5.4 Competition Specifications
5.4.1 Markers
Each marker must fit within a box 2.0” square and 6” long (51 x 51 x 152 mm).
Each marker must weigh no more than 2.0 lbs (0.91 kg) in air. Any marker that exceeds these limits by less than 10% results in a 500-point penalty. Any marker that exceeds these limits by more than 10% is disqualified.
Each marker must bear the team’s name, a color or emblem.
Markers are cleared from the arena after each run.
A vehicle may carry up to two markers.
It is recommended to bring backup markers in case of lost markers.
5.4.2 Torpedoes
The torpedo size, weight, and marking requirements are the same as the Markers.
Each torpedo must fit within a box 2.0” square and 6” long (51 x 51 x 152 mm).
Each torpedo must weigh no more than 2.0 lbs (0.91 kg) in air. Any torpedo that exceeds these limits by less than 10% results in a 500-point penalty. Any marker that exceeds these limits by more than 10% is disqualified.
Each torpedo must bear the team’s name, a color or emblem.
Torpedoes must travel at a “safe” speed. A “safe” speed is one that would not cause a bruise when it strikes a person underwater from close range.
Torpedoes are cleared from the arena after each run.
A vehicle may carry up to two torpedoes.
It is recommended to bring backup torpedoes in case of lost torpedoes.
5.4.3 Pingers
The pinger model selected for use is the Benthos ALP-365. The Benthos ALP-365 is user selectable from 25 to 40 kHz in 0.5 kHz increments. It also has multiple options for repetition rate.
NOTE: These pingers are no longer in production and are unavailable for purchase. RoboNation is working to replace the pinger system in future competition years.
Pingers are activated as described in the applicable task descriptions. The frequency and pulse rate of the pingers in each field may change daily; this information will be made available to teams on site. The full range of frequencies (25 – 40 kHz) and pulse rate (0.5 Hz to 2 Hz) can be used throughout the competition.
During the competition there are multiple units active at any time, with at least one in each course. To mitigate interference issues, each active pinger is separated by at least 2 kHz in frequency. The pingers are also controlled such that they send out a pulse at time intervals in sequence with the other courses.
For example, the two pingers in section A both have the same frequency, and the two pingers in section B both have the same frequency (but different from section A). There are four different frequencies used, one for each section, and only one pinger in each section is active at a time. The ping for each section is deconflicted with the pings in other sections such that only one pinger pings at a time. The frequencies for the sections are:
A – 30kHz
B – 40kHz
C – 25kHz
D – 35kHz
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