New robot rules at Peachtree

[Monochron]

In case no one else mentioned it, this was also a rule at the North Carolina Regional. As far as I know though, it was not enforced, just a suggestion. When my team's robot got inspected we did not show the judges our safety mechanism at all.

[Daniel_LaFleur]

Originally Posted by GeorgePBurdell

OK - as the LRI who "started" this, some background.

When I saw the designs of a number of teams at our scrimmage, I became concerned about the potential for injury due to the potential for the "stored energy" mechanisms to accidentally deploy while being handled. In discussions among the LRI's, it became apparent that I was not alone. Week 1 events announced the "requirement" for a safety interlock if the robot was to be moved in a stored energy state. I proposed this to my Regional Committee who decided to await further developments before announcing the policy. As results of injuries - even minor ones - began to come in, and bolstered by the GDC's Team Update - we decided to emphasise the need for a safety device. As noted previously by Dr. Bob, who worked with me to develop the wording of the announcement, this was not a decision taken lightly. His post accurately describes the thinking behind the process

It is not my nor the Peachtree Committee's intention to place an undue burden on teams, but as noted earlier, the intent was merely to inform teams that the inspection team would be looking for safe operation of the teams' robots - particularly when being transported. As stated in the notice to the teams, recognizing the implications after Stop Work day, the implementation of a "safety device" - probably better wording in hind sight than "safety interlock" - the weight of the device wouldn't be counted in the 45 pound limit for fabricated parts and as long as it was "removed" from the robot in the starting configuration, would not be counted in the robot weight. I also noted that the inspection team would be open and receptive to innovative safety devices.

As has been noted, the expectation is that the device would be as simple as a bolt through a rod, a strap or tie-down to restrain the mechanism, or any equivalent simple device - not to require some elaborate device that would place a burden on teams. Also, as has been noted, my intent was to get the word to the teams prior to the event so they could think about it and develop a simple, basic device to assure the safety of their mechanism and to meet the intent of this policy. Suggestions in this thread alone are basic, easily implemented devices for many designs. If a team's device is inherently "safe," the inspection team will require nothing more.

I trust that teams will agree with the intent of the policy. My and the Committee's only intent is the safety of the participants.

Jeff Rees
LRI Peachtree Regional

My concern is not with the ruling, in fact I agree with the decision.

My issue is that regional committees can issue new requirements to teams without explicit approval of the GDC through the team update process or the official FIRST Q&A process. This, to me, undermines the authority of FIRST and the GDC over their game.

[FrankJ]

Originally Posted by Daniel_LaFleur

My concern is not with the ruling, in fact I agree with the decision.

My issue is that regional committees can issue new requirements to teams without explicit approval of the GDC through the team update process or the official FIRST Q&A process. This, to me, undermines the authority of FIRST and the GDC over their game.

R8 has been that way for as long as I have been involved with First. Build a safe robot is not a new requirement. The trouble is you have so many brillant teenagers (and nutty mentors) dreaming up dangerous ways to do things & such a small GDC. Maybe somewhere like a the safety manual First could provide a non exclusive non binding list of the types of things that will bring R8 scrutiny. That would allow it to be published & updated before kick off.

[Al Skierkiewicz]

Frank,
Just when I think I have seen everything, I go to a week one regional and get surprised. When seeing the leg lamp for the first time, I had to ask first "How is it listed on the BOM?" then "How far out of the Frame Perimeter does it extend?" This year I have seen "The Hammer of Thor", eight spring shooters, a 2.5" x 3' pneumatic cylinder with eight tanks. I received a report of a 7.5 gallon tank that takes 30 minutes to fill this past weekend and I have seen just this season, two robots come in at more than 135 lbs.

[Tristan Lall]

Originally Posted by FrankJ

R8

If the in LRIs view the robot is unsafe, it is in violation of R8. This is not new. Not unheard of or even infrequent that robots have been modified to meet this rule. Even even when at other competitions. the robot met this rule.

Originally Posted by Jon Stratis

And Tristan - isn't it nice to know how a rule as vague and all encompassing as R08 is going to be handled before you actually get to the venue?

The LRI here could have just kept quiet until the event, then walked around telling teams they needed to rig something at the event, and there would have been no room for complaining. Instead, a pro-active approach to the issue is raising complaints here.

I agree that foreknowledge of the interpretation of R8 is definitely a good thing, as is the opportunity for discussion here.

