THE 1997 INTERNATIONAL AERIAL ROBOTICS COMPETITION RULES<br> <I>High School/Open Class Event</I>

This is not the Collegiate Class Event (see rules below), these rules are only applicable to the "High School/Open Class Event.

RULES FOR THE 1997 INTERNATIONAL AERIAL ROBOTICS COMPETITION
(High School/Open Class Event)


The official World Wide Web pages for the competition are your source for all information concerning rules, interpretations, and information updates regarding the competition. In anticipation of the 1997 International Aerial Robotics Competition, the official rules and application form will be obtained from the official World Wide Web pages and will not be mailed to potential competitors. If you have received these rules as a hard copy from some other source, be advised that the official source of information can be found at:

IARCLaunchPoint.html


Table of Contents

  1. General Rules Governing Entries
  2. The Mission
  3. Scoring
  4. "Air Vehicle" Definition and Attributes
  5. Judging
  6. Grounds for Disqualification
  7. Prize Awards
  8. Schedule
  9. High School/Open Class Event Arena
  10. Toxic Waste Container Lid Activation Buttons
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GENERAL RULES GOVERNING ENTRIES

See the arena layout
  1. Vehicles must be unmanned and either autonomous or teleoperated.

  2. Computational power need not be carried by the air vehicle. Computers operating from standard commercial power may be set up outside the Competition Arena foul-line boundary and uni- or bi-directional data may be transmitted to/from the air vehicle.

  3. Data links will be by radio, infrared, acoustic, or other means so long as no tethers are employed. The air vehicles must be free-flying with no entangling encumbrances, however, tethered subvehicles are allowed. Subvehicle(s) must be attached permanently to the air vehicle at all times. They may be deployed within the arena to search for, and/or acquire the information or objects. Subvehicles may not operate outside of the arena.

  4. Any form of propulsion is acceptable if deemed safe in preliminary review by the judges.

  5. Air vehicles may be no larger than a 10-foot (side) cube when operational.

  6. So your entry form will be anticipated, and so you can be notified that it has not arrived were it to get lost in the mail, an Intention to Compete should be received no later than January 2, 1997. To avoid unnecessary delay due to the mail (particularly for international entries), a letter of intention to compete can be transmitted by E-MAILed to Robert C. Michelson at robert.michelson@gtri.gatech.edu. Submission of a letter of intention to compete is not a requirement, however entries received after the deadline which are not clearly postmarked may be disqualified as late unless prior intention to compete has been expressed.

  7. The official World Wide Web pages for the competition are your source for all information concerning rules, interpretations, and information updates regarding the competition. In anticipation of the 1997 International Aerial Robotics Competition, the official rules and application form will be obtained from the official World Wide Web pages and will not be mailed to potential competitors. If you have received these rules as a hard copy from some other source, be advised that the official source of information can be found at:

    http://iarc.angel-strike.com/oldauvs/AUVS/IARCLaunchPoint.html

    The application form is available electronically here. All submissions must be in English. The completed application form is not considered an official entry until a check or money order for 100 U.S. Dollars is received by mail on or before February 1, 1997. (Note: the $100 application fee is completely refundable on the day of the competition if your team's aerial robot flies for more than 60 seconds. This fee has been instituted to discourage teams from applying that are not serious competitors).

    A brief concept outline describing the air vehicle must be submitted for safety review by the competition organizers (the application form provides space for this). The organizers will either confirm that the submitting team is a qualified competitor, or will suggest safety improvements that must be made in order to qualify.

    A VHS video tape of your vehicle flying either autonomously or under remote human pilot control must be supplied by March 1, 1997 to continue to be considered as a serious entry.

    The competition will be conducted on July 14, 1997 at Walt Disney World's EPCOT center in Orlando, Florida. Winners will be recognized during a ceremony to follow the competition.

  8. Teams may be comprised of any combination of students, faculty, or private individuals that do not represent industry or government organizations. University teams are not eligible in this High School/Open Class event. The student members of a joint team must make significant contributions to the development of their entry. Teams will be designated to the media under the name of their High School or the name of their robotics club.

    If your team does not qualify under the above definition, it may qualify for the "Collegiate Class Event." which will be held concurrently with the High School/Open Class Event under different rules.


