abu2012

19 August 2012ABU Asia-Pacific Robot Contest 2012 Hong Kong Host Organizing Committee1.One Manual Robot,one Automatic Robot and one Collector Robot are requiredfor each team.2.Manual Robot’s operator navigates Manual Robot to the T oken Stand.3.Manual Robot picks up the T oken and carries it to the Tunnel.4.Manual Robot inserts the T oken into the T oken Box of the Tunnel.5.Automatic Robot picks up the Basket in the Common Zone and puts it in anyplace of Manual Robot Zone.6.Manual Robot goes through the T unnel and picks up Collector Robot.7.Manual Robot unloads Collector Robot when the Manual Robot is in L1.A utomaticRobot carries Collector Robot across the Bridge and unloads Collector Robot inside L2 or L3.8.Manual Robot picks up the Basket and puts the Basket in the Basket Area on theIsland.9.Collector Robot can either leave Automatic Robot and climbs the stairs onto theIsland from L2,or it can be lifted up to the Island by Manual Robot from L3. 10.Collector Robot picks up the Buns in the Middle and the Lowest Layer and putthe Buns into the Basket.11.After at least one Bun from each of the two lower layers were already put intothe Basket,Collector Robot can touch Buns from the T op Layer of the Bun T ower while itself is being lifted up by Manual Robot.12.During the last one minute of the game,Manual Robot may extend its own armsto pick up Buns directly from the Lowest Layer of the Bun T ower and put them into the Basket.13.Once Collector Robot put the T op Bun into the Basket after successfully put atleast one Bun from each of the two lower layers into the Basket,the match will immediately end.This type of achievement will be called “Peng On Dai Gat”. 14.If neither team achieves the “Peng On Dai Gat” within 3 minutes,the winner shallbe decided by the total scores of the team in this match.15. A match lasts 3 minutes.History of Bun Festival 4Game Rules and Robot Design 101.Robot Set Up 112.Game Field and Objects 113.Game Procedure & Competition T asks 154.Restarting Points 185.Game Duration 206.General Restrictions 207.Deciding the Winner 228.Violations 239.Disqualification 2410.Robot Specification 2411.Importance of Safety 2612.Safety for the Robots 2613.Safety for Manual Robot Operators 2714.Domestic Contests in Each Country and Region 2715.T eams 2816.Others 28 Appendix 29-34 Figure 35-48The Tsing Ma Bridge of Hong Kong *Hong Kong is hilly with a rich landscape that includes over 200 islands,leading to a particularly strong need of bridges and tunnels.Among these we have the Cross Harbour Tunnel linking up Kowloon and Hong Kong Island across Victoria Harbour,while the Tsing Ma Bridge is the world’s longest road-and-rail suspension bridge that brings Lantau Island closer to us.T hanks to these bridges and tunnels,Hong Kong now boasts a well-developed traffic network.Peng On Bun *Banner in parade, with the Chinese words meanstimely wind and rain.Bun TowerOn Cheung Chau, one of those little islandsof Hong Kong, the Jiao-festival has beencelebrated for more than 100 years. CheungChau was once devastated by a plague in thelate Qing dynasty; accordingly local residentsset up a sacrificial altar in front of Pak T aiT emple to pray for peacefulness. Eventually,the plague ended after performing such rituals.Since then, residents on Cheung Chau haveorganised a Bun Festival every year to expresstheir thankfulness. The residents’ annualparticipation allows the ritual to pass alonggenerations.Lion dance *Meanwhile,the festival is also a platform for residents to perform their folk crafts,such as making paper-mache effigies,setting up the bamboo scaffolding of the Bun Mountain,and making handmade buns in preparation for the Bun Festival.T his is accompanied by folk performing arts like music,a parade,lion dances,qilin dances and drumming.Y ear after year,elderly residents participate in such festive activities with theiroffspring,allowing the experience to pass fromone generation to the next.And for tourists allover the world,the festival is also a carnival for thefamily,attracting tens of thousands of tourists.Asan additional note,the Cheung Chau Jiao-festivalis also listed as a State-level Intangible CulturalHeritage of China.Peng On BunThe contestants, who had already passed a priorclimbing test, secured by safety ropes, climbed ahigh tower for buns.