CanSat 2016 Preliminary Design Review Team Skyfall

Transcription

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CanSat 2016
Preliminary Design Review (PDR)
Team #3731
UAH Space Hardware Club
Team Skyfall
CanSat 2016 PDR: Team #3731 Skyfall
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Presentation Outline
Systems Overview – Walter Deitzler
Sensor Subsystem Design – Cameron Burma
Descent Control Design – Lucas Capps
Mechanical Subsystem Design – Walter Deitzler
CDH Subsystem Design – Daniel Corey
Electrical Power Subsystem Design – Jordan Taylor
Flight Software Design – William Hankins
Ground Control System Design – Connor Gisburne
CanSat Integration and Test – Elena Pradhan
Mission Operations and Analysis
Requirements Compliance – Walter Deitzler
Management – Walter Deitzler
Presenter: Walter Deitzler
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Team Organization
Faculty Advisor
Dr. Francis Wessling
Team Mentor
Caitlin Marsh
Electrical Team Lead
Jordan Taylor
Freshman
Electrical Team
• Cameron Burma
Freshman
• Connor Gisburne
Freshman
• Elena Pradhan
Freshman
• Will Hankins
Freshman
Team Lead
Walter Deitzler
Freshman
Alternate Team Lead
Daniel Corey
Freshman
Mechanical Team Lead
Lucas Capps
Freshman
Software Team Lead
Will Hankins
Freshman
Mechanical Team
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Walter Deitzler
Daniel Corey
Connor Gisburne
Ben Thompson
Freshman
Software Team
• Elena Pradhan
• Ankur Shah
Freshman
• Daniel Corey
• Connor Gisburne
Ground Station Team
• Connor Gisburne
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Acronyms
SV – Science Vehicle
GCS – Ground Control System
CONOPS – Concept of Operations
CG – Center of Gravity
FSW – Flight Software
ADC – Analog to Digital Converter
PWM – Pulse Width Modulation
MCU – MicroController Unit
CDH – Communication and Data Handling
LED – Light Emitting Diode
RBF – Remove Before Flight
DR – Derived Requirement
EPS – Electrical Power Subsystem
PCB – Printed Circuit Board
GND – Electrical Ground
GUI – Graphical User Interface
CDR – Critical Design Review
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Systems Overview
Walter Deitzler
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Mission Summary
The 2016 CanSat Mission is intended to simulate a SV traveling through a planetary
atmosphere sampling the atmosphere during descent. (Section 2)
The CanSat will deploy from the rocket near apogee and then at 400 m the SV will extract
itself from the container. (Section 2)
The SV will be a glider in function and will transmit the data collected during descent at a
rate of 1 Hz. (Section 2)
The SV will glide in a circular pattern with a diameter of no more than 1000 m. (Section 2)
Upon command from the ground station judge, the SV will take a photo of the ground. This
photo will be stored for retrieval after landing. (Section 2)
The SV will cease transmissions only after landing, at which point it will begin emitting an
audible signal. (Section 2)
We will pursue both selectable objectives
– Using the same device for cut down and camera rotation reduces the complexity of
the first bonus objective
– After analysis of the relevant datasheets, the software team is confident the objective
is achievable
Personal Objective
– Cut down using a mechanical system, as opposed to a nichrome wire
– Run all electronics off of a single battery
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System Requirement Summary (1/2)
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Requirement
1
Total mass of the CanSat (container and payload) shall be 500 grams +/- 10
grams.
2
The glider shall be completely contained in the container. No part of the glider
may extend beyond the container.
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Container shall fit in a cylindrical envelope of 125 mm diameter x 310 mm
length including the container passive descent control system. Tolerances are
to be included to facilitate container deployment from the rocket fairing.
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The container shall not have any sharp edges to cause it to get stuck in the
rocket payload section.
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The rocket airframe shall not be used to restrain any deployable parts of the
CanSat.
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System Requirement Summary (2/2)
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Requirement
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The rocket airframe shall not be used as part of the CanSat operations.
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The CanSat (container and glider) shall deploy from the rocket payload section.
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Cost of the CanSat shall be under $1000. Ground support and analysis tools are
not included in the cost.
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Both the container and glider shall be labeled with team contact information
including email address.
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The glide duration shall be as close to 2 minutes as possible.
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System Level CanSat Configuration
Trade & Selection
Options
Example
Monoplane
Delta Kite
Pros
Cons
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Sturdy
Easy to Manufacture
Easy to fold and
deploy
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Easy to design
Easy to manufacture
Simple to obtain high
wing area
Easy to fold and
deploy
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High wing area
More compact
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Blended Body
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http://fas.org/nuke/guide/usa/bomber/b-2.htm
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Most difficult to
generate lift with
Heavy
Fragile
More difficult to
prevent stall
Less control over
shape
More difficult to
design
Difficult to
manufacture
Most complex
Selected: Monoplane
– It is a sturdy, easy to manufacture design. It offers a lot of versatility of
design without being overly complex.
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System Concept of Operations
CanSat
exits rocket
Rocket
launches
400m
SV extracts
itself from the
container
SV safely glides to
ground, transmitting
telemetry along the
way
Load CanSat
into rocket
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Physical Layout (1/3)
Launch Configuration Dimensions
(All measurements in millimeters)
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Deployed Configuration Dimensions
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Launch Configuration Dimensions
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Launch Vehicle Compatibility
The CanSat container will be 300mm in length by 124.98mm in width,
which will provide 10mm and 0.02mm clearance respectively.
– The width has less clearance than we consider acceptable. This will be
examined and correct within future iterations of the CanSat, in order to reach
5-10mm of clearance.
– Tests will be performed to confirm launch vehicle compatibility
– Sharp edges will be sanded to avoid catching
10mm clearance
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Sensor Subsystem Design
Cameron Burma
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Sensor Subsystem Overview
Sensor Type
Model
GPS Receiver
Antenova M10382-A1
Air Pressure Sensor
MS5607
Air Temperature Sensor
MS5607
Pitot Tube
Dual MS5607s
Camera
Miniature TTL Serial JPEG Camera
Battery Voltage Sensor
ADC Prebuilt into the MCU
Presenter: Cameron Burma
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Sensor Subsystem Requirements
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Requirement
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Sensors shall be built to survive 15 Gs of acceleration.
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Sensors shall be built to survive 30 Gs of shock.
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During descent, the glider shall collect air pressure, outside air
temperature, and battery voltage once per second
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The glider shall have an imaging camera installed and pointing toward the
ground
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The resolution of the camera shall be a minimum of 640x480 pixels in color
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The glider vehicle shall incorporate a pitot tube and measure the speed
independent of GPS. The speed shall be compared with GPS speed.
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GPS Receiver Trade & Selection
Options
Pros
Cons
Antenova M10382-A1
• Does not need an
• Larger
antenna
• Uses U-blox chipset
RXM-GPS-R4-T
• Smaller
• Needs antenna
• Uses SiRFstarIV
chipset
Selected: Antenova M10382-A1
• It does not need an external
antenna, simplifying the design
http://www.mouser.com/images/ante
nova/images/antenova_com.jpg
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Air Pressure Sensor
Trade & Selection
Options
Pros
Cons
MS5607
• Low power
consumption
• Team experience
• Low resolution (0.024
mb)
MS5611
• Same specifications as
MS5607 but highest
resolution (0.012 mb)
• Club heritage
• Nearly twice the price of
MS5607
MPL3115A2
• High resolution (0.015
mb)
• Can only use I²C which
the team has no
experience with
Selected: MS5607
• Interface is familiar to team members
• Lower price makes it the most suitable for
prototyping
• Nearly entirely compatible with MS5611, so it can be
replaced very easily if higher resolution is required
http://media.digikey.com/
Photos/Measurement%2
0Specialties%20Photos/
MFG_MS560702BA0300.JPG
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Pitot Tube Trade and Selection
Options
Pros
Cons
Hobbyking
Pitot Air
Speed
Sensor
• Preassembled
• Components already soldered
on breakout boards
• Incompatible voltage
requirement to our 3.3V
system (4.75V)
• Less room for customization
• High mass (~20g)
Custom Pitot • More room for customization
Tube using
• Same sensor used for pressure
Dual MS5607
readings
Sensors
• Lower mass (~10g)
• Compatible with 3.3V power rail
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Selected: MS5607
• Compatibility with electrical
system
• More customizable
• Sensors are already being
used
• Must be designed and
assembled
Functional MS5607-based pitot tube prototype
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Air Temperature Sensor
Trade & Selection
Options
Pros
Cons
MS5607
• Already on the SV as
our pressure sensor
• Higher resolution
• Lower range of
temperatures
LM75BD,118
• Cheaper
• Greater range of
temperatures
• Lower resolution
Selection: MS5607
• No additional components needed
• Meets all of our needs
http://media.digikey.com/Photos/Measure
ment%20Specialties%20Photos/MFG_M
S560702BA03-00.JPG
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Battery Voltage Sensor
Trade & Selection
SV (not applicable to container)
Device
Pros
ATXMEGA256 • Minimal
Internal ADC
additional
circuitry
LTC2451
External ADC
• Higher
resolution
Cons
Voltage measurement is
accomplished with a
voltage divider and ADC
• Lower
resolution
• Added
complexity
• Additional
peripheral
interface
required
Selected: ATXMEGA256 Internal ADC
• Resolution (2.2 mV) is sufficient for our needs
• Minimal extra hardware required
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Camera Trade & Selection
Camera
Pros
Cons
Miniature TTL Serial JPEG
Camera
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• Takes time to process
and transmit pictures
TTL Serial JPEG Camera
• Outputs JPEG
• Bigger
• Heavier
OV7670 Camera Module
• Much Cheaper
• Processes images faster
• Does not output
compressed images
Small (20mm x 28mm)
Lightweight(3g)
Runs on 3.3V
Outputs JPEG
Selection: Miniature TTL Serial JPEG Camera
• No level shifter needed for communication with MCU
• No additional circuitry needed to compress images,
which will be necessary for transmission
• Has a resolution of 680x480
https://www.adafruit.com/i
mages/970x728/138600.jpg
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Descent Control Design
Lucas Capps
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Descent Control Overview
Container
Flight range SV
Container
– Container will descend with a
traditional parachute which will
Above 400 m Descends under parachute
deploy after separation from
rocket
Below 400 m Gliding
Continues
SV
under
– Upon deployment from the
parachute
container, a set of wings will
unfold, and the SV will glide
down
124.98mm
– Fixed control surfaces will be
placed on the vertical stabilizer
and wings so the SV will descend
in a circle. This will keep us
300mm
within the required 1000 m
diameter circle
Presenter: Lucas Capps
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Descent Control Requirements
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Requirement
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The container’s descent system must be a parachute or similar device
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The container shall be a florescent color, pink or orange.
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All descent control device attachment components shall survive 30 Gs
of shock.
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All descent control devices shall survive 30 Gs of shock.
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All structures shall be built to survive 15 Gs acceleration.
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All structures shall be built to survive 30 Gs of shock.
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Cannot use pyrotechnics or chemicals
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The SV must land as close to 2 minutes after deploying as possible
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Container Descent Control Strategy
Selection and Trade
Descent
Control
Experience
Difficulty
Cons
Parasheet
Yes
Simple
Might not deploy
Parachute
Club Experience
Complex
Hard to make
Might not deploy
Streamer
No
Very Simple
Less effective
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Selection
– Parasheet with spillhole
– Easy to make, modify, and integrate
Color selection
– Parasheet: Orange Container: Pink
Shock force survival
– 50 lb fishing line will maintain knots
– Ripstop parasheet will prevent tears
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DCS connections
– 50 lb monofilament fishing line
– Experience and easy to use
Preflight review testability
– Determine strength and reliability of
parasheet and fishing line connections
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Payload Descent Control Strategy
Selection and Trade
Descent
Control
Difficulty
Pros
Cons
Monoplane
Simplest
Light
Easiest to produce
Lowest amount of lift
Biplane
Moderately
complex
Roughly 20% more lift Heavier
Canard Wing
Simple
Protections against
stalling
CG is farther back
Selection
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– Monoplane
– Ease of construction combined with lighter
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weight
– In testing stalling has not been an issue so we
decided a canard wing was unnecessary
– Glide Ratio = 8
– Chord Length = 55 mm Wing length = 220 mm
each
Downwash
Color
– Wings will be yellow
Preflight review testability
– Test spring powered wing
deployment
– Make sure the SV is oriented
correctly in the container
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Descent Rate Estimates (1/2)
• Post Separation (Container and Glider)
– Assume a velocity of 10 m/s
– V=
2𝑊
𝜌(𝐶𝑑𝐶 𝐴𝐶 +𝐶𝑑𝑃 𝐴𝑃 )
– 100 =
=
2∗9.81∗.5
1.225(0.47∗0.049+0.75𝐴𝑃 )
=
9.81
(0.023+0.75𝐴𝑃 )
9.81
0.023+0.75𝐴𝑃
– 𝐴𝑃𝑎𝑟𝑎𝑠ℎ𝑒𝑒𝑡 = 0. 076𝑚2
– 𝐴𝑃 = π𝑟 2
– r = 0.155 m
• Spill Hole
– 15% of Area = 0.0114 𝑚2
– 𝑟𝑠𝑝𝑖𝑙𝑙ℎ𝑜𝑙𝑒 = 0.06 𝑚
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Descent Rate Estimates (2/2)
Post Separation (Container)
– V=
2𝑊
𝜌(𝐶𝑑𝐶 𝐴𝐶 +𝐶𝑑𝑃 𝐴𝑃 )
=
2∗9.81∗.15
1.225(0.47∗0.049 +0.75∗0.155)
– V = 1.95 m/s
•
Post Separation (Glider)
– If we assume lift is perpendicular to direction of travel, then work done by
drag is equal to loss of potential energy
– For every 1m in the x direction, W=Fd
– F = ½ v^2 ρ (𝐶𝑑𝑤𝑖𝑛𝑔 𝐴𝑤𝑖𝑛𝑔𝑓𝑟𝑜𝑛𝑡𝑎𝑙 + 𝐶𝑑𝑐𝑜𝑛𝑡𝑎𝑖𝑛𝑒𝑟 𝐴𝑐𝑜𝑛𝑡𝑎𝑖𝑛𝑒𝑟 )
–
–
–
–
–
–
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F = 0.424 N
When d = 1 W = 0.424 J
0.424 = mgh
d
h = 0.424/(0.35*9.81) = 0.123m
ɵ
x
Descent angle = arcsin(0.123/1) = 7.1̊
x = dcos(ɵ) = .1cos(7.1) = 0.99m
This will make our flight time as close to 2 minutes as possible
h
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Mechanical Subsystem Design
Walter Deitzler
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Mechanical Subsystem Overview
• Container
– Parasheet for descent
– Rigid Can
• Payload
– Cut-down by pulling ripcord attached to servo motor that
camera is mounted on
– Wings spring outward after being tucked in the can
– Polycarbonate wing ribs covered with monokote on a 3D
printed body
– PCB and electronics housed inside
– Servo motor rotates camera
Presenter: Walter Dietzler
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Mechanical Sub-System
Requirements (1/3)
#
Requirement
1
Total mass of the CanSat (container and payload) shall be 500 grams +/- 10 grams.
2
The SV shall be completely contained in the container. No part of the SV may extend
beyond the container.
3
Container shall fit in a cylindrical envelope of 125 mm diameter x 310 mm length
including the passive descent control system.
4
The container shall use a passive descent control system. It cannot free fall.
5
The container shall not have any sharp edges to cause it to get stuck in the rocket
payload section.
6
The container shall be a florescent color, pink or orange.
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The rocket airframe shall not be used to restrain any deployable parts of the CanSat
8
The rocket airframe shall not be used as part of the CanSat operations.
9
The CanSat (container and SV) shall deploy from the rocket payload section.
10
The SV must be released from the container at 400 meters +/- 10 m.
11
The SV shall not be remotely steered or autonomously steered. It must be fixed to glide
in a preset circular pattern of no greater than 1000 meter diameter. No active control
surfaces are allowed.
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Requirements (2/3)
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Requirement
11
The SV shall not be remotely steered or autonomously steered. It must be fixed to glide
in a preset circular pattern of no greater than 1000 meter diameter. No active control
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All descent control device attachment components shall survive 30 Gs of shock.
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All electronic components shall be enclosed and shielded from the environment with the
exception of sensors.
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All structures shall be built to survive 30 Gs of shock
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All electronics shall be hard mounted using proper mounts such as standoffs, screws, or
high performance adhesives.
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All mechanisms shall be capable of maintaining their configuration or states under all
forces
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Mechanisms shall not use pyrotechnics or chemicals.
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Requirements (3/3)
#
Requirement
20
Mechanisms that use heat (e.g., nichrome wire) shall not be exposed to the outside
environment to reduce potential risk of setting vegetation on fire
27
The SV shall have an imaging camera installed and pointing toward the ground.
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Cost of the CanSat shall be under $1000. Ground support and analysis tools are not
included in the cost
36
Both the container and SV shall be labeled with team contact information including email
address.
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No lasers allowed.
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The SV must include an easily accessible power switch which does not require removal
from the container for access. Access hole or panel in the container is allowed.
40
The SV must include a battery that is well secured to power the SV.
45
The SV shall incorporate a pitot tube and measure the speed independent of GPS. The
speed shall be compared with GPS speed.
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49
SV shall be a fixed wing glider. No parachutes, no parasails, no autogyro, no propellers.
35
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Mechanical Layout of Components
Trade & Selection
Component
Options
Selected
Reasoning
Wings
• Printed Wing
Wrapped
• Wrapped frame frame
Much lighter and equally as
effective
Body
• Fiberglass
• Wood
Fiberglass
Heavier, but much stronger
Less likely to crack in testing
Container
• Open Base
• Clamshell
Open Base
No moving parts
Easy to deploy once link is cut
Deployment
• Hotwire
• Three Hole
Ripcord
Three Hole
Ripcord
Already have a servo motor
Personal objective to do a
mechanical cut down
Open
base
container
Parachute 3-ring release mechanism (inspiration for three hole
ripcord)
http://skydivemode.com/wp-content/uploads/3Ring_release_animatione1413590727681.gif
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Camera Pointing Mechanism
Trade & Selection
Servo Selection
Options
Pros
Cons
Tower Pro SG92R
• Adequate torque(156
mNm)
• Lightweight
• Lower torque(156
mNm)
Arduino T010050
• Small and Lightweight
• Just under requisite
torque(98 mNm)
Tower Pro MG90S
• Guaranteed to turn the
camera and perform cut
down
• Heavier
Selection: Tower Pro
MG90S
• Fits all specifications
• Will be able to complete
mechanical cut down with http://media.digikey.com/Pho
tos/Adafruit%20Industries%2
0LLC/1143.jpg
ease
Camera Connected
to Servo
37
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Material Selections
• Container Material:
– Fiberglass walls
– Polycarbonate bulkhead
– Ripstop nylon for parasheet
• Payload Material
– Fiberglass body for a light and strong fuselage
– 3D printed ABS wing mounts
– Lightweight cloth skin to cover electronics
• Wing Material
– Polycarbonate ribs
– Balsa wood spars
– Monokote wing covering
38
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Container - Payload Interface
• SV will be attached to the top of the container by a string/cord
• After the container has been deployed from the rocket, the servo motor
will pull the ripcord
• The SV will fall out of the container and the wings will fold out
• The container is bottomless
Pre-release: the pin
holds the monofilament
loop in
The servo turns the
camera, pulling the
pin out of the loop
The SV falls from the
container. The wings
deploy on springs.
39
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Structure Survivability Trades (1/5)
#
Requirement
12
All descent control device attachment components shall survive 30 Gs
of shock.
13
14
All electronic components shall be enclosed and shielded from the
environment with the exception of sensors.
15
16
All structures shall be built to survive 30 Gs of shock
17
All electronics shall be hard mounted using proper mounts such as
standoffs, screws, or high performance adhesives.
