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+++ b/2024-draft/onstage_rules.html
@@ -5,7 +5,7 @@
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 <meta name="viewport" content="width=device-width, initial-scale=1.0">
 <meta name="generator" content="Asciidoctor 2.0.20">
-<meta name="author" content="2023-12-10">
+<meta name="author" content="2023-12-26">
 <title>RoboCupJunior OnStage Rules 2024</title>
 <link rel="stylesheet" href="https://fonts.googleapis.com/css?family=Open+Sans:300,300italic,400,400italic,600,600italic%7CNoto+Serif:400,400italic,700,700italic%7CDroid+Sans+Mono:400,700">
 <style>
@@ -438,7 +438,7 @@
 <div id="header">
 <h1>RoboCupJunior OnStage Rules 2024</h1>
 <div class="details">
-<span id="author" class="author">2023-12-10</span><br>
+<span id="author" class="author">2023-12-26</span><br>
 </div>
 <div id="toc" class="toc2">
 <div id="toctitle">Table of Contents</div>
@@ -448,26 +448,25 @@ <h1>RoboCupJunior OnStage Rules 2024</h1>
 <ul class="sectlevel2">
 <li><a href="#team-size-membership">2.1. Team Size &amp; Membership</a></li>
 <li><a href="#age-requirement">2.2. Age requirement</a></li>
+<li><a href="#general-robocupjunior-rules">2.3. General RoboCupJunior Rules</a></li>
 </ul>
 </li>
 <li><a href="#onstage-performance">3. OnStage Performance (40% of total score)</a>
 <ul class="sectlevel2">
-<li><a href="#judging">3.1. Judging</a></li>
-<li><a href="#stage-performance">3.2. Stage performance</a></li>
-<li><a href="#restarts">3.3. Restarts</a></li>
-<li><a href="#music-and-multimedia-presentations">3.4. Music and Multimedia presentations</a></li>
-<li><a href="#Stage">3.5. Stage</a></li>
-<li><a href="#robots">3.6. Robots</a></li>
-<li><a href="#communication-and-localization">3.7. Communication and Localization</a></li>
-<li><a href="#scenery">3.8. Scenery</a></li>
-<li><a href="#robot-autonomy-and-interaction">3.9. Robot Autonomy and Interaction</a></li>
-<li><a href="#humans-on-stage">3.10. Humans on stage</a></li>
-<li><a href="#deductions">3.11. Deductions</a></li>
-<li><a href="#preparations-for-the-stage-performance">3.12. Preprarations for the stage performance</a></li>
-<li><a href="#practice-on-the-main-stage">3.13. Practice on the Main Stage</a></li>
-<li><a href="#content">3.14. Content</a></li>
-<li><a href="#saftety-and-power-considerations">3.15. Safety and Power Considerations</a></li>
-<li><a href="#authenticity-and-originality">3.16. Authenticity and originality</a></li>
+<li><a href="#stage-performance">3.1. Stage performance</a></li>
+<li><a href="#restarts">3.2. Restarts</a></li>
+<li><a href="#music-and-multimedia-presentations">3.3. Music and Multimedia presentations</a></li>
+<li><a href="#Stage">3.4. Stage</a></li>
+<li><a href="#robots">3.5. Robots</a></li>
+<li><a href="#communication-and-localization">3.6. Communication and Localization</a></li>
+<li><a href="#scenery">3.7. Scenery</a></li>
+<li><a href="#robot-autonomy-and-interaction">3.8. Robot Autonomy and Interaction</a></li>
+<li><a href="#humans-on-stage">3.9. Humans on stage</a></li>
+<li><a href="#deductions">3.10. Deductions</a></li>
+<li><a href="#preparations-for-the-stage-performance">3.11. Preprarations for the stage performance</a></li>
+<li><a href="#practice-on-the-main-stage">3.12. Practice on the Main Stage</a></li>
+<li><a href="#content">3.13. Content</a></li>
+<li><a href="#saftety-and-power-considerations">3.14. Safety and Power Considerations</a></li>
 </ul>
 </li>
 <li><a href="#onstage-technical-interview">4. OnStage Technical Interview (30% of total score)</a>
@@ -483,28 +482,20 @@ <h1>RoboCupJunior OnStage Rules 2024</h1>
 <li><a href="#technical-description-poster">5.2. Technical Description Poster (15% of otal score)</a></li>
 </ul>
 </li>
-<li><a href="#judging-and-feedback">6. Judging and feedback</a>
+<li><a href="#judging">6. Judging</a>
 <ul class="sectlevel2">
 <li><a href="#judging-criteria">6.1. Judging criteria</a></li>
 <li><a href="#totaling">6.2. Totaling</a></li>
-<li><a href="#feedback">6.3. Feedback</a></li>
+<li><a href="#robocupjunior-officials">6.3. RoboCupJunior Officials</a></li>
+<li><a href="#mentors">6.4. Mentors</a></li>
 </ul>
 </li>
-<li><a href="#code-of-conduct">7. Code of conduct</a>
+<li><a href="#additional-information">7. Additional information</a>
 <ul class="sectlevel2">
-<li><a href="#spirit">7.1. Spirit</a></li>
-<li><a href="#fair-play">7.2. Fair play</a></li>
-<li><a href="#behavior">7.3. Behavior</a></li>
-<li><a href="#robocupjunior-officials">7.4. RoboCupJunior Officials</a></li>
-<li><a href="#mentors">7.5. Mentors</a></li>
-</ul>
-</li>
-<li><a href="#additional-information">8. Additional information</a>
-<ul class="sectlevel2">
-<li><a href="#sharing">8.1. Sharing</a></li>
-<li><a href="#rule-clarification">8.2. Rule Clarification</a></li>
-<li><a href="#information-before-and-during-the-event">8.3. Information before and during the event</a></li>
-<li><a href="#special-circumstances">8.4. Special Circumstances</a></li>
+<li><a href="#sharing">7.1. Sharing</a></li>
+<li><a href="#rule-clarification">7.2. Rule Clarification</a></li>
+<li><a href="#information-before-and-during-the-event">7.3. Information before and during the event</a></li>
+<li><a href="#special-circumstances">7.4. Special Circumstances</a></li>
 </ul>
 </li>
 </ul>
@@ -591,36 +582,20 @@ <h2 id="_overview" class="discrete">Overview</h2>
 <h2 id="judging-overview"><a class="anchor" href="#judging-overview"></a><a class="link" href="#judging-overview">1. Judging Overview</a></h2>
 <div class="sectionbody">
 <div class="paragraph">
-<p>All teams are judged in the following areas: a Technical Description Poster,
-Technical Demonstration Video, Technical Interview, and an OnStage Performance.
-Teams must highlight four of their robot(s) features in the work they present to
+<p>All teams are judged in the following areas: Technical Description Poster,
+Technical Demonstration Video, Technical Interview and the OnStage Performance.
