Human Exploration Rover

Challenge: Rules and Penalties

Team Requirements
Each team is responsible for building its own rover, and the two course drivers must be
chosen from the team.

1. Each rover must be the work of a student team of a high school or an accredited
institution of higher learning.
2. The school or institution may enter up to two (2) teams. A group of high schools also
may collaborate in building a rover entry.
3. An entity that promotes education, such as a museum, science center, planetarium, or
youth-serving organization, also may enter up to two rover teams in each division.
International country and team limitations apply.
4. High school teams are considered those teams predominantly composed of students
ages 14 through 19. All team members must be enrolled in high school as per U.S.
standards. Age verification may be requested.
5. College/university teams are considered those predominantly composed of students
age 19 and over. All team members must be enrolled in college/university. Age and
enrollment verification may be requested.
6. Each team, regardless of division, must be accompanied by an adult age 21 or over to
serve as mentor and/or adviser.
7. Each team is required to compete for the Technology Challenge Award. The
2017 Technology Challenge Award Competition will concentrate on Wheel Design and
Fabrication (see item 2 under Construction Requirements).

Construction Requirements
1. Propulsion System -- Must be human-powered. Energy storage devices, such as
springs, flywheels, batteries or others, are not allowed.
2. Wheel Technology - Typically a wheeled vehicle makes contact with the ground
through wheels and tires, where tires provide traction and wheels provide the
mechanical strength to hold the vehicle above the surface against gravity. The
surfaces of planetary bodies other than Earth are most often without a substantial
atmosphere, covered in regolith, and sometimes at very low temperature. Wheeled
vehicles enable wide-ranging exploration if their wheels and tires are
suitable. Wheel/tire technology is therefore a critical element of exploration in space
and consequently an important part of the Rover Challenge. The wheel mounting
plate, hub, rims, spokes, dish, and tire are here after referred to simply as a wheel. To
be successful the wheels of an exploration rover and your rover must be designed and
fabricated against specific constraints. Commercial tires, whether of pneumatic or
solid type, are excluded from the competition.

Rover wheels should be designed, constructed, and tested as new NASA Rover
Challenge team creations. The wheels include the outer surface (treads) making
contact with the terrain, and the supporting structure (rims, spokes, etc.). No
commercial (purchased) rims or tires are allowed. Teams are to design, fabricate, and
test their rover wheels.
-- The only commercial items that can be used in the fabrication of the rover wheels
are the hubs containing bearings or bushings.
-- Commercial tires, whether pneumatic or solid, are not permitted on rovers
competing in the Challenge.
-- Strips or other portions of commercial tires may not be used on rovers competing
in the Challenge.
-- Commercially available wheel rims, and spokes may not be used on rovers
competing in the Challenge.

Rover wheels will encounter hard and regolith-like surfaces. Soft surfaces may include
sand and small pebbles. Hard surfaces may include simulated rock outcroppings,
fissures or cracks up to 5 inches (~13 cm) wide, and be inclined up to 30 degrees.
3. Rover Performance - Teams should expect their rover to be capable of traversing
hills up to 5 feet (~1.5 meter) high and pathways inclined up to 30 degrees transverse
to their direction of travel. Wheels and drivetrains must be designed for both speed
and the ability to perform across the difficult terrain.
4. Collapsed Dimensions -- Judging is conducted prior to each rover's first run on the
course and only on the first day of the race. The collapsed vehicle must fit within a
volume having a maximum dimension of 5 x 5 x 5 feet (a cubical space that is 5 feet
on a side). A frame of this dimension will be placed over the collapsed rover for
verification. No contact with the vehicle by the team is permitted while it is being
measured. Tape, straps or other devices can be used to hold the rover together in the
collapsed configuration; however, all such devices must be part of what is lifted and
carried (see item 5 below). Any component not to be part of the rover when racing
must be left in the "tool area" before the assembly is considered to be complete. The
"tool area" is a rectangular area marked with duct tape that is next to the assembly
judging location.
5. Weight -- The vehicle must be lifted and carried 20 feet by the two crew members,
without aid of any sort in the unassembled volume configuration of 5 x 5 x 5 feet. No
ground contact of the unassembled (collapsed) rover is permitted while it is being
carried the required distance.
6. Assembled Dimensions - Rovers must be no wider than 5 feet (1.524 meters), as
measured from the outside of a wheel to the outside of the wheel on the opposite side.
There are no constraints for height and length of the assembled vehicle; however, a
rover considered at serious risk of tipping over on the course may be considered
unsafe and not allowed to race the course.
7. Vehicles not constructed by the entering team are not acceptable. Student teams are
expected to design, construct and test their own rovers. Rovers found to have been
used in the Rover Challenge previously without substantial change will be
disqualified.
8. Reuse of vehicle is permitted only when a minimum of 50 percent (50%) of the
combined total structure and systems (content) has been modified or replaced.
Reused is defined as a vehicle that has been registered and attempted to race in a
previous year. New content is defined as changes to a vehicle that include any
combination of the following:
-- New or modified wheels equals 40 percent (40%)
-- A 10 percent (10%) or greater change in length, width, or weight of the vehicle
frame equals 25 percent (25%)
-- Changes to crew restraints equals 10 percent (10%)
-- Adding a working telemetry or camera system equals 20 percent (20%)
-- Changes to the storage/deployment systems equals 20 percent (20%)
-- A 20 percent (20%) decrease in overall vehicle weight equals 20 percent (20%)
-- Changes to vehicle steering equals 20 percent (20%)
-- Changes to vehicle braking equals 10 percent (10%)

