with the beep.
3. During 600 seconds of run, if the team wants to end the run, then the Snake Robot should
beep the buzzer 5 times at an interval of 1 second each.
4. Time measured using any team by any other means are not acceptable for scoring.
5. Teams are not allowed to keep anything inside the arena other than the robot. The time
measured by the reviewer will be final and will be used for scoring the teams.
6. Once the robot is switched ON, human intervention is not allowed. Teams must control the
Snake Robot wirelessly using the joystick.
7. During the run, in order to complete the task, the team may choose to cross the Ramps and
detect the Rodents in the Arena in any order.
8. There is no limit on number of times the Snake Robot crosses a Ramp or detects a Rodent
in the arena. However, the points for each Ramp Crossing/Rodent Detection will be
awarded only once.
9. All Rodents in the Arena must be detected successfully by Snake Robot during each
run in order to complete the task.
10. Detection of the Rodent by color sensor and glowing of corresponding colored LED must
be completely autonomous. However, during traversal of Arena, teams are allowed to
control to switch ON and OFF the color sensor using the joystick.
11. Correct Detection of Rodent (RD): Buzzer should be beeped for 2 times at an
interval of 1 second each and corresponding colored LED should be glowed on Snake
Robot’s Head indicating the color of Rodent on every successful detection of Rodent.

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 Robotics Competition
2017

12. RGB LED should be OFF initially and should only be glowed during the detection of
Rodent.
13. A maximum of two runs will be given to a team (the best score of the two runs will be
considered as the team’s final score).
14. During the run, if more than one bracket goes outside the arena as shown in Figure 19,
then penalty will be applied.

Figure 19: Penalty case since one bracket is outside the arena

15. If the Snake Robot is found damaging the arena, it will be immediately stopped.
Reposition will be allowed as per the rules. The final decision is at the discretion of the e-
Yantra team.

Reposition Rules:

 A maximum of 3 Repositions will be allowed to teams during a run and each Reposition
will impose a penalty, Reposition Penalty (RP) of 100 points.
 Reposition will be imposed when entire Snake Robot goes outside the arena or it gets
stuck somewhere inside the arena while performing its task.
 Teams may also request for Reposition at any point of time during a run.
 When Reposition is granted, the team member who is assisting, has to pick and place the
Snake Robot at the Start Zone. The timer will not stop during Reposition. Any points
scored by the team till then are preserved.

NOTE:

 You will be given final arena configuration 24 hours before the submission of
Task 4: Video submission along with instructions to complete the task.

 In case of any disputes/discrepancies, e-Yantra's decision is final and binding.

e-Yantra reserves the rights to change any or all of the above rules as we deem fit.
Any change in rules will be highlighted on the website and notified to the
participating teams.

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IIT Bombay www.e-yantra.org
 Robotics Competition
2017

7. Judging and Scoring System:

The team’s total score is calculated by the following formula:

Total Score = (600 - T) + (CR*300) + (RD*100) - (FD*50) - (P*30) - (RP*100) + B + CB

Where:

 T = Total time in seconds taken for the run (Maximum 600)

 CR = Successful Crossing of Ramp (0 <= CR <= 2) (Refer page 8)

 RD = Correct detection of rodent (0 <= RD <= 6) (Refer page 8)

 FD = False detection of rodent

FD will be applied in two cases:

a. Snake Robot detects a Rodent at any place in arena other than Rodent positions
while traversing.
b. Snake Robot falsely detects a Rodent, i.e. glowing a Red LED on Blue Rodent
or vice versa.

 P = Penalty (For dashing into obstacles, rodent head and also if more than one
bracket goes outside the arena)

 RP = Reposition Penalty (0 to 3)

 B = Bonus points of 100 awarded if the robot displays a perfect run

 CB = Bonus points of 400 may be awarded for creativity. Judges discretion is final
and binding. Following will be considered:

 Snake Robot design and various gaits performed

 Snake Robot’s Head design and its functionalities

ALL THE BEST…!!!

ERTS LAB
IIT Bombay www.e-yantra.org