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 0.3 Minor changes 0.4 Scoring Equations, Detailed information on several missions 0.5 Total Score tables, Information specified on several missions (Photomap, Identify pattern, Walk the dog, Performance indoor), Minor additional changes/updates 1.0 Final Version: Detailed information on several missions (4.5.5, 4.5.6, 5.5.2, 5.5.4, 5.5.5), Schedule, Organization team vest-colors 1

2 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 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 Mission element objects

3 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 3

4 2. Schedule Competitions Monday (14.09.) Tuesday (15.09.) Wednesday (16.09.) Thursday (17.09.) Friday (18.09.) 07:30-07:45 07:30-07:45 Delivery & 07:45-08:00 Safety Checks 07:45-08:00 Installation Time 08:00-08:15 Floriansdorf 08:00-08:15 Floriansdorf Delivery & 08:15-08:30 Registration Site Exploration 08:15-08:30 Installation Time 08:30-08:45 Super C Site Exploration (Flight Director, Teams) SP Kohlscheid 08:30-08:45 SP Kohlscheid 08:45-09:00 Floriansdorf 08:45-09:00 09:00-09:15 09:00-09:15 09:15-09:30 09:15-09:30 09:30-09:45 09:30-09:45 09:45-10:00 09:45-10:00 10:00-10:15 10:00-10:15 10:15-10:30 10:15-10:30 10:30-10:45 Flight Competition Outdoor Pt 1 10:30-10:45 10:45-11:00 Registration Site Exploration Floriansdorf Flight Competition Indoor 10:45-11:00 11:00-11:15 Floriansdorf Floriansdorf Sportpark Kohlscheid 11:00-11:15 11:15-11:30 11:15-11:30 11:30-11:45 No flights! 11:30-11:45 11:45-12:00 Conference 11:45-12:00 12:00-12:15 Safety Checks Super C 12:00-12:15 12:15-12:30 Floriansdorf 12:15-12:30 12:30-12:45 Lunch 12:30-12:45 12:45-13:00 Floriansdorf 12:45-13:00 13:00-13:15 Conference 13:00-13:15 13:15-13:30 Super C Lunch 13:15-13:30 13:30-13:45 Sportpark Kohlscheid 13:30-13:45 13:45-14:00 13:45-14:00 14:00-14:15 Flight Training 14:00-14:15 14:15-14:30 Floriansdorf 14:15-14:30 14:30-14:45 14:30-14:45 14:45-15:00 Flight Competition Outdoor Pt 2 14:45-15:00 15:00-15:15 Floriansdorf Conference 15:00-15:15 Award Ceremony 15:15-15:30 Sportpark Kohlscheid 15:15-15:30 15:30-15:45 Super C 15:30-15:45 15:45-16:00 15:45-16:00 16:00-16:15 16:00-16:15 16:15-16:30 16:15-16:30 16:30-16:45 16:30-16:45 16:45-17:00 16:45-17:00 17:00-17:15 17:00-17:15 17:15-17:30 17:15-17:30 17:30-17:45 17:30-17:45 17:45-18:00 17:45-18:00 18:00-18:15 Welcome Reception 18:00-18:15 18:15-18:30 Super C 18:15-18:30 18:30-18:45 18:30-18:45 18:45-19:00 18:45-19:00 19:00-19:15 19:00-19:15 19:15-19:30 Registration Conference Dinner 19:15-19:30 19:30-19:45 Super C Tivoli Stadium 19:30-19:45 19:45-20:00 19:45-20:00 * ) 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 ). The IMAV 2015 organization team can be identified by the following colors of their vest: Supervisor Flight Director Support Team Jury 4

5 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. 5

6 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), but only in series (no parallel tasks, no parallel MAV operations). 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 (also several take-off and landings are allowed), 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. M i Team A = S D A E X i The following factors are used for every mission element scoring (X i = mission specific coefficient(s)): 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 5 kg. For further information about the size and impulse regulations see the latest version of the IMAV 2015 safety regulations document. S MAV i = 1.5 L MAV i 5 (W MAV i + 1) Design factor (D): The design factor is introduced to reward teams with self-made design of their aircraft system. The jury will decide on this individually. Type of Design MAV i Factor D Commercial aircraft design 1 Self-made aircraft frame 3 6