All such changes are to be documented in the Returning/Reused Vehicle Report and
Certification.
9. All parts of the vehicle, including the seat, steering controls and pedals, with which the
riders have normal contact must be designed such that their lowest surface must be at
least 15 inches (38.1 centimeters) above the ground when the vehicle is assembled on
a level surface and with riders on board. The measurement of the pedals and steering
controls is to be made when those parts are in the lowest position possible after
assembly.
10. The vehicle should have a turning radius of 15 feet or less.
11. For safety reasons, it is recommended that the center of gravity of the "vehicle plus
race drivers" be low enough to safely handle slopes of 30 degrees front-to-back and
side-to-side. Any rover exhibiting handling characteristics or other vehicle dynamics
that are deemed unsafe or unstable by the judges will be disqualified from the
competition and not allowed to run the course. This determination will be made by
inspection of the assembled vehicle prior to running the course. Rovers that are judged
to have become unsafe while racing can be disqualified from that race attempt and
removed from the course.
12. Each rover must have seat restraints for each of the two race drivers. Failing to
provide robust, practical seat restrains can result in not being allowed to race
the course. The restraints must be worn at all times when the vehicle is moving on or
off the course. A vehicle can be stopped by a race official if either rider is not secured
 by a seat restraint and held stopped until the required restraint or restraints are firmly
in place, except when a rider or riders are freeing their rover from being stuck on an
obstacle. The restraints must be capable of preventing the riders from being thrown
from their seats should the vehicle be forced to a sudden stop. The preferred method
of restraint is a motor vehicle seat belt. If the pre-race safety judge determines the
restraints are inadequate to perform that function, the team will not be allowed to run
the course until modifications or substitutions are made to the satisfaction of the safety
judge.
13. All sharp edges and protrusions must be eliminated (i.e., padded) or guarded, as
necessary, to the satisfaction of the safety judge.
14. A U.S., national, or institution flag must be visible from the front, the side, or the rear.
15. The requirement for simulated equipment has been eliminated. Rovers may have
functioning antennae, telemetry, or camera systems. Previous volume requirements do
not apply; however, all such equipment, if present, must be appropriately labeled.
16. Dust abatement devices (fenders), a minimum area of 120 square inches each,
must be installed on all wheels. The presence and size requirement will be checked
before and after successful completion of all race attempts on the course.
17. Appropriate protective equipment, gear and clothing are required when engaged in
construction activities, such as welding, handling metal components, and using tools
anywhere on the U.S. Space & Rocket Center property or neighboring areas. A team
performing work using unsafe conditions is subject to that work being stopped and the
team disqualified by race officials.
18. Race officials will continue to provide rover team numbers on two printed 8.5-inch by
11-inch sheets of waterproof paper that are provided in each team's race packet.
Team numbers must be clearly displayed on rovers and the provided sheets can be
affixed to the vehicle for this purpose. Teams have the option to design an alternative
approach to display their assigned number on their vehicle. The method must allow the
number to be displayed on the front and left side (port side, as for a boat) of the rover.
The number display must use a font size that is at least 5.5 inches (14 centimeters) in
height and 4 inches (10.2 centimeters) in width. Numbers must be black on a white
background, be easily readable, and conform to all safety requirements. However it is
attached, the rover number is part of the vehicle and subject to all rules pertaining to
the vehicle. **Note that the "race order number" and the "assigned number" for a rover
are the same but will not be assigned until March 1. The assigned number will not be
changed once assigned. The race order is subject to change any time before a rover
begins its running of the course.

