Underwater Drones: Student Competition Rules 2017 Robosub
“Squid with seaweed” is not a lettuce, it is a task from the anniversary (20th) international competition on underwater UAVs (AUV, Autonomous uninhabited underwater vehicles). The organizers creatively beat the 20th anniversary and chose the setting “20,000 leagues under the sea”, so the autonomous underwater robots had to slug in torpedoes with squid, cultivate pearls and rescue the sailors from the whirlpool.
RoboSub has been held since 1998 (based on the US Space and Naval Systems Center), and the Singapore AUV challenge since 2013.
Russian teams from Vladivostok (FEFU and Moscow State University named after Nevelsky) have won prizes many times.
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I bring to your attention a free translation of the rules of the RoboSub 2017 competition in order to give an idea of the requirements and the level of complexity, a little added with pictures from the scene and the participants' comments.
Please post your comments and questions on the RoboSub forum on the robonation website. Teams are encouraged to participate in the community.
Technical Director:
David Novick: dknovic@sandia.gov
Competition questions (registration, travel, hotel or team results):
Competitions@AUVSIFoundation.org
The official source of all information relating to the rules, interpretations and information updates for the International Competition for Autonomous Underwater Vehicles (RoboSub) is the site www.RoboSub.org . On the main site you can find information about the right to participate, registration (form and fees), websites, social networks, requirements for a journal article, team presentations and videos, and much more.
This year’s theme is based on Jules Verne ’s 20,000 Leagues Under the Sea (as well as the 1954 Disney film of the same name).
The main objective of the mission is to demonstrate the autonomy of the AUV while playing the role of Nautilus from “20,000 leagues under the sea” . Orange guide markers help guide the unit to the initial tasks. Two pingers will send AUV to the remaining two tasks. The device will need to set off (Set Sail) / sink the ship (Disable a ship) (sensory buoys), move along the channel (pass through an obstacle), cultivate pearls (throw a marker), fight the giant squid (fire torpedoes), collect and classify sea samples (remove object (s)), float (surface), move / release object (s) and rescue sailors from the whirlpool (pull the balls out of the octagon).
The competition will be held at the SSC Pacific TRANSDEC facility . The large size of the object allows us to divide the area into four sections and carry out missions in each of them. The mission will take place at a depth of 16 feet (4.9 m). During the semi-finals, half (competition side, two full sections) will be devoted to semi-final tasks. The other half (the side for the exercises, two full sections) will be at the disposal of teams wishing to continue grinding their algorithms. The final will be held using all four sections.
To participate in a RoboSub competition, each unit must comply with the following dimensions: six feet in length, three feet in width, three feet in height (1.83 mx 0.91 mx 0.91 m). Table 1 shows the bonuses and penalties associated with the weight of the apparatus on land.
Table 1. The weight of vehicles on land, bonuses and penalties.
Each marker must not exceed the following dimensions: 2.0 inches x 2.0 inches x 6 inches (5.1 x 5.1 x 15.2 cm). The marker should weigh less than 2 pounds (0.91 kg) on land. Exceeding the specified parameters with a marker will result in a penalty of 500 points. Any marker that exceeds these limits by more than 10% will be disqualified. Each marker must have a name, color or team emblem. Markers will be removed from the arena after each launch. Although if you lose a marker, you will have a certain amount of time, within reasonable limits, to search for it, still treat the markers as a consumable and take care of them in stock.
Torpedo size, weight, marking and potential "loss" are identical to the rules for markers. Torpedoes must move at "safe" speed. A “safe” speed is one in which a torpedo will not hurt when hit from a close distance into a person under water.
Test torpedoes:
Pingers will be Bentos ALP-365 models, which allows the user to select a frequency from 25 to 40 kHz in increments of 0.5 kHz. They will only be set to the whole frequency (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, or 40). Pingers in each section will use the same frequency. For example, two pingers in section A will have the same frequency, and two pingers in section B will have the same frequency (but different from section A). Four different frequencies will be used: one for each section, at the same time two pingers in the section should not be active, only one. Ping from one section will not conflict with ping in the other - only one pinger will ping at a time, see Figure 1. As shown in Figure 4, the frequencies for the sections will be: A - 30 kHz, B - 40 kHz, C - 25 kHz, D - 35 kHz.
Figure 1. Pingers for four sections .
1. The official source of all information regarding the rules, interpretations and updates of information for RoboSub is the home page of www.RoboSub.org
2. During the competition, the device must operate autonomously, without control, guidance or communication with a person or any external computer. The device and any parts associated with the device must be immersed and remain immersed. Not a single part of it should be located above the surface of the water, nor should anything be attached to the device, remaining above the surface while the device is under water.
3. Teams may consist of students, teachers, industrial or government partners. Interdisciplinary teams are invited. Representatives from industry, government agencies or universities (as part of the faculty) are involved, but full-time students must be at least 75% of each team. Participants must be enrolled in their schools as a full-time student in a quarter / semester during the winter and spring to be considered “students.” It is expected that students from the team will make a significant contribution to the development of their apparatus.
4. Of the team members, only students are eligible for cash rewards.
5. One of the team members must be appointed “team captain”. The team captain, only the team captain, will speak for the team during the competition.
6. No member of the team has the right to enter the arena, regardless of time (this also applies to wading, swimming, diving, using boats and other swimming equipment).
Officials of the organizer of the competition will be engaged in the restoration of lost devices. Officials of the competition organizer will make all reasonable efforts to restore the lost apparatus, but cannot guarantee the success of this task. All teams acknowledge that by entering into a competition, they bear the risk of damage or loss of their apparatus. Judges, officials, the receiving party and the sponsors cannot be held responsible for damage or loss.
7. Officials of the organizer of the competition may suspend the competition at any time if they consider it necessary to ensure safety.
8. There will be a semi-final round in which most / all teams will participate. After the semi-final round, the judges convene and count the points. The judges are authorized to select the teams that will participate in the final. Teams will be taken to the final round in the ranking order from the semifinal round.
9. Depending on the number of participants, in order to be considered for selection in the semifinal round, the apparatus must show that it can dive and pass through the gate during training days (qualification). The unit, which autonomously passes through the gate, is guaranteed participation in the semifinal round. If this qualification requirement is necessary, this will be announced.
10. After the competition, the judges will sum up. Competitive rating of teams admitted to the final round will be higher than the teams that did not participate in it.
11. Each team will have 20 minutes of competition time. The first 5 minutes make up the preparation period . During this time, the machine cannot be in the water. This is followed immediately by a 15-minute speech period . This time can be changed depending on the number of participants.
12. Preparation period: the device can remain on the crane or be placed on the dock, but not in the water and not touch it. A team may opt out of a five-minute preparation period and begin a 15-minute speech period . As soon as the performance period begins, the team loses the remaining time during the preparation period .
13. Performance period: when officials of the competition organizer signal the start of the performance period , the team may ask that their apparatus be lowered into the water and released to fulfill the mission. Only tournament officials can lower and remove the unit. The time required for the descent and / or retrieval of the apparatus is not taken into account in relation to the 15-minute limit (see: Completion of the voyage and removal of the apparatus). This is done to prevent unsafe actions in an attempt to speed up the process of descent and retrieval.
