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NASA’s Ninth Annual Robotic Mining Competition May 14-18, 2018

Rules and Rubrics

Table of Contents

PART I Social Media Code of Conduct Schedule Introduction Message from the Project Manager Impact New For RMC 2018 Competition Events Awards Eligibility Team Registration General Information Dates & Deadlines Shipping Your Robots Competition Week

PART II On-Site Mining Robot Communications / Telerobotic Operations

PART III Glossary Rubrics Score Sheets

Part IV Graphics

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PART III Glossary

Autonomous – The operation of a team’s mining robot with no human interaction.

Since the properties of Mars regolith vary and are not well known, this competition will assume that Martian basaltic regolith properties are similar to the Lunar regolith as stated in the “Lunar Sourcebook: A User's Guide to the Moon”, edited by G. H. Heiken, D. T. Vaniman, and B. M. French, copyright 1991, Cambridge University Press. http://www.lpi.usra.edu/publications/books/lunar_sourcebook/ Black Point-1 (BP-1) Reflectivity – NASA performed tests to answer questions about BP-1 reflectivity for LIDAR (or other LASER-based) navigation systems. The laser is not a beam – it is spread out as a sheet that is oriented in the vertical direction, so it is draped across the BP-1 and across a white/gray/black target that is standing up behind the BP-1 in the images. The BP-1 is the mound at the bottom of each image.

Teams can get the reflectivity of the BP-1 by comparing the brightness of the laser sheet seen reflected from the BP-1 with the brightness of the same sheet reflected from the white and black portions of the target. The three images are for the three angles of the laser. Note the BP-1 is mounded so they need to account for the fact that it is not a flat surface if they choose to analyze the brightness in the images. The three pictures below were shot with the camera at 10, 16, and 21 degrees relative to the surface. The laser was at an angle of 15 degrees. The camera speed and aperture were set to (manual mode): 1/8 s, f/4.5.

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10 degree 16 degree 21 degree

Black Point-1 (BP-1) – The coefficient of friction and the cohesion of Martian soil have not been precisely measured due to a lack of scientific data from Mars. Instead, they have been estimated via a variety of techniques. Both parameters (coefficient of friction and cohesion) are highly dependent on the compaction (bulk density, porosity) of the Martian soil:

1) It does not behave like sand. 2) There are naturally occurring rocks in the BP-1 aggregate. 3) The coefficient of friction has not been measured for BP-1. 4) Is a crushed lava basalt aggregate which is similar to Mars volcanic ash. 5) The density of the compacted BP-1 aggregate will be between 1.5 g/cm3 and 1.8 g/cm3

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6) BP-1 behaves like a silty powder soil and most particles are under 100 microns in diameter.

7) Will be compacted and the top layer will be raked to a fluffy condition of approximately .75 g/cm3, similar to the Martian surface.

8) The study on BP-1 is available on http://www.nasa.gov/nasarmc “Soil Test Apparatus for Lunar Surfaces”.

9) Dr. Philip Metzger, NASA Physicist (ret) and current University of Central Florida faculty member, describes BP-1 and its behavior at http://youtu.be/hMfrv7mlxbE .

10) Teams are encouraged to develop or procure simulants based on basaltic minerals and lunar surface regolith particle size, shape, and distribution.

11) BP-1 is not commercially available and it is made from crushed basalt fines. However, JSC-1A is available from Orbital Technologies at https://isru.msfc.nasa.gov/lib/Documents/day1_11_JSC1A_Dev_MGustafson.pdf and; NU-LHT is commercially available from Zybek Advanced Products (ZAP) at: http://government-contractors.insidegov.com/l/429936/Zybek-Advanced-Products-Incorporated

Caterpillar Mining Arena – An open-topped container (i.e., a box with a bottom and 4 side walls), containing BP-1, within which the mining robot will perform each competition attempt. The inside dimensions of the each side of the Caterpillar Mining Arena will be 7.38 meters long and 3.88 meters wide,