18
All mechanisms shall be capable of maintaining their configuration or
states under all forces
40
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Structure Survivability Trades
(2/5)
• Electronic component (PCB) mounting methods
Option
Pro
Con
Threaded Fasteners
• Strong
• Reusable
• Heavier
Adhesive
• Light
• Evenly spreads
forces
• Hard to adjust and
modify
Selected: Threaded Fasteners
• Less permanent in case of error
• Will reliably handle the required forces
http://blog.mutualscrew.com/blog/assets/content/machine-screw-diamaters.jpg
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(3/5)
• Electronic component enclosures
Option
Pro
Con
Machined
Polycarbonate
• Lightweight
• Strong
• Takes special skills
to machine
3D Printing
• Easy to produce
• Heavy
• Weaker
Fiberglass
• Very strong
• Secure
• Heavy
• More difficult to work
with
Selected: Machined Polycarbonate
• Lightweight and strong
• Have access to people with machining
tools and skills
http://www.pepctpla
stics.com/wpcontent/uploads/lar
ge_mill1.jpg
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(4/5)
• Securing electrical connections
Option
Pro
Con
Locking Molex
Connectors
• Removable, but
secure
• Bulky
• Time-consuming to
build
Break Away Headers
• Easier to build
• Must be glued
before flight for
security
Selected: Molex Connectors
• Secure connection
• Time spent building is
saved by not having to add
and remove glue before
and after test flights
Female Molex
connectors
from the
team’s pitot
system
prototype
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(5/5)
• Descent Control Attachments
Option
Pro
Con
Bowline Knots
• Easy to adjust
• Strong
• Potential for tangling
if excessive material
is loose
Adhesives
• No risk of tangling
• Unadjustable
Selected: Bowline Knots
• Very strong while also being adjustable in case of mistakes
• Simple and light
• Risk of tangling can be minimized by keeping loops small
http://www.islandbarn.org.uk/images/stories/knots/Bowline_Knot_4.gif
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Mass Budget
Container
Payload
Part
Mass
Determination
Part
Mass
Determination
Shell
120g
Estimation
Electronics 70g
Estimated
Descent
Control
10g
Calculated
Body
150g
Estimated
Wings
50g
Estimated
Margin
20g
Tail
25g
Estimated
Total
150g
Margin
55g
Total
350g
Total Mass: 500g
Method of correction: add ballast or use strategic removal of material
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Communication and Data Handling
(CDH) Subsystem Design
Daniel Corey
46
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CDH Overview
– Data handling and communication are performed by the
MCU and the Xbee radio.
– Chosen Hardware:
•
•
•
•
Xbee-PRO 900HP 200Kbps 32K Programmable
Atmel XMEGA 8-bit (ATXMEGA256A3U-AU)
A09-HASM-675 Half wave Dipole Articulated
XBee Explorer USB USB Adapter for XBee-PRO 900HP
Hardware
Choice
Radio
Xbee-PRO 900HP
Processor
Atmel XMEGA 8-bit
Memory
Spansion Flash Memory
Antenna
A09-HASM-675
Presenter: Daniel Corey
47
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CDH Requirements (1/2)
#
Requirement
21
During descent, the glider shall collect air pressure, outside air temperature, and
battery voltage once per second.
22
During descent, the glider shall transmit all telemetry at a 1 Hz rate.
23
Telemetry shall include mission time with one second or better resolution, which
begins when the glider is powered on. Mission time shall be maintained in the
event of a processor reset during the launch and mission.
24
XBEE radios shall be used for telemetry. 2.4 GHz Series 1 and 2 radios are
allowed. 900 MHz XBEE Pro radios are also allowed.
25
XBEE radios shall have their NETID/PANID set to their team number.
26
XBEE radios shall not use broadcast mode.
30
Each team shall develop their own ground station.
31
All telemetry shall be displayed in real time during descent
32
All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius,
etc.)
33
Teams shall plot data in real time during flight.
48
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CDH Requirements (2/2)
#
Requirement
34
The ground station shall include one laptop computer with a minimum of two hours of
battery operation, xbee radio and a hand held antenna.
35
The ground station must be portable so the team can be positioned at the ground
station operation site along the flight line. AC power will not be available at the ground
station operation site.
36
Both the container and glider shall be labeled with team contact information including
email address.
37
The flight software shall maintain a count of packets transmitted, which shall
increment with each packet transmission throughout the mission. The value shall be
maintained through processor resets.
43
The glider shall receive a command to capture an image of the ground and store the
image on board for later retrieval.
44
The telemetry shall indicate the time the last imaging command was received and the
number of commands received.
DR
The MCU must have 2 SPI ports, 4 UART ports, an ADC, 2 PWM pins, 12 additional
GPIO pins, 256 Kbytes program memory, and 16 Kbytes of RAM
DR
At least 14 Mbits (1.75 Mbytes) of non-volatile storage must be available
49
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Processor & Memory
Trade & Selection (1/2)
Processor
Pros
Atmel XMEGA 8-bit
• Similar to previously
(ATXMEGA256A3U-AU)
used MCUs
• More SPI(3) and
UART(7) ports
ATMEL 32-bit MCU
(AT32UC3A1256-AUR)
•
• More RAM
(64Kbytes)
• Higher clock speed
(66 MHz)
Cons
• Slower (32 MHz)
• Less RAM (16
Kbytes)
• Only 4 UARTs
• Only 2 SPIs
Selected: XMEGA 8-bit
– Memory and speed are sufficient
– More SPI and UART connections to handle
unexpected needs
– Team members have experience with the chip
family
https://cdnreichelt.de/bilder/web/xxl_ws/A300/TQF
P-64.png
50
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Processor & Memory
Trade & Selection (2/2)
Device
Pros
Cons
SD card (arbitrary size)
• Removable
• Club heritage
• Easily read from
computer
• Potential for loss of
capability due to
vibrations
• Up to 100 mA current
draw active, .25 mA
standby
Flash Memory (Spansion • No risk of connection
S25FL132K0XMFI041
loss
32 Mbit)
• Up to 25 mA active,
15 μA standby)
Selected: Flash Memory
• Lower power consumption
• Simplifies operation (fewer parts to lose)
• Not removable
• Damage to MCU
and/or breakout board
makes it challenging
to extract flight data
http://media.digikey.c
om/Renders/Spansio
n%20Renders/8SOIC%20PKG_tmb.j
pg
51
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Real-Time Clock
Options
Pros
Cons
Xmega 8-bit built-in RTC,
32 KHz
• Already on our MCU
• Slightly less accurate
Tiny real-time
clock/calendar
(PCF85063TP)
• Inexpensive
• Higher accuracy
• Added hardware
complexity
Selection: ATXmega256 built-in RTC, 32 KHz
• No additional components needed, only
software configuration
• High accuracy is not needed for CanSat
operations
https://cdn-reichelt.de/bilder/web/xxl_ws/A300/TQFP64.png
52
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Antenna Trade & Selection
Options
Pros
Cons
A09-HTM-675
-Sufficient gain(2.1 dBi) -Whip antenna, ¼ wavelength, may
-Shorter than other
not work as well as ½ wave dipole
options
-Requires an adapter to connect to
XBee
A09-HASM-675
-2.1dBi ½ wave dipole
-SMA connection,
compatible with XBee
-More expensive
A09-HBSM-P5I
-2.1dBi ½ wave dipole
-Longer
-Attached 5 inch cable not necessary
Selection: A09-HASM-675
• This antenna readily connects to the Xbee.