14. Launch series: a team can perform several launches during the performance period . After the team re-lowers the machine, all points earned in previous launches are lost.
15. Completion of the performance and lifting of the device: at any time while the device is in motion, the team captain can signal the end of the turn and request the removal of the device. Only officials of the competition organizer can receive the device and return it to the dock. The countdown time for the performance period stops when the organizer touches the unit to reach it. The countdown will continue as soon as the unit is safely returned to the docking station, or the team establishes communication with the unit, whichever comes first (i.e. if the team has wireless communication with the submarine, the countdown time continues until the diver returns the submarine to the beginning).
16. Once launched, the team can block their current account and use any remaining time to inspect the arena. Inspection should be done offline. In contrast to the competitive performance here, time will continue to go when removing the device. This can be changed depending on the time and number of participants.
17. If the unit is experiencing significant interference with equipment, line, cable or diver deployed in support of the competition, the team captain may ask for the time to stop, return the device to the dock and ask the judges to add their best estimate of time used in this to the time. start up to the place of interference. If the team captain does not make this request in a timely manner (as determined by the technical director or his designated person), this option is lost. Interference related to competition assignments is not suitable for this option, and the apparatus interfering with this may be disqualified at the discretion of the judges.
18. The mission ends when one of the following events occurs:
1. The organizers did their best to provide participants with maximum resources at the competition venue, including electricity, test pools, Internet access and practice time in the main pool. This event is open to the public, so there is a high probability that a potential future employer or sponsor will watch the event.
2. It is expected that ALL teams will be present for ALL competition days. If your team does not reach the final, it is expected that your team will show your device and will be present in the team tent all the time (ALL teams, All days!)
1. The United States uses a 120V 60Hz 15A electrical plug. Usually there are 3 contacts, two parallel pins (one wider than the other) and an offset semi-circular pin. The wider pin is zero, the shorter pin is phase, and the third is ground.
1. Each team can enter one or more vehicles into the competition. Each unit will be physically tested by the judges of the competition. Judges may disqualify any apparatus that, in their opinion, creates an unreasonable security risk for the receiving entity. Sponsors and the host organization, their employees and agents, and the organizing committee are not responsible for any damage or damage caused by any apparatus, as well as for any damage or injury caused directly or indirectly by disqualification of the apparatus.
2. During qualifying, semi-final or final launch, each unit must operate autonomously. When performing a mission, communication between the device and any person or computer outside the device is not permitted. Devices must act solely on their ability to sense and maneuver in the arena using onboard resources. When performing qualifying, semi-final or final launches, everything that is attached to the device must be inside the device. Any part that breaks the surface is considered a violation. During test days and test runs, buoys can be used on the surface for communication.
3. The weight of each individual device must be less than the maximum allowable. Please note that bonus points are awarded to vehicles that are below a certain value, and penalties are awarded to those who exceed it (Table 1). All devices must comply with the volume described in the section "Weight and size."
4. All devices must be powered with batteries. All batteries must be sealed to reduce the risk of acid or caustic electrolytes (caustic electrolytes). Do not charge batteries inside sealed containers. The open circuit voltage of any battery (or battery system) in the device cannot exceed 60V DC. If the team has any questions or problems, they are advised to contact the technical director.
5. In the waters of the arena, the device can release only markers or torpedoes using compressed air. The rest is prohibited.
6. For the safety of your team and those around you, charged torpedoes are not allowed in the team’s tent. If you need to test your launchers, check them either in the water or in an open area, away from anyone and anything.
7. To ensure the safety of your device, we require that it be securely attached to a belt or suspension of any type. Even if the device is light enough to carry, we would not want someone to drop it and break it. In addition, we need to weigh the device and demand that the device be somehow fixed for measurement. See the document Using the Submarine for tips and ideas on how to do this.
8. All vehicles must contain a clearly marked switch that allows the diver to quickly and easily use it. The switch must disconnect the batteries from all motor components and devices on the AUV. Note that he should not turn off the computer. When reactivated, the device should return to a safe state (screws should not rotate).
9. All screws must have covers. Covers should surround the screws with at least a 2 "(5.1 cm) distance between the rotating screw and the edges of the casing (front and rear). If you have protection against hitting your finger when opening, this distance may be minimal. Commercial engines are rated as it is, if they are covered with shells.
10. Devices are not allowed into the water without a proper operating switch and protective covers.
11. All vehicles should have a positive buoyancy of at least half a percent (0.5%) of their mass, when disconnected using a switch.
12. Officials of the organizer of the competition may suspend the operation of the apparatus at any time, if they deem it necessary for security reasons. Teams may also be requested to request technical specifications of their apparatus before the start of the competition, in order to identify security problems ahead of time. The information will be kept secret by the judges until the end of the competition.
13. When participating in competitions allowed the use of multiple devices. Each unit must comply with the safety requirements described above. Along with these requirements there are some clarifications for several devices:
The schedule of training launches will be made on the spot, according to the situation, by the technical director or the designated person in charge during the training days. We intend to provide as much training time as necessary for the contestants, and are not interested in a simple site. Each unit must be approved by the technical director or the person in charge before it can be allowed into the arena for training.
If required, (when registering more than 24 teams), teams will need to undergo a qualifying launch. A team may request that they qualify for a qualifying launch during training launches (during training days). The device must pass through the gate autonomously (with everything that needs to be attached or placed inside the device) in order to pass the qualification. A qualified team is awarded with two time intervals on the days of the semi-finals (one on the first day and one on the second). For any teams that do not pass the qualification during the training days, extra intervals will be available during the semi-final days. First, they must pass the qualification (pass through the gate), after that they will have the opportunity to choose an extra interval. Unqualified teams can use only one interval per day.(Hint: Starting next year, teams can qualify in advance by sending a pre-competition video demonstrating the necessary qualifications for maneuvering. There is no need to wait for training days at the venue of the competition. More detailed information will appear later.)
The order of performances will depend on the number in the list, after static refereeing. The first in the list will choose the time first, and so on. A draw will be decided by a coin toss or random selection.
The preparation is reserved for the first 5 minutes. During this time, the device can not be immersed in water. After 5 minutes (or after a message from the readiness command), the judges start counting the lead time. This is the time for which the device performs the task. As soon as this time begins, the team may request that their apparatus be immersed in water.
The team captain may ask to complete the launch. The time of returning the device to the dock is not added to the execution time (if the team has no connection with the device returning to the dock). The countdown stops only if the unit has passed through the gate. The countdown does not stop if the device is withdrawn before passing through the gate.
Each qualified team will be assigned a time interval to complete the task. Twenty minutes before the start of their time, the team can enter the intermediate zone at the launch site. At the beginning of its time interval, the team can enter the launch area of its dock.
The task will continue until the time for its execution expires, or the captain of the team does not recall the device, or the judges order to interrupt the execution of the task, or the device has not surfaced. Judges may interrupt the mission by their decision. As soon as the judges interrupt the mission, points are no longer awarded. The decision of the judges to interrupt the assignment is final.
