Slide 1

Auburn UniversityProject Wall-EaglePDRRocket DesignRocket Model

Detailed Sections

Mass EstimatesSectionMass (lb.)Percentage of Total WeightStructure8.57733.58%Supporting Equipment9.44431.47%Electronics1.55.00%Recovery2.5168.39%Motor6.4721.56%Total28.5N/AMass Growth3.712.98%Mass Allowance32.2113%Ogive Nose ConeLow Coefficient of Drag Easy to manufacture Rated highest by team trade studyCommonly used in professional and hobby rocketry

Nose ConesType of ConeCoefficient Of DragMass

Ease of ManufacturingTotalOgive3227Haack3216Ellipsoid1124Conical1337Trapezoidal FinVery easy to manufactureLess drag than clipped delta fins, more than elliptical finsQuicker stabilization than elliptical fins and clipped delta fins.

FinsType of FinStabilityEase of manufacturingDragTotalTrapezoidal1010828Clipped Delta810725Elliptical 771024Motor SelectionMotor Selection / Altitude PredictionInitial Motor selection is the Aero K780R-PR-P: Redline, PluggedInitial thrust-to-weight ratio above required 5:1Achieves above average thrust within secondHigh initial thrust provides high stability off the rail

K780R-P Thrust curve

Motor Selection/Altitude PredictionMaximum altitude achieved 3395 feetMass increase of 12.97% altitude gives a projected 3045 feetAssumptions include smooth construction and 5 mph winds Mass increase of 25% would not allow rocket to reach desired altitude

K780R-P Altitude vs. TimeFigure 1.3: Altitude vs. Time K780R-PK780R-P Motor SpecificationsManufacturerAeroTechMotor DesignationK780R-PDiameter75 mmLength15.5 inchesImpulse2371 N-secTotal Motor Weight5.95 lbmPropellant Weight2.8 lbmPropellant TypeRedlineAverage Thrust175 PoundsMaximum Thrust216 PoundsBurn Time3.0 secSecondary MotorSecondary motor is the CTI L-610Mass increase of 25% altitude simulated 3245 feetIncreased mass would utilize ballast tankWould require an increased fin size for maintaining stability

Cesaroni L-610 Motor SpecificationsManufacturerCesaroni Technologies IncorporatedMotor DesignationL-610Diameter75 mmLength15.5 inchesImpulse3130.9 N-secTotal Motor Weight8.71 lbmPropellant Weight3.5 lbmPropellant TypeRedlineAverage Thrust137 PoundsMaximum Thrust197 PoundsBurn Time5.1 SecondsRecoveryOverview

ParachutesThree parachutes required

Drogue 20 inches*Main 140 inches*Payload 36 inches*

* Estimates using standard round parachute without spillholes.

ParachutesConstructionShapeSemi-ellipsoidalNo spill hole

ElectronicsAvionics bayTwo altimetersAltus Metrum TelemetrumPerfectFlite StratoLogger

AttachmentsFastenersNylon Slotted Pan Head Machine ScrewsSteel U-BoltsQuick Links

Parachute MaterialsThe parachute will be made of Ripstop nylonRipstops tear resistant weaving is ideal for parachute making

Shock Cord Material

The shock cord will be made of 1 tubular nylon1 tubular nylon has excellent tensile propertiesA vendor has already been securedThe Auburn team has worked with this material beforeCO2 Ejection SystemIncreased safetyMore reliable at high altitudesReduced risk of equipment damage

Commercial SystemsAvailable from Rouse Tech and Tinder rocketryViability of CO2 systems repeatedly demonstrated in the fieldA single 12g cartridge is recommended for a 5 diameter rocket with sections up to 22 long.

Custom Designed SystemE-match ignites small Pyrodex chargeCharge pushes cartridge against spring into an opening pinCartridge is punctured and quickly releases CO2Section is pressurized with enough force to separate rocket and deploy parachutes

Custom Designed SystemEach system contains three CO2 cartridgesEach cartridge is separately controlledDual fault tolerance

Ejection System ImplementationTwo ejection systems total mounted outside the avionics bayOne system deploys drogue parachute and ejects payload baySecond system deploys main parachuteTwo altimeters, each controls two CO2 cartridges on each system

Autