{"id":218,"date":"2022-10-10T13:00:19","date_gmt":"2022-10-10T02:30:19","guid":{"rendered":"https:\/\/sites.flinders.edu.au\/maritime-robotx-challenge\/?page_id=218"},"modified":"2022-10-10T21:48:01","modified_gmt":"2022-10-10T11:18:01","slug":"technical-specifications","status":"publish","type":"page","link":"https:\/\/sites.flinders.edu.au\/maritime-robotx-challenge\/technical-specifications\/","title":{"rendered":"Technical Specifications"},"content":{"rendered":"

[vc_row][vc_column][vc_empty_space height=”20px”][vc_column_text]<\/p>\n

Technical Information<\/h1>\n

To complete the tasks outlined in the competition, our team came up with these algorithms as a baseline to find solutions.<\/p>\n

General functions required for the tasks:<\/p>\n

    \n
  1. Identifying a shape, colour, and position of buoys\n
      \n
    1. Use of lidar to recognize the shape and position of buoys<\/li>\n
    2. Use of LiveCams to recognize the colour of the buoys<\/li>\n
    3. Calibration of the lidar and cameras to overlay feed in the control system<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n
      \"\"
      image courtesy of Andrew Lammas<\/figcaption><\/figure>\n

      [\/vc_column_text][\/vc_column][\/vc_row][vc_row][vc_column][vc_tta_tabs][vc_tta_section title=”Task Breakdown” tab_id=”1665370340495-6af5ab73-3498″][vc_column_text]<\/p>\n

      Task 1 \u2013 Situational Awareness and Reporting<\/h2>\n
        \n
      1. \n
          \n
        1. Request IP address from Judges DHCP server.<\/li>\n
        2. Wait for response<\/li>\n
        3. Establish TCP Socket with IP address and port number specific to course.<\/li>\n
        4. Continuously send heartbeat messages at 1Hz with message ID and task specific information using format unique to each task.<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

          Task 2 \u2013 Entrance and Exit Gates<\/h2>\n
            \n
          1. \n
              \n
            1. Identify the gate boundaries \u2013 use of lidar to recognize the shape and position of buoys, use of camera to recognize color<\/li>\n
            2. Identify the beacon\u2019s location \u2013 use of hydrophones and ADLink to find direction of signal with required frequency<\/li>\n
            3. Associate beacon\u2019s location with a particular gate \u2013 correlate lidar, camera and ADLink data to reflect position of required gate. Send position information to control system.<\/li>\n
            4. Pass through gate associated with the beacon \u2013 use control system and path finding algorithm to propel vessel in correct direction between buoys.<\/li>\n
            5. Identify black circle buoy \u2013 Use of lidar to recognize shape and position of black buoy, use of camera to recognize the color<\/li>\n
            6. Circle black buoy \u2013 use control system and path finding algorithm to propel vessel in correct direction around the black buoy<\/li>\n
            7. Return through same gate as entered<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n
              \"\"
              image courtesy of Heath Eickhoff<\/figcaption><\/figure>\n

              Task 3 \u2013 Follow the Path<\/h2>\n
                \n
              1. Task entrances and exits\n
                  \n
                1. Recognize the pair of white buoys as start gates \u2013 enter between them<\/li>\n<\/ol>\n<\/li>\n
                2. Identify course boundaries by green and red buoys\n
                    \n
                  1. Locate positions of the green and red buoys \u2013 must stay to the left of the green markers, must stay to the right of the red markers<\/li>\n<\/ol>\n<\/li>\n
                  2. Identify obstacles by black buoys\n
                      \n
                    1. Locate position of black buoys \u2013 must avoid them while meeting the above criteria<\/li>\n<\/ol>\n<\/li>\n
                    2. Plot path through course avoiding obstacles\n
                        \n
                      1. Using pathfinding algorithm\n
                        <\/div>\n<\/li>\n<\/ol>\n<\/li>\n
                      2. Follow previously created path<\/li>\n<\/ol>\n
                        \"\"
                        image courtesy of Heath Eickhoff<\/figcaption><\/figure>\n

