Sea, Air and Land High School Challenge

Transcription

1 Sea, Air and Land High School Challenge Definition of Land Challenge Prepared By: Penn State EOC i

2 Rev. Reason Name Date Int. -- Original J. Searle 09/12/2014 A B. Kiser 11/11/2014 B Updated Drop point description J. Searle 02/04/2015 C Added drop point figure J. Searle 02/10/2014 ii

3 1 Introduction Purpose Scenario Definitions Challenge Requirements Object Definition Drop Point Definition Key Design Points Course Layout... 4 iii

4 1 Introduction 1.1 Purpose The purpose of this document is to define the land portion of the SeAL Challenge. 1.2 Scenario Ground robots are becoming increasingly more sophisticated and utilized in multiple different types of applications including emergency situations. This application of the technology keeps first responders out of harm s way, but still provides a critical link to injured or stranded people. In this challenge, we assume there are people trapped in a city building after an earthquake. The path to the building is deemed unsafe because of fear the structure will collapse. However, there are multiple individuals that require critical supplies to stay alive. Your robot and team must deliver supplies to the trapped people and remove hazardous materials and obstacles that are preventing rescue personnel from safely entering the structure. 1.3 Definitions Tele-Operated (or remote controlled) References a type of robot that has an operator making decisions about the operation of the robot. Sensory data from the robot or other device (video, telemetry, etc.) is delivered in near real time to the robot operator, and the operator makes decisions about what the robot is supposed to do (e.g. turn left/right, speed up/down, deposit a payload etc.). This is the type of operation used by hobbyists and may also be called operator in the loop. This can either be accomplished by wireless of wired communications, although most applications dictate wireless communication. Autonomous - The robot has a sensor package that collects data, and based on computer processing, makes decisions without an operator on how it is to operate and what it is to do. The general rules of an autonomous robot are: Gain information about the environment (Rule #1) Work for an extended period without human intervention (Rule #2) Move either all or part of itself throughout its operating environment without human assistance (Rule #3) Avoid situations that are harmful to people, property, or itself unless those are part of its design specifications (Rule #4) i 1

5 2 Challenge The object of this challenge is to design and build a tele-operated land based vehicle (or autonomous) that can perform the following tasks to complete the land challenge. Find and navigate to described object(s) Pick up object(s) - (Object general characteristics are defined in section 2.2 but the exact color, shape and weight will only be provided immediately before the challenge- Thus, the grasping, or capture and carry mechanism, but be robust and flexible to accommodate various objects) Find and navigate to drop off point Carry object(s) from pick up point to drop off point Deposit object at/in drop box The team will be unable to see the course during the run. The course will also be changed between teams, so that knowledge of one course is no advantage. Bonus Task: One of the tasks that robots perform is an autonomous Search and Rescue pattern known as Mowing the Lawn. In a manner similar to the back and forth pattern used to mow the lawn, the robot autonomously performs a back and forth pattern to systematically cover and area of interest. We provide the opportunity for bonus in this challenge with the option to Mow the Lawn. As an option, teams can gain additional points after last object is delivered by performing an autonomous lawn mower pattern in the obstacle course. To be successful, the object must be commanded to perform the maneuver, the team must relinquish command of the controls, and the robot must transverse the defined area three times in 5 minutes. There will be no obstacles in the path of the robot, just the outer walls of the enclosure. 2.1 Requirements To receive maximum score on the land course, the robot and team must: Compete against other teams to achieve the fastest time on the course Must be able to pick up object as defined in 2.2 Must be able to carry the object Must be able to deposit object in/at defined Drop Points Must be able to provide notification when they have completed the course and bonus task Must be able to complete all tasks without direct line of sight from the control console to the challenge course Hint: You must use cameras or other sensors. Must be able to complete course without recharging 2.2 Object Definition The objects will have the following characteristics: Each object will have a unique, high visibility color Each object will have a unique number identifier Each object will be 2.5 x 2.5 x 2.5 by 0.5 lbs 2

6 Note: Teams can add unique marking to the object if desired BUT must be approved by challenge coordinator. 2.3 Drop Point Definition The Drop Points will have the following identification Each drop point will have a unique high visibility color that matches the object Each object will have a unique number identifier that matches the object Each drop point will be 8 x 8 Each drop point will be a 4 sided box with a lip on the open side. Each drop point will NOT have a top. Each drop point will vary in height along the course Each drop point will be no higher than the walls of the course. Figure 1 Drop Point Figure Note: Teams can add unique marking to the drop point if desired BUT must be approved by challenge coordinator. 2.4 Key Design Points The following bullets are some key design points to consider when designing the robot. They are not required, but are suggested for maximum probability of success. Ability to move to move forward/backward Ability to move left and right Able to grasp object Ability to place object in delivery box Ability to identify object Ability to identify drop off box Ability to visualize the area of operations in the course Ability to transmit visual information to team and command controls to robot 3

7 2.5 Course Layout The land course will be a 10 x10 box The land course will have 2 walls The course will have terrain obstacles that the vehicle must deal with The minimum clearance between obstacles will be 18 The maximum height of the obstacles will be 12 Figure 2 is an example layout. This is a template for the land course and not meant to be an implementation diagram. Figure 2 Course layout i 4