CommQUEST

Registrations closed for Nexus.

Communication, today, is an ever expanding field, with wireless communication conquering new milestones everyday. Wireless communication is indispensable in regions where the usual means of communication are either impossible to set up or difficult to maintain.

CommQUEST takes you on the quest for glory in such a region - an equatorial forest. Armed only with a sharp brain and a "wireless map" directing you to the hidden treasure and showing the danger zones you might come across in the forest, reach the treasure in the shortest time, avoiding all danger zones. To make traversing easier, we have made the paths in the forest form a square grid and the danger zones form points.

Your time starts now...

1.1 Problem Statement

Make an autonomous machine which traverses a grid to reach the destination which is communicated to it wirelessly by a computer.

Prizes worth INR 10,000 to be won at each Nexus center!!

For hints, tips & availability of wireless modules please visit Resources.

For further queries, please visit Contact Us.

Click here for Nexus Workshop.

2.1 Arena

1. The arena will consist of a 5 x 5 squares grid of white lines on a black surface. The lines will be equally spaced. Each cell of the grid will be a square with inner dimensions 220 mm x 220 mm. (See Fig. 1). The total size of the upper outer square is 1550 mm x 1550 mm. The thickness of each white line is 30 mm.
2. At the start of each run, the machine must be placed within a horizontal square of 200 mm x 200 mm in the start zones shown in Green in Fig 1. Any machine not able to fit into this square at start will be disqualified. The dimension of the boundary of the square will be less than or equal to 5 mm. Please note that the final arena will look like Fig 1. The other figure has been given for better understanding.
3. The dimensions of the arena will be accurate to within 5% or 20 mm, whichever is less. Assembly joints on the arena floor will not involve steps greater than 0.5 mm.

Figure 1	Figure 2

3.1 Dimensions and Fabrications

1. The machine must fit within a box of dimensions 200mm x 200mm x 250mm (l x b x h). The machine can expand itself from its initial size but must fit within 200mm x 200mm x 250mm at all points of time during the run. The machine must be stable and must stand on its own at the beginning of the race when put in the start zone.
2. The machine should not separate or split into two or more units. All machines/units which are touching each other or are in the start zone will be considered as one machine.
3. The teams are allowed to use ready-made wireless modules/ready-made micro-controller boards/ready-made sensor kits. Use of ready-made mechanical kits is not allowed.

3.2 Power Supply and Propulsion

1. The machine has to use an on-board power supply. No external power supply will be allowed.
2. Each team shall prepare its own power supply for its machine.
3. The potential difference between any two points of the machine should not exceed 24 V DC.
4. The method of propulsion is at the discretion of the builder provided the power source is non-polluting.
5. A power supply other than electric must be approved by the organizers beforehand to prevent disqualification.

3.3 Controls

1. The machine must be completely autonomous. It should not receive any input from outside the arena other than the data received from the organizers' computer during the course of the run. Any team found violating this rule will be disqualified.
2. The machine must be able to receive and transmit information wirelessly with the transceiver connected to a computer of the organizers. The details of these transceiver modules can be found in the communication rules section.

