Rules and Regulations

2024
where concept meets reality

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Contents
1 Introduction ......................................................................................................................... 4
2 Competition Overview ........................................................................................................ 5
2.1 Competition Objective ............................................................................................... 5
2.2 Competition Theme .................................................................................................... 5
2.3 Dates and Venue......................................................................................................... 6
2.4 Competition Scoring .................................................................................................. 8
3 Regulations ......................................................................................................................... 9
3.1 Eligibility .................................................................................................................... 9
3.1.1 International teams ................................................................................................. 9
3.1.2 Team members ....................................................................................................... 9
3.1.3 Professional involvement ....................................................................................... 9
3.1.4 Team supervisor ..................................................................................................... 9
3.1.5 Number of teams .................................................................................................... 9
3.2 Safety .......................................................................................................................... 9
3.2.1 Responsibility of equipment................................................................................... 9
3.2.2 Launch and recovery. ............................................................................................. 9
3.2.3 Separated charging area ......................................................................................... 9
3.2.4 Grounds for disqualification................................................................................. 10
3.2.5 Pool Safety ........................................................................................................... 10
3.2.6 Limitations ........................................................................................................... 10
4 Rules ................................................................................................................................. 11
4.1 Rules of Conduct ...................................................................................................... 11
4.1.1 Alteration to competition schedule ...................................................................... 11
4.1.2 Mannerisms .......................................................................................................... 11
4.1.3 Punctuality ............................................................................................................ 11
4.1.4 Misconducts ......................................................................................................... 11
4.2 General Rules ........................................................................................................... 11
4.2.1 Forfeit ................................................................................................................... 11
4.2.2 Mission Briefing ................................................................................................... 11
4.2.3 Competition officials ............................................................................................ 11
4.2.4 Usage of common sense ....................................................................................... 11
4.2.5 Competition supervision ...................................................................................... 11
5 Technical Requirements .................................................................................................... 12
5.1 General Requirements .............................................................................................. 12

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5.1.1 Engineering practices ........................................................................................... 12

5.1.2 Safety inspection .................................................................................................. 12
5.1.3 Using multiple vehicles ........................................................................................ 12
5.2 Vehicle Requirements .............................................................................................. 12
5.2.1 Weight Requirements ........................................................................................... 12
5.2.2 Vehicle emissions ................................................................................................. 12
5.2.3 Batteries ................................................................................................................ 12
5.2.4 Launch and Recovery System (LARS) ................................................................ 12
5.2.5 Tether ................................................................................................................... 13
5.2.6 Buoyancy .............................................................................................................. 13
5.2.7 Indication light ..................................................................................................... 13
6 Static Events...................................................................................................................... 14
6.1 Technical Design Report (TDR) .............................................................................. 14
6.2 Team Presentation .................................................................................................... 15
7 Dynamic Events ................................................................................................................ 17
7.1 General Overview .................................................................................................... 17
7.1.1 Subsea docking on docking station ...................................................................... 17
7.1.2 Pipeline inspection ............................................................................................... 17
7.1.3 Visual inspection of subsea structure ................................................................... 17
7.1.4 Valve intervention on subsea structure ................................................................ 17

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1 Introduction

Tau Autonomy Center are pleased to announce the TAC Challenge for Unmanned Underwater
Vehicles 2023, which will be held at Tau Autonomy Center, not far from Stavanger, Norway.
This is the official competition handbook.
The goals of this competition are to advance the state-of-the-art of Unmanned Underwater
Vehicles by challenging multi-disciplinary teams of students to perform piloted and
autonomous mission in the industrial underwater environment and to foster ties between young
engineers and the organizations involved in piloted and autonomous underwater technologies.
Please note that although this is a competition focusing on autonomy the tasks are designed for
both autonomous and piloted drones (or a combination).
The official competition language is English.
Any questions concerning the contents of this document of other competition details can be
directed to TAC Challenge via the TAC Challenge Community Forum:
https://tacchallenge.vbulletin.net/
The link to the TAC Community Forum, as well as other information, can also be found on the
TAC Challenge website:
https://tacchallenge.com/.

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2 Competition Overview
2.1 Competition Objective

The aim of TAC Challenge is to increase interest and innovation within the field of autonomous
robotics for aerial and underwater application amongst STEM students. The competition is
divided into an aerial competition and a subsea competition, which act as separate classes. This
document will only address the subsea class. The rules and regulations for the aerial class are
detailed in a separate document (see https://tacchallenge.com/).
The subsea competition challenges teams of university students to conceive, design, fabricate,
develop, and compete with small Unmanned Underwater Vehicles. We encourage the teams to
challenge conventional solutions.

2.2 Competition Theme

The competition is designed to replicate real-world industry problems. The challenges are
provided by sponsors and contributors where all of the challenges are relevant to the drone
industry today.
Drone technology has evolved rapidly during the last years. The development of autonomous
underwater vehicles is highly relevant today and presents a series of challenges. Some of these
challenges include underwater residency and charging, communication, navigation, and
positioning.
Successful implementation of the new technology is dependent on multi-disciplinary teams
working together for safe integration and operation of the untethered vehicles.
The 2023 competition focuses on the following:
1. Underwater docking to a Subsea Docking Station.
2. Underwater data transfer and charging via induction connectors.
3. Underwater navigation and positioning.
4. Object and image recognition underwater.
5. Acoustic localization and navigation.
6. Visual inspections.
7. Pipeline inspection.
8. Drone intervention by operating standard subsea interfaces by use of manipulator.
9. Launch and recovery philosophy.

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2.3 Dates and Venue

TAC Challenge 2023 will be held 9 – 13 June 2023 at Tau Autonomy Center outside Stavanger,
Norway. The teams will have the opportunity to train on certain missions during the weekend.
The competition days are Monday and Tuesday. The missions will be completed in the marked
area in the top right corner and carrying the following coordinates: 59.09246°N, 5.9101°E.
The venue consists of, but is not limited to, a drone docking station, a pipeline, a subsea
structure, and launch and recovery area.

The area of operation is located in the harbor at Tau Autonomy Center (TAC) and is
approximately 20 m by 20 m. One mission will be performed in the TAC training pool.

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2.4 Competition Scoring

The competition is divided into static and dynamic events.

Static events include the Technical Design Report and Team Presentation, and dynamic events
include the missions. The presentations will be held in-person during the competition, while the
documentation will be submitted in advance. The static events will be evaluated and scored by
a jury of professionals within the field. The static events are mandatory for all teams.
The dynamic events (i.e., missions) will be scored based on the results of the mission as well
as the execution method (i.e., demonstration of autonomous behavior). A combination of
autonomous and piloted mission strategy is allowed. To encourage creativity and innovation,
the teams are free to decide how to solve a mission, as long as they stay within the rules and
framework of the competition. This allows using different types of vehicles, like an ASV, UAV,
etc. If your team is unsure if your planned strategy is allowed, contact TAC Challenge.
Autonomous behavior will award the highest scoring, but also represent the highest risk for
success. The missions are detailed in the Mission Booklet.
Competition Scoring - Maximum points
Static Events Standard Points Bonus Points Total
Technical Documentation 100 N/A 100
Team Presentation 100 N/A 100
Dynamic Events (Missions) Standard Points Bonus Points Total
Docking 120 100 220
Pipeline Inspection 100 * 300 * 400 *
Visual Inspection 120 * 120 * 240 *
Valve Intervention 100 200 300

*Approximate value due to unknown number of markers to identify. See the Mission Booklet.

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3 Regulations

3.1 Eligibility
3.1.1 International teams
The competition is international and welcomes teams from all over the world.

3.1.2 Team members

The majority of the team members must be full-time students at university level or lower. This
does not include PhD students and candidates. A team member may only be part of one team
and take part in static and dynamic events for one team only (this is limited to the internal
subsea class, meaning a person is allowed participate in both the aerial and subsea class).

3.1.3 Professional involvement

The vehicles are meant to be conceived, designed, and maintained by the student team members
with limited involvement from professionals. The students are, in other words, expected to be
a significant part of the development process.

3.1.4 Team supervisor

Each team must have one team supervisor. The team supervisor is the main contact person for
the officials during the registration process and the competition.

3.1.5 Number of teams

A university can register several teams. Teams which are formed with members from two or
more schools/universities are treated as a single team.

3.2 Safety
3.2.1 Responsibility of equipment
Competition organizers are not responsible for any damage or loss of the vehicles or equipment
before, during, or after the competition.

3.2.2 Launch and recovery.

The teams commit themselves to use the standard launch and recovery procedure sat by TAC
Challenge. Failure to use this procedure can lead to disqualification from the competition. The
LARS method is further detailed in the Vehicle Requirements section.

3.2.3 Separated charging area

There will be a separated charging area on the competition site. Charging of main power
batteries is only allowed inside this area. No machining is allowed in the charging area. At least
one team member who has knowledge of the charging process must stay with the batteries
during charging. Batteries must not be charged inside of sealed vessels at any time.

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3.2.4 Grounds for disqualification

Organizers reserve the right to penalize or disqualify a team registered for their competition in
case of unsafe operating behavior, especially if the reputation of the competition, sponsors and
other teams is compromised.

3.2.5 Pool Safety

Due to the risk of ground fault, one is allowed to reach inside the training pool once the docking
station is powered on. The teams should also limit reaching in the water when their own vehicle
is in the pool.

3.2.6 Limitations
Since the competition will be arranged outdoors and Norway has a lot of different weather, even
in June, the following weather and condition limitations apply:

Weather limitations
Precipitation Light rain
Wind speed average 8 m/s
Maximum gust speed (10 minute) 10 m/s
Significant wave height 1.5 mS
Sea current 0.3 knots

The competition judges will notify the teams if the weather conditions are beyond these limits.

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4 Rules

4.1 Rules of Conduct

4.1.1 Alteration to competition schedule

The officials reserve the right to change the schedule of the competition and/or interpret or
modify the competition rules at any time and in any manner that is, in their sole judgment,
required for safe and efficient operation.

4.1.2 Mannerisms
All teams are required to cooperate with and follow all instructions from the TAC Challenge
organizers. This is mainly meant for the efficiency of the competition and the safety for
everyone involved.

4.1.3 Punctuality
It is the responsibility of each team to be in the right place at the right time.

4.1.4 Misconducts
Misconducts or failure of a team member to follow an instruction directed specifically to that
team or team member can result in penalty points being deducted from the team’s overall score
or, in extreme cases disqualification.

4.2 General Rules

4.2.1 Forfeit
If a team is not present and ready to compete at the scheduled time they forfeit their attempt at
that event.

4.2.2 Mission Briefing

Team supervisor, pilots, and other members of the team are required to attend a team briefing
related to the event they partake in.

4.2.3 Competition officials

The competition officials disassociate themselves from all activities of the teams besides their
own competition and associated events.

4.2.4 Usage of common sense

All teams are advised to follow safe practices and common sense when working on the vehicle
and when operating the vehicle, before, during, and after the competition.

4.2.5 Competition supervision

Stinger Technology will observe the underwater activities with their own Unmanned
Underwater Vehicles. The video footage will be streamed for the judges and participants.

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5 Technical Requirements
5.1 General Requirements
5.1.1 Engineering practices
The vehicle must be designed and fabricated in accordance with good engineering practices.
Good environmental practices are emphasized.

5.1.2 Safety inspection

Vehicles can and will be inspected by any competition officials at any time to ensure that there
is no unreasonable safety hazard to participants, staff, or the host facilities. This also includes
equipment supporting the operation (e.g., power and control panels). The organizers, sponsors,
partners are in no way liable for any injury or damage caused to or by any vehicle or equipment.

5.1.3 Using multiple vehicles

Multiple vehicles may be used during missions, including the use of Unmanned Surface
Vessels(s) (USV) to support the underwater vehicle(s). USVs are not weight restricted.

