10 October 2002 1

ZAMBONIZippy Aerospace Module Broadcasting

Observed Not-so-bad Images

Fall Design Review

Harrington Hall, Room 218

10 October 2002 2

DesignTeam

Mechanical EngineeringJon FargoKatie KirchnerAndrea Mattern

Electrical EngineeringMike HoffmannJon LovsethChris SchmidtJason SentiWarren Wambsganss

Not-so-bad FacultyArnie JohnsonRichard SchultzWill SemkeChang-Hee Won

10 October 2002 3

UND Vision

1. Moored Balloon

2. Free Balloon

3. AEROCam

4. AgCam (ISS) & CubeSat

2000 2000-2001 2001-2002 2002-beyond

10 October 2002 4

What is a CubeSat

Size ~ 10 cm (4”) CubeMass ~ 1 kg

•Idea originated at Stanford University by Professor Robert Twiggs

•California Poly responsible for launch integration

10 October 2002 5

Mission•Successfully build and launch a CubeSat

•Transmit a single digital image from space and receive the image on Earth

10 October 2002 6

Goal•Orbit Earth for approximately 8 months

•Transmit numerous digital images to Earth

•Transmit health/status data to Earth

•Transmit data from a commercial/ government sponsored payload to Earth

10 October 2002 7

Launch•Expected early 2004 launch

•800 kilometer orbit

•Approximately $80,000

•Rent space for government/industry payload

•Alumni support: “Decameter for a Dollar” campaign

10 October 2002 8

System Overview

FullImageDigital

CameraMechanicalStructure

interfaces with allairborne subsystems

Microcontroller

Amateur Radio

and TNC

CameraControl

Data

Voltage

Current

TelemetryTelecommand

Ground Transceiver

Amateur Radio Operators

Operator

Ground Control

Computer

Mission Planning Software –

Satellite Tool Kit

ImagesData

ConsoleInputs

Ground ControlUniversity of North Dakota

ThumbnailImage

ZAMBONIHealth & Status

Sensors

Solar Cells

Charging Circuitry

Regulation

Power

Batteries

Health& Status

Data

PassiveAttitudeControl

(Rare-Earth magnet)

Telemetry

C&DH

Internet Communications

SponsoredScientificPayload

Watchdog Timer

10 October 2002 9

JonFargo

10 October 2002 10

DesignSpecs

Requirements•Mass not to exceed 2 kg•Center of mass within 2 cm of the geometric center•Structure Material: Aluminum 6061

Testing•Vibration qualification test•Thermal test•Vibration acceptance test•Integration

10 October 2002 11

Mass Budget

Communication / Control

Transceiver 2.08 59

TNC 2.01 57

Microcontroller    

Circuit Board est 6.00 170

     

Power Solar cells (1@8g) ~28 cells 7.90 224

Li Ion batteries est 6.70 190

Battery charging circuitry    

Voltage regulators    

Watchdog chip    

     

Attitude Control Passive magnet 1.27 36

oz. gm.

10 October 2002 12

Mass Budget

Sensors Temperature sensors    

Voltage sensors    

Current sensors    

2 Digital cameras w/o batteries or case (1@96g) 6.77 192

     

Structure Aluminum frame est. 17.64 500

     

Payload Allotted mass 10.58 300

   

  20% Margin 14.11 400

  Total 75.06 2128

  Budgeted Mass 70.55 2000

  % over/under budget 6.40% 6.40%

10 October 2002 13

SizeBudget

Major Components    

cu. in. cu. cm.

Ham Radio 2.88 45

TNC 9.28 152.38

Li Ion Batteries 3.061 50.92

Digital Camera - x 2 26.62 432

Frame 118.64 2000

Payload – ¼ volume 29.66 500

     

Total Volume 41.841 680.3

Remaining Volume: 47.139 819.7

•Total volume available = 10 *10*20 cm = 2000 cm^3

•Total Volume Used = 680.3 cm^3

•66% Volume Remaining

•Does not include wires and other misc. connections

10 October 2002 14

P-Pod•Aluminum 7075-T6

•Spring Deployed

•Thermal line cutter actuator

•Railings

•Interface port (access CubeSat in deployer)

10 October 2002 15

Testpod

•Internal dimensions same as launcher tube

•Will accommodate double and triple cubes

•Designed and manufactured at UND

10 October 2002 16

Testpod•Launch condition testing

•Needs two mounting plates

•Bolts to shaker table

10 October 2002 17

Prototypes•Rapid prototyping machine

•Full size and scale models

•ABS plastic

10 October 2002 18

WarrenWambsganss

10 October 2002 19

Why Attitude Control?