At the end of the semifinal, the judges will draw up the ranking table of the participants, based on their performances in the semifinal, and select the best teams for the final round. The total number of points and the rating of unselected teams is frozen. For the final round, all finalist points are reset. The rating of the teams participating in the final round will be based on the Performance Indicators for this round. Any team selected for the final will be ahead of teams not selected.
Figure 2: Aerial photography of the object. In the bridge construction there are no moorings or supports in the pond.
Figure 3: Section of the
launch point object , gate, or any of the tasks will be located in such a way that no three missions will be on one straight line.
Figure 4: Layout and pinger frequencies for practice and semi-finals
Figure 5: Course Planning for Finals
Test gate is made of three-inch black PVC pipe. They will float directly below the surface, moored to the bottom. Vertical mounts will be masked with bright orange tape. The device can pass through the gate at any depth.
Figure 6. Gateway to check
Figure 7. Valid gate passage methods
Example of passage through the gate:
The road signs are 1.2 m long and 15 cm wide. The path will be covered with bright orange tape. Each track indicator is placed immediately after the current task and indicates the next task. At the gate there will be a pointer leading to the assignment “Shutting down the ship”. After the “Ship Off” task, the pointer leads to the Navigation Channel task. These will be the only segments of the path that will help visually orient the device.
On the task there will be two buoys with a diameter of A0 Polyform. One will be red, the other green. The third will be yellow (with a diameter of at least 23 cm). All buoys will be attached to the bottom. Buoys do not have a specified sequence. Points are awarded for touching any buoys. Extra points are awarded for first touching the Red, then the Green Buoy. Extra points are also awarded for turning the yellow buoy (more than 10 degrees) so that its edge appears on the surface.
Figure 8. Dock / Ship the ship
The horizontal section of 2 "PVC pipes, painted in yellow, will be moored to the bottom. Two Yellow vertical sections will be attached to it. The vertical sections are tied to the horizontal PVC pipe with ropes. Points are awarded for passing over obstacles. Additional points are awarded for passing the channel" on style "(sideways, backwards or upside down).
Figure 9: Moving through the channel
Two black boxes take part in this task. Each black box is surrounded by a 15 centimeter white border. Up to two markers can be reset from each device. Inside each of the boxes is a pearl. One of the boxes will have a lid that needs to be opened. The cover is orange, the handle is purple. Points are awarded for lowering markers in an open box or on its white face. To earn the maximum number of points, the device must remove the cover and lower both markers in the box that was previously closed.
Figure 10. Box with lid
Figure 11: Path marker, box and inserts.
There is a pinger who can direct the device to this task. The task consists of two separate rectangles, moored to the bottom, each of which has two openings of different diameter. There will be two small and two large holes. One of the rectangles is rigidly fixed on the bottom of the PVC pipe (squid). In this rectangle (with squid inside), the smaller hole will be closed by floating "algae". Algae made of green noodles for the pool. Algae need to get out of the way to see where to shoot. The second rectangle (Tentacle) is fastened with a paracord cable of the 550 type, and can move and swing. Each unit can shoot up to two torpedoes. Points are awarded for a shot through any of the holes. The maximum number of points can be obtained by firing through the small holes of both rectangles (both the squid and the tentacles).
12. .
In this task there is an acoustic pinger attached to the bottom of the pool. Directly above it is the tower, on the tower are four different marine patterns: Red, Green, Orange and Blue. Red and Green samples are longer than Orange and Blue. On the surface of the water, above the pinger is an octagon, personifying the whirlpool. Inside the octagon are three 20-centimeter balls, symbolizing the three sailors who must be saved from the whirlpool (Ned Land, Pierre Arronax and Conseil). Each of the balls is fixed in a structure that forms part of the structure of the octagon. To get the maximum number of points for salvation, the ball must be beyond the territory of the octagon. To get maximum points for an octagon, the device must completely float inside the octagon.
Whirlpool
Next to the pinger and the tower is a table for classifying samples (a large, flat, horizontal surface). It is located at ~ 0.3 m from the ground. On the table are four corresponding ellipse: red, blue, green and orange. Points are awarded for the selection of objects from the tower, floating with them and placing them on the table. The maximum number of points is charged for the location of samples in the corresponding rectangles in color.
Figure 13. Collection point and whirlpool.
Figure 14. Whirlpool and crew rescue.
Figure 15. Tower and sample collection.
Figure 16: Classification Table
Each task has a number of points associated with it. Tasks can be performed in any order with one or several devices. If multiple devices are used, points will be awarded only once, when the task is completed by any of the devices. Subsequent execution of the same task in the same launch will not bring points. The auxiliary object must be attached to the apparatus when the apparatus is on the surface in order to get maximum points for “ascent using the object”.
The team captain can finish the launch at any time and save accumulated points. The team may decide to start another run, trying to complete more / other tasks. At the start of a new launch, points accumulated in the previous launch are lost. Points are awarded only for the most recent launch.
NEW!For the finals the best result will be used for the final points. Therefore, the team may try to complete as many launches as time permits, and the launch with the most points will be used for their final result. If the minimum requirements have been met, the remaining time after each run will be recorded and used to calculate the time bonus. For example, after the first launch, the team fulfilled the requirements for a temporary bonus with 10 minutes remaining on the clock. These 10 minutes are used to calculate the time bonus for this launch, regardless of what happens with the next launch.
Tasks Cultivate pearls / Battle with squid, as well as Collect and classify will be marked only by pinger. There will be no road signs pointing to these tasks. The team may require the inclusion of a specific pinger (a pinger near Cultivate Pearls / Battle with a squid or a pinger next to Collect and classify). However, extra points will be awarded to the team that requested the random pinger.
The device can perform tasks in each of the sections marked by the pinger, at the beginning of any launch, the team can request a random selection of the pinger. The only randomization is the selection of the first task marked by the pinger, the second task will always be another task (tasks) marked by the pinger. If the device receives any points from the first task associated with a random pinger, then it receives bonus points. At any time after the unit has received points from the task associated with a random pinger, the captain can ask to switch the pinger. If the device receives any points from the second task associated with the random pinger, bonus points are also awarded. If the team captain asks to switch the pinger before the device has acquired any points, the launch will return to a specific task,and no additional assignments will be received.
Each unit is expected to have 15 minutes to complete the entire mission (with an additional 5-minute preparation time). Any device that touches the buoy passes through an obstacle, places at least one marker in the box (or at least one of its torpedoes passes through the hole) and comes to the surface - they will receive bonus points proportional to unused time. Each unit should start running after passing through the gate. At any time of launch, if the apparatus comes to the surface, the launch ends (see the Ascent Section for the elimination of these situations).
When executing the task sequence, the team may at any time select the Ascent task (surface within the octagon). In this case (and only in this case) the device can come to the surface and then dive again to perform the remaining tasks without the risk of disqualification.
To continue movement after ascent, the apparatus must be inside or touch an octagon. Ascent beyond the octagon will end the launch of this apparatus. If there are several moving devices (and under water), this does not end their launch. The remaining vehicles can continue their own autonomous mission and continue to score points for this launch. If a pop-up device cannot be removed safely without interfering with other devices, it will be allowed to continue to operate, but it will not score more points for this launch.
