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Final editing for rulebook 2019
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@morxa
morxa authored Apr 12, 2019
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2 changes: 1 addition & 1 deletion Makefile
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Expand Up @@ -46,7 +46,7 @@ check-trailing-whitespace:

check-line-length:
@bash -c '\
longlines=$$(grep -n "^..\{${linelength}\}" rulebook.tex); \
longlines=$$(grep -n -e "^..\{${linelength}\}" rulebook.tex | grep -v -e "ignore-long-line"); \
if [ $$? -eq 0 ] ; then \
echo "Lines with length > ${linelength}:"; \
echo "$$longlines"; \
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114 changes: 62 additions & 52 deletions rulebook.tex
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Expand Up @@ -11,6 +11,7 @@
\setlength{\marginparwidth}{1cm}
%\usepackage{fourier}

\usepackage{floatpag}
\usepackage{wrapfig}
\usepackage{fnpct}

Expand Down Expand Up @@ -81,7 +82,7 @@
pdfkeywords = {RCLL, Rulebook},
pdfsubject = {},
%pdfpagemode = {UseOutlines}, % PageWdth, FullScreen, None ...
hidelinks = true, % true colored links, false colored boxes
hidelinks,
% linkcolor = black,
% citecolor = black,
% filecolor = black,
Expand Down Expand Up @@ -256,7 +257,7 @@ \section{Introduction}
reasoning to gain an advantage over the other team. Also starting this year,
we allow teams to purchase additional robot maintenance, which will increase
overall game activity while posing an additional strategic challenge to the
teams\footnote{A detailed list of rule changes can be found at
teams\footnote{A list of rule changes can be found at
\mbox{\url{https://github.com/robocup-logistics/rcll-rulebook}}}.

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Expand Down Expand Up @@ -359,15 +360,14 @@ \subsection{Organizing Committee 2019}
\emph{Stefan Brandenberger}, HFTM Technical Institute of Applied Science
Mittelland, Biel, Switzerland\\
\emph{Vanessa Egger}, Graz University of Technology, Graz, Austria\\
\emph{Ulrich Karras}, priv. Dozent, Essen, Germany\\
\emph{Wataru Uemura}, Ryukoku University, Japan

\medskip
\noindent To get into contact with the OC use the mailing list\\
\centerline{\url{robocup-logistics-oc@lists.kbsg.rwth-aachen.de}}

\subsection{Executive Committee 2015--2019}
\label{sec:oc}
\label{sec:ec}
Executive Committee members are responsible for the long term goals of
the league and thus have also contact to other leagues as well as to
the RoboCup federation. The Executive Committee presents the league
Expand Down Expand Up @@ -775,29 +775,6 @@ \subsubsection{Machine Positioning}
place the MPS in the middle of the zone with given rotation at there best effort
but errors of the positioning should be expected.

\begin{wrapfigure}[14]{r}{0.2\linewidth}
\centering
\vspace{-2.1ex}
\mytable{
\begin{tabularx}{\linewidth}{
>{\raggedleft\arraybackslash}X|>{\raggedleft\arraybackslash}X
}
Cyan & Magenta \\ \hline
\ang{0}&\ang{180}\\
\ang{45}&\ang{135}\\
\ang{90}&\ang{90}\\
\ang{135}&\ang{45}\\
\ang{180}&\ang{0}\\
\ang{225}&\ang{315}\\
\ang{270}&\ang{270}\\
\ang{315}&\ang{225}\\
\end{tabularx}}%
\makeatletter%
\def\@captype{table}%
\makeatother%
\caption{MPS orientation mapping during mirroring}
\label{tab:mirror-a}
\end{wrapfigure}
A MPS can be placed in any zones except C-Z52 and M-Z52. These zones
are needed to enter the field. Each MPS has one out of 8 possible
orientations, starting at \ang{0} with steps of \ang{45}. To denote
Expand Down Expand Up @@ -827,7 +804,31 @@ \subsubsection{Machine Positioning}
C-Z76 would be close to the wall. Instead, it has a different orientation
violating the y-symmetry but allowing for easier access to the shelf.