THE MISSION

  1. The following hypothetical scenario is the basis for the mission that you are attempting to perform:

    During the construction of a geothermal power plant near Athena Greco, a sink hole developed revealing what appeared to be an ancient burial site. Archaeologists summoned to the site determined that the power plant excavators had broken into a mass grave dating back to 425 BC. Soon after the discovery, the archaeologists and members of the construction crew fell ill, at first with strong fevers accompanied by redness and burning of the eyes, followed by vomiting of blood. Within 48 hours, victims' skin became severely ulcerated and bleeding was observed from all openings of the body. No personnel having direct contact with the site have survived longer than 72 hours.

    A team from the CDZ and the US Army Medical Research Academy for Infectious Disease (USAMRAID) set up a field laboratory where they determined the cause of the epidemic to be a new strain of the Ebola virus. Dr. Jackson Gilbertman of the CDZ has reported that this is the most lethal strain of the virus investigated to date. In an interview earlier this week, Dr. Gilbertman stated that, "This is not really a new mutated strain of Ebola, but most likely an ancient strain that has been locked away in the Athenan tombs for almost twenty five hundred years."

    What is most disconcerting, is the finding that this "new" (ancient) strain, dubbed "Ebola-A425", exhibits increasing evidence for possible airborne transmission. According to Dr. Gilbertman, "Researchers from USAMRAID have done formal aerosol experiments in which as little as 400 plague-forming units of Ebola-A425 caused a fatal disease in monkeys within four to five days. All exposed monkeys developed Ebola-related pneumonia, and virus particles were found in many different areas of the respiratory system."

    To compound matters, members of the geothermal power plant construction crew who did not have direct contact with either the initial victims or the site itself, have contracted the disease. A 25 km quarantine radius around the site has been ordered by the government. No one is allowed to enter or leave this perimeter in order to contain the outbreak. National Guard units from the Greco Ministry of Defense have been sent to the quarantine zone to contain rioting that is on-going in the cities of Phaetalos and Necros which reside within the perimeter.

    Three million cubic meters of soil has been air-lifted to the site and dropped from the air to seal the sink hole, though many contaminated cultural items remain scattered about the adjacent construction site. The Greco government has appealed through the United Federation of Nations for assistance in gathering these contaminated items for disposal. Your mission is to create a flying robot vehicle that can identify small contaminated objects and quickly remove them to a specially designed hazardous waste container which exists at what remains of the USAMRAID field laboratory.

    Aerial reconnaissance shows that implements used to distill the Ebola-A425 virus during laboratory testing are randomly scattered on the ground near the specially designed hazardous waste container-- apparently discarded during the ensuing panic. The pure form of the virus contaminating these sample vessels and laboratory implements is needed for further study and can not be destroyed, as it represents the only original concentrated form of the virus that has not been buried or mutated in human hosts.

    Prior to disinfecting the surface of the earth around the site by means of a controlled fuel-air explosion, you must collect the sample vessels and laboratory implements, securing them in the fireproof, blast resistant hazardous waste container located at the field laboratory. Once sealed, the container will survive the heat and overpressure produced by the fuel-air explosion, but all remaining Ebola-A425 outside the container will be destroyed. The waste container and its contents can then be moved to the CDZ in Atlanta, Georgia for further study.

  2. Locating, acquiring, and transporting specific contaminated samples to the special hazardous waste container in the minimum time is of the utmost importance since the fuel-air explosion will be detonated thirty minutes after your robot's arrival at the site. For this reason, ground robotic vehicles will be unsuitable, as they would require too much time to locate, acquire, and transport samples. Either teleoperated or fully autonomous aerial robots must be used since no humans can be allowed near ground-zero due to the risk of infection and explosion. In addition, these robotic air vehicles can cover the distance necessary to reach the site, collect the samples, and secure them prior to detonation of the fuel-air explosive which will be released into the area. Your air vehicle will be expendable and shall not return once it has been exposed to the viral contaminant.

  3. For the purposes of this competition, the ingress to the site will be assumed to have already taken place. The arena will be a rectangular area with dimensions of 60 feet by 120 feet. An operator "blind" will be provided adjacent to the arena, but this will simulate a non-line-of-sight teleoperator position over 25 km away.

