IMAV 2015 Micro Aerial Vehicles Competition Competition Rules

Transcription

1 IMAV 2015 Micro Aerial Vehicles Competition Competition Rules Changelog: Version Changes 0.1 First draft version A. Introduction This document provides cumulative information about the IMAV 2015 competition. Besides general remarks and a schedule it gives a detailed description of the competition areas, the mission elements and the scoring rules. In difference to last year s IMAV the outdoor and indoor competitions will be performed separately at different locations. All teams are welcome to apply for both events but need to indicate their main focus. The mission element score of each MAV will depend on its size, the self-built ratio, the level of autonomy and a performance factor. The performance factor will be determined in an additional endurance test subsequent to the general mission tasks. RC-only control is no part of the competition (with exception of the endurance test). Teams with an innovative RC-only platform can request a demo slot, where they have the opportunity to present a technical demonstration of their MAVs. IMAV 2015 Competition key aspects: Separate outdoor and indoor competitions Focus on (will be specially rewarded): o Custom MAV design (innovative character) o High level of autonomy, no RC-only control o MAV flight performance/endurance Multiple MAVs will not be disadvantaged nor privileged 1

2 B. Schedule Monday Practice Day (Outdoor) Tuesday Opening Conference Welcome Reception IMAV 2015 Wednesday Thursday Indoor Outdoor Competition *) Competition *) Conference Dinner Friday Conference Award Ceremony * ) The Outdoor and Indoor Competition may be switched due to weather conditions. The final schedule will be announced on Monday C. Safety and Security Requirements For safety and security details see the latest version of the IMAV 2015 safety regulations document which is published on the website. This document will contain general flight safety rules and regulations, as well as flight safety zones and failsafe requirements. All participants are required to be familiar with the contents of the latest version of this document and comply with it. Before the first flight each team has to demonstrate that all MAVs can sustain the security and airworthiness check. For the outdoor teams this ideally takes place at the practice day (Monday ). 2

3 D. Outdoor Competition For safety and regulatory reasons it is absolutely not allowed to start any motors outside the green line on the practice day as well as on the competition day. Any tests or lift-offs have to take place within the green zone following day s schedule. 1. Location - Outdoor The outdoor flight competition will take place at Floriansdorf, a small village of approx. 15 houses for training and education purposes of the fire brigade Aachen. Additionally, a 400 m racetrack of the RWTH Aachen University located behind the village will be used to perform the endurance test. The Floriansdorf is located in the northwest of Aachen. Septfontainesweg Aachen GPS Lat N, Lon E Germany 2. Practice Day - Outdoor On Monday, the 14 th of September a practice day will be carried out at the Floriansdorf. This will allow each team to prepare for the competition day and become familiar with the local procedures. Upon registration, team leaders will have to indicate if they want to attend the practice day. On the practice day all teams should to be self-supporting, as there may be limited WiFi access and also limited food and drinks. Furthermore, not all mission elements will be in place. 3. Competition Slot (Mission Time) - Outdoor For each team a time slot will be assigned to setup their equipment, prepare flight, fly the competition, land and retrieve the MAVs, clear the flight team area and flight zones and switch off all radio equipment. After the time slot, all MAVs and equipment must be switched off. The order of the teams slots will be drawn by lot in the morning of the competition day. At any time (before or during the mission) each team can decide once to postpone the rest of its mission. In this case the flight slot of that team will be shifted to the end. Therefore all teams must be ready to fly at any time. Failure to comply can lead to a penalty or disqualification. Any MAVs that get lost during their mission should be retrieved as soon as possible in cooperation with the flight safety officer. Timeslots for the outdoor autonomy missions are 25 minutes per team. Timeslots for the endurance test to determine the performance factor of every MAV will be scheduled depending on the teams competition slot. 3

4 4. Scoring - Outdoor To avoid that a team wins the entire competition only by performing very well at one single mission element, the scoring is divided into mission element scoring and general scoring. 4.1 Mission element score (M) The mission consists of diverse elements that can be performed in any order by one or more MAV(s). Each mission element will be scored individually depending on the achievement, size, design, level of autonomy and performance of the MAV. Each MAV can attempt to complete the mission elements as many times as needed in the allotted time, but each mission element will be scored only once per team. If a team attempts a mission element multiple times, only one of the attempts will be scored. In this case the teams have to indicate which attempt shall be scored. The following factors are used for every mission element scoring: Size factor (S): L = The maximum horizontal size of the MAV (including blades). The size is limited to 1.5 m. W = The maximum take-off weight of the MAV. The weight is limited to 2 kg. For further information about the size and impulse regulations see the latest version of the IMAV 2015 safety regulations document. Design factor (D): The design factor is introduced to reward teams with self-made design of their aircraft system. Type of Design Commercial aircraft design Self-made or customized auto pilot *) Self-made aircraft frame Complete self-made aircraft MAV i Factor D () () () () *) This option may be deleted in a further version of this document 4