I just want to be clear that if the policy is strictly an R8 interpretation (the preamble to the policy references R8 along with other things), that it is only being applied in situations where R8 has force. The robot rules offer no fair and practical way to mandate compliance until (full or partial) inspection or gameplay occurs,¹ and as a result, the robot rules are inherently ineffective at regulating pit and queue safety.

If the intention is instead to promote safety at all times, then the policy should be enacted under the event's authority to make the competition safe for the public.² But this removes the option of applying the penalties specified in robot rules.

From the explanations provided here by the staff of that event, I think it's (properly) intended as the latter, but being confused with the former because R8 was mentioned in the preamble to the policy. Except in the most exigent circumstances, I think FIRST and most participants expect that events will not interfere with the competition formula laid out in the game manual—and that's why the invocation of R8 was problematic. And that's why I'd like a clear statement one way or the other.

¹ For example, it's foolishness to believe that a robot taken apart for maintenance should at all times comply with the robot rules.
² For example, events can make rules like "no smoking" or "no walking under the bleachers", but these are distinct from the competition rules in the game manual.

[Retired Starman]

Originally Posted by Tristan Lall

I agree that foreknowledge of the interpretation of R8 is definitely a good thing, as is the opportunity for discussion here.

I just want to be clear that if the policy is strictly an R8 interpretation (the preamble to the policy references R8 along with other things), that it is only being applied in situations where R8 has force. The robot rules offer no fair and practical way to mandate compliance until (full or partial) inspection or gameplay occurs,¹ and as a result, the robot rules are inherently ineffective at regulating pit and queue safety.

If the intention is instead to promote safety at all times, then the policy should be enacted under the event's authority to make the competition safe for the public.² But this removes the option of applying the penalties specified in robot rules.

From the explanations provided here by the staff of that event, I think it's (properly) intended as the latter, but being confused with the former because R8 was mentioned in the preamble to the policy. Except in the most exigent circumstances, I think FIRST and most participants expect that events will not interfere with the competition formula laid out in the game manual—and that's why the invocation of R8 was problematic. And that's why I'd like a clear statement one way or the other.

¹ For example, it's foolishness to believe that a robot taken apart for maintenance should at all times comply with the robot rules.
² For example, events can make rules like "no smoking" or "no walking under the bleachers", but these are distinct from the competition rules in the game manual.

I'm not quite sure just what you are asking, or why it matters, but after reading your question several times, I'll make a stab at explaining to you the nature of the situation.

FIRST is committed to providing a safe environment for robot competitions--see http://www.usfirst.org/roboticsprogr...-manual?id=470, the preamble of which says, in part,
"Instilling a culture of safety is a value that every individual in the FIRST community must embrace as we pursue FIRST’s mission and vision. FIRST Robotics Competition (FRC) has adopted safety as a core value and has established the framework for safety leadership in all aspects of the program."

So dedicated is FIRST to safety, that they have produced a Safety Manual, which can be found at http://www.usfirst.org/sites/default...%201.31.14.pdf

Several items from this Safety Manual are of importance to our discussion here, including:

Under General Safety,
"Keep full control of robot at all times."

and

Under Stored Energy
"Plan the required activities when servicing or making repairs to the robot. Make sure all team members are aware that work is being done on the robot. Address the following:
Avoid working on an energized robot during repairs unless necessary.
Electrical Energy: Disconnect the electric power source.
- Best Practice - Always de-energize the robot before working on it by opening the
main circuit breaker (“re-set” lever is released) and unplugging batteries.
Pneumatic Energy: Always vent any compressed air to the atmosphere.
- This applies to all parts of the pneumatic system.
- Open the main vent valve and verify that all pressure gauges on the robot indicate zero pressure.
Miscellaneous Energy Sources:
- Relieve any compressed or stretched springs or tubing.
- Lower all raised robot arms or devices that could drop down to a lower position on the robot."

and under Post Match:
"- Relieve all stored energy and open the main circuit breaker on the robot.
-Ensure that the robot is made safe prior to lifting it off the playing field, no dangling parts, etc.
- Remove debris from the playing field.
- Use the above “Pre-lift” and “During the lift” procedures.
- Use the gate opening to exit the playing field. Climbing over the railing is prohibited."

Clearly FIRST expects safe conditions be maintained and has pointed out items in their safety manual which have been reiterated by the Peachtree LRI in his announcement to teams.

Further, FIRST has Safety Advisors at events whose job includes watching for unsafe conditions where ever they find them.