• The 2.1dBi ½ wave dipole has a 3km range
• Prior usage in competition
Link Budget:
https://www.parallax.c
om/sites/default/files/s
PR = PT + GT – LT - LFS - LM + GR - LR
tyles/full-sizeproduct/public/32410_
-73.44dBm = 16.99dBm + 2.1dBi -101.08dB + 10.65dBi
0.png?itok=rqU9TYM
H
53
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•
•
Radio Configuration
The XBee will be configured with the XCTU software provided by Digi
– Unicast mode
– NETID will be set to our team number (3731)
– Transparent mode
– Baud rate will be set to 230400
– The RO (Packetization Time-out) parameter will be set to a low non-zero
value (10 ms) to minimize latency without sacrificing transport efficiency
– The DH and DL settings on the SV and GCS XBees will be set to each
other’s SH and SL parameters
Transmission control
– The XBee will only transmit when it is sent data. No data will be sent to it
during flight state 4 (landed).
– Software will prioritize sending pending telemetry packets to the XBee near
the beginning of each second, and will not send image packets during
telemetry transmission
54
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Telemetry Format
Telemetry data and example packet (sent once per second)
Temperature
(°C)
Packet
count
Team
ID
Air
pressure
(Pa)
GPS
altitude
(m)
Latitude
Command
count
GPS
speed
(m/s)
Camera
angle
(degrees)
3731,1203,1248,431,98287,19.3,32,3.1,31.995975,-99.219524,1375,10,20.1,1172,2,-35,STATUS:2;5;32
Mission
time (s)
Airspeed
(m/s)
Altitude sensor
measurement
(m)
Command
time (s)
Longitude
Battery
voltage (V)
# of GPS
satellites
Semicolonseparated
status codes
55
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Electrical Power Subsystem (EPS)
Design
Jordan Taylor
56
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EPS Overview
5V
components
(servo motor)
5V DC-DC
switching
regulator
RBF pin
MCU and other
3.3V
components
Presenter: Jordan Taylor
3V Surefire
123A
battery
3.3V DC-DC
switching
regulator
57
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EPS Requirements
#
Requirement
14
All electronic components shall be enclosed and shielded from the environment with
the exception of sensors.
15
16
17
All electronics shall be hard mounted using proper mounts such as standoffs,
screws, or high performance adhesives.
18
All mechanisms shall be capable of maintaining their configuration or states under
all forces.
39
The glider must include an easily accessible power switch which does not require
removal from the container for access. Access hole or panel in the container is
allowed.
41
Lithium polymer cells are not allowed due to being a fire hazard.
42
Alkaline, Ni-MH, lithium ion built with a metal case, and Ni-Cad cells are allowed.
Other types must be approved before use.
DR
The EPS must provide a 3.3V power supply
DR
The EPS must provide a power supply between 4.8V and 6V
58
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Electrical Block Diagram
Battery
External
power
supply
(optional)
Servo
motor
3.3V
converter
Pitot system
Switch
(RBF pin)
Status
LED
Voltage
sensor
Data
storage
5V
converter
XBee
Pressure
sensor
MCU
Pressure
sensor
GPS
Buzzer
CanSat 2016 PDR: Team ### (Team Number and Name)
59
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Payload Battery Trade and
Selection
Lithium Ion
Battery
Power
Voltage
Mass
Rechargeable
Surefire 123A
1550mAh
3V
17.1g
No
Ultralife
UBP001
1800mAh
3.7V
41g
Yes
Ultralife
UBP002
900mAh
3.7V
24g
Yes
• Selected: Surefire 123A
•
•
•
DC-DC switching regulators can adjust
voltage as needed
Minimizes mass
Documentation is minimal, but has
club heritage in similar applications
http://edczone.com
/cdn/store/3411/ps/
20150513/2012_sf
123a_1l_480x480.j
pg
60
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Power Budget
Component
Duty
Cycle
Current
(mA)
Voltage
MCU
100%
15
3.3
Camera
4%
75
Servo
4%
GPS
Conversion
Efficiency
Power
consumption
(mAh)
Uncertainty
83% (DC-DC)
29.82
Datasheet
3.3
83% (DC-DC)
5.96
Datasheet
200
5.0
86% (DC-DC)
23.26
Datasheet
100%
52
3.3
83% (DC-DC)
103.37
Datasheet
Pressure sensor (x2)
100%
0.28
3.3
83% (DC-DC)
0.56
Datasheet
XBee
100%
48
3.3
83% (DC-DC)
95.42
Datasheet
Flash memory
66%
0.14
3.3
83% (DC-DC)
0.18
Datasheet
Status LED (x3)
50%
90
3.3
83% (DC-DC)
89.46
Datasheet
Buzzer
33%
35
3.3
Total flight time
1.5 hr
100% (battery) 17.33
Total
365.48
Datasheet
• Battery capacity: 1500 mAh
• Required capacity * 1.5 margin of error: 550 mAh
• Calculations based on 1 hour pre-flight wait, a 3 minute flight, and 27 minutes
with the buzzer running, and are still at less than 40% of the battery’s capacity
61
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Power Bus Voltage Measurement
Trade & Selection
Device
Pros
ATXMEGA256 • Minimal
internal ADC
additional
circuitry
LTC2451
external ADC
• Higher
resolution
Cons
• Lower
resolution
Voltage measurement is
accomplished with a
voltage divider and ADC
• Added
complexity
• Additional
peripheral
interface
required
Selected: ATXMEGA256 internal ADC
• Resolution (2.2 mV) is sufficient for our needs
• Minimal extra hardware required
62
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Flight Software (FSW) Design
William Hankins
63
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FSW Overview
• All flight software is
written in the C
programming language
• Development in Atmel
Studio IDE
Tasks
• Detect launch,
landing, and other
state changes
• Determine when to
release SV from
container
• Accept commands
and transmit
telemetry
Presenter: William Hankins
FSW Architecture
Command
buffers and
variables
Timetriggered
interrupts
Data buffers
and
variables
Eventtriggered
interrupts
Main
control
loop
64
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FSW Requirements (1/2)
#
Requirement
21
During descent, the glider shall collect air pressure, outside air temperature, and
battery voltage once per second.
22
23
Telemetry shall include mission time with one second or better resolution, which
begins when the glider is powered on. Mission time shall be maintained in the event
of a processor reset during the launch and mission
24
25
26
31
All telemetry shall be displayed in real time during descent.
32
All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius,
etc.)
65
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FSW Requirements (2/2)
#
Requirement
33
37
The flight software shall maintain a count of packets transmitted, which shall
increment with each packet transmission throughout the mission. The value
shall be maintained through processor resets.
43
The glider shall receive a command to capture an image of the ground and
store the image on board for later retrieval.
44
The telemetry shall indicate the time the last imaging command was received
and the number of commands received.
47
The CanSat shall have a payload release override command to force the
release of the payload in case the autonomous release fails.
48
A buzzer must be included that turns on after landing to aid in location
Bonus The camera shall be commanded to point at any angle from starboard to nadir
#1
to port direction and take an image in the requested direction.
