World Robot Summit 2025
Harsh Environment F-REI Challenge Q & A

Plant Disaster Challenge

Damages and Liability
Q.As a safety measure, eyebolts are required to be attached to the robot while it ascends and descends the stairwell during the P3 mission. By doing so, tension will be put on the front part of the robot. Pulling the front of the Spot robot might be dangerous, leading to the question of whether humans or robots should be protected. In our case, from a safety perspective, it might be safer to avoid pulling the body of the robot. As attaching the eyebolts is not counted into the competition time, it should be fair to have an option to not attach eyebolts to the robot. Is this a plausible option?
A.For the Plant Disaster Challenge, human safety is a top priority. All participants are required to comply with the Participation Agreement before applying to the competition. The following link leads to the WRS Participation Agreement:

https://wrs.f-rei.go.jp/en/entry/

In the Participation Agreement, it states: "WRS participants bear all responsibility for personal belongings including notebook computers and robot equipment regardless of whether the participant is in or outside of the venue. Organizers accept no liability for injury, damage or accidents for personal belongings. Organizers accept no liability for any accidents, damages, injuries, deaths, etc. that have occurred under the participants' responsibilities."
Teams are required to agree to the Participation Agreement once more during the final registration process. Therefore, any damages to the RTF facility that adhere to the statements above are insured under the event liability insurance.

