Rules for World Robotic Sailing Championship 2015 updated May 9

Transcription

1 Rules for World Robotic Sailing Championship 2015 updated May 9 Introduction The committee of the World Robotic Sailing Championship 2015 invites teams of up to ten members per team, from any organization, including private individuals, schools, colleges, universities and companies, to enter the competition. Each team competes with one boat. Members can participate in several teams. Liability and Safety All sailing robots must be controllable by a designated human helmsman throughout all events. The responsibility for avoiding any collision and/or damage will rest solely with the respective teams. All teams are responsible for their own safety during the event. The organizers will not assume any liability with respect to damages resulting from a team participating in the WRSC. Any teams who wish to monitor or control their sailing robots from a RIB, must follow the safety instructions of the RIB driver, must provide their own personal floatation device which must be worn at all times while on the water. One person per team is guaranteed a seat in a RIB. The safety crews reserve the right to manage the fleet of support boats, and can refuse access to the support boats, in certain circumstances. Similarly, any team member entering the docks must follow the safety instructions of the shore crew, and must provide their own personal floatation device which must be worn at all times while in the dock area. The shore captain reserves the right to refuse access to the restricted area. 1

2 Collisions and Right of Way Autonomous boats have right of way over manually controlled boats. In the event of a potential collision, then COLREGs rules must be followed (for example, a boat on a starboard tack has right of way, etc). However, all competitors must take appropriate steps to avoid collisions and having right of way is not an acceptable excuse for allowing a collision to take place. Scoring For each individual event, a boat gets scored depending on its performance. Manual control to avoid a collision shall not count as human intervention if it is limited to minimal intervention to perform collision avoidance. Boats using some method for automatic collision avoidance and completing a contest without manual intervention to avoid a collision will be awarded two bonus points in the respective score. Sailing robots with a AIS class B onboard and sending AIS-data meanwhile racing score one extra point per race day. See more about AIS at Scores will be posted in the Race Office, each day. The Race Committee will base the results from each race event based on following information gathering: visual registration and manual time stamps registered by the Race Committee. tracking system provided by the Race Committee. data provided by the contestant in a format specified by the Race Committee. Time Limits Where time limits are set and in the event of light winds, the Race Committee may shorten the course prior to the start, to ensure that all boats have a reasonable chance of completing the course within the time limit. Protests Protest shall be in writing and identify (a) the protestor and protestee; (b) the incident, including where and when it occurred; (c) any rule the protestor believes was broken; and (d) the name of the protestor s representative. Protests shall be delivered to the Race Office the same day as the incident. Classes The World Robotic Sailing Championship is open to boats in three distinct classes, as follows: Micro-sailboats Category (MS) Small autonomous sailboats up to 1 m LOA, and weighing no more than 100 kg. Sailboats must be propelled entirely by wind. Sailboats Category (S) Autonomous sailboats which do not fit in the micro-sailboats category, up to 4 m LOA and weighing no more than 500 kg. Sailboats must be propelled entirely by wind. 2

3 Motorboats Category The motorboats category race will not be arranged at the WRSC2015. Measurement units For position: Degrees in decimals, e.g Chart datum: WGS-84 Race descriptions The following events will be staged in and around Mariehamn, Åland. The exact date and time, as well as location of each event, will be published on the WRSC web site no less than 12 hours before the start of the event. Team leader briefing will be held prior each event at the racing site. Debriefing and presentation of results will be held at the end of each racing day. Courses All events will use a square course as shown below. The positioning of the buoys will be published on the WRSC web site no less than 12 hours before the start of the event. Starting Procedure For all races except the fleet race, each team will be given a slot time for start. Start after the slot time is not allowed. The slot time will be given each team at the latest at briefing prior race. The Race Committee can issue new slot times in case of weather changes or other circumstances or upon request from a team no later than 30 minutes before the given slot time start. 3

