Jordan Bramble
Harold Merida
Ibtsam Khan
Sponsor:
Bo Pollett
1
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
2
●
●
●
●
●
When: March 14-15, 2014
Stage: 2000 sq. ft. arena,
6 ft. ceiling
26 teams in 2013, only
one airborne.
Consists of placing
colored cones onto pins
to control territories.
points awarded based on
time.
Cones are located behind
a hinged door.
3
Hinged Container
for Cones
4
36
First Level
Territories
------------
8
Second
Level
Territories
------------
1
Third Level
Territory
5
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
6
• Each match will be seven (7) minutes long
• Each match will consist of four or fewer robots
• The team’s color cone is the topmost in the stack of cones for
control of a territory
• Teams cannot attempt to control a territory unless it would be
contiguous
• Cones will be placed behind hinged doors which must be
opened before cones can be accessed.
• The first time a team’s door is opened will result in ten (10)
points
7
• Airborne robots have a constant 3x multiplier when scoring cones
• For each contiguous powered territory on the first level controlled at the
end of the match, a team will be awarded ten (10) points
• For each contiguous powered territory on the second level controlled at the
end of the match, a team will be awarded thirty (30) points
• For each contiguous powered territory on the third level controlled at the
end of the match, a team will be awarded forty (40) points
• Every ten (10) seconds that a team controls a first level territory will result
in one (1) point
• Every ten (10) seconds that a team controls a second level territory will
result in three (3) points
• Every ten (10) seconds that a team controls a third level territory will result
in five (5) points
• Completion of an action for the first time will result in ten (10) points being
8
awarded to the team responsible.
• 3x point multiplier
• Higher velocity than
ground vehicles
• Less obstacles for
airborne vehicles
• Faster access to
territories without
having to access
ramps
9
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
10
• Three distances
• 20.5 feet, 30.7 feet , 47.7 feet
• 19 Trials per distance
• 57 trials total
11
19 Trials were performed to determine the average velocity of a quadcopter for the given distances
12
13
14
15
• Three vertical
distances
• 2.5 feet, 4.5 feet ,
5.5 feet
• 5 Trials per
vertical distance
• 15 trials total
• Laser used to
determine height.
16
17
18
19
20
• Three height
• 2.5 feet, 4.0 feet ,
5.5 feet
• 8 Trials per height
• 24 trials total
21
22
23
24
25
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
26
• Mean Velocity of 3.91 ft/sec
• Mean ascending velocity for 4.5 ft. of
1.14 ft/sec
• Assumption: it takes 15 seconds to pick
up and drop a cone
• Time to acquire a territory :
• t = 2d/3.91+ 2*4.5/1.14 +15
• d = distance from home territory to pin.
• Need 7 contiguous territories to control
3rd level.
• Controlling 3rd level takes 266.2 seconds
• Mean time to control territory is 33.3
sec.
• 420 seconds in a match.
• Expected # of cones: 12
27
28
29
30
31
32
•
•
•
•
•
•
•
•
F = number of times 1st level territory is controlled for 10 sec.
S = number of times 2nd level territory is controlled for 10 sec
T = number of times 3rd level territory is controlled for 10 sec
X = number of contiguous 1st level territories controlled at end
Y = number of contiguous 2nd level territories controlled at end
Z = number of contiguous 3rd level territories controlled at end
Also add 30 pts for the first time the hinged door is opened
Pts. = 3F + 9S + 15T + 30x + 90Y + 120Z + 30
33
constraints
•
•
•
•
F≥5
S≥1
F + S + T ≤ 12
X + Y + Z ≤ 12
• Analyzing this strategy with
no competition, and no user
error, yields 1908 pts.
34
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
35
• The Quadcopter shall compete in the Jerry Sanders
Creative Design Competition.
• The Quadcopter system shall be capable of
averaging 480 points in competition. A strategic
support tool shall be developed to determine and
verify optimal strategies for achieving these numbers.
• The Quadcopter shall have a mechanism to pick up
and carry cones, in order to place them on another
place in the course.
36
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
