Mission Planning and Safety Workshop IET/MATE Hong Kong Underwater Robot Challenge 2016

What we will do this morning Mission analysis Mission planning (we will NOT look at missions in any detail – refer to MATE online documentation) Communication Safety Restrictions on your robot Questions

Mission Analysis, Planning and Communication Based on an original idea by Tjasa (Tash) Boh Whiteman

PURPOSE -To show you how important proper communication within the team is. -Understanding your environment (competition environment, that is) -How to plan and design ROV for the mission given.

Mission Design and Planning Established sequence (with slight variations) that brings project from idea to working robot. Very commonly used ad it takes you through the stages of development so nothing gets missed. Starting point is: 1)MISSION DEFINITION - Why exactly are you doing this?

2) MISSON STATEMENT - What do you want YOUR robot to do. 3) IDENTIFYING MISSION TASKS - Here you detail what is required to complete the mission. 4) ESTABLISHING REQUIREMENTS - Now that you know what your mission is, it’s time to look at other requirements to complete the mission successfully

Examples: -Depth of water -Are you operating on the bottom of the pool, mid- surface, close to the surface? -Power Budget -Do you need any special sensors? -Do you need to pick up or move something? -Are you operating in open water or do you need to go into tight areas, like caves? -Do you need extra light?

5) IDENTIFYING CONSTRAINTS Here you identify anything that will constrain (or stop) from building ROV. - Financial - Size - Knowledge - Lack of time - Lack of tools/space - Operational (deep water, transport problems, tight manoeuvering areas)

6) ESTABLISHING AND LISTING YOUR SYSTEMS Now you know what you need to do, you have an idea of the environment the ROV is going t be working in, and constraints that might stop you from doing this. Now it’s time to figure out what kind of instruments, systems and hardware your ROV will need. This includes: -Structures -Ballast -Propulsion -Control -Navigation/Sensors -Tether

7) MAKING CONCEPT DESIGN Time to start putting all of that together! Here all of your plans, ideas come together in a concept drawing/mock design. This process is also called the design review. The good thing is you can start anywhere in the process, as you will keep coming to the same section multiple times.

8)MAKING THE VEHICLE - Where to start? Usually a good place to start is with a drawing or a sketch. - Have you worked out a plan what needs do be done first? -Do you know what manufacturing process do you need to complete your ROV? - Remember, it’s better to measure twice and cut once. -Do you have the parts you need? -If some parts are very specialized, you might need to start working on them sooner.

Troubleshooting Starts on dry land. Any significant problems will show themselves here first. You will see: Are your systems running correctly? Are computer controls working? Are the sensors, screens, cameras working? If you have a problem, then systematic troubleshooting will help you solve the problems. Don’ forget to use the journal! At this stage you will also see where the potential problems could occur and either fix them on the spot of be ready to fix them later.

9) SEA TRIALS (Pool) You’ve done your troubleshooting, it all works well. But real-world and lab environments are very, very different! This is where ROV gets a proper test. 10) MISSION Congratulations!! You have a fully working robot doing what it’s supposed to do!

11) EVALUATION AND REPORTS Mission is successfully completed, ROV is safely out of the water and you have more work to do. - Final Report - Descriptions - Budget summary -How did operations go? -What went wrong? Why? -How did the team work? -What can be changed?

ANTICIPATION and PREPARATION -Mistakes keep being repeated -You can anticipate problems ahead and prepare for them HOW?

Planning the mission Look at the scoring details Make sure that, if required, missions are done in the correct order. Notwithstanding this constraint, choose the easiest and higher scoring missions first. Most bangs for the buck. Keep and eye on the time.

Time and other constraints You get two bites of the cherry. The highest score from your two missions is the one counted. Explorer – 2 runs of 15 minutes, 5 minutes setup, 5 minutes dismantle Ranger – 2 runs of 15 minutes, 5 minutes setup, 5 minutes dismantle Adventurer – 2 runs of 10 minutes, 3 minutes setup, 3 minutes dismantle Scout - 2 runs of 10 minutes, 3 minutes setup, 3 minutes dismantle

Using the score sheet an example (Ranger) Product demonstrations – Missions points (max), plus a time bonus – Size and weight restrictions - 40 points (max) – Product demonstration safety and organizational effectiveness - 20 points (max) Engineering & Communication – 260 points (max) – Technical documentation points (max) – Product presentations points (max) – Marketing displays - 50 points (max) – Company Spec Sheet - 10 points (max) Safety – 30 points (max)