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and 1 meter in depth. The BP-1 aggregate will be approximately .3 meters in depth and approximately .5 meters from the top of the walls to the surface. There is no guarantee that the BP-1 in the mining arena will have a level surface, since planetary surfaces are random and chaotic. Be prepared for slopes, irregularities and small rocks in the BP-1 simulant surface. The Caterpillar Mining Arena for the practice days and official competition will be provided by NASA. The Caterpillar Mining Arena will be outside in an enclosed tent. The Caterpillar Mining Arena lighting will consist of high intensity discharge (HID) lights such as metal halide lights inside a tent structure with clear sides, which is not quite as bright as outdoor daylight conditions. The atmosphere will be an air-conditioned tent without significant air currents and cooled to approximately 70 – 75 degrees Fahrenheit. The Caterpillar Mining Arena steel, primer and paint specifications are as follows:

1) Steel: A-36(walls) & A-992(I-beams) structural steel. 2) Primer: Devran 201 epoxy primer, 2.0 to 3.0 mils, Dry Film Thickness (DFT). 3) Paint: Blue Devthane 379 polyurethane enamel, 2.0 to 3.0 mils, DFT (per coat).

Collector Bin – A Collector Bin in the Caterpillar Mining Arena for each competition attempt into which each team will deposit excavated gravel. The Collector Bin will be large enough to accommodate each team’s excavated gravel and BP-1. The Collector Bin will be stationary and located adjacent to the Caterpillar Mining Arena. Competition attempt – The operation of a team’s mining robot intended to meet all the requirements for winning the mining category by performing the functional task. The duration of each competition attempt is 10 minutes. Excavated mass – Mass of the excavated BP-1 and/or gravel deposited to the Collector Bin by the team’s mining robot during each competition attempt, measured in kilograms (kg) with official result recorded to the nearest one tenth of a kilogram (0.1 kg). Functional task – The excavation of gravel from the Caterpillar Mining Arena by the mining robot and deposit of gravel from the mining robot into the Collector Bin. Gravel - This is intended to simulate icy-regolith buried on Mars. The gravel will be approximately 2 cm in diameter (minimum size) but will have random particle sizes larger than that also mixed into the gravel. The gravel may be mixed in with the BP-1 in small quantities, but the majority of the gravel will be on the approximately lower 30 cm of the mining area regolith depth only. The gravel will be made of a hard rock material, and will not have a specific color. Kennedy Space Center Visitor Complex – located at the eastern terminus of Florida S.R. 405. The Competition Arenas are located in the Rocket Garden, the practice Sand Box is located under NASA Central and the Awards Ceremony is held under the Apollo-Saturn V Rocket on Friday evening. Mining robot – A tele-operated or autonomous robotic excavator in the Robotic Mining Competition including mechanical and electrical equipment, batteries, gases, fluids and consumables delivered by a team to compete in the competition. Mining points – Points earned from the two competition attempts in the Robotic Mining Competition will be averaged to determine ranking in the on-site mining category. Practice time – Teams will be allowed to practice with their mining robots in the Caterpillar Mining Arena. NASA technical experts will offer feedback on real-time networking performance during practice attempt. Every team will get one practice run on a first come, first served basis. A maximum of two practice attempts may be allowed, but is not guaranteed and will be on a case by case basis. Reference point – A fixed location signified by an arrow showing the forward direction on the mining robot that will serve to verify the starting orientation of the mining robot within the Caterpillar Mining Arena. Telerobotic – Communication with and control of the mining robot during each competition attempt must be performed solely through the provided communications link which is required to have a total average

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bandwidth of no more than 5.0 megabits/second on all data and video sent to and received from the mining robot. Time Limit – 5 minutes to set up the mining robot in the Caterpillar Mining Arena and 10 minutes for the mining robot to perform the functional task. Safe the robot and remove from the mining arena quickly and as directed by the mining judge.