The Peachtree LRI is taking his responsibilities seriously in light of:
-The Robot Rules-Specifically R-8
-FIRST's own TEAM Update for 2-18-14
-Pronouncements from other Regionals
-The fact that high energy discharges have caused minor injuries at other regionals
-Discussions among LRI's in their closed Forum
-Concurrence of the Peachtree Planning Committee which took approval action at its meeting of 3-12-14 (I know since I'm on the Planning Committee, as is the LRI).

Robot Inspectors are just one part of the team which puts on the regional competition. They are charged with making sure robots are first and foremost, SAFE. The Lead Robot Inspector (LRI) is responsible for being the final word on rule compliance, including R-8. If you need a reference, see Section 5.5.2 of the Rule Book, which says:
"5.5.2 Eligibility and Inspection Rules
At each event, the Lead ROBOT Inspector (LRI) has final authority on the legality of any COMPONENT, MECHANISM, or ROBOT. Inspectors may re-Inspect ROBOTS to ensure compliance with the rules."

Note that R-8 and Section 5.5.2 do not specify a limitation on the LRI. Thus anytime the LRI becomes aware of a safety issue with a robot, he may take action. It doesn't matter if the robot has been inspected or not, whether it is in the pit or on the field, or anywhere in between, if the robot is creating an unsafe condition, the LRI has control of the situation. Further, if a Safety Advisor sees an unsafe condition anywhere in the venue, he can move to solve it. Others seeing such unsafe conditions should report them. The important thing here is to keep the competition safe.

In your discussion, you appear to be creating two mutually exclusive conditions, either the announcement is made under the authority of the competition, or in situations where R-8 "applies". Let me tell you, R-8 applies at all times the robots are in the venue, before inspection, after inspection, on the field, in the pit, or in between. Your robot needs to be safe at all times and under all conditions. This is not an "R-8 "vs. "Event Authority" dichotomy. Everything which happens at the event happens under "Event Authority" and the LRI is the one designated to be responsible for safety issues at the event dealing with the robot design and operation.

Regardless of how you want to view the authority, the end result is that if your robot comes to the Peachtree, the LRI and his inspection team will work with you to make sure your experience is a safe one.

Dr. Bob, Peachtree Planning Committee Member. Robot Inspector, Mentor, First Ambassador and Volunteer
Chairman's Award is not about building the robot. Every team builds a robot.

[Mr V]

This was communicated to team in the 2014-02-18 manual update

As we approach competition season, we wanted to remind Teams to prioritize safety when transporting their ROBOT on and off the FIELD, to include transporting the ROBOT in its lowest potential energy state and/or including lockouts to help mitigate unexpected release of stored energy. Inspectors will ensure ROBOTS comply with R8 and do not create unsafe conditions. If inspectors feel your ROBOT is unsafe to be transported while storing energy, they will work with you to add lockouts to help mitigate the unexpected release of stored energy. If you are unsure as to whether or not you need lockouts, it’s best to be on the safe side and assume you do. Per T12, the Team should be able to safely release stored energy and be able to demonstrate this during Inspection. If the ROBOT creates an unsafe condition for people to be around it, on-FIELD troubleshooting prior to the MATCH will be limited to that which can be achieved safely.

The letter to the attendees of the Peachtree regional was a proactive back up to ensure that all teams were aware of the update and had time to devise a plan to comply with it and an attempt to clarify exactly what would be expected. It certainly is not a case where someone associated with Peachtree came up with their own rules that do not follow the rules as set out by FIRST.

[BBray_T1296]

Originally Posted by Richard Wallace

Looks like this is not just for Georgia.

There was no such requirement at the Dallas Regional.



However we brought and used a 1 ton load chain to clip our shooter to the frame just in case, and also because it was a good iddea

[Tristan Lall]

Originally Posted by Retired Starman

Note that R-8 and Section 5.5.2 do not specify a limitation on the LRI. Thus anytime the LRI becomes aware of a safety issue with a robot, he may take action. It doesn't matter if the robot has been inspected or not, whether it is in the pit or on the field, or anywhere in between, if the robot is creating an unsafe condition, the LRI has control of the situation. Further, if a Safety Advisor sees an unsafe condition anywhere in the venue, he can move to solve it. Others seeing such unsafe conditions should report them. The important thing here is to keep the competition safe.

In your discussion, you appear to be creating two mutually exclusive conditions, either the announcement is made under the authority of the competition, or in situations where R-8 "applies". Let me tell you, R-8 applies at all times the robots are in the venue, before inspection, after inspection, on the field, in the pit, or in between. Your robot needs to be safe at all times and under all conditions. This is not an "R-8 "vs. "Event Authority" dichotomy. Everything which happens at the event happens under "Event Authority" and the LRI is the one designated to be responsible for safety issues at the event dealing with the robot design and operation.