*Float Procession in the parade * The children are acting the well-known love storyin Chinese history, the Emperor Xuanzong of TangDynasty and his concubineYang Guifei.The weeklong festival climaxes with a large,carnival-like street procession featuringcostumed children on stilts held aloft abovethe crowd, lion dances and so on. The paradewinds its way through the narrow streets,which are highlighted by the enormousbamboo towers, studded with sweet whitebuns, and where the main festivities take place.At midnight, athletes scramble up one of thetowers in a tough contest of both intellect andphysique, to grab the top-most ‘luckiest’ bunsas told in traditions so as to achieve “Peng OnDai Gat”, that means peace and prosperity. Itis from this bun-grabbing contest, an attractionfor local and foreign tourists in itself, that comesthe festival’s other name – the “Bun MountainFestival”.Traditional Chinese opera showed at the day of Bun Festival.Hong Kong will be the host city of the 11th ABU Robot Contest in 2012.By then,students from the Asia-Pacific region will gather in Hong Kong,directing robots to cross bridges and tunnels,land the island,climb the bun tower,snatch the lucky buns and achieve “Peng On Dai Gat”.Who will be the winner of the ABU Asia-Pacific Robot Contest 2012 after a great “journey” in Hong Kong? Let’s see!The night view of Victoria Harbour *1. Robot Set Up1.1 One Manual Robot,one Automatic Robot and one Collector Robot are required for eachteam.1.2 One minute is given for setting of robots before the game starts.1.3 Only the three registered members of each team,including the Manual Robot Operator,can engage in the setting up of robots.Any team that fails to complete setting of the robots within one minute can resume the setting process once the game starts.2. Game Field and Objects2.1 The field consists of an area having the dimension of 13,000mm x 13,000mm and surroundedby a wooden fence with a height of 100mm and a thickness of 50mm.The wooden fence is fixed to the field with screws.The game field is divided equally for two teams by a wooden fence with a height of 100mm and a thickness of 50mm.The competing teams are Red and Blue T eams.(Figures 1-4)2.2 The game field consists of Manual Robot Zone,Automatic Robot Zone,Starting Points,Restarting Points,Loading Areas,Common Zone and an Island.The symbols of points and areas such as A,C,M,L1,L2,L3,S1 and S2 are not necessary to be painted on the floor of the real game field.2.3 Manual Robot Zone & Automatic Robot Zone2.3.1 White lines with a width of 30mm made of matt sticker are drawn on the floor ofAutomatic Robot Zone.Each side of the square inside the white lines is 470mm.The wooden fence with a height of 100mm and a thickness of 50mm is presentedas a par tition between Manual Robot Zone and Automatic Robot Zone.(Figures 2, 3)2.4 Starting Points2.4.1 Manual Robot must start in Manual Robot Starting Point (M).2.4.2 Collector Robot is placed in Collector Robot Starting Point (C) and will be pickedup by Manual Robot.2.4.3 Automatic Robot must start in Automatic Robot Starting Point (A).(Figures 1) 2.5 Common Zone2.5.1 Common Zone has a rectangular shape with a height of 100mm,a width of 500mmand a length of 1985mm painted in yellow color.T wo notches with a depth of12mm and a diameter of 452mm are located at the surface of the Common Zone.T wo Baskets are placed in these two notches separately before the game starts.Each team can collect one Basket from the Common Zone only.(Figures 2,13) 2.6 The Basket2.6.1 The two Baskets are placed at two notches separately in the Common Zone.ABasket consists of three parts;a Basket with a diameter of 450mm and a height of400mm made of HIPS (475) sheet and plastic net or nylon net (joined by mild steelmale thread rod),a bottom base with a diameter of 450mm made of HIPS (475)sheet,a cylinder with a diameter of 80mm and a height of 388mm made of PVCTube.The weight of a Basket is 2.85kg.(Figures 8 & 11)2.7 Bun T ower2.7.1 The Bun T ower is placed on a square stage,the Island.It consists of three layers.The details of each part are explained as follows:2.7.1.1 Number of Buns in different layers:2.7.1.1.1 T op Layer:2 T op Buns (One for Blue T eam,One for Red T eam)2.7.1.1.2 Middle Layer:6 Buns (Three for Blue T eam,Three for RedT eam)2.7.1.1.3 Lowest Layer:8 Buns (Four for Blue T eam,Four for Red T eam)2.7.1.2 The weight of the Buns2.7.1.2.1 The T op Bun for the T op Layer:105gm2.7.1.2.2 The Buns for the Middle and the Lowest Layers:47gm2.7.1.3 The size of the Buns2.7.1.3.1 The T op Bun:200mm in diameter,150mm in height2.7.1.3.2 The Buns for the Middle and the Lowest Layers:150mm indiameter,100mm in height2.7.1.4 The diameter of the three layers2.7.1.4.1 T op Layer:500mm2.7.1.4.2 Middle Layer:850mm2.7.1.4.3 Lowest Layer:1200mm2.7.1.5 The height of the Bun T ower2.7.1.5.1 The T ower is 1850mm high in total (measured from the topsurface of the Island).2.7.1.5.2 The height of the three layers surface from the Island are:T op Layer:1500mmMiddle Layer:1000mmLowest Layer:500mm2.7.1.5.3 The base of the Bun T ower is 497mm high (measured from thetop surface of the Island to the bottom of the Lowest Layer).2.7.2 Positioning of the cylindrical donut shaped is fixed by centering-studs laid out in acircular fashion on each level of the conical T ower.2.7.3 The angular placement of the Buns in one layer is different with the Buns in otherlayers.