Devices that interfere with the elements of the competitive infrastructure may be disqualified at the discretion of the judges. “Intervention” does not include cases where, in the opinion of the judges, the apparatus is trying to perform one of the tasks. If the device is tangled in the element of the competitive infrastructure, the launch will be declared complete. Teams can save points earned on this launch, or they can return the unit to the launch platform and start a new launch. If a new launch is started, all previous points will be lost.
9.4.1 Description of subjective assessments
Technical Achievements and Workmanship: These considerations exclude any components of the design that are or may be (in the opinion of the judges) commercially available or do not include significant input from team members. In other words, if you use a well-designed finished component, your team does not get points for its good technical design. You will receive points for selecting a component that, in the opinion of the judges, is well suited to the engineering needs of the device (system engineering).
9.4.2 Description of Performance Estimates
Passing through the gate: the judge determines whether the gate has passed satisfactorily.
Maintain a fixed course through the gate: Does the submarine move in a “straight line” through the check gate? It is intended to separate the vehicle that maintains the course, or in some other way does something autonomously, from the vehicle that initially goes at an angle to compensate for its drift. For example, a device that has a weak sinusoidal movement due to the tuning of the PID controller, but on average supports a course that goes straight through the gate. Or the apparatus that searches for the gate, finds them and goes through them, drives right through the gate. An apparatus directed from the gate to compensate for unspecified engines and drift does not pass directly through the gate.
Following the “Path”: how well did the device find and follow the segment?
Dock / Ship the Ship (Buoys): partial points are awarded if you are tracking a buoy, but instead of deliberately touching it, you encounter it. Maximum points are given for touching the red, and then the green buoy, without touching the yellow. Maximum points are given for the slope of the yellow buoy by at least 10 °, some points are awarded for the fact that the buoy does not tilt. Manipulation of only the rope holding the buoys / ship will not be counted for scoring.
Channel navigation: did the car go through PVC without touching it? What percentage of the device passed over the top of the object?
"Style" is determined by the slopes of 90 °. With each change of orientation by 90 ° a bonus is added. The channel starts from ~ 10 feet (3 m) in front of the PVC structure and extends to ~ 10 feet (3 m) after the structure.
For example:
Cultivate pearls: a covered box costs more points than an uncovered box. Two markers in any box will be counted twice. Partial points can be obtained if the marker lands near or at the edge of the box.
Battle with squid: the torpedo must go through the hole to get maximum points. Bonus points are given for passing one torpedo through each of the small holes. Partial points can be awarded if the torpedo touches the yellow border without passing.
Ascent to the surface within the octagon: The submarine must be completely in the octagon to get maximum points. Partially points will be awarded depending on which part is outside the octagon.
Capture the object: the object must be captured by the apparatus for maximum points. Partial points may be awarded for partial capture.
Object reset: the object must come off the apparatus in order to get maximum points.
Partially awarded points may be awarded at the discretion of the judges for the object remaining on the device.
Object on the table classification: the object must remain on the table for maximum points. Partially points can be obtained if objects land near or fall off the table.
Object near the ellipse: the object must be completely within the correct color of the ellipse for maximum points. Partially points will be awarded depending on how far the object is outside the ellipse.
Rescue crew: the ball must be completely out of the octagon to get maximum points. Partially points will be awarded for a ball that is released, but is still inside the octagon.
NEW! Inter-hardware communication (IVC): when there are several devices in the water, they must exchange data with each other in order to get IVC points (several devices do not have to communicate with each other). Judges should evaluate communication. The level of communication and the complexity of behavior resulting from communication is what determines the number of points.
Time Bonus: at a minimum, the submarine must touch the buoy, complete the “Navigate through the channel” task, throw at least one marker into the box (or shoot from one torpedo through the hole) and surface in the octagon to get a time bonus. These tasks can be performed in any order.
Bonus time - the calculation of the remaining whole minutes plus seconds. For example, with the remaining time of 7:13 the team will receive (7 + 13/60) * 100 = 721.667 points (approximately).
Original: www.robonation.org/sites/default/files/RoboSub_2017_Final_Mission_v2_5-2.pdf
Team of organizers
Vladivostok team
Q: Tell me something interesting?
A: Why did we take second place? It’s just that everyone broke down during the finals, but nothing broke. didn't work.
I want to thank you for your help in working on the publication: Vyacheslav Bukatov, Sergey Dan'shin, Anton Tolstonogov, Vlad Bolotov, Max Sporyshev, Ivan Chemezov, Alexander Zhikhareva, Maria Lukina, Dmitry Zemtsov.
RoboSub has been held since 1998 (based on the US Space and Naval Systems Center), and the Singapore AUV challenge since 2013.
Russian teams from Vladivostok (FEFU and Moscow State University named after Nevelsky) have won prizes many times.
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Victory
RoboSub
2012 - 5th place (FEFU, Vladivostok)
2013 - 3rd place (FEFU, Vladivostok)
2014 - 4th place (FEFU, Vladivostok)
2015 - 3rd and 6th place (Maritime University named after Nevelsky and FEFU, Vladivostok)
2016 - 4th place (Nevelsky Maritime University, Vladivostok)
2017 - 2nd place (FEFU, Vladivostok)
Singapore AUV challenge
2013 - 1st place (FEFU, Vladivostok)
2015 - 2nd place (FEFU, Vladivostok)
2016 - 2nd place (FEFU, Vladivostok)
2017 - 1st place (FEFU, Vladivostok)
2012 - 5th place (FEFU, Vladivostok)
2013 - 3rd place (FEFU, Vladivostok)
2014 - 4th place (FEFU, Vladivostok)
2015 - 3rd and 6th place (Maritime University named after Nevelsky and FEFU, Vladivostok)
2016 - 4th place (Nevelsky Maritime University, Vladivostok)
2017 - 2nd place (FEFU, Vladivostok)
Singapore AUV challenge
2013 - 1st place (FEFU, Vladivostok)
2015 - 2nd place (FEFU, Vladivostok)
2016 - 2nd place (FEFU, Vladivostok)
2017 - 1st place (FEFU, Vladivostok)
I bring to your attention a free translation of the rules of the RoboSub 2017 competition in order to give an idea of the requirements and the level of complexity, a little added with pictures from the scene and the participants' comments.
1 Contacts
Please post your comments and questions on the RoboSub forum on the robonation website. Teams are encouraged to participate in the community.
Technical Director:
David Novick: dknovic@sandia.gov
Competition questions (registration, travel, hotel or team results):
Competitions@AUVSIFoundation.org
2 Reminder
The official source of all information relating to the rules, interpretations and information updates for the International Competition for Autonomous Underwater Vehicles (RoboSub) is the site www.RoboSub.org . On the main site you can find information about the right to participate, registration (form and fees), websites, social networks, requirements for a journal article, team presentations and videos, and much more.
3 Subject
This year’s theme is based on Jules Verne ’s 20,000 Leagues Under the Sea (as well as the 1954 Disney film of the same name).