Using the score sheet to plan a mission Inserting the temperature sensor into the venting fluid – 10 points Measuring the temperature of the venting fluid – up to 20 points – Temperature measurement is within 3 o C of benchmark – 20 points – Temperature measurement is within 4 o C of benchmark – 10 points – Temperature measurement is within 5 o C of benchmark – 5 points Determining the thickness of the ice crust – up to 10 points – 10 cm from true depth – 10 points – 10 cm from true depth – 0 points Determining the depth of the ocean under the ice – up to 10 points – < 10 cm from true depth – 10 points – > 10 cm from true depth – 0 points Connecting the ESP to the power and communications hub – up to 50 points maximum – to be done in order – Retrieve the ESP’s cable connector from the elevator – 5 points – Lay the ESP cable through two waypoints – 10 points each (20 points total) – Open the door to the port on the power and communications hub – 5 points – Insert the cable connector into the port on the power and communications hub – 20 points Total points

Safety 2016 Safety Check scoring will be release later this month. We will look at the 2014/2015 scoring sheet. You will need to pass a safety check each time you go to the pool. You get 3 chances to pass the main check You will also be re-checked before each mission run Safety check area adjacent to swimming pool

MATE Safety Score Sheet Go to pdf file of Safety Score sheet

Go to pdf of MATE Safety Tutorial Safety Tutorial

Restrictions to note Explorer and Ranger Size Weight Fluid Power All will be checked at the Safety Judges’ area

Explorer Size measurements will be made using the two largest dimensions of the ROV. Four flat sheets with 58 cm, 64 cm, 70 cm, and 85 cm diameter holes cut into their centres (one hole per sheet) will be located on a table in the on deck circle. The vehicle measurement must include the vehicle, all manipulators/tools that will be used in the product demonstration as well as the vehicle’s tether. The control system and 1 metre of tether may be outside of the measurement circle. Companies may detach manipulator arms and other equipment and place that equipment, next to, on top of, or inside the vehicle frame, but all of the equipment that will be used must be present and fit within the measurement circle..

Explorer The hole in the flat sheet must fit over the two largest dimensions of the ROV. If the ROV and all its equipment fit within the hole of 58 cm in diameter, the company will receive +20 bonus points. If the ROV and all its equipment fit within the hole of 64 cm in diameter, the company will receive +10 bonus points. If the ROV and all its equipment fit within the hole of 70 cm in diameter, the company will receive +5 bonus points. If the ROV and all its equipment fit within the hole of 85 cm in diameter, the company will receive no bonus points, but can still compete in the product demonstration. If the ROV and all its equipment do not fit within the 85 cm in diameter hole, the company will not be permitted to compete in that product demonstration run.

Explorer - size An EXPLORER class vehicle, with tools attached and tether coiled beside the ROV, inside the 58 cm diameter circle. This vehicle would earn the company +20 bonus points on the product demonstration score.

Explorer - weight Weight measurements will be conducted using a hanging digital scale. Companies will be responsible for lifting their vehicles into position and attaching the lines. If the ROV, including its tether, weighs 17.0 kg or less, the company will receive +20 bonus points. If the ROV weighs between kg and 19.0 kg, the company will receive +10 bonus points. If the ROV weighs between kg and 22.0 kg, the company will receive +5 bonus points. An ROV weighing more than 22.0 kg will receive 0 bonus points, but will still be allowed to compete. NOTE: The control system and 1 metre of the tether may be placed on the table below the ROV and not included in the weigh-in.

Ranger - size Size measurements will be made using the two largest dimensions of the ROV. Four flat sheets with 48 cm, 54 cm, 60 cm, and 75 cm diameter holes cut into their centres (one hole per sheet) will be located on a table in the on deck circle. The vehicle measurement must include the vehicle, all manipulators/tools that will be used in the product demonstration as well as the vehicle’s tether. The control system and 1 meter of tether may be outside of the measurement circle. Companies may detach manipulator RANGER Class 16 arms and other equipment and place that equipment, next to, on top of, or inside the vehicle frame, but all of the equipment that will be used must be present and fit within the measurement circle.