+Teams must highlight four of their robot(s) <strong>features</strong> in the work they present to
 the judges. Ask the following question - “What do we believe are our best
 system/sensor integration, electromechanical design, interaction, or software
-solutions implemented on their robot(s)?” The aim should be to present how the
+solutions implemented on our robot(s)?” The aim should be to present how the
 chosen features are integrated to enhance the quality of the performance in
-unique and innovative ways. Examples of features include, but are not limited to:</p>
-</div>
-<div class="ulist">
-<ul>
-<li>
-<p>Locomotion</p>
-</li>
-<li>
-<p>Object/human detection and avoidance</p>
-</li>
-<li>
-<p>Human, robot and/or prop interaction</p>
-</li>
-<li>
-<p>Manipulation (grabbing/grasping)</p>
-</li>
-<li>
-<p>Visual/audio recognition</p>
-</li>
-<li>
-<p>Localization and mapping</p>
-</li>
-</ul>
+unique and innovative ways. Examples of features include, but are not limited to:
+- Locomotion
+- Object/human detection and avoidance
+- Human, robot and/or prop interaction
+- Manipulation (grabbing/grasping)
+- Visual/audio recognition
+- Localization and mapping</p>
 </div>
 <div class="paragraph">
 <p>Teams should describe and provide reasoning for their four chosen features in the
@@ -656,11 +631,17 @@ <h3 id="age-requirement"><a class="anchor" href="#age-requirement"></a><a class=
 <div class="paragraph">
 <p>All team members must be aged 14 to 19 years old (ages as of 1st of July).</p>
 </div>
-<div id="general-robocupjunior-rules" class="paragraph">
+</div>
+<div class="sect2">
+<h3 id="general-robocupjunior-rules"><a class="anchor" href="#general-robocupjunior-rules"></a><a class="link" href="#general-robocupjunior-rules">2.3. General RoboCupJunior Rules</a></h3>
+<div class="paragraph">
 <p>All RoboCupJunior OnStage Teams must also comply with the RoboCupJunior General
 Rules which can be found at:
 <a href="https://junior.robocup.org/robocupjunior-general-rules/" class="bare">https://junior.robocup.org/robocupjunior-general-rules/</a></p>
 </div>
+<div id="addition-2" class="paragraph">
+<p><span class="red">* <a id="authenticity-and-originality"></a> === Authenticity and originality  Teams who, in the opinion of the judges, have knowingly produced duplicate robots, costumes, or performance movements (duplicate music is allowed) of another team will be subject to penalties. This applies to any previous RoboCupJunior Dance or OnStage performance. In case of doubts, the team must be able to provide clear documentation of their preparations and how they have come to their idea.  Teams should inform the judges if robotic components have been featured in previous competitions. To gain marks, teams should be prepared to provide insight on how substantial changes have been made between competitions as evidence of the students’ continuing development of the technologies. Teams should specify how innovations have been done with their technologies and provide documentation to support their claims. *</span></p>
+</div>
 </div>
 </div>
 </div>
@@ -684,29 +665,18 @@ <h2 id="onstage-performance"><a class="anchor" href="#onstage-performance"></a><
 throughout their performance routine. It is expected that all participating
 teams perform their best.</p>
 </div>
-<div class="sect2">
-<h3 id="judging"><a class="anchor" href="#judging"></a><a class="link" href="#judging">3.1. Judging</a></h3>
-<div class="paragraph">
-<p>Teams have up to two opportunities to perform before the judges. If more
-than one performance is scheduled, the highest score from each performance
-will be used. The top-scoring teams may be invited to perform again in a
-final competition.</p>
-</div>
-<div class="paragraph">
-<p>The stage performance will be judged by a panel of at least three
-officials. At least one of these judges is a RoboCupJunior official who
-has judged the Technical Interview as well.</p>
-</div>
+<div id="deletion-2" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_2" class="footnote" href="#_footnotedef_2" title="View footnote.">2</a>]</sup></p>
 </div>
 <div class="sect2">
-<h3 id="stage-performance"><a class="anchor" href="#stage-performance"></a><a class="link" href="#stage-performance">3.2. Stage performance</a></h3>
-<div id="addition-2" class="paragraph">
+<h3 id="stage-performance"><a class="anchor" href="#stage-performance"></a><a class="link" href="#stage-performance">3.1. Stage performance</a></h3>
+<div id="addition-3" class="paragraph">
 <p><span class="red"><strong>Teams have up to two opportunities to perform before the judges.</strong></span></p>
 </div>
 <div class="paragraph">
 <p>The duration of the performance routine must be no less than 1:30 minutes.</p>
 </div>
-<div class="paragraph">
+<div id="stage-time" class="paragraph">
 <p>Each team has a total of seven minutes on the stage. This time includes
 stage set-up, introduction, and performance routine, including any re-starts
 due to factors under the team’s control, and the time for packing up and
@@ -723,23 +693,17 @@ <h3 id="stage-performance"><a class="anchor" href="#stage-performance"></a><a cl
 penalty. The judges have the final say on any time penalties.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">Teams wait on the side of the stage before being
+<p>Teams wait on the side of the stage before being
 welcomed on stage. A technician designated by RoboCupJunior officials will
 start the music and the audiovisual / multimedia presentation for the
-performance routine.</span></p>
-</div>
-<div class="paragraph">
-<p><span class="green-background">Teams are required to join the “Backstage Pit” of an
-online platform, which will allow them to test their AV and streaming
-connections. Teams will then be moved to the main performance “stage” for
-the commencement of their live performance. Teams start the music for the
-performance routine once on the “stage”.</span></p>
+performance routine.</p>
 </div>
 <div class="paragraph">
 <p>Performances will not be live-streamed for general public viewing.
 Recordings will be edited and released onto the RoboCupJunior OnStage YouTube
 channel. Teams have an option to request not to publish the recording of their
-performance if they wish.</p>
+performance <a id="deletion-3"></a>
+<sup class="footnote">[<a id="_footnoteref_3" class="footnote" href="#_footnotedef_3" title="View footnote.">3</a>]</sup>.</p>
 </div>
 <div class="paragraph">
 <p>Teams are strongly encouraged to use the time while they are setting up on
@@ -750,27 +714,26 @@ <h3 id="stage-performance"><a class="anchor" href="#stage-performance"></a><a cl
 <p>Teams must indicate the start of their performance clearly with a “3-2-1"
 countdown to the judges.</p>
 </div>
-<div id="addition-3" class="paragraph">
+<div id="addition-4" class="paragraph">
 <p><span class="red"><strong>Teams must indicate the end of their performance clearly once it’s over (e.g. everyone coming to the front of the stage / thanking the audience for their attention / …).</strong></span></p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="restarts"><a class="anchor" href="#restarts"></a><a class="link" href="#restarts">3.3. Restarts</a></h3>
+<h3 id="restarts"><a class="anchor" href="#restarts"></a><a class="link" href="#restarts">3.2. Restarts</a></h3>
 <div class="paragraph">
 <p>Teams can restart their routine if necessary, at the discretion of the
 judges. There is no limit on the number of restarts allowed within the
-stage-time. Penalty marks will be deducted from the score.</p>
+stage-time (see <a href="#stage-time">[stage-time]</a>). Penalty marks will be deducted from the score.</p>
 </div>
 <div class="paragraph">
 <p>The team must leave the stage after their time on stage has expired.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="music-and-multimedia-presentations"><a class="anchor" href="#music-and-multimedia-presentations"></a><a class="link" href="#music-and-multimedia-presentations">3.4. Music and Multimedia presentations</a></h3>
+<h3 id="music-and-multimedia-presentations"><a class="anchor" href="#music-and-multimedia-presentations"></a><a class="link" href="#music-and-multimedia-presentations">3.3. Music and Multimedia presentations</a></h3>
 <div class="paragraph">
-<p>Teams may use music or video to complement their performance. The music
-should start at the beginning of the performance with a few seconds of
-silent lead-time.</p>
+<p>Teams may use music or video to complement their performance. <a id="deletion-4"></a>
+<sup class="footnote">[<a id="_footnoteref_4" class="footnote" href="#_footnotedef_4" title="View footnote.">4</a>]</sup></p>
 </div>
 <div class="paragraph">
 <p>If a team uses copyrighted music, they should follow the Copyright Law of
@@ -782,92 +745,65 @@ <h3 id="music-and-multimedia-presentations"><a class="anchor" href="#music-and-m
 etc. However, the content should be made by the team themselves.</p>
 </div>
 <div class="paragraph">
-<p>Interaction between the robots and the visual display is allowed and
-encouraged.</p>
+<p>Interaction between the robots and the visual display is allowed and encouraged.</p>
 </div>
-<div class="paragraph">
-<p><span class="blue-background">During on-site presentations, a projector and screen or
-LED screen is provided. The organizers cannot guarantee the height above the
-stage or the size of the screen.</span></p>
+<div id="deletion-5" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_5" class="footnote" href="#_footnotedef_5" title="View footnote.">5</a>]</sup> A projector and screen or
+LED-screen is provided. The organizers cannot guarantee the height above the
+stage or the size of the screen.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">A HDMI and 3.5 mm AUX cable is available on stage through
+<p>A HDMI and 3.5 mm AUX cable is available on stage through
 which a laptop or other device can be connected to the display device. The
-length of the cable cannot be guaranteed.</span></p>
+length of the cable cannot be guaranteed.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">If music is used, teams must provide their own audio
-music source. The preferred transport method is to place the sound or video
-file on a memory stick as an MP3/MP4 file. The memory stick should be clearly
+<p>If music is used, teams must provide their own audio music source. The
+preferred transport method is to place the sound or video file on a
+memory stick as an MP3/MP4 file. The memory stick should be clearly
 labeled with the team&#8217;s name and should hold only the required files. It is
-essential that the music be given to a sound technician or a RoboCupJunior
-official on the competition setup day. Teams are encouraged to bring multiple
-copies of the audio source file.</span></p>
+essential that the music is given to a sound technician or a RoboCupJunior
+official <a id="substitution-1"></a>
+<span class="red"><strong>before the start of a performance session</strong></span>
+<sup class="footnote">[<a id="_footnoteref_6" class="footnote" href="#_footnotedef_6" title="View footnote.">6</a>]</sup>.