(Figures 9,10)2.8 Island2.8.1 Island is a lifted up platform with a height of 400mm,a width of 3,030mm and alength of 3,050mm.It is divided equally for Red and Blue T eams.Each part consistsof a half side of Bun T ower and a notch at the corner,which presents as the BasketArea,with a depth of 12mm and a diameter of 500 mm.A Basket will be placed atthe Basket Area of the Island by Manual Robot.(Figures 2,13)2.9 Loading Areas2.9.1 Loading Area 1 (L1) is located at the floor surface of Manual Robot Zone and islocated nearby the Automatic Robot Starting Point with a length of 1,965mm anda width of 1520mm.(Figures 2)2.9.2 Loading Area 2 (L2),which is presented as the stair up to the Island,is a squareplatform with a height of 200mm and a length of 1,500mm.It is located at the sideof the Island.(Figures 13)2.9.3 Loading Area 3 (L3) is located near by the T unnel.It is a rectangular platform with aheight of 200mm,a length of 1,550mm and a width of 1000mm.(Figures 2,3,13)2.10 Tunnel & T oken Box2.10.1 A Tunnel is located at the Manual Robot Zone.The inner size of the Tunnel is2040mm in length,1200mm in width,and 1600mm at the highest point.The ceilingof the T unnel is arched.(Figures 7)2.10.2 A T oken Box is placed at the side of the T unnel.The slot of the T oken Box is 100mmin width and 400mm in length.(Figures 6)2.11 T oken2.11.1 The T oken is placed at the T oken Stand.The size of the T oken is 300mm in diameter,20mm in thickness.The weight of a T oken is 170gm.(Figure 5)2.11.2 The T oken is made of low density polystyrene with two sides of stickers covered.The graphic on two sides of the T oken surface is subject to the design of each team.In the international contest,the host organization of ABU Robocon 2012 willproduce the T oken sticker for each team.The individual contestant has to send theirsoftcopies of the T oken sticker to the host organization after the representativeteam is confirmed.Details will be provided later.2.12 T oken Stand2.12.1 The T oken Stand is fixed on the ground of Manual Robot Zone.It consists of threesections:a frame,a pole and the bottom.T he arc-shaped frame is made of mild steelwith an indent inside.2.12.2 The thickness of the frame is 40mm and the width of space inside the indent is22mm.The pole is made of mild steel with a diameter of 40mm and a height of742mm.The bottom of the T oken Stand is a round mild steel plate with a diameterof 350mm and a thickness of 3mm.(Figures 5)2.13 Bridge2.13.1 The Bridge is located in Automatic Robot Zone.It has a three-dimensionaltrapezoidal shape with a length of 3500mm and a width of 1970mm.The top of theBridge is 300mm high.(Figures 13)2.14 Obstructions2.14.1 Wooden Obstructions with a height of 100mm and a thickness of 50 mm areplaced at both Manual Robot Zone and Automatic Robot Zone.Robots have tonavigate through the zigzag path in which obstacles are presented.3. Game Procedure & Competition Tasks3.1 Manual Robot’s operator rides on Manual Robot before the game starts.3.2 Manual Robot’s operator navigates Manual Robot from Manual Robot Starting Point to theT oken Stand.3.3 Manual Robot picks up the T oken at the T oken Stand and carries it.3.4 Manual Robot’s operator navigates Manual Robot to the Tunnel.3.5 Arriving at the T unnel,Manual Robot inserts the T oken into the T oken Box.No part ofManual Robot is allowed to touch the T oken Box.Manual Robot is not allowed to start going through the T unnel before inserting a T oken into the T oken Box for the first time to cross the Tunnel.3.6 When the T oken is totally put inside the T oken Box,motion of Automatic Robot can be selfstarted or started by “one push button” by a team member after the signal from referees.Automatic Robot may start picking up the Basket in the Common Zone and puts it in any place of Manual Robot Zone.Or,Automatic Robot may start later as the strategy of the team.The task of putting the Basket in Manual Robot Zone will be considered as “Completed” when the Basket is put in Manual Robot Zone and is standing on its own on its bottom base;it means there is no contact between the Basket and neither Automatic Robot nor Manual Robot.3.7 Automatic Robot of each team is allowed to touch only one of the two Baskets in theCommon Zone and a team can only pick up the same Basket which they have touched before and if it is available.3.8 Manual Robot goes through the T unnel and proceeds to Collector Robot Starting Point. 