Frequently Asked Questions 2020

1. General Questions

G. Q1

For Challenge 1, we would like to know whether the takeoff area is randomly assigned or fixed for each team? Can the positional coordinates of takeoff area be provided?

A

The take-off area is fixed for all teams for all three Challenges. During the rehearsals teams can register the GPS coordinates of the take-off area.

G. Q2

Our designed drone size is 1.7m*1.7m*0.8m. Should we further know more details about how the size larger than required will impact on final scores?

A

The maximum drone size will be 1.7x1.7x1 m. However, we will introduce a penalty for any drone that exceeds the originally published maximum drone size of 1.2x1.2x0.5m. The penalty will be outlined in the ‘Scoring Scheme’ document that will be circulated shortly.

G. Q3

Does one human intervention assign the manual mode to a particular task, to the particular challenge or to all the challenges?

A

A human intervention will result in the assignment of Manual Mode for the entire duration of that particular trial only.

G. Q4

Do we need to apply for Drone and Team Registration?

A

MBZIRC 2020 Team drones do not need to be registered, since they will only fly inside fully covered arenas. Team registration will take place on site 2-5PM on Wednesday 16th February 2019 and 9-5PM on Thursday 17th February 2019.

G. Q5

Resetting in Challenge 3 - if we put out one fire and reset for refill, does reset for refill mean we continue to search other fires or is the run completely reset?

A

After a reset (for all Challenges), the Team will continue the Challenge (the trial will not be completely reset), and any marks scored will be retained.

G. Q6

Does changing batteries on the drone count as reset if it flies back to start autonomously and then resumes its task?

A

Yes, you will need a reset to change batteries.

G. Q7

Online document says 433MHz radio link for telemetry, does this mean that our pilot radio system has to be on 433MHz or can it be on 2.4GHz?

A

2.4 GHz is allowed for radio control of the robots.

G. Q8

Is it allowed to place landmarks by robots autonomously in order to localize?

A

No

G. Q9

Are there both uneven areas and pebble areas in the arenas?

A

Are the ramps covering just a narrow portion of the areas or do they extend over the whole uneven/ pebble area? Answer: There are both uneven and pebbled areas in the arenas. Ramps of sufficient width will be provided if the UGV is required to cross the pebbled areas.

G. Q10

Will a common workshop equipped with tools and possibly 3D printers be available by the teams?

A

No

G. Q11

If a drone crashes can the rest continue while it is picked up?

A

If a drone crashes, the rest of the robots can continue the Challenge, unless there are safety considerations. If the team needs to retrieve the crashed drone, then a reset must be requested.

G. Q12

Regarding UAV size constraints, the scoring scheme has mentioned that all extensions should be done after take-off. Is there a penalty if the extension happens before take-off?

A

Extensions should take place after taking off, no extensions allowed before taking off.

G. Q13

While landing, should the drones confirm to the size constraints (that is, should all extensions be retracted before landing)?

A

No

G. Q14

Is take off zone and drop zone the same?

A

No

2. Challenge 1

CH1. Q1

In Challenge 1, is the ground background color of the playing field black as Challenge 2 or other uncertain colors? It is an important factor to design an algorithm to recognize the white balloon.

A

The floor will be mainly black (asphalt) and pebbles

CH1. Q2

Can we destroy the target balloon in a non-touch manner, such as a laser/rubber bullet?

A

No

CH1. Q3

Is it possible to request a reset if the target ball is detached from the tether and ends on the ground?

A

Yes

CH1. Q4

Resetting after detaching the ball and falling on the ground, will it be counted as detaching…. Will the ball be reattached to the enemy drone?

A

Yes. It will counted as a detachment, and the ball will not be attached back to the drone. The team may continue to pick the ball from the ground and return the ball to the receiving area.

CH1. Q5

Will the balloons be hanging down from the poles or will they float above the pole?

A

Balloons filled with air will be mounted on 2m poles, cladded in foam pipe insulation to protect rotor blades in case of collisions.

CH1. Q6

Type and color of the drone carrying the target?

A

The drone will be a DJI F450

CH1. Q8

Is the wire between the drone and the ball completely rigid/stiff or can it bend?

A

The ball will be attached to drone using a 5mm steel wire 450mm long, joined to 4mm steel wire 1,000mm. 9. After catching the ball does it have to be put in a container or is it enough to land within the end-zone while carrying the ball? Answer: To obtain full marks you may place the target ball inside the receiving box or you may land the drone with the ball inside the target box.

