SpecificationNumber Importance

Source(PRP,

interview,etC)

Specification (Metric) Unit of Measure TargetValue Tolerance Comments/Status Link to plan Concluded Condition

S1 3 CR1 Autonomous Flight Yes/No Yes Link to S1 plan Partial/Untested

S2 2 CR2 Still Image Capture Yes/No YesAutonomous CameraActivation Link to S2 plan

Failed. Cameradisfunctinal

S3 2 CR2 Store still images MB 100-1012 $1,000

Craft has sufficientdata storage formultiple pictures onboard Link to S3 plan

Failed. Cameradisfunctinal

S4 Flight time Minutes >10 >10 Link to S4 plan PassS5 Craft can fly with full weigh minutes >10 >10 Link to S5 plan PassS6 2 PRP Portability yes/no Yes Yes Yes or No to is the

craft portable Link to S6 plan Pass

S7 3 CR6 On-board Range Sensing meters 0.5-2 2Lidar for horizontaldetection, sonar fordownward detection

and backup horizontal Link to S7 plan Partial/Untested

S8 3 CR7 Object Avoidance Yes/No yes

Avoid randomlyplaced objectswithin craft's path Link to S8 plan Untested

S9 3 ER Safety Yes/No Non Non rotor shielded Link to S9 plan Pass

S10 3 CR9 Remain in budget [$] 1000 ± 30 $1,000stayed undertolerance budget Link to S10 plan Fail

S11 3 CR10 Facial Recognition % <5% 0-20%

Can "cheat" therecognition withLEDs, eg. IR aroundface area Link to S11 plan Untested

S12 3 ER Design Yes/No Non Non durable airframe Link to S12 plan Fail

XΔO

KEY for Concluded conditionDoes not meet expectationCaution-Undetermined if specification is metMeets specification

Tested By: _____Team: P15230

SpecificationNumber Importance Source Function Specification (Metric) Unit of

MeasureMarginal

ValueIdealValue Comments/Status

S1 3 CR1 Yes/No Yes Yes

SpecificationNumber

S1

SpecificationNumber

S1

Subsystem/ Function/ Feature Name: Flight/Overall Systems

S1 Test PlanDate Completed: ____Test Created By: Peter Webster

Concluded Condition of meeting Engineering Specificati Ο- Meets Marginal ValueI. TESTING SPECIFICATION

Autonomous FlightII. EQUIPMENT REQURIED

Equipment or Instrumentation required

UAS fully charged and final design and systems integration completed on craft, ready for flight testing.Electrical monitoring equipment and camera for video capture of craft flight.

III. DATA COLLECTION STRATEGY

Data acquisition strategy

This test will most likely be the final stage of the UAS testing journey. The craft will be complete and alreadyexposed to pre-autonomous flight-testing for safety and systems check. Video footage in addition to electricalmonitoring will be the form of data acquisition to determine the final ruling of autonomous flight.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONSee images of systems monitoring and video footage of UAS flightV. RESULTS

Simulated path planning was tested as functional with simulated sonar inputs

VI. CONCLUSIONFull autonomy untested/not integrated. Craft doesn't have autonomous directional flight actualized and tuned.Kill switch is functional.Video recording for LIDAR not integrated into final system.Status LEDs provided from Teensy program.

SpecificationNumber Importance Source Function Specification (Metric) Unit of

MeasureMarginal

ValueIdealValue Comments/Status

S2 2 CR2 Yes/No YesAutonomous Camera

Activation

SpecificationNumber

S2

SpecificationNumber

S2

Subsystem/ Function/ Feature Name:__Imaging_

S2 Test PlanDate Completed: 4/10/15Test Created By: Philip TifoneTested By: Philip TifoneTeam: P15230 - Autonomous QuadcoptorConcluded Condition of meeting Engineering Specification X - Does not meet expectationI. TESTING SPECIFICATION

Still Image CaptureII. EQUIPMENT REQUIRED

Equipment or Instrumentation required

Completed PCB, Modified Mobius Camera, Lidar Pi with camera, IR TargetIII. DATA COLLECTION STRATEGY

Data acquisition strategy

This test will be performed as both a benchtop test, and as a completed UAS assembly. The primary goal of this testis to ensure that the Lidar Pi is able to remotely trigger the Mobius camera. Before the test may be conducted themobius camera must be modified to allow remote activation. Mounted to the bench the lidar pi and camera will bebrought online. An IR beacon will then be presented to the system, triggering an image capture. This test will berepeated with the completed UAS. The UAS will be brought online and then the IR beacon will be used to triggerthe camera activation.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONAt the end of the test, an Image should reside upon the SD Card.V. RESULTSTest is a Failure. The Mobius Camera is unable to be activated remotely. It is believed that the unit is damadged. It is flashing anunknown error code that is not documented on the manufacturer's site. The unit does not boot.