4.1 Communication rules

1. There will be one computer transmitting data through a Transceiver Module readily available in most hobby shops, which uses a TI CC2500 at frequency 2433MHz. Participants are urged to use a module similar to ours, to ensure compatibility; Details of which are available on the forum.
2. The organizers' computer will have a unique address. It uses a software to send data automatically to the contestant's bot. This address and the unique address of the team's machine will be given to the participant 2 weeks before the event.
3. Each message sent from the computer will consist of a variable number of bytes. The message will always be addressed to the device id of the team; the first byte will always be the length of the packet. The next (length-1) bytes will be the data.
4. A coordinate (1,2) will be given by the data byte '0x12', A coordinate (0,3) will be given by the data byte '0x03', etc.
5. In the initial transmission by our computer:
   • a.The first byte will be the length of the packet.
   • b.The second byte will be final destination coordinate for the robot.
   • c.The third byte will be the number of checkpoints.
   • d.The next few bytes will be the coordinates of each of the checkpoints.
   • e.This will be followed by the number of danger points.
   • f.The next few bytes will be their coordinates.
6. The teams must add all the bytes as unsigned binary numbers, discarding any overflow bits and transmit the result to the organizers' computer. The organizers' computer will return a packet which contains '0x02' '0x01' for "ok" or '0x02' '0x02' for "fail".
7. In case of fail, or not receiving any data from the machine, the computer will resend the path information up to a maximum of 3 times.
8. The teams must then send its route to the computer in the following manner:
   • First byte will be the length of packet.
   • Second byte will be the first point on its preferred route.
   • Third byte will be the second point on its preferred route.
   • So on till (length-1) bytes.
9. The computer will acknowledge receipt of this route by sending its checksum similar to rule 6; the machine must send '0x02' '0x01' for "ok" and a '0x02' '0x02' for "fail". In case of a "fail", the team must resend the path.
10. After this, the computer will send a signal '0x02' '0x13' for "go". The time will be measured from this point onwards.
11. It is the team's responsibility to ensure that the channel selected for communication has no interference. The organizers will not be responsible for interference in any channel, but will try to ensure that there isn't any.

5.1 Game Rules

1. The maximum time given for completing the run is 3 minutes.
2. At the start of the run, the machine will be kept in the arena in the starting zone along the white line. Only one member from the team is allowed to be near the game field while starting the machine. The machine must be started by only one switch.
3. After the starting of the machine, the computer will send the data as mentioned in the communication rules. The machine will be given a finish point and a set of checkpoints, in the data format as mentioned in the communication rules. The machine will also be given a set of danger points.
4. The machine must send back to the computer the path that it will follow to reach the destination. After receiving the path from the team's machine, the computer will issue a 'go' signal by sending data as mentioned in the communication rules.(Irrespective of the correctness of the path transmitted).
5. The machine can start only after receiving the 'go' signal from the computer. The organizers will start measuring time as soon as the signal is sent. The team's machine is supposed to make its way to the finish with a calculated route which must pass through the checkpoints preferably in the order transmitted but must avoid the danger points. The team need not follow the path transmitted at the start of the run.
6. A machine is said to pass through check points if, at some point of time during the run, it completely covers the intersection corresponding to the check point. This will be determined by the judges at the arena.
7. A machine is said to pass through a danger point if, at some point of time during the run, it partially/completely covers the intersection corresponding to the danger point. This will be determined by the judges at the arena.
8. During restarts, a contestant may not feed information about the grid to the machine. However, contestants are allowed to: adjust sensors (gain, position etc.), change speed settings and make repairs. However, a contestant may not alter a machine in a manner that alters its weight (e.g. removal of a bulky sensor array or switching to lighter batteries to get better speed). The judges shall arbitrate.
9. The team will be given a chance to calibrate their machine once before their run.
10. The machine is not allowed to leave anything behind while traversing the grid. It should not make any marks on the floor of the arena. Any machine found damaging the arena will be immediately disqualified.
11. Although not compulsory, teams are encouraged to use LEDs/other display techniques to indicate that they have received/transmitted information and also while crossing the danger points/cross points. Such techniques have to be pre-defined and told to the organizers before putting the machine in the arena.
12. Participants are not allowed to keep anything inside the arena other than the machine.
13. Laptops/personal computers are not allowed near the arena. Other Wi-Fi, Bluetooth, etc devices must be switched off. The organizers hold the right to check for these devices and their usage.