37
• The Quadcopter shall be able to remain in flight for at least 7 minutes at a
time. A 3 minute buffer is desirable.
• The Quadcopter shall lift the cone to a sufficient height, at least 6 feet above
the ground.
• The Quadcopter shall place cones on a 1 inch diameter 8 inch long pin.
• The Quadcopter shall be ably to safely navigate a 44’ X 44’ arena.
• The Quadcopter shall have a carrying capacity of at least 1kg, for a
camera, cone acquisition mechanism, and cone.
38
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
39
•
•
•
•
The Quadcopter shall fit within a 3’x3’x3’ cube.
The Quadcopter shall weigh no more than 25lbs.
The Quadcopter shall be equipped with a FPV camera.
The Quadcopter shall have a mechanism for picking up Adams
Saucer cones with a 2’’ diameter central hole and 2’’ height.
• The Quadcopter’s propellers shall be guarded such that they
cannot damage the netting above the course.
• The Quadcopter shall be equipped with a mechanism for
concentrating the thrust such that it will not blow cones away when
attempting to pick them up.
40
APM AutoPilot
3DR Power Module
Magnometer
Telemetry Set
20 Amp ESC
Video Transmitter
Motors x 4
Propellers x 4
Frame 3’ X 3’
Landing Gear
Batteries
FPV Camera/laptop
RC Transmitter
41
42
Category Weight X Score = Final Score
Category Weight (0-5):
Score (0-5):
Final Score (0 -150):
43
Part Name
Motors
APM 2.6 Autopilot
Cost
$96
$159
3DR Xt60 Battery Adapter
$99
Propellers
$31
Magnemeter
$89
Frame
$99
Telemetry Set
$86
20 Amp ESCs
$104
DX8 Radio Control
$429
FPV Camera + Transmitter
$249
Batteries
$138
Replacement Kit
$114
44
• Hooks that can be
inserted into the center
of the cone.
• Clamps that can hold the
center edge of the cone
• Claw that uses friction to
hold the outer surface of
the cone
45
46
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
47
• Each feasible strategy obtains at least 480 points and
requires at most the number of expected cones that
can be picked up.
• Each strategy contains sub-strategies that are
composed of the order of the possible decisions that
will be made to attain a given amount of pts.
• Once all strategies and sub-strategies are determined
they must be compared in competition
48
• Inputs : Velocity Distributions, user error, agility and
stability, precision
• All strategies are compared in match simulation
• A strategy is not rendered obsolete until all substrategies are obsolete
• Outputs: points scored, cones required, degree of
immunity to opponents choices
• Strategy alternatives will be ranked with a value
function
49
50
•
•
•
•
•
•
•
•
•
Description of Competition
Competition Rules
Experiment
Strategy Analysis
Mission Requirements
Functional Requirements
Design Requirements
Simulation Design
Project Plan
51
52
53
o $55.00/hr with an overhead rate of $110.00/hr
o Total Costs = Parts + Labor + Conference
Costs
o Conference: Hotel, Transportation of Copter and
transportation of participants
o Total Cost
o Best Case: ~ $113,000
o Medium Case: ~ $125,000
o Worst Case: ~ $136,000
54
55
56
Risk
Mitigation
Damage during testing

3D print parts for low level test configuration

Adequate practice

Purchase spare parts

Budget for spare parts

Adequate practice time

Transport quadcopter using a reliable carrier

Drive to competition and ensure delivery of
Damage during competition
Damage during transportation of quadcopter
quadcopter
Incorrect simulation assumptions are made

Ensure assumptions used in the model are valid
by analyzing prior competition results

Involve as many of the stakeholders as possible.
57
Operator error
Computer Error (if autonomous route is pursued)

Ensure enough practice occurs

Practice with a small scale quadcopter

Select the best operator

Ensure to the best of ability that no error is made

Create operational scenarios to ensure that all
scenarios are considered.
Hardware Failure at any time
Going Over Budget
Time Constraint
Loss of essential Quadcopter Parts

Revert back to manual control

Extensive testing

Purchase extra parts

Ensure adequate practice time

Perform adequate analysis

Follow CPI and SPI charts

Start earlier

Work efficiently

Actively monitor project schedule

Keep an active inventory of all active parts

Purchase of additional parts
58
59
60