Digital Twin
Q.During the WRS pre-tournament, our team has manually inserted information into the Digital Twin. It seems that for the main tournament automatic meter reading is required, however, is it possible to manually save the image data the robot collects to the computer, manually upload the data into an image processing server, and report the processed information to the Digital Twin manually?
To what extent is manual data triggering/human intervention acceptable for this competition?
A.The Digital Twin should accomplish the role of the "image processing server" that you mentioned in your questions. Specifically, the mission is for the team to collect an image of the meter gauge, use image processing to identify the meter readings (the gauge itself and the meter handle; please reference the image below), and report these readings to the Digital Twin by uploading the image to the Digital Twin.
Q.Can you specify further on the reporting procedure?
A.Instructions for the procedure of reporting to the Digital Twin will be provided separately at a later date.
Q.When reporting the status of the valves (open/close) to the Digital Twin, are the operators to decide whether to report the state of the valve?
A.Either the robot operator or the robot may determine whether to report the state of the valves to the Digital Twin.
Judging criteria: circular valve: 180 degrees, lever valve: 90 degrees.
Q.As the only things that are required are automatic meter reading and automatic evaluation diagnosis, is it correct to assume that the reporting and uploading of the values returned to the PC or operating terminal to the Digital Twin do not need to be automated?
A.Automation is preferred. Otherwise, please consult with the administration.
Q.Is it correct to assume that the software used for image processing (like pressure gauges and cracks) should be prepared by the teams?
A.Yes.
Q.The pressure gauge image processing used by our company does not display the values on the image. Is that a problem?
A.Yes. Evidence demonstrating that the scale values have been digitized through image processing is required. Therefore, it is insufficient.
Q.I would like to ask about the data format of the plant digital twin prepared by the organizers. Is it compatible with the ROS1/RViz environment that we will be using?
A.The RMS cloud middleware used to implement the digital twin system provides HTTP-based web APIs for uploading data from robot platforms or other external applications.
These APIs follow a standard, platform-independent design and can be accessed from any programming language or operating system.
Depending on the specific ROS version and implementation, developers may need to implement a local ROS node to bridge communication between the server APIs and ROS topics for ROS-based systems.
The detailed API specifications and calling procedures for how to report to the Digital Twin system will be published around late May / early June.
Q.The rulebook states, "The image used to automatically read the meter is also to be submitted to the Digital Twin." In other words, should the image present the meter only? Is there a problem if the image is in B&W (black and white)? Would it be possible to provide a sample image?
A.A processed image containing the face of a pressure gauge and its readings is required to be submitted as evidence of digitalization, as provided in the image below. A B&W (black and white) image is permitted.
Q.How are the teams to read the task ID? Are the operators to identify the ID through the camera mounted on the robot, or will the team be required to prepare a program that would read the digital data equivalent to the ID?
A.Every inspectional/operational task ID will be embedded in a QR code, therefore reading the QR code will provide the task ID.
Q.As for the Digital Twin, is it necessary to communicate the robot’s location and position? If so, please provide information on the coordination system (e.g. point of origin) and other instructions.
A.Communicating the robot’s location and position is required. As described in Chapter 13 of the rulebook, further instructions regarding the reporting method to the Digital Twin will be published by late May/early June.
Entry Forms
Q.Are the 'Link to Team Introduction Video' in the Sheet1_WRS2025_Plant and the 'Team Intro Video' in Sheet2_WRS2025_Plant optional?
A.Yes, both videos are optional.
Evaluation
Q.Will you publish the results of the pre-tournament held in October 2024.
A.The results and achievement rates of the pre-tournament are as follows:
Field
Q.Is it possible to provide us with a 3D model of the competition field in advance, specifically a 3D model of the first floor of the mock plant tower?
A.The 3D CAD data for the first and third/fourth floors of the mock plant tower is scheduled to be made public around late May/early June.
Q.Is it possible to provide us with a 3D model of the competition field in advance, specifically a 3D model of the first floor of the mock plant tower?
A.The 3D CAD data for the first and third/fourth floors of the mock plant tower is scheduled to be made public around late May/early June.
Mapping
Q.If utilizing SLAM, is it necessary to submit the map that is saved on SLAM? If so, please provide further details about the submission method (like file type)?
A.There is no need to submit the SLAM map.
Measuring Devices
Q.Can the data produced by the measuring device (27MG) be portrayed only through the measuring device’s display, or are there any other ways to display the data?
A.There are no other ways to display the data from the measuring devices.
Q.If the only way to display the data from the measuring device (27MG) is through reading the measuring device’s display, then is it necessary to read the data? Is there a need to have the robot read the display and detect the measurements provided by the measuring device?
A.The teams are required to read the measurements displayed by the measuring device.
The robot may read the measurements automatically or manually using visual confirmation.
Q.Are the teams allowed to use a different measuring sensor (which is not the 27MG) to measure the thickness of the crack?
A.Teams may use different means (other measuring devices) to measure the degree of metal loss for the competition. However, the competition administration will not provide any additional or different sensors.
Missions
Q.Is it possible to challenge a mission multiple times during the competition? Are teams obligated to challenge each mission (or may teams choose to opt out of certain missions as a winning strategy)?
A.For the Plant Disaster Challenge, teams may challenge each mission once. Teams are not obligated to challenge every mission (however, challenging Mission 1 twice and skipping Mission 2 is not allowed). During the test run, teams will be allowed to arrange among themselves times to practice the missions in the field during the Test-run. Teams may practice multiple times during that time.
Q.Regarding the valve rotating missions, would the teams be informed of the state of the valves (whether they are opened/closed)?
A.The state of lever type valves should be evaluated according to their position. Revolving-type valves will have an eye mark. The degree of task completion (opening/closing valve) will be evaluated depending on the location of the valve compared to the eyemark.
Mission P3
Q.During the pre-tournament, the teams were instructed to use the handheld measuring device during the 5-minute prep time. When will it be available to use for the main competition?
A.We will soon publish a CAD drawing of the inspection probe soon. However, the teams will receive the devices right before the competition.Therefore, please prepare a strategy for mantling the devices in advance with the team.
Q.As for the crack in the P3 mission, will the construction of the test piece change for the main tournament?
A.The objects used for the test pieces are made according to the following principles:

