3.2 Task Descriptions

This section provides details of the tasks in the Autonomy Challenge. Teams are encouraged to develop a strategy approaching these tasks that best suits their vehicle. The launch point, gate, or any of the tasks are placed such that no three elements are along a line.

Environmental Monitoring: Protect the Deep

Dedicated to restoring balance in marine ecosystems, Protect the Deep deploys autonomous underwater vehicles (AUV) to monitor ocean life with baited remote underwater video systems (BRUVS), tags key species to track their movement and migration, and conducts ocean cleanup operations to protect and restore critical marine habitats.

3.2.1 Heading Out (Coin Flip)

At the start of a run, teams may orient their AUV in any direction from the designated starting location. All vehicles must begin the run on the surface, and submerge before leaving the start zone.

Before the start of a run, and for additional points, teams may request a coin flip which determines the AUV's starting orientation:

• If the coin lands on HEADS, the AUV is positioned approximately parallel to the gate.

• If the coin lands on TAILS, the AUV is positioned with its tail approximately facing the gate (the AUV is backward).

  

  Figure : Heading Out

3.2.2 Task 1 - Collecting Data (Gate)

The gate is built from PVC pipe and 3-inch boxes made from corrugated plastic sheet. It is buoyant, floating just below the surface and moored to the bottom. The boxes are colored BLACK and RED. RED is on top on the right-hand side (Red, Right, Above). The AUV can pass through the gate at any depth from the floor to just below the gate.

A 2-inch RED corrugated flat sheet is used to divide the gate in half. An image of a Reef Shark on one side (could be either side), an image of a Sawfish on the other. The AUV chooses a marine animal by passing under a specific side.

Teams can gain extra points by passing through the gate with “style”. For every 90° change in orientation, the AUV increases the accumulated points. However, returning to the last previous orientation won’t count. I.e. an AUV that rolls 90° and then back to 0° would not get points. Roll and Pitch are worth more than Yaw.

Figure : Collecting Data

Task Element	Description	Color	Height
Gate	¾ in, ½ in PVC, Foam, 3 in. Box Corrugated plastic	White / Black / Red	120 in x 60 in (3 m x 1.5 m)
Gate Divider	2" Flat plate	Red	24 in (610 mm)
Reef Shark	Image of reef shark	Vinyl print	12 in x 12 in (305 mm x 305mm )
Sawfish	Image of sawfish	Vinyl print	12 in x 12 in (305 mm x 305 mm)

3.2.3 Task 2 - Navigate the Channel (Slalom)

The AUV navigates the channel of white and red vertical PVC pipes. The vertical RED and WHITE PVC pipes are moored to the floor, white on the left, red in the middle, and white on the right. There are three sets of pipes, and the AUV obtains points for each set that is successfully navigated. The AUV will obtain more points for staying on the same side of the red pipe when it passed through the gate. I.e. if the AUV passed on the right of the red gate divider, it should pass through the Slalom with the red pipe on the right. The AUV will obtain more points for staying within the area of the pipes (not above, not below). As long as a part of the AUV breaks the plane of the pipes, it is considered inside.

Figure : Navigate the Channel

Task Element	Description	Color	Height
Pipes	1 in PVC	White / Red	3 ft (0.9m)

3.2.4 Task 3 - Drop a BRUVS (Bin)

This task consists of a single bin. One half of the bin is an image of a reef shark, in the other half is a sawfish.

Points are awarded for dropping up to two (2) markers into the bin, based on where a marker finally comes to rest. More points are awarded for dropping markers in the correct half based on Collecting Data (Gate).

Figure : Drop a BRUVS

Task Element	Description	Base Dimensions
Bin	Bin with insert	24 in x 12 in x 6 in (610 mm x 305 mm x 152mm)
Reef Shark/Sawfish	Vinyl Print	24 in x 12 in (610 mm x 305 mm)

3.2.5 Task 4 - Tagging (Torpedoes)

This task consists of one vertical board with images on the front side. The image is of the sea floor with a reef shark and sawfish. There are two different versions of the image (one with the reef shark on top, one with the sawfish on top). There are two openings on the image.

Points are awarded for firing torpedoes through any opening. A torpedo must pass through the opening for full points. Partial points are awarded if the torpedo touches the board without passing through. More points are awarded for firing torpedoes through the opening near the marine animal chosen in Collecting Data (Gate). More points are awarded for "tagging" the chosen fish first, and then the other fish. Additional points are awarded for firing torpedoes further away from the board. The "far" distance is denoted by the horizontal bars at the bottom of the board. A vehicle at that distance or farther will obtain “far” points.

Figure : Tagging

Task Element	Description	Base Dimensions
Board	Vinyl print images of the marine animals and openings, Corrugated plastic backing	2 ft x 2 ft (0.6m x 0.6m)

3.2.6 Task 5 - Ocean Cleanup (Octagon)

A 9 ft (2.7m) diameter octagon floats on the surface and an acoustic pinger, located on the floor near the center of the octagon, guides the AUV to this task. Hanging from the octagon, facing inward, is an image of a reef shark and an image of a sawfish. Located in the center of the octagon is the trash table. On the table are two different pieces of trash: Cup and Large Spoon. Along two opposite edges is a basket to place one of the samples.

Points are awarded for surfacing inside the octagon and for surfacing with each sample (stay inside the octagon to continue your run). Points are awarded for facing any image hanging from the octagon, with maximum points for facing the same fish chosen from Collecting Data (Gate). Points are awarded for moving the samples to any of the baskets. Maximum points are awarded for placing each sample in its corresponding basket.

Extra points are awarded for the AUV vehicle rotating the same number of turns as the trash collected in the baskets. (i.e. three items in the bins? rotate three times.)

Figure : Ocean Cleanup

Task Element	Description	Base Dimensions
Octagon	½ in PVC Surface marker	9 ft diameter (2.7 m)
Image of Reef Shark	Vinyl print	12 in x 12 in (305 mm x 305mm)
Image of Sawfish	Vinyl print	12 in x 12 in (305 mm x 305mm)
Table	½ in PVC Table containing samples and collection bins	2 ft x 2 ft (0.6 m x 0.6 m)
Trash	2 different types (Cup, Large Spoon)	Various
Basket	Collection baskets

3.2.7 Task 6 - Return Home

At the end of the run, while underwater, the AUV passes back through the start gate.

3.2.8 Path

The path markers are ~4 feet (~1.2m) long by 6 in (15 cm) wide. The Path is colored ORANGE. Each path markers is placed directly after the current task and points to the next task. The path is a straight segment. No points are awarded for following the path, the path is intended to help guide the AUV to the next task.

There are two path markers to aid in navigation. One path marker is positioned at the gate that points to the Navigate the Channel (Slalom) task. From the Navigate the Channel, the second path points to another task (to be decided in a community poll). Those are the only path segments which can be used to visually orient the AUV to the next task.

Figure : Path marker

3.2.9 Pinger

For each pinger task, the pinger is located very close to the task (sometimes next to, sometimes in the center). No points are awarded for following/finding a pinger, the pinger is intended to help guide the AUV to the task.

There are two pingers to aid in navigation. One pinger is positioned at a task (to be decided in a community poll). The second pinger is located at Ocean Cleanup (Octagon).

See section 5.4.3 Pingers for more information.