The Singapore AUV Challenge 2019
Rulebook

Last updated on
29 Sept 2018

The Singapore AUV Challenge 2019 Rulebook

Table of Contents

Objectives

The goal is for each team to develop an Autonomous Underwater Vehicle (AUV) which can negotiate the tasks put forth under a prescribed time. Also to learn and have fun in the process.

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The SAUVC 2017 Participants.

Structure of the Team

A team may consist of up to 11 participants including faculty supervisors. At least half of the participants must be non-professionals (students, hobbyists, hackerspace members, etc) at the time of registration.

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Figure 1. One of the teams with faculty co-supervisors from the 2017 Competition.

Video Submission

All teams have to submit a video of their AUV prior to the competition. The video has to

Videos will be reviewed by the organizing committee and only teams with accepted videos be allowed to attend the competition.

The organizers reserve the right to publish the video submissions after the competition.

Qualification

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Figure 2. A team attempting qualification in the 2017 Competition.

The Arena

The challenge will be held in an olympic sized swimming pool (50m x 25m).

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Figure 3. Top-view of the Arena.

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Figure 4. Picture of the Arena from 2017 Competition.

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Figure 5. Picture of the Arena from 2017 Competition.

Qualification Arena(s)

The qualification rounds would be held on the side of the main arena.

The qualification starting line is a marked 1m wide section of the pool wall from where the AUV should be deployed from. The AUV has to touch the wall at the begining of the run.

At approximately 10m from the starting line the qualification gate is hanging from the surface of the water. The AUV has to go through the gate to qualify.

Specification of props

Prop Description
1 Qualification Gate 150cm wide and ~100cm deep gate hanging from the water surface with orange markings on both port and starboard sides.

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Figure 6. Front-view of the qualification gate.

Starting Zone

The starting zone is a 140×140cm area marked on the surface of water. The teams must start their AUVs from this area. The team may only place the AUV at the water surface, it must autonomously submerge before leaving the starting zone.

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Figure 7. Picture of the Starting Zone from 2017 Competition.

Tasks

There are 4 tasks in the challenge:

  1. Navigation
  2. Target Acquisition
  3. Target Reacquisition
  4. Localization

The first task, Navigation, is mandatory and must be completed before attempting any other task. The other tasks can be attempted in any order. Surfacing at any point signifies end of attempt.

1. Navigation

The aim of the this task is to swim through a gate in water. The gate may be located anywhere on a horizontal line, parallel to the side of the swimming pool, approximately 8m away from the starting point. See Figure 4. The AUV has to swim through the 150 cm high gate without touching the gate.

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Figure 8. Picture of the gate from 2016 Competition.

Points

If the AUV successfully passes through the gate,10 Points will be awarded.

Specification of props

Prop Description
1 Gate 150cm wide and 150cm high gate with red and green markings on port and starboard sides respectively.

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Figure 9. Front-view of the gate.

2. Target Acquisition

The aim of the task is to detect and acquire a target among a series of drums at the bottom of the pool, in the target zone.

A target zone is defined by a green colored mat laid out on the floor of the pool. The mat is 8m x 2m in size. Figure 4. shows the location of the mat with respect to the arena.

There are 4 colored drums in the arena. All of them are on the mat. One of the drums, chosen at random, will be blue in color, while the rest are red in color. One of the red drums, chosen at random, will contain an acoustic pinger. The AUV needs to drop a ball in one of the drums to successfully complete this task. Points will be awarded based on which drum the ball is dropped into. In the event of multiple balls being dropped, only the first ball is taken to consideration.

The location of the red drum which contains the acoustic pinger may be randomized between attempts, as may be the order of the drums. The order of the drums and location of the pinger will be decided by the organizing committee.

Points

Points will be awarded as follows.

Specification of props

Prop Description
1 Drum 60cm in diameter and 30cm in depth.
2 Ball 3.5-4.5cm in diameter and weigh no more than 200g in air. Provided by teams.
3 Drum Pinger RJE International Pinger Model No. ULB-362B/45 kHz.

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Figure 10. Picture target zone and drums from the 2017 Competition.

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Figure 11. Picture of a 45kHz pinger.