5.2 Penalties, Disqualification and Restarts

1. Teams will be awarded 40 points for a correct path transmitted.
2. Any machine which crosses a danger point will be given a 20 point penalty for each danger point crossed. Multiple penalties will be awarded for crossing a danger point more than once.
3. Any machine which crosses a checkpoint will be given 40 points for each checkpoint crossed. No extra points will be awarded for crossing a check point more than once in a restart.
4. A bonus of 25 points will be awarded if all the check points are crossed in the order mentioned.
5. The maximum time allowed for one run is 3 minutes. Maximum of two runs will be given to a team. A maximum of one restarts will be allowed per run. The team may decide to have a second run before they use all the available restarts in a run.
6. Once a restart is given in any run, the total points are set back to zero, but the timer is not.
7. Once placed on the arena, the contestants may only touch their machine for a maximum of two times during that run, only for the purpose of restarts. On restart, the machine must be placed in the same start zone it started from in the same orientation. In case of restarts, the organizers' computer will resend the data. The same start procedure must be followed again. Machines cannot start moving until the 'go' signal is given again. The teams are not allowed to give any external inputs to the machine in this time. Please note that time will keep running during this procedure.
8. The organizers may stop any machine at any time if they feel that it is performing, or is about to perform, any action that is dangerous or hazardous to people or equipment. No machine is allowed to use any flammable, combustible, explosive or potentially dangerous processes.
9. The time will start from the moment the machine receives a 'go' signal from the computer.
10. The time will stop as soon as the front edge of the machine crosses the finish square. There will be a penalty if the machine partially covers the finish square or crosses it completely. No penalty will be awarded if it covers the finish square completely when it stops.
11. The time measured by the organizers will be final. Time measured by any contestant by any other means is not acceptable for scoring.
12. In case of any disputes/discrepancies, the organizers' decision will be final and binding.

6.1 Judging Criteria

For each of the run, the total points for successfully reaching the finish point will be calculated as follows.

(180-T) + Total Points including penalties, rewards and bonuses = Total Score.

T= time taken to complete the track, or equal to 180 for teams who do not complete the track.

The winners will be decided by the better of these two total points for the total run.

In case of a tie, a rerun will be given to the respective teams.

6.2 Certificate Policy

The top three entries emerging from this competition will be awarded a Certificate of Excellence.

All teams with a score greater than or equal to 80, in any run, will be awarded a Certificate of Participation.

6.3 Team Specification

A team must consist of (a maximum of) 4 participants. Students from different educational institutes can form a team.

6.4 Eligibility

All students with a valid identity card of their respective educational institutes are eligible to participate in CommQUEST at above mentioned Nexus Centers.

7.1 Resources

Are you ready for CommQuest?

We're here to make sure that you are.

Look at this overview of How to make a bot

If one takes a look at the Problem Statement, it can be broken down to certain basic functions that will be needed in a machine for it to successfully complete the task.

1) Hardware:

One should know How to Build IR Sensor Arrays.

Since this particular competition will require a "brain" to think. We recommend you familiarize yourself with a particular microcontroller out of the various options available like AVR,PIC, etc.

If that made you think Microcontroller? whats that? then we recommend you look at this.

For wireless communication between the bot and the computer, we recommend you take a look at this post on our forum.

Once you've got a module of your choice, you'll need to hook it up with a computer. This should help you.

2) Software:

To understand, how best to go about the task of grid following, we suggest you read this.

Secondly, the wireless communication modules on the forum, require the use of USART, one can find some basic information and links for USART on the AVR here.

7.2 FAQs

Can I use my own Transceiver?

Yes, You may use your own Transceiver, both at our computer end, and on the bot. But, You're transceiver must be completely compatible with our software. We strongly recommend you use one from our list of compatible, tested transceivers that we have made available at special rates. In case you can't, We suggest you contact us.

Where do I get the CC2500?

You need not get a CC2500 and start from scratch. We have made available wireless communication modules based on the CC2500 all across India. These will help students communicate between a large number of bots/computers easily.

Where do I get these Modules?

You can check out the forum post here to find out where you can get your hands on one.

Do I need to buy two transceivers?

The competition requires only one transceiver for the bot. However, the other transceiver may be bought,shared, borrowed, etc. to check communication with a computer, if needed.

7.3 Software

Here is the software for download.

Download the Software