Robot Arm C

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Re: Robot Arm C

Post by chalker »

AlterNSO wrote:So, I’ve submitted a clarification on this but haven’t heard anything back yet. I think Rule 6.g.vii is going to be a little bit of a headache. (In fact if give me flashbacks to being an event supervisor for mission possible, which is not a good thing). I think the intent of the rule and what the rule says do not really match up. Correct me if I’m wrong but having done Science Olympiad for a while I think the rule is intended to make using a hook to drag pennies closer, then dropping the hook stop the run. Also dropping any tool on the field. However, after my students disagreed with my interpretation I asked the English teachers at my school and they agreed with my students about the wording. The example is it is not correct to say a pencil detached from my hand if I drop it. By the same token it is not correct to say a piece held by the claw detached if it was simply released. So detached implies a more permanent connection than simply grabbing. There are also going to be teams tying hooks or tools to their base and saying that those pieces are still attached so they didn’t become detached etc.

Also on a more philosophical note this rule makes me a little sad as a coach and proponent of Science Olympiad for two reasons.

1. In many ways robot arm is the poster child for the science Olympiad is expensive and you need money to do well arguments for a school not doing it. Reach for a robot arm is expensive not matter how you construct it. The counter argument that has always been true was a team can do very well by using an arm with less reach that could use a hook to drag pieces in so that their shorter arm could manipulate them. Eliminating that really does drive up the expense of being able to reach all the pennies this year and gives am even bigger advantage to teams with more resources.

2. My students were fighting me about this because they had lots of good ideas about flipping the pennies using tools they could set out on the surface. They had some very creative engineering solutions to the problem of flipping the pennies. They elimination of being able to set things down on the field basically limits teams to grabbing the pennies and flipping them by turning over the claw.

Anyway if anyone knows why this change was made I’d love to know to make myself feel better about it. Thanks.
As always, this is not the place for official statements, etc.

A couple comments:

1. You need to look at the rules in their entirety, not just 1 particular line. Rule 1 refers to "1 robotic device". Rule 3 defines the components of the device. It's pretty clear that everything that the students bring to the competition that fits inside the device square falls under the generic definition of "device". As such, within the scope of the rules any 'tools' (which isn't a term utilized in the rules at all) is part of the "device".

2. Your semantic argument about the word 'detaches' isn't really a good analog, as it doesn't pass the "lay person" test. Take a random person off the street and ask them if a pencil is part of a human - nobody would say they are one and the same, and hence using the term 'detach' with regard to dropping a pencil isn't correct (as you pointed out). However, ask that same person if a tire is part of a automobile, and most would say yes it is. Hence they would agree that you 'detach' a tire from a car - nobody would say the car 'dropped' the tire. I'd propose the average lay person would say the same thing when presented with a SO Robot Arm they know nothing about but could observe that includes a tool that can be separated from it, regardless of the 'permanence' of the design.

3. I'd propose that allowing for detachable tools actually drives the cost up to be competitive. We've seen extremely creative devices in the past that use very sophisticated tools that get swapped in and out. Part of the reason for this rule change was to restrict those a bit and hence reduce some of the costs.

4. Another reason is because as you indicated, your students are thinking about using a claw that can grasp tools. In many situations, that means students will buy an off-the shelf robot claw and not make any modifications to it, which is not something we want to encourage. I'd propose that most of the ideas they've come up with could still be accomplished with non-detachable tools / modifications to the robot arm.

I'm sure some of the other regular suspects on here that were involved in the rules creation will provide additional thoughts on this, but please be assured our intent was NOT to drive up the cost, but rather to make it easier on teams and event supervisors.

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Re: Robot Arm C

Post by jander14indoor »

Hmmm, where to start...

OK, as usual, not official, etc.

Dropping vs detaching.
Here's one case I'll cite "intent", as much as i hate to. BUT, its early enough to 'fix' things through clarifications/FAQs if needed.
The committee was pretty clear that we intended to eliminate the use of separable tools this year. We may not have been unanimous about whether this was "good" or "bad", but we were pretty clear about what we were trying to do.
I think the words are fairly clear, and I like Chalker's analogies. Keep an eye out for FAQs or Clarifications if needed to make things clear.

Again, not official. Look to soinc.org for official answers.

Now, as to why. There I'm not sure we were so consistent on why. Some may have felt the intent was to save money, but not the gist of the conversation I remember. I think some felt that it would drive a wider array of arm designs more than a cost discussion.