Bonus Transmit image to ground station after each picture is taken. Telemetry must still
#2
be sent during image transmission at the 1 Hz rate using the same XBee radio.
66
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CanSat FSW State Diagram (1/2)
RBF
pulled
Flight State 0 (prelaunch)
•
Begin sensor
sampling
•
Begin storing data
•
Transmit telemetry
Vertical velocity > 15
m/s
Flight State 1 (post-launch)
• Continue sensor sampling
• Continue data storage
• Transmit telemetry
1. Servo powered on
2. Cut down (rotate
servo)
3. Camera powered on
Flight State 2 (gliding)
• Continue sensor sampling
• Continue data storage
• Transmit telemetry
•
Accept camera rotation
commands
•
Take photos on command
Vertical velocity < 3
m/s AND
airspeed < 5 m/s
Altitude <= 400 m
and vertical velocity
< 0 m/s
1.
2.
3.
4.
5.
6.
Flight State 4 (landed)
Sensor sampling rate:
Halt sensor sampling
Halt telemetry transmission
Continue transmitting
partially sent photos
Turn off camera
Turn off servo
Activate buzzer
Standard Sensor
Sampling Rates
• GPS and battery voltage:
1 Hz
• Altitude, airspeed, and
temperature: 10 Hz
Data Storage
• Record all transmitted
telemetry
• Record all photos taken
Telemetry
• Transmission rate: 1 Hz
67
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CanSat FSW State Diagram (2/2)
Start up Sequence
Shutdown Sequence
Read
EEPROM
Shutdown
unsafe?
No
Collect base altitude, set
time and flight state to 0
Set shutdown
flag to UNSAFE
in EEPROM
CanSat safe button
pressed
Yes Load stored data
from EEPROM
Shutdown flag set to SAFE
in EEPROM
RBF pin inserted, SV
shuts down
Recovery data
• Shutdown flag
• Base altitude
• Flight state
• System time
• Telemetry packet count
• Photo transmission information
68
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Glider FSW Plan
Cutdown Detail
(when vertical velocity < 0 m/s and
altitude <= 400 m)
1. Switch servo power on
2. Rotate servo to pull release pin
3. Switch camera power on
4. Initialize and configure camera
Pressure collection detail
(at 10 Hz)
1. Send measurement commands to
both sensors; record current time
2. At least 10 milliseconds later, read
pressures from both sensors
3. Replace the oldest stagnation and
static pressures in memory with the
measurements taken
1.
2.
3.
4.
1.
2.
3.
4.
Taking a Photo Detail
(when command is received)
Generate photo metadata
Write metadata to flash memory
Send photo command to camera
over UART
An interrupt will write the relevant
parts of the data sent from the
camera to flash memory
Cutdown Override Detail
(when command is received)
Power on servo
Rotate servo to release ripcord pin
Power on and initialize camera
Enter flight state 2 (regardless of
current flight state)
69
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Software Development Plan
Prototyping
• Software developed using a ATxmega128a1 Xplained development board
• Breakout boards and breadboards utilized for some sensor/device development
Development Sequence
1. Pressure sensor (completed)
2. GPS, state detection, telemetry transmission, command reception (By Feb 17th)
3. 1st flight test (By February 20th)
4. Flash memory driver, servo (By Mar 9th)
5. 2nd flight test (By Mar 12th)
6. Camera driver, pitot calibration, battery voltage measurement (By Apr 6th)
7. 3rd flight test (By Apr 9th)
8. Debugging, calibration and testing (June 1st)
Development Team
• Elena Pradhan
• Daniel Corey
• Will Hankins
• Ankhur Shah
Testing Methodology
• Testing of individual drivers before and after integration
• Testing of all aspects of the software periodically, and
after any major change or addition
ATxmega128a1 Xplained
70
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Ground Control System (GCS) Design
Connor Gisburne
71
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GCS Overview
Yagi Antenna,
Laird
Technologies
PC906N
Laptop computer with at least 2
hours of battery life, and the GCS
software installed for data
processing
Xbee
Pro
900HP
XBee Explorer
USB, a USB
adaptor for
Xbee products
Presenter: Connor Gisburne
72
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GCS Requirements (1/2)
#
Requirement
22
23
Telemetry shall include mission time with one second or better resolution,
which begins when the glider is powered on. Mission time shall be maintained
in the event of a processor reset during the launch and mission.
24
25
26
29
Cost of the CanSat shall be under $1000. Ground support and analysis tools
are not included in the cost.
30
31
All telemetry shall be displayed in real time during descent.
73
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#
GCS Requirements (2/2)
Requirement
32 All telemetry shall be displayed in engineering units (meters, meters/sec,
Celsius, etc.)
33 Teams shall plot data in real time during flight.
34 The ground station shall include one laptop computer with a minimum of two
hours of battery operation, xbee radio and a hand held antenna.
35 The ground station must be portable so the team can be positioned at the
ground station operation site along the flight line. AC power will not be available
at the ground station operation site.
36 Both the container and glider shall be labeled with team contact information
including email address.
37 The flight software shall maintain a count of packets transmitted, which shall
increment with each packet transmission throughout the mission. The value
shall be maintained through processor resets.
44 The telemetry shall indicate the time the last imaging command was received
and the number of commands received.
74
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GCS Antenna Trade & Selection
Options
Pros
Cons
Laird Technologies
PC906N
• Has been used by
the club before
• Club has some on
hand
• Large
Phoenix
Contact 5606654
• More compact
• Expensive
Selection: Laird Technologies PC906N
• As our club has used and has access
to this antenna, we chose this high gain
Yagi antenna.