  4. The teleoperator, if required, can have as much feedback telemetry and control equipment in the operator blind as necessary to run the mission. There can be one or more operators controlling various aspects of the mission, but all feedback information must be telemetered from onboard vehicle sensors. No operator may have direct visual contact with the arena or the team will be disqualified.

  5. If a team chooses to create a fully autonomous aerial robot, its ground control station must be set up in the operator blind.

  6. Both teleoperated and fully autonomous entries may have a safety pilot to save the flying machine or to keep it from straying out of bounds. Safety pilots will always have visual contact with the vehicle. As soon as the safety pilot takes control away from the teleoperator or the source of autonomous computer intelligence, the round will be declared void (no points scored), and the air vehicle will have to be placed back at the starting area to be launched again as part of a new round.

  7. All air vehicles must start from a designated starting area in the corner of the arena. Only two members from the team may be within the boundaries of the Competition Arena once attempts to start the vehicle begin. From lift-off until the end of the round, all team members must remain outside the Competition Arena.

  8. During the mission, an aerial robot must activate the fireproof blast-resistant toxic waste container to have its lid open automatically. Then after as much material has been collected as possible in the time remaining, the lid must be closed on the fireproof blast-resistant toxic waste container to protect the contents from the impending explosion.

  9. The pure strain of Ebola-A425 virus which has been distilled and is in high concentration has been found to "lase" under special lighting. Sample vessels and laboratory implements that have been contaminated with high concentrations of the pure strain of Ebola-A425 will be marked with fluorescent orange paint to simulate the fluorescence that would occur in the presence of a simulated special lighting source carried by each teams' vehicle.

    Other items may be found in the vicinity which are not of interest. Only those items showing high concentrations of the pure virus should be gathered (as indicated by the fluorescent orange paint). The sample vessels and laboratory implements will be of different sizes and weights, but all will be under 4 ounces in weight and less than two liters in volume. The composition of the items of interest will be both metallic and nonmetallic. Known objects will include, but not be limited to: styrofoam and paper drinking cups, plastic bottles, steel spoons, etc. The locations for these items will be random, unknown a priori, and will be rearranged between runs by the judges or designated competing team members. No object will be closer than one meter to the arena boundary lines.

  10. The lid on the fireproof blast-resistant toxic waste container is opened and closed by pressing a large "OPEN" or "CLOSE" button found on a control box tethered to the waste container. The buttons will be labelled and color-coded (green = open, red = close). The force required to activate the buttons will be similar to that required to type on a computer keyboard. The control box will be located on the ground 15 feet from the waste container itself. The initial position of the toxic waste container lid will always be "closed" at the beginning of a run.

  11. The toxic waste container will be approximately 3 feet in height and 2 feet in diameter. It will be constructed of black plastic. The opening in the top will be of radius equal to, or less than one foot. The location of the container is unknown except that it will be near the center of the arena.

  12. Teams will be allotted 30 minutes to complete the task. Each team will be assigned a specific 30-minute time slot in which they must set up and perform as many attempts as they wish. Judges will score each valid attempt, with the highest score being used to determine the winner. Depending on the number of entrants, a second 30-minute attempt may be allowed at the discretion of the judges, but not until all other teams have had a chance to perform in the arena.

  13. To accommodate the number of competing teams within a reasonable time, the arena may be occupied by up to four teams (one at each corner). The dimensions of a typical starting area are shown in this figure. Non-flight activities such as set-up, calibration, and take-down will count against the allotted 30 minutes to complete the task. The arenas will be cleared of practicing teams 30 minutes prior to the start of the performance judging on the morning of the competition.

  14. Upon notice that a team is ready to fly, the clocks will be stopped for any other teams occupying the arena and the field will be cleared except for the designated officials and two members of the currently flying team. Once that run is complete, the other teams may return to their on-field activities and the clocks will be allowed to continue. After 30 minutes of arena time for any given team, a new team will be allowed to take control of the prior team's arena starting corner and the clock for the new team will begin running.

