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6 Articles

Welcome To SubTropolis: The Limestone Mine Turned Climate-Controlled Business Complex

November 10, 2024 by 32 Comments

After extracting all the useful stuff from a mine, you are often left with a lot of empty subterranean space without a clear purpose. This was the case with the Bethany Falls limestone mine, near Kansas City, Missouri, which left a sprawling series of caverns supported by 16′ (4.9 meter) diameter pillars courtesy of the used mining method. As detailed by [Benjamin Hunting] in a recent article on the Hagerty site, this made it a fascinating place for a  business complex development now called SubTropolis that among other things is used for car storage by Ford and long-term stamp storage by the US Post Office. (Check out their cool period photos!)

The reason for this is the extremely stable climate within these man-made caverns, with relative humidity hovering around a comfortable 40% and temperatures stable year-round at about 21 °C (70 °F), making it ideal for storing anything that doesn’t like being placed outdoors, while saving a lot on airconditioning costs. With Ford one of the biggest companies in SubTropolis, this means that many companies providing customization services for vehicles have also moved operations inside the complex.

With the only negative being a lack of daylight, it seems like the perfect place for many businesses and (evil) lairs, assuming electrical power and constant air circulation are provided.

Featured image: “Subtropolis” by [ErgoSum88]

Assemble Your (Virtual) Robotic Underground Exploration Team

May 26, 2020 by 6 Comments

It’s amazing how many things have managed to move online in recent weeks, many with a beneficial side effect of eliminating travel making them more accessible to everyone around the world. Though some events had a virtual track before it was cool, among them the DARPA Subterranean Challenge (SubT) robotics competition. Recent additions to their “Hello World” tutorials (with promise of more to come) have continued to lower the barrier of entry for aspiring roboticists.

We all love watching physical robots explore the real world, which is why SubT’s “Systems Track” gets most of the attention. But such participation is necessarily restricted to people who have the resources to build and transport bulky hardware to the competition site, which is just a tiny subset of all the brilliant minds who can contribute. Hence the “Virtual Track” which is accessible to anyone with a computer that meets requirements. (64-bit Ubuntu 18 with NVIDIA GPU) The tutorials help get us up and running on SubT’s virtual testbed which continues to evolve. With every round, the organizers work to bring the virtual and physical worlds closer together. During the recent Urban Circuit, they made high resolution scans of both the competition course as well as participating robots.

There’s a lot of other traffic on various SubT code repositories. Motivated by Bitbucket sunsetting their Mercurial support, SubT is moving from Bitbucket to GitHub and picking up some housecleaning along the way. Together with the newly added tutorials, this is a great time to dive in and see if you want to assemble a team (both of human collaborators and virtual robots) to join in the next round of virtual SubT. But if you prefer to stay an observer of the physical world, enjoy this writeup with many fun details on systems track robots.

DARPA Challenge Autonomous Robot Teams To Navigate Unfinished Nuclear Power Plant

March 6, 2020 by 4 Comments

Robots might be finding their footing above ground, but today’s autonomous robots have a difficult time operating underground. DARPA wanted to give the state of the art a push forward, so they are running a Subterranean (SubT) Challenge which just wrapped up its latest round. A great review of this Urban Circuit competition (and some of the teams participating in it) has been published by IEEE Spectrum. This is the second of three underground problem subdomains presented to the participants, six months apart, preparing them for the final event which will combine all three types.

If you missed the livestream or prefer edited highlight videos, they’re all part of DARPAtv’s Subterranean Challenge playlist. Today it starts with a compilation of Urban Circuit highlights and continues to other videos. Including team profiles, video walkthrough of competition courses, actual competition footage, edited recap videos, and the awards ceremony. Half of the playlist are video from the Tunnels Circuit six months ago, so we can compare to see how teams performed and what they’ve learned along the way. Many more lessons were learned in the just-completed Urban Circuit and teams will spend the next six months improving their robots. By then we’ll have the Caves Circuit competition with teams ready to learn new lessons about operating robots underground.

