Rhett Zimmer, Abdullah Alqahtani, Daniel Burke, John Drummey

Regatta Rules Adjudication System

(RRAS)

“Improving protest resolution through objectivity.”

Agenda➢ Context

➢ Concept of Operations

➢ Design Alternatives

➢ Simulation

➢ Design Analysis

➢ Business Plan and Recommendation

2

R. 2

System Context

Regattas & Rules➢ Sailing Regatta

○ Series of boat races, often amateur.

○ Varied classes, controlled by manufacturer, size and weight, etc.; or

handicapped.

➢ Rules ○ Set of rules initially drafted by the International Sailing Federation

and adopted globally (now World Sailing).

○ Updated every four years and adapted for changing boat design

○ The 91 current rules primarily enforce the safety of the crew of the

sailors and fairness of competition, with 15 handling events on the

water.

○ Competitors and adjudicators use flags to display events, rules

violations, and enforcements.4

[1],[2],[3]

Protest Flag (R. 13)

Echo Flag (R. 14) Altering course to

starboard

India Flag (R. 14) Altering course to port

Aerial View of a Regatta➢ Typical Races involve

moving both up and down

wind

➢ Sailboats required to tack

and jibe in order to make

best headway

➢ Though largely skill based,

Racing often involves bluffs

5

RaceQ Data Albacore Nationals

Existing Adjudication Systems➢ Three Bridge Fiasco (San Francisco)

○ Largest regatta, over 350 yachts.

➢ America's Cup (International)

○ Uses a combination of drones,

helicopters, etc. to adjudicate rules

and inform viewers.

➢ Both use Racing Rules of Sailing

(RRS) created by World Sailing

6[4],[5],[6]

R. 3

R. 10

➢ Line of sight○ Current adjudicators (race committee) station themselves on motorboats near marks

○ The size of an amateur regatta course can be more than 1.5²nm, making it difficult for

the race committee members to see each violation

➢ Experience○ Protests are proved to a panel in a meeting post regatta

○ Meetings can be lengthy and typically based on hearings and the judges’ experience

○ This system is mostly subjective which can cause incorrect decisions

The Gap: smaller competitions by local clubs do not have the budget to use complex

adjudication systems. Instead they rely on hearsay and judges’ experience.

Current Amateur Regatta System

7

Sponsor & Field Experience

8

➢ The point of contact from our sponsor

(Chesapeake Yacht Club) Captain Tony

Syme, took us to to see the Annapolis Yacht

Club Fall Series

➢ Also recieved input from Subject Matter

Expert (SME) Bill Sweetser

➢ Different classes of regattas take place

simultaneously/staggered.

➢ Desire for synchronous systems

➢ No documentation/data on violations

Stakeholder Analysis

9

10

Problem

Sailing rules and boat designs are

constantly evolving. At the local

level, current systems are unable

to fairly and accurately judge fleet

regattas.

Need

There is a need for a system to

aid in the adjudication of fleet

regatas by local sailing clubs

both in real time and post race

at a cost of less than $10,000

Concept of Operations

Operational ScenariosInteractions on the water are governed by 15

of the 91 racing Rules of Sailing

➢ Right of Way Violation

➢ Failure to Give Mark Room

The rules listed above have been identified as

representative for explanation.

12

Racer B(Port Tack)

Racer A(Starboard Tack)

Right of Way Violation

13

“ON OPPOSITE TACKSWhen boats are on opposite tacks, a port-tack boat shall keep clear of a starboard-tack boat.” -Racing Rules

of Sailing

Right of Way Violation

14

Racer BFails to keep Clear

Racer A is sailing on a starboard-tack; meanwhile, Racer B is approaching Racer A on a port-tack. Rather

than keep clear, Racer B fails to keep clear of Racer A. Racer A indicates a protest to the judge.

Racer B(Clear astern)

Failure to Give Mark Room

15

Racer Aenters zone first

“18.2 (b)... If a boat is clear ahead when she reaches the zone, the boat clear astern at that moment

shall thereafter give her mark-room.” - RRS

Failure to Give Mark Room

16

Racer Bdoesn’t give Racer A Mark Room

Racer A enters the zone of a mark before Racer B does, but Racer B fails to give Racer A mark-room. The bow of racer B’s boat collides with Racer A’s boat. Racer B continues past the mark.

Mission Requirements

17

Scope: A system will be designed to fulfill the needs of local yacht clubs, especially its

adjudicators, focusing on fleet races with a duration of two hours or less at 10 yachts

per race*

* Sponsor Identified

Synchronous & Asynchronous Synchronous Only

● M.1: Shall provide a history of >80% of rule

breaking actions

● M.2: : Shall have a precision of up to +/-5

meters with a 5 second moving average of

broadcast or stored position for all data

● M.3: Shall not obstruct the race or competitors

● M.4: Shall comply with applicable laws

● M.5: Shall provide competitor locations to Judges in real time

● M.6: Shall verify penalty compliance by rule violators

Asynchronous

18

Racer AIndicates protest to judge

System

Judge checks position from system

After the race the Judge reviews footage and observes Racer B’s failure to adhere to

the rules regarding right of way. The Judge penalizes Racer B at the indicated time.