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RUBRICS

Systems Engineering Paper – 25 Points Each team must submit a Systems Engineering Paper electronically in PDF. The purpose of the systems engineering paper is for a team to demonstrate how they used the systems engineering process in designing, building and testing their robot. All required elements of the rubric must be discussed in the main body of the paper; you may reference the appendix and provide supporting information there. A minimum score of 20 out of 25 possible points must be achieved to qualify to win in this category. In the case of a tie, the judges will choose the winning Systems Engineering Paper. The judges’ decision is final. For reference, undergraduate course materials in NASA Systems Engineering are available at www.spacese.spacegrant.org.

Scoring Rubric - Systems Engineering Paper

Elements Points

Content

There are 3 points for 3 elements

* Format: The RMC Systems Engineering Paper shall be formatted professionally: organized clearly; with correct grammar and spelling; with text no smaller than size 12 point font in the main body and appendices; text no smaller than size 9 point font in graphics and tables; single spaced; and, consist of a maximum of 20 pages in the main body not including the cover page, title page, table of contents, and references pages. Up to five additional pages of appendices shall be allowed and shall be referenced and discussed in the main body.

Only the first 20 pages in the main body and the first five pages of appendices will be subject to judging.

The cover page must include: team name, title of paper, full names of all team members, university name, and faculty advisor’s full name.

* Faulty Signature: The cover or title page shall include the signature of the sponsoring faculty advisor and a statement that he/she has read and reviewed the paper prior to submission to NASA.

* Purpose Statement: A Purpose Statement shall be included in the main body and related to the application of systems engineering to NASA’s Robotic Mining Competition. (Why did your team use systems engineering to develop your robot? How was systems engineering valuable to your project.)

Intrinsic Merit There are 8 points for discussion of 5 elements. Up to 2 points may be awarded for exceptional work in Intrinsic Merit, for a total of 10 points.

* Design philosophy: in the context of systems engineering; discuss what your team intends to optimize in your robot system design and operations (light weight? automation? collection of icy regolith simulant? low bandwidth? etc.)

* New Design or Design Update?: Clearly identify the new elements in this competition year’s robot system (either state that the robot system is an entirely new design, or identify the specific changes/improvements to a previous robot system). Explain how you arrived at your decision on how to approach this year’s design. Focus the rest of the paper on the systems engineering work you performed to develop the new/updated design and incorporate it into the whole system to perform the mission.

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* Major reviews: At a minimum, descriptions of what took place at the System Requirements Review (SRR), Preliminary Design Review (PDR), and Critical Design Review (CDR).

* Schedule of work: from inception to disposal of robot system (original planned schedule before project start; and actual schedule performance with schedule changes tracked against the original schedule, reported as a minimum at major reviews)

* Cost budget: budget for total project costs including travel; estimated predicted costs before project start, with actual costs tracked against estimated, reported as a minimum at major reviews as the project matures)

Technical Merit There are 8 points for 8 elements. Up to 4 additional points may be awarded for exceptional work on required elements, or for descriptions of systems engineering technical elements applied beyond the required eight, for a total of 12 points.

* Concept of operations (descriptions of how the robot system elements defined across each system hierarchy level will be operated under the environmental conditions of the competition to accomplish the robot system mission)

* System hierarchy: (a top-down breakdown of the system design into the elements to be baselined at each control gate or major review)

* Interfaces (identification, management, and verification of key interfaces identified for each system element in the system hierarchy at each system hierarchy level, including external interfaces)

* Requirements (key driving requirements for robot system design, operations, interfaces, testing, safety, reliability, etc., stated in proper “shall” language) Address system and lower level requirements.

* Technical budgets (e.g., mass, power & data allocated initially to system elements in the system hierarchy when baselined at a major review, with actual values tracked against the initial allocation reported as a minimum at each subsequent major review as the system matures through verification)

* Trade Studies (how important robot system decisions were made using a trade study methodology, with key decision results captured as robot system derived requirements)

* Reliability (design and operations considerations for assuring safety in the event of a system component failure during operations; and design and operations considerations for assuring successful completion of the mission)

* Verification of system meeting requirements (how you assure or intend to assure that the as-built system satisfies, in the context of the concept of operations and under the environmental conditions of the competition, the key driving requirements identified and discussed in the paper)

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RUBRICS Outreach Project Report – 20 Points