5 Level of Autonomy (A): The level of autonomy describes how a MAV is operated in order to fulfill the mission elements. For each mission element the factor associated to the autonomy level is used to compute the mission score. The teams have to announce the intended MAV and autonomy level before the flight. The jury will decide which level of autonomy the teams MAV actually used Level of autonomy FPV control Manual, video based control (beyond line of sight) Autonomous flight control Flight is controlled autonomously but the operator is still controlling mission aspects. E.g. commanding transitions between control modes, control of payload, processing perception and decision making. Autonomous mission control All aspects of the flight are automated, including detection and decision making. Operator does not touch the controls, hands-off control External aids Using visual markers etc. Factor A () () () () (will be subtracted from the factor) Performance factor (F) To determine the performance factor of each MAV, all MAVs of each team have to fly a seperate mission. The goal is to evaluate the endurance of the MAV by comparing the different ranges of all MAVs. Two poles at the racetrack have to be surrounded as many times as possible with every MAV until the battery is empty. This mission can be flown manually by a pilot or automatically. Only complete laps will be scored. 4.2 Total score (T) In the general scoring the best team of each mission element M i will score 100 points. The other teams score points depending on their placement (e. g. 2 nd 75 P, 3 rd 50 P ) *). T Team A = M i Team A i= Mission element Team A P *) The final scoring breakdown will be published later 5

6 Presentation Factor (P): The spectators of the IMAV should get to know the actions of each team during its mission as good as possible. The team will be rewarded if a team member comments on the activity which is currently performed by the MAV. The goal is to make the missions of each team more accessible for the public. There will be a microphone and the possibility to feedback the ground control station (via VGA or HDMI). The presenter should explain: The MAV system and its design The initial plan how to perform the mission / which mission elements the team is going to attend The level of autonomy of each task / MAV What is actually happening in the field 5 Mission elements - Outdoor 5.1 Take-off A take-off is considered as automatic as long as the safety pilot does not transmit any commands. A mission start signal is allowed either by the ground control station or the safety pilot. N is the index of the MAV performing an automatic take-off and at least one other mission element (including landing). A manual take-off is possible as well and will be scored by 0 no matter if the MAV is at FPV control or will be switched to automatic in the air. 5.2 Photomap of the village The goal of this mission element is to create a detailed orthomap of the village and locate three victims by identifying their position. There are three ISO A0 sheets (0.841 m x m) located in the village at known positions; the GPS coordinates will be supplied by the IMAV 2015 organization committee. If multiple MAVs of one team attempt this mission element the team has to indicate which attempt shall be scored. ISO A0 sheet Location in GPS coordinates Lat: Lon: The coordinates and colors of the sheets will be specified later. 6

7 Teams may only submit one complete (stitched) map/photo of the area. Additionally each team has to indicate the positions of the three victims in the village using GPS coordinates (Lat-Lon or ECEF). They are marked by red colored ISO A0 sheets. The resolution is not taken into account for the scoring. The number of the six ISO A0 sheets in a connected map/photo is scored as well as the accuracy of the position of the different located victims. The map/photo has to be given to the jury no later than 30 minutes after the end of the mission time in which this mission element is attended. 5.3 Firefighting The goal of this mission element is to gather water at a distant water reservoir and to carry as much water as possible to a measurement container. The reservoir is a pool with a diameter of 5 m at the end of a nearby soccer field. The measurement container is close to one of the houses in the village. It is important to know that there is a fence of 5 m height at both ends of the soccer field, which has to be crossed. The measurement container is marked on the ground for visual detection. Center of water pool: Diameter Height over ground Depth 5m 0m GPS Lat: GPS Lon: (Center of the pool) (Center of the pool) Measurement Container: Diameter 1m Height over ground GPS Lat: GPS Lon: (Center of the container) (Center of the container) The sizes and GPS coordinates of the two stations will be specified later Every team has to prepare a transport tank suited to their MAV themselves. Points are awarded for gathering the water and for the amount in the measurement container. A team can also provide transport tanks (filled with water) that are gathered next to the pool by the MAV. If a team is not able to gather water in flight, the MAV can also already carry an already filled tank at lift-off. 7