System stores location data

Racer B penalized post race

-10

Synchronous

19

The Judge reviews footage and observes Racer B’s failure to adhere to the rules

regarding right of way. The Judge penalizes Racer B via radio.

SystemSystem stores location data

Designs

Design AlternativesThe following alternatives have been identified:

➢ Camera Design (Visual Aid Tracking)

○ Ship mounted cameras (SMC)

○ Remotely operated drones

○ Aerostat (Lighter than air)

➢ GPS Module (Digital Tracking)

Each is narrowed down to best alternative by class, and then

analyzed with the assistance of the simulation. 21

Ship Mounted Camera (SMC)➢ A mounted camera will provide adjudicators with

an onboard perspective of the race.

➢ If a contestant protests, the judge reviews the

footage and applies penalties post race.

(asynchronous)

22

from jboats.comCamera View

Cone

SMC Tradeoff Analysis

23

● Sponsor Identified Weights

Best Value

Brand Battery FoV Resolution GoPro Hero

Session 70 min 122.64o 1080pPolaroid

Cube 107 min 124o 1440pYI 4K 120 min 155o 4k

FDR-X3000 4K 60 min 170o 4k

SJCAM SJ7 60 min 166o 4kWeights 0.444 0.444 0.111Utility

Function Linear0.25exp0.0077

x Linear

Drones

24

➢ Flying at altitudes of up to 400 feet, drones provide a

bird’s eye view

➢ Drones can operate in wind speeds of > 24 kts (higher

than race maximums)

➢ Drone camera footage can be streamed or saved for

post race review

➢ Tandem operation with battery swaps enable full race

coverage

Drone Tradeoff Analysis

25

Best Value

● Sponsor Identified Weights ● Scores Normalized (cost inverted)

Brand Battery Camera Range VelocityDJI Mavic

Pro 27 min 4K 4.5 miles 35 ktsDJI Phantom

4 Pro 26 min 4K 4.3 miles 49 ktsAutel X-Star 23 min 4K 1.2 miles 30 ktsParrot Bebop

2 25 min 1080p 1.2 miles 32 ktsGoPro Karma 20 mi 4K 1.8 miles 30 kts

Weights 0.3 0.1 0.3 0.2Utility

Functionw*0.0039e0.

184x Linear w*0.056e0.5x Linear

Aerostat➢ A “Lighter-than-air” design was proposed by

stakeholders○ Few low-cost Aerostat designs are currently

available

➢ Skyshot Standard Helikite○ Can be tethered to maintain a 350 ft height

○ Able to handle wind speeds of up to 25 knots

(allowing towing)

○ Potential race sponsorship/advertisement

through balloon wraps.

➢ DJi OSMO Camera○ 90° FOV with gyro stabilized controllable swivel.

○ Camera & Aerostat cost - $120026

Source: [21]

Broadcasting Video➢ Aerostats & Drones can support live

streaming to YouTube, Facebook, and

Twitch

➢ Twitch has an “average concurrent

viewership of 500+ people” [17]

➢ Streaming could help gain viewership

and support for the sport

27

Johnson’s Criteria

28

29Graph from senso-optics.com

35 mm (non zoom)

77 mm (zoom)

Osmo Camera View Range➢ Max range of 1450ft, without zoom at fixed position most likely range of 750ft

○ 35mm focal length

➢ 650ft can be considered the radius of the arcview as the Osmo can rotate○ Skyshot can also carry multiple cameras

➢ Gives the full diameter of each view range of 1300ft

➢ 90° Camera FOV

30

350ft

750ft

650ft

Aerostat

GPS Module➢ Few available streaming Wide Area Augmentation System

(WAAS) enabled GPS modules which enable “open source” gps

coordinate accessibility

➢ WAAS theoretically accurate up to +/- 3 meters a 95% confidence

[8]

➢ XGPS150A ($80) is the best commercial solution with WAAS,

DGPS, and Bluetooth

➢ GPS enables race adjudication in fog or other adverse weather

conditions

31

GPS PrototypeArduino Ultimate GPS Breakout

➢ Cost - $80

➢ Outputs NMEA sentences, 6 GPS decimals

➢ Potentially accurate up to -/+ 1 meter

➢ Experimentation was required to verify it met

the 5 meter requirement

➢ Ability to add a communication module (HC-12)

for synchronous capabilities

32

GPS ViabilityGPS must be precise to aid in yacht adjudication.

33

Null Hypothesis WAAS GPS has a precision of <= 5 meters.

Alt. Hypothesis WAAS GPS has a precision of > 5 meters.