Each team must participate in an educational outreach project in their local community to engage students in STEM (Science, Technology, Engineering and Math). Outreach activities should capitalize on the excitement of NASA’s discoveries to spark student interest and involvement in STEM. Outreach strategies may include lessons and classroom materials using emerging communications and educational technologies to promote STEM; hands-on science and engineering activities that draw on NASA’s unique missions; and community demonstrations that have a hands-on component involving K-12 students. Teams are encouraged to connect with a diverse student population including women, minorities and persons with disabilities. Each team must submit a report of the Outreach Project electronically in PDF. A minimum score of 16 out of 20 possible points must be achieved to qualify to win in this category. In the case of a tie, the judges will choose the winning outreach project. The judges’ decision is final.

Scoring Rubric - Outreach Project Report Elements Points

Structure, Content and Intrinsic Merit:

There are 3 points for 3 elements

*Formatted professionally, clearly organized, correct grammar and spelling, size 12 font; single spaced, maximum of 5 pages not including the cover. Appendices are not allowed, however, a link in the body of the report to a multimedia site with additional photos or videos is allowed. Cover page must include: team name, title of paper, full names of all team members, university name and faculty advisor’s full name.

* Purpose for this outreach project, identify outreach recipient group(s).

* Illustrations must appropriately demonstrate the outreach project.

Educational Outreach Merit:

There are 10 points for 5 elements.

The report must effectively describe what the outreach activity(s) was.

* The report must describe exactly how the Robotic Mining Competition team participated, including the number of team members present.

* The report must reflect how the team thinks the outreach project inspired others to learn about robotics, engineering or Martian activities. The outreach must be STEM focused.

* The report must demonstrate the quality of the outreach including how hands-on activities were used to engage the audience at their level of understanding.

* The report must show statistics on the participants. How many children did you reach? What age range/grade-level? EACH EVENT NEEDS STATISTICS

Additional points for exceptional work:

There are 7 points available.

* The report must clearly describe activities, processes, and milestones used to engage underserved and underrepresented populations.

* The report must provide a summary of any feedback comments from each outreach event.

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* The report must clearly describe how Science, Technology, Engineering, and Mathematics (STEM) relates to the development of robotic mining.

* The report must provide two illustrations that clearly demonstrate how Science, Technology, Engineering, and Mathematics (STEM) relates to the development of robotic mining.

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RUBRICS Slide Presentation and Demonstration – 20 Points

The Slide Presentation and Demonstration is an optional category in the overall competition. The presentation and demonstration must be no more than 20 minutes with an additional 5 minutes for questions and answers. It will be judged at the competition in front of an audience including NASA and private industry judges. The presentations must be submitted electronically in PDF and MUST present the slides turned in. Visual aids, such as videos and handouts, may be used during the presentation but videos must be presented using the team’s own laptop. You may NOT update/modify your slide presentation and present it from your laptop. A minimum score of 16 out of 20 possible points must be achieved to qualify to win in this category. The content, formatting and illustration portion of the score will be judged prior to the live presentation and scored based on the presentation turned in. In case of a tie, the judges will choose the winning presentation. The judges’ decision is final. Notes on Demonstration

Safety is of the utmost importance. You are expected to be aware of the specific hazards associated with your robot and plan safe practices for demonstration. Everyone shall adhere to safe practices at all times during the demonstration, especially when troubleshooting unexpected issues in real-time. A clear zone shall be established around the robot, and no one shall enter that zone while the robot is in operation. All content from this paragraph shall be addressed when presenting the “Safety plan” topic.

“Demonstration” defined: We prefer that you perform a live demonstration of all functions, however we recognize that this is not always possible. If parts or the entire robot cannot be controlled at the time of demonstration, it is acceptable to move parts by hand (power must be turned off), show video from practice runs, etc. to communicate the functionality and attributes of the system.

In the presentation room: The competition staff will display the presentation as submitted

(see “Dates & Deadlines”); we’ll provide you with a remote control. An area will be set aside to set up your robot for demonstration. Note: you must move the robot from the cart to the provided supports if the tracks/ wheels will be operated during the demonstration.