  15. A run will be declared a valid try if the vehicle leaves the starting area.

  16. Teams may have no more than one entry. Only one team may be affiliated with any particular school or robotics club. If several teams wish to enter from a single organization, a decision must be made by that organization (not the organizers of this event) as to which team will represent the school or club. This may be done as a result of an engineering analysis of each team's design and progress, or it may be as a result of an actual demonstration of hardware. The determination should be by a panel of impartial evaluators not directly affiliated with either team. Notification (prior to March 1, 1997) of which entry is the "official" one must be provided in writing by someone equivalent to the "High School Principal" or the robotics club "President" since various departments or sponsors may be vying for the honor of representing the organization.

    It is hoped that teams will join together to offer their best ideas for the benefit of a single unified team, while being willing to compromise and defer to team members with specific training and skills. The most successful teams are interdisciplinary groups of dedicated engineers and scientists with backing from their organization's administration and industrial partners.

    To discourage multiple entries from a single organization, all teams vying to represent that organization must submit their individual applications along with the 100 U.S. Dollar application fee by mail on or before December 1, 1996. No application will be considered valid without the fee being received by the December 1 date. Further, only one $100 application fee will be refunded on the day of the competition, and then only to the officially-designated team representing the organization provided it successfully meets the 60-second flight requirement. It is therefore in the interest of all potential competitors from a single organization to form their team without the need for arbitration prior to submission of an application.

  17. Landing is permissible anywhere in the arena. Subvehicles, if used, must be tethered to the air vehicle at all times. A run will be terminated if any part of an air vehicle touches the ground outside of the arena.


Scoring

The score will be based on a number of factors as follows:

    Effectiveness Measures:
  1. Closing the toxic waste container at the end of the run (a) is required if points are to be scored for items transferred to the container. Therefore a = 0 if the container is never opened, or if it is improperly closed by the end of the run, otherwise a = 1 if the container is properly opened and closed.

  2. The elapsed time (b) between take-off ( leaving the starting area ) and landing measured in "minutes-times-10" (rounded up to the nearest minute) is subtracted from the total score during a given round.

  3. Successfully leaving the starting area and demonstrating intelligent navigation for not less than 60 seconds (c) is worth 100 points (and refund of the $100 application fee).

  4. Successful deposition of contaminated items into the toxic waste container (d) is worth 100 points per item if teleoperated, or 500 points per item if done autonomously. In either case, 100 points will be deducted from a team's score for each tainted or uncontaminated sample deposited into the toxic waste container. These points will count only if the lid to the container is closed at the end of the run.

  5. Successful completion of the entire mission by collecting all items of interest (e) is worth 500 points. The mission is completed by landing anywhere in the arena after closing the lid of the toxic waste container.

    Subjective Measures:

  6. Elegance of design and craftsmanship (f) on a scale of zero to 100 (highest).
    1. Component integration (0-25).
    2. Craftsmanship (0-50).
    3. Durability (0-25).

  7. Innovation in air vehicle design (g) on a scale of zero to 200 (highest).
    1. Primary propulsion mechanism {lift} (0-25).
    2. Attitude adjustment scheme {yaw/pitch/roll/lateral} (0-25).
    3. Navigation technique (0-25).
    4. Sample identification technique (0-25).
    5. Sample retrieval mechanism/scheme (0-100).

  8. Safety of design to bystanders (h) on a scale of zero to 500 (highest).
    1. Isolation/shielding of propulsors (0-200).
    2. Containment of fuel and exhaust by-products (0-50).
    3. Crashworthiness (0-50).
    4. Emergency flight termination mechanisms (0-200).

  9. Toxic waste container lid activation scheme (i) (0-50)

  10. Best team Tee Shirt (j) (10 points to the best, 0 points to others having team Tee Shirts, and -10 points to those not having team Tee Shirts).

In addition to the points scored during the Static Judging ( Subjective Measures), the teams will be rank-ordered by the judges based on score. The arena starting corners and time slots will be allocated based upon the choice of the teams, with the first choice going to the highest ranked team, the next choice going to the second highest ranked team, and so on until the final time and arena starting corner remaining is assigned to the team ranking lowest based on the Subjective Measures during the Static Judging.