4 mission
The main objective of the mission is to demonstrate the autonomy of the AUV while playing the role of Nautilus from “20,000 leagues under the sea” . Orange guide markers help guide the unit to the initial tasks. Two pingers will send AUV to the remaining two tasks. The device will need to set off (Set Sail) / sink the ship (Disable a ship) (sensory buoys), move along the channel (pass through an obstacle), cultivate pearls (throw a marker), fight the giant squid (fire torpedoes), collect and classify sea samples (remove object (s)), float (surface), move / release object (s) and rescue sailors from the whirlpool (pull the balls out of the octagon).
5 Competition Overview
5.1 Location
The competition will be held at the SSC Pacific TRANSDEC facility . The large size of the object allows us to divide the area into four sections and carry out missions in each of them. The mission will take place at a depth of 16 feet (4.9 m). During the semi-finals, half (competition side, two full sections) will be devoted to semi-final tasks. The other half (the side for the exercises, two full sections) will be at the disposal of teams wishing to continue grinding their algorithms. The final will be held using all four sections.
5.2 Weight and Size Restrictions
To participate in a RoboSub competition, each unit must comply with the following dimensions: six feet in length, three feet in width, three feet in height (1.83 mx 0.91 mx 0.91 m). Table 1 shows the bonuses and penalties associated with the weight of the apparatus on land.
Table 1. The weight of vehicles on land, bonuses and penalties.
5.3 Markers
Each marker must not exceed the following dimensions: 2.0 inches x 2.0 inches x 6 inches (5.1 x 5.1 x 15.2 cm). The marker should weigh less than 2 pounds (0.91 kg) on land. Exceeding the specified parameters with a marker will result in a penalty of 500 points. Any marker that exceeds these limits by more than 10% will be disqualified. Each marker must have a name, color or team emblem. Markers will be removed from the arena after each launch. Although if you lose a marker, you will have a certain amount of time, within reasonable limits, to search for it, still treat the markers as a consumable and take care of them in stock.
No one is following this requirement. With us (the team of Moscow State University named after Nevelsky) these were ordinary golf balls, filled with lead.
- Vladislav Bolotov, Moscow State University Nevelsky
5.4 Torpedoes
Torpedo size, weight, marking and potential "loss" are identical to the rules for markers. Torpedoes must move at "safe" speed. A “safe” speed is one in which a torpedo will not hurt when hit from a close distance into a person under water.
Test torpedoes:
5.5 Pingers (Acoustic Locators)
Pingers will be Bentos ALP-365 models, which allows the user to select a frequency from 25 to 40 kHz in increments of 0.5 kHz. They will only be set to the whole frequency (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, or 40). Pingers in each section will use the same frequency. For example, two pingers in section A will have the same frequency, and two pingers in section B will have the same frequency (but different from section A). Four different frequencies will be used: one for each section, at the same time two pingers in the section should not be active, only one. Ping from one section will not conflict with ping in the other - only one pinger will ping at a time, see Figure 1. As shown in Figure 4, the frequencies for the sections will be: A - 30 kHz, B - 40 kHz, C - 25 kHz, D - 35 kHz.
Figure 1. Pingers for four sections .
6 RULES OF COMPETITION
1. The official source of all information regarding the rules, interpretations and updates of information for RoboSub is the home page of www.RoboSub.org
2. During the competition, the device must operate autonomously, without control, guidance or communication with a person or any external computer. The device and any parts associated with the device must be immersed and remain immersed. Not a single part of it should be located above the surface of the water, nor should anything be attached to the device, remaining above the surface while the device is under water.
3. Teams may consist of students, teachers, industrial or government partners. Interdisciplinary teams are invited. Representatives from industry, government agencies or universities (as part of the faculty) are involved, but full-time students must be at least 75% of each team. Participants must be enrolled in their schools as a full-time student in a quarter / semester during the winter and spring to be considered “students.” It is expected that students from the team will make a significant contribution to the development of their apparatus.
4. Of the team members, only students are eligible for cash rewards.
5. One of the team members must be appointed “team captain”. The team captain, only the team captain, will speak for the team during the competition.
6. No member of the team has the right to enter the arena, regardless of time (this also applies to wading, swimming, diving, using boats and other swimming equipment).
Officials of the organizer of the competition will be engaged in the restoration of lost devices. Officials of the competition organizer will make all reasonable efforts to restore the lost apparatus, but cannot guarantee the success of this task. All teams acknowledge that by entering into a competition, they bear the risk of damage or loss of their apparatus. Judges, officials, the receiving party and the sponsors cannot be held responsible for damage or loss.
7. Officials of the organizer of the competition may suspend the competition at any time if they consider it necessary to ensure safety.
8. There will be a semi-final round in which most / all teams will participate. After the semi-final round, the judges convene and count the points. The judges are authorized to select the teams that will participate in the final. Teams will be taken to the final round in the ranking order from the semifinal round.
9. Depending on the number of participants, in order to be considered for selection in the semifinal round, the apparatus must show that it can dive and pass through the gate during training days (qualification). The unit, which autonomously passes through the gate, is guaranteed participation in the semifinal round. If this qualification requirement is necessary, this will be announced.
10. After the competition, the judges will sum up. Competitive rating of teams admitted to the final round will be higher than the teams that did not participate in it.
11. Each team will have 20 minutes of competition time. The first 5 minutes make up the preparation period . During this time, the machine cannot be in the water. This is followed immediately by a 15-minute speech period . This time can be changed depending on the number of participants.
12. Preparation period: the device can remain on the crane or be placed on the dock, but not in the water and not touch it. A team may opt out of a five-minute preparation period and begin a 15-minute speech period . As soon as the performance period begins, the team loses the remaining time during the preparation period .
13. Performance period: when officials of the competition organizer signal the start of the performance period , the team may ask that their apparatus be lowered into the water and released to fulfill the mission. Only tournament officials can lower and remove the unit. The time required for the descent and / or retrieval of the apparatus is not taken into account in relation to the 15-minute limit (see: Completion of the voyage and removal of the apparatus). This is done to prevent unsafe actions in an attempt to speed up the process of descent and retrieval.
14. Launch series: a team can perform several launches during the performance period . After the team re-lowers the machine, all points earned in previous launches are lost.
It's funny, I kind of read the draft of the missions and it was there that not the last launch was taken, but the best one. This is actually a significant simplification, because, for example, in 2015 (± 1 year), the Singapore team did a dofig of everything, and then decided to restart the mission, for they decided that this was not enough for them and their apparatus, according to the law of meanness, hung and all their accumulated points burned . As a result, in the standings, we with our three simple missions completed were ahead of them.
- Anton Tolstonogov, FEFU
15. Completion of the performance and lifting of the device: at any time while the device is in motion, the team captain can signal the end of the turn and request the removal of the device. Only officials of the competition organizer can receive the device and return it to the dock. The countdown time for the performance period stops when the organizer touches the unit to reach it. The countdown will continue as soon as the unit is safely returned to the docking station, or the team establishes communication with the unit, whichever comes first (i.e. if the team has wireless communication with the submarine, the countdown time continues until the diver returns the submarine to the beginning).
16. Once launched, the team can block their current account and use any remaining time to inspect the arena. Inspection should be done offline. In contrast to the competitive performance here, time will continue to go when removing the device. This can be changed depending on the time and number of participants.