➢ Location: Open flat area

➢ Procedure: Record the Arduino in a known stationary location

by tracking GPS coordinates every minute for 1 hour (n=60)

➢ Assumptions:○ Stationary feedback will have the same precision as

non-stationary feedback

○ Other WAAS GPS modules will not have a significant

increase in precision

GPS Experiment Results (hist.)

34

Mean: 38.750543+/- 5 meters = 1.7σ

P(x < 5) = 91%

Mean: -77.523800+/- 5 meters = 2.5σ

P(x < 5) = 98%

(1 meter = ~0.00001 GPS Decimal)

GPS Results

35

3 meter radius

Null Hypothesis was rejected

➢ A precision of > 5 meters is

required to achieve a

significance level of 3σ➢ With higher power GPS chips,

a 3 meter precision level is

feasible

With a precision of 5m, the current

GPS prototype cannot be used as a

standalone primary design.

➢ GPS still provides valuable

contextual information to the

adjudicators

5 meter radius

Simulation

Simulation Need➢ In order to properly analyze the alt. designs, protest data is required

○ Frequency of protests, size of protest hotspots, locations on a given course

➢ No protest location data is currently available for amateur regattas.

➢ The objective is to provide information and demonstrate trends that are currently

undocumented, assisting in analysis metrics and choosing a design

37

Design ChoiceSimulation Output Utility Analysis

➢ An agent based stochastic simulation can give feedback on the high activity

areas of potential collisions and protests on dynamic courses during a regatta

Race Results

Violation Locations

Simulation Design

38

R. 12

R. 13

A MATLAB velocity prediction

program by Gianluca

Meneghello (GVPP) is used to

generate yacht performance

This is linked to team created

geometric Python simulation.

Python Simulation GVPP

Initiate

Boat Velocities

Boat ParametersWind V

Wind θ

Fuzz Factor

Cheat Factor

Pilots + Skill

Map

39

VelocityYacht: Hunter D41

R. 18

Hull: Fin w/spade rudder

LOA: 40.32' / 12.29m

Beam: 13.25' / 4.04m

Draft: 6.50' / 1.98m

Displ: 19400 lbs./ 8800 kgs.

40

AccelerationNo data available online on yacht

acceleration. → Tested yacht acceleration

on Dr. Donohue’s Hunter D41.

● Simulated Jibing and Tacking across 3

speeds with 4 runs each.

○ 156 Data Points

● Used to create accurate simulation

acceleration function.

Simulation

412 Miles

Mark

Start Line

Starting Point

Ship Hull

➢ 2d geometric objects created through

Python Shapely, allows intersection

checking, shape extrusion/rotation, &

scaling/distortion

➢ 10 identical ships

➢ Varied pilot skill

➢ Currents & Shores Ignored

Mark

Wind Angle

Model Verification & Output

42

Model Verification

➢ Ship Physics is verified by comparison to manufacturer published speed figures

➢ Race accuracy verified against RaceQ and SME experience

➢ Maps generated from real courses

Model Output

Yacht Locations Violation Locations Violation Area (ft.^2) Proportion by Area

Courses

43

➢ Each line is an individual

ship’s course

➢ Thicker lines indicate close

courses (dark blue)

➢ Race durations between 84

and 108 minutes.

Wind Direction

Direction of Travel

Close Proximity

Model race accuracy verified against RaceQ data and user experience.

Sample Map

Protest Output

44

Mark

Wind

Mark

Start

LineVariable Factors:

● Pilot Skill: tightens the

violation locations

● Fuzz Factor: has little effect

● Cheat Factor: reduces or

increases the number of

potential violations

Triangles Represent Potential Violations

2 Miles

1300ft

1450ft

Monte Carlo Simulation

45

Simulations complete:

➢ 18,000 Simulations at 180 points of

wind (Across 360 degrees)

➢ 36 Hour Run Time (gradual slowing

caused by file IO)

➢ Hexacore using 11 threads at 3.2 ghz.

➢ 10 GB of Race Data

Racing Data combined into images (100

simulations per image).

Expected Violation Output

462 Miles

Start/Finish Line

Corner MarksWindward Mark

Protest Density

2502 ft

Small protest hotspots

~31%

~44%

~12%

Design Analysis

Method of Analysis

48

49

Utility Function Number of Participants 10

Number of Races 1

f(utility) = w1* 0.02 * (c - 50) + w

2 * r * Step(0, 1) + w

3 * e-v / 2+ w

4* b * Step(0, 1)

Factor Weight

Coverage (c) 0.36 (w1)

Real Time (r) 0.21 (w2)

Complexity (v) 0.39 (w3)

Broadcast (b) 0.04 (w4)

* Sponsor/SME Identified

50

Sensitivity (Marks)

2 3 4 (marks)

Number of Participants 10

Number of Races 1

Results● With a utility of 0.66, the Lighter Than Air alternative

with GPS has the best utility at mid cost level.● The second best alternative is the Aerostat alone.● Our recommendation will be to utilize the Aerostat

design and have a secondary design of GPS as needed.● As well as additional coverage, the GPS provides

valuable contextual data and provides adjudication assistance in bad weather.

