ROBOGAMEZ 2009

“RISING OF THE SILENT TOWER: RESIST OR

SURRENDER”

RULES & REGULATIONS

OPEN CATEGORY
18 YEARS OLD & ABOVE

LAST UPDATE: 13th September 2009

Revision: 10th September 2009
Highlights: - Rule 3.10 & 3.11
- Rule 3.14 removed
- Rule 8.4 , 8.5 & 8.6
- Rule 16 & 16.4
Game Objective
Four (4) opposing teams (a Red team, a Blue team, a Green and a Yellow) will operate Wireless
Remote machines and must battle Four versus Four (4v4) among each robot. The team who
successfully conquered and defended the Tower for 10 seconds will be the ULTIMATE winner
and the game will end immediately. If no team conquers the tower, the team which accumulates
most number of points within the specified time of Five (5) minutes will be declared as the
winner.

1. Teams

1.1. Each team shall comprise of maximum four (4) members consisting of:
1.1.1. Three (3) students and One (1) instructor (lecturer ONLY) and all are from the
same university, polytechnic or college [applied to all Malaysian Universities and
Overseas Universities]

Or

1.1.2. Three (3) participants and one (1) instructor from any organization, group or
company.
1.2. Only the three (3) students/participants are permitted to enter the Game Field.
1.3. Team members must be enrolled in their University/Polytechnic/College/Organization/
Group/Company at the time of the competition.
1.4. Each institution is allowed to send maximum of Two (2) teams.
1.5. Primary and Secondary school students are NOT eligible to participate in this Open
Category.
2. Game field : Structure & Specification
2.1. The game field measures 800 cm × 800 cm surrounded by metal fence 100 cm high and
acrylic fence 150 cm high.
2.2. The game field is divided into two zones which are the “War Zone” and “Tower Zone”.
2.3. There are 20 cm high walls that divided each respective zone and entry points between
each zone measures 100 cm wide and 20 cm high. (Figure 1)

2.4. “War Zone”

2.4.1. The Start Zone measures 100 cm × 100 cm.
2.4.2. There are four Start Zone inside this section indicated by four different colors
which is Green, Red, Blue and Yellow. (Figure 1)

2.5. “Tower Zone”

2.5.1. The “Tower Zone” area consists of a ramp, “Silent Tower” (Figure 3) and two
game field trap (Death Pit).
2.5.2. The “Silent Tower” measures 400 cm length × 100 cm wide × 30 cm high.
2.5.3. The “Death Pit” is an area surrounded by a slope measures 380 cm wide × 2 cm
high. (Figure 3)

Figure 1
 Figure 2

Death Pit

Figure 3
Figure 4
3. Game Play

3.1. Each match consists of One (1) round and shall last for maximum Five (5) minutes each
round.
3.2. Each game consists of Three (3) matches and shall last for maximum Five (5) minutes
each round.
3.3. Each game will be played based on round-robin scheduling.
3.4. A match ends before the 5 minutes time based on the following cases:
3.4.1. When a robot conquer the Tower for Ten (10) seconds.
3.4.2. In the event of disqualification.
3.4.3. When the referees decided the continuation of the match is impossible.
3.5. One minute is provided for setting of robots before the start of each match.
3.6. Two members of each team may enter the game field for setting their robot.
3.7. Any team that fails to complete setting of robot in one minute are NOT ALLOWED to
resume the setting work once the match begins.
3.8. The robot must be placed in each team respective Starting Zone.
3.9. Each team is required to fight one versus one with opposition team for the first Two (2)
minutes inside the “War Zone” before they can enter the next level in the same round
which is to conquer the Tower. (Figure 5)
3.10. Any robot is NOT ALLOWED to enter the “Tower Zone” for the first Two (2)
minutes. Fails to obey the stated rule above will be disqualified.
3.11. Any team that intentionally pushes their opponent inside the “Tower Zone” area for the
first Two (2) minutes will be disqualified.
3.12. In the second level, new section of the game field, the “Tower Zone” will be open for
the next challenge.
3.13. Once entered the Tower Zone, all the robot needs fight once more to conquer the Tower
(Figure 6).
3.14. Players are allowed to use the game field environment to get extra points.
3.15. If a robot fell inside the “Death Pit”, it has to climb a wall measures 2 cm high to
escape from the area.
3.16. The team who successfully conquered the Tower for Ten (10) seconds will be declares
as the winner and the game will end immediately. (Figure 7)
3.17. In case none of the team manages to conquer the Tower, the winner will be decided
based on the most points collected in the specified Five (5) minutes time.
Figure 5