+Teams are encouraged to bring multiple copies of the audio source file.</p>
 </div>
-<div class="paragraph">
-<p><span class="green-background">Teams may screen share their audio and video through their
-computers but must inform the judges of their additional screen sharing
-requirements before starting their performance. Teams are responsible for
-starting their multimedia presentations from their shared computer but are
-reminded that the robotic performance should be the main attraction.</span></p>
+<div id="deletion-6" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_7" class="footnote" href="#_footnotedef_7" title="View footnote.">7</a>]</sup></p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="Stage"><a class="anchor" href="#Stage"></a><a class="link" href="#Stage">3.5. Stage</a></h3>
-<div class="sect3">
-<h4 id="_virtual_teams"><a class="anchor" href="#_virtual_teams"></a><a class="link" href="#_virtual_teams">3.5.1. Virtual teams</a></h4>
-<div class="paragraph">
-<p><span class="green-background">The size of the performance stage area is up to the
-discretion of the teams. The performance area must be visible in the camera&#8217;s
-field of view. However, the maximum size of the performance stage area is a
-rectangular area of 5 x 4 meters (m) for robots with the 5 meter side facing
-the judges.</span></p>
-</div>
-<div class="paragraph">
-<p><span class="green-background">The judging camera, which shows the entire view of the
-performing area must be set up as a static camera and should be placed in
-approximately the position of the judge&#8217;s table at an in-person competition.
-See <a href="#appendix-a">Appendix A</a>.</span></p>
-</div>
-<div class="paragraph">
-<p><span class="green-background">Teams can use a second camera to show details of their
-robots during the performance. However, they should be aware that additional
-views may detract from the overall performance. Judges must be informed
-before the start of the performance where the additional camera(s) will be
-placed so the correct screen can be pinned during the performance.</span></p>
-</div>
+<h3 id="Stage"><a class="anchor" href="#Stage"></a><a class="link" href="#Stage">3.4. Stage</a></h3>
+<div id="deletion-7" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_8" class="footnote" href="#_footnotedef_8" title="View footnote.">8</a>]</sup></p>
 </div>
-<div class="sect3">
-<h4 id="_on_site_teams"><a class="anchor" href="#_on_site_teams"></a><a class="link" href="#_on_site_teams">3.5.2. On-Site teams</a></h4>
 <div class="paragraph">
-<p><span class="blue-background">The size of the performance stage area is a rectangular
-area of 5 x 4 meters (m) for robots with the 5 meter side facing the judges.</span></p>
+<p>The size of the performance stage area is a rectangular
+area of 5 x 4 meters (m) for robots with the 5 meter side facing the judges.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">There is a line marking the edge of the 5 x 4 meter
-stage. See <a href="#appendix-a">Appendix A</a>.</span></p>
+<p>There is a line marking the edge of the 5 x 4 meter stage. See <a href="#appendix-a">Appendix A</a>.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">The floor provided shall be made of a flat (non-glossy)
-white surface, for example, painted MDF (compressed wood fiber). While floor
-joints will be made to be as smooth as possible, robots must be prepared for
-irregularities of up to 5 mm in the floor surface. Whilst every effort will
-be made to make the stage flat, this may not be possible, and teams should be
-prepared to cope with this uncertainty.</span></p>
+<p>The floor provided shall be made of a flat (non-glossy) white surface, for
+example, painted MDF (compressed wood fiber). While floor joints will be made
+to be as smooth as possible, robots must be prepared for irregularities of up
+to 5 mm in the floor surface. Whilst every effort will be made to make the
+stage flat, this may not be possible, and teams should be prepared to cope
+with this uncertainty.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">Teams should come prepared to calibrate their robots based
-on the lighting conditions at the venue.</span></p>
+<p>Teams should come prepared to calibrate their robots based on the lighting
+conditions at the venue.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">Teams using compass sensors should be aware that metal
+<p>Teams using compass sensors should be aware that metal
 components of the staging may affect the compass sensor readings. Teams should
-come prepared to calibrate such sensors.</span></p>
-</div>
+come prepared to calibrate such sensors.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="robots"><a class="anchor" href="#robots"></a><a class="link" href="#robots">3.6. Robots</a></h3>
+<h3 id="robots"><a class="anchor" href="#robots"></a><a class="link" href="#robots">3.5. Robots</a></h3>
 <div class="paragraph">
 <p>Robots must perform autonomously.</p>
 </div>
@@ -888,12 +824,13 @@ <h3 id="robots"><a class="anchor" href="#robots"></a><a class="link" href="#robo
 </div>
 </div>
 <div class="sect2">
-<h3 id="communication-and-localization"><a class="anchor" href="#communication-and-localization"></a><a class="link" href="#communication-and-localization">3.7. Communication and Localization</a></h3>
+<h3 id="communication-and-localization"><a class="anchor" href="#communication-and-localization"></a><a class="link" href="#communication-and-localization">3.6. Communication and Localization</a></h3>
 <div class="paragraph">
 <p>Teams are encouraged to design their robots to interact with a communication
 function. Robots are encouraged to communicate with each other during the
 performance. Suggested and allowed communication protocols are infrared (IR),
-Bluetooth (LE and classic), ZigBee, or other localization platforms.</p>
+Bluetooth (LE and classic), ZigBee, <a id="addition-5"></a>
+<span class="red"><strong>RFID</strong></span> or other localization platforms.</p>
 </div>
 <div class="paragraph">
 <p>There must be no communication between off-stage and on-stage devices.</p>
@@ -909,9 +846,9 @@ <h3 id="communication-and-localization"><a class="anchor" href="#communication-a
 performance.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">Teams should prepare for disruptions in communication
+<p>Teams should prepare for disruptions in communication
 protocols and unavailability of Wifi (As outlined in the general rules) before
-and during the setup and stage time.</span></p>
+and during the setup and stage time.</p>
 </div>
 <div class="paragraph">
 <p>Any localization beacons or markers for a robot&#8217;s localization system should
@@ -919,25 +856,27 @@ <h3 id="communication-and-localization"><a class="anchor" href="#communication-a
 </div>
 </div>
 <div class="sect2">
-<h3 id="scenery"><a class="anchor" href="#scenery"></a><a class="link" href="#scenery">3.8. Scenery</a></h3>
+<h3 id="scenery"><a class="anchor" href="#scenery"></a><a class="link" href="#scenery">3.7. Scenery</a></h3>
 <div class="paragraph">
 <p>Interactive props can be used to add value to the performance.</p>
 </div>
-<div id="deletion-2" class="paragraph">
-<p><sup class="footnote">[<a id="_footnoteref_2" class="footnote" href="#_footnotedef_2" title="View footnote.">2</a>]</sup> The kind
-of props that are considered "interactive" are:
-1. Props interact with robots via sensors
-2. Props interact with robots via communication</p>
+<div id="deletion-8" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_9" class="footnote" href="#_footnotedef_9" title="View footnote.">9</a>]</sup>
+The kind of props that are considered "interactive" are:
+1. Props that interact with robots via sensors
+2. Props that interact with robots via communication</p>
 </div>
 <div class="paragraph">
-<p>Robots can sense static props to perform a certain task or trigger {~~a performance~&gt;an action} provided that they are placed on the defined stage performance area.</p>
+<p>Robots can sense static props to perform a certain task or trigger <a id="substitution-2"></a>
+<span class="red"><strong>an action</strong></span>
+<sup class="footnote">[<a id="_footnoteref_10" class="footnote" href="#_footnotedef_10" title="View footnote.">10</a>]</sup> provided that they are placed on the defined stage performance area.</p>
