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 0.2 Increased maximum take-off weight (5 kg), Update mission details Content 1. Introduction Schedule Safety and security requirements Outdoor competition Location - outdoor Practice day - outdoor Competition slot (mission time) - outdoor Scoring - outdoor Mission element score (M) Total score (T) Mission elements - Outdoor Take-off Photomap of the village Firefighting Inspect building Deliver a parcel Identify pattern (This mission might be canceled) Precision landing Flight performance / endurance Indoor competition Location - indoor Practice day - indoor Competition slot (mission time) - indoor Scoring - indoor Mission element score (M) Total score (T) Mission elements - indoor Take-off and fly through window(s) Deliver parcel to correct postbox Walk the dog Care for flowers Landing on a moving platform Flight performance Appendix Transport tank Payload adapter

2 1. 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 2

3 2. Schedule Monday Practice Day (Outdoor) Tuesday Opening Conference Welcome Reception Wednesday Outdoor Competition *) IMAV 2015 Thursday Indoor 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 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 ). 3

4 4. Outdoor competition For safety and regulatory reasons it is absolutely not allowed to start any motors outside the green line (see IMAV 2015 safety regulations document) 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. 4.1 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 4.2 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 practice day the teams will have the opportunity to record the detailed GPS-positions of the different drop zones, landing spots or the water pool. On the practice day all teams should 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. 4.3 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. 4

5 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 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): The maximum horizontal size of the MAV (including blades). The size is limited to 1.5 m. The maximum take-off weight of the MAV. The weight is limited to 5 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 Factor () () () () *) This option may be deleted in a further version of this document 5

6 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 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 ) *). *) The final scoring breakdown will be published later 6

7 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 7

8 4.5 Mission elements - Outdoor Take-off Figure 1 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. (The scoring equation will be published later) 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. 8

9 4.5.2 Photomap of the village The goal of this mission element is to create a detailed orthomap of the village and locate three victims (blue ISO A0 sheets) by identifying their positions (see Figure 2). There are three red ISO A0 sheets (0.841 m x m) located in the village at known positions in order to develop a calibrated map; 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. 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 of the map/photo is not taken into account for the scoring, but objects should be clearly identifiable. The number of the 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. Green area - Shall be part of the photo map - All victims will be located in this area Red A0-Sheets GPS-Coordiantes will be given Blue A0-Sheets Victims have to be located Figure 2 9

10 ISO A0 sheet Location in GPS coordinates Lat: Lon: The coordinates and colors of the sheets will be specified later. (The scoring equation will be published later) 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 fire source, which is abstracted by 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 are natural and manmade obstacles along the way. Some of them are marked in Figure 3. The measurement container is marked on the ground for visual detection. Center of water source: Diameter Height over ground Depth 5 m 0 m 0.75 m GPS Lat: GPS Lon: (Center of the pool) (Center of the pool) Measurement Container: Dimensions Square 2 m x 2 m Height over ground GPS Lat: (Center of the container) GPS Lon: (Center of the container) The GPS coordinates of the two stations will be specified later Every team has to prepare a transport tank suited to their MAV themselves. Some examples are offered in the Appendix (see Chapter 6.1). To attach the tank to the MAV the teams may use an universal payload adapter provided by the organization committee (see Chapter 6.2) or a self-built unit. The tank has to be mounted before take-off and needs to be filled with water from the pool in flight. * Mission requires payload transport and release, for more information on possible adapters see the appendix 10

11 Alternatively the water tank can be attached already filled before take-off. Points are awarded for gathering the water and the amount which is transported the fire (measurement container). The water has to be released above the measurement container. Alternatively the whole tank can be dropped. In this case the weight of the container will be subtracted. Green Area - Allowed flightzone - Height limitation is 40m - A human safety pilot has to follow every MAV constantly Water source Pool of 5m diameter Measurement container Funnel of 2m diameter Figure 3 11

12 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 Factor Gather water from pool 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 (The scoring equation will be published later) Factor 12

13 4.5.4 Inspect building The goal of this mission element is to create an overview of the rooms and their interior in one of the buildings (see Figure 4). Therefore the MAV has to enter the building and create a 360 panoramic view of the rooms. Points are awarded for identified victims inside the building. The rooms can also be inspected from outside the building by looking through the window. The dimensions of the door/window are depicted in Figure 5 and Figure 6. Green room - Shall be part of the ground plan - All victims will be located in this room Blue room - Can be used to fly in - No victims will be located in this room Figure 4 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 scoring equation will be published later) 13

14 1100 mm 1350 mm 2145 mm IMAV 2015 Competition Rules 17 March mm Figure 5 90 mm 140 mm Figure 6 14