VI. CONCLUSIONAnother device must be used. A device that was origionally designed to perform remote picture taking would be preferable.

SpecificationNumber Importance Source Function Specification (Metric) Unit of

Measure Marginal Value IdealValue Comments/Status

S3 2 CR2 MB 100-1012 MB 1000

Craft has sufficient datastorage for multiplepictures on board

SpecificationNumber

S3

SpecificationNumber

S3

Subsystem/ Function/ Feature Name:__Imaging_

S3 Test PlanDate Completed: 4/15/2015Test Created By: Philip TifoneTested By: Philip TifoneTeam: P15230 - Autonomous QuadcoptorConcluded Condition of meeting Engineering Specification X - Does not meet expectationI. TESTING SPECIFICATION

Store still imagesII. EQUIPMENT REQUIRED

Equipment or Instrumentation required

Capacity of SD Card, Mobius Cam, Mini-SD Card Readter, Computer, Triggering method from S2.III. DATA COLLECTION STRATEGY

Data acquisition strategy

The Spescification lists an SD Card of atleast 1024 MB capacity. If the card is larger than this, then the number of photosneeded shall fit. Use the triggering mechanism to take one photo, divide the capacity of the card by the size of the file. Thiswill verifty that atleast 10 to 20 photos will fit. Restart the mobius camera with the SD Card installed. Trigger themechanism 20 times. Observe the files on the SD Card for verification that they exist.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONAt the end of the test, 20 Images should reside upon the SD Card.V. RESULTSTest is a Failure. The Mobius Camera is unable to be activated remotely. It is believed that the unit is damadged. It is flashing an unknown errorcode that is not documented on the manufacturer's site. The unit does not boot. Without origional picture size, capacity may not be determined.

VI. CONCLUSIONAnother device must be used. A device that was origionally designed to perform remote picture taking would be preferable. Using the manufacturer spescifiedsize, and the capacity of the card the unit could theoretically take >>> 20 images at once.

Date Completed:Created By:Tested By:Project Name:

SpecificationNumber Importance Source Unit of

MeasureTargetValue

MarginalValue Comments/Status

S4 3 S4 Minutes >10 >10

SpecificationNumber

S4

SpecificationNumber

S4

Subsystem/ Function/ Feature Name: Craft Flies for the Duration of the Function

S4 Test PlanEvan Glenn

P15230 - Autonomous QuadcoptorConcluded Condition of meeting Engineering Specificati Caution-Undetermined if specification is metI. TESTING SPECIFICATION

Specification (Metric)

FlightII. EQUIPMENT REQURIED

Equipment or Instrumentation required

Base Craft with all components connected, Stopwatch, Box, IR Beacon, Light Hockey Puck (110g)III. DATA COLLECTION STRATEGY

Data acquisition strategy

This test will be performed at the earliest after the craft is built and the code is complied on each of thecomputers

III. TESTING FLOWCHART

Repeat all tests with addition of Light Hockey PuckIV. RAW DATA ACQUISITIONenter a loaction for the data (ie. Tab, separate spreadsheet on edge, etc)V. RESULTS

Craft flies 10+ minutes with full system payload in RC mode

VI. CONCLUSIONCraft flight time is as expected for a short single task. For exhaustive testing of more than 10 minutes, more backup batteries will be

Date Completed:Created By:Tested By:Project Name:

SpecificationNumber Importance Source Unit of

MeasureTargetValue

MarginalValue Comments/Status

S5 3 S5 minutes >10 >10

SpecificationNumber

S5

SpecificationNumber

S5

Subsystem/ Function/ Feature Name: Craft can fly with full weight

S5 Test PlanEvan Glenn

P15230 - Autonomous QuadcoptorConcluded Condition of meeting Engineering Specificati Caution-Undetermined if specification is metI. TESTING SPECIFICATION

Specification (Metric)

FlightII. EQUIPMENT REQURIED

Equipment or Instrumentation required

Base craft with all equipment necessary for flight, representative dummy weight to simulate other componentsIII. DATA COLLECTION STRATEGY

Data acquisition strategy

This test can be considered complete if performed after S4 Test.III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONenter a loaction for the data (ie. Tab, separate spreadsheet on edge, etc)V. RESULTS

Craft can launch at half of implemented throttle rate.Untested flight time of craft with double its system weight.