Figure 6
 Figure 7

4. Scoring

Points will be awarded as per following:

4.1. Successfully immobilize opposition team robots. [50 points]

4.2. Successfully push the opponent back to the starting point. [3 points each time]

4.3. Successfully conquered the Tower and defended the Tower in

Ten (10) seconds. [
[100 points]

Points will be DEDUCTED as per following cases:

4.4. Robot fell down from the Tower [-5 points]

4.5. Robot totally fell inside the game field trap (Death Pit) [-10
10 points each time]
5. Setting Up the Machine

Only Two (2) team members are allowed to setup the machine. The other team member
(operator) need to standby at the control tower.

5.1. Each team has 60 seconds to power up its machine from the time the referee announces
“Power up”.
5.2. The machine could then be “powered up or booted up” and be in a “sleep mode”.
5.3. Any function of a robot, including drive and weapons, must have the capability of being
remotely armed and disarmed.
5.4. While disarmed, the robot is not allowed to function in an autonomous fashion.
5.5. Any team that fails to complete setting of robots in one minute is NOT ALLOWED to
resume the setting work and need to leave the game field immediately.
5.6. After the setup time of 60 seconds is over, the referee or announcer will count down
from 5 and the game will start at the end of countdown.
5.7. Once the match starts, team members are not permitted to touch the machine or go into
the game field.

6. Robots : Structure & Specification

6.1. The machine MUST be operated through wireless remote control. Please refer to Rules 9
for frequency that are permitted.
6.2. Operators are not permitted to ride on their machine.
6.3. When in the Starting zone, just before the game begins the size of the machine CANNOT
EXCEED MORE THAN (800 mm L x 800 mm W x 1000 mm H). Once the game
begins, the machine may change its form but the size of the machine CANNOT
EXCEED MORE THAN the size of (800 mm L x 800 mm W x 1000 mm H) during
the game. Machine should fit into a 1000 mm cube whose bottom is entirely touching the
field and no portion of the machine should penetrate this imaginary cube during a match.
6.4. All machines including their power sources, cables, remote controller and other parts of
each machine shall be weighed prior to the competition. The total allowable weight of the
machine and above accessories for each team to be used throughout the contest MUST
BE LESS OR EQUAL TO 13.6kg. The total weight of 13.6kg doesn’t include spare
batteries with the same shape, same weight and voltage.
6.5. Machine is not permitted to split into Two (2) or more units at the start of the game as
well as during the game.
6.6. Only Two (2) member of each team is allowed to control the machine in the game field.
7. Mobility

7.1. All robots must have (easily visible mobility) in order to compete. Methods of mobility
include:
7.1.1. Rolling (wheels or the whole robot)
7.1.2. Walking (linear actuated legs)
7.1.3. Shuffling (rotational cam operated legs)
7.2. Robots are not permitted to use exposed rotating aerofoil, rocket or jet propulsion
methods.

8. Radio Control Requirements

8.1. Radio systems used at events MUST comply with restrictions put in place by local
regulatory bodies and applicable laws.
8.2. Radio systems MUST NOT cause interference to other frequency users.
8.3. Digital Spread Spectrum 2.4GHz is recommended for combat robotics in all weight
classes. Roboteers are encouraged to switch to the newer technology as and when they
can. (Recommended to use PS2 wireless controller)
8.4. Any team that using PS2 wireless controller is encouraged to use separate power supply.
i.e. : Motors and controller are using separate power supply.
8.5. Each team MUST prepare more than two frequency or ID to avoid clashes with other
team controller.
8.6. Failure in providing extra frequency or ID, organizers are not responsible if clashes
occur.
8.7. For use in robots, the following frequencies are allowed:

