Hose
Hose

Figure 8 shows the course layout for the Hose task.

The Hose task consists of three sub-tasks:  (1) Hose nozzle moves past the yellow line (1 point), (2) Hose nozzle touches the wye (1 point), and (3) Hose nozzle attaches to wye (1 point).

For the first sub-task, the robot begins entirely behind the start line, travels to the reel, grasps the hose nozzle, and begins to unreel the hose.  This sub-task shall be considered complete when the hose nozzle passes the yellow line. 

For the second sub-task, the robot moves the hose nozzle to the wye.   This sub-task shall be considered complete when the hose end makes physical contact with the wye.

For the third sub-task, the robot attaches the hose nozzle to the wye.  Typically, this would involve one hand holding the hose in place, and the other hand rotating the hose collar to mate with the wye.  (If one rotates only the hose body, then the threads do not engage.)  This sub-task shall be considered complete when the hose end remains in contact, unsupported by the robot, with the wye.  There is no requirement on the number of turns of the collar or on the number of threads engaged.

The DRC Trials will use the following components:

Wye:  Plain Wye (1-1/2 inch NH Inlet x (2) 1-1/2 inch NH Outlet, Dixon brand, SKU PW15F15F, or similar)
Hose:  1-1/2 inch hose (25 ft long, FireHoseDirect brand, SKU 15D850, or similar)
Reel:  Medium Fire Hose Storage Reel (Dixon brand, SKU HSR18, or similar)

The height of the center of the reel will be approximately 40 inches above the ground.  In the initial state, the hose nozzle will be in a stable state, either on the top of the reel or hanging down from the reel as shown in the figure, and the reel will be oriented approximately perpendicular to the wall.   

The height of the wye will be approximately 40 inches above the ground, no less than 32 inches above the ground, and no more than 48 inches above the ground.

If an intervention takes place during the first sub-task, the robot will be reset behind the start line, and the hose will be replaced on the reel, thus restoring the task to its initial state.

If an intervention takes place during the second sub-task, the robot will be reset behind the yellow line, and the hose will be placed in a hose-holding fixture mounted on the wall.   The height of the hose-holding fixture will be approximately 40 inches above the ground, so the robot need not reach down to the ground to pick up the hose.

If an intervention takes place during the third sub-task, the same procedure will be followed as for an intervention during the second sub-task.

Task Schedule - Day 1

Start TimeEnd TimeBlueRed
8:009:00WRECSKAIST
9:0010:00
10:0011:00MITNASA JSC
11:0012:00ViGIRSCHAFT
1:002:00
2:003:00TRACLabsTHOR
3:004:00Intelligent Pioneer

 

Task Schedule - Day 2

Start TimeEnd TimeBlueRed
8:009:00IHMC RoboticsDRC-Hubo
9:0010:00TROOPERRoboSimian
10:0011:00
11:0012:00Chiron
1:002:00Mojavaton
2:003:00HKUTartan Rescue
3:004:00
 
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