N

S

Earth

Picture footprint

NS

Camera

X (free axis)Y (wobble axis)

Z (wobble axis)

B

Camera

Earth

Magnetic field line

Equator

+

Alignment with the Earth’s magnetic field

10 October 2002 20

Attitude Control

•Magnetic torque rods Uses magnetic torque to point satellite

•Gravity gradient Uses boom (weight) to align with Earth’s gravity gradient

•Magnetic alignment Makes use of a magnet to align with the Earth’s magnetic field

Passive

Active

Decreasing Complexity

10 October 2002 21

Active Control

Relies on global position system data (GPS)

G(s)D(s)x x

Sensors(magnetometers)

GPS

Determine LVLH coordinatesystem from velocity vectorand convert magnetic fieldvectors to LVLH system.

(Coordinate system whosevectors correspond to

direction of velocity (x),negative orbit plane normal

(y), and nadir (z)

GeomagneticModel

Positioninformation

(Latitude andLongitude)

Velocity vector(Degrees heading)

Unit magneticfield vectors

given in North(x), East (y),and Nadir (z)

directions

+

-

++

Disturbance torques

Controller

Torque rods andphysical structure

Actual orientation

Normalized magnetic fieldfeedback vectors given in

Spacecraft-Fixed coordinatesystem

(Coordinate systemgeometrically fixed to satellite)

Error given asdifference between

prefered LVLHmagnetic field vectorsand actual Spacecraft-

fixed magnetic fieldvectors

Cannot obtain unlocked GPS module

10 October 2002 22

Magnetic Alignment

•Extremely strong Rare-Earth magnets

•Larger magnets produce more torque

•Probability of “seeing” Earth increases from 95.88% to 99.25% at 800 km orbit

Rate of Change of Magnetic field and Magnetic Angular Acceleration vs. Latitude at 800km. (For Travel along Prime Meridian)

-0.005

0

0.005

0.01

0.015

0.02

0.025

-100 -50 0 50 100

Latitude

Rad

/sec

. Rate of change

1.3oz. Magnet

.64oz. Magnet

.16oz. Magnet

10 October 2002 23

Magnetic TestingHelmholtz

Coil

I

I

NS

B

B

•Constant magnetic field near center

++

9V

NS

R

R

I

200g

•Used to determine magnetic torque

10 October 2002 24

SolarCells

•GaAs – Galium Arsenide

•Most common in space

•High efficiency

10 October 2002 25

Solar Cell Circuitry

V1

12V

R116.2Ohm_1%

C1

470uF C2

470uF

C3

470uF

L1

150uH

R2

1.00kOhm_1%

C4

1.0uF

D11BH62

1

2

3

4

5

U1

DIV

1

2

3

4

5

U2

DIV

Q1

2N2222A Q2

2N2222A

R5

200Ohm_1%

Q3

2N2222A

50%

Key = a5K_LIN

R6

R7

620Ohm_5%

Q4

2N2222AQ5

2N2222A

R8

510kOhm_5%

R9

510kOhm_5%

M1MOS_3TDP_VIRTUAL

R10

200Ohm_1%

D2

1N5227B 50%Key = a200K_LIN

R11

R12

200kOhm_1%

R13

100kOhm_1%

D3

1N4731A

R14

20.0kOhm_1%

50%

Key = a200K_LIN

R15

R16

20.0kOhm_1%

R4

68kOhm_5%

R3

20.0kOhm_1%

VinVsw

Gnd Vc

6V 1.5A out

+

_

FB

P03HDL

TLV2370

TLV2370

LT1071

3-6V

Solar Cell

Current and voltage output of a single solar cellunder varying light levels

Cur

rent

(A

mp

s)

Voltage (Volts)