1) Easy to make

2) Reproducibility - to reproduce the required measurements

3) As realistic as possible

We used the principles above to construct the test pieces for the competition. The red marker shows the ultrasonic test solution seeping into a crack (the trench is machined and filled with ultrasonic inspection fluid).
As the test pieces are meant to reproduce inspection points in an actual inspection mission, there are no plans to change the test pieces.
Q.What is the model number for the 200mmx200m crack test piece that will be used for the P3 mission?
A.The test piece was constructed by the competition committee. Therefore, there is no model number. Teams can access further information about the construction of the test pieces by referencing the 「how_to_make_the_deterioration241218.pdf」manual that has been published in the competition official website.
Specific information, including the width and length of the crack, will not be publicized.
Mission P5
Q.The P5 mission aims to use drones as inspection robots. What if a team does not have drones? Would using a 30x zoom lens to inspect the area be possible?
A.There is no problem with mantling a 30x zoom camera on the robot, however, many inspection targets will be hidden in dark areas, meaning it might be difficult to identify all targets during the mission. We advise you to find a way to integrate a drone into your inspection strategy.
Q.For the P5 mission, will changing locations from the plant to the tunnel be included as a mission task?
A.Moving between the plant tower and the tunnel will not be included as a mission task.
Q.Is the operation area for mission P5 the same operation area as tasks P1 - P4 and P6? If so, will it be possible to operate the robot from the plant operation area using a wired connection? Could we please ask for further clarification regarding the operation areas and locations?
A.There will be operation areas for the P5 mission near the plant tower as well as the tunnel. It is up to the teams which area they would prefer to utilize. There will be no additional points for operating the robot from the operation area near the plant tower. It is possible to operate the robot using a wired connection.
Q.For the P5 mission, will the inside of the tunnel be completely dark?
A.There will be times where the tunnel will be completely dark.
Q.For Mission P5, are drones obligated to pass/enter through the Upper Damage Transit?
A.Not necessarily.
Q.Is there a 3D Map of the Tunnel facility for Mission P5?
A.There are no 3D Maps of the Tunnel facility. However, there are Tunnel blueprints. Please download the document from the link below.
https://www.fipo.or.jp/robot/wp-content/uploads/2021/04/試験用トンネル図面_1.pdf
Q.From where would teams operate for Mission P5? Where will the wired router be placed? If a team chooses to utilize a wired method of connection, until which point are teams allowed to enter the field?
A.Tables for operation use will be placed near the northern exit of the Tunnel facility. A wired router will be placed on the operation tables. Only Safety Managers will be allowed into the Tunnel facility during the competition, and only Safety Managers will be allowed to handle any LAN cables.
Mission P6
Q.Will the teams be informed beforehand the whereabouts of the victims in the field for Mission P6 (similar to the previous tournament), or will that information be withheld until the mission begins?
A.Teams will not be informed beforehand regarding the whereabouts of the victims in the field.
Robots
Q.The rulebook states, “It is permitted to exchange robots in-between missions.” However, is it possible to add attachments or change wires for robots that have already been approved during the robot inspection?
A.Yes.
Safety Management
Q.Will the safety manager be able to enter the competition area while the drone is being operated?
A.The safety manager will not be able to enter the competition area while the drone is being operated.
Setting-up
Q.For the Plant Disaster Challenge, are teams required to complete the missions one after the other (consecutively)? 5 minutes for set-up and clean-up might not be sufficient, considering the time it takes to carry and move the robot.
A.The competition schedule will include a designated timeframe for teams to travel from the paddocks to the competition field (teams may request an elevator/transportation tool if necessary).
Missions cannot be completed consecutively without set-up and clean-up. Each team will have 5 minutes for set-up before the mission commences and 5 minutes for clean-up after the mission ends. The 5-minute set-up time is designated for teams to set up their robot, while the 5-minute clean-up time is designated for teams to clear the competition field. Please make sure to finish set-up and clean-up within the designated 5-minutes.
Supplemental Information
Q.When will the CAD diagrams be published?
A.A guide for the metal loss measuring device and probe is planned to be published around late May/early June.
Q.When will further details concerning the Digital Twin and communication networds be published?
A.Supplemental information on the Digital Twin and communication networks is planned to be published around late May/early June.