VI. CONCLUSIONPassesCraft can take on a greater payload.

Δ

SpecificationNumber Importance Source Function Specification (Metric) Unit of Measure Marginal

ValueIdealValue Comments/Status

S6 2 PRP yes/no Yes Yes Yes or No to is the craft portable

SpecificationNumber

S6

SpecificationNumber

S6

VI. CONCLUSION

Subsystem/ Function/ Feature Name: Craft PortabilityDate Completed: TBDTest Created By: James MussiTested By: TBDTeam: P15230 - Autonomous QuadcoptorConcluded Condition of meeting Engineering SpecificationI. TESTING SPECIFICATION

PortabilityII. EQUIPMENT REQURIED

Equipment or Instrumentation required

Quadcopter AssemblyIII. DATA COLLECTION STRATEGY

Data acquisition strategy

Goal of this test is to determine if the craft is portable for transporting to the competition. The ability to be carried by hand and dissasembled for safe

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITION

V. RESULTS

Craft was portable enough to be carried by one person in one hand over campus wide distances.

Δ

SpecificationNumber Importance Source Function Specification (Metric) Unit of Measure Marginal

ValueIdealValue Comments/Status

S7 3 CR6 meters 0.5-2 2Lidar for horizontal detection, sonar for

downward detection and backup horizontal

SpecificationNumber

S1

SpecificationNumber

S1

SonarLidarVI. CONCLUSION

Subsystem/ Function/ Feature Name: On-board Range SensingDate Completed: TBDTest Created By: James MussiTested By: TBDTeam: P15230 - Autonomous Quadcoptor

I. TESTING SPECIFICATION

On-board Range SensingII. EQUIPMENT REQURIED

Equipment or Instrumentation required

Quadcopter frame, Sonar detectors, Laser module, Lidar camera, Raspberry pi, Arduino, Laptop, Tape measure.III. DATA COLLECTION STRATEGY

Data acquisition strategy

Goal of this test is to calibrate and determine the range finding capabilities of the range measuring devices. This includes both the sonar modules and thelidar system. The modules will be measuring distances from a wall. Measurements will be taken at increments until the device can no longer report anaccurate reading.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITION

V. RESULTSdetects up to 2 meters in spanning directions for each side sensor

Though sonar system detects up to 2-3m, the botton sonar is unreliable for altitude locking of heights greater than 80cm.

SpecificationNumber Importance Source Function Specification (Metric) Unit of

Measure Marginal Value IdealValue Comments/Status

S8 3 CR7 Yes/No 100-1012 MB yes

Avoid randomly placedobjects

within craft's path

SpecificationNumber

S8

SpecificationNumber

S8

Quadcopter Move Environme DetectableStaticDynamicStaticDynamic Max Speed:StaticDynamic Max Speed:

Subsystem/ Function/ Feature Name: Detection, Flight

S8 Test PlanDate Completed: ____Test Created By: Alyssa ColyetteTested By: Alyssa Colyette

Team: P15230 - Autonomous Quadcoptor

Concluded Condition of meeting Engineering Specification Δ- Caution-Undetermined if specification is metI. TESTING SPECIFICATION

Object AvoidanceII. EQUIPMENT REQUIRED

Equipment or Instrumentation required

Quadcopter has Pi-Sonar Arduino com link active and Pi-Lidar link active, controlled testing environment ( no bystanders), measuringmeter/tape to confirm placement gap

III. DATA COLLECTION STRATEGY

Data acquisition strategy

The goal of this test is to confirm that static and some dynamic objects are detected by the quadcopter's navigation system. By analyzingthe the sonar and LIDAR measurements in response to the systems movement, a better speed and distance tolerance can be determinedand documented

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONAt the end of the test, 20 Images should reside upon the SD Card.V. RESULTS

Objects DetectableDetection Range(cm)

Manual

RC

Unmanned

Status: Untested

VI. CONCLUSIONWith Teensy to Pi communications, the system is ready to test in manual and RC testing modes. May require a modified output infrastructure.