Ranger - size The hole in the flat sheet must fit over the two largest dimensions of the ROV. If the ROV and all its equipment fit within the hole of 48 cm in diameter, the company will receive +20 bonus points. If the ROV and all its equipment fit within the hole of 54 cm in diameter, the company will receive +10 bonus points. If the ROV and all its equipment fit within the hole of 60 cm in diameter, the company will receive +5 bonus points. If the ROV and all its equipment fit within the hole of 75 cm in diameter, the company will receive no bonus points, but can still compete in the product demonstration. If the ROV and all its equipment do not fit within the 75 cm in diameter hole, the company will not be permitted to compete in that product demonstration run.

Ranger - size A RANGER class vehicle, with tools attached and tether coiled beside the ROV, inside the 48 cm diameter circle. This vehicle would earn the company +20 bonus points on the product demonstration score.

Ranger - weight Weight measurements will be conducted using a hanging digital scale. Companies will be responsible for lifting their vehicles into position and attaching the lines. If the ROV, including its tether, weighs 11.0 kg or less, the company will receive +20 bonus points. If the ROV weighs between kg and 12.0 kg, the company will receive +10 bonus points. If the ROV weighs between kg and 14.0 kg, the company will receive +5 bonus points. An ROV weighing more than 14.0 kg will receive 0 bonus points, but will RANGER Class 17 still be allowed to compete. NOTE: The control system and 1 meter of the tether may be placed on the table below the ROV and not included in the weigh-in.

Adventurer and Scout There are no mandated weight and size limits

Fluid power/lasers If you robot uses pneumatic or hydraulic power, then you must have passed the MATE Fluid Power Quiz to use in the Hong Kong contest. Those teams passed are: – Explorer: CMA Secondary School, HKUST, HKPolyU, NJIT – Ranger: Sha Kei Wan Government Secondary School Fluid power included pumped air to tools and buoyancy aids. Lasers: none

Electrical Safety All ROVs and their control apparatus must be protected by fuses. – Explorer – 48V dc 40A – Ranger – 12V dc 25A – Adventurer – 12V dc 25A – Scout – 12V dc 25A No 220V ac power will be provided except by the organisers at the mission station (2x 13A 3 pin sockets). No mains power can be connected directly to any apparatus that will go in the pool. No fuse protection – no contest

Personal safety All team members on the pool deck must wear closed, flat soled shoes – flip flops not allowed. Shoes must be covered with a shoe protector; you will be given 10 free. Waste/lose them and you pay $10 per new pair. Safety goggles must be worn at all times if power tools are used at your workbench. No power tools on the pool deck.

School layout Safety checks

The KGV pool layout to be confirmed 2.5m 3m 2.5m 2m 1.5m 1m depth depth depth -Pool size: approx. 25m x 13m -Sidewalk approx. 2.1m in width Lifeguard room Lifeguard Platform Drinking Fountain Benches Performing Art Building Balcony with seats at 1/F Changing room Explorer Mission Station 1 Ranger Mission Station 1 Ranger Mission Station 2 Explorer Mission Station 2 Ranger Mission Station 3 Ranger Mission Station 4 Entrance for Explorer and Ranger Mission Station 1 and 3 Entrance for Scout/Adventurer and Ranger Mission Station 2 and 4 2.1m width 2.1m width 2.1m width 2.1m width NOT IN SCALE Power Socket 13A Prepared by Jimmy Li on 21-Feb-2016 rev RSB Adventur er Mission Station Scout Mission Station Battery charging station

Scoring Scoring sheets will be available for Explorer and Ranger at the end of next week on the MATE web site Adventurer and Scout poster scoring rubrics are on the HK ROV Contest web site

Preliminary event/practice at HKIS – 9 April 2016 Designed for Adventurer and Scout teams. If there are too many teams entering the main contest and elimination/qualification will take place at HKIS on 9 April. Details will be circulated to all Adventure and Scout teams Ranger teams can book practice time on a full set of props. Booking forms to be circulated next week.

Draft schedule – April 2016 FromToEvent 16-Apr08:0012:00Venue setup 10:00Teams arrive: registration starts 10:30Team access to workstations 11: Team safety briefings 12:0012:30Opening ceremony 11:3017:00ROV safety checks 13:0017:00Trial runs 14:0017:00Poster Judging 17-Apr08:0008:30Venue preparation 08:30Teams arrival 08:3016:30Main missions 09:3013:00Technical Presentations 16:3017:00Press interviews 17:0018:00Closing ceremony 17:3019:00Move props and electrical/electronic equipment