\begin{figure}[t!]
\begin{wrapfigure}[14]{R}{0.2\linewidth}
\centering
\vspace{-2.1ex}
\mytable{
\begin{tabularx}{\linewidth}{
>{\raggedleft\arraybackslash}X|>{\raggedleft\arraybackslash}X
}
Cyan & Magenta \\ \hline
\ang{0}&\ang{180}\\
\ang{45}&\ang{135}\\
\ang{90}&\ang{90}\\
\ang{135}&\ang{45}\\
\ang{180}&\ang{0}\\
\ang{225}&\ang{315}\\
\ang{270}&\ang{270}\\
\ang{315}&\ang{225}\\
\end{tabularx}}%
\makeatletter%
\def\@captype{table}%
\makeatother%
\caption{MPS orientation mapping during mirroring}
\label{tab:mirror-a}
\end{wrapfigure}

\begin{figure}[tb]
\centering
\subfigure[
For rotations with \ang{0}, \ang{90}, \ang{180} or \ang{270}. BS, CS, RS,
Expand Down Expand Up @@ -1016,8 +1017,8 @@ \subsubsection{MPS --- During Production Phase}
next input workpiece, or from which place to retrieve an item
from. There will be designated positions for specific $C_0$ workpieces
which will be announced at the beginning of the
tournament.\footnote{Please note again, this is an assignment
specifically for 2019 and may change in future competitions.} If a
tournament\footnote{Please note again, this is an assignment
specifically for 2019 and may change in future competitions.}. If a
position is requested for which no product has been stored (or has
already been retrieved), the machine will be broken
(cf.~\refsec{sec:broken-machine}). The products retrieved from the SS
Expand Down Expand Up @@ -1046,7 +1047,7 @@ \subsection{Products and Workpieces}
to \refsec{sec:production-complexities}, for the compilation of the
production plan to \refsec{sec:production-plan}.

\begin{figure}[h]
\begin{figure}[ht]
\centering
\subfigure[Workpiece base elements and caps.]{
\label{fig:workpieces-base-elements}%
Expand Down Expand Up @@ -1702,8 +1703,6 @@ \subsection{Task Fulfillment and Scoring}
& \SItextrange{0:14}{}
\end{tabularx} }}

\bigskip

\subtable[Scoring scheme for the production phase]{
\label{tab:scoring-production}
\mytable{
Expand Down Expand Up @@ -1782,8 +1781,6 @@ \subsection{Task Fulfillment and Scoring}
}
}

\bigskip

\subtable[Scoring scheme for game commentary]{
\mytable{
\begin{tabularx}{\linewidth}{p{7em}|X|p{2.4em}}
Expand All @@ -1800,6 +1797,7 @@ \subsection{Task Fulfillment and Scoring}

\caption{Scoring Schemes}
\label{tab:scoring}
\thisfloatpagestyle{empty}
\end{table}

\subsection{Obstruction Penalty}
Expand Down Expand Up @@ -2118,9 +2116,11 @@ \subsubsection{Playing in Simulation}
The challenge is to play the production phase of an RCLL game, based
on the publicly released Gazebo-based simulation~\cite{llsf-sim-rc2014-2014}.
The simulation
software\footnote{\url{https://www.fawkesrobotics.org/projects/rcll-sim/}}
software\footnote{
\mbox{\url{https://www.fawkesrobotics.org/projects/rcll-sim/}}
}
including technical documentation is publicly available on
Github.\footnote{\url{https://github.com/robocup-logistics/gazebo-rcll}}
Github.\footnote{\mbox{\url{https://github.com/robocup-logistics/gazebo-rcll}}}

The simulation uses Gazebo and the exact same referee box to simulate
the environment reactions similar to the real game. We envision this
Expand All @@ -2134,7 +2134,7 @@ \subsubsection{Playing in Simulation}
played according to the same rules and regulations of the ICAPS
competition~\cite{LogRobComp-Rules-2017}. The rules and regulations, the
reference USB stick image, and a video tutorial is available at
\url{http://www.robocup-logistics.org/sim-comp}.
\mbox{\url{http://www.robocup-logistics.org/sim-comp}}.