17. If the unit is experiencing significant interference with equipment, line, cable or diver deployed in support of the competition, the team captain may ask for the time to stop, return the device to the dock and ask the judges to add their best estimate of time used in this to the time. start up to the place of interference. If the team captain does not make this request in a timely manner (as determined by the technical director or his designated person), this option is lost. Interference related to competition assignments is not suitable for this option, and the apparatus interfering with this may be disqualified at the discretion of the judges.
18. The mission ends when one of the following events occurs:
- The term of the performance period ends.
- Order of judges on the termination of the mission.
- The team captain requires the completion of the mission.
- The apparatus comes to the surface outside the octagon (as determined by the judges, see the “Infringement” section for more details)
6.1 What is expected on the spot
1. The organizers did their best to provide participants with maximum resources at the competition venue, including electricity, test pools, Internet access and practice time in the main pool. This event is open to the public, so there is a high probability that a potential future employer or sponsor will watch the event.
It's all very cool, there SpaceX is wandering and a bunch of cool teams, only one BUT - you need to be a US citizen :)
- Anton Tolstonogov, FEFU
2. It is expected that ALL teams will be present for ALL competition days. If your team does not reach the final, it is expected that your team will show your device and will be present in the team tent all the time (ALL teams, All days!)
In fact, this is one of the most difficult parts of the competition - seven days from 7 am to 6 pm under the hot Californian sun, that was another challenge for us.
- Anton Tolstonogov, FEFU
6.2 Electricity
1. The United States uses a 120V 60Hz 15A electrical plug. Usually there are 3 contacts, two parallel pins (one wider than the other) and an offset semi-circular pin. The wider pin is zero, the shorter pin is phase, and the third is ground.
6.3 Apparatus
1. Each team can enter one or more vehicles into the competition. Each unit will be physically tested by the judges of the competition. Judges may disqualify any apparatus that, in their opinion, creates an unreasonable security risk for the receiving entity. Sponsors and the host organization, their employees and agents, and the organizing committee are not responsible for any damage or damage caused by any apparatus, as well as for any damage or injury caused directly or indirectly by disqualification of the apparatus.
2. During qualifying, semi-final or final launch, each unit must operate autonomously. When performing a mission, communication between the device and any person or computer outside the device is not permitted. Devices must act solely on their ability to sense and maneuver in the arena using onboard resources. When performing qualifying, semi-final or final launches, everything that is attached to the device must be inside the device. Any part that breaks the surface is considered a violation. During test days and test runs, buoys can be used on the surface for communication.
3. The weight of each individual device must be less than the maximum allowable. Please note that bonus points are awarded to vehicles that are below a certain value, and penalties are awarded to those who exceed it (Table 1). All devices must comply with the volume described in the section "Weight and size."
4. All devices must be powered with batteries. All batteries must be sealed to reduce the risk of acid or caustic electrolytes (caustic electrolytes). Do not charge batteries inside sealed containers. The open circuit voltage of any battery (or battery system) in the device cannot exceed 60V DC. If the team has any questions or problems, they are advised to contact the technical director.
With batteries in general it was funny this year. If we used to use standard batteries for quadcopters, now we have made our own assembly of lithium-polymer batteries consisting of many batteries of 18650 format (or something like that). And he looked like a shahid's belt — it was very dumb to transport across the border. Although the problems were only on the Russian border - then no one paid much attention, the maximum was checked on the detector of explosives at the Korean airport.
In fact, if you properly transport the device across the border (as a property of the university), then this is hell of a bureaucratic red tape.
- Anton Tolstonogov, FEFU
5. In the waters of the arena, the device can release only markers or torpedoes using compressed air. The rest is prohibited.
6. For the safety of your team and those around you, charged torpedoes are not allowed in the team’s tent. If you need to test your launchers, check them either in the water or in an open area, away from anyone and anything.
This rule appeared for a reason. What kind of people in the American team did not think and decided to look into the torpedo compartment when the other was testing the launch of a torpedo. This self-indulgence ended with a legitimate call for an ambulance, the good is all well over.
- Anton Tolstonogov, FEFU
7. To ensure the safety of your device, we require that it be securely attached to a belt or suspension of any type. Even if the device is light enough to carry, we would not want someone to drop it and break it. In addition, we need to weigh the device and demand that the device be somehow fixed for measurement. See the document Using the Submarine for tips and ideas on how to do this.
8. All vehicles must contain a clearly marked switch that allows the diver to quickly and easily use it. The switch must disconnect the batteries from all motor components and devices on the AUV. Note that he should not turn off the computer. When reactivated, the device should return to a safe state (screws should not rotate).
And earlier, by the way, we chopped the whole system straight with this switch (we simply call it killshvich). It was really stupid, because every time we waited for the computers to restart and restore the wifi connection, and since the arena was just overloaded with various wifi points, it was very long.
- Anton Tolstonogov, FEFU
9. All screws must have covers. Covers should surround the screws with at least a 2 "(5.1 cm) distance between the rotating screw and the edges of the casing (front and rear). If you have protection against hitting your finger when opening, this distance may be minimal. Commercial engines are rated as it is, if they are covered with shells.
10. Devices are not allowed into the water without a proper operating switch and protective covers.
11. All vehicles should have a positive buoyancy of at least half a percent (0.5%) of their mass, when disconnected using a switch.
12. Officials of the organizer of the competition may suspend the operation of the apparatus at any time, if they deem it necessary for security reasons. Teams may also be requested to request technical specifications of their apparatus before the start of the competition, in order to identify security problems ahead of time. The information will be kept secret by the judges until the end of the competition.
13. When participating in competitions allowed the use of multiple devices. Each unit must comply with the safety requirements described above. Along with these requirements there are some clarifications for several devices:
- The total dry weight of all devices must be less than the maximum weight defined in the rules. Devices are not obliged to start combined together, and are not obliged to unite at the completion of the launch.
- All devices will be weighed and all bonuses / penalties will be calculated for each device separately.
- Coming out of the dock, each device must pass the test gate before performing the task.
- The team may decide to withdraw one of the devices and return it to the dock. If one (or more) devices still performs the competition program, the competitive time continues to run out (think of them as a pack / swarm).
- The competition timer stops only when the last unit that performed the competition program returns to the dock. And it starts again when this last ship is at the dock.
- Teams wishing to have a connection between their devices can simply leave their mode of communication and frequency on the official form on a specified date (details on the forum). The frequencies used by pingers are not available for communication.
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7.
7.1
The schedule of training launches will be made on the spot, according to the situation, by the technical director or the designated person in charge during the training days. We intend to provide as much training time as necessary for the contestants, and are not interested in a simple site. Each unit must be approved by the technical director or the person in charge before it can be allowed into the arena for training.
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7.2
If required, (when registering more than 24 teams), teams will need to undergo a qualifying launch. A team may request that they qualify for a qualifying launch during training launches (during training days). The device must pass through the gate autonomously (with everything that needs to be attached or placed inside the device) in order to pass the qualification. A qualified team is awarded with two time intervals on the days of the semi-finals (one on the first day and one on the second). For any teams that do not pass the qualification during the training days, extra intervals will be available during the semi-final days. First, they must pass the qualification (pass through the gate), after that they will have the opportunity to choose an extra interval. Unqualified teams can use only one interval per day.(Hint: Starting next year, teams can qualify in advance by sending a pre-competition video demonstrating the necessary qualifications for maneuvering. There is no need to wait for training days at the venue of the competition. More detailed information will appear later.)