                        Task 4 \u2013 Wildlife Encounter \u2013 React and Report<\/h2>\n
                          \n
                        1. Identify creatures<\/li>\n
                        2. Determine creatures’ locations<\/li>\n
                        3. Circle platypus in clockwise direction<\/li>\n
                        4. Circle Turtle in anti-clockwise direction<\/li>\n
                        5. Report data back to the judges<\/li>\n<\/ol>\n

                          Task 5 \u2013 Scan the Code<\/h2>\n

                          Sequence of lights will consist of three stages separated with a long black pulse. Each stage contains a pattern of three lights with no colour appearing twice in a row.<\/p>\n

                            \n
                          1. Identify light tower \u2013 travel to light tower and position vessel so cameras have clear view of LED panel<\/li>\n
                          2. Identify light colour \u2013 recognize red, blue and green colours using cameras<\/li>\n
                          3. Record sequence of lights \u2013 store colours recognized into control system to be repeated later<\/li>\n<\/ol>\n
                            \"\"
                            image courtesy of Heath Eickhoff<\/figcaption><\/figure>\n

                            Task 6 \u2013 Detect and Dock<\/h2>\n
                              \n
                            1. Identify bays\n
                                \n
                              1. Use the lidar to recognize the rectangular shape of the light panel, and the approximate size of 1.5×1.5m base dimension sitting in the water<\/li>\n<\/ol>\n<\/li>\n
                              2. Identify colors\n
                                  \n
                                1. Distinguish between red, green and blue panels on the docks<\/li>\n<\/ol>\n<\/li>\n
                                2. Associate bays with a color\n
                                    \n
                                  1. Recognize position of the panels with the position of their respective docks and color<\/li>\n<\/ol>\n<\/li>\n
                                  2. Identify correct dock to using information gathered from another task (probably Task 5)<\/li>\n
                                  3. Plot path to correct bay<\/li>\n
                                  4. Follow path to bay<\/li>\n
                                  5. Dock at bay<\/li>\n<\/ol>\n
                                    \"\"
                                    image courtesy of Heath Eickhoff<\/figcaption><\/figure>\n

                                    Task 7 \u2013 Find and Fling<\/h2>\n
                                      \n
                                    1. Identify panels<\/li>\n
                                    2. Identify holes in panel<\/li>\n
                                    3. Identify colours<\/li>\n
                                    4. Associate panels with a colour<\/li>\n
                                    5. Identify correct panel to using information gathered from another task (probably Task 5)<\/li>\n
                                    6. Fling projectile through either hole in the correct panel<\/li>\n<\/ol>\n
                                      \"\"
                                      image courtesy of Heath Eickhoff<\/figcaption><\/figure>\n

                                      Task 8 \u2013 UAV Replenishment<\/h2>\n
                                        \n
                                      1. Identify helipad<\/li>\n
                                      2. Identify tin<\/li>\n
                                      3. Collect Tin<\/li>\n
                                      4. Identify target<\/li>\n
                                      5. Deliver Tin to target<\/li>\n
                                      6. Return to USV<\/li>\n<\/ol>\n

                                        Task 9 \u2013 UAV Search and Report<\/h2>\n
                                          \n
                                        1. Identify markers<\/li>\n
                                        2. Determine markers location<\/li>\n
                                        3. Report markers location<\/li>\n<\/ol>\n

                                          [\/vc_column_text][\/vc_tta_section][vc_tta_section title=”System Communication and Integration” tab_id=”1665370340504-bdbbfdf6-691c”][vc_column_text]<\/p>\n

                                          System Communication<\/h2>\n

                                          The TopCat USV has multiple communication systems used to connect between system actuators, radio communications and ROS topics. At the core of this system was the Core Board, a microcontroller system that connected RF teleop, CAN messages and ROS communications. Together these boards had the following functions:<\/p>\n