● Sensitivity analysis throughout likely scenarios during fleet regattas does not change this recommendation.

51

Key Characteristics Simplicity Broadcasting/Real Time Cost

● Additional analysis of viability indicates low setup time

and maintenance requirements, as well as high durability.

Business Plan

Business Case

53

➢ Sponsor suggests a price < $ 10,000

○ Most yacht clubs have a low budget*

➢ Market Analysis:

○ About 10 yacht, boating, and sailing clubs around Chesapeake Bay area

○ 2 Main End Users: Local Yacht Clubs, Race committee members

➢ Tiered Plan:

○ Base: Visual Aid design, covering high impact locations

○ Advanced: Visual Aid design + Full Course Coverage through GPS Module

Business Proposal (Base)

54

“Improving protest resolution through objectivity”

Base Package Quantity Cost ($)

Skyshot Helikite 3 4200

DJI Osmo Camera 3 1000

➢ With a project cost of $62,000 it would take ~24 systems to be sold to recoup

losses

Life Cycle 5 Years

Markup 50%

Customer Cost $7800

Profit $2600

Business Proposal (Advanced)

55

“Improving protest resolution through objectivity”

Advanced Package Quantity Cost ($)

Skyshot Helikite 3 4200

DJI Osmo Camera 3 1000

GPS Module 10 800

➢ With a project cost of $62,000 it would take ~20 systems to be sold to recoup

losses

➢ The advanced system significantly increases area of adjudication with the

addition of the gps module

Life Cycle 5 Years

Markup 50%

Customer Cost $9,000

Profit $3,000

Questions

“Improving protest resolution through objectivity.”

Works Cited

Sources[1] Camera source:

https://store.yitechnology.com/collections/action-camera/products/yi-4k-action-camera?variant=28594481618&gclid=Cjw

KCAiA15vTBRAHEiwA7Snfc5VJahklmbh0MmDaDSD5GbbDmo3faOR5NhXrY7JiHog6C-IejDwPEhoCKdcQAvD_BwE

[2] 5" Lumenier LCD FPV Monitor source: https://www.getfpv.com/5-lumenier-lcd-fpv-monitor.html

[3] Tyler TTV701 7" Portable Widescreen LCD TV source:

https://www.amazon.com/gp/product/B01NH5M1ER/ref=s9_acsd_zgift_hd_bw_b14JgYl_c_x_w?pf_rd_m=ATVPDKIKX0DER

&pf_rd_s=merchandised-search-4&pf_rd_r=4Y69P1H1SV8EB0BP8P5G&pf_rd_t=101&pf_rd_p=ef514046-4313-5643-850f-985

bd811da3e&pf_rd_i=979930011

[4] KKmoon CCTV Tester 3.5" TFT Color LED Wrist Strap Source:

https://www.amazon.com/KKmoon-Security-Recharge-Battery-Surveillance/dp/B019ZDEX8W/ref=sr_1_1?ie=UTF8&qid=15

16754655&sr=8-1&keywords=CCTV+3.5inch+tft+monitor

[5] DJI Phantom 4 Pro Souce: https://www.dji.com/phantom-4-pro/info

[6] Wiki article: https://en.wikipedia.org/wiki/Broadcasting_of_sports_events

[7] Forbes Article:

https://www.forbes.com/sites/jasonbelzer/2016/02/24/sports-broadcasting-101-breaking-into-the-business-of-sports-medi

a/#48afba8414b1

58

Sources[8] USA Today article Discussing broadcasting growth plans:

https://www.usatoday.com/story/sports/nascar/2017/02/24/nascar-cup-series-racing-television-deals-viewership-decline/

98342534/

[9] Business Insider article discussing how despite decline in NASCAR viewership both in person and on TV they are still raking

in a revenue through advertising:

http://www.businessinsider.com/nascar-deal-proves-live-sports-important-to-networks-2016-3

[10] Statista article on Broadcasting: https://www.statista.com/topics/2113/sports-on-tv/

[11] Statista statistics on Global revenue from Sports Broadcasting:

https://www.statista.com/statistics/269798/revenue-from-media-rights-in-sports-worldwide-by-region-since-2009/

[12] Drone image: cnet.com

[13] El Producente Tutorial on livestreaming with YI 4k Action Camera:

http://elproducente.com/how-to-live-stream-yi-4k-action-camera-tutorial/

[14] YI 4k Action Camera Image Source: https://www.yitechnology.com/yi-4k-action-camera-specs

[15] Facebook Logo: t1.gstatic.com

[16] Weibo Log: wikipedia.org

59

Sources[17] Huffington Post Article discussing Stream Value Breakdown:

https://www.huffingtonpost.com/jesse-aaron/how-much-can-you-make-str_b_6926362.html

[18] PSA Race to Rock Hall Rac info: http://www.regattanetwork.com/event/12750#

[19] Hall-Geisler, K. 2008. “How NASCAR In-car Cameras Work.” HowStuffWorks.com.