Crew Rules
1. Rover Drivers are two (2) student team members (one female and one male) that
propel the vehicle over the course.
2. Specific personal protective equipment is required prior to any team being allowed to
race the course. Eye protection (e.g., safety glasses, goggles or face shield),
commercially manufactured head protection (a bicycle helmet), full fingered
gloves, long-sleeved and long-torso shirts, long pants and socks must be worn during
 operation of the vehicle. Shoes are required. NOTE: All drivers must wear a helmet the
entire time they are racing. There are no exceptions. Home-made protective headgear
is strictly prohibited.
3. Rover drivers who are injured, bleeding, or incapacitated must be removed from that
race attempt to receive medical attention.
4. No appendages, such as stilts, may be used on the feet of the drivers.
5. Pushing the rover with a pole or other implement is not allowed. A driver's use of his or
her hands on the wheels (as with a wheelchair) to rock or otherwise facilitate moving
the vehicle is permitted. The feet of both riders must be on the pedals at the end of the
timed assembly but do not need to be engaged with any included restraints.
6. No headsets or ear plugs of any kind are allowed on the course.
7. Drivers are expected to be fully ready to race on the course, including helmets, full
fingered gloves, eye protection, and attached seat restraints, to complete the timed
assembly exercise. Injuries can occur in adjusting the chain while racing. Each team
will be required to develop a "Signal System" between the two drivers to ensure hands
are clear of the chain. They will be asked to describe their communication plan to the
Marshall Safety Action Team, or MSAT, member and/or the Starter before the race.

General Team and Visitor Rules

1. Only vehicles registered for the competition will be allowed in the pit area. All other
vehicles and trailers must be parked outside of the pit area. Parking passes must be
displayed in the front windshield of the registered vehicle. Others are subject to be
towed, with the exception of the time required to quickly load and unload your vehicle
and equipment. DO NOT block other Rover parking spaces.
2. Driving the rover on the course or in the parking lot in a reckless or unsafe manner is
not acceptable.
3. The consumption of alcoholic beverages or controlled substances by any team
member at any time during the event is strictly prohibited and is grounds for
disqualification of the team.
4. U.S.A. federal, Alabama state, and Huntsville city laws and regulations solely define
what is legally permitted on the grounds. As such, firearms and other weapons are not
permitted to be carried by facility visitors on U.S. Space & Rocket Center property.
5. In accordance with Federal Aviation Administration regulations, the use of drones
(unmanned, or manned flying vehicles) during any Rover Challenge activity is strictly
prohibited.

Penalties
Penalties may be incurred for the following:
Pre-Condition (0:30 seconds each)
1. Dust Abatement (fenders) (minimum of 120 square inches (774 cm 2) each)
2. U.S., national, or institution flag
3. Appropriately labeled functioning antennae, telemetry, or camera systems, if present.

Race Readiness (1:00 minute each)

1. Teams that are unable to assemble/race within their designated 1-hour window on
each day will be assessed a 1:00 minute penalty.
2. Teams that find themselves unable to actually race at the end of assembly must return
to the pit area for repairs.

Assembly (2:00 minutes each)

1. Carry (weight) requirement to the assembly area

2. Collapsed configuration volume requirement of 5 x 5 x 5 feet
3. Assembled width no greater than 5 feet width requirement
4. 15-inch clearance requirement

Between Completed Assembly and Start Line (0:30 seconds for each violation)

1. Any changes, deletions, additions or adjustments made to a vehicle's mechanical

elements such as frame, hinge or coupling, suspension, wheels, brakes, or steering

Final Condition (0:30 seconds each)

The rover must have the following items:

1. Dust abatement (fenders)

2. U.S., national, or institution flag

During the Race (1:00 minute each):

1. Obstacle Fault: An obstacle fault results from a vehicle leaving the course or avoiding
the challenge of an obstacle. Only one obstacle fault can be assessed per obstacle.
The race course between obstacles also is considered to be part of the closest
obstacle structure. Specifically, an obstacle fault is assessed when the following
occurs:
a. A vehicle enters an obstacle off the center line where one set of wheels is off the
raised obstacle (or outside the sand pit).
b. A vehicle is intentionally steered off an obstacle to the side to get through the
 obstacle without getting out to push.
c. A vehicle is driven significantly off the course through or under the rope or into a
barrier or cone.
d. A vehicle is pushed entirely through an obstacle.