7.3 Announcement of time intervals for competitions
The order of performances will depend on the number in the list, after static refereeing. The first in the list will choose the time first, and so on. A draw will be decided by a coin toss or random selection.
7.4 Time and Rounds
The preparation is reserved for the first 5 minutes. During this time, the device can not be immersed in water. After 5 minutes (or after a message from the readiness command), the judges start counting the lead time. This is the time for which the device performs the task. As soon as this time begins, the team may request that their apparatus be immersed in water.
7.5 Returning the unit
The team captain may ask to complete the launch. The time of returning the device to the dock is not added to the execution time (if the team has no connection with the device returning to the dock). The countdown stops only if the unit has passed through the gate. The countdown does not stop if the device is withdrawn before passing through the gate.
7.6 Semifinal of the competition
Each qualified team will be assigned a time interval to complete the task. Twenty minutes before the start of their time, the team can enter the intermediate zone at the launch site. At the beginning of its time interval, the team can enter the launch area of its dock.
The task will continue until the time for its execution expires, or the captain of the team does not recall the device, or the judges order to interrupt the execution of the task, or the device has not surfaced. Judges may interrupt the mission by their decision. As soon as the judges interrupt the mission, points are no longer awarded. The decision of the judges to interrupt the assignment is final.
7.7 Final Round
At the end of the semifinal, the judges will draw up the ranking table of the participants, based on their performances in the semifinal, and select the best teams for the final round. The total number of points and the rating of unselected teams is frozen. For the final round, all finalist points are reset. The rating of the teams participating in the final round will be based on the Performance Indicators for this round. Any team selected for the final will be ahead of teams not selected.
8. Tasks in the competition
Figure 2: Aerial photography of the object. In the bridge construction there are no moorings or supports in the pond.
Figure 3: Section of the
launch point object , gate, or any of the tasks will be located in such a way that no three missions will be on one straight line.
Figure 4: Layout and pinger frequencies for practice and semi-finals
Figure 5: Course Planning for Finals
8.1 Gate
Test gate is made of three-inch black PVC pipe. They will float directly below the surface, moored to the bottom. Vertical mounts will be masked with bright orange tape. The device can pass through the gate at any depth.
Figure 6. Gateway to check
Figure 7. Valid gate passage methods
Example of passage through the gate:
The simplest mission, but we still do not really know how to pass it normally recognizing the gate. We just go with a fixed course :) Just when using a vision system, there is always a small, but chance of false detection and care of the device into the unknown. Simply fix the course and go straight.
- Anton Tolstonogov, FEFU
8.2 Road signs
The road signs are 1.2 m long and 15 cm wide. The path will be covered with bright orange tape. Each track indicator is placed immediately after the current task and indicates the next task. At the gate there will be a pointer leading to the assignment “Shutting down the ship”. After the “Ship Off” task, the pointer leads to the Navigation Channel task. These will be the only segments of the path that will help visually orient the device.
8.3 Ship / Ship the Ship
On the task there will be two buoys with a diameter of A0 Polyform. One will be red, the other green. The third will be yellow (with a diameter of at least 23 cm). All buoys will be attached to the bottom. Buoys do not have a specified sequence. Points are awarded for touching any buoys. Extra points are awarded for first touching the Red, then the Green Buoy. Extra points are also awarded for turning the yellow buoy (more than 10 degrees) so that its edge appears on the surface.
Figure 8. Dock / Ship the ship
8.4 Navigation channel
The horizontal section of 2 "PVC pipes, painted in yellow, will be moored to the bottom. Two Yellow vertical sections will be attached to it. The vertical sections are tied to the horizontal PVC pipe with ropes. Points are awarded for passing over obstacles. Additional points are awarded for passing the channel" on style "(sideways, backwards or upside down).
Figure 9: Moving through the channel
8.5 Pearl Cultivation (Crates)
Two black boxes take part in this task. Each black box is surrounded by a 15 centimeter white border. Up to two markers can be reset from each device. Inside each of the boxes is a pearl. One of the boxes will have a lid that needs to be opened. The cover is orange, the handle is purple. Points are awarded for lowering markers in an open box or on its white face. To earn the maximum number of points, the device must remove the cover and lower both markers in the box that was previously closed.
Figure 10. Box with lid
Figure 11: Path marker, box and inserts.
8.6 Battle with squid
There is a pinger who can direct the device to this task. The task consists of two separate rectangles, moored to the bottom, each of which has two openings of different diameter. There will be two small and two large holes. One of the rectangles is rigidly fixed on the bottom of the PVC pipe (squid). In this rectangle (with squid inside), the smaller hole will be closed by floating "algae". Algae made of green noodles for the pool. Algae need to get out of the way to see where to shoot. The second rectangle (Tentacle) is fastened with a paracord cable of the 550 type, and can move and swing. Each unit can shoot up to two torpedoes. Points are awarded for a shot through any of the holes. The maximum number of points can be obtained by firing through the small holes of both rectangles (both the squid and the tentacles).
12. .
8.7 /
In this task there is an acoustic pinger attached to the bottom of the pool. Directly above it is the tower, on the tower are four different marine patterns: Red, Green, Orange and Blue. Red and Green samples are longer than Orange and Blue. On the surface of the water, above the pinger is an octagon, personifying the whirlpool. Inside the octagon are three 20-centimeter balls, symbolizing the three sailors who must be saved from the whirlpool (Ned Land, Pierre Arronax and Conseil). Each of the balls is fixed in a structure that forms part of the structure of the octagon. To get the maximum number of points for salvation, the ball must be beyond the territory of the octagon. To get maximum points for an octagon, the device must completely float inside the octagon.
Whirlpool
Next to the pinger and the tower is a table for classifying samples (a large, flat, horizontal surface). It is located at ~ 0.3 m from the ground. On the table are four corresponding ellipse: red, blue, green and orange. Points are awarded for the selection of objects from the tower, floating with them and placing them on the table. The maximum number of points is charged for the location of samples in the corresponding rectangles in color.
Figure 13. Collection point and whirlpool.
Figure 14. Whirlpool and crew rescue.
Figure 15. Tower and sample collection.
Figure 16: Classification Table
9. Scoring
Each task has a number of points associated with it. Tasks can be performed in any order with one or several devices. If multiple devices are used, points will be awarded only once, when the task is completed by any of the devices. Subsequent execution of the same task in the same launch will not bring points. The auxiliary object must be attached to the apparatus when the apparatus is on the surface in order to get maximum points for “ascent using the object”.
The team captain can finish the launch at any time and save accumulated points. The team may decide to start another run, trying to complete more / other tasks. At the start of a new launch, points accumulated in the previous launch are lost. Points are awarded only for the most recent launch.