• It will also save us money
https://avalanche.tessco.c
om/productimages/250x25
0/33999.jpg
Link Budget:
PR = PT + GT – LT - LFS - LM + GR - LR
-73.44dBm = 16.99dBm + 2.1dBi -101.08dB + 10.65dBi
75
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GCS Software (1/2)
• COTS used
–
–
–
–
Python programming language
PySerial serial port library for Python
Matplotlib graphing library for Python
WxPython graphical user interface
(GUI) library for Python
• Real-time plotting software
design
Pitot tube data plot made with
selected tools
– Regular (At least 10Hz) check for new
data
– Any new telemetry packets are pulled
from disk, and the changes are
reflected in graph, position and table
view
– Continuous scanning for new images
Telemetry display mockup
76
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GCS Software (2/2)
• Data archiving and retrieval
– All data is saved into a raw log file
– Telemetry and photo packets are identified in the data based on the beginning and
terminating characters
– Received images and telemetry are displayed through the GCS GUI
• Telemetry data recording and media presentation
– All image packets are saved as a file in a folder for that image
– Images are reconstructed once all packets are received and displayed in the GCS
interface
• Command software and interface
– We are using an Sparkfun Xbee explorer board as our interface with the radio and
writing our command software in the Python programming language
• Telemetry file creation
– Packets are first stored in a raw data file
– Packets identified as telemetry are added into a .csv file
77
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CanSat Integration and Test
Elena Pradhan
78
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•
CanSat Integration and
Test Overview (1/4)
Drop Test
Purpose: To test the parachute, attachment and release mechanism and all the electrical
components
How: Attach the parachute to a non-stretching cord, drop it from 80 cm
Ideal: No damage to parachute attachment, release of CanSat, functional test performed on
CanSat
•
Vibration Test
Purpose: To test the workmanship of the SV and the mounting integrity of the components
How: Expose the CanSat to 2 second vibrations from an Orbit Sander for one minute
Ideal: No damages, positive results in functional test of the CanSat
•
Thermal Test
Purpose: To test if the CanSat and the container can resist change when exposed to heat
How: Build a thermal chamber, raise the temperature to 60 C and maintain it for two hours
while the CanSat is turned on
Ideal: No damage to the CanSat , positive results to any functional tests, no damage to the
integrity
•
Fit Test
Purpose: To test if that the CanSat properly fits in and slides out of the rocket payload section
How: Build a test fixture and slide the CanSat container in
Ideal: The CanSat fits properly and can slide out
Presenter: Elena Pradhan
79
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Test Overview (2/4)
• Subsystem Testing
1. Mechanical Sub-system Testing
– Quadcopter drop test
– Test if the glider flies
– Test the stability of the flight radius
– Rocket
– Test if the glider can survive 30Gs of shock and 15Gs of acceleration
– Parachute deployment test
– Test the stability of the flight radius
2. Electrical sub-system Testing
Quadcopter
– Test the cut down mechanism by ejecting it from a rocket
Rocket
– Test if the sensors withstand 30Gs of shock and 15Gs of acceleration
– Test Integrity of the components and if they are properly mounted
80
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Test Overview (3/4)
3. Software Testing
– Quadcopter
– Test cut down delay and reliability of drivers
– Rocket
– Test flight state changes
– Test ground station by separating the GCS and
SV by approximately 2 km and transmitting
telemetry
• Other XBees will be transmitting near both the GCS and SV to
simulate competition conditions as best possible
81
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Design
Container
Design
PCB
Test Overview (4/4)
Design the container with dimensions fitting the constraints of
rocket
Design a PCB that fits all the components and occupies minimum
area
Design a glider around the dimensions of PCB
Design a
Glider
Develop
FSW
Write all needed drivers, integrate them into a common project and
utilize them according to flight state
Be able to receive telemetry and images and send commands
Develop
Ground
Station
82
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Mission Operations & Analysis
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Overview of Mission Sequence of
Events
Team
Task
Team Skyfall
Arrive at Launch site
Team Skyfall
Pre-Launch Meeting
Ground Station Team
Find Ground Station Set-up Location and begin set-up
Software Team
Check that the correct software is loaded on the payload
Electrical Team
Gather and assemble all electrical components
Mechanical Team
Gather and assemble all mechanical components
Electrical Team
Load electronics into payload without turning it on
Mechanical Team
Load payload into container and pack the parachute
Team Skyfall
Wait for signal to begin
Electrical Team
When signaled, power up the CanSat
Mechanical Team
Load the CanSat into rocket
Team Skyfall
Patiently wait for launch
Ground Station Team
Receive Data from CanSat
Team Skyfall
Observe Flight then conduct recovery operations
84
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•
Mission Operations Manual
Development Plan
Mission Operations Manual
– Two copies in 3 ring binders
• One for team use
• One to be given to flight coordinator
•
•
•
Purpose
– Safety
– Procedures for effective communication
– Optimization of team performance
Includes
– Table of contents
– Introduction
– Ground Station Setup
– CanSat preparation and implementation in rockett
– Launch procedures
– Removal and Recovery
Development
– Each subteam will develop their own mission operations to be compiled and included
into the final manual.
85
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CanSat Location and Recovery
• Tracking and Recovery
– Team members will visually track the SV and Container as
long as possible
– The SV will be located using visual tracking and GPS data
– The container will be located based on visual tracking
– The buzzer and fluorescent colors will make both easier to
recover
• Contact Information (on SV and Container)
– UAH Space Hardware Club
– CanSat 2015 Team Skyfall
– Please contact: Walter Dietzler
– (314) 728-9704
– [email protected]
86
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Requirements Compliance
Walter Deitzler
87
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Requirements Compliance Overview
• All designs either comply or partially comply with all
requirements.
• Design changes and testing are planned to remedy
partial compliance.
• Current container design is just 0.02 mm under
maximum size, but this design will be modified by CDR
to provide larger tolerances
• Calculations and testing for the turn radius have not
been done, but are planned for between now and CDR
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(1/5)
Rqmt
Num
Comply / No X-Ref Slide(s)
Comply / Demonstrating
Partial
Compliance
Requirement
1
Total mass of CanSat, container, and all descent control
devices shall be 500 grams. Mass shall not vary more than +/10 grams.
Comply
45
2
The cansat must be installed in a container to protect it from
deployment out of the rocket.
Comply
13,39
3
The container shall fit inside the cylindrical payload section of
the rocket defined by the cylindrical payload envelope of 125
mm x 310 mm length control system including the descent
Partial Comply
14
4
The container must use a descent control system. It cannot
free fall. A parachute is allowed and highly recommended.
Include a spill hole to reduce swaying.
Comply
25
Comply
14
Comply
27
Comply
13
Comply
13
Comply
10
Comply
10, 67, 69
5
6
7
8
9
10
The container shall not have any sharp edges that could cause
it to get stuck in the rocket payload section.
The container must be a florescent color, pink or orange.
The rocket airframe shall not be used to restrain any
deployable parts of the CanSat.
The rocket airframe shall not be used as part of the CanSat
operations.
The CanSat (container and glider) shall deploy from the rocket
payload section.
The glider must be released from the container at 400 meters
+/- 10 m.
Team Comments
or Notes
Cansat is 124.98mm x
300mm, must change to
increase clearance
89
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Rqmt
Num
11
12
13
14
15
16
17
Partial
Compliance
Requirement
The glider shall not be remotely steered or autonomously
steered. It must be fixed to glide in a preset circular pattern of
Partial Comply
no greater than 1000 meter diameter. No active control
All descent control device attachment components shall survive
Comply
30 Gs of shock.
All electronic components shall be enclosed and shielded from
the environment with the exception of sensors.
All electronics shall be hard mounted using proper mounts such
as standoffs, screws, or high performance adhesives.
25
Comply
26
Comply
42
Comply
Comply
26
26
Comply
41
All mechanisms shall be capable of maintaining their
configuration or states under all forces
Comply
34
19
Mechanisms shall not use pyrotechnics or chemicals.
Comply
34
20
Mechanisms that use heat (e.g., nichrome wire) shall not be
exposed to the outside environment to reduce potential risk of
setting vegetation on fire.
Comply
6
Calculation of aileron and
rudder size required have
not been done yet
26
18
Team Comments
or Notes
No pyrotechnics or
chemicals will be used
No nichrome wire or other
heat-based mechanisms
are used
90
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(If You Want)
(3/5)
Rqmt
Num
21
22
23
24
25
26
27
28
29
30
Partial
Compliance
Requirement
During descent, the glider shall collect air pressure, outside air
temperature, and battery voltage once per second.