CH1. Q9

About 3D Figure-8 target ball trajectory, could you give more details.

A

The target ball Altitude will be between 5m and 15m. The ball will be at least 3m away from the arena side netting. The balloon heights will be less than 5m, and will be below the moving target altitude.

CH1. Q10

Is there any constraint for landing after challenge is finished for the drones?

A

The drones have to land inside the arena after the completion of the Challenge.

3. Challenge 2

CH2. Q1

In Challenge 2, could further details about the initial state of the same size bricks be provided?

A

Please refer to Slide 14 of file ‘MBZIRC-2020-Challenge-2-15-12- 19-Final.pptx’, emailed to Teams.

CH2. Q2

What is the maximum height of the brick piles and wall that needs to be reached/ built?

A

Please refer to file ‘MBZIRC-2020-Challenge-2-15-12-19- Final.pptx’, emailed to Teams.

CH2. Q3

Will the top side of the bricks be fully ferromagnetic and is the material reflective?

A

Please refer to file ‘MBZIRC-2020-Challenge-2-15-12-19- Final.pptx’, emailed to Teams.

CH2. Q4

Will it be possible to pick up the orange block in the middle of the block?

A

Yes. Please refer to file ‘MBZIRC-2020-Challenge-2-15-12-19- Final.pptx’, emailed to Teams.

CH2. Q5

Will all teams get the same wall-pattern?

A

Each team trial will be given a randomly generated pattern, just prior to the start of the trial. Please refer to file ‘MBZIRC-2020-Challenge-2-15- 12-19-Final.pptx’, emailed to Teams.

CH2. Q6

Is the final configuration of the bricks decided? And what is the size and shape of the grasping areas (metallic surfaces)?

A

Please refer to file ‘MBZIRC-2020-Challenge-2-15-12-19- Final.pptx’, emailed to Teams.

CH2. Q7

What is the height of the frame which indicates the wall construction site?

A

Please refer to file ‘MBZIRC-2020-Challenge-2-15-12-19- Final.pptx’, emailed to Teams.

CH2. Q8

In Challenge 2, Since our ground robots are 1.2*1.2M, are we allowed to calibrate or measure the length and width of the cobblestone passages and the width and position of the ramps during rehearsals or pre-match?

A

Yes

CH2. Q9

Would you still get points if a block is placed correctly but with an empty space before, e.g. if the pattern is r-o-r and two red blocks are placed with 1.8 meter empty space between them, would you still get points from both the red blocks even though the orange one is not placed? Are points only provided for placing blocks according to the pattern or are all placed blocks worth something?

A

There will be penalties applied for sequencing errors but not for positioning errors. More details will be in the ‘Scoring Scheme’ document that will be circulated shortly

CH2. Q10

In case of a blown down wall, will it be allowed for humans to rebuild the wall to its previous state or will the blocks be put back in their respective piles?

A

Yes, you may rebuild the wall to its previous state, requesting a reset

CH2. Q11

Please provide the format of the wall-pattern file.

A

Please refer ‘MBZIRC-2020-Challenge-2-15-12-19-Final.pptx’

CH2. Q12

What format will the wall position/orientation provided before the trial be in? GPS, local frame?

A

The wall position and orientation will be randomly generated and mdifferent from team to team.

CH2. Q13

Please provide the full specifications of the blocks. Size, color, shape, and weight and is the metal area of the block painted or just “metal color”. There is conflicting information is the different files sent. Also details on the interlocking mechanism.

A

Please refer ‘MBZIRC-2020-Challenge-2-15-12-19-Final.pptx’

CH2. Q14

In the mesh design given to us for Challenge 2 (picture attached above), what are the sizes of the individual mesh grid?

A

The individual mesh grids are diamond shaped, with diagonal lengths of approximately 70mm x 36 mm (in the major and minor axes directions).

CH2. Q15

Could you provide further information about the randomly generated blueprint? How it will be conveyed to teams? And How to read the information

A

Please refer to the Appendix A below.

4. Challenge 3

CH3. Q1

Will the blankets be provided in the competition or should we bring them?

A

The blankets will be provided: https://www.amazon.ae/gp/product/B07N6N2J1L/ref=ox_sc_act title_1?smid=A1FLRJFE2PLEVD&psc=1 Teams will not be allowed to use their own blankets.

CH3. Q2

Regarding fire blankets, could you confirm that they can be attached prior to the start and it is not required to pick them up?

