You are a very impressive applicant. Your stats and resume, combined with your legacy connections, give you a good shot at those schools. The safety school, as BrownParent points out, would have to be UMichigan. I would look at adding UCBerkeley, another top-tier school in your field of interest and probably could consider this school a strong match. It is a very competitive school in EE and, although I'd like to call it a safety school for you, I won't go quite that far. You may also want to add UIllinois to your list as noimagination suggested, also a top-tier school in EE and might be considered a safety school, given your credentials.