7 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. (Except the essential ones provided by the IMAV2015 organisation) MAV i Factor A (will be subtracted from the factor) Performance factor (E) To determine the performance factor of each MAV which attempted a mission, these have to fly a separate flight performance mission. The goal is to evaluate the endurance of the MAV by comparing the different ranges of all MAVs. The flight performance mission has to be performed without time limit by each MAV which completed at least one mission. The task is to fly as many rounds of (approx. 500 m) as possible on the racetrack with one battery charge. Any unnecessary payload may be released from the MAV. The teams shall not prepare a special battery for this mission element but have to bring one spare battery of the same type for each MAV which will not be used during the mission elements. All batteries have to be presented to the jury before the teams competition slot. The jury will then randomly select one of the batteries of each MAV to be used for the endurance mission. The selected battery can be charged during the competition time. So keep in mind to bring one spare battery which you do not need during your mission. Complete Rounds MAV i Factor E >

8 4.4.2 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. T Team A = ( M i Team A i= Mission element ) P Team A Team A R Mission ranking i Team A Factor M i Best mission score 100 Second best mission score 80 Third best mission score 70 Fourth best mission score 60 Fifth best mission score 50 Sixth best mission score 40 Seventh best mission score 30 Eighth best mission score 20 Ninth best mission score 10 Tenth best mission score 5 All further teams 0 Team All teams with mission element score M A i = 0 0 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 1 P Team A 1.5 In-a-Row Factor (R): All mission elements can be performed individually and in a random order. All mission elements can be attempted as many times during a competition slot and by different MAVs, while for every mission element the best score of each team will be scored. The flight performance mission is excluded. 8

9 To value ability to perform different mission elements in a row with one MAV without landing, the sum of the mission element scores will be multiplied by the In-a-row factor. Performed mission elements in a row Team A Factor R

10 4.5 Mission elements - Outdoor Figure 1 Map of the outdoor competition area Wherever needed for precise maneuvering (landing or dropping of items) the mission element objects are equipped with visual markers (see Figure 2). The size of the markers will be 100 mm x 100 mm. Figure 2 - Marker 10

11 4.5.1 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. The take-off mission element will only be scored if the MAV is performing at least one other mission element (other than 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. This mission element can be performed multiple times by each team; the best attempt will be scored. M 1 Team A = S D A E 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 boards) by identifying their positions (see Figure 3). There are three red ISO A0 boards (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 boards. 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 boards 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. Important notice: The A0 boards will be wooden, painted with matt colors 11

12 Green area - Shall be part of the photo map - All victims will be located in this area Red A0 boards GPS-Coordiantes will be given Blue A0 boards Victims have to be located Figure 3 Map of the mission element Photomap of the village ISO A0 boards Location in GPS coordinates Lat: Lon: The coordinates of the sheets will be given on the competition day. Team M A 2 = S D A E (N Connected + N Position ) N Connected is the integer score factor for the number of the six A0 sheets in a connected map/photo. 0 N Connected 6 N Position is the integer score factor for the number of the located victims (GPS coordinates). 0 N Position 3 12

13 4.5.3 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 fire source, which is abstracted by a measurement container (see Figure 4). 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 5. 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: GPS Lon: (Center of the container) (Center of the container) The GPS coordinates of the two stations will be given on the competition day. 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. 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. Figure 4 Sketch of the measurement container * Mission requires payload transport and release, for more information on possible adapters see the appendix 13

14 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 5 Map of the mission element Firefighting M 3 Team A = S D A E G Gather N Water Type of Gathering Factor G Gather Contain water at lift-off 1 Gather water from pool 4 Amount of water Amount measured by weight of the measurement container in gram Factor N Water x 10 14

15 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 6). Therefore the MAV has to enter the building and create a 360 panoramic video 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 7 and Figure 8. 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 6 Map of the mission element Inspect building The locations of the victims have to be marked on a 2D ground plan of the room. Bonus points are awarded for a video-clip of maximum 1 minute showing the at least 2 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. 15

16 1100 mm 1350 mm 2145 mm 1060 mm Figure 7 Building (view from northeast) 90 mm 140 mm Figure 8 Building (view from southwest) 16

17 M 4 Team A = S D A E G House (N Victims + B video ) G House is the integer score factor for entering the house 1 G House 2 N Victimes is the integer score factor for the number of the located victims. 0 N Victims 3 B Video is a bonus point of 2 for the video of maximum 1 minute showing at least 2 victims. 0 B Video 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. Before take-off the MAV has to read a QR-code to identify the destination (Dropzone No 1, No 2 or No 3). Carrying this parcel the MAV can either fly to the first house depicted in Figure 9 or deliver the parcel to the desired address, 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. The centers of the drop zones can be recorded at preparation day or in the morning of competition day by each team with their GPS receiver individually. * Mission requires payload transport and release, for more information on possible adapters see the appendix 17