5.2 Vehicle Requirements

5.2.1 Weight Requirements
The team will also be awarded points based on the weight of the underwater vehicle. A vehicle
under 25kg will award the most points, due to this being a limit used by the offshore industry
for man-portable equipment. The vehicle will be weighed before each mission. If the drone’s
weight varies between the missions, the highest weight will count.
Weight including batteries Points Comments
< 25 kg +50p
25 – 50 kg +20p
50 – 100 kg 0p
> 100 kg --- Disqualified

5.2.2 Vehicle emissions

Due to environmental concerns, the drone is not permitted to emit anything besides air and
water during the competition.

5.2.3 Batteries
If the team decides to use batteries, all batteries must be sealed to reduce the hazard from acid
or caustic electrolytes. The open circuit voltage of any battery or battery system in a vehicle
may not exceed 60 VDC.

5.2.4 Launch and Recovery System (LARS)

TAC Challenge will provide a LARS for the underwater vehicles for the ocean missions. The
method is based on a crane that lowers the drone from the quay to the ocean’s surface. Once
the drone reaches the surface, the crane is detached from the drone. For the vehicle to be

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compatible with the LARS, it must have the possibility to be safely secured to carabiner hooks
or a sling.

5.2.5 Tether
Since the area of operation connects to the open ocean, teams are strongly encouraged to use a
tether to avoid loss of the vehicles. A tether length of 50 m is sufficient to maneuver freely in
the area of operation (the tether should not be shorter than 30 m). If this is a problem, contact
the TAC Challenge organizers.
If a team decides to have power in the tether, the voltage cannot exceed 50V. If this is a problem,
contact the TAC Challenge organizers.

5.2.6 Buoyancy
All untethered vehicles must be positively buoyant.

5.2.7 Indication light

In the Docking Mission, the team can use a light to indicate power transfer between the
inductive connectors (power puck). This light must illuminate when the secondary power puck
receives power from the primary side (i.e., when docked). The light is only allowed to be
powered by the power puck (i.e., it cannot be controlled and powered by the vehicle). This will
be verified by the judges on land before the mission attempt starts. This light will be monitored
pool side during the mission and must therefore be visible from a distance under water. The
light-system will not be provided and must be developed by the team.

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6 Static Events

6.1 Technical Design Report (TDR)

The Technical Design Report (TDR) is a key part of the TAC Challenge. The TDR provides
teams with the opportunity to demonstrate their technical expertise, innovation, safety
considerations, and competition strategy. The report should provide a concise yet
comprehensive description of the team's technical design and engineering approach, outlining
the system architecture, software, hardware design, and the team's competition strategy and
SJA. The TDR can be awarded with a maximum of 100 points.

The TDR should include the following sections:

1. Introduction: This section should briefly describe the team's AUV or ROV design
and objectives, as well as their overall competition strategy.
2. Competition Strategy: This section should provide a concise yet comprehensive
description of the team's competition strategy, including how they plan to approach
the different mission tasks and challenges of the competition.
3. Safe Job Analysis (SJA): This section identifies and mitigates risks associated with
the missions during the competition. It involves breaking down the job into steps,
identifying hazards, and implementing controls to ensure the job can be completed
safely. A template for the SJA is given by TAC Challenge and is excluded from the 5-
page limit). If you have not received this contact [email protected].
4. System Architecture: This section should provide a concise description of the AUV
or ROV's hardware and software architecture, including its sensors, actuators,
communication systems, and control mechanisms. The report should detail the
software, electrical, and mechanical design. The team should explain how their system
design and architecture aligns with their competition strategy.
5. Testing and Validation: This section should provide a description of the team's
testing and validation process, including the procedures and metrics used to evaluate
the system's performance.
6. Conclusion: This section should summarize the team's achievements and highlight
how their design and strategy position them to excel in the competition.

The TDR will be evaluated by a panel of judges based on the following criteria:
• Technical Depth and Innovation: The report should demonstrate an understanding
of the technical challenges and objectives of the competition and showcase innovative
solutions to address these challenges.
• Clarity and Organization: The report should be well-organized, clearly written, and
easy to understand.