15 4.5.5 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 identify the postal address via QR-Code, fly to the house and drop the parcel in the front yard. The parcel will be already attached to the MAV before take-off. Carrying this parcel the MAV can either fly to the first house depicted in Figure 7 or deliver the parcel to the address (GPS coordinates), which is defined by the QR-Code. The parcel needs to be dropped in the defined release zone. The size of the parcel will be 100 mm x 60 mm x 60 mm and the weight will be 200 g. It will be equipped with a snap hook for manual attachment to the MAV. The MAV has to be able to drop the parcel; see the Appendix (Chapter 6.2) for an example adapter/release system. The release zones will be circles with a diameter of 3 m. Release zone 1: Diameter 3m GPS Lat: GPS Lon: (Center of the zone) (Center of the zone) Release zone 2: Diameter 3m GPS Lat: GPS Lon: (Center of the zone) (Center of the zone) Release zone 3: Diameter 3m GPS Lat: GPS Lon: (Center of the zone) (Center of the zone) * Mission requires payload transport and release, for more information on possible adapters see the appendix 15

16 Green Area - Allowed flightzone - Height limitation is 40m - A human safety pilot has to follow every MAV constantly 2 3 Release zone 2 & 3 GPS-Coordiantes will be written in QR-Code Release zone 1 GPS-Coordiantes will be given 1 QR-Code - Will be positioned in front of MAV before lift-off - Containig GPS-Coordiantes Parcel - Will be attached before lift-off - Has to be released automaticaly Figure 7 The release zones in the front yards of three different houses are marked and defined later. Sample QR-Code containing the GPS coordinates: , The size of the QR-Code will be 100 mm x 100 mm. 16

17 P is the score factor for parcel transportation; it is classified as one of the following: Type of Flight 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 (The scoring equation will be published later) Identify pattern (this mission might be canceled) The goal of this mission element is to identify a pattern on the ground. The pattern is given by a RCcar moving on the ground. 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. (The scoring equation will be published later) Precision landing Landing must be performed in a designated landing zone, indicated by a large circular sheet. 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 of the landing zone will be specified later. Type of Landing Field landing VTOL landing Fixed wing landing Factor L 17

18 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). (The scoring equation will be published later) Flight performance / endurance Two poles at the racetrack with a distance of about 250 m 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. (The scoring equation will be published later) 18

19 5. Indoor competition 5.1 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 5.2 Practice day - indoor There will be no separate practice day for the Indoor Competition. 5.3 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. 5.4 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 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. 19

20 The following factors are used for every mission element scoring: Size factor (S): The maximum horizontal size of the MAV (including blades). The size is limited to 1.5 m. 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 Factor 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) 20

21 5.4.2 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 ) *). *) 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 21

22 5.5 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 (depicted in Figure 8). The arena s height is limited to approximately 4.5 m. Figure 8 22

23 5.5.1 Take-off and fly through window(s) The goal of this mission is to avoid hitting a wall after start and to traverse a house by flying through both windows. The first window to pass is smaller than the second one (see dimensions below). Alternatively the MAV can take off inside the building and fly only through the larger window. If i5.t is not possible to traverse the building the MAV might fly around it or at least take-off automatically behind the obstacle. The window frames consist of rubber foam to avoid serious damages to the MAVs. The walls are planked with oriented strand boards (see Figure 9). Figure 9 If multiple MAVs of one team attempt this mission element the team has to indicate which attempt should be scored. 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 width Behind the house - Fly around house - Fly through big window 1,1 x 1,1 Fly through small window 0,8 x 0,8 Fly through both windows 1,1 x 1,1 0,8 x 0,8 Factor T to be defined to be defined to be defined to be defined to be defined 23

24 (The scoring equation will be published later) Deliver parcel to correct postbox * The goal of this mission element is to deliver a parcel to the correct postbox. Therefore a parcel will be attached to the MAV before take-off. While carrying the payload, the MAV has to read a QR-code to identify the destination. Finally the parcel should be dropped on or into the designated postbox. If multiple MAVs of one team attempt this mission element, the team has to indicate which attempt shall be scored. The size of the parcel will be 50 mm x 35 mm x 15 mm and the weight will be 20 g. It will be equipped with a snap hook for manual attachment to the MAV. The MAV has to be able to drop the parcel; see the Appendix (Chapter 6.2) for an example payload adapter. The sizes of the postbox and the QR-Code 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 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 Factor P (The scoring equation will be published later) 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. * Mission requires payload transport and release, for more information on possible adapters see the appendix 24

25 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 (The scoring equation will be published later) 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 colored balls. These balls 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. (The scoring equation will be published later) 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. (The scoring equation will be published later) * Mission requires payload transport and release, for more information on possible adapters see the appendix 25

26 5.5.6 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. (The scoring equation will be published later) 26

27 6. Appendix 6.1 Transport tank Suggestions for transport units: - Sponge - Cone - Bucket Please keep in mind that the MTOW of the MAV must not be exceeded with the filled tank. 6.2 Payload adapter Some of the mission elements require the possibility to transport and release different payloads. In order to keep the level of complexity and weight as low as possible the RWTH is offering an example adapter, suited to most MAVs (see Figure 10 and Figure 11). This adapter is able to fasten and release the hook of both (indoor and outdoor) parcels. Additionally it can carry different water transport tanks or a sponge. For the indoor mission element care for flowers it is also equipped with the possibility to carry and release two balls (water and fertilizer). RWTH offers detailed construction plans of a possible adapter which will work for all mission elements (see Figure 12). Each team can build an adapter themselves following the construction plans or their own ideas. RWTH will also provide this adapter for any team to use at competition day. Figure 10 27

28 Figure 11 Figure 12 28