The insignificant bumping of a barrier or cone is not considered an obstacle fault. A

rover thrown from an obstacle after entering along the center line is not considered to
have committed an obstacle fault. If a driver attempts the challenge of an obstacle by
entering along the center line but gets caught on the obstacle and is forced to get out
to push, that driver is not considered to have committed an obstacle fault (see Ground
Touch).
2. Ground Touch: This penalty is defined as a driver using contact with the ground or
other object external to the vehicle to move the vehicle. Only one "ground touch" can
be assessed per obstacle, even if both crew members must exit to push the vehicle.
As described above, the course nearest an obstacle structure is considered part of that
obstacle. Pulling on or pushing on a railing, a rope, or the ground are examples of
ground touches. Getting out of the rover to push it off an obstacle or through an
obstacle is a ground touch. A vehicle pushed entirely through an obstacle receives
both an obstacle fault and a ground touch, which results in a penalty of 2 minutes on
that single obstacle.
3. Removal from the course: Rovers having extreme difficulty completing the race are
subject to removal from the course. Teams on the course after 6 minutes will be
notified that they have 2 minutes left to finish the course. The objective of this
notification is to give the racers the opportunity to push, drag or carry their rover in
order to get it across the finish line before being removed from the course. A vehicle is
subject to removal from the course by the race operators if it has not completed the
course within the 8-minute time frame.

Post Race (0:30 seconds each)

1. The vehicle must be equipped with a flag. The flag must be a U.S., national, or
institution flag and be visible from the front, the side, or the rear.
2. A fender (dust abatement device) must be placed over each wheel. The presence and
size requirement will be checked before and after each successful race attempt on the
course.
3. Vehicles may be equipped with other functional non-propulsion equipment, such as a
high-gain antenna, camera and/or an electronic control panel (radio, display, rover
controls). Labels for functional camera, and/or electronic control panel are required
and must be visible to inspectors.

Disqualification
1. Crew requirement (1 male, 1 female)
2. Safety disqualification (Judges' discretion)
3. Driver injured or bleeding
4. Driving the rover on the course or in the parking lot in an unsafe or reckless manner
5. Violation of the aforementioned rules

Penalty Appeals
The scoring decisions of the judges are considered to be final. Only in extraordinary
circumstances can an appeal of a penalty be proposed. If the appeal process is
chosen, the advisor/instructor or the team leader must submit the appeal of the penalty
in writing to the Scorekeeping Lead in the scoring area within 30 minutes of the posting
of the score in question. The final decision of the Race Director shall prevail.

Code of Conduct
Committee members who administer the planning and operation of the NASA
Human Exploration Rover Challenge strive to conduct themselves in a
professional manner. We ask the same from each of the participants. All faculty
members, team members, team supporters, judges and officials are to conduct
themselves responsibly, respectfully and in a safe manner throughout the
challenge. All participants also must conform to the laws of the State of
Alabama and the United States of America. Anyone not doing so will be
requested to leave the U.S. Space & Rocket Center grounds.
Human Exploration Rover
Challenge: Extraterrestrial Terrain
Course

The race will be held on the grounds of the U.S. Space & Rocket Center in Huntsville, Ala.

