5.3.2 UUV Requirements
The following is a list of minimal requirements for a UUV to be permitted access to a course.
UUV General Requirements
Size: The UUV must fit within a 2m x 1m x 1m (L x W x H) "box".
Weight: The entire maritime system must weigh less than or equal to 60kg.
Buoyant: The UUV must be positively buoyant such that they float at the water surface when they have been shut off via the kill switch.
Fully Submerged: When performing a scoring run, everything attached to the vehicle must be submerged with the vehicle. Any part that breaks the surface is considered a breach.
NOTE: If the UUV is tethered to an autonomously operating USV, this is not considered a breach.
Tether Allowances: The UUV is permitted to have a tether connected to the USV.
Tether must be positively buoyant.
Tether may not be longer than 6m in total length..
Tether must include a structural component that is strong enough to allow for recovery of the UUV by pulling it up from a surface support boat.
Visual Feedback System: The UUV must have an onboard visual feedback system to clearly indicate the operational status of the system to improve the safety of competition operations.
This visual feedback system will serve as a visual status indicator to anyone in the vicinity of each team’s UUV while it is on the surface.
The visual feedback system must be able to display a minimum of three (3) states: RED, YELLOW, and GREEN, and be visible when viewed from shore or nearby vessel (approximately 80 meters).
Lighting system colors shall correspond with the applicable mode of the team’s autonomous system as indicated in the table below. The lights may be flashing or steady on/off according to the state of the system.
UUV Safety Requirements
UUV Launch, Recovery, and Towing:
The UUV must have a clearly marked multi-point tow points to allow competition staff to attach a rope and safely tow the system through the water.
The UUV must have clearly marked lift point attachments and the team must provide a lifting harness. These will be used to launch and recover the systems for in-water operations.
UUV Emergency Stop (Kill Switch) Systems:
The UUV must have at least one (1) on-board kill switch that, when actuated, must instantaneously disconnect power from all propulsion systems and actuators. Note: this does not have to kill the computer.
The kill switch must be red in color and at least 3cm in diameter or greater.
The kill switch must be easily accessible by personnel in a small support craft by hand or by divers wearing protective equipment such as gloves.
When activated to kill the vehicle, the kill switch must change the on-board state indicator to RED.
Upon reactivation, the vehicle must return to a safe state (props do not start spinning).
Vehicles will not be allowed in the water without a properly working kill switch.
In addition to the physical kill-switch, the UUV must have at least one remote kill switch for use when the system is surfaced that, when actuated, must instantaneously disconnect power from all motors and actuators.
UUV Physical Safety Systems:
Any propulsion system may be used (thruster, paddle, etc.). However, all moving parts must have protection. For instance, propellers must be shrouded.
The shrouds must surround the prop and have at least a 5cm distance between the spinning disk of the prop and the edges of the shroud (front and back).
Commercial thrusters with integrated shrouds may be used as is.
If there is a guard across the opening to prevent the insertion of a finger, this distance can be minimal.
Systems will not be allowed in the water without prop shrouds.
UUV Operational Safety
In addition to other safety requirements, the UUV must have a dedicated mounting location for a safety localization beacon to be attached to the UUV.
Beacon must be attached prior to a UUV being allowed into the water on a course.
This beacon will allow for real-time tracking of each team's UUV for improved situational awareness, as well as an independent method for locating the UUV in the event the system can not be easily located or recovered from the surface.
The ULB-350 Low Cost Location Beacon from RJE International has been selected to provide the required functions.
Beacons will operate at 37kHz and 45kHz (+/- 1Hz) frequencies with pre-programmed pulse length and repetition rates.
The ULB-350 with a battery weighs 283g in the air and 78g in the water.
Additional specifications for the beacon may be found at the RJE International website.
Mounting Considerations:
The preferred orientation for the ULB-350 is vertically in the water column, with the end cap (the end with the mounting hole) pointed down and the electronics module facing up.
The electronics module must be free of obstruction so that it has a clear path to send the acoustic signal through the water.
UUV Manual Control Systems
Each UUV must be remote-controllable (tele-operated) with its own dedicated remote control while on the surface.
Driving the system using a laptop is NOT allowed.
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