Please note that events may have additional restrictions on allowable frequencies.
 8.8. All systems that are deemed to be 'dangerous' (normally the drive and weapons) must
have a 'failsafe' device. This MUST bring the systems to a pre-set 'off' or 'zero' position if
the transmitter signal experiences interference or is lost. These devices should also
failsafe when the receiver battery is low or if power is completely lost.
8.9. The failsafe(s) may take the form of plug-in commercial devices; electronic circuitry
incorporated into some receivers e.g. PCM type; or other devices e.g. electronic speed
controllers such as the Vantec. It could also consist of digital switches, which return to
preset off position on loss of power. Care should be taken in the selection of devices to
ensure they meet the requirements specified above.
8.10. Some receiver failsafes such as Futaba PCM do not store the preset positions and
will take a few seconds from first turning on to receive these settings from the
transmitter. This type of failsafe MUST be set correctly to ensure the safe operation of
the robot.
8.11. Care should be taken to ensure that the failsafe(s) are set correctly. Particular attention
should be taken with programmable failsafe(s) that may be overlooked when
transferring receivers between robots or when altering the trim (zero position) on sticks
that may affect the ‘off’ or ‘zero’ position. With newer receivers e.g. Spectrum BR6000
it may be necessary to ‘bind’ your receiver to program the preset failsafe positions.
8.12. It is not advised you use servo/ pot/ micro-switch interfaces, as these will remain in their
last position with loss of power.
8.13. All device(s) MUST operate to the tech checker’s satisfaction before the robot will be
allowed to compete.
8.14. Transmitter output power must not exceed that specified by the local regulatory body or
any applicable laws.
8.15. The event may require a separate power switch for the receiver radio power.
8.16. The event may have reserved frequencies for testing, safety and arena effects that you
may not use.
9. Pneumatics

9.1. Pneumatic systems must use Carbon Dioxide [CO2] or Air.

9.2. The maximum pressure at any point within a pneumatics system must not exceed
1000psi (68bar).
9.3. The compressed gas shall be stored in a commercially manufactured gas cylinder of
appropriate design, specification and certification. Except where the maximum storage
pressure is less than 50psi (3.4bar). Some events may have further restrictions on bottle
sizes/ weights used, please contact the event organizer for clarification.
9.4. The gas cylinder must incorporate a burst disc rated below the maximum test pressure of
the bottle. Except where the manufacturer or manufacturer’s agent fills the gas cylinder
and applies an integrity seal or wrapping, or the storage pressure is less than 50psi
(3.4bar). Event organizers may wish to check integrity seals prior to their use.
9.5. Gas cylinders charged to pressures of greater than 50psi must incorporate an isolation
valve that can be operated from outside of the robot.
9.6. Gas cylinders that do not incorporate a valve (for example: the gas is released as soon as
the cylinder is screwed into its mating pneumatic connection) such as found on
disposable welding bottles and ‘fizzy drinks’ machines must have an additional remote
isolation valve accessible from outside of the robot.

9.6.1. Any remote isolation valve shall be positioned so as to minimize the pipe length
between it and the cylinder. This pipe length must fully vent before the cylinder
is fully unscrewed from the pneumatic connection.

9.7. All pneumatic components used with pressures greater than 50psi (3.4bar) must be
rated/tested to at least the maximum pressure available in that part of the system. You
may be required to provide documentation/ certification to support this.

9.7.1. Custom made components, or parts operating above the suppliers maximum
working pressure, must be independently tested and certified at 120% of the
maximum system pressure available at that point.
9.7.2. Components originally designed for hydraulics use will be de-rated by 50% for
pneumatics use.
9.8. A certified pressure relief device must be installed in each part of the pneumatics system
where a different operating pressure is used (operating pressures separated by a pressure
regulating device).

9.8.1. Pressure relief devices must have a rating of 1000psi (68bar) or 110% of the
pneumatic component with the lowest ‘maximum working pressure’ rating
protected by that particular pressure relief device, whichever is the lower.
9.8.2. Pneumatic systems employing pressures less than 50psi or systems employing air
compressors that have a maximum output pressure lower than the pneumatic
component with the lowest ‘maximum working pressure’ do not require a pressure
relief device.
9.8.3. The pressure relief device(s) dictate the maximum pressure available in that part of
the pneumatics system. The pressure relief device(s) must have a flow rate capacity
that exceeds the maximum flow rate that can be expected under ‘over pressure’
conditions. Any attempt to falsify the pressure settings of pressure relief device(s)
will be considered as gross misconduct by the FRA and may result in expulsion.
9.8.4. Non-regulated pneumatic systems or pneumatic systems where the regulator is not
directly attached to the gas cylinder require that a 1000psi pressure relief device is
fitted.
9.8.5. Regulated pneumatic systems that operate at less than 235psi (16bar) and where the
regulator is directly attached to the gas cylinder do not require a 1000psi pressure
relief device before the regulator. The regulator must be rated to 120% of the gas
bottle burst disc pressure. A pressure relief device is required downstream of the
regulator rated at 110% of the component with the lowest 'maximum working
pressure' rating.

9.9. Pressure relief devices should be readily accessible and must be removable for testing
purposes.
9.10. All pneumatic components must be securely mounted and adequately protected within
the body shell. Any component storing gas (i.e. gas cylinders, buffer tanks etc.) must be
secured in such a way as it cannot escape the Robot even if suffering a rupture.
9.11. Pneumatic pressure gauges and pressure test points are not a FRA requirement but may
be a requirement of the event organizer.
 9.12. All pneumatic systems must incorporate a pressure dump valve accessible from outside
of the robot. This dump valve shall quickly and reliably exhaust all gas downstream of
the gas cylinder isolation (or remote isolation) valve including systems with a
maximum operating pressure of less than 50psi (3.4bar).

9.12.1. The dump valve shall be left open at all times when the robot is not in the arena
or testing areas. Particular attention should be made that where non-return valves
are used, no part of the system is left pressurized.
9.13. Pneumatic systems using heaters or pressure boosters are not permitted.
9.14. Pneumatic components manufactured from 1 June 2002 shall carry a CE mark.

Pneumatic components ‘custom made’ since 30 May 2002 shall carry a label indicating their
non-conformity with the ‘Pressure Equipment Directive’ and their non-availability for sale.
Components manufactured prior to 30 May 2002 are not necessarily required to carry a CE
mark.

10. Hydraulics

10.1. Hydraulic system pressure (In the actuator/cylinder) must be limited to 4000 psi/ 272
bar by way of a maximum pressure relief valve.
10.2. A hydraulic test point is a mandatory fitment to allow verification of a robots maximum
system pressure. A team will need its own test gauge and hose.
10.3. Hydraulic fluid storage tanks must be of a suitable material and adequately guarded
against rupture.
10.4. Hydraulic fluid lines and fittings must be to British Standard (BS) and/ or to European
DIN specifications.
10.5. Hydraulic fluid lines and fittings must be capable of withstanding the maximum
working pressures used within the robot.
10.6. Hydraulic fluid lines must be routed to minimize the chances of being cut or damaged.
10.7. Hydraulic accumulators (pressurized oil storage devices) are banned in whatever form
they may take.
10.8. Advisory only
Care needs to be taken when building a hydraulic system that consideration is given to
bleeding the system of air. Trapped air in the hydraulic system will degrade the
performance of the system and may make a robot run foul of rule 11.7
11. Rotational Weapons or Full Body Spinning Machines

11.1. Full body spinning robots with an eccentric mass or ‘twackbots’, are accepted from this
section unless they spin over 500 revolution per minute [RPM].
11.2. The spinning element of any rotational weapon must spin down to a full stop in under
60 seconds.
11.3. Rotational weapons exceeding any of the three limits below will not be allowed by the
event organizer:
11.3.1. The spinning element is more than 20% of the robots total weight. (This
includes any directly coupled motor components rotating on the same axis)
11.3.2. The spinning element spins above 500 RPM
11.3.3. The spinning element is greater than 10 inches in diameter.

12. Spring and Fly Wheels

12.1. Any large springs used for drive or weapon power must have a way of loading and
actuating the spring remotely under the robots power.