3.9 Manual Robot picks up Collector Robot at Collector Robot Starting Point.3.10 Manual Robot carries Collector Robot and navigates through the zigzag path in whichobstacles are present.3.11 When all the contact surface of Manual Robot is totally inside the Loading Area 1,ManualRobot can unload Collector Robot.Manual Robot is allowed to extend over the space above the Automatic Robot Starting Point only during the unloading of Collector Robot.Collector Robot is not allowed to touch any part of the game field during the unloading process in L1.3.12 When Collector Robot is completely separated from Manual Robot and transferred toAutomatic Robot,motion of Automatic Robot can be self started or be started by a team member by “one push button”.There is no rule to guide the sequence for Automatic Robot to pick up the Basket and the Collector Robot.The team can pick up both items simultaneously.3.13 Automatic Robot carries Collector Robot across the Bridge towards Collector RobotLoading Area 2 or Loading Area 3.3.14 After transferring Collector Robot to Automatic Robot,Manual Robot is allowed to pick upthe Basket when it is placed in Manual Robot Zone and puts the Basket in the Basket Area on the Island.When the Basket was placed at the Basket Area,no robot is allowed to touch the Basket.3.15 Automatic Robot must unload Collector Robot inside Loading Area 2 or LoadingArea 3.Collector Robot is not allowed to touch the game field before being unloaded inside Loading Area 2 or Loading Area 3.3.16 Collector Robot can either leave Automatic Robot and climbs the stairs onto the Islandfrom Collector Robot Loading Area 2,or it can be lifted up to the Island by Manual Robot from Collector Robot Loading Area 3.3.17 The actions of Collector Robot must start-up by push-button to be pushed by AutomaticRobot / Manual Robot,or,a non-radio signal emitted by Automatic Robot or Collector Robot can automatically start itself.3.18 Collector Robot can accept the command from Manual Robot when Manual Robot picks upCollector Robot and is in physical contact with Collector Robot.While in physical contact, Manual Robot is allowed to communicate with Collector Robot by non-RF communication methods.3.19 Buns in the Middle and the Lowest Layer can be picked up and put into the Basket byCollector Robot itself while it is not in touch with Manual Robot and stands on the Island by itself.Buns will be considered as “Collected” only when they were picked up and clearly put into the Basket.Buns dropped on the game field can not be used again.3.20 A team’s Collector Robot can only pick up Buns placed on its side of the T ower.Invadingonto the opponent’s side of the T ower and the space above is not allowed,which will be a Violation.3.21 Manual Robot can directly pick up Buns from the Lowest Layer of the T ower during the lastone minute of the game,therefore 2 minutes from the start.It is not allowed to pick up Buns from the upper two layers.3.22 After at least one Bun from each of the Middle and Lowest Layers were picked up and putinto the Basket,the Bun at the T op Layer can be touched and picked up by Collector Robot while Collector Robot is being lifted up from the surface of the Island by Manual Robot. 3.23 Buns will only be counted when they are put into the Basket of the team.3.24 Once Collector Robot puts the T op Bun into the Basket after successfully put at least oneBun from each of the two lower layers into the Basket,the match will immediately end.This is called “Peng On Dai Gat”.If neither team achieves the “Peng On Dai Gat” within 3 minutes,the winner will be decided by the total scores of the team in this match.4. Restarting Points4.1 In the case of mechanical problem,or failing of a task,the robot can be brought back to itsRestarting Point to restart with the consent of referees.Restarting Points will be set up as follows:4.2 Manual Robot Starting Point (M)(after Manual Robot has left Manual Robot Starting Point (M)) -4.2.1 If the T oken was not successfully put inside the T oken Box,Manual Robot has torestart from Manual Robot Starting Point M and the T oken will be put back to thestand.4.2.2 Robot has to use Point M until it has completely entered S1.4.3 Manual Robot Restarting Point S1(after Manual Robot has gone through the T unnel successfully) -4.3.1 If Manual Robot failed to transfer Collector Robot to Automatic Robot,ManualRobot must