I'll say we are well aware of the cost driven by reach requirements. Even worse when the object weights go up. You'll notice the max reach is not as large you may have seen in the past. And the objects themselves are pretty light individually.

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Re: Robot Arm C

Post by windu34 »

chalker wrote: As always, this is not the place for official statements, etc.

A couple comments:

1. You need to look at the rules in their entirety, not just 1 particular line. Rule 1 refers to "1 robotic device". Rule 3 defines the components of the device. It's pretty clear that everything that the students bring to the competition that fits inside the device square falls under the generic definition of "device". As such, within the scope of the rules any 'tools' (which isn't a term utilized in the rules at all) is part of the "device".

2. Your semantic argument about the word 'detaches' isn't really a good analog, as it doesn't pass the "lay person" test. Take a random person off the street and ask them if a pencil is part of a human - nobody would say they are one and the same, and hence using the term 'detach' with regard to dropping a pencil isn't correct (as you pointed out). However, ask that same person if a tire is part of a automobile, and most would say yes it is. Hence they would agree that you 'detach' a tire from a car - nobody would say the car 'dropped' the tire. I'd propose the average lay person would say the same thing when presented with a SO Robot Arm they know nothing about but could observe that includes a tool that can be separated from it, regardless of the 'permanence' of the design.

3. I'd propose that allowing for detachable tools actually drives the cost up to be competitive. We've seen extremely creative devices in the past that use very sophisticated tools that get swapped in and out. Part of the reason for this rule change was to restrict those a bit and hence reduce some of the costs.

4. Another reason is because as you indicated, your students are thinking about using a claw that can grasp tools. In many situations, that means students will buy an off-the shelf robot claw and not make any modifications to it, which is not something we want to encourage. I'd propose that most of the ideas they've come up with could still be accomplished with non-detachable tools / modifications to the robot arm.

I'm sure some of the other regular suspects on here that were involved in the rules creation will provide additional thoughts on this, but please be assured our intent was NOT to drive up the cost, but rather to make it easier on teams and event supervisors.
I'd like to butt in here:
1.) After last year, many of us still consider "tools" as "end effectors" which are separate from the device.
2.) A clarification or FAQ might be helpful to distinguish between "tethered" and "attached" because I can see how the previous suggestion of attaching a string to the base could render a tool as "still attached to the device".
3.) I would very much disagree that end effectors drive up the cost. I have not seen a single instance where a detachable end tool is a more expensive solution than an upgraded end effector. I used detached tools to decrease the cost by a very significant amount last year while still keeping my device effective. There are workarounds that allow for end effectors that I have found thus allowing me to still keep the cost down, but its not easy...
4.) I understand the idea behind that, but its just not a reality. Most teams will just end up using manufactured end effectors because to fashion your own EFFECTIVE end effector requires a 3D printer or a very skilled wood-worker. Its just not worth trying to make your own if its not gonna work much better than a commercially available one.
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Re: Robot Arm C

Post by Bazinga+ »

windu34 wrote: 4.) I understand the idea behind that, but its just not a reality. Most teams will just end up using manufactured end effectors because to fashion your own EFFECTIVE end effector requires a 3D printer or a very skilled wood-worker. Its just not worth trying to make your own if its not gonna work much better than a commercially available one.
Based on my experience I disagree with that. I have never done wood working nor substantially used a 3D printer and was able to make an end effector that could easily accomplish the task effectively. I did not need a CNC mill, super wood working skills, or a 3D printer, and there are many equally effective solutions that don't require these things. Additionally my end effector cost less than $10 to make, so cost restrictions should not be much of an issue on this front. I'm not sure which commercially available end effectors you are referring to since after hours of searching I found nothing that would accomplish the task effectively.
Regarding the issue of total cost and end effectors, I may understand this wrong, but I see very little argument for which it would make it more expensive. For the teams that use the infamous yellow OWI arm this will mean they will score worse, and I think this challenge discourages the use of such arms.
Now, many people are under the impression that the OWI arm is cost effective relative to other arms and I have learned that this is not true. It is possible to make a great arm in under the price of an OWI by directly buying specific tetrix, actobotics or lynxmotion robot parts and servos rather than kits.
Essentially this gives a greater challenge to teams with less funding, by which they must spend more time and effort hunting down specific parts at a good price rather than buying expensive premade kits or using 3D printers to print out existing robot models, but this disadvantage is inherent, with teams with more money always having a slightly smoother road to success, with less worries about costs and less limitations, but it is certainly still possible for other teams to compete with them.
Innovation =/= success
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Re: Robot Arm C

Post by AlterNSO »

As far as the semantics part maybe I should have been clearer. Really what I was saying is that if I was an event supervisor I would be more comfortable with a rules clarification to avoid arguments. It would also helpful to prove to my students that I was initially right about the rules :D . Also a rules clarification would be good soon as teams are probably going to start building soon.