http://auto.howstuffworks.com/auto-racing/nascar/nascar-basics/nascar-in-car-camera.htm

[20] Regatta Rules Adjudication System Development Reddit Post:

https://www.reddit.com/r/sailing/comments/713muu/regatta_rules_adjudication_system_development/

[21] The Skyshot Prices, Discounts and Statistics: https://www.easyaerialphotography.com/[22] http://stsievert.com/blog/2016/07/01/numpy-gpu/[23] https://devblogs.nvidia.com/numba-python-cuda-acceleration/

60

References (Pictures) (1/2)1. https://www.rubylane.com/blog/categories/lifestyle-categories/the-regatta/

2. http://www.clker.com/clipart-sailboat-2.html

3. https://www.pinterest.com/pin/40180621650113278/

4. http://www.clker.com/clipart-sailor-in-the-ships-crow-nest.html

5. http://www.ussailing.org/race-officials/

6. https://www.pinterest.com/pin/418834834065855540/

7. https://www.pinterest.com/lesliemcollins1/for-the-boat/

8. https://www.bhphotovideo.com/c/product/1274433-REG/gopro_chdhs_501_hero5_session.

html

9. http://satpredictor2.deere.com/chartvisibility?addr=&lat=38.86911721659656&lon=-76.494

02618408203&timeZ=8&evMask=10&gps=YES&glonass=NO

10. http://www.live-production.tv/news/products/vitec-videocom-boosts-camera-corps-offerin

g.html61

References (Pictures) (2/2)11. http://student.agh.edu.pl/~pstrugal/assets/images/matlab.png12. https://www.python-course.eu/images/python-logo.png13. http://www.regattapromotions.com/uploads/images_products/197.gif14. http://www.northflags.com/images/signal_flags/echo_signal_lrg.jpg15. http://miriadna.com/desctopwalls/images/max/The-sailing-vessel.jpg16. https://www.thequint.com/news/india/number-of-fast-track-courts-reduce-to-815-since-2000-rti17. https://yachtscoring.com/event_results_detail.cfm?Race_Number=118.http://sailboatdata.com/viewrecord.asp?class_id=501519. http://freedom25yacht.blogspot.com/2011/04/pics-of-other-f25.html

62

The End

“Improving protest resolution through objectivity.”

Backup Slides

Expected Value Management

66

Budget

EAC

$62,300

Hours

1153.5

% Complete

95%

67

Budget Indices

SPI

1.06

CPI

1.06

Critical Ratio

0.99

Drone Tradeoff Analysis

68

Brand Battery Cost Camera Range Velocity Total UtilityDJI Mavic Pro 27 minutes $940 4K 4.5 miles 35 kts 0.73

DJI Phantom 4 Pro 26 minutes $961 4K 4.3 miles 49 kts 0.66Autel X-Star 23 minutes $899 4K 1.2 miles 30 kts 0.22

Parrot Bebop 2 25 minutes $399 1080p 1.2 miles 32 kts 0.24GoPro Karma 20 minutes $1,000 4K 1.8 miles 30 kts 0.23Weights 0.3 0.1 0.1 0.3 0.2 ∑w = 1

Utility Function w*0.0039e0.0184x Linear w*0.056e0.57x Linear

Best Value

● Sponsor Identified Weights ● Scores Normalized (cost inverted)

69

70

Simulation Model➢ An agent based stochastic simulation can give feedback on the high activity

areas of potential collisions and protests on dynamic courses during a regatta

➢ A MATLAB velocity prediction program (VPP) is used to generate yacht

statistical outputs, adapted from the GVPP library for sailing boat performance

by Gianluca Meneghello

➢ A geometric Python regatta course is produced through user input

➢ Analyzed via a Monte Carlo Simulation (N = 18,000)

71

R. 12

R. 13

Simulation Design

72

Utility vs Cost

73

Lowest Cost

GPS

Highest Utility

Aerostat

Racer B(Starboard Tack, Overlapped)

Racer A(Starboard Tack)

Violation While Tacking

74

“WHILE TACKING After a boat passes head to wind, she shall keep clear of other boats until she is on a close-hauled course…

the one astern shall keep clear.” - Racing Rules of Sailing

GPS Conclusion➢ Null Hypothesis was rejected

○ A precision of >5 meters is required to achieve a significance level of

3σ➢ With more experimentation, especially on higher power GPS chips,

a 5 meter precision level is very feasible

➢ With an average precision sigma level of 2, we recommend that the

GPS not be used as a primary design but may be used as an

extension of the final system

75

Racer B fails to keep clear

Violation While Tacking

76

Racer B is currently clear astern of Racer A. Both Racers attempt to pass head to wind, rather than keep clear

Racer B passes Racer A, barely avoiding a collision.

77

Velocity Made Good

Hull Type: Fin w/spade rudder

LOA: 40.32' / 12.29m

Beam: 13.25' / 4.04m

Draft (max.) 6.50' / 1.98m

Displacement: 19400 lbs./ 8800 kgs.