 </div>
-<div id="addition-4" class="paragraph">
+<div id="addition-6" class="paragraph">
 <p><span class="red"><strong>Static props which do not form an integral part of the performance are discouraged since the focus of the performance should be on robots.</strong></span></p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="robot-autonomy-and-interaction"><a class="anchor" href="#robot-autonomy-and-interaction"></a><a class="link" href="#robot-autonomy-and-interaction">3.9. Robot Autonomy and Interaction</a></h3>
+<h3 id="robot-autonomy-and-interaction"><a class="anchor" href="#robot-autonomy-and-interaction"></a><a class="link" href="#robot-autonomy-and-interaction">3.8. Robot Autonomy and Interaction</a></h3>
 <div class="paragraph">
 <p>Robots may be started manually by human contact, sensor interaction or with
 remote control at the beginning of the performance.</p>
@@ -973,7 +912,7 @@ <h3 id="robot-autonomy-and-interaction"><a class="anchor" href="#robot-autonomy-
 </div>
 </div>
 <div class="sect2">
-<h3 id="humans-on-stage"><a class="anchor" href="#humans-on-stage"></a><a class="link" href="#humans-on-stage">3.10. Humans on stage</a></h3>
+<h3 id="humans-on-stage"><a class="anchor" href="#humans-on-stage"></a><a class="link" href="#humans-on-stage">3.9. Humans on stage</a></h3>
 <div class="paragraph">
 <p>Human team members may perform with their robots on the stage during the
 performance. If so, they should make sure not to hide important key components
@@ -986,71 +925,70 @@ <h3 id="humans-on-stage"><a class="anchor" href="#humans-on-stage"></a><a class=
 </div>
 </div>
 <div class="sect2">
-<h3 id="deductions"><a class="anchor" href="#deductions"></a><a class="link" href="#deductions">3.11. Deductions</a></h3>
-<div class="paragraph">
-<p>If a team exceeds the time limits, it will be penalized by the loss of
-points (see performance score sheet).</p>
+<h3 id="deductions"><a class="anchor" href="#deductions"></a><a class="link" href="#deductions">3.10. Deductions</a></h3>
+<div id="addition-7" class="paragraph">
+<p><span class="red"><strong>Refer to the scoresheet for the list of deductions.</strong></span></p>
+</div>
+<div id="deletion-9" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_11" class="footnote" href="#_footnotedef_11" title="View footnote.">11</a>]</sup></p>
 </div>
 <div class="paragraph">
 <p>All robot movements or interactions that happen outside the performance
-area for on-site performances, or the judges’ field of view for virtual
-performances will not be considered for the scoring, but will not lead to
+area <a id="deletion-10"></a>
+<sup class="footnote">[<a id="_footnoteref_12" class="footnote" href="#_footnotedef_12" title="View footnote.">12</a>]</sup> will not be considered for the scoring, but will not lead to
 deductions.</p>
 </div>
 <div class="paragraph">
 <p>Teams are reminded that humans triggering the progress of the performance
 via touch-based sensors will be considered remote-controlled interaction and
-therefore will be considered an unplanned human interaction during the
-performance.</p>
+therefore will be considered an unplanned human interaction <a id="deletion-11"></a>
+<sup class="footnote">[<a id="_footnoteref_13" class="footnote" href="#_footnotedef_13" title="View footnote.">13</a>]</sup>.</p>
 </div>
-<div class="paragraph">
-<p>Unless a problem is not the fault of a team, one or more restarts will
-result in a single score deduction.</p>
+<div id="addition-8" class="paragraph">
+<p><span class="red"><strong>Teams reusing robots without informing the judges in any way will be subject to deductions.</strong></span></p>
 </div>
-<div class="paragraph">
-<p>A team who is not punctual will be penalized. If the team repeats unpunctual
-behavior, they risk disciplinary action.</p>
+<div id="deletion-12" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_14" class="footnote" href="#_footnotedef_14" title="View footnote.">14</a>]</sup></p>
+</div>
+<div id="deletion-13" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_15" class="footnote" href="#_footnotedef_15" title="View footnote.">15</a>]</sup></p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="preparations-for-the-stage-performance"><a class="anchor" href="#preparations-for-the-stage-performance"></a><a class="link" href="#preparations-for-the-stage-performance">3.12. Preprarations for the stage performance</a></h3>
+<h3 id="preparations-for-the-stage-performance"><a class="anchor" href="#preparations-for-the-stage-performance"></a><a class="link" href="#preparations-for-the-stage-performance">3.11. Preprarations for the stage performance</a></h3>
 <div class="paragraph">
 <p>It is the responsibility of the team to ensure that the music and
 video/presentation is playing correctly before their first performance by
 liaising with the RoboCupJunior OnStage officials.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">Depending on the configuration of the stage and the sound
+<p>Depending on the configuration of the stage and the sound
 system at the venue, it is possible that the human starting the robot will
 not be able to see the RoboCupJunior OnStage official starting the audio
-source; and vice versa. Teams should come prepared for these conditions.</span></p>
+source and vice versa. Teams should come prepared for these conditions.</p>
 </div>
-<div class="paragraph">
-<p><span class="green-background">Teams are recommended to practice their performances on
-camera or online before presenting their performances at a virtual event.
-Teams will be informed of the conferencing platform before the competition
-and should use the platform to check their audio and visual before presenting
-on stage.</span></p>
+<div id="deletion-14" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_16" class="footnote" href="#_footnotedef_16" title="View footnote.">16</a>]</sup></p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="practice-on-the-main-stage"><a class="anchor" href="#practice-on-the-main-stage"></a><a class="link" href="#practice-on-the-main-stage">3.13. Practice on the Main Stage</a></h3>
+<h3 id="practice-on-the-main-stage"><a class="anchor" href="#practice-on-the-main-stage"></a><a class="link" href="#practice-on-the-main-stage">3.12. Practice on the Main Stage</a></h3>
 <div class="paragraph">
-<p><span class="blue-background">The main performance stage is available for teams to
+<p>The main performance stage is available for teams to
 practice on. In fairness to all teams who may wish to practice, a booking
 sheet is used to reserve the stage for a short practice time. Please be
-respectful of the allocated time.</span></p>
+respectful of the allocated time.</p>
 </div>
 <div class="paragraph">
-<p><span class="blue-background">Every team who practices on the main stage is responsible
+<p>Every team who practices on the main stage is responsible
 for cleaning it after use. The stage must be fully cleaned for the next team
 willing to use it. The team who uses the main stage just before starting the
 performance judging should clean up at least 10 minutes before the judging
-starts.</span></p>
+starts.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="content"><a class="anchor" href="#content"></a><a class="link" href="#content">3.14. Content</a></h3>
+<h3 id="content"><a class="anchor" href="#content"></a><a class="link" href="#content">3.13. Content</a></h3>
 <div class="paragraph">
 <p>Performances should not include violent, military, threatening, or criminal
 elements. This includes inappropriate or offensive words (including music)
@@ -1065,21 +1003,21 @@ <h3 id="content"><a class="anchor" href="#content"></a><a class="link" href="#co
 <p>A team whose routine may be deemed inappropriate to any particular group
 will be asked to change their performance before being allowed to continue in
 the competition. Teams who wish to clarify their performance theme or
-elements of their performance may contact the OnStage League Committee before
+elements of their performance may contact the OnStage League Committee <strong>before</strong>
 the competition. Failure to remove inappropriate content will result in
 disciplinary action.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="saftety-and-power-considerations"><a class="anchor" href="#saftety-and-power-considerations"></a><a class="link" href="#saftety-and-power-considerations">3.15. Safety and Power Considerations</a></h3>