12.1.1. Under no circumstances should a large spring be loaded when the robot is out of
the arena or testing area.
12.1.2. Small springs like those used within switches or other small internal operations
are excepted from this rule. In addition springs used in robots less than 5 kilos
may be excepted from this rule. Please contact the event organizer for
clarification.

12.2. Any flywheel or similar kinetic energy storing device should not be spinning or storing
energy in any way unless is inside the arena or testing area.

12.2.1. There must be a way of generating and dissipating the energy from the device
remotely under the robots power.

12.3. All springs, flywheels, and similar kinetic energy storing devices should fail to a safe
position on loss of radio contact or power.
13. Forbidden Weapons and Materials

The following weapons and materials are forbidden from use: Note: Some of the listed items may
be allowed for effects but not as weapons. If you have an application of these items which you
feel should be allowed, consult the event organizer ahead of time.
13.1. Weapons designed to cause invisible damage to the other robot. This includes but is not
limited to:
13.1.1. Electricity as a weapon such as Tesla coils, Van-der-Graaf generators, stun
guns, or cattle prods
13.1.2. RF jamming equipment, etc.
13.1.3. RF noise generated by an IC engine. (Please use shielding around sparking
components)
13.1.4. EMF fields from permanent or electromagnets, which affect another robots
electronics.
13.2. Weapons or defenses, which tend to stop combat completely, of both (or more) robots.
13.2.1. This includes, but is not limited to the following:
13.2.2. Entanglement devices. Such as nets, fishing line, cables, string, glues or tapes,
which require the match to be stopped and the robots separated. (If this occurs
the ‘entangler’ forfeits the match)
13.3. The speed of any rotating weapons - e.g. circular saws, carbon or steel cutting discs -
must not exceed the manufacturer's specification. The manufacturer's specification
must be available for inspection.
13.4. Rotating hardened steel blades that may shatter are not allowed.
13.5. Commercial blades - e.g. bayonets - must not exceed 20cm/8inches in length.
13.6. Untethered Projectiles. Projectiles must have a tether capable of stopping the projectile
at full speed and be no longer than 2.5m (approx 8 feet).
13.7. Heat and fire are forbidden as weapons, (however some events may allow limited fire
effects). This includes, but is not limited to the following:
13.7.1. Heat specifically generated to damage an opponent
13.7.2. Flammable liquids or gases
13.7.3. Explosives or flammable solids such as:
13.7.3.1. DOT Class C devices
13.7.3.2. Gunpowder/ Cartridge Primers
13.7.3.3. Military Explosives, etc.
 13.7.4. Light and smoke based weapons, which impair the viewing of robots by an
Entrant, Judge, Official or Viewer. (You are allowed to physically engulf your
opponent with your robot however.) This includes, but is not limited to the
following:
13.7.4.1. Large quantities of smoke or dust. Limited smoke effects may be
allowed by some events.
13.7.4.2. Lights such as external lasers above Class 2 (1mw) output and bright
strobe lights, which may blind the opponent.
13.7.5. Hazardous or dangerous materials are forbidden from use anywhere on a robot
where they may contact humans, or by way of the robot being damaged (within
reason) contact humans.
Note: If you have a question please contact the event organizer.