Date Completed:Performed By:

Tested By:

SpecificationNumber Importance Source Function Specification (Metric) Unit of Measure Marginal

ValueIdealValue Comments/Status

S9 3 ER Safety Yes/No Non Non rotor shi Link to S9 plan

SpecificationNumber

S9

SpecificationNumber

S9

Subsystem/ Function/ Feature Name:__ Safety and Design

S9 TEST PLANConcluded Condition of meeting Engineering Specifications S9 ΟI. TESTING SPECIFICATION

II. EQUIPMENT REQURIED

Equipment or Instrumentation required

Single pole single throw switch and rotor shroudsIII. DATA COLLECTION STRATEGY

Data acquisition strategy

pre-flight and opon flight obverseve the shrouds response to vibrations and other disturbance to see if the shrouds makes itimpossible to access the rotor blade while the quardcopter is engaged. Also observe the signal response time from the "kill switch" tothe quardcopter when initiated.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONManufacture specifications

V. RESULTS

Autonmous flying never tested and tuned fully.

VI. CONCLUSIONSystem responds well to manual override switch. Safety is dependent upon pilot's experience.The crafts shroud is durable enough to move the craft with grasped. The shroud is also safe enough to push the craft from the sides during flight.

Tested By: _____Team: P15230

SpecificationNumber Importance Source Function Specification (Metric) Unit of

MeasureMarginal

ValueIdealValue Comments/Status

S10 3 CR9 Remain in [$] 1000 ± 30 $1,000

SpecificationNumber

S10

SpecificationNumber

S10

spent $1,125.14

Subsystem/ Function/ Feature Name: Budget

S10 Test PlanDate Completed: ____Test Created By: Peter Webster

Concluded Condition of meeting Engineering Specification Ο- Meets Marginal ValueI. TESTING SPECIFICATION

Remain in budgetII. EQUIPMENT REQURIED

Equipment or Instrumentation required

Excel Spreadsheet & BOM documenting all final expensesIII. DATA COLLECTION STRATEGY

Data acquisition strategy

All purchases and expenditures on the project will be documented throughout the process of parts ordering, buildingand testing. Items to be purchased will need to cost within reason for the projects' overall scope in terms of budget.Initial BOM developed for all major parts, while budgeting to have left over money for any mishaps, or unexpectedexpenses.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONFor budget data and BOM see "BOM/Total Budget" tabV. RESULTS

*budget changed to $1000

VI. CONCLUSIONDid not exceed original budget. New budget was exceeded due to part failures and redesign.

Tested By: _____

SpecificationNumber Importance Source Function Specification (Metric) Unit of

Measure Marginal Value Ideal Value Comments/Status

S11 3 CR10 % 0-20% <5%

Can "cheat" the recognitionwith

LEDs, eg. IR around facearea

SpecificationNumber

S11

SpecificationNumber

S11

Subsystem/ Function/ Feature Name: Imaging

S11 Test PlanDate Completed: ____Test Created By: Alyssa Colyette

Team: P15230 - Autonomous Quadcoptor

Concluded Condition of meeting Engineering Specification Δ- Caution-Undetermined if specification is metI. TESTING SPECIFICATION

Facial RecognitionII. EQUIPMENT REQUIRED

Equipment or Instrumentation required

Pi with mobius cam attached. Face profiles database. Facial detection Viola-Jones module installed on Pi.

III. DATA COLLECTION STRATEGY

Data acquisition strategy

The goal of this test is to tune and confirm function of the facial detection module. Since the system would check various frames of a livefeed, an error/miss is acceptable if caught later. During this process more training of the system might be required if accuracy doesn'tmeet targeted standards.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONAt the end of the test, 20 Images should reside upon the SD Card.V. RESULTS

VI. CONCLUSIONFacial recognition and tracking was implemented in MATLab, but not ported to the Raspberry Pi.

Date Completed:

Tested By:

SpecificationNumber Importance Source Function Specification (Metric) Unit of Measure Marginal

Value Ideal Value Comments/Status

S12 3 ER Design Yes/No Non Non durable airfram Link to S12 plan

SpecificationNumber

S12

SpecificationNumber

S12

Subsystem/ Function/ Feature Name:__ Safety and Design

S9, S12 TEST PLANTest created By:Andrew Asante

Concluded Condition of meeting Engineering Specifications S12 ΔI. TESTING SPECIFICATION

II. EQUIPMENT REQURIED

Equipment or Instrumentation required

Replica of AirframeIII. DATA COLLECTION STRATEGY

Data acquisition strategy

simulate a real crash landing of the quardcopter and then assess damages on the airframe. This crash landing will be in the ice arena.

III. TESTING FLOWCHART

IV. RAW DATA ACQUISITIONManufacturer's specifications

V. RESULTS

This test will assert the physical and stress limitations of the airframe.

VI. CONCLUSION

Due to lack of toleranced height, craft does experience repairable damage with 1 meter fall. Craft suffered excessive damage from crash to a gynasium ceilingand fall to the ground.