+<h3 id="saftety-and-power-considerations"><a class="anchor" href="#saftety-and-power-considerations"></a><a class="link" href="#saftety-and-power-considerations">3.14. Safety and Power Considerations</a></h3>
 <div class="paragraph">
-<p>Under no circumstances can mains electricity be used during the
+<p>Under no circumstances can <strong>mains electricity</strong> be used during the
 performance. Every robot should be equipped with some sort of battery
 power, with a maximum of 15 volts.</p>
 </div>
 <div class="paragraph">
 <p>Lead-acid batteries are not considered appropriate unless the team has
-gained permission from the OnStage League Committee before attending the
+gained permission from the OnStage League Committee <strong>before</strong> attending the
 competition for a specific reason. Failure to declare batteries may result
 in disciplinary actions, including deductions.</p>
 </div>
@@ -1088,15 +1026,13 @@ <h3 id="saftety-and-power-considerations"><a class="anchor" href="#saftety-and-p
 ensure safety.</p>
 </div>
 <div class="paragraph">
-<p>In venues where lithium batteries are being transported or moved, safety
-bags must be used.</p>
+<p>Lithium batteries must be transported or moved in safety bags.</p>
 </div>
 <div class="paragraph">
 <p>Teams should design their robot in consideration of safety. Relative to
 the size and capabilities of the robots, teams should consider:
-1. Power Management - Cabling, batteries, emergency stop capabilities
-2. Electromechanical System Risks - Exposed pinch points, leaks, sharp
-edges, tripping hazards, appropriate actuators</p>
+- Power Management - Cabling, batteries, emergency stop capabilities
+- Electromechanical System Risks - Exposed pinch points, leaks, sharp edges, tripping hazards, appropriate actuators</p>
 </div>
 <div class="paragraph">
 <p>Participants should design their robot(s) to be a size that they can easily
@@ -1104,16 +1040,16 @@ <h3 id="saftety-and-power-considerations"><a class="anchor" href="#saftety-and-p
 and lift onto the stage with ease.</p>
 </div>
 <div class="paragraph">
-<p>Robots with flying capabilities, such as drones, that can fly at a height
-of more than 0.5 m (50 cm) from the stage are not permitted due to safety
-concerns. Flying robots/drones must be inside of a safety net. No free-flying
-robots are allowed in the venue. Any team planning to use a flying robot must
-consult with the OnStage League Committee prior to coming to the competition.</p>
+<p>Robots with flying capabilities, such as drones, <a id="substitution-3"></a>
+<span class="red"><strong>must be inside of a safety net or tied to an object that&#8217;s weight exceeds the drones maximum lifting capacity. The safety rope or net needs to be made of a material that can not be damaged by the drones rotors and needs to prevent the drone from leaving the boundaries of the stage at any time.</strong></span>
+<sup class="footnote">[<a id="_footnoteref_17" class="footnote" href="#_footnotedef_17" title="View footnote.">17</a>]</sup> No free-flying robots are allowed in the venue. Any team planning to use a flying robot <strong>must</strong> consult with the OnStage League Committee <strong>prior</strong> to coming to the competition.</p>
 </div>
 <div class="paragraph">
 <p>To protect participants and comply with occupational health and safety
-regulations, routines may not include projectiles, explosions, smoke, or flame,
-use of water, or any other hazardous substances.</p>
+regulations, routines may not include <a id="substitution-4"></a>
+<span class="red"><strong>anything that could be considered a projectile</strong></span>
+<sup class="footnote">[<a id="_footnoteref_18" class="footnote" href="#_footnotedef_18" title="View footnote.">18</a>]</sup>, explosions, smoke, or flame, use of water, or any other hazardous substances <a id="addition-9"></a>
+<span class="red"><strong>(contact the committee through the forum when in doubt)</strong></span>.</p>
 </div>
 <div class="paragraph">
 <p>A team whose routine includes any situation that could be deemed hazardous,
@@ -1123,24 +1059,8 @@ <h3 id="saftety-and-power-considerations"><a class="anchor" href="#saftety-and-p
 demonstration of the activity before the stage performance. Teams not
 conforming to this rule may not be allowed to present their routine.</p>
 </div>
-</div>
-<div class="sect2">
-<h3 id="authenticity-and-originality"><a class="anchor" href="#authenticity-and-originality"></a><a class="link" href="#authenticity-and-originality">3.16. Authenticity and originality</a></h3>
-<div class="paragraph">
-<p>Teams who, in the opinion of the judges, have knowingly produced duplicate
-robots, costumes, or performance movements (duplicate music is allowed) of
-another team will be subject to penalties. This applies to any previous
-RoboCupJunior Dance or OnStage performance. In case of doubts, the team must
-be able to provide clear documentation of their preparations and how they have
-come to their idea.</p>
-</div>
-<div class="paragraph">
-<p>Teams should inform the judges if some of their robotic components have
-featured in a previous international performance in their Technical
-Demonstration Video and the Technical Interview. To gain marks, teams should
-be prepared to provide insight on how substantial changes have been made
-between competitions, as evidence of the students’ continuing development
-of the technologies.</p>
+<div id="deletion-15" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_19" class="footnote" href="#_footnotedef_19" title="View footnote.">19</a>]</sup></p>
 </div>
 </div>
 </div>
@@ -1157,21 +1077,17 @@ <h2 id="onstage-technical-interview"><a class="anchor" href="#onstage-technical-
 Teams must show authenticity and originality regarding their robots and
 performance in this interview.</p>
 </div>
-<div class="paragraph">
-<p>Teams should inform the judges if robotic components have been featured in
-previous competitions. To gain marks, teams should be prepared to provide
-insight on how substantial changes have been made between competitions as
-evidence of the students’ continuing development of the technologies.
-Teams should specify how innovations have been done with their technologies
-and provide documentation to support their claims.</p>
+<div id="deletion-16" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_20" class="footnote" href="#_footnotedef_20" title="View footnote.">20</a>]</sup></p>
 </div>
 <div class="sect2">
 <h3 id="interview-procedure"><a class="anchor" href="#interview-procedure"></a><a class="link" href="#interview-procedure">4.1. Interview procedure</a></h3>
 <div class="paragraph">
 <p>All teams will have up to 20 minutes of technical interview judging
-during the competition. This can either be <span class="green-background">a private live
-video call with the judges</span> or <span class="blue-background">an in-person meeting with
-the judges in a separate room at the venue.</span></p>
+during the competition. <a id="substitution-5"></a>
+<span class="red"><strong>Which will take place as</strong></span>
+<sup class="footnote">[<a id="_footnoteref_21" class="footnote" href="#_footnotedef_21" title="View footnote.">21</a>]</sup> an in-person meeting with
+the judges in a separate room at the venue.</p>
 </div>
 <div class="paragraph">
 <p>Interviews will be judged by at least two RoboCupJunior officials.</p>
@@ -1182,26 +1098,36 @@ <h3 id="interview-procedure"><a class="anchor" href="#interview-procedure"></a><
 interview to make effective use of the interview.</p>
 </div>
 <div class="paragraph">
-<p>Teams should have all physical robotic systems present at the interview with
+<p>Teams should have <strong>all</strong> physical robotic systems present at the interview with
 copies of all their work in a format that can be easily viewed. This includes
 any programs, CAD/CAM designs, PCB designs, or wiring diagrams.</p>
 </div>
-<div class="paragraph">
-<p><span class="green-background">Teams should expect to screen share their work to the
-judges.</span></p>
+<div id="deletion-17" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_22" class="footnote" href="#_footnotedef_22" title="View footnote.">22</a>]</sup></p>
 </div>