14. Power Supply for Machine

14.1. Each team must prepare the power sources for the robots.

14.2. The voltage of the power source used SHALL NOT EXCEED DC 24V.

14.3. The only permitted batteries are ones that cannot spill or spray any of their contents
when damaged or inverted. This means that standard car and motorcycle wet cell
batteries are prohibited. Examples of batteries that are permitted: gel cells and
impregnated glass mat, e.g. Yuassa, Hawkers, NiCads, NiMh, dry cells, AGM, LIon,
etc. If your design uses a new type of battery, or one you are not sure about please
contact the event organizers.
14.3.1. Lithium rechargeable batteries will be permitted subject to the following
restrictions.
14.3.1.1. The event organizer must be informed prior to the event and approve
their use.
14.3.1.2. Only chargers specifically designed for use with Lithium rechargeable
batteries may be used.
14.3.2. The robot must be fitted with both an under voltage cut-out set at or higher than
the battery manufacturers recommendation that will prevent the batteries from
becoming damaged due to over discharge.
14.3.3. Batteries must be removed from the robot, inspected and placed into a sealable
steel or other suitable heat proof container prior to, and during the charging
process. (It is the responsibility of the roboteer to provide this container, which
shall be inspected as part of the normal ‘tech check’.)
 14.3.4. Batteries must not be left unattended at any time during the charging process.
Leaving batteries unattended while charging will be considered a serious
breach of pit safety and may result in you and your robot being removed from
the event.
14.3.5. Batteries showing any evidence of damage or ‘swelling’ must immediately be
placed in the heat proof container, covered in salt, the container sealed and
removed to a safe area outdoors.
14.3.6. A suitable quantity of salt, sufficient to completely cover the batteries in the
event of damage or fire must be available. If not provided by the event
organizer, it will be the responsibility of the roboteer to provide this.
14.4. Mean working voltage should not exceed 24V DC or 24V RMS AC. It is understood
that a charged battery's initial voltage state is above their nominal rated value.
14.5. All machines must incorporate a way of removing all power to weapons and drive
systems (systems that could cause potential human bodily injury) that can be activated
easily without endangering the person turning it off.
14.5.1. The main power cut-off MUST be a removable link, which must NOT be in
place unless the robot is in the arena or under the supervision of a technician. A
key or switch is not allowed. If there is more than one link they must be
positioned adjacent to each other.
14.5.2. The link must be positioned in a visible part of the robot's bodywork, fitted
away from any operating weaponry or drive, and this position must be clearly
marked.
14.5.3. The link may be fitted under a cover, but the cover must be able to be opened
without the use of tools.
14.5.4. Machine can be fitted with on-off switches that operate both radio receiver and
drive/weapon circuits - in practice totally removing all power from the robot.
(optional)
14.5.5. All efforts should be made to protect battery terminals from a direct short and
causing a battery fire.
14.5.6. Cabling must be of sufficient grade and suitably insulated for maximum
operational current.
14.5.7. Current must not be carried through exposed components.
15. “Retry” for the Machine

15.1. NO retry is allowed once the game is started (For safety precautions).

16. Violations and Deductions of Points

The following actions will regarded as violations and Ten (10) points will be deducted for
each occurrence:

16.1. A violation occurs when team member(s) exceeded the 60 seconds setting up time.

16.2. A violation occurs when there is a false start (machines being started before the referee
signals a start).

16.3. A violation occurs when robot dropped into or entered the “Death Pit”.

16.4. A violation occurs when operator walk outside the respective operating zone.
(Figure 5)

17. Disqualifications

The following behaviors shall be considered for “disqualification of the team” by the referees
for that particular match.
17.1. Attempting to cause damage to the game field and the equipments on the field.
17.2. More than One (1) False Start in a match (machines being started before the referee
signals a start).
17.3. Performing any act against the spirit of fair play and friendship between participating
teams.
17.4. The team that does not follow the instruction or warning of the Referee will lead to
disqualification from the match.
17.5. Ten (10) violations would lead to disqualification from that match.
17.6. Any forbidden weapons and materials stated in Rules 13.
17.7. Any behavior violating the Rule Book.
18. Safety

18.1. All machines must be built such that they will not harm the operators, the referees, and
match officials, members of the audience, opponent’s equipment and the game field.
Explosives, fires and hazardous chemicals SHALL NOT be used.
18.2. To ensure safety, when using a laser beam, it must be less than a Class 2 laser, and used
in a way that will not harm any operators, the referees, match officials, audience,
opponent’s equipment and the game field.

19. Others

19.1. For any other behavior not specified in the rules, referees are given full authority to
make the decision and the decision is final in the event of a dispute.
19.2. Any amendments to these rules will be announced by the Contest Committee and be
updated on website < www.uniten.edu.my/go/robogamez > under Robogamez 2009.
19.3. All machines must be designed and made by student teams - readymade commercial
machines will be disqualified from being used.
19.4. The allowable margin of error to the game field in this Rulebook wherever not
mentioned is ± 5% in size.

20. Questions regarding theme and rules

Email : fadly@robogamez.uniten.edu.my

21. FAQ’s

Website : www.uniten.edu.my/go/robogamez