pohang institute of intelligent robotics

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The Steering Committee controls the examination criteria and technological goals to ensure the smooth proceeding of the contest.
Decisions by the Steering Committee have to be agreed upon by more than two-thirds of the attending members
The Technical Committee exists to ensure a fair evaluation of the contest
The Technical Committee consists of professionals in the respective fields.
The Technical Committee conducts a paper screening and a field evaluation of the contestants.
A PIRO officer is assigned as the manager of the Technical Committee.

Main contest : Presidential Award: Awarded to the first team to complete the Grand Challenge; Not awarded if the teams fail to complete the Grand Challenge

Preliminary contest: Awards presented by the Minister of Knowledge Economy,: Governor of Gyeongsangbuk-do,and the Director of PIRO; Awarded in order of completion to teams which carry out their Grand Challenge mission successfully; If teams fail to complete the mission, the Governor of Gyeongsangbuk-do Award is given to teams who have succeeded in using less than 3 chances.; The PIRO Award may be given based on examiners’ technical evaluation; Refer to the homepage (http://gc.piro.re.kr) for further details.

Criteria
Evaluation item	item Detailed item		Score	Requirements
Verification of task-processing capabilit	Perception	Vision	15	- Face recognition and matching - Room number recognition - Elevator detection - Check opening and closing of doors - Elevator button recognition - Object recognition
	Perception	Voice recognition	15	- Voice recognition in a noisy environment - Natural language processing
	Control	Manipulation	15	- Button control - Doorknob control - Grab objects
	Intelligence	Navigation	15	- Corridor navigation - Hall navigation - Enter/exit elevators - Enter/exit doorways - Avoid obstacles
	Intelligence	SLAM	15	- Mapping function - Kidnap recovery - Location detection during travel
Others	Design	Exterior design	15	- Aesthetic design - People-friendly design
Others	Design	Mind View	10	- Fulfillment of requirements - Effective display of internal information

- Interview: - (Interviews are conducted on stage before the contest begins) Move the robot on stage for interviewing.; - After the interview, place the robot at the starting point.; - A ramp is prepared for robots to go on stage; - You are allowed to move the robot since it is before the start of the contest.

Ready position: - Move the robot 2 meters ahead of the challenge girl.; - Always place the robot in front of the challenge girl.; - May be helped by the contestants.

Start: - Start up the robot with the “start” signal. (Voice recognition is unnecessary.); - You will be timed from this point on. If the robot does not start within 10 minutes, you will be disqualified.

Face registration: The challenge girl is facing forward on a regular office chair. The robot can move in a circle within a radius of at least 30 cm from where the challenge girl is seated for face registration. (Refer to the provided documents).

Challenge delivery: - After face registration, the robot asks, “Challenge girl, what is your order?” and the challenge girl replies with “Go to room YYY, look for me, receive ZZZ and come back here.” The robot answers, “I will begin now.”; - While delivering the challenge, the challenge girl’s face should maintain a distance of about 30 cm from the robot.(Refer to the provided documents); - The robot may ask the challenge girl to repeat her instructions by saying, “Can you repeat that one more time?” Challenge delivery is limited to 3 times (1 by default and 2 additional requests). If the robot uses the full 3 times, it is considered as using up a chance card.; - If the robot hears an incorrect room number or object name, you may use a chance card to manually input the room number or object name
(considered as 1 chance card for each case)

Explore elevator: - The robot travels alone to the elevator. A dynamic environment is created around the robot as there is no restriction on the number of people at this time.; - An emergency stop button should be installed on the robot for the monitor of each team to stop the robot during emergencies.; - Pressing this emergency button is considered as using a chance card.

Boarding the elevator: - The robot presses the open button and rapidly boards the elevator. Here, if the robot fails to press the open button or if it is likely that the elevator door will collide with the robot, you may use a chance card to manually press the open button.; - After the elevator door opens, the official presses the open button for an additional 10 seconds.; - Multiple elevators are available and a broadcasting team may be on board for recording.; - The elevator can carry a maximum of 4 people, comprising the official, camera man, robot operator and an additional member (examiner, official or filming team member).; - Since it is not possible to restrict the use of elevators, external factors may be introduced into the contest.; - If an external operator presses the open button of the elevator, the time from pressing the button till the door opens is deducted from your challenge time; - Checking the direction of the elevator is not required – restricted by the official, get on board when the door opens -> button does not reset when the elevator changes direction

Getting off the elevator: - The robot presses the desired button in the elevator, detects the number on the LED display and gets off at the correct floor.; - The robot should control its arm to press the button pertaining to the destination floor. You may use a chance if the robot fails.; - If the door closes before the robot gets off, you may use a chance to press the open button.; - TThe elevator may stop at other floors

Finding/entering the destination: - The robot detects the room number (A4 size) on the destination floor and tries to enter the room. The robot stands in front of the door and says, “Open the door.” If it is the correct room, the official opens the door from inside. If the door does not open within 10 seconds, it is not the destination room.; - The robot is not required to open the door but should maintain an appropriate distance for the door to open.; - If the robot asks to open an incorrect door, it is considered as using a chance card.

Obtaining the target object: - In the destination room, two persons and the challenge girl are seated at a table. The robot should distinguish the challenge girl using face recognition and approach her until it is at a fairly close distance from the table. The robot says, “I’m here for ZZZ.” and the challenge girl replies, “Here it is.” The robot detects the object and grabs it from the table. It ensures that the object is grasped properly and returns to the first floor.; - If the robot approaches a different challenge girl, she replies, “You’ve got the wrong person.” This is considered as using up a chance.; - The object is already placed on the table.; - Of the 5 objects on the table, some may not have been included in the prior information; - If the robot grabs a wrong object, it is considered as using a chance.; - If the robot drops the object and fails to grab it again, you may use a chance to place the object back on the table.; - The robot grabs the object and places it on the tray for transport.

Return: - The challenge is completed when the robot returns to its starting point on the first floor in reverse order.

Note: - The challenge should be completed within 20 minutes. After 20 minutes, you will be considered as having failed the Grand Challenge but you may proceed for an additional 10 minutes. You will be accepted if you complete it within 30 minutes. After 30 minutes, you will be disqualified.; - You may use up to 3 chance cards. When using a chance, take note that you will miss the Grand Challenge. You will be considered as successful if you complete the task using less than 3 chances.; - If you complete the challenge within 30 minutes with less than 3 chances, you are a candidate for the Governor’s Prize.; - You may begin from a re-try point if you use a chance card or press the emergency stop button; - The contestant robots cannot be manually controlled during the contest.; - The contest begins when the first robot leaves for the waiting room

Other requirements: - Attach the robot’s name tag such that it does not affect the functioning of sensors.; - Attach an emergency stop button on the robot.; - Mind view programming (map, positioning, detection (floor number, door number, etc.), and decisions are displayed on the monitor); - Programming input of 1F map (the map is provided 20 minutes before the contest)