 <div class="paragraph">
 <p>Each team member must be prepared to answer questions about the technical
 aspects of their involvement in the robot design, construction, and
 programming.</p>
 </div>
+<div id="preparation" class="paragraph">
+<p>===Preparation
+Teams are required to submit the software of all their robots together with their technical documentation before the event.</p>
+</div>
+<div class="paragraph">
+<p>The files may be changed in between their submission and the competition when necessary.</p>
+</div>
+<div class="paragraph">
+<p>The code is expected to be documented and include comments that explain the basic purpose of its functions/methods.</p>
+</div>
+<div class="paragraph">
+<p>Teams need to clarify which third party code and/or libraries were used for their performance and why.</p>
+</div>
 </div>
 <div class="sect2">
 <h3 id="translator"><a class="anchor" href="#translator"></a><a class="link" href="#translator">4.2. Translator</a></h3>
 <div class="paragraph">
-<p>The Technical Interviews take place in English. If teams require a
-translator, they should inform the RoboCupJunior OnStage officials prior
-to the event to allow translators to be organized.</p>
+<p>The Technical Interviews take place in English. If teams require a translator, they should inform the RoboCupJunior OnStage officials prior to the event to allow translators to be organized.</p>
 </div>
 <div class="paragraph">
 <p>Extra time will not be given for teams with a translator.</p>
@@ -1210,8 +1136,7 @@ <h3 id="translator"><a class="anchor" href="#translator"></a><a class="link" hre
 <div class="sect2">
 <h3 id="second-technical-interview"><a class="anchor" href="#second-technical-interview"></a><a class="link" href="#second-technical-interview">4.3. Second technical interview</a></h3>
 <div class="paragraph">
-<p>If the judges consider it necessary, teams may be asked to complete
-a second technical interview.</p>
+<p>If the judges consider it necessary, teams may be asked to complete a second technical interview.</p>
 </div>
 </div>
 </div>
@@ -1258,8 +1183,7 @@ <h3 id="technical-demonstration-video"><a class="anchor" href="#technical-demons
 <p>All team members are encouraged to be actively involved in the presentation.</p>
 </div>
 <div class="paragraph">
-<p>The Technical Demonstration is assessed according to the Technical
-Demonstration Score Sheet.</p>
+<p>The Technical Demonstration is assessed according to the Technical Demonstration Score Sheet.</p>
 </div>
 <div class="paragraph">
 <p>The demonstration needs to be recorded and the video file must be uploaded
@@ -1278,220 +1202,135 @@ <h3 id="technical-description-poster"><a class="anchor" href="#technical-descrip
 judges but also by other teams and visiting members of the public.</p>
 </div>
 <div class="paragraph">
-<p>Teams must submit a digital copy of their poster in PDF format.</p>
+<p>Teams must submit a digital copy of their poster in PDF format <a id="addition-10"></a>
+<span class="red"><strong>(≤ 10 MB)</strong></span>.</p>
 </div>
 <div class="paragraph">
 <p>The size of the poster should be no larger than A1 (60 x 84 cm).</p>
 </div>
 <div class="paragraph">
 <p>Areas that are useful to be included in the poster are:
-1. team name and region
-2. abstract/summary
-3. annotated pictures
-4. system diagrams of the systems and robot(s) under development at various stages
-5. an explanation of the innovative robot technologies used
-6. a description of the features that should be judged during the performance
-7. QR-codes to repositories, videos, or team websites</p>
+- team name and region
+- abstract/summary<a id="addition-11"></a>
+<span class="red"><strong>/performance description</strong></span>
+- annotated pictures
+- system diagrams of the systems and robot(s) under development at various stages
+- an explanation of the innovative robot technologies used
+- a description of the features that should be judged during the performance
+- QR-codes to repositories, videos, or team websites</p>
 </div>
 <div class="paragraph">
-<p>Teams participating on site will be given public space to display a Technical
-Poster. <span class="green-background">Virtual teams may wish to send their poster with a
-representative from their country to display at the venue.</span></p>
+<p>Teams <a id="deletion-18"></a>
+<sup class="footnote">[<a id="_footnoteref_23" class="footnote" href="#_footnotedef_23" title="View footnote.">23</a>]</sup>will be given public space to display their Technical
+Poster. <a id="deletion-19"></a>
+<sup class="footnote">[<a id="_footnoteref_24" class="footnote" href="#_footnotedef_24" title="View footnote.">24</a>]</sup></p>
+</div>
+<div id="addition-12" class="paragraph">
+<p><span class="red">* <a id="bill-of-material"></a> ===Bill of material  Each team will be asked to complete a bill of materials including all major components and materials prior to the event.  The list has to include the following: - Name / Description (e.g. part number, …) - Source - Is the component new or has it been used before - Is the component part of a kit or has it been developed by the team - Price of component  A template will be provided and has to be used for the submission. *</span></p>
 </div>
 </div>
 </div>
 </div>
 <div class="sect1">
-<h2 id="judging-and-feedback"><a class="anchor" href="#judging-and-feedback"></a><a class="link" href="#judging-and-feedback">6. Judging and feedback</a></h2>
+<h2 id="judging"><a class="anchor" href="#judging"></a><a class="link" href="#judging">6. Judging<a id="deletion-20"></a></a></h2>
 <div class="sectionbody">
-<div class="sect2">
-<h3 id="judging-criteria"><a class="anchor" href="#judging-criteria"></a><a class="link" href="#judging-criteria">6.1. Judging criteria</a></h3>
 <div class="paragraph">
-<p>The judging criteria and allocation of marks are given in the respective
-score sheets.</p>
+<p><sup class="footnote">[<a id="_footnoteref_25" class="footnote" href="#_footnotedef_25" title="View footnote.">25</a>]</sup></p>
 </div>
-</div>
-<div class="sect2">
-<h3 id="totaling"><a class="anchor" href="#totaling"></a><a class="link" href="#totaling">6.2. Totaling</a></h3>
-<div class="paragraph">
-<p>The total score of each team is calculated by combining the scores from the
-team’s Technical Interview, the Technical Demonstration, and the
-OnStage Performances.</p>
-</div>
-</div>
-<div class="sect2">
-<h3 id="feedback"><a class="anchor" href="#feedback"></a><a class="link" href="#feedback">6.3. Feedback</a></h3>
-<div class="paragraph">
-<p>RoboCupJunior is an educational project. It is important that team members
-learn from their experiences with RCJ, so that they have the opportunity to
-improve.</p>
-</div>
-<div class="paragraph">
-<p>Feedback and notifications of deductions will be given after the first
-performance to allow teams to better prepare for the second performance.</p>
-</div>
-<div class="paragraph">
-<p>A final ranking that includes all teams and their scoring will not be
-provided to the teams. The teams will get their approximate ranking and
-their individual scores for their interview, performance, technical
-demonstration video and poster.</p>
-</div>
-<div class="paragraph">
-<p>Feedback will not be accepted as evidence to debate positions, decisions,
-or competition scores with the judges.</p>
-</div>
-</div>
-</div>
-</div>
-<div class="sect1">
-<h2 id="code-of-conduct"><a class="anchor" href="#code-of-conduct"></a><a class="link" href="#code-of-conduct">7. Code of conduct</a></h2>
-<div class="sectionbody">
 <div class="sect2">
-<h3 id="spirit"><a class="anchor" href="#spirit"></a><a class="link" href="#spirit">7.1. Spirit</a></h3>
+<h3 id="judging-criteria"><a class="anchor" href="#judging-criteria"></a><a class="link" href="#judging-criteria">6.1. Judging criteria</a></h3>
 <div class="paragraph">
-<p>It is expected that all participants, students, and mentors, will respect
-the RoboCupJunior mission, values, and goals.</p>
+<p>The judging criteria and allocation of marks are given in the respective score sheets.</p>
 </div>
 <div class="paragraph">
-<p>It is not whether you win or lose, but how much you learn that counts.
-Choosing not to take this opportunity to collaborate with students and mentors
-from all over the world means missing out on a lifelong learning experience.