Course Description
The NASA Human Exploration Rover Challenge course winds around rockets and
other space vehicles including an engineering test unit of the space shuttle with its
external fuel tank and solid rocket boosters, and a model of the Lunar Module. The
total length of the course is about seven-tenths of one mile. It is strewn with
miscellaneous extraterrestrial surfacelike obstacles distributed randomly over the
course. One of the interesting terrains on the course is a crater area in which the life-
size replica of the LM is located.
Rover Challenge Course Map
Obstacle Course Descriptions

Course Procedure
1. The competition begins when the vehicle is weighed and tested for the 5 x 5 x 5-foot
volume constraint. Then the two passengers carry their vehicle in the collapsed (i.e.,
unassembled) condition a distance of 20 feet prior to arrival at the starting line. The
passengers are the only two individuals who may be involved in the carry and
assembly procedures. Carry time is not included as a part of the assembly time.
2. After the volume test, a signal is given to the two passengers to assemble their
vehicle, and the clock is started. The clock stops when the vehicle is assembled; all
tools and other assembly implements are placed in the designated area; and both
team members are seated in the rover with helmets on, seat belts attached, and feet
on the pedals as if ready to race. No more work is allowed on the vehicle before the
first run. If a vehicle cannot be disassembled, hence cannot be timed for
assembly, then that team will be assessed the maximum assembly time (as
determined from the group of all competing teams) + 30 seconds.
3. After the vehicle is assembled, the 5-foot assembled width is checked as specified
in construction requirement #5,
and the 15-inch clearance test is conducted as specified in construction requirement
#10.
4. The rover is then inspected for Pre-Condition requirements (fenders; U. S., national
or institution flag).
5. After Pre-Condition Judging, the rover is inspected for safety, as specified in
construction requirements #12 and #13.
6. The passengers receive a signal to start the race, at which time the clock for that
team is started. The team has to traverse the entire course. The event clock stops
when the vehicle containing the two crew members crosses the finish line.
7. A team receives a time penalty if the team is not able to traverse an obstacle. All
obstacles must be attempted.
8. Each time either crew member touches the ground or other course items such as
ropes or railings, a time penalty is added to the total clock time for the event. Only one
touch penalty is assessed per obstacle, and an obstacle formally extends from half
way to the previous obstacle to half way to the next obstacle. The first obstacle begins
at the starting line, and the last obstacle extends to the finish line.
9. Individuals (team members and supporters) may NOT follow the rover around the
race course during a run. We suggest teams post their members at locations along the
course route, if desired. Course judges have the authority to disqualify any team
that violates this rule.
10. Teams on the course after 6 minutes will be notified that they have 2 minutes
left to finish the course. The objective of this notification is to give the racers the
opportunity to push, drag, or carry their vehicle to get it across the finish line
before being removed from the course. A rover is subject to removal from the
course by the race operators if it does not complete the course within the 8-
minute time frame.
11. Judges have authority to remove a disabled vehicle from the course when they feel
it will affect the course time of the next successive vehicle. The course run for the
disabled vehicle ends at this point. Failure to yield to the judge's request will result in
disqualification of the rover for the race.
12. A final conditions test is conducted at the end of each run to determine that all
required items (fenders and U. S., national or institutional flag) are still attached to the
vehicle.
13. Two runs of the course are permitted. The drivers for the first run must be those
individuals who carry and assemble the rover before the first run. Substitutes from the
rover team may be made for either or both drivers for the second run of the course.
14. Teams not able to make the first run or otherwise disqualified from the first run of
the course can still make the second run of the course provided they have successfully
completed the assembly judging.
15. The order of teams called to race in both runs of the course is determined by the
previous years performance (fastest to slowest) for returning teams, followed by
arbitrary order for new teams. Race order for returning institutions that raced more
than one team in the previous year is determined by that institutions best team
performance in the previous year.
16. Once the race order is established, teams will be assigned a one-hour window for
each run. Teams must be ready to assemble/race within their one-hour window on
each day, or will be assessed a 1:00 minute penalty.
17. Race order and race window times will be communicated to the teams no later
than March 1, 2017.
NASA Human Exploration Rover
Challenge: 2016 Course Obstacles