8 G ather is the score factor for gathering the water from the pool; it is classified as one of the following: Type of Gathering MAV contains water at lift-off Gather water-containers from ground Gather water from pool Factor G ather W ater is the score factor for the amount of water collected in the measurement container; it is classified as one of the following: Amount of water Amount measured by weight of the measurement container Factor W ater 5.4 Inspect Building The goal of this mission element is to create an overview of the rooms in one of the buildings and their interior. Therefore the team has to enter the building and create a 360 overview of the room. Points are awarded for identified victims inside the room. The room can also be inspected from outside the building by looking through the window. The victims have to be marked on a ground plan of the room. Bonus points are awarded for a videoclip of maximum 1 minute showing the at least 3 victims in the room. The ground plan and the video have to be given to the jury no later than 30 minutes after the end of the mission time in which this mission element is attended. The size and shape of the windows and victims will be specified later. 5.5 Deliver a parcel The goal of this mission element is to deliver a parcel to a designated house in the village. Therefore the MAV has to pick up the parcel on the ground, identify the address via QR-Code, fly to the house and drop the parcel in the front yard. 8

9 The parcel can either be picked up during flight or manually attached to the MAV. Carrying this parcel the MAV can either fly to the first house or deliver the parcel to the designated address. There, the parcel should be delivered in the defined release zone. The weight and size of the parcel will be defined in a later version of this document. The release zones in the front yards of three different houses are marked and defined later. P is the score factor for parcel transportation; it is classified as one of the following: Type of Flight Attach parcel manually Pick up parcel Read QR-Code Ground Station or operator have to indicate the number Fly to first house Fly to correct house Only awarded, if number was detected before Release parcel in release zone Factor P 5.6 Identify pattern (This mission might be canceled) The goal of this mission element is to identify a pattern; the pattern is given in the form of a RC-car route. Therefore the MAV has to observe/follow the RC-car and make a video. The video has to be given to the jury no later than 30 minutes after the end of the mission time in which this mission element is attended. Maximum points are awarded if the whole pattern is visible in one video. Parts or the entire pattern are awarded as followed. The size, shape and position of the RC-car will be specified later. 5.7 Precision Landing Landing can either be performed in a landing zone, indicated by a large circular sheet, or landing can be performed on a moving platform. The GPS coordinate of the center location of the landing spot will be given. This landing zone is the same for all types of MAV, only the size is depending on the type. The size and shape of the platform and landing zone will be specified later. 9

10 Type of Landing Field landing VTOL landing Fixed wing landing Landing on moving platform Factor L Points are awarded for the spot at which the MAV is fully stopped. In the case of a rough landing, the team may be asked to demonstrate airworthiness of the (remaining) vehicle. Points are awarded for the airworthy part of the MAV, located in the landing zone, only. (e.g. if a fixed wing loses a small part of a wing during landing, and the wing by chance ends up in the middle of the landing zone while the airworthy part of the MAV is outside the landing zone, no points are awarded.) 10

11 E. Indoor Competition 1. Location - Indoor The Indoor flight competition will take place at Sportpark Kohlscheid, 6.3km north of Aachen. Kaiserstraße Herzogenrath GPS Lat N, Lon E Germany 2. Practice Day - Indoor There will be no separate practice day for the Indoor Competition. 3. Competition Slot (Mission Time) - Indoor Each team will be assigned a time slot to setup their equipment, prepare the flights, fly the competition, land and retrieve the MAVs, clear the flight team area and flight zones and switch off all radio equipment. After the time slot, all MAVs and equipment must be switched off. The order of the teams slots will be drawn by lot in the morning of the competition day. At any time (before or during the mission) each team can decide once to postpone the rest of its mission. In this case the flight slot will of that team will be shifted to the end. Therefore all teams must be ready to fly at any time. Failure to comply can lead to a penalty or disqualification. Any MAVS that have been lost during the mission should be retrieved as soon as possible in cooperation with the flight safety officer. The timeslots for the indoor autonomy missions are 15 minutes per team. 4. Scoring - Indoor To avoid that a team wins the entire competition only by performing very well at one single mission element, the scoring is divided into mission element scoring and general scoring. 4.1 Mission element score (M) The mission consists of multiple elements that can be performed in any order by one or more MAV(s). Each mission element will be scored individually depending on the achievement, the size, the design, the level of autonomy as well as the performance of the MAV. Each MAV can attempt to complete the mission elements as many times as needed in the allotted time, but each mission element will be scored once per team. If a team attempts a mission element multiple times, only one of the attempts will be scored. In this case the teams are required to indicate which attempt shall be scored. 11