18 Release zone index 1: Diameter 3m GPS Lat: (Center of the zone) GPS Lon: (Center of the zone) Release zone index 2: GPS Lat: (Center of the zone) GPS Lon: (Center of the zone) Release zone index 3: GPS Lat: (Center of the zone) GPS Lon: (Center of the zone) Green Area - Allowed flightzone - Height limitation is 40m - A human safety pilot has to follow every MAV constantly 3 2 Release zone 2 & 3 GPS-Coordiantes will be written in QR-Code Release zone 1 GPS-Coordiantes will be given 1 Figure 9 Map of the mission element Deliver a parcel 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 18

19 Sample QR-Code 1 The size of the QR-Code will be 100 mm x 100 mm. M 5 Team A = S D A E G Parcel G Parcel is the score factor for parcel transportation; it is classified as one of the following: Type of Flight Factor G Parcel No delivery 0 Fly to first house 1 Fly to correct house Only awarded when number was indicated before Read QR-Code Ground Station or operator have to indicate the number Release parcel in release zone (will be added to the factor) +2 (will be added to the factor) 19

20 4.5.6 Identify pattern The goal of this mission element is to identify a pattern. This pattern is given by a RC-car moving on a sports field (see Figure 10). The surface of the ground is red ashes. The MAV has to observe/follow the RC-car and make a video. Figure 10 RC-car on the sports field The outer dimensions of the RC-car (top view) are 0.76 m x 0.5 m (w/o tires) or 1 m x 0.88 m (including tyres). There will be a yellow board (size: 0.7 x 0.5 m) on top of the car with a marker placed in the middle (see Figure 2). The average speed will be about 3-4 m/s. The maximum dimension of the pattern will be 40 m x 20 m. 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. M 6 Team A = S D A E G Video G Video = t Identified t Pattern 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. M 7 Team A = S D A E G Landing 20

21 Type of Landing Factor G Landing Field landing 0 VTOL landing Fixed wing landing 10m 5m m 10m 1 2 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). This mission can be performed multiple times by each team; the best attempt will be scored Flight performance / endurance This mission element has to be performed separately to the other outdoor mission elements. 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. For detailed information on this mission element see chapter Keep in mind to bring one spare battery which you do not need during your mission. 21

22 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 diverse elements that can be performed in any order by one or more MAV(s), but only in series (no parallel tasks, no parallel MAV operations). 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 (also several take-off and landings are allowed), 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. 22

23 M i Team A = S D A E G i The following factors are used for every mission element scoring (G i = mission specific coefficient(s)): 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 5 kg. For further information about the size and impulse regulations see the latest version of the IMAV 2015 safety regulations document. Level of autonomy (A): S MAV i = 1.5 L MAV i 5 (W MAV i + 1) 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. (Except the essential ones provided by the IMAV2015 organization committee) Design factor (D): Factor A (will be subtracted from the factor) The design factor is introduced to reward teams with self-made design of their aircraft system. The jury will decide on this individually. Type of Design MAV i Factor D Commercial aircraft design 1 Self-made aircraft frame 3 23

24 Performance factor (E) To determine the performance factor of each MAV, these have to fly a separate flight performance mission. The flight performance mission has to be performed by each MAV which completed at least one for a maximum of 3 minutes time (per MAV). The task is to fly around two posts in a vertical 8- shape trajectory as often as possible with one battery charge. Any unnecessary payload may be released from the MAV. The teams shall not prepare a special battery for this mission element but have to bring one spare battery of the same type for each MAV which will not be used during the mission elements. All batteries have to be presented to the jury before the teams competition slot. The jury will then randomly select one of the batteries of each MAV to be used for the endurance mission. The selected battery can be charged during the competition time. So keep in mind to bring one spare battery you do not need during your mission. E = N + B Complete Eights Factor N > 20 9 B is 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. 24

