Questions:

Answers:

Who?

Businesses, pharmacies, non-abled patients, clients, operators, design engineers

What?

Pharmaceutical payloads, autonomy, flight control, deliveries

Where?

Congested urban metros

When?

Rush hours, daytime operations, perhaps 24/7

Why?

Aid in deliveries, cut delivery times, reduce effort, cost, and energy in physically retrieving packages.

How?

Autonomous UAV to deliver payloads over short-range deliveries.

Constraint Requirements

• C-1: The total system cost shall be less than $600
• C-2: The components shall be mostly COTS parts, with exception to custom PCBs.
• C-3: The design shall operate without the aid of a physical RC.

Functional Requirements

• F-1: The quadcopter shall autonomously take off from a designated launch point.
• F-2: The prototype shall navigate from the launch point to a target waypoint located 50 m away.
• F-3: The quadcopter shall deliver the payload within 1 m of the target.
• F-4: The quadcopter shall hover a minimum of 10 m above terrain.

Performance Requirements

• P-1: The quadcopter shall stabilize its position within 5 seconds when stabilizing its position during the mission.
• P-2: The payload release system shall deploy within 1 m of the targeted drop-off location.
• P-3: The quadcopter shall cruise at an airspeed of 5 m/s at a minimum altitude of 10 m.

Quality-Attribute Requirements

• QA-1: The quadcopter shall have protected electrical components from environmental factors
• QA-2: The payload shall carry pharmaceutical items safely and properly (e.g. refrigeration, orientation, sealed)
• QA-3: The quadcopter shall be operated safely in rural communities abiding by airspace codes.

Stakeholder Needs

ST-UN-001

Quadcopter shall safely deliver 1lb payloads to local pharmacies and businesses.

ST-UN-002

Quadcopter should operate autonomously without RC.

ST-UN-003

Quadcopter should avoid obstacles during deliveries.

ST-UN-004

Quadcopter’s total cost shall be less than $600.

ST-UN-005

Quadcopter shall be complying to airspace rules in any community.

ST-UN-006

Quadcopter should be rechargeable or maintainable.

Subsystem

Form

Function

Requirements

Chassis

(Alex & Justin)

Overall Form: Modular frame with integrated landing gear

​

Component 1: Main frame arms and central hub

​

Component 2: Aeroshell

​

Component 3: Mounting plates and vibration-isolating grommets

Function: Provide structural support and protection for all onboard systems

• Subfunction 1: Support propulsion loads and distribute weight evenly�
• Subfunction 2: Absorb vibration and impact during landing

​

R1.1 Minimum Factor of Safety Shall be Under operating loads Loads - Ideal 2.0 - Marginal 1.5

​

R1.2 - Chassis Ground Clearance Shall be - Ideal 20mm - Marginal 15mm

​

R1.3 Size Compliance with Government Regulations - Ideal Yes - Marginal Yes

Payload & Delivery

(Jaydon & Brandon)

Overall Form: Servo-actuated payload release mechanism with housing mount�

Component 1: Payload housing / bracket�

Component 2: Servo and Latch�

Component 3: Landing pad

​

Function: Secure, carry, and release payload accurately at target location

• Subfunction 1: Retain payload during operation and various flight conditions�
• Subfunction 2: Release payload autonomously upon GPS command

​

R2.1 Payload Release Accuracy Shall be- Ideal < 1m - Marginal <2m

​

R2.2 Release Deploy Time - Ideal < 1 s - Marginal <2s

​

Subsystem

Form

Function

Requirements

Controls

(Chuong)

Overall Form: Flight controller with onboard sensors and telemetry

Component 1: Pixhawk (or similar) flight controller

Component 2: GPS + IMU sensor

Component 3: Radio telemetry module

​

Function : Maintain stable, autonomous flight and navigation

• Subfunction 1: Process sensor data for stabilization (PID control)�
• Subfunction 2: Execute waypoint-based autonomous pathing

​

R3.1 Autonomous Target Accuracy Shall be - Ideal 1m - Marginal 2m

​

R3.2 No Physical RC Shall be Required - Ideal Yes - Marginal Yes

​

R3.3 Target Time for Mission Shall be- Ideal 45s - Marginal 60s

Propulsion

(Dillon)

Overall Form: Four-motor brushless propulsion system

Component 1: Brushless DC Motors

Component 2: Electronic Speed Controllers

Component 3: Propellers (10 in)

​

Function: Generate thrust for lift and maneuvering

• Subfunction 1: Convert electrical power into mechanical thrust�
• Subfunction 2: Adjust individual motor speeds for attitude control

​

R4.1 Cruise Speed Shall be - Ideal 5m/s, Marginal 3m/s

​

R4.2 Shall Maintain Altitude with Payload - Ideal > 10m - Marginal > 10m

​

​

Quadcopter Frame (Type) Weighted Matrix

​

​

H Frame

X Frame

Unibody

Separated X Frame

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Lightweight*

25

3

0.75

4

1

4

1

2

0.5

Loading

20

4

0.8

4

0.8

4

0.8

5

1

Maintenance**

20

4

0.8

4

0.8

2

0.4

5

1

Durability

15

3

0.45

4

0.6

5

0.75

4

0.6

Simplicity

10

3

0.3

4

0.4

5

0.5

2

0.2

Manufacturing Cost***

5

4

0.2

4

0.2

2

0.1

2

0.1

Ease of Assembly

5

3

0.15

5

0.25

3

0.15

5

0.25

Sums

100

​

3.45

​

4.05

​

3.7

​

3.65

​

​

Quadcopter Payload Weighted Matrix

​

​

Sling Load (Rope + Crate)

REFERENCE

Grabber (Servo + Claw)

Integrated (Cage)