restart at the Restarting Point S1,and Collector Robot must be putback in Collector Robot Starting Point (C).4.3.2 If Manual Robot failed to pick up the Basket or failed to put it in the Basket Area onthe Island,Manual Robot must restart from Restarting Point S1.The Basket will beput back in the place where Automatic Robot has put it in Manual Robot Zone. 4.4 Automatic Robot Starting Point (A)(after Automatic Robot has left Automatic Robot Starting Point) -4.4.1 If Automatic Robot failed to pick up the Basket in the Common Zone or failedto put the Basket in Manual Robot Zone,Automatic Robot must restart fromAutomatic Robot Starting Point (A) and the Basket will be put back to where it wasin the Common Zone.4.4.2 If the Basket is indeterminate to be grabbed by any team and the two robotsare standing still (such as the case when both team’s Automatic Robot trying tograb the same Basket at the same time),a “Compulsory Retry” for two AutomaticRobots of two teams is needed.The two Automatic Robots have to restart atAutomatic Robot Starting Point (A) after the signal from referees.“CompulsoryRetry” is commanded by a referee and both teams should follow the instruction.4.4.3 If Automatic Robot successfully completed the task of putting the Basket in ManualRobot Zone but it failed to go back to Automatic Robot Starting Point (A) toreceive the Collector Robot,Automatic Robot can be brought back to AutomaticRobot Starting Point (A) to restart after the consent of referees.4.4.4 Once Automatic Robot carried Collector Robot which was successfully detachedfrom Manual Robot and if a retry is needed,Automatic Robot can restart fromAutomatic Robot Starting Point (A) with the Collector Robot.4.5 Restarting Point S2(after Automatic Robot has crossed the Bridge successfully) -4.5.1 If Collector Robot failed to climb up the stairs onto the Island by itself at LoadingArea 2,or Automatic Robot failed to carry Collector Robot to Loading Area 3,orManual Robot is unable to pick up Collector Robot in Loading Area 3,AutomaticRobot and Collector Robot must restart together at S2.4.6 Collector Robot Loading Area 24.6.1 If Collector Robot is unloaded in Loading Area 2 and it successfully stands on theIsland and if a retry is needed,it can restart from Loading Area 2.4.7 Collector Robot Loading Area 34.7.1 If Collector Robot has been unloaded in Loading Area 3 and a retry is neededafterwards,Collector Robot will be placed in Loading Area 3 and Manual Robot hasto restart from Manual Robot Starting Point (M).5. Game Duration5.1 Each match lasts three minutes at most.5.2 In any of the following cases,the match ends immediately (even before three minutes).5.2.1 When “Peng On Dai Gat” is achieved.5.2.2 Disqualification is announced in the knockout.5.2.3 When the referee judges that the game can not continue.6. General Restrictions6.1 Substitution of Manual Robot’s Operator is not allowed in a single match.6.2 Manual Robot’s Operator can not touch the T oken,Collector Robot,Automatic Robot,Basket or any other parts of the game field after the game has started.The feet of the operator can not touch any surface of the game field as well.6.3 Manual Robot is not allowed to move beyond the fence and to touch the floor of AutomaticRobot Zone.However,part of Manual Robot can extend over the space above Automatic Robot Starting Point (A),the Loading Area 3 and the space above the Island.6.4 None of the robot is allowed to touch any parts of the T oken Box.6.5 Automatic Robot of each team is only allowed to touch one of the two Baskets and it canonly pick up the same Basket which it has touched and if this Basket is available.6.6 After being picked up by Manual Robot at Collector Robot Starting Point (C),CollectorRobot cannot touch any part of the game field until it is unloaded in Collector Robot Loading Area 2 or Loading Area 3.6.7 After starting the Automatic Robot,the team members who perform the starting actionmust leave the game field immediately.6.8 Automatic Robot can not extend over the space above all the area of opponent team.6.9 Automatic Robot is not allowed to touch the game field in Loading Area 1, LoadingArea 2,Loading Area 3,Manual Robot Zone,Common Zone and the Island.6.10 Automatic Robot is not allowed to extend itself into the space above Loading Area 1,Loading Area 2,Loading Area 3,the Island,Common Zone and Manual Robot Zone.Automatic Robot is allowed to extend over the space above Common Zone and Manual Robot Zone only when picking the Basket from Common Zone and placing the Basket in Manual Robot Zone.6.11 Manual Robot should not use any part of the T ower as mechanical support.Manual Robotmay momentarily touch the Lowest Layer of the Bun T ower during picking up the Buns,but not the T op Layer and the Middle Layer.6.12 When Manual Robot is lifting up Collector Robot,all parts of Collector Robot must nottouch the Island.6.13 The Buns at the T op Layer cannot be touched unless at least one Bun from the Middle andthe Lowest layers have already picked up and put into the Basket.6.14 Manual Robot Operator cannot directly drive any mechanical motions.All the actions of therobots must be driven by robotic means.6.15 A team’s robots can only pick up Buns placed on its side of the T ower.It is not allowed toinvade onto the opponent’s side of the T ower and the space above.6.16 Robots are not allowed to reach or to enter their respective restricted areas.6.17 Manual Robot can communicate with Collector Robot when they are in physical contact.6.18 Automatic Robot can communicate with Collector Robot by non-radio signal.ManualRobot is allowed to switch on the Collector Robot while they are in physical contact.6.19 Communication between Manual Robot and Automatic Robot is not allowed.ManualRobot cannot communicate with Automatic Robot via Collector Robot.6.20 Communications with any robot in the game field is not allowed except mentioned in 6.17and 6.18.7. Deciding the Winner7.1 “Peng On Dai Gat”7.1.1 First,the team picks up at least one Bun from each of the Middle Layer and theLowest Layer and put them into the Basket.Secondly,the team picks up the Bunin the T op Layer and put it in the Basket.It will achieve ‘Peng On Dai Gat’and thematch ends immediately.7.1.2 The achievement of “Peng On Dai Gat” will lead to victory directly.7.1.3 If the two teams achieve “Peng On Dai Gat” at the same time,the winner shall bedecided by the total scores after deduction of Violations points in that match.7.1.4 If the two teams achieve “Peng On Dai Gat” at the same time with the same earningscores,the winner shall be decided by time record of the first Bun being put into theBasket.7.2 If neither team achieves the “Peng On Dai Gat” within 3 minutes,the winner shall bedecided by the total score after deduction of Violation points in that match.The team that earns higher score is the winner.The score of each task is described as follows:7.2.1 Manual Robot slots the T oken in the T oken Box.[10 scores]7.2.2 Automatic Robot puts the Basket in Manual Robot Zone.[20 scores]7.2.3 Manual Robot puts Collector Robot on Automatic Robot.[10 scores]7.2.4 Automatic Robot unloads Collector Robot either in Loading Area 2 or LoadingArea 3.[30 scores]7.2.5 Manual Robot puts the Basket in the Basket Area on the Island.[10 scores]7.2.6 Buns in the Lowest Layer are collected.[10 scores per Bun]7.2.7 Buns in the Middle Layer are collected.[25 scores per Bun]7.2.8 The Bun in the T op Layer is collected.[Peng On Dai Gat,game ends]7.3 If the two teams have the same final scores,the winner is determined by the time record ofthe first Bun being put into the Basket.7.4 If both teams could not put any Bun in the Baskets and finished with the same scores,theteam with the best time record of inserting the T oken into the T oken Box will be the winner.7.5 If both teams can not insert the T oken into the T oken Box,the winner will be decided by theJudges.7.6 If teams in the same group during group match have the same number of “Peng On DaiGat”,the team with the best time record of “Peng On Dai Gat” (with the fastest completion time of the whole game) will be the winner.In the knockout,it will be regulated by 7.1-7.5.8. Violations8.1 The team with five Violations in a match will be disqualified.Negative scores may appear insome cases.8.2 When the Violation occurs,the team will be deducted 10 points and the team has to bringthe violating robot back to the point which the referee indicates.The Violations are categorized as follows:8.2.1 Any parts of any robot or objects held by a robot enter the opposing teamAutomatic Robot Zone or the space above it.8.2.2 Any part of any robot or the object held by a robot cause obstruction or difficultyto the opposing team.8.2.3 Any Basket is pushed down onto the opposing team area.8.2.4 Any parts of any robots enter their respective restricted areas.8.2.5 The Bun at the T op Layer is picked up before at least one Bun from the Middle andthe Lowest Layers were picked up and put them into the Basket.8.2.6 Any parts of robots enter the opposing team Automatic Robot Zone and physicallytouch the robots or Buns of the opposing team,except in the Common Zone.8.2.7 Other actions that infringe on the rules without mentioning in the Disqualificationare considered as Violations.。