Safety: Re-read the above note on safety, and plan how to safely handle the unexpected!

Scoring Rubric - Presentation and Demonstration

Elements Points

General content, formatting, and illustrations:

Content includes a cover slide (with team name, presentation title, names of team members, university name, and faculty advisor’s name). Include a slide with referenced sources.

Formatting is readable and aesthetically pleasing with proper grammar and spelling.

Contains illustrations to support slide content (technical content, progression of the project, etc.).

There are 3 base points for this element.

Up to 2 additional

points may be awarded for exceptional

supporting illustrations, for a total potential

score of 5 points.

Topics to Cover:

Introduction

Safety Plan for the demonstration**

Performance Goals

4 base points will be awarded if all content is

covered.

Failure to address each topic will automatically

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Design Philosophy and Process

Alternative Analysis – process, application, and results for: o Mining functionality o Component selection

The Final Product o Final configuration and functionality o Performance: testing results vs. goals

Innovation: o Comparison to last year and evolution from previous years o Identify efforts to evolve processes, features, hardware, software,

etc.

Project Management - Budget, schedule, team management, risk management, etc.

limit the maximum potential score to “2” points. Exception: lack of “innovation” topics will not count against

teams in their first year at the competition.

Up to 3 additional

points may be awarded for exceptional

coverage of content, for a total potential

score of 7 points.

Delivery:

Scored o Explanation of content o Quality of delivery and Time Management. Efforts to rehearse and

prepare are evident. o Live Demonstration** o Question and Answer session

Unscored o Adherence to safe practices (lack of adherence will result in score

reduction)

There are 4 base points

for this element. Failure to adhere to safe practices will

automatically result in a the maximum potential

score of “3” points.

Up to 4 additional points may be awarded

for exceptional performance, for a total

potential score of 8 points.

** Notice: Demonstration will not be permitted if the “Safety plan” content is not planned in advance and explained during the presentation prior to the intended movement(s).

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SCORESHEETS

2018 RMC | Inspection & Arena | Score Sheet

Team: Team #:

Day:

M T W Th F

INSPECTION

Judge(s) Name:

Robot Mass: Max = 80kg

Measurements: Width: Length: Height: Dimensions (1.5 m width x .75 m length x .75 m height) Robot may deploy beyond the 1.5 m x .75 m

footprint after the start of the competition attempt, but may not exceed a 2.5 meter height.

Dust Tolerant Design

0-10 pts Drive train components enclosed/protected and other component selection

0-10 pts Custom dust sealing features (bellows, seals, etc.)

0-10 pts Active dust control (brushing, electrostatics, etc.)

Pass Inspection

Achieved

Not Achieved

ARENA

Judge(s) Name:

Total Gravel Collected in kg (1kg to qualify, value = 15 points/kg)

Total BP-1 Collected in kg (data only, value = no points)

Arena

A

B

Channel

1

11

Attempt

1

2

12

Energy Consumed

Start Value: Units:

End Value: Units:

Calculated Watt Hours:

Dust Free Operation

0-20 pts Driving without dusting up crushed basalt

0-30 pts Digging without dusting up crushed basalt

0-20 pts Transferring regolith without dumping crushed basalt on your own robot

Any Rule Infractions?

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

Constructive Feedback to Students (will be copied verbatim):

____________________________________________________________________________

____________________________________________________________________________

____________________________________________________________________________

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SCORESHEETS

2018 RMC | Communication | Score Sheet

Team: Team #:

Day:

M T W Th F

COMMUNICATION

Judge(s) Name:

Average Bandwidth Max = 5000 kb/sec

Pass Comm Check

Achieved

Not Achieved

COMMENTS

Any Rule Infractions?

____________________________________________________________________________

____________________________________________________________________________

Constructive Feedback to Students (will be copied verbatim):

____________________________________________________________________________

____________________________________________________________________________

Team Spirit Comments

____________________________________________________________________________

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Arena

A

B

Channel

1

11

Attempt

1

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