GPS Module ➢ GPS modules with Wide Area

Augmentation Systems (WAAS)

➢ Capable of advanced tracking with

horizontal accuracy of +/- 3 meters at

a 95% confidence interval. [8]

➢ GPS modules would either store or

stream location data at small time

intervals.

➢ Results broadcasted to RaceQ to show

violations.78

Business Proposal (Base)

79

“Improving protest resolution through objectivity”

Base Package Quantity Cost ($)

Skyshot Helikite 3 4200

DJI Osmo Camera 3 1000

User Manual 1 0

With a project cost of $62,000 it would take 24 systems to be sold to recoup losses

Life Cycle 5 Years

Markup 50%

Customer Cost $7800

Profit $2600

80

Utility Function Number of Participants 10

Number of Races 1

*Weights chosen by sponsor PoC and SME

Factor Coverage (w1) RealTime (w2) Complexity (w3) Broadcast (w4)

Weight 0.36 0.21 0.39 0.04

Alternative Drone Aerostat SMC GPS

Cost $8,650 $5250 $2500 $800

Utility 0.56 0.73 0.36 0.52

Business Case➢ RRAS is a Not for Profit Project

○ Aids in enthusiast sporting

➢ Project Cost of ~$62,000.

81

➢ Sponsor suggests a price < $ 10,000

○ Most yacht clubs have a low budget*

➢ Market Analysis:

○ About 90 yacht, boating, and sailing

clubs around Chesapeake Bay area

○ 2 Main End Users: Local Yacht Clubs,

Skipper

○ Chesapeake Yacht Club has roughly

500 followers on facebook

Business Proposal (Base)

82

“Improving protest resolution through objectivity”

Base Package Quantity Cost

Skyshot Helikite X 3 4200

DJI Osmo Camera 3 1000

Helium X X

Instruction Manual 1 0

With a project cost of $62,000 it would take

Life Cycle 5 Years

Markup 50%

Profit $2600

Break Even 23 Systems

83

Curve Type

Exponential-1

Linear-1

Exponential

Step Function

Exponential

TBD

TBD

Step Function

Statement of Work

84

1Colle

ct

Collect

and analyze data to

identif

y

frequency

, loca

tion, a

nd type of r

ule

violatio

ns2

Create

Create a 3-dim

ensional (x

, z, t)

stoch

astic s

imulatio

n based

on regatta

rules

3Deve

lop

Development o

f multip

le

approaches t

o solvi

ng

adjudicatio

n problems

4Analyz

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Trade space

analysis

of

alternativ

es

Project

Objectives

Aerostat

85

Source: [21]

Skyshot Standard

Helikite➢

● Camera and Aerostat - $1200

● Can be tethered to maintain a 350

ft height

● Is able to take up to 25 knot speed

winds

A Lighter-than-air➢

● Design was proposed by

stakeholders

● Few low-cost Aerostat designs

are currently available

DJi OSMO Camera

● 90° FOV angle

● Gyro stabilized controllable swivel

means this angle is minimum

Aerostat Verification

862 Miles

➢ At a fixed non zoomed location

chosen by the simulation

➢ Fitted for

recognition-identification in

Johnson’s Criteria

➢ If zoomed during the regatta,

the area of view can more than

double

1300ft

1450ft

Model Input Parameters

87

➢ Configurable Wind Parameters

○ True Velocity

○ True Direction

➢ Input Boat Parameters

○ Waterline Length, Beam, Sail Area,

Draft, Displacement, etc.

➢ Number of contestants, simulation

frequency (updates per minute), etc.

➢ Map Coordinates

➢ Configurable “Fuzz Factor”

○ Increases or decreases intelligence

of AI/Crew decision making.

○ Low = Optimal Decisions

GPS Satellite InformationSatellite data at South river (below Annapolis)

88

GPS only need > 3 satellites to operate, however for any accuracy less than 5 meters GPS requires > 6 satellites

(R.9)

Work Breakdown Structure

89

Simulation

90

1.5 Miles

Windward Mark

Leeward Mark

Starting Line

Ship Hull

➢ 2d geometric objects created through

Python Shapely, allows intersection

checking, shape extrusion/rotation, &

scaling/distortion

➢ 10 identical ships

➢ Varied pilot skill

➢ Currents & Shores Ignored

Wind Direction

Model Verification & Output

91

Model Verification

➢ Ship Physics is verified by comparison to manufacturer published speed figures

➢ Race accuracy verified against RaceQ and SME experience

➢ Maps generated from real courses

Model Output

Yacht Locations Violation Locations Violation Area (ft.^2) Proportion by Area

Courses

92

➢ Each line is an individual

ship’s course

➢ Thicker lines indicate close

courses (dark blue)

➢ Race durations between 84

and 108 minutes.Wind Direction

Direction of Travel

Close Proximity

Model race accuracy verified against RaceQ data and user experience.

Sample Map

Protest Output

93

Mark

Wind

Mark

Start

LineVariable Factors:

● Pilot Skill: tightens the

violation locations

● Fuzz Factor: has little effect

● Cheat Factor: reduces or

increases the number of

potential violations

Triangles Represent Potential Violations

2 Miles

1300ft

1450ft

Monte Carlo Simulation

94

Simulations complete:

➢ 18,000 Simulations at 180 points of

wind (Across 360 degrees)

➢ 36 Hour Run Time (gradual slowing

caused by file IO)

➢ Hexacore using 11 threads at 3.2 ghz.

➢ 10 GB of Race Data

Racing Data combined into images (100

simulations per image).

Expected Violation Output

952 Miles

Start/Finish Line

Corner Marks

Windward Mark

Protest Density

2502 ft

Small protest hotspots

Schedule (1/3)

96

➢ Draft Schedule

Schedule (2/3)

97

➢ Draft Schedule

Schedule (3/3)

98

➢ Draft Schedule

Utility/Sensitivity Analysis

99

➢ In order to identify the best design, the utility function takes into account: Area of

Coverage, the system’s ability to stream and broadcast, and complexity

➢ Sensitivity analysis was run with the alt. designs against number of participants,

classes and marks

➢ The Simulation results provides us a framework of an example regatta

○ Calculates the target area of coverage in the area value function

○ Outputs number of protest hotspots for cost analysis

100

Stakeholder Influence Needs Wants Data

Yacht Club High

RRAS to meet Required Capability Wants RRAS to have a reasonable Cost

Email (Contact),

Secondary

Sources

(Websites, etc.)

Needs RRAS to accurately catch rule violations Wants RRAS to be easy to Use

Needs RRAS to be durable enough for environment Wants RRAS to have a reasonable Lifetime

(Battery)

Needs RRAS to Work Under Racing Weather

Conditions

Wants RRAS to have a low chance of

incorrectly indicating rule violations

Yacht Teams High

Needs RRAS to not interfere with normal

operations

Wants RRAS to accurately catch rule violations

Secondary

SourcesNeeds RRAS to communicate violations response

Wants RRAS to not incorrectly indicate rule

violations

Stakeholder Analysis (1/3)

101

Stakeholder Influence Needs Wants Current Data Collection

Judges High

Needs RRAS to reduce the time spent

adjudicating races

Wants RRAS to Broadcast live feed

of Race

Secondary SourcesNeeds RRAS to Indicate Rule Violations

Needs RRAS to Broadcast Rule Violations

Spectators Low

Wants RRAS to reduce the time

spent adjudicating races

Secondary Sources

Wants RRAS to Broadcast live feed

of Race

Federal/State HighNeeds RRAS to comply with existing regulations

Secondary Sources

Stakeholder Analysis (2/3)

102

Stakeholder Influence Needs Wants Current Data Collection How Contribute

Race Officer Medium Needs RRAS to document Rule

Violations in real-time

Secondary Sources Understanding of

course environment

can inform the system

context.

Race

Umpire

Medium Need RRAS to communicate

indicated Rule Violators

Secondary Sources Aid in finding where

violations are most

likely to occur

Need RRAS to communicate

response from Rule Violators

Need RRAS to inform them of

the kind of Rule Violations that

occur

Stakeholder Analysis (3/3)

MMC Risks

103

Risks S O D RPNDifficult to install. 9 8 4 288The camera captures poor image quality.

8 3 7 168

Battery dies during race. 7 7 1 49Camera knocked off due to some factor not directly related to the yacht team. (i.e. wind speed, turbulence)

5 6 1 30

A camera is lost during the race. 7 4 1 28

Severity (S) | Occurrence (O) | Detection (D) | Risk Priority Number (RPN)

MMC Risk Mitigation

104

Risks MitigationDifficult to install. Design a rig for the mast cameras system with the purpose

of making it easy to fit over the mast and stay.The camera captures poor image quality.

Potentially survey client and some stakeholders on satisfactory image quality.

Battery dies during race. Make sure the camera has a life span that lasts the duration of the race. Or the camera is only used during points in the race when rule violations are most likely to occur.

Camera knocked off due to some factor not directly related to the yacht team. (i.e. wind speed, turbulence)

Design the rig holding the mast camera in place to not only have a strong grip on the mast, but also a strong grip on the camera.

A camera is lost during the race. Utilize cheap cameras.

Drones Risks

105

Risks S O D RPN

Drone crashes into some boat within the vicinity of the course.

8 4 8 256

A Drone is lost during the race. 7 4 7 196

The camera captures poor image quality. 8 3 7 168

Battery dies during race. 7 7 1 49

Severity (S) | Occurrence (O) | Detection (D) | Risk Priority Number (RPN)

Drones Risk Mitigation

106

Risks MitigationDrone Crashes into some boat out in the vicinity of the course.

Fire drone pilot

The camera captures poor image quality. Potentially survey client and some stakeholders on satisfactory image quality.

Battery dies during race. Alternate drones, hotswap battery instead of recharge.

Drone crashes into water Attach foam floats

GPS Risk

107

Risks S O D RPN

Missing Data 4 5 8 160

Bad weather 8 5 3 120

Loss of connection to server 7 8 2 112

Corrupted Data 8 6 1 48

Unable to find accurate GPS 4 7 1 28

GPS runs out of battery 9 3 1 27

GPS breaks 10 1 1 10

Severity (S) | Occurrence (O) | Detection (D) | Risk Priority Number (RPN)

GPS Risk Mitigation

108

Risks Mitigation

Missing Data

Bad weather Recommend not racing during bad weather.

Loss of connection to server Store data for asynchronous use.

Corrupted Data Ignore corrupted data, utilize.

Unable to find accurate GPS Spend more money

GPS runs out of battery Instructions to include charge check, higher battery duration GPS

GPS breaks Improved waterproofing, safer location

109

Utility Function (WIP)

Factor Grade Values Curve Type

Area of Monitoring Percentage Logarithmic

Up Front Cost Dollar Inverse Linear

Precision Numeric TBD

Real Time Boolean Step

Complexity Subjective Inverse Linear

Expected Life Cycle Numeric Linear

People Required Numeric Inverse Exponential

Setup Time Numeric Inverse Linear

Transportation Difficulty Subjective Numeric Inverse Exponential

Cost over Time Dollar Inverse Linear

Utility Functions➢ Area of Monitoring

○ Area of course

○ _

○ _

➢ Up-Front Cost (in US$)○ _

➢ Precision (in feet)○ _

➢ Real Time○

110

Utility FunctionsIn order to gather subjective data the team will provide point of contact(s) with Likert

scale based questions (1-5) rating levels of agreement.

Some Sample Questions:

1. Given the above diagram depicting the process required to capture the race for the

(enter design alternative here) I believe this solution is complex.

2. Given the above diagram depicting the process required to transport the (enter

design alternative here) to and from the race I believe this solution is difficult to

transport.

111

Utility Functions➢ Complexity (Likert Scale 1-5)

○ _

➢ Transportation Difficulty (Likert Scale 1-5)○ _

➢ Expected Lifecycle (In years)○ _

➢ People Required (per person)○ _

➢ Setup Time (In Minutes)○ _

➢ Cost Over Time(US$/year)○ _

112

Part 2 Rules 10. On Opposite Tacks

11. On the Same Tack, Overlapped

12. On the Same Tack, Not Overlapped

13. While Tacking

14. Avoiding Contact

15. Acquiring Right of Way

16. Changing Course

17. On the Same Tack; Proper Course

18. Mark-Room

19. Room to Pass an Obstruction

113

Rules that Govern Interactions on Water

20. Room to Tack at an Obstruction

21. Exoneration

22. Starting Errors; Taking Penalties;

23. Backing a Sail

24. Capsized, Anchored or Aground;

25. Rescuing

26. Interfering with Another Boat

Business Case Updates➢ Initial Installation

○ Suggested Design Alternatives (as outlined in the physical architecture) components

○ Step-by-step setup

○ Use Case Directory

➢ Pre-Race Setup○ Step-by-step pre-race Course System Setup

○ During Race Use Case Instructions (Maybe)

➢ Post-Race Setup○ Step-by-step uninstallation manual for each ship with the system.

○ Step-by-Step uninstallation Manual for the Course

○ Checklist of Components to be Uninstalled

114

Business Case Updates➢ Component Replacement

○ Retailers Offering the Components■ What components these retailers are offering

■ How Much the Retailer is selling the component for as of the last checked date(MSRP)

■ Make sure all components are covered

115

Simulation (1 Participant)True Wind Angle: 300°

116[From Run 12]

270°

180°

90°

0°

Simulation (10 Participants)True Wind Angle: 210°

117

True Wind Angle: 150°

[From Run 1][From Run 5]

270°

180°

90°

0°

Simulation Progress● 20 minutes per 10 contestants

per 2 hours of race time at 1

second intervals. (speed now

worse)

● Replacing o(n) searches with

index calculations.

● Simulation Pathfinding is a

problem, reworking algorithm

again and again.

● Last implemented solution

hopped shoreline.118

ShoreMark

Ship

AI Aid Marker

Speed: Matrix ManipulationStochastic Simulation Destroys Efficiency in Pathfinding

Optimal Solution: total of 3 iterations + one iteration per obstruction

Current Stochastic: duration * increment * O(n^2) + o(20) * o(3 * n^2) iterations

Optimal Stochastic: duration * increment * O(n*log(n)) + o(20) * o(n) iterations

● Per participant, above is sorting and identifying complexity only.

Matrix Multiplication is o(n^2.84), but does not need to be done iteratively. Possible

GPU Acceleration would reduce matrix multiplication by a factor of 14 [22]

119