-Remember this is a unique moment!</p>
+<p>Teams must read the Score Sheets to make sure they create their materials according to the judging criteria.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="fair-play"><a class="anchor" href="#fair-play"></a><a class="link" href="#fair-play">7.2. Fair play</a></h3>
-<div class="paragraph">
-<p>It is expected that the aim of all teams is to participate in a fair and
-clean competition.</p>
-</div>
-<div class="paragraph">
-<p>Humans that may cause deliberate interference with robots, robots'
-performance <span class="blue-background">and/or damage to the stage</span> will be subject to
-disciplinary action. This will be decided by the OnStage League Committee
-and RoboCupJunior Officials.</p>
-</div>
+<h3 id="totaling"><a class="anchor" href="#totaling"></a><a class="link" href="#totaling">6.2. Totaling</a></h3>
 <div class="paragraph">
-<p>Remember, helping those in need and demonstrating friendship and cooperation
-is the spirit of RoboCupJunior, as well as helping make the world a better
-place.</p>
+<p>The total score of each team is calculated by combining the scores from the team’s Technical Interview, the Technical Demonstration, and the OnStage Performance.</p>
 </div>
 <div class="paragraph">
-<p>Participants are encouraged to help each other.</p>
-</div>
+<p>If more than one performance is scheduled, the highest of all performance scores will be used.</p>
 </div>
-<div class="sect2">
-<h3 id="behavior"><a class="anchor" href="#behavior"></a><a class="link" href="#behavior">7.3. Behavior</a></h3>
-<div class="paragraph">
-<p>All behavior is to be of a subdued nature while at the competition. It is
-expected that every participant behaves in a respectful manner towards each
-other.</p>
+<div id="addition-13" class="paragraph">
+<p><span class="red"><strong>team-</strong></span>
+<sup class="footnote">[<a id="_footnoteref_26" class="footnote" href="#_footnotedef_26" title="View footnote.">26</a>]</sup>areas of other leagues or other teams unless expressly invited to do so by other team members. Participants who misbehave may have disciplinary action taken against them.</p>
 </div>
-<div class="paragraph">
-<p>Participants are not to enter set-up areas of other leagues or other
-teams unless expressly invited to do so by other team members. Participants
-who misbehave may have disciplinary action taken against them.</p>
+<div id="addition-14" class="paragraph">
+<p><span class="red"><strong>A team who is not punctual will be penalized. If the team repeats unpunctual behavior, they risk disciplinary action.</strong></span></p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="robocupjunior-officials"><a class="anchor" href="#robocupjunior-officials"></a><a class="link" href="#robocupjunior-officials">7.4. RoboCupJunior Officials</a></h3>
+<h3 id="robocupjunior-officials"><a class="anchor" href="#robocupjunior-officials"></a><a class="link" href="#robocupjunior-officials">6.3. RoboCupJunior Officials</a></h3>
 <div class="paragraph">
 <p>The officials will act within the spirit of the event.</p>
 </div>
 <div class="paragraph">
-<p>The RoboCupJunior officials shall not have a close relationship with any
-of the teams in the league they judge.</p>
+<p>The RoboCupJunior officials shall not have a close relationship with any of the teams in the league they judge.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="mentors"><a class="anchor" href="#mentors"></a><a class="link" href="#mentors">7.5. Mentors</a></h3>
+<h3 id="mentors"><a class="anchor" href="#mentors"></a><a class="link" href="#mentors">6.4. Mentors</a></h3>
 <div class="paragraph">
-<p>Each team is required to have a mentor to assist with the communication
-among the team and facilitate their learning. The mentor receives
-communications from the committee leading up to and during the competition
-via the email address used for their registration.</p>
+<p>Each team is required to have a mentor to assist with the communication among the team and facilitate their learning. The mentor receives communications from the committee leading up to and during the competition via the email address used for their registration.</p>
 </div>
 <div class="paragraph">
-<p>Mentors (defined as teachers, parents, chaperones, translators, or any
-other adult non-team members) are not allowed in the student work area
-except to assist in carrying equipment in or out of the area on the
-arrival and departure days.</p>
+<p>Mentors (defined as teachers, parents, chaperones, translators, or any other adult non-team members) are not allowed in the student work area except to assist in carrying equipment in or out of the area on the arrival and departure days.</p>
 </div>
 <div class="paragraph">
-<p>If a problem is encountered that is beyond the team’s capabilities and
-is clearly beyond the reasonable ability level of a student to repair,
-mentors may request assistance from the OnStage League Committee, including
-supervised support to conduct repairs.</p>
+<p>If a problem is encountered that is beyond the team’s capabilities and is clearly beyond the reasonable ability level of a student to repair, mentors may request assistance from the OnStage League Committee, including supervised support to conduct repairs.</p>
 </div>
 <div class="paragraph">
-<p>Mentors are not allowed to set up equipment on stage, as this should be the
-responsibility of team members. Teams should design all robots and any
-additional equipment to be carried by team members only.</p>
+<p>Mentors are not allowed to set up equipment on stage, as this should be the responsibility of team members. Teams should design all robots and any additional equipment to be carried by team members only.</p>
 </div>
 <div class="paragraph">
-<p>Disciplinary action will be taken should a mentor be found mending, building
-and/or programming the robot(s), and/or directing choreography. Judges may
-question the team’s originality if this occurs and teams may risk deductions
-or disqualification.</p>
+<p>Disciplinary action will be taken should a mentor be found mending, building and/or programming the robot(s), and/or directing choreography. Judges may question the team’s originality if this occurs and teams may risk deductions or disqualification.</p>
 </div>
 </div>
 </div>
 </div>
 <div class="sect1">
-<h2 id="additional-information"><a class="anchor" href="#additional-information"></a><a class="link" href="#additional-information">8. Additional information</a></h2>
+<h2 id="additional-information"><a class="anchor" href="#additional-information"></a><a class="link" href="#additional-information">7. Additional information</a></h2>
 <div class="sectionbody">
 <div class="sect2">
-<h3 id="sharing"><a class="anchor" href="#sharing"></a><a class="link" href="#sharing">8.1. Sharing</a></h3>
+<h3 id="sharing"><a class="anchor" href="#sharing"></a><a class="link" href="#sharing">7.1. Sharing</a></h3>
 <div class="paragraph">
-<p>It is understood that RCJ events with rich technological and curricular
-developments should be shared with other participants.</p>
+<p>It is understood that RoboCupJunior events with rich technological and curricular developments should be shared with other participants.</p>
 </div>
 <div class="paragraph">
-<p>Team materials may be published on the RoboCupJunior media platforms
-during the event.</p>
+<p>Team materials may be published on the RoboCupJunior media platforms during the event.</p>
 </div>
 <div class="paragraph">
-<p>Sharing information furthers the mission of RoboCupJunior as an educational
-initiative.</p>
+<p>Sharing information furthers the mission of RoboCupJunior as an educational initiative.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="rule-clarification"><a class="anchor" href="#rule-clarification"></a><a class="link" href="#rule-clarification">8.2. Rule Clarification</a></h3>
+<h3 id="rule-clarification"><a class="anchor" href="#rule-clarification"></a><a class="link" href="#rule-clarification">7.2. Rule Clarification</a></h3>
 <div class="paragraph">
-<p>If any rule clarification is needed, please contact the International
-RoboCupJunior OnStage League Committee, using the Junior Forum
-(<a href="https://junior.forum.robocup.org" class="bare">https://junior.forum.robocup.org</a>). Once the inquiry is posted on this
-forum, OnStage League Committee members will respond as soon as possible.</p>
+<p>If any rule clarification is needed, please contact the International RoboCupJunior OnStage League Committee, using the Junior Forum (<a href="https://junior.forum.robocup.org" class="bare">https://junior.forum.robocup.org</a>). Once the inquiry is posted on this forum, OnStage League Committee members will respond as soon as possible.</p>
 </div>
 <div class="paragraph">
-<p>If necessary, even during a competition, rule clarifications may be made
-by members of the RoboCupJunior OnStage League Committee.</p>
+<p>If necessary, even during a competition, rule clarifications may be made by members of the RoboCupJunior OnStage League Committee.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="information-before-and-during-the-event"><a class="anchor" href="#information-before-and-during-the-event"></a><a class="link" href="#information-before-and-during-the-event">8.3. Information before and during the event</a></h3>
+<h3 id="information-before-and-during-the-event"><a class="anchor" href="#information-before-and-during-the-event"></a><a class="link" href="#information-before-and-during-the-event">7.3. Information before and during the event</a></h3>
 <div class="paragraph">
-<p>Teams will be responsible for checking for updated information during the
-event. Methods of communication during the event will be announced to the
-registered mentors via email before the competition.</p>
+<p>Teams will be responsible for checking for updated information during the event. Methods of communication during the event will be announced to the registered mentors via email before the competition.</p>
 </div>
 <div class="paragraph">
-<p>Teams are strongly encouraged to check the RoboCupJunior Forum which conveys
-information about the competition before the competition.</p>
+<p>Teams are strongly encouraged to check the RoboCupJunior Forum which conveys information about the competition before the competition.</p>
 </div>
 </div>
 <div class="sect2">
-<h3 id="special-circumstances"><a class="anchor" href="#special-circumstances"></a><a class="link" href="#special-circumstances">8.4. Special Circumstances</a></h3>
+<h3 id="special-circumstances"><a class="anchor" href="#special-circumstances"></a><a class="link" href="#special-circumstances">7.4. Special Circumstances</a></h3>
 <div class="paragraph">
-<p>If special circumstances occur, such as unforeseen problems or capabilities
-of a robot, these rules may be modified by the RoboCupJunior OnStage League
-Committee Chair in conjunction with available Committee members, if necessary,
-even during competition.</p>
+<p>If special circumstances occur, such as unforeseen problems or capabilities of a robot, these rules may be modified by the RoboCupJunior OnStage League Committee Chair in conjunction with available Committee members, if necessary, even during competition.</p>
 </div>
 <div class="paragraph">
-<p>If any of the team leaders/mentors are not present at the team meetings to
-discuss the problems and the resulting rule modifications, they consent to the
-rule modifications and are not permitted to challenge them at a later time.</p>
+<p>If any of the team leaders/mentors are not present at the team meetings to discuss the problems and the resulting rule modifications, they consent to the rule modifications and are not permitted to challenge them at a later time.</p>
 </div>
 <h2 id="appendix-a" class="discrete">Appendix A</h2>
 <div class="imageblock">
@@ -1500,9 +1339,31 @@ <h2 id="appendix-a" class="discrete">Appendix A</h2>
 </div>
 <div class="title">Figure 1. Layout of the stage.</div>
 </div>
-<div class="paragraph">
-<p><span class="green-background">Teams participating online should position the judging camera
-where the judges' table is located.</span></p>
+<div id="deletion-21" class="paragraph">
+<p><sup class="footnote">[<a id="_footnoteref_27" class="footnote" href="#_footnotedef_27" title="View footnote.">27</a>]</sup></p>
+</div>
+<h2 id="appendix-b" class="discrete">Appendix B - Ressources to be released during the season</h2>
+<div class="ulist">
+<ul>
+<li>
+<p>Video: How to get started with OnStage</p>
+</li>
+<li>
+<p>Explanation: How to create a good technical demonstration video and description poster</p>
+</li>
+<li>
+<p>Video: How to create valuable human robot interactions</p>
+</li>
+<li>
+<p>Explanation: How to select a good feature</p>
+</li>
+<li>
+<p>Word explanation: stage set, scenery, props, music, sound effects</p>
+</li>
+<li>
+<p>&#8230;&#8203;?</p>
+</li>
+</ul>
 </div>
 </div>
 </div>
@@ -1514,12 +1375,87 @@ <h2 id="appendix-a" class="discrete">Appendix A</h2>
 <a href="#_footnoteref_1">1</a>. In previous version this said "on the official website"
 </div>
 <div class="footnote" id="_footnotedef_2">
-<a href="#_footnoteref_2">2</a>. In previous version this said "Static props which do not form an integral part of the performance are discouraged since the focus of the performance should be on robots."