Three more thoughts about the other stuff

1. Though I think there is a good chance a team can prove me wrong, I do think that in most cases teams with limited resources will face a choice of being able to flip some of the pennies or being able to reach all the pennies and not flip any. However a team with more resources should have the option to do both. This puts limited resource teams at a larger immediate disadvantage than they were already at. If "tools" were allowed there would not be this immediate disadvantage.

2. As far as reach goes the reach this year is longer than last year. Last year the arm had to be able to put something in a bin ~35 cm away from the from of the front of the robot. This year the robot has to pick something up that ~45 cm from the front of the robot. In addition the base size is smaller which adds another small challenge to increasing the reach of robot arms.

3. As far as creative solutions to flipping pennies. Without "tools" I think most teams will do something to rotate the claw 180 degrees or drop the pennies and hope for the best. Other options are available by moving the pennies into the base first but seem impractical. I feel a lot more options open by being able to move the pennies into something that is already on the field to flip them.

I do see the point that this does make off the shelf robots less useful, however in my experience simply using an off the shelf robot was never going to produce good results in the first place.

Also one of the things that is great about Science Olympiad is that those that are involved in making the rules willing to discuss them. So thanks to Chalker and Jeff for weighing in on this. I also want to thank you two for all the work you do you guys do a great job coming up with excellent events and rules.
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Re: Robot Arm C

Post by Bazinga+ »

AlterNSO wrote: I also want to thank you two for all the work you do you guys do a great job coming up with excellent events and rules.
Agreed. This is, in my opinion, the best tech event (certainly the best version of the robot arm event) in the history of science olympiad. It creates a completely new challenge discouraging straight forward solutions and encourages innovative ideas. More explicitly this challenge cannot be successfully completed by simply buying a ready robot kit that just needs to be assembled and controlled by a master arm, but rather teams must explore many different options on how to design and build an effective end effector. Unlike other tech events, there is no clear optimal solution/design, as with helicopters and arguably most car events, and makes teams strive for creative thinking rather than perfection and optimization of a common design. Huge thanks and props to the event designers (Jeff I know is one, not sure if he was the sole mind behind it or if there were others).
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Re: Robot Arm C

Post by jander14indoor »

No, I'm NOT the only one. In fact, I can't take ANY credit for the basic concept of pennies and target. Did a lot of refining with others to make it workable, other key concepts are mine to start with polishing by others. SO rules writing is definitely a TEAM event.

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Re: Robot Arm C

Post by Bazinga+ »

jander14indoor wrote:No, I'm NOT the only one. In fact, I can't take ANY credit for the basic concept of pennies and target. Did a lot of refining with others to make it workable, other key concepts are mine to start with polishing by others. SO rules writing is definitely a TEAM event.

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Alright thanks for letting me know. Well if you get a chance let the masterminds know that this is event is truly amazing. I hope future tech events will introduce equally innovative and challenging objectives.
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Re: Robot Arm C

Post by Flavorflav »

I submitted this question some time ago but have not received a reply, so I thought I would ask it here. Would it be permissible for the base to deploy an RC car which would then drive around the board moving pennies so long as either the control or power were to remain on the base and the car were to remain attached by a cable? I can find no rule specifically outlawing this, but it seems to me to be a violation of the spirit of the competition as a flexible tether is hard to interpret as an arm. I strongly suspect that my students are not going to be the only ones looking at this as a possible solution, so I think a FAQ on the subject is in order.
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Re: Robot Arm C

Post by Bazinga+ »

Flavorflav wrote:I submitted this question some time ago but have not received a reply, so I thought I would ask it here. Would it be permissible for the base to deploy an RC car which would then drive around the board moving pennies so long as either the control or power were to remain on the base and the car were to remain attached by a cable? I can find no rule specifically outlawing this, but it seems to me to be a violation of the spirit of the competition as a flexible tether is hard to interpret as an arm. I strongly suspect that my students are not going to be the only ones looking at this as a possible solution, so I think a FAQ on the subject is in order.
99% sure this would not be legal as the rules seemed to make it quite clear that they wanted to avoid this. The rules mention that the base cannot move during the run or the match will be ended, and I believe this would include an RC car moving along the field, so as soon as the car moved the match would have to be stopped. I remember reading a related clarification last year but don't remember where.

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