A

Yes, they can be attached prior to the start of the trial or during a reset.

CH3. Q3

Will there be access to the floors through the staircase/chimney in the middle e.g. during resets?

A

No

CH3. Q4

Are all outside fires real fires and only the inside once simulated (heat element + silk flame)?

A

The outside wall façade fire targets are real; the rest of the fires are simulated.

CH3. Q5

How is the smoke generated on the second floor?

A

The following Smoke Generators will be used for generating smoke: Smoke machine Highend Systems, FQ100. https://www.highend.com/products/fog-machine Smoke fluid Martin, Pro Smoke Soper (ZR mix)

CH3. Q6

Will the surface of the heating plate (RS stock number 725 - 6461) be coated or altered in any way to make the plate emit more or less radiation?

A

No.

CH3. Q7

How many heating plates (60mm*36mm) will be used to simulate the fire? Only one or more than one?

A

One heating plate will be used for each fire to be extinguished by water.

CH3. Q8

How tall are the floors (floor to ceiling distance)? Will windows be in the center(z-direction) of a floor or random position? Will there be walls inside or just one big room?

A

Please refer to the specifications circulated.

CH3. Q9

Will there be furniture inside the building?

A

Yes

CH3. Q10

We were wondering, whether it is a requirement for the UGV in Challenge 3 to drop the blankets on the fire. Is it ok if we just drag the blanket onto the fire, wait for a defined period of time and then proceed to the next fire with the same blanket?

A

You may drag the blanket to the fire sources. However, the UGV must release the blanket on the fire target.

CH3. Q11

Do we need to carry 2 blankets at the same time if we want to use the UGV for extinguishing both outdoor ground fires?

A

You may mount two or more blankets on your UGV at the start of the trial.

5. Grand Challenge

GC. Q1

Are the sub challenges the same as in the individual or will the wall be smaller, fewer fires, fewer balloons?

A

It will be the combination of 3 challenges, except no balloons for Challenge 1, and no blanket targets for Challenge 3.

Appendix A - Challenge 2 Wall Blueprint Description

Every team will receive two text files, Wall 1.txt (for Wall 1) and Wall 2.txt (for Wall 2) in a USB memory stick, just prior to the commencement of the trail.

Wall 1 (UGV) Blueprint

Wall 1 will have 2 segments; Segment 1 will have 5 layers of Red, Green and Blue bricks. Segment 2 will consist of 5 layers of Orange bricks. The Wall 1 segment numbering scheme is shown in Figure 1, and both numbering schemes are valid for scoring purposes.

The file Wall 1.txt will contain the blueprint for Segment 1 of Wall 1. An example of a randomly generated blueprint is given below, where R, G, B represents the colors Red, Green and Blue respectively.

picture

The corresponding wall layers are:

  • Layer 5: (Left) R R R R B G G (Right)
  • Layer 4: (Left) G R R G B R R (Right)
  • Layer 3: (Left) G R G B R R R (Right)
  • Layer 2: (Left) R G R B R G R (Right)
  • Layer 1: (Left) B R R R G G R (Right)


Wall 2 (UAV) Blueprint

Wall 2 consists of 4 segments. Segment 1, Segment 2 and Segment 3 consists of two layers of Red, Green and Blue bricks. Segment 4 consists of two layers of Orange bricks. The Wall 2 segment numbering scheme is shown in Figure 2, and both numbering schemes are valid for scoring purposes.

The file Wall 2.txt will contain the blueprint for Segment 1, Segment 2 and Segment 3 of Wall 2. An example of a randomly generated blueprint is given below, where R, G, B represents the colors Red, Green and Blue respectively.

picture

The corresponding wall layers are:

Segment 1

  • Layer 2: [(left) G B R G R R R (right)]
  • Layer 1: [(left) R G G R R R B (right)]

Segment 2

  • Layer 2: [(left) R G G R R R B (right)]
  • Layer 1: [(left) R B G R G R R (right)]

Segment 3

  • Layer 2: [(left) R G R R G B R (right)]
  • Layer 1: [(left) G R B R G R R (right)]


picture

Figure 1: Wall 1: Views of Segments 1 and 2. Both are valid interpretations for scoring purposes.

picture

Figure 2: Wall 2: Views of Segments 1, 2, 3 and 4 from left and right. Both are valid interpretations for scoring purposes.

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Last updated date : 20th February 2020, 14:00 (GMT +04:00)