2 su ns (200 0W/sq .m)

1 su n (100 0W/sq.m)

0.5 suns (5 00W/sq .m)

0.25 suns (500W/sq.m)

2

1.5

1

0.5

00 0.1 0.2 0.3 0.4 0.5 0.6

Max power operatingpoint

Vmp

•Constantly monitors output of solar cells

•Used to control charging of system batteries

10 October 2002 26

JonLovseth

10 October 2002 27

Components•Camera: Olympus D-360L

•Microcontroller: MSP430F149

•TNC: PicoPacket

•Radio: Yaesu Vx-1R

Hamster:for power

10 October 2002 28

02000008FF08FF4402851234AB386510D0385610834D831805…

02000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D831805FFFF

Interface00

15

1B5306000011020000001300

06

1B43030002020004001B43060000040C0000001000

050602000008FF08FF4402851234AB386510D0385610834D831805…

02000008FF08FF4402851234AB386510D0385610834D831805…

Subliminal Message

Fullpic3

1B43060000040B0000000F0002000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D831805FFFF02000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D83180502000008FF08FF4402851234AB386510D0385610834D831805FFFF

10 October 2002 29

Not-so-badImages

Thumbnail

4kbytes

SQ resolution

50-64kbytes

10 October 2002 30

MikeHoffmann

10 October 2002 31

Ground Station

•Data received in hexadecimal

•Contains header and footer information (must be parsed)

10 October 2002 32

Image Reception

•Header and footer analyzed to determine how to process image

•Remaining image data is output as a viewable JPEG image

<UND Header> <Ham Header> <JPEG Header>

<JPEG Data> <Ham Header> <JPEG Header>

<JPEG Data> <Ham Header> <JPEG Header>

<JPEG Data> <Ham Header> <JPEG Header>

<JPEG Data> <UND Footer>

_______ = Data to be kept

_______ = Data to be removed

10 October 2002 33

Demo

chipcomputer

camera

TNC

computer

TNC

ZAMBONI (Space) Ground Station

10 October 2002 34

JasonSenti

10 October 2002 35

STK Simulation

•Satellite Tool Kit: Used for simulating space satellite missions

•STK provides an analytical engine to produce 2-D map and 3-D simulations

10 October 2002 36

STK Simulation

3D Simulation of Launch and “P-Pod” Ejection

**Video Removed for Website Version**

10 October 2002 37

STK Simulation3D Simulation of ZAMBONI’s Orbit

**Video Removed for website version**

10 October 2002 38

KatieKirchner

10 October 2002 39

TestingShaker Table:MB Dynamics C10E shaker & M6K amplifier system

10 October 2002 40

Testing•Standard 5.0 cu. ft freezer

•Desired temp: -40 C

•Achievable temp: -32 C

•Relay equipped for DAQ card control

Cold Thermal Testing

10 October 2002 41

TestingVacuum Chamber •Custom built with acrylic

•5.5” inside diameter

•Over 700 lbs of force on blind plates

•Can achieve vacuum of less than 0.2 inches of mercury

10 October 2002 42

AIAAAmerican Institute of Aeronautics and Astronautics

•Unites UND Aerospace, Space Studies, and Engineering students

•Access to UND Student Organization funding

•Tentative UND AIAA Student Branch, January 2003

10 October 2002 43

ChrisSchmidt

10 October 2002 44

USSS•2002 University Space Systems Symposium

•November 8-10, 2002

•University of Hawaii-Manoa

Attendees: Jon Fargo Jon Lovseth Chris Schmidt Jason Senti Chang-Hee Won

10 October 2002 45

CubeSat Benefits

•Low cost

•Workforce training

•Recruitment

•New space technology

•Educational outreach

•Challenging, motivational, educational

10 October 2002 46

Special Thanks

•Dr. John Ettling, V.P. of Academic Affairs and Provost

•Prof. Arnie Johnson, Chair of Electrical Engineering

•Dr. Donald Moen, P.E., Chair of Mechanical Engineering

•Dr. John Watson, Dean School of Engineering and Mines

•Dr. Shanaka de Silva, North Dakota Space Grant

•Intercollegiate Academics Fund (VPAA’s Office)