\vspace{-2ex}\paragraph{The Game}
%
Expand All @@ -2150,10 +2150,13 @@ \subsubsection{Playing in Simulation}

\vspace{-2ex}\paragraph{Hardware Setup}
%

\begin{sloppypar}
We use the same infrastructure as is used in the ICAPS competiton. It is based
on a Kubernetes infrastructure. The competition cluster setup is available and
documented at \url{https://github.com/timn/rcll-sim-cluster}. The USB stick
image provided on the competition website can be used for local testing.
documented at \mbox{\url{https://github.com/timn/rcll-sim-cluster}}. The USB
stick image provided on the competition website can be used for local testing.
\end{sloppypar}

\vspace{-2ex}\paragraph{Simulation Interfaces}
%
Expand All @@ -2166,13 +2169,14 @@ \subsubsection{Playing in Simulation}
%
The simulation will be run with the standard set of models and plugins
of the Carologistics RoboCup team based on the 2016 source code
release.\footnote{\url{https://www.fawkesrobotics.org/p/rcll2016-release/}} No
custom Gazebo plugins or models may be loaded or used by the competing
teams. Since no physical simulation of workpiece handling is done and
the base regarding locomotion is the same, there should be no
issues for the teams to implement the flow of the game. However, teams must
make sure that the standard set of sensors
provided is sufficient.
release\footnote{
\mbox{\url{https://www.fawkesrobotics.org/p/rcll2016-release/}}
}.
No custom Gazebo plugins or models may be loaded or used by the competing teams.
Since no physical simulation of workpiece handling is done and the base
regarding locomotion is the same, there should be no issues for the teams to
implement the flow of the game. However, teams must make sure that the standard
set of sensors provided is sufficient.

\vspace{-2ex}\paragraph{Competition Area} The competition area can be
expected to be similar to Figure~\ref{fig:competition-area}, however,
Expand Down Expand Up @@ -2318,7 +2322,7 @@ \subsection{Referee Box (refbox)}

The communication from the refbox to the robot is a datagram-oriented
broadcast protocol based on Google protocol buffers\footnote{Available
at \url{https://code.google.com/p/protobuf/}} (protobuf). The
at \mbox{\url{https://code.google.com/p/protobuf/}}} (protobuf). The
protocol definition and technical parameters are described in detail
in the RoboCup Logistics League Referee Box Integrator's
Manual~\cite{RefBoxIntManual}
Expand Down Expand Up @@ -2534,7 +2538,7 @@ \subsubsection{Drive Unit}
\item \textbf{Gear transmission ratio 32:1} \SI{22.5}{\kilogram}
\end{itemize}

\begin{figure}[h]
\begin{figure}[ht]
\centering
\subfigure[Festo Robotino 2]{%
\label{fig:robotino-2}%
Expand Down Expand Up @@ -2648,7 +2652,7 @@ \subsubsection{Software}
\end{itemize}

You may find a lot of examples concerning using the different API's in
the public OpenRobotino forum at \url{http://www.openrobotino.org}.
the public OpenRobotino forum at \mbox{\url{http://www.openrobotino.org}}.

\paragraph{Web interface}
HTML5-based user interface provided by web server running on an embedded
Expand All @@ -2672,8 +2676,8 @@ \subsubsection{Software}
\end{itemize}

\hskip-\parindent{} Additional information as well as accessories can be
obtained through\\
\url{http://www.robocup-logistics.org/links/festo-robotino-3}.
obtained through \\
\mbox{\url{http://www.robocup-logistics.org/links/festo-robotino-3}}.

%\subsection{Robotino 2.0 (phase-out model)}
%The mobile robot system Robotino is a platform with an open
Expand Down Expand Up @@ -2937,6 +2941,12 @@ \subsubsection{Wifi equipment}
Transfer rate & Up to \SI{108}{\mega\bit\per\second} \\
Data link protocol & 802.11 a/g/n \\
Frequency & \SI{5.0}{\giga\hertz} \\
League channel & 40 \\
Allowed channels (with restrictions)\footnote{Please refer to the official
radio policy for details:
\url{https://rrl.robocup.org/wp-content/uploads/2019/01/RoboCup_2019_Radio_Policy_2018-12-24.pdf}} % chktex 8 ignore-long-line
& 100, 104, 108, 112, 116, 132, 140 \\
Channel width & \SI{20}{\mega\hertz} \\
IP-distribution & 172.26.200.xxx for LAN clients (DHCP) \\
& 172.26.101.xxx for the Robotino devices \\
& 172.26.1.xxx for Robotinos \\
Expand Down

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