4 For the fleet race, unless a different procedure is posted on the WRSC site no less than 12 hours before any given event, the starting sequence will be defined by sound signals given 5, 4, 2 and 1 minute before the start, along with a longer sound signal for the start. All boats must be in autonomous mode at the signal one minute before start or they will incur a 50% penalty. Boats deemed to be over the start line before the start signal will incur a 25% time penalty if it is deemed the boat gained an advantage. 1. Triangular Course Contest Scientific objectives: Autonomous sailing speed performance The triangular course contest involves an upwind, downwind and beam autonomous sailing, as fast as possible. Sailing robots will first sail downwind across the course, round one buoy and sail upwind across the course. After the upwind sailing the boats will round another buoy and sail beam wind across the course. The positions of the buoys and which buoys shall be rounded and which mark the starting line and finish line will be published on the WRSC web site no later than 12 hours before the race. The entire race will be a distance of approximately 3 x 310 m from start to finish. The MS category will sail a shorter course, approximately 3 x 45 m. Note: The buoys utilized as starting line and finish line will be selected depending on wind direction. 4

5 The sailing robot with the shortest time from starting line to finish line, in each class, will be awarded 10 points. The second boat will be awarded 9 points, and so on. Boats which complete the course correctly will be awarded a minimum of 4 points. Use of manual control, except in the case of collision avoidance, after passing the starting line and before passing the finish line, will result in a score of zero points. As time permits, two or more attempts at this event will be held. The final scoring will be based on the fastest sailing. 2. Station-Keeping Contest Scientific objectives: This Station-Keeping contest exposes the sailing robots capability to perform scientific research in a pre-defined area It is expected that more than one boat will compete at one time. The objective of the station keeping contest is to evaluate controlled sailing in a limited region with time constraints. Each boat must start outside a 45 m x 45 m box, marked by four buoys. In the team slot time, the boat must enter the box. The boat shall leave the box at a time as close as possible to 5 minutes after entering the box. Boats fulfilling the entry and exit criteria are awarded points based on the following formula: P = max (0, 10 - Tenter Tleave /10) Where: Tenter is the timestamp when the boat first enters the box and Tleave is the timestamp when the boat first leaves the box. If the boat enters and leaves the box several times, any leave timestamps within ten seconds from Tenter are ignored. All timestamps are given in seconds. Use of manual control inside the box, except in the case of collision avoidance, will result in a score of zero points. As time permits, two or more attempts at this event will be held. The final scoring will be the best result. 3. Area Scanning Contest Scientific objectives: The area scanning contest displays the sailing robots capability to perform a search in or provide measurements for each section of a subdivided area. The course will be divided into 10x10 square sections, each with a width of about 31 m. The sections will be indexed as (i, j), where i goes from 0 to 9 starting at south and going north, and j goes from 0 to 9 starting at west and going east. The exact positions of the section borders will be published on the WRSC web site at the latest 12 hours before the start of the race. From the time the boat enters the first section and within a time of 90 minutes, the boat shall pass through as many square sections as possible. 5

6 The score for the area scanning contest will be calculated as: P = Npassed/10 where Npassed is the number of entered sections. The score will be multiplied with a factor determined from oceanographic measurements provided for each visited section. Depth (m), water temperature ( C), air temperature ( C), water salinity (%), conductivity (S/cm), chlorophyll (µg/l), ammonium (mg/l), nitrate (mg/l), chloride (mg/l) and total dissolved solids (mg/l) can be provided. Inclusion of depth data will add 0.2 to the multiplication factor, the other measurements each add 0.1. The multiplication factor is 1.0 initially, and the maximum that can be achieved is 1.5. Each team shall provide data on the team s performance to the Race Committee within 5 hours after the start of their slot time. The data shall be in XML, specified by the schema below. The data will contain the team name. For each entered square section the section s indices are required along with a UTC timestamp and corresponding coordinates using <gml:pos> property in WGS-84 (EPSG:4326). Optionally the oceanographic data can be added. Each entered section shall be added only once to the XML data. Teams shall on request give referees access to databases or other logs and assist them in verifying the provided data. Race Committee can subtract up to 10 points from the total WRSC score if case the Race Committee considers the presented data manually manipulated. 6

