3.5 Task Build Specifications

This section contains high-level information about the specifications for the task elements. Detailed build guides can be found here.

3.5.1 RoboBuoys

RoboNation has designed custom buoys to provide visual indication of course boundaries, as well as on Task 1 to support the Light Beacons and in Task 2 to support the Color Indicator and Acoustic Pingers.

Example RoboBuoy and side panel images

3.5.2 Light Beacons

The Light Beacons used in Task 1 consist of RGB LEDs wrapped around the outside of a 3.5" OD PVC pipe for the side-facing light beacon and wrapped inside with a reflector cone for the upward-facing light beacon. These will be mounted on top of standard RoboBuoys.

Rendering of Light Beacon

Light Beacon mounted on top of RoboBuoy

3.5.3 Color Indicators

Custom color indicators will be used in Task 2 and Task 3 to indicate the start point for the underwater survey and the safe docking bay, respectively.

These color indicators are 3D-printed cylinders that are actuated to change the color between RED and GREEN. This single colored indicator is visible 360° radially on a horizontal plane only. A single Color Indicator will be mounted atop each RoboBuoy for Task 2 and at the base of the Docking Bay Structure for Task 3.

Color Indicator Render

3.5.4 Acoustic Pingers

Pingers will be used as outlined in Task 2. The frequency and pulse rate will be made available to teams on site, and may change daily. The full range of frequencies (25 – 40 kHz) and pulse rate (0.5 Hz to 2 Hz) can be used throughout the competition.

At any time during the competition, multiple pingers are active, 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 controlled such that they send out a pulse at time intervals in sequence with the other courses.

Each course will have a set of pingers, with only one active pinger active at a time. Each course will use a different frequency for the set of pingers. The ping for each course deconflicts with the pings in other courses, such that only one pinger pings at a time.

For example: the two pingers in Course A both operate at the same frequency, and the two pingers in Course B both operate at the same frequency, but differ from the frequency used in Course A pingers.

Example Pinger Timing Across Courses

Example pinger specifications can be found at: robonation.org/benthos-locator.

NOTE: These pingers are no longer in production and are unavailable for purchase. RoboNation is working to replace the pinger system and will release more information.

3.5.5 Underwater Pipeline

Task 2 requires a UUV to survey underwater pipeline to look for areas that may need repair. The pipeline is made using five (5) straight sections of PVC Pipe, using 2” - 3” diameter pipe and pipe fittings. Each segment will be connected together via PVC elbows, but each segment will not necessarily be planar with other segments. The pipeline will be suspended from the seafloor on a rigid structure, notionally similar to what is shown in the figure below.

3.5.6 Underwater Magnetically Activated Light

Light Nodes will be attached to the underwater pipeline to indicate damaged or working sections of the pipe for the UUV to survey and "repair" as described in Section 3.3.3.

Render of Underwater Underwater Magnetically Activated Light

3.5.7 Docking Bay Structure

Each docking bay in Task 3 contains a structure representing a building with two windows. The USV will interact with this structure when it has successfully docked in the correct bay.

3.5.8 UAV Launch and Landing Platform

Each course will have a dedicated UAV launch and landing platform. These platforms will be 2m x 2m squares painted with a grey background, a RoboNation logo centered within the square, and three black concentric circles around the logo.