25 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. T Team A = ( M i Team A i= Mission element ) P Team A Team A R Mission ranking i Team A Factor M i Best mission score 100 Second best mission score 80 Third best mission score 70 Fourth best mission score 60 Fifth best mission score 50 Sixth best mission score 40 Seventh best mission score 30 Eighth best mission score 20 All further teams 0 Team All Teams with mission element score M A i = 0 0 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 1 P Team A 1.5 In-a-Row Factor (R): All mission elements can be performed individually and in a random order. All mission elements can be attempted as many times during a competition slot and by different MAVs, while for every mission element the best score of each team will be scored. The flight performance mission is excluded. To value ability to perform different mission elements in a row with one MAV without landing, the sum of the mission element scores will be multiplied by the In-a-row factor. 25

26 Performed mission elements in a row Team A Factor R

27 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 11). The arena s height is limited to approximately 4.5 m. Figure 11 Map of the indoor competition area Wherever needed for precise maneuvering (landing or dropping of items) the mission element objects are equipped with visual markers (see Figure 2). The size of the markers will be 100 mm x 100 mm. 27

28 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 12). See Appendix for specific dimensions. Figure 12 - House This mission can be performed multiple times by each team; the best attempt will be scored. Type of Start M 1 Team A = S D A E G House Size of window [m] height x width Factor G House Behind the house - 0 Fly around house - 1 Fly through big window 1,1 x 1,1 2 Fly through small window 0,8 x 0,8 3 Fly through both windows 1,1 x 1,1 0,8 x 0,8 5 28

29 5.5.2 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 the MAV has to read a QR-code to identify the destination (Box No 1, No 2 or No 3). Sample QR-Code 1 The size of the QR-Code will be 100 mm x 100 mm. After revealing the address the parcel should be delivered and dropped on or into the designated postbox (see Figure 13). If multiple MAVs of one team attempt this mission element, the team has to indicate which attempt shall be scored. Figure 13 - Postbox The postboxes have the dimensions 670 mm x 340 mm x 330 mm. 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. * Mission requires payload transport and release, for more information on possible adapters see the appendix 29

30 M 2 Team A = S D A E G Parcel G Parcel is the score factor for parcel delivery; it is classified as one of the following: Type of Flight Factor G Parcel No delivery 0 Fly to first postbox 1 Fly to correct postbox 2 Only awarded when number was indicated before Read QR-Code Ground Station or operator have to indicate the number +0.5 Deliver parcel in correct postbox 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! The MAV has to start from a given starting point and follow a line on the ground. This line will be represented by a white/beige rope with a diameter of about 30 mm (see Figure 14). The ground is covered with a dark green artificial grass carpet. Figure 14 - Rope To get extra points the team has to identify the cat (represented by a circular disc d=300 mm) on the line and fly half a circle to avoid an interruption. The line ends inside the house, the team can earn another extra point by flying into the house. M 3 Team A = S D A E G Dog G Dog is the score factor for dog walking; it is classified as one of the following: 30

31 Type of Flight Follow the line x = percentage of the full path Factor G Dog 0 x 1 Avoid the cat +1 Fly in the house 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 one (see Figure 15). Depending on the color (red, green or blue) it either needs 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 balls are made of wood (painted with color), they have a diameter of about 18-19mm. The weight is approx. 2.5 g. Figure 15 - Flower The diameter of the bloom is d Flower = mm, the overall height of the flower is h flower = 500 mm. M 4 Team A = S D A E G Flower G Flower is the score factor for dog walking; it is classified as one of the following: Flowers cared for Indicate flower status Ground Station or operator have to indicate the status Factor G Flower 0 x 3 One drop correct +1 Two drops correct +2 * Mission requires payload transport and release, for more information on possible adapters see the appendix 31

32 5.5.5 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. This mission can be performed multiple times by each team; the best attempt will be scored. See Appendix (Chapter 6.3) for specific dimensions of the platform. The platform rotates at a speed of 24s per turn. M 5 Team A = S D A E G Landing Type of Landing Factor G Landing Field landing 0 Steady platform 1 Moving platform Flight performance This mission element has to be performed separately to the other indoor mission elements. 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 per MAV. See Appendix chapter 6.3 for dimensions of the posts. The completed figures during a flight time are counted. Each team can attempt this mission element max. two times during the 3 minutes time slot. The best score will be counted. There will 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. For detailed information on this mission element see chapter Keep in mind to bring one spare battery which you do not need during your mission. 32

33 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 16 and Figure 17). 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 18). 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 16 Payload adaper (closed) 33

34 Figure 17 Payload adapter (open) Figure 18 Construction plan payload adapter 34

35 6.3 Mission element objects Figure 19 Construction plan house Figure 20 - Moving plattform 35

36 Figure 21 - Pylons 36