During descent, the glider shall transmit all telemetry at a 1 Hz
rate.
Telemetry shall include mission time with one second or better
resolution, which begins when the glider is powered on. Mission
time shall be maintained in the event of a processor reset
during the launch and mission.
XBEE radios shall be used for telemetry. 2.4 GHz Series 1 and
2 radios are allowed. 900 MHz XBEE Pro radios are also
allowed.
XBEE radios shall have their NETID/PANID set to their team
number
The glider shall have an imaging camera installed and pointing
toward the ground.
The resolution of the camera shall be a minimum of 640x480
pixels in color.
Cost of the CanSat shall be under $1000. Ground support and
analysis tools are not included in the cost.
Comply
67
Comply
55, 67
Comply
55
Comply
47
Comply
54
Comply
54
Comply
23, 37
Comply
23
Comply
95
Comply
76, 77
Team Comments
or Notes
Design collects at 10Hz for
data smoothing.
91
Team Logo
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(If You Want)
(4/5)
Rqmt
Num
31
32
33
34
35
36
37
38
39
40
Partial
Compliance
Requirement
All telemetry shall be displayed in real time during descent
All telemetry shall be displayed in engineering units (meters,
meters/sec, Celsius, etc.)
The ground station shall include one laptop computer with a
minimum of two hours of battery operation, xbee radio and a
hand held antenna.
The ground station must be portable so the team can be
positioned at the ground station operation site along the flight
line. AC power will not be available at the ground station
operation site.
Both the container and glider shall be labeled with team contact
information including email address.
The flight software shall maintain a count of packets
transmitted, which shall increment with each packet
transmission throughout the mission. The value shall be
maintained through processor resets
No lasers allowed.
The glider must include an easily accessible power switch
which does not require removal from the container for access.
Access hole or panel in the container is allowed.
The glider must include a battery that is well secured to power
the glider
Team Comments
or Notes
Comply
76
Comply
55
Comply
76
Comply
72
Comply
72
Comply
86
Comply
55
Comply
35
No lasers will be used
Comply
57, 59
Location for RBF pin not
yet chosen
Comply
59, 60
92
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(If You Want)
(5/5)
Rqmt
Num
41
42
43
44
45
46
47
48
49
Partial
Compliance
Requirement
Lithium polymer cells are not allowed due to being a fire
hazard.
Alkaline, Ni-MH, lithium ion built with a metal case, and Ni-Cad
cells are allowed. Other types must be approved before use.
The glider shall receive a command to capture an image of the
ground and store the image on board for later retrieval.
The telemetry shall indicate the time the last imaging command
was received and the number of commands received.
The glider vehicle shall incorporate a pitot tube and measure
the speed independent of GPS. The speed shall be compared
with GPS speed.
The CanSat shall have a payload release override command to
force the release of the payload in case the autonomous
release fails.
A buzzer must be included that turns on after landing to aid in
location
Glider shall be a fixed wing glider. No parachutes, no parasails,
no autogyro, no propellers.
Comply
60
Comply
60
Comply
67, 69
Comply
55
Comply
16, 20, 59
Comply
30
Comply
69
Comply
59, 61
Comply
11, 12
Team Comments
or Notes
Not a lithium polymer
93
Team Logo
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Management
Walter Deitzler
94
Team Logo
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(If You Want)
CanSat Budget – Hardware
Item
Supplier
Quantity
Estimate, actual, or budgeted
prices
Individual
Price
Total
Cost
ATXMEGA256A3U-AU
Digikey
1
Actual
$7.26
$7.26
AdaFruit Miniature TTL Serial JPEG
Camera
Adafruit
1
Actual
$35.95
$35.95
Antenova M10382-A1
Digikey
1
Actual
$19.61
$19.61
MS 5607
Digikey
2
Actual
$6.05
$12.10
Spansion S25FL132K0XMFI041 32 Mbit
Digikey
1
Actual
$0.62
$0.62
Box of Surefire CR123
Surefire
1
Actual
$22.50
$22.50
Xbee-PRO 900HP
Sparkfun
1
Actual
$54.95
$54.95
Polycarb
Club
N/A
Estimate
$70.00
$70.00
Ripstop Nylon, Yard
Joanne's Fabric
2
Actual
$7.99
$15.98
ABS
Club
N/A
Estimate
$50.00
$50.00
Fiberglass
Club
N/A
Estimate
$50.00
$50.00
Miscellaneous Electronics
N/A
1
Estimate
$10.00
$10.00
Miscellaneous Mechanical
N/A
1
Estimate
$30.00
$30.00
Tower Pro MG90S
Adafruit
1
Actual
$9.95
$9.95
A09-HASM-675
Mouser
1
Actual
$20.00
$20.00
668-1470-ND
Digikey
1
Actual
$0.55
$0.55
PCB
Advanced
Circuits
1
Estimate
$35.00
$35.00
Total Budgeted: $990.00
Total Cost:
$444.47
Margin: $550.00
95
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CanSat Budget – Other Costs
Item
Supplier
Quantity
Actual, Estimated or Budgeted
Price
Cost
Ground Station
PC906N
Laptop
Laird Technologies
Club
1
Actual
Club Stock
0
1
Actual
Club Stock
0
0
0
Testing Facilities and Equipment
Quad Copter drop tests
Club
4
Budgeted
Rocket Launch
Apogee
4
Budgeted
Pressure Chambers
UAH
1
Actual
Environmental Testing
Fabricated
3
Budgeted
Tools and Equipment
Club
1
Budgeted
$
90.00 $
360.00
Stock
$
$
0
50.00 $
150.00
400.00 $
400.00
800.00
Travel
Van Rental
UAH
1
Budgeted
$
800.00 $
Hotel Rooms
Club
3
Budgeted
$
436.00 $ 1,308.00
Meal Stipend Days
Club
50
Budgeted
$
60.00 $ 3,000.00
Total cost:
Total cost:
$ 6,018.00
Sources of Income:
Space Hardware Club: $7100.00
Budgeted: $7008.00
Presenter: Name goes here
96
Team Logo
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(If You Want)
Program Schedule (1/2)
High Level Gantt Chart
97
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(If You Want)
Program Schedule (2/2)
Full Gantt Chart
98
Team Logo
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(If You Want)
•
Conclusions
Major Accomplishments
– Lots of prototyping has been done on mechanical, electrical, and software
• A working pitot tube has already been finished
• Two different glider prototypes have been tested
•
– Solid plan for ground station-cansat interface that includes transmission of
camera data, telemetry, and commands.
Major Unfinished work
– Lots of specific design still needs to be done, such as PCBs
– More testing needs to be done
– Mechanical design requires major revision
We are ready to move on to the next stage of development because we have some
designs that are ready for full testing, and some that, while not quite finished, are
almost to that point.
99

CanSat 2016 Preliminary Design Review Team Skyfall

Transcription

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