NEW!For the finals the best result will be used for the final points. Therefore, the team may try to complete as many launches as time permits, and the launch with the most points will be used for their final result. If the minimum requirements have been met, the remaining time after each run will be recorded and used to calculate the time bonus. For example, after the first launch, the team fulfilled the requirements for a temporary bonus with 10 minutes remaining on the clock. These 10 minutes are used to calculate the time bonus for this launch, regardless of what happens with the next launch.
Tasks Cultivate pearls / Battle with squid, as well as Collect and classify will be marked only by pinger. There will be no road signs pointing to these tasks. The team may require the inclusion of a specific pinger (a pinger near Cultivate Pearls / Battle with a squid or a pinger next to Collect and classify). However, extra points will be awarded to the team that requested the random pinger.
The device can perform tasks in each of the sections marked by the pinger, at the beginning of any launch, the team can request a random selection of the pinger. The only randomization is the selection of the first task marked by the pinger, the second task will always be another task (tasks) marked by the pinger. If the device receives any points from the first task associated with a random pinger, then it receives bonus points. At any time after the unit has received points from the task associated with a random pinger, the captain can ask to switch the pinger. If the device receives any points from the second task associated with the random pinger, bonus points are also awarded. If the team captain asks to switch the pinger before the device has acquired any points, the launch will return to a specific task,and no additional assignments will be received.
9.1 Time
Each unit is expected to have 15 minutes to complete the entire mission (with an additional 5-minute preparation time). Any device that touches the buoy passes through an obstacle, places at least one marker in the box (or at least one of its torpedoes passes through the hole) and comes to the surface - they will receive bonus points proportional to unused time. Each unit should start running after passing through the gate. At any time of launch, if the apparatus comes to the surface, the launch ends (see the Ascent Section for the elimination of these situations).
9.2 Ascent
When executing the task sequence, the team may at any time select the Ascent task (surface within the octagon). In this case (and only in this case) the device can come to the surface and then dive again to perform the remaining tasks without the risk of disqualification.
To continue movement after ascent, the apparatus must be inside or touch an octagon. Ascent beyond the octagon will end the launch of this apparatus. If there are several moving devices (and under water), this does not end their launch. The remaining vehicles can continue their own autonomous mission and continue to score points for this launch. If a pop-up device cannot be removed safely without interfering with other devices, it will be allowed to continue to operate, but it will not score more points for this launch.
9.3 Intervention
Devices that interfere with the elements of the competitive infrastructure may be disqualified at the discretion of the judges. “Intervention” does not include cases where, in the opinion of the judges, the apparatus is trying to perform one of the tasks. If the device is tangled in the element of the competitive infrastructure, the launch will be declared complete. Teams can save points earned on this launch, or they can return the unit to the launch platform and start a new launch. If a new launch is started, all previous points will be lost.
9.4 Distribution of points
9.4.1 Description of subjective assessments
Technical Achievements and Workmanship: These considerations exclude any components of the design that are or may be (in the opinion of the judges) commercially available or do not include significant input from team members. In other words, if you use a well-designed finished component, your team does not get points for its good technical design. You will receive points for selecting a component that, in the opinion of the judges, is well suited to the engineering needs of the device (system engineering).
9.4.2 Description of Performance Estimates
Passing through the gate: the judge determines whether the gate has passed satisfactorily.
Maintain a fixed course through the gate: Does the submarine move in a “straight line” through the check gate? It is intended to separate the vehicle that maintains the course, or in some other way does something autonomously, from the vehicle that initially goes at an angle to compensate for its drift. For example, a device that has a weak sinusoidal movement due to the tuning of the PID controller, but on average supports a course that goes straight through the gate. Or the apparatus that searches for the gate, finds them and goes through them, drives right through the gate. An apparatus directed from the gate to compensate for unspecified engines and drift does not pass directly through the gate.
Following the “Path”: how well did the device find and follow the segment?
Dock / Ship the Ship (Buoys): partial points are awarded if you are tracking a buoy, but instead of deliberately touching it, you encounter it. Maximum points are given for touching the red, and then the green buoy, without touching the yellow. Maximum points are given for the slope of the yellow buoy by at least 10 °, some points are awarded for the fact that the buoy does not tilt. Manipulation of only the rope holding the buoys / ship will not be counted for scoring.
Channel navigation: did the car go through PVC without touching it? What percentage of the device passed over the top of the object?
"Style" is determined by the slopes of 90 °. With each change of orientation by 90 ° a bonus is added. The channel starts from ~ 10 feet (3 m) in front of the PVC structure and extends to ~ 10 feet (3 m) after the structure.
For example:
- If the device changes direction by 90 ° and passes through the structure, then 1 * (bonus points) are added to the base account.
- If the device went through the structure upside down (180 ° change), then 2 * (bonus points) are added to the base account.
- If the device is able to rotate 360 °, then 4 * (bonus points) (and 8 * for 720 °!) Are added to the base account.
Cultivate pearls: a covered box costs more points than an uncovered box. Two markers in any box will be counted twice. Partial points can be obtained if the marker lands near or at the edge of the box.
Battle with squid: the torpedo must go through the hole to get maximum points. Bonus points are given for passing one torpedo through each of the small holes. Partial points can be awarded if the torpedo touches the yellow border without passing.
Ascent to the surface within the octagon: The submarine must be completely in the octagon to get maximum points. Partially points will be awarded depending on which part is outside the octagon.
Capture the object: the object must be captured by the apparatus for maximum points. Partial points may be awarded for partial capture.
Object reset: the object must come off the apparatus in order to get maximum points.
Partially awarded points may be awarded at the discretion of the judges for the object remaining on the device.
Object on the table classification: the object must remain on the table for maximum points. Partially points can be obtained if objects land near or fall off the table.
Object near the ellipse: the object must be completely within the correct color of the ellipse for maximum points. Partially points will be awarded depending on how far the object is outside the ellipse.
Rescue crew: the ball must be completely out of the octagon to get maximum points. Partially points will be awarded for a ball that is released, but is still inside the octagon.
NEW! Inter-hardware communication (IVC): when there are several devices in the water, they must exchange data with each other in order to get IVC points (several devices do not have to communicate with each other). Judges should evaluate communication. The level of communication and the complexity of behavior resulting from communication is what determines the number of points.
Time Bonus: at a minimum, the submarine must touch the buoy, complete the “Navigate through the channel” task, throw at least one marker into the box (or shoot from one torpedo through the hole) and surface in the octagon to get a time bonus. These tasks can be performed in any order.
Bonus time - the calculation of the remaining whole minutes plus seconds. For example, with the remaining time of 7:13 the team will receive (7 + 13/60) * 100 = 721.667 points (approximately).
Original: www.robonation.org/sites/default/files/RoboSub_2017_Final_Mission_v2_5-2.pdf
Team of organizers
Vladivostok team
PS
Q: Tell me something interesting?
A: Why did we take second place? It’s just that everyone broke down during the finals, but nothing broke. didn't work.
I want to thank you for your help in working on the publication: Vyacheslav Bukatov, Sergey Dan'shin, Anton Tolstonogov, Vlad Bolotov, Max Sporyshev, Ivan Chemezov, Alexander Zhikhareva, Maria Lukina, Dmitry Zemtsov.
Source: https://habr.com/ru/post/373993/
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