+<a href="#_footnoteref_2">2</a>. In previous version this said " === Judging  Teams have up to two opportunities to perform before the judges. If more than one performance is scheduled, the highest score from each performance will be used. The top-scoring teams may be invited to perform again in a final competition.  The stage performance will be judged by a panel of at least three officials. At least one of these judges is a RoboCupJunior official who has judged the Technical Interview as well. "
+</div>
+<div class="footnote" id="_footnotedef_3">
+<a href="#_footnoteref_3">3</a>. In previous version this said "if they wish"
+</div>
+<div class="footnote" id="_footnotedef_4">
+<a href="#_footnoteref_4">4</a>. In previous version this said "The music should start at the beginning of the performance with a few seconds of silent lead-time."
+</div>
+<div class="footnote" id="_footnotedef_5">
+<a href="#_footnoteref_5">5</a>. In previous version this said "During on-site presentations,"
+</div>
+<div class="footnote" id="_footnotedef_6">
+<a href="#_footnoteref_6">6</a>. In previous version this said "on the competition setup day"
+</div>
+<div class="footnote" id="_footnotedef_7">
+<a href="#_footnoteref_7">7</a>. In previous version this said "Teams may screen share their audio and video through their computers but must inform the judges of their additional screen sharing requirements before starting their performance. Teams are responsible for starting their multimedia presentations from their shared computer but are reminded that the robotic performance should be the main attraction."
+</div>
+<div class="footnote" id="_footnotedef_8">
+<a href="#_footnoteref_8">8</a>. In previous version this said " ==== Virtual teams  The size of the performance stage area is up to the discretion of the teams. The performance area must be visible in the camera&#8217;s field of view. However, the maximum size of the performance stage area is a rectangular area of 5 x 4 meters (m) for robots with the 5 meter side facing the judges.  The judging camera, which shows the entire view of the performing area must be set up as a static camera and should be placed in approximately the position of the judge&#8217;s table at an in-person competition. See <a href="#appendix-a">Appendix A</a>.  Teams can use a second camera to show details of their robots during the performance. However, they should be aware that additional views may detract from the overall performance. Judges must be informed before the start of the performance where the additional camera(s) will be placed so the correct screen can be pinned during the performance.  ==== On-Site teams "
+</div>
+<div class="footnote" id="_footnotedef_9">
+<a href="#_footnoteref_9">9</a>. In previous version this said "Static props which do not form an integral part of the performance are discouraged since the focus of the performance should be on robots."
+</div>
+<div class="footnote" id="_footnotedef_10">
+<a href="#_footnoteref_10">10</a>. In previous version this said "a performance"
+</div>
+<div class="footnote" id="_footnotedef_11">
+<a href="#_footnoteref_11">11</a>. In previous version this said "If a team exceeds the time limits, it will be penalized by the loss of points (see performance score sheet)."
+</div>
+<div class="footnote" id="_footnotedef_12">
+<a href="#_footnoteref_12">12</a>. In previous version this said "for on-site performances, or the judges’ field of view for virtual performances"
+</div>
+<div class="footnote" id="_footnotedef_13">
+<a href="#_footnoteref_13">13</a>. In previous version this said "during the performance"
+</div>
+<div class="footnote" id="_footnotedef_14">
+<a href="#_footnoteref_14">14</a>. In previous version this said "Unless a problem is not the fault of a team, one or more restarts will result in a single score deduction."
+</div>
+<div class="footnote" id="_footnotedef_15">
+<a href="#_footnoteref_15">15</a>. In previous version this said "A team who is not punctual will be penalized. If the team repeats unpunctual behavior, they risk disciplinary action."
+</div>
+<div class="footnote" id="_footnotedef_16">
+<a href="#_footnoteref_16">16</a>. In previous version this said "Teams are recommended to practice their performances on camera or online before presenting their performances at a virtual event. Teams will be informed of the conferencing platform before the competition and should use the platform to check their audio and visual before presenting on stage."
+</div>
+<div class="footnote" id="_footnotedef_17">
+<a href="#_footnoteref_17">17</a>. In previous version this said "that can fly at a height of more than 0.5 m (50 cm) from the stage are not permitted due to safety concerns. Flying robots/drones must be inside of a safety net."
+</div>
+<div class="footnote" id="_footnotedef_18">
+<a href="#_footnoteref_18">18</a>. In previous version this said "projectiles"
+</div>
+<div class="footnote" id="_footnotedef_19">
+<a href="#_footnoteref_19">19</a>. In previous version this said " === Authenticity and originality  Teams who, in the opinion of the judges, have knowingly produced duplicate robots, costumes, or performance movements (duplicate music is allowed) of another team will be subject to penalties. This applies to any previous RoboCupJunior Dance or OnStage performance. In case of doubts, the team must be able to provide clear documentation of their preparations and how they have come to their idea.  Teams should inform the judges if some of their robotic components have featured in a previous international performance in their Technical Demonstration Video and the Technical Interview. To gain marks, teams should be prepared to provide insight on how substantial changes have been made between competitions, as evidence of the students’ continuing development of the technologies. "
+</div>
+<div class="footnote" id="_footnotedef_20">
+<a href="#_footnoteref_20">20</a>. In previous version this said "Teams should inform the judges if robotic components have been featured in previous competitions. To gain marks, teams should be prepared to provide insight on how substantial changes have been made between competitions as evidence of the students’ continuing development of the technologies. Teams should specify how innovations have been done with their technologies and provide documentation to support their claims."
+</div>
+<div class="footnote" id="_footnotedef_21">
+<a href="#_footnoteref_21">21</a>. In previous version this said "This can either be a private live video call with the judges or"
+</div>
+<div class="footnote" id="_footnotedef_22">
+<a href="#_footnoteref_22">22</a>. In previous version this said "Teams should expect to screen share their work to the judges."
+</div>
+<div class="footnote" id="_footnotedef_23">
+<a href="#_footnoteref_23">23</a>. In previous version this said "participating on site "
+</div>
+<div class="footnote" id="_footnotedef_24">
+<a href="#_footnoteref_24">24</a>. In previous version this said "Virtual teams may wish to send their poster with a representative from their country to display at the venue."
+</div>
+<div class="footnote" id="_footnotedef_25">
+<a href="#_footnoteref_25">25</a>. In previous version this said " and Feedback"
+</div>
+<div class="footnote" id="_footnotedef_26">
+<a href="#_footnoteref_26">26</a>. In previous version this said "set-up "
+</div>
+<div class="footnote" id="_footnotedef_27">
+<a href="#_footnoteref_27">27</a>. In previous version this said "Teams participating online should position the judging camera where the judges' table is located."
 </div>
 </div>
 <div id="footer">
 <div id="footer-text">
-Last updated 2023-12-10 17:56:16 UTC
+Last updated 2023-12-26 16:03:04 UTC
 </div>
 </div>
 </body>
diff --git a/2024-draft/onstage_rules.pdf b/2024-draft/onstage_rules.pdf
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