The Mission

The goal of this project is to create an entry for the AUVSI Annual AUV competition.  Being a new team, this will require a large effort to gather the right specialties available at our school and creating this complex system.

Competition Mission

The mission path consists of line segments constructed of four sections of flat PVC sheet snaking their way from the Gate to in between the two Safe areas. The “path” is constructed of 6 inch (0.15 m) wide by 4 ft (1.2 m) long sections of flat PVC sheet.  This path is color orange. The “path” is raised off the floor of the pool 1-2 feet (0.3-0.6 m) and each segment will not have a relative angle between two pieces of more that of 90°. The segments are situated in such a way that if we are able to follow a heading along the line segment we will (eventually) meet with the next task (Path to slot machine, path to black jack table, path to air duct, path to safe area). Distances between segments will vary depending on the positing of the Safe areas and the meanderings of the line.  The order of the tasks is as follows:

 

  • Gate
  • Slot machine
  • Black Jack table
  • Air duct
  • Safe and rooftop

 

To qualify, the AUV must go through the entry gate successful, without touching it.  If at any time, the AUV encounters the gate it is considered an automatic disqualification.  The gate dimensions are as follows:

This task consists of a moored 9” (22.9 cm) diameter red  buoy. The buoy will stay moored to the floor of the pool. The goal is to strike the buoy (Pull the slot machine’s lever).  The AUV can hit the buoy from any angle, as long as the hit is sufficient to pull the level and causes the buoy to surface. 

This task consists of 24” x 12” x 6” (0.6 x 0.3 x 0.15 m) BLACK bins surrounded by a 6” white border (0.15 m). The bins will be 1-2 feet (0.3-0.6 m) off the bottom. The four bins will be positioned side-by-side (along their longest side). In each bin, there will be one RED card suit (diamond, club, heart, and spade). Since there are four bins, each bin will contain one of the four suits, there are no duplicates. Each symbol will fit within 8” (20.23 cm) square, and will be approximately centered within the bin. There will be a card value associated with each of the suits, and the values will change between the qualifying rounds and the finals.

The task is to maneuver over the bins and drop the two markers into the bins.  Based on the card values, the score will be summed, and added to the total score of the round. 

The AUV must carry up to two markers.  Each marker must fit within a box 1.5″ square and 6″ long (3.81 x 3.81 x 15.24 cm). Each must weight no more than 1.5 lbs (0.68 kg) in air. Any marker that exceeds these limits by less than 10% will result in 500-point penalty. Any marker that exceeds these limits by more than 10% will disqualify that entry. Each marker must bear the team name or an emblem.

This task consists of a 5ft x 5ft x 5ft (1.52m x 1.52m x 1.52m) “duct” made from black PVC sheet. The entrance and exit are painted with a 6” (0.15m) wide yellow stripe (inside and outside). A 6” (0.15m) yellow stripe is also painted along the bottom from the entrance to the exit. The AUV must find the entrance, enter the duct, follow the line and exit without hitting any of the sides.

This task consists of an acoustic pinger located 2 feet (0.6 m) off the floor of the pool. Floating above the pinger on the surface will be a single octagon representing the roof of the casino. The octagon will be constructed from PVC pipe and have a diameter of 9 feet (2.74 m). On the competition side, there will be two octagons placed in different locations. At the start of a run, one of the two pingers will be turned on. Positioned directly above each pinger will be a fixture, which holds a PVC Safe. This fixture will constrain the safe from movement and rotation in such a way that the UVE have to lift it up from the fixture to remove it. The safe portion of the treasure is painted orange. In order to obtain full points for the rooftop escape, the AUV must surface fully inside the octagon (no portion of the sub touching the structure). In order to obtain full points for recovering the money, the safe must be captured by the AUV when it surfaces. The competition and practice side will ping at a rate of 0.5 Hz (2 seconds), and separated by 0.9 seconds. The pingers synchronization is as follows:

Unit 1 (Competition) pings t=0 s

Unit 2 (Practice) pings t=0.9 s

Unit 1 (Competition) pings t=2 s

Unit 2 (Practice) pings t=2.9 s

Etc.

This gives the reverbs from each pinger (near) maximal time to die out. For the final run only the competition side is pinging, and will therefore have a 2s delay between pings to further reduce any reverberations in the pool. The ping duration is 1.3ms with a sound level of 187 dB.

For the International AUV Competition, each entry must fit within a six-foot long, by three-foot wide, by three-foot high “box” ( 1.83 m x 0.91 m x 0.91 m ). The following table will show detail information based on size of the AUV and points designated:

 

Bonus

Penalty

Greater than 110 lbs

N/A

Disqualify

Between 110 and 84 lbs

N/A

250 + 5 (lb -100)

Between 84 and 48.5 lbs

2(84 – lb)

N/A

Less than 48.5 lbs

80 + (48.5 – lb)

N/A

We are hoping to enter the competition with a weight limit between 84 to 48.5 lbs.  

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