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DARPA Subterranean Challenge Urban Circuit Now Livestreaming

February 20, 2020 by 1 Comment

Currently underway is the DARPA Subterranean Challenge (SubT) systems competition for urban circuits streamed live on YouTube now through Wednesday, February 26th.

The DARPA Grand Challenge of 2004 kicked research and development of autonomous vehicles into high gear. Many components on today’s self-driving vehicles can be traced back to systems developed for that competition. Hoping to spur further development, DARPA has since held several more challenges focused moving the state of the art in autonomous robotics ahead.

To succeed in this challenge, robots must handle terrain that would confuse today’s self-driving cars. Cluttered environments, uneven surfaces of different materials, even the occasional flooded section are fair game. These robots also lose access to some of the tools previously available, such as GPS. The “systems track” denotes teams building physical robot systems versus a separate “virtual track” for simulation robots. “Urban circuit” is the second of four phases in this competition, environments of this phase are focused on man-made underground structures. (Think subway station.) For more details on this competition as well as description of various phases, see our introductory post or the competition site.

Those who rather not watch robots tentatively exploring unknown territory (and occasionally failing) may choose to wait for summaries published after competition rounds are complete. The first phase (tunnel circuit) from August-October 2019 was summarized by IEEE Spectrum here. Or you can go straight to DARPA for details on the systems track and virtual track with overall results posted on the competition site.

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DARPA Goes Underground For Next Challenge

August 16, 2018 by 16 Comments

We all love reading about creative problem-solving work done by competitors in past DARPA robotic challenges. Some of us even have ambition to join the fray and compete first-hand instead of just reading about them after the fact. If this describes you, step on up to the DARPA Subterranean Challenge.

Following up on past challenges to build autonomous vehicles and humanoid robots, DARPA now wants to focus collective brainpower solving problems encountered by robots working underground. There will be two competition tracks: the Systems Track is what we’ve come to expect, where teams build both the hardware and software of robots tackling the competition course. But there will also be a Virtual Track, opening up the challenge to those without resources to build big expensive physical robots. Competitors on the virtual track will run their competition course in the Gazebo robot simulation environment. This is similar to the NASA Space Robotics Challenge, where algorithms competed to run a virtual robot through tasks in a simulated Mars base. The virtual environment makes the competition accessible for people without machine shops or big budgets. The winner of NASA SRC was, in fact, a one-person team.

Back on the topic of the upcoming DARPA challenge: each track will involve three sub-domains. Each of these have civilian applications in exploration, infrastructure maintenance, and disaster relief as well as the obvious military applications.

  • Man-made tunnel systems
  • Urban underground
  • Natural cave networks

There will be a preliminary circuit competition for each, spaced roughly six months apart, to help teams get warmed up one environment at a time. But for the final event in Fall of 2021, the challenge course will integrate all three types.

More details will be released on Competitor’s Day, taking place September 27th 2018. Registration for the event just opened on August 15th. Best of luck to all the teams! And just like we did for past challenges, we will excitedly follow progress. (And have a good-natured laugh at fails.)

Ham-designed Gear Used In Thailand Cave Rescue

July 11, 2018 by 41 Comments

Unless you live in a cave, you’ve probably heard a little about the thirteen people — mostly children — trapped in the Tham Luang Nang Non cave in Thailand. What you may have missed, though, is the hacker/ham radio connection. The British Cave Rescue Council (BCRC) was asked for their expert help. [Rick Stanton], [John Volanthen] and [Rob Harper] answered the call. They were equipped with HeyPhones. The HeyPhone is a 17-year-old design from [John Hey, G3TDZ]. Sadly, [G3TDZ] is now a silent key (ham radio parlance for deceased) so he didn’t get to see his design play a role in this high-profile rescue, although it has apparently been a part of many others in the past.

The HeyPhone is actually considered obsolete but is still in service with some teams. The radio uses USB (upper sideband, not universal serial bus) at 87 kHz. The low frequency can penetrate deep into the ground using either induction loop antennas like the older Molephone, or — more commonly — with electrodes injecting RF energy directly into the ground.

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