Drop Release

(Arm + Servo)

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Controllable*

25

3

0.75

4

1

5

1.25

5

1.25

Loading

20

3

0.6

3

0.6

5

1

4

0.8

Security

20

2

0.4

3

0.6

4

0.8

4

0.8

Durability

15

2

0.3

2

0.3

4

0.6

3

0.45

Simplicity

10

2

0.2

3

0.3

1

0.1

4

0.4

Manufacturing Cost**

5

2

0.1

3

0.15

1

0.05

2

0.1

Ease of Assembly

5

3

0.15

3

0.15

2

0.1

4

0.2

Sums

100

​

2.5

​

3.1

​

3.9

​

4

​

​

Quadcopter Flight Controller Trade Study

​

​

Holybro Pixhawk 6C

Brave F7 Controller

SpeedyBee F7 V3

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Programmability*

25

4

1

3

0.75

3

0.75

Ease of Autonomy**

20

5

1

3

0.6

1

0.2

Mass

20

3

0.6

3

0.6

4

0.8

Electronic Compatibility

15

4

0.6

3

0.45

3

0.45

Simplicity

10

3

0.3

3

0.3

4

0.4

Cost

5

1

0.05

4

0.2

3

0.15

Ease of Installation

5

3

0.15

4

0.2

5

0.25

Sums

100

​

3.7

​

3.1

​

3

​

​

Quadcopter Propeller Weighted Matrix

​

​

Readytosky 6Pairs 1045 Propellers

1045 Propeller Pair Black

JMT 1045 CF propellers

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Thrust

30

3

0.9

4

1.2

2

0.6

Weight

20

4

0.8

3

0.6

2

0.4

Safety

20

3

0.6

2

0.4

3

0.6

Manufacturing Cost

20

4

0.8

3

0.6

4

0.8

Durability

10

4

0.4

2

0.2

3

0.3

Sums

100

​

3.5

​

3

​

2.7

​

​

Quadcopter GPS Weighted Matrix

​

​

HolyBro M10 GPS

HolyBro M9N GPS

HolyBro Micro M10

Holybro Micro M9

Holybro Micro M9

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Controllable

30

3

0.9

5

1.5

2

0.6

2

0.6

2

0.6

Accuracy

30

3

0.9

3

0.9

2

0.6

1

0.3

4

1.2

Size

20

2

0.4

3

0.6

2

0.4

2

0.4

4

0.8

Cost

20

2

0.4

4

0.8

4

0.8

3

0.6

3

0.6

Sums

100

​

2.6

​

3.8

​

2.4

​

1.9

​

3.2

​

​

Quadcopter Motors Weighted Matrix

​

​

XRotor FPV 2812 Motors

Readytosky 2212 920 KV brushless motors

Emax MT2213-935KV 2212

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Rating

Weighted Score

Controllable

25

3

0.75

4

1

5

1.25

Thrust

20

3

0.6

3

0.6

5

1

Weight

20

2

0.4

3

0.6

4

0.8

Safety

15

3

0.45

2

0.3

4

0.6

Manufacturing Cost

10

2

0.2

2

0.2

3

0.3

Ease of Assembly

10

2

0.2

2

0.2

3

0.3

Sums

100

​

2.6

​

2.9

​

4.25

​

​

Quadcopter Battery Weighted Matrix

​

​

Spektrum 11.1V 5000mAh

CNHL RC Lipo Battery 4S

Criterion

Weight (%)

Rating

Weighted Score

Rating

Weighted Score

Battery Life

50

3

1.5

4

2

Size

25

3

0.75

4

1

Cost

25

4

1

3

0.75

Sums

100

​

3.25

​

3.75

Item

QTY

Part Name

Part Number

Dimensions

Mass (g)

Unit Cost

Total Cost w/o Shipping

Total Cost w/ Shipping

1

1

Holybro Pixhawk 6C Mini (Model B)

02-0001

58.3 x 39 x 18.15mm

46.8

$129.00

$139.32

$148.23

2

1

F450 Quadcopter Frame

01-0001

363 x 363 x 40mm

282

$18.00

$19.44

$19.44

3

1

Drop Release Lock

03-0001

88 x 28 x 3.46 mm

35

$10.86

$11.73

$11.73

4

2

Deego MG996R Servo Motor

03-0002

47.6 x 53.6 x 20mm

55

$9.99

$10.79

$10.79

5

1

Flywoo GOKU G45M 45A 3-6S AM32 4-in-1 ESC - 20x20

01-0002

33 x 30 x 6.1mm

6.4

$51.99

$56.15

$63.15

6

4

Emax MT2213-935KV 2212

04-0001

27.9 x 39.7mm

55

$59.79

$64.57

$64.57

7

1

CNHL RC Lipo Battery 4S 14.8V Battery

02-0002

160 x 46.8 x 35mm

751

$48.07

$51.92

$51.92

8

4

Readytosky 1045 Propellers

04-0002

10 in x 4.5 deg

​

170

​

$16.89

​

$18.24

​

$18.24

​

9

1

HolyBro M9N GPS

02-0003

25 x 25 x 4mm

36.8

$76.64

$82.77

$88.77

10

1

FS-i6 Transmitter & FS-iA6B Receiver

02-0004

47 x 26.2 x 15mm

10

$46.00

$49.68

$59.53

11

1

Obstacle Avoidance Sensor for RG101 Pro Drone*

02-0006

~

~

$29.00

~

~

12

1

TELEMETRY RADIO DRONE 433MHZ

02-0005

~10 x 10 x 1.4mm

42

$43.56

$47.04

$54.04

13

1

Payload

03-0003

4.5” x 4.5” x 4”

453.59

~$10 (3D)

$10.80

$10.80