While I'm sure you have the best intentions when you attempt to run the event this way, I don't think that's a defensible interpretation of the rules and FIRST's policies. The commitment to safety applies everywhere, but the robot rules (even if they are safety-related) do not. The regional is nevertheless empowered to enact and enforce site-wide policies, and can reasonably require safety interlocks without invoking R8 or threatening game-related penalties.


The LRI has absolute authority over the enforcement of the robot rules via the inspection process. As the manual clearly states, there is no higher authority or appeal process, even to FIRST headquarters. (If the LRI makes an unsatisfactory ruling, they can either be convinced to change their mind, or be removed and replaced by appropriate authorities, but not overruled directly.)

But the LRI's absolute authority does not extend to policies and rules outside the robot section of the manual. (To read 5.5.2 as giving the LRI final authority over other sections of the manual would create a conflict with other officials and staff—clearly the LRI has no gameplay authority, no authority to direct the tournament, etc..) In those cases, like any other event official, the LRI is permitted and indeed expected to promote safety by mitigating immediate hazards and offering guidance, but is subordinate to the person in whom final authority is vested (likely the regional director, in matters concerning public safety). So for example, if an LRI says to a team that they are unsafely using a tool and must stop, since that is a matter of event operations and not robot rules, their decision is not necessarily final and may be referred to the regional director. (Only if the regional director has expressly delegated that decision to the LRI, would it necessarily proceed as you describe.)

If you doubt that a dichotomy exists between rules stemming from the game manual and rules and policies stemming from event considerations, please refer to the FIRST Regional Planning Guide (specifically the sections on volunteer roles and the decision authority matrix).


As for the contention that robot rules apply everywhere at all times, that will inevitably lead to perverse consequences. Many of the robot rules clearly cannot be intended to apply when the robot is off the field or undergoing major maintenance. Consider:

• R3: the size limits would apply in the pits
• R32: unsecuring the battery is illegal
• R35: the APP SB50 connector shall always be connected
• R41: the cRIO must always be connected to the 24 V terminals
• R60: robot control signals must pass through the arena from the operator console

Obviously these do not apply at all times. If R8 is specifically intended to be different, then please prove it in a manner that necessarily follows from the competition manual—because that's the standard an LRI ought to be employing.

Absent such proof, I'd contend that if a team is operating their robot unsafely off the field, the LRI can handle it as a general safety issue by mitigating the immediate hazard and offering guidance as above, and/or they can treat it as an inspection and invoke the rules (like R8) and penalties (like failing inspection). Even though both enforcement actions are potentially undertaken by the same person, the authorities for those actions are distinct and must not be confused.


Returning to the original question, since the safety interlock device is not necessarily a robot part, and is not intended to be used in gameplay, teams must not be given the impression that a game-related penalty (e.g. under T6 or T7 due to an R8 violation) will be imposed for failing to comply with the safety interlock directive. But given that the regional committee has obviously required the use of such a device, I recognize that other sanctions (like exclusion from the premises due to the hazard) could conceivably be justified. In that circumstance, final authority does not rest with the LRI, unless such authority has been delegated.

Basically, the integrity of the competition demands that event staff act only within their authority. If experienced FIRST participants disagree as to the extent of that authority in this case, I'd recommend that the question be publicly referred to FIRST for clarification.

[Al Skierkiewicz]

Tristan,
Your own last statement just negated your entire premise. FRC did delegate this safety issue to the LRI and inspection team (and all event staff) long ago. The Team Update was merely a reminder to teams ("As we approach competition season, we wanted to remind Teams") that inspectors are there to help, not hinder, the competitors. Not because they merely chose to do so but because the issue was already covered under R8 (or equivalent in prior years) which the Inspectors have been managing for many years. You know this as a former division lead inspector. I have witnessed you making these same decisions many times. You know you (we) had the authority to make these rulings then as now. You know you were expected to enforce safety and the safe transport and operation of robots both on the field and in any other part of the competition(s). You also know the challenge we experience when we have to make the hard decisions when a team has a design they are hoping will win the competition but is too dangerous to be near.
Now, speaking for all the inspectors, we work hard to insure that everyone has a great event. We do that by working with teams and pointing out the things that they have failed to see in the heat of design and build. Inspectors work very hard at getting everyone compliant and functional and yes, safe. We take very seriously the belief that we are part of every team at a competition and when they fail, we fail, when they win, we win. When everyone walks away from the weekend with a smile and no injuries, we know we have done a great job.