The points for a given round will be totaled according to the following formula:


SCORE = c - (b * 10) + [(d + e) * a] + f + g + h + i + j

The highest score accumulated by any entry after all rounds have been completed will be declared the winner.


"Air Vehicle" Definition and Attributes

  1. "Air Vehicles" are considered to be those capable of sustained flight out of ground effect while requiring the earth's atmosphere as a medium of interaction to achieve lift (as such, pogo sticks and similar momentary ground-contact vehicles are not considered to be flying air vehicles). The scoring formula and arena have been carefully designed to normalize advantages inherent to a given class of air vehicles such that all may compete fairly to perform the same task. Prospective teams must decide how best to allocate resources to maximize their potential score in light of the constraints imposed by the arena, the task, and the scoring algorithm.

  2. Air vehicles may not latch onto or use anything in the arena for locomotion or stability. Vehicles crossing over the foul line will be disqualified for that run and must be returned to the starting area.

  3. Each air vehicle must be equipped with an independently-powered, independently-controlled, non-pyrotechnic termination mechanism that can render the vehicle ballistic upon command of the judges (e.g., if using R/C radio equipment, a separate battery and receiver must serve as the independent relay for the onboard flight termination signal). This termination mechanism must be demonstrated to the judges prior to the first round and must be available to the judges for activation at their discretion any time the team's vehicle is operational. Air vehicles may be landed outside the starting area under manual control of a safety pilot in the event of an emergency, but the points that could be awarded for that run will be forfeited. Both autonomous and manually-assisted landings must occur within the foul lines of the Competition Arena.


Judging

  1. A team of three judges will determine compliance with all rules. Official times and measures will be determined by the judges. Subjective measures (6-10) will be judged in accordance with a schedule to be announced a week prior to the competition.


Grounds for Disqualification

  1. Vehicles crossing over the foul line will be disqualified for that run only.

  2. Judges will disqualify any vehicle which appears to be a safety hazard.

  3. Intentional interference with a competitor's run will result in disqualification of the offending contestant's entry.

  4. Damaging the Competition Arena, disks, or navigation aids may result in disqualification.

  5. Actions designed to damage or destroy an opponent's vehicle are not in the spirit of the competition and will result in disqualification of the offending contestant's entry.


Prize Awards

  1. This is the first year for the High School/Open Class event. It is being run in parallel with the 1997 International Aerial Robotics Competition which is now in its seventh year. The 1997 International Aerial Robotics Competition has a cash award of up to $10,000 that is sponsored by the Association for Unmanned Vehicle Systems, Intl. (AUVSI). No such cash award has been made available in support of the High School/Open Class event at this time. A plack recognizing the winning team will be awarded by AUVS-Atlanta, however.

  2. International recognition for the winning students' High School or robotics club is highly likely as every year that the International Aerial Robotics Competition collegiate event has been held, the international media has shown significant interest (see who's been watching us now).

  3. All teams are invited to submit papers to the AUVSI-97 International Symposium and Exhibition describing their designs and strategies. These should be submitted for presentation in one of the air vehicle sessions by the regular submission deadline announced in a forthcoming call-for-papers. Also, exhibit space can be made available to all teams wishing to showcase their technology at the symposium by contacting AUVSI headquarters. (Teams having their entries on display in the exhibit hall have found this to be a good way to make further contacts for their schools and for themselves).

    Note that the AUVSI-97 International Symposium and Exhibition will be held prior to the competition in Baltimore, Maryland.

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Schedule

    REMEMBER THESE IMPORTANT DATES:
    Notification of intention to compete .................. January 1, 1997

    Application and Fee Deadline .......................... February 1, 1997

    VHS Video of air vehicle flying ....................... March 1, 1997

    Static Judging two days prior to the competition ...... July 12, 1997

    Practice Day on the arena ............................. July 13, 1997

    Performance judging (i.e. "the competition") .......... July 14, 1997

    Rain-day for performance testing ...................... July 15, 1997

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Questions and rules interpretations should be addressed to:

Robert Michelson
Past President, AUVS International
Georgia Tech Research Institute
Aerospace Laboratory (AERO-CCRF)
7220 Richardson Road
Smyrna, Georgia 30080
robert.michelson@gtri.gatech.edu