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• Safety: The report should demonstrate that safety considerations were incorporated
into the design of the AUV or ROV. The report should also provide evidence of safety
protocols that will be followed during the competition.
• Competition Strategy: The report should demonstrate a well-thought-out and
effective competition strategy.
• Feasibility: The report should demonstrate that the team's design and strategy are
feasible and can be implemented within the constraints of the competition.
Teams should ensure that their TDR fits within the maximum 5-page limit, while still conveying
their technical expertise, innovation, and strategy. A well-written and concise report can
impress the judges and highlight the team's unique approach to solving the challenges of TAC
Challenge.

The TDR should be written in English and follow this format:

• 5-page limit (excluding SJA, references and appendices).
• A4 page size (ISO: 210 x 297 mm).
• Margins ≥ 0.8 in.
• Font: Times New Roman 12pt.
• Header on every page including team name and page number.
• Submitted in .pdf format.

Submit the TDR to [email protected]

The deadline for the TDR is 01.06.2024 (June 1. 2023) (this also includes the SJA)

6.2 Team Presentation

Each team will have a maximum of 20 minutes to present their AUV or ROV design and
competition strategy to the judges. The presentation should be focused on providing a clear,
concise, and engaging overview of the team's competition strategy, vehicle design and
development process. The Team Presentation can be awarded with a maximum of 100 points.
The presentation can include visual aids, such as PowerPoint slides or videos, to help
communicate the team's message. Teams should also be prepared to answer questions from the
judges and demonstrate their AUV or ROV if requested.

The presentation should include these topics:

1. System Overview: The presentation should include a general overview of the
technical systems for the vehicle design and address major design decisions.
2. Competition Strategy: The presentation should detail the team's overall competition
strategy, including plans for completing the competition missions, contingency plans,

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and tactics for dealing with unexpected challenges. The presentation should also
explain how the design of the AUV or ROV supports the team's competition strategy.
3. Development Process: The presentation should then describe the team's development
process, including the methods used for prototyping, testing, and iteration. The
presentation should demonstrate that the team followed a systematic approach to
development, with documentation of their process and decisions.

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7 Dynamic Events

7.1 General Overview

The dynamic events consist of missions which are all performed at the venue during the two
competition days. The missions include:
• Subsea docking
• Pipeline inspection
• Visual inspection of subsea structure*
• Valve intervention*
*The Visual Inspection mission and Valve Intervention mission will be performed in the same
run.
The following subsection will present a general description of each task. Detailed mission
descriptions are found in the Mission Booklet.

7.1.1 Subsea docking on docking station

A docking station is positioned in an indoor training pool in the TAC building. The vehicle will
locate the docking station and then attempt to dock to this station. The docking station is
equipped with an inductive 250W Subsea Power Puck, developed by Subsea USB, which can
transfer data and power to the vehicle. The team will demonstrate power transfer by
illuminating a light equipped on the vehicle connected to the secondary power puck; and
establish communication with the docking station. The docking station will also be equipped
with predefined visual indicators (ArUco Tags). Specific autonomous behavior will also reward
points.

7.1.2 Pipeline inspection

A pipeline, positioned on the seabed in the operational area, needs to be inspected. The pipeline
has an unknown path and position. There is an unknown number of ArUco markers along the
pipeline which need to be identified. Delivering this code in the correct order will reward
maximum points. Specific autonomous behavior will also reward points.

7.1.3 Visual inspection of subsea structure

An underwater structure, located on the seabed in the operational area, must be inspected.
Various ArUco markers are positioned on the structure and must be recognized to achieve
points. Specific autonomous behavior may also reward points.

7.1.4 Valve intervention on subsea structure

Two valves are positioned on the same underwater structure from the previous mission. The
valves have a standardized subsea interface and can be turned either clockwise or anticlockwise
in a 90-degree sector. Before the mission starts, a judge will inform the team on which way the
valves must be turned and its final position. To achieve points, the team must operate the valves
according to the information given by the judge. Specific autonomous behavior will also reward
points.

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