[Retired Starman]

Originally Posted by Tristan Lall

Basically, the integrity of the competition demands that event staff act only within their authority. If experienced FIRST participants disagree as to the extent of that authority in this case, I'd recommend that the question be publicly referred to FIRST for clarification.

By all means, please direct your concerns to the Game Design Committee via Q & A. We all eagerly await their final say in this matter.

Dr. Bob
Chairman's Award is not about building the robot. Every team builds a robot.

[Daniel_LaFleur]

Originally Posted by Al Skierkiewicz

Tristan,
Your own last statement just negated your entire premise. FRC did delegate this safety issue to the LRI and inspection team (and all event staff) long ago. The Team Update was merely a reminder to teams ("As we approach competition season, we wanted to remind Teams") that inspectors are there to help, not hinder, the competitors. Not because they merely chose to do so but because the issue was already covered under R8 (or equivalent in prior years) which the Inspectors have been managing for many years. You know this as a former division lead inspector. I have witnessed you making these same decisions many times. You know you (we) had the authority to make these rulings then as now. You know you were expected to enforce safety and the safe transport and operation of robots both on the field and in any other part of the competition(s). You also know the challenge we experience when we have to make the hard decisions when a team has a design they are hoping will win the competition but is too dangerous to be near.
Now, speaking for all the inspectors, we work hard to insure that everyone has a great event. We do that by working with teams and pointing out the things that they have failed to see in the heat of design and build. Inspectors work very hard at getting everyone compliant and functional and yes, safe. We take very seriously the belief that we are part of every team at a competition and when they fail, we fail, when they win, we win. When everyone walks away from the weekend with a smile and no injuries, we know we have done a great job.

Al,

My question, that no one seems to want to answer, is: Does a regional have the authority to add a requirement after bag & tag without the express approval from the GDC through the OFFICIAL channels of the Team updates or Q&A?

In this case the Peachtree regional is adding a requirement. The R8 requirement is that the robot "be safe" while the Peachtree requirement is an "interlock". These requirements are not identical.

Allowing regionals to add (or worse remove) requirements erodes FIRSTs and the GDCs authority over their product. and is a slippery slope (how far can a regional go???).

Again, I do not disagree with the INTENT of the LRI for Peachtree, in fact I agree wholeheartedly. But my agreement does not negate the possible abuse that this policy could bring.

JMHO

[Al Skierkiewicz]

Daniel,
I don't think the email from Peachtree has done anything beyond what is open in R8 and what was reiterated in the Team Update. They merely have outlined what steps will be taken as an extension of the Team Update as a courtesy to teams attending their event. i.e. If your robot requires to be transported with stored energy at anything other than zero potential, the inspectors will assist you in making an interlock that prevents it's accidental release. As I have said before, a relatively few teams design their robot in this fashion and very few of those teams have no interlock in place at the present time. I think there were perhaps two teams or less at each of the events I have worked thus far that required this addition.

[Jon Stratis]

Daniel - this is not an added requirement. It is a public announcement to the teams attending the event about how an existing robot rule will be interpreted at the event.

Lets pretend the announcement never happened. At the event, the LRI goes around and talks with all the teams with stored energy shooters individually about their shooters and tells them for safety he's requiring them to add some sort of safety interlock if they don't already have it. Would you assume this is a new rule implemented by the event, or would you assume it's covered by R08?

Is it the specific wording of the communication that has everyone upset? Would it have made a difference if, instead of saying "Peachtree Inspectors will be requiring..." it said something like "Peachtree Inspectors will be paying very close attention to R08, and will likely ask teams to have..."?

[Karthik]

Originally Posted by Al Skierkiewicz

Daniel,
I don't think the email from Peachtree has done anything beyond what is open in R8 and what was reiterated in the Team Update.

Originally Posted by Jon Stratis

Is it the specific wording of the communication that has everyone upset? Would it have made a difference if, instead of saying "Peachtree Inspectors will be requiring..." it said something like "Peachtree Inspectors will be paying very close attention to R08, and will likely ask teams to have..."?

Al and Jon,

I think the confusion has arisen because of the inconsistency regarding safety locks. The Team Update strongly suggested them, Peachtree and other events have mandated them, while some events have completely ignored them. If there was a Team Update or Q&A that stated these devices were required at all events, I think this would dissipate almost all confusion. It seems puzzling that something as important as safety would be handled on an event by event basis.