Proposer s Day questions

Transcription

1 Proposer s Day questions Note: The BAA and its associated documents, including this file, are the authoritative source of information about the SHRIMP program and should be consulted over all other sources of information. 1. For TA1 TA2 phase 3, do the high and long jump events count as untethered ambulation for the purposes of CUI? These events are from a resting or standing position. They are not configured to be mobile platforms. 2. For universities unable or unwilling to meet CUI, can you describe some scenarios where they can contribute to TA3? a. Team with a proposer (prime contractor) who is willing and able to handle CUI. Design actuator or power systems as components (under TA1 and/or TA 2) to be incorporated into TA3. The key aspect of CUI restriction is the full design. 3. Are there reliability and environmental requirements for all three TAs? a. There are environmental statements in the BAA, but not a performance metric. Reliability must be good enough to compete in multiple events. Most events average multiple iterations of each event. 4. Possible to submit to TA1 + TA2 track A only? 5. Is the size requirement for all configurations of a system or just the most-compressed configuration? a. Volume is the static volume of the system and or platform. If the system or platform unfolds, that is fine. 6. How will volume and length be evaluated? a. We will put a cubic volume over the device or platform. 7. Is it possible to submit multiple proposals? No limit unless you overburden yourself. Must be distinct we will not pay for same effort multiple times. 8. Does power density of actuators matter for TA1 in terms of traceability to TA3 platforms? a. No, if only proposing to TA1 only. If you are jointly proposing to both, then yes, it needs to be traceable. 9. What are the power requirement limits for actuators in TA1? a. From a TA1 perspective, there is no requirement or limitation, but the power requirement needs to be traceable to phase 3 of the combined TA1 and TA If proposing to TA1, do you need to have a power supply in mind, or can you assume TA2 specs will be met? a. Proposal only needs to consider a power supply if planning to go to phase 3. Need to be cognizant of what would be traceable to phase Does a TA1 proposal need to identify a TA2 partner to address phase 3? a. It does not need to. These relationships will be done with ACAs. 12. If TA2 batteries and actuators share packaging, how will energy densities and other metrics be calculated?

2 a. Only pertinent to Phase 3. In previous phases, only an actuator or power system should be reported. If they are not separate, the metrics will be divided proportionally. 13. What are the anticipated commercial applications of SHRIMP tech that are expected to drive cost? a. Disaster relief and emergency search and rescue 14. What plans does DARPA have to make program results available to future users? a. Future government users will be invited to program reviews, the end-of-program competition, and government evaluation of prototypes. Results not restricted by CUI are expected to be published in the open domain by the performers. 15. Will the posters be made available electronically? 16. If a team consists of TA1 plus TA3, how can the TA3 team know the performance of the TA1 actuator at start of phase 1? a. If you are proposing to multiple TAs, you are determining those details. Later in the program, the ACA process is available if more relevant technology is developed. Any combination of TAs can be proposed. 17. For TA2, why is the duration of power different for track A and track B? a. Track A is how long can the power converter work short duration to make sure it can operate. For track B, it is sustained mission power. If it is a secondary battery approach, the charging cycle and method of charging should be included. 18. Is there a maximum amount of money that can be requested for a proposal? a. No formal rule in the BAA. There are limits to program funding and a cost realism aspect of the review. 19. Are proposals addressing all three TAs viewed more favorably? 20. Can jumping be flight? a. We don t distinguish between jumping or flying to meet the targets. 21. Is tug of war attached or does it need its own adhesion? a. We will provide a preferred attachment method to the force sensor once the competition descriptions are finalized within Phase 1 of the program. 22. Will there be a website for teaming? 23. At what point are the competition details public? a. We will define and finalize competition details during phase 1 of the program. 24. If a platform has modular components that can be swapped, is that considered the same vehicle? a. No, it is a different fundamental platform. 25. Is it ok to use an actuator mechanism with a limited number of cycles (chemical reaction for thrust) as long as it meets requirements? a. Yes, and it can be refilled or reset between events. 26. TA3 biathlon can we choose all beacons be the same type?

3 a. Yes, but preference will be given to those who can have multiple varieties through higher scoring in the competition. Scoring rules will be released during phase 1 of the program. 27. From the information in the BAA, the development of new actuation tech is seemingly limited to electrical technologies. Does an actuator need to be electrical-based? The metrics for actuators in TA1 include volume, weight, largest dimension, operating frequency, and force-displacement/work density. None of these metrics require an electrical-based actuator. 28. Can direct chemical reactions be utilized? a. Yes, as long as they meet the other performance metrics. 29. For flying vehicles in TA3, how are they judged for the vertical ascent and the steeple chase, i.e. flying over rough terrain and obstacles? a. If you can traverse the path, you meet the objectives. For steeple chase, obstacles will include challenges for all types of vehicles. 30. With respect to CUI/CTI, would a radio-only link be considered tethered? a. If it is a platform and untethered for power, it is CUI/CTI. b. If it is an actuator system and non-ambulatory, then it is not CUI/CTI. 31. Is there a mechanism for a partnered TA1 and TA2 to participate in phase 3 if neither can handle CUI/CTI? a. They do not require CUI/CTI unless you build a mobile untethered platform in TA1 and TA2. It is possible to compete without crossing that threshold. 32. Will the results of government evaluation be made public? Performer teams will potentially publish their results. 33. Do you expect downselects between phases? a. Options will be exercised (future phases will be funded) based on performance. It is possible that some performers will not have their future phase options exercised, but there is no expectation or requirement that this happens. 34. If a university performer has work under other funding, can TA1/TA2 results be used in the performer s other work? a. TA1/TA2 results can be used in other funded work as long as the results are not considered CUI/CTI. CUI/CTI restrictions apply to all uses of the technology developed in the SHRIMP program. Within the evaluation criteria, there is a request for letting us know about other activities to prevent duplication of efforts (Section V.A.1). 35. For 80 degree slope, is the surface smooth, rough, etc.? a. All surfaces start smooth. Roughness will progress as performers compete in the event. 36. Can open source hardware/software be used instead of an ACA? a. The ACA is a precondition of award, but how the exchange of information takes place is up to the performers. The exchange of data in this program is anticipated to require communication between performers not simply passing of data. Therefore, we view the ACA instrument as valuable to this process. 37. Can the CUI/CTI design information be published and then available for university collaborators to use? (Feet might depend on system dynamics)