Note: The course obstacles outlined below are subject to change. Please check
back periodically for updates.
Obstacle #1 -- Undulating Terrain
This gently uneven surface is replicated by wooden ramps causing the rover to be
tilted to the right or to the left as only the wheels on one side of the rover are elevated.
The ramps range from 6 to 12 inches in height with gradual ingress and egress slopes,
all covered with gravel.
Obstacle #2 -- Wrinkle Ridges
These ridges are produced as the crusts of moons contract when underlying material
cools and shrinks. The ridges are made of landscape timbers 3 inches thick, in
different lengths, all covered with crushed gravel.
Obstacle #3 -- Crater With Ejecta
This large crater is about 3 feet in diameter with a vertical height of 8 inches. Rays of
ejecta, the material thrown out of the crater on impact, are fashioned out of 2-by-4- and
2-by-6-inch lumber. The whole assembly is covered by gravel. Boulders are added to
direct the rovers to traverse the large crater.
Obstacle #4 -- Rims of Craters
A lava flow has covered all but the rims of these older small craters, each about 2 feet
in diameter and 3 to 6 inches high. The lava flow is simulated by three pieces of
lumber (2-by-4-, 2-by-6- and 2-by-8-inch pieces) stacked on top of each other. A layer
of gravel covers this obstacle.
Obstacle #5 -- Martian Terrain -- Butte
This feature is a test of the rovers climbing ability. In the past, the maximum change in
elevation has been 2 feet. This butte is 4 feet high. Power (drive train) and traction
(wheel design) are important here. Use low gear to ascend the 20-degree incline
approach.
Obstacle #6 -- Martian Terrain -- Linear Gully
A remnant of an ancient erosion channel, this 2-foot depression, about 8 feet wide,
provided a conduit for liquid runoff on the Martian surface.
Obstacle #7 -- Martian Terrain -- Outcrops
This 3-foot-high mound reveals layered rock exposed by erosion. The rovers wheel
design provides traction. If possible, avoid sharp rock projections on the inclined
approach.
Obstacle #8 -- Martian Terrain -- Sand Dunes
Images from NASAs Mars Reconnaissance Orbiter show sandy slopes composed of
fine-grain (soft) material. Best passage is achieved by navigating to pass between the
dunes to avoid traversing them. Individual dunes are about 2 feet high and 3 feet wide
at the base, randomly scattered on the Martian surface. Rovers benefit from flotation
(large wheel footprints) on soft surfaces.
Obstacle #9 -- Crevasses
Crevasses result from cracks in the surface regolith or from erosion by liquid and/or
molten material forming ruts in underlying material. The crevasses vary in width
between 1 and 4 inches. Avoid having the rover wheels stuck in these cracks, which
are 4 to 6 inches deep.
Obstacle #10 -- Steep Incline
The slope of this obstacle is perpendicular to the direction of rover traverse. The
simulated lava or rock outcropping surface is smooth. The angle of elevation of the
incline is about 20 degrees. Avoid tipping over by lowering the center of gravity and by
leaning to the high side of the incline. Traction will assist on this smooth surface (no
gravel).
Obstacle #11 -- Lava Flow With Craters
This area surrounding the Lunar Excursion Module replica consists of asphalt lava with
craters of various sizes and strewn boulders. The large crater will test the 15-inch
clearance of the rovers. A turn of 360 degrees is traversed within this large crater.
Obstacle #12 -- Tilted Craters
Rovers travel up a slope and then encounter medium craters on the descending side.
The slope is gentle, about 15 degrees. Boulders force the rovers to traverse the two
craters. The whole obstacle is covered by gravel.
Obstacle #13 -- Asteroid Impact
Rovers must navigate over this field of simulated asteroid debris (boulders)
while not avoiding the debris. The asteroid fragments range in size from 3 to 12 inches
and are situated close together, touching each other. Proceed with caution.
Obstacle #14 -- Collapsed Fault
Shifts in underlying material cause depressions and adjacent ridges in the surface
regolith. These uneven surfaces are formed by plywood inclines and declines over 2-
by-4- and 2-by-6-inch boards on edge. Gravel covers the whole obstacle.
Obstacle #15 -- Loose Regolith
Meteoroid collisions with extraterrestrial surfaces produce fine-grain material, difficult
to traverse. Beach sand (rounded grains) simulates this material, which allows wheel
penetration. The depth of this simulant is 6 to 8 inches. Traction and support (flotation)
will assist in traversing this obstacle.
Obstacle #16 -- Hummocky Area
Similar to Obstacle #1, this obstacle consists of uneven terrain characterized by
humps randomly positioned so that they occur first on one side of the rover, then on
the other. Navigating the humps produces twisting forces on the rover chassis.
Wooden ramps covered with gravel simulate this landform.
Obstacle #17 -- Erosion Bed
This ancient stream bed consists of small rounded pebbles deposited to a depth of
about 6 inches. Rover wheels might sink in this smooth obstacle material. Wheel
flotation (support) will assist in traversing this obstacle.