Frequently Asked Questions 2020

1. General Questions

G. Q1

Will we have to have our pilots take a test, register the UAS, and so on for UAE?

A

The UAS will have to be registered in the UAE, and we will provide more information about the registration process in due course. The pilots will need to be trained and have competence to operate UAVs.

G. Q2

Could you give us more information about the arena for the competition?

A

The Google maps reference to the ADNEC venue is: https://goo.gl/maps/SdfeVMjMvmdzbZ3E7 . Some photos of the arena can be found at the MBZIRC website.

G. Q3

Will someone on site be able to receive and store Li-Po batteries for us in the weeks prior to the event? We are facing the usual challenges of shipping batteries to Abu Dhabi along with the corresponding lack of suitable stock already available there to purchase.

A

Yes, we will be able to receive and store Li-Po batteries in the weeks prior to the event. We will provide more details in due course.

G. Q4

Will we get arena maps for each challenge beforehand?

A

Yes. We will provide more detailed information about arena maps in due course.

G. Q5

Does the UAV volume constraint of 1.2 x 1.2 x 0.5 m include the propellers and manipulator arm also?

A

The UAV, including the propellers and manipulator arm, should fit into a box with maximum dimensions (1.2 m x 1.2 m x 0.5 m).

G. Q6

Does the UGV volume constraint of 1.7m x 1.5m x 2m include its manipulator arm as well?

A

The UGV, including the manipulator arm, should fit into a box with maximum dimensions (1.7m x 1.5m x 2m).

G. Q7

Can the UAV extend its manipulator arm outside the constrained volume during its flight (for example, through the use of extending arms or similar)?

A

Yes.

G. Q8

Can the UGV extend its manipulator arm outside the constrained volume during its operation (for example, through the use of extending arms or similar)?

A

Yes.

G. Q9

Can we use different UAV/UGV for each challenge, or do we have to use the same ones with the payload reconfigured for each challenge?

A

You may use different UAVs/UGVs for each challenge

G. Q10

Are there any restrictions in communication methods/ bandwidths for the unmanned vehicles?

A

Yes. Please see the ‘MBZIRC 2020 Communications Specifications’ document at the MBZIRC website.

G. Q11

Is there any constraint on power radiated from the communication devices?

A

There will be no constraints on power radiated from the communication devices.

2. Challenge 1

CH1. Q1

Is the color of the ball fixed? In the document there is a rendering of a ball but the color is not specifically mentioned.

A

The color of the ball will be red.

CH1. Q2

What will be the specification for the balloons (size, color, number)? Will the fixed balloons be tethered from the ground or to a 'ceiling' (if any)?

A

The balloons will be of diameter 60 cm, of color white. Six balloons will be randomly place inside the arena. The balloons will be tethered from the ground and can change position dependent on weather conditions.

CH1. Q3

In the rules you refer to 'a figure of 8 shape for the projection on the ground plane' for the moving target trajectory profile. Does it imply that the path is just a '8-shaped' path on a plane not parallel to the ground or flight altitude may be absolutely random?

A

Yes, the moving target path will be a figure of '8’ shape and will be fixed during each trial. However, the plane of the figure of '8’ will not in general be parallel to the ground and the plane altitude will also vary.

3. Challenge 2

CH2. Q1

What are the brick properties in detail (size of blocks, material, texture, weight)?

A

Please refer to Table 2 of the 'Challenge Description' document: http://mbzirc.com/challenge/2020. A more detailed specification for the bricks will be provided in due course.

CH2. Q2

Will the bricks be magnetic grabbable?

A

Yes, the teams will be able to grab the bricks using ferromagnetic areas located on the bricks external surfaces.

CH2. Q3

Will the brick's ferromagnetic spot/surface be a magnet itself or just metallic (which would make it necessary to put a magnet on our robot).

A

There will be a ferromagnetic area on the brick. You will need a magnet on your robot.

CH2. Q4

Please could you identify the location of the magnetic plates on the bricks? Will the whole brick surface will be magnetic/metallic or just some spots. In the latter case, how can we identify such spots? Will there be visual indicators (e.g. markers) or will you provide the brick 3D design in advance?

A

We will provide detailed specifications of the bricks in due course.

CH2. Q5

At the start of challenge 2, how will the bricks be organized? Will they be ordered in rows with the magnetic portion clearly visible for instance? Will the bricks be stacked or just gathered in piles?

A

The bricks will be divided into piles/stacks of different sizes. We will provide more details in due course.

CH2. Q6

Are the locations of the brick heaps, the initial position of the robots and the building spot of the wall always the same or do they vary?

A

The initial position of the robots will be the same. The locations of the brick heaps, and the wall location will vary for each team trial.

CH2. Q7

Is the building spot marked and if so how? (e.g. colored cross, painted L-shape, QR-tag)

A

The building spot will be marked by easy-to-recognize 2D features located on the floor. More details will be provided in due course.

CH2. Q8

Do the walls have to be built in a certain position and orientation? Or can we just start everywhere?