4 a. No, full design information cannot be published publically. Please see the Controlled Unclassified Information Guide that is provided as an attachment to the BAA. The purpose of CUI/CTI restrictions is to control the information and prevent public release of critical, system-level design information. b. Universities are able to choose whether or not they trigger the CUI/CTI restrictions with their work. The CUI/CTI restrictions are on the full designs. As long as it is compartmentalized appropriately, universities can work on components. 38. Given that autonomous mm-to-cm robots are an active area of academic research, and many academic posters showed existing systems that trigger CUI restrictions, is there some way that academics can have a separate non-cui version of TA3 in which to participate and compete? a. No, the CUI restrictions cover all of TA3. Our restrictions only apply to our program funding. The structure of the program should encourage collaborations between universities, industry, and government laboratories to aid the transition of SHRIMP technologies. 39. Is it possible to add videos to the proposal submission package? Only written materials will be reviewed as part of the proposal submission package. 40. Can you submit more than one proposal to an individual TA? 41. Within TA3, will the universities be able to participate with component design relative to the platform design? a. Yes, they can work on component design, and that would be unrestricted. However, if they needed platform design information, that platform information would be covered by CUI restrictions. 42. Please provide clear guidance on publication restrictions and processes for CUI information. a. Any information considered CUI cannot be disclosed to the public. However, DARPA can choose to make information originally designated to be CUI by DARPA available to the public through its public release process (DISTAR). From part2002.pdf: "(ll) Public release occurs when the agency that originally designated particular information as CUI makes that information available to the public through the agency's official public release processes. Disseminating CUI to non-executive branch entities as authorized does not constitute public release. Releasing information to an individual pursuant to the Privacy Act of 1974 or disclosing it in response to a FOIA request also does not automatically constitute public release, although it may if that agency ties such actions to its official public release processes. Even though an agency may disclose some CUI to a member of the public, the Government must still control that CUI unless the agency publicly releases it through its official public release processes." 43. Are TA1 and TA2 solely 6.1 funded? a. The funding type information in the BAA is to convey DARPA s intent regarding the scope under each TA. However, the funding types available in each TA could be modified by DARPA if it is advantageous to the program.

5 44. Within TA1, are we focused on piezoelectric actuation? a. No, TA1 is open to any actuation material and mechanism development. 45. Can you define ambulatory in more detail? Does multiple jumps count? Oscillatory systems? a. Ambulatory, for the purposes of the SHRIMP program, is defined as being able to move from place to place in a controlled manner (e.g. direction and distance) and in more than a single, discrete, step. Multiple jumps and oscillatory systems are considered ambulatory. 46. Are TA3 untethered systems operating as tethered systems considered CUI? 47. TA2 Track A required time is 180s is there a dead time associated that time (i.e. duty cycle)? The 180s operation time milestone is for 100% duty cycle. 48. Publication restrictions on CUI/CTI is there a time limit on restrictions? a. Please see the answer to question 42. Whether SHRIMP program information is designated CUI and for how long is up to DARPA s discretion. Information originally designated CUI may be released through the DISTAR public release process once DARPA determines the information is no longer CUI. 49. It seems like TA3 implies ASIC components is this a requirement? a. ASICs are not a requirement. Proposers are free to propose any method of control that meets SHRIMP program metrics. 50. If a proposal offers a microrobotic entry to a competition that uses flying as its method of movement and can only efficiently compete in two events, such as high jump and long jump, will it be viewed less favorably than proposals that offer entries that can efficiently compete in all of the events? a. Proposals will be judged against the BAA, not against other proposals. It is reasonable to enter platforms that are specific to one or two events, but ideally platforms should compete in all events, even if they are optimized for a subset of them. From open question session: 1. Are phase 3 teams forced or suggested? a. Phase 3 teaming arrangements will be highly suggested based on performance. Progress to Phase 3 of the program will require a team only addressing either TA1 or TA2 during Phases 1 and 2 to be teamed. 2. Does recharging matter, or is one-time use battery OK? a. One time use is OK. 3. Can a tether be used to initiate motion? a. Yes, remote triggering is fine. A wireless trigger can be used in TA3 as well.