7 XML schema for Area Scanning Contest (AreaScanningResult.xsd): <?xml version="1.0" encoding="utf-8"?> <xs:schema xmlns:xs=" xmlns:gml=" attributeformdefault="unqualified" elementformdefault="qualified"> <xs:import namespace=" schemalocation=" /> <xs:element name="areascanning" type="teamtype"/> <xs:complextype name="teamtype"> <xs:sequence> <xs:element name="teamname" type="xs:string"/> <xs:element name="section" maxoccurs="100"> <xs:complextype> <xs:sequence> <xs:element name="sectioni" type="xs:integer" /> <xs:element name="sectionj" type="xs:integer" /> <xs:element name="datetime" type="xs:datetime" /> <xs:element ref="gml:pos"></xs:element> <xs:element name="depth" <xs:element name="watertemp" <xs:element name="airtemp" <xs:element name="watersalinity" <xs:element name="conductivity" <xs:element name="chlorophyll" <xs:element name="ammonium" <xs:element name="nitrate" <xs:element name="chloride" <xs:element name="totaldissolvedsolids" </xs:sequence> </xs:complextype> </xs:element> </xs:sequence> <xs:attribute name="teamid" type="xs:string" use="required"/> </xs:complextype> </xs:schema> 7

8 Example of valid XML output for the Area Scanning Contest: <?xml version="1.0" encoding="utf-8"?> <AreaScanning Teamid="" xmlns:gml=" xmlns:smil20=" xmlns:smil20lang=" xmlns:xlink=" xmlns:xml=" xmlns:xsi=" xsi:nonamespaceschemalocation="areascanningresult.xsd"> <TeamName>TeamName</TeamName> <Section> <sectioni>0</sectioni> <sectionj>0</sectionj> <datetime> t12:00:00z</datetime> <gml:pos srsdimension="2" srsname="urn:ogc:def:crs:epsg:6.6:4326"> </gml:pos> <depth>0.0</depth> <watertemp>0.0</watertemp> <airtemp>0.0</airtemp> <watersalinity>0.0</watersalinity> <conductivity>0.0</conductivity> <chlorophyll>0.0</chlorophyll> <ammonium>0.0</ammonium> <nitrate>0.0</nitrate> <chloride>0.0</chloride> <totaldissolvedsolids>0.0</totaldissolvedsolids> </Section> <Section> <sectioni>1</sectioni> <sectionj>0</sectionj> <datetime> t12:00:10z</datetime> <gml:pos srsdimension="2" srsname="urn:ogc:def:crs:epsg:6.6:4326"> </gml:pos> <depth>0.0</depth> <watertemp>0.0</watertemp> <airtemp>0.0</airtemp> <watersalinity>0.0</watersalinity> <conductivity>0.0</conductivity> <chlorophyll>0.0</chlorophyll> <ammonium>0.0</ammonium> <nitrate>0.0</nitrate> <chloride>0.0</chloride> <totaldissolvedsolids>0.0</totaldissolvedsolids> </Section> </AreaScanning> 8

9 4. Fleet Race Scientific objectives: Boat speed and control. The course will be comprised of a square course as shown below, with a length of about 4 x 310 m. All boats will start and race together. The starting line will be between one of the marks and a race committee boat. The position of the start will be published on the WRSC web site 12 hours prior to the race. After the start signal, boats will race counterclockwise two laps outside the four buoys of the course and return to the starting/ finish line. The MS class will race one lap around the same course. Note: The position of the start is an example The boat which finishes in first place will be awarded 16 points, with the second-placed boat awarded 15 points, and so on. Boats which successfully complete the course by coming within 10 m of the marks and finishing correctly, will be awarded a minimum of 5 points. Boats which start but do not complete the course will be scored 2 points. Use of manual control, except in the case of collision avoidance, after the 1 minute preparatory signal, and before the finish, will result in a score of zero points. As time permits, two or more attempts at this event will be held. The final scoring will be the best result. 9