A

The location (position and the orientation) of the wall will be specified prior to the team trial.

CH2. Q9

What is the format of the wall pattern? (e.g. picture, text-file)

A

The wall pattern will be a numeric file with 3D information. More details on the format will be provided in due course.

CH2. Q10

What is the maximum height and dimensions of the wall? I.e. what UGV reach height is required?

A

We will provide more details on the dimensions of the wall in due course.

CH2. Q11

How do the bricks attach/ mesh together in challenge 2 to form the wall?

A

The bricks will have a flat surface, and a certain portion of each brick will be covered with a ferromagnetic material for gripping with a magnet.

CH2. Q12

When is a block considered as built by a UAV?

A

A block is considered as built by a UAV if all the needed sub-tasks are performed by the UAV: locating and picking bricks, transporting bricks, and laying bricks.

CH2. Q13

What are the specific rules for each type of brick? E.g. Can a certain color only be picked up by UAVs, certain color can only be picked up by 2x UAVs, etc.?

A

We will provide more details on the rules and scoring scheme for Challenge 2 in due course.

CH2. Q14

What would happen if the wall constructed during challenge 2 gets blown down by the propeller draft from the UAV?

A

If the wall gets blown down by wind we will allow a reset for teams, to reassemble the wall, without time or scoring penalty.

If the wall gets blown down by the draft from the UAV propellers teams may request a reset to reassemble the wall. We will publish the rules and scoring scheme in due course, where penalties (if any) for this scenario will be outlined.

CH2. Q15

During the challenge, can the UGV separate the blocks and the UAV place them? Is collaboration between the UAV and UGV allowed?

A

Yes, collaboration between the UAVs and the UGV is permitted.

CH2. Q16

Is it allowed to transport multiple blocks simultaneously with the UGV?

A

Yes

CH2. Q17

Is it allowed to separate multiple blocks out of the heaps mechanically for instance with a mechanical wedge?

A

Yes

4. Challenge 3

CH3. Q1

How will the fires be simulated and extinguished/scored? Will the fire be naked flame, produced by burning a gas, or perhaps an electric heat source for instance?

A

The fires will be simulated both thermally and visually. For thermal simulations, during initial tests, we have used a 0.05m x 0.05 m metal plate heated to a maximum temperature of 110C. For visual simulations we have used the Mini-Silkflame fire simulator by Fireware (https://www.ruthlee.co.uk/products/mini-silkflame). We will provide more details on the fire simulators we will use during the event in due course.

The team score will be determined by the amount of water delivered to the fire target. We will provide more details on the scoring scheme in due course.

CH3. Q2

Will there be a heat source that can be detected with a thermal camera? How should the fires be detected?

A

Yes, there will be a heat source that can be detected by a thermal camera at each fire location. The specification for the heat source will be provided in due course.

CH3. Q3

How should the fires be detected? Are there some markings or reference images you can provide for visual detection?

A

The teams will develop their own solutions to detect fires based on visual and thermal signatures.

CH3. Q4

What are the dimensions of the Building

A

We will provide the specifications of the building in due course.

CH3. Q5

Will the UAVs be required to enter the building and fly indoors? If so, what will be the size of the openings?

A

Yes, the UAVs will be required to enter the building. We will provide the specifications of the building, including the size of the window openings, in due course.

CH3. Q6

What is the maximum mass of fire extinguisher that a UAV will have to carry?

A

There are no restrictions on the payload as long as the UAV is compliant with the volume constraint (1.2m x 1.2m x 0.5 m).

CH3. Q7

How will the vehicles actuate the fire extinguishers?

A

The teams are free to develop their own solutions for triggering the fire extinguishers.

CH3. Q8

How will the vehicles pick up the fire extinguishers?

A

The fire extinguisher can be pre-attached to the vehicles before the start of a team trial.

CH3. Q9

Is refilling allowed for UAVs carrying the water canister?

A

Yes, the teams can refill the water canisters.

CH3. Q10

Regarding the fire extinguishing spray mechanism, will it be provided by the organizers or do the teams use their own?

A

The teams will use their own fire extinguishers (water canisters) including the spray mechanisms).

CH3. Q11

Similarly, for the fire extinguishing mats, will the mats be provided by the organizers or teams use their own? Will it be fair to assume that we have to design manipulators for picking up the mats? In which case, we will need the mat specs to design the manipulators and test them.

A

We will provide the specification for the fire mat in due course. The teams will design their own manipulators for picking up the mats.

CH3. Q12

Is there any specific amount of water to be poured on the fire spot to get points?

A

The team score will be determined by the amount of water delivered to the fire target. We will provide more details on the scoring scheme in due course.

5. Grand Challenge

GC. Q1

For the grand challenge, what is the detailed format? Is this going to be a Triathlon style, where each challenge will run in sequence, or alternatively will all three challenges run simultaneously? If all three challenges are run at the same time, is it possible to strategize as to how the challenges are completed and in what order?

A

This will be a Triathlon syle event where all three challenges run simultaneously. It is possible for teams to strategize as to how the challenges are completed and in what order.

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