12 The following factors are used for every mission element scoring: Size factor (S): L = The maximum horizontal size of the MAV (including blades). The size is limited to 1.5 m. W = The maximum take-off weight of the MAV. The weight is limited to 2 kg. For further information about the size and impulse regulations see the latest version of the IMAV 2015 safety regulations document. Design factor (D): The design factor is introduced to reward teams with self-made design of their aircraft system. Type of Design Commercial aircraft design Self-made auto pilot Self-made aircraft frame Complete self-made aircraft MAV i Factor D Level of Autonomy (A): The level of autonomy describes how a MAV is operated in order to fulfill the mission elements. For each mission element the factor associated to the autonomy level is used to compute the mission score. The teams have to announce the intended MAV and autonomy level before the flight. The jury will decide which level of autonomy the teams MAV actually used Level of autonomy FPV control Manual, video based control (beyond line of sight) Autonomous flight control Flight is controlled autonomously but the operator is still controlling mission aspects. E.g. commanding transitions between control modes, control of payload, processing perception and decision making. Autonomous mission control All aspects of the flight are automated, including detection and decision making. Operator does not touch the controls, hands-off control External aids Using visual markers etc. Factor A (will be subtracted from the factor) 12

13 4.2 Total score (T) In the general scoring the best team of each mission element M i will score 100 points. The other teams score points depending on their placement (e. g. 2 nd 75 P, 3 rd 50 P ) *). T Team A = M i Team A i= Mission element Team A P *) The final scoring breakdown will be published later Presentation Factor (P): The spectators of the IMAV should get to know the actions of each team during its mission as good as possible. The team will be rewarded if a team member comments on the activity which is currently performed by the MAV. The goal is to make the missions of each team more accessible for the public. There will be a microphone and the possibility to feedback the ground control station (via VGA or HDMI). The presenter should explain: The MAV system and its design The initial plan how to perform the mission / which mission elements the team is going to attend The level of autonomy of each task / MAV What is actually happening in the field 13

14 5. Mission elements - Indoor The competition will take place in the soccer hall of the Sportpark Kohlscheid. One court of 30 x 15 m forms the mission area. The arena s height is limited to approximately 4.5 m. 5.1 Take-off and fly through window The goal of this mission is to avoid hitting a wall after start. Therefore the MAV can either start already positioned beyond the wall or start in front of the wall and subsequently fly over the wall, fly through a big window or fly through a small window. If multiple MAVs of one team attempt this mission element the team has to indicate which attempt should be scored. The sizes of the windows and the color of the wall will be specified later. T is the score factor for flying through a window; it is classified as one of the following: Type of Start Size of window [m] height x diameter Beyond the wall - Fly around wall - Fly through big window Fly through small window Factor T to be defined to be defined to be defined to be defined 5.2 Pick up parcel and deliver to correct postbox The goal of this mission element is to deliver a parcel to the correct postbox. Therefore the MAV has to pick up a parcel from a table. While carrying the parcel, the MAV has to read the parcel s QR-code to identify the designated postbox. If multiple MAVs of one team attempt this mission element, the team has to indicate which attempt shall be scored. The sizes of the parcel and postbox and the attachment of the parcel to the MAV will be specified later. P is the score factor for parcel delivery; it is classified as one of the following: Type of Flight Attach parcel manually Pick up parcel Factor P 14

15 Read QR-Code Ground Station or operator have to indicate the number Fly to first postbox Fly to correct postbox Only awarded when number was indicated before Deliver parcel in correct postbox 5.3 Walk the dog The goal of this mission element is to walk a dog along the marked line and bring it into a dog house. But watch out there is a cat on the way! To get extra points the team has to identify the cat on the line and fly half a circle to avoid an interruption. The attachment of the dog s leash to the MAV and the shape of the line will be specified later. D is the score factor for dog walking; it is classified as one of the following: Type of Flight Attach leash manually Pick up leash Follow the line Avoid the cat Fly in the house Factor D 5.4 Care for flowers The goal of this mission is to check the status of different flowers and to take the correct actions. Therefore the MAV has to fly to three different flowers and identify the status of each flower. Depending on their shape or color it either may need water or fertilizer or it is fine. Water or fertilizer is provided in shape of coloured pellets. Pellets have to be dropped by the MAV according to the flower s status. The size, shape and identification of the flowers will be specified later. 15

16 5.5 Landing on a moving platform The goal of this mission is to land on a moving platform. A steady fallback landing position is also provided. In case of a rough landing the team will be asked to demonstrate the airworthiness of the MAV. The size and shape of the platform will be specified later. 5.6 Flight performance The goal of this mission element is to fly around two posts in a vertical 8-shape trajectory as often as possible for a maximum duration of 3 minutes time. The completed figures during a flight time are counted. Each team has to indicate at which point the timing and counting shall start. Each team can attempt this mission element max. two times during their mission time. The best score will be counted. The distance between the two posts and flight height will be specified later. There might be an extra point for showing dynamic maneuvers such as a looping or a 360 roll. These points will only be given once and only if at least one complete figure of eight has been flown. 16