3. Target Reacquisition

The aim of this task is to reacquire a previously detected target.

This task is only attemptable if the Target Acquisition has been successfully completed. Furthermore, the AUV has to leave the target zone, before it can attempt the Target Reacquisition task. Every part of the AUV needs to clear the target zone, before it can be considered outside the target zone.

After the AUV is outside the target zone, it needs to reacquire the target and pick up the ball that it dropped in the Target Acquisition task. The AUV has to hold on to the ball till the end of attempt to successfully complete this task.

This task does not have to be attempted immediately after Target Acquisition task, other tasks may be attempted in between.

Points

If the AUV successfully picks up the ball and holds on to it till the end of the attempt, 60 Points will be awarded.

Specification of props

Prop Description
1 Target zone Green mat 8m x 2m in size.
2 Ball Same ball used in target acquisition task. Provided by the teams.

4. Localization

The aim of this task is to localize on a flare. The flare is marked with an acoustic pinger. This flare could be located anywhere within the main arena. The AUV should locate and bump the flare causing the golf ball on the flare to drop out. The flare will be yellow in color.

Points

If the AUV successfully causes the ball to drop from the flare, 40 Points will be awarded.

Specification of props

Prop Description
1 Flare 80cm high and yellow in color.
2 Flare Pinger RJE International Pinger Model No. ULB-362B/37.5 kHz.

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Figure 12. Side-view of the flare.

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Figure 13. Picture of the flare from 2016 Competition.

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Figure 14. Picture of the flare from 2016 Competition.

Surfacing

Breaching the surface any point during the mission causes end of the current attempt, the total points for that attempt will be computed based on the tasks accomplished in that attempt and the timing bonus (if applicable) and a 5 Points bonus for ending. The team may wish to retry if they still have time left.

Aborting

At any time during the mission, current attempt can be aborted, by indicating to the Game Master. The divers would then retrieve the AUV back to the starting zone. The timing for the current attempt is stopped at the time of indication. The team may wish to retry if they still have time left.

In the case of an aborted attempt, the team would be awarded the points for all previously successfully completed tasks during the current attempt.

Automatic Abort

If the AUV touches the bottom or the side walls of the pool for a cumulative time of more than 10 seconds or 5 discrete touches, the current attempt would be automatically aborted. The divers would then retrieve the AUV back to the starting zone. The team may wish to retry if they still have time left.

In the case of an automatic aborted attempt, the team would be awarded the points for all previously successfully completed tasks during the attempt.

Timing Bonus

At the end of an attempt, as long as the AUV has successfully completed at least 2 tasks, the Navigation task and any other task, bonus points proportional to the remaining time will be awarded in accordance with the following formula.

Bonus points = (900 - RUN_TIME) • 0.03

For eg. For a run time of 420s, Bonus = (900-420)•0.03 = 14.4 Points

Penalties

There are penalty points for touching the floor or wall of the pool at any time, and also for touching the gate during a specific attempt. This penalty points are:

Description Penalty Points
1 Touching the gate 2
2 Touching the bottom of the pool or wall 5

Examples

Here are some examples scenarios and how they would be scored.

Example 1

Task Points
1 Navigation Task 10
2 Touching the gate -2
3 Surfacing 5
Attempt Total 13

Example 2

Task Points
1 Navigation Task 10
Attempt Total 10

Example 3

Task Points
1 Navigation Task 10
2 Target Acquisation Task (Visual) 30
3 Touching the wall -5
Attempt Total 35

Example 3

Task Points
1 Navigation Task 10
2 Target Acquisition Task (Visual) 30
3 Localization Task 40
4 Surface Bonus 5
5 Run time Bonus 15
Attempt Total 100

Example 4

Task Points
1 Navigation Task 10
2 Target Acquisation Task (Visual) 30
3 Localization Task 40
Attempt Total 80

Specification of AUV

Size

Power

Safety

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Figure 15. Example a kill switch on an AUV from 2015 Competition.

Communications

Game Procedure

Sequence of events during the competition

Practice Rounds

Length of a game

Retries

Certificate of Participation

General Restrictions

Disqualification

Others

Feedback

If you spot any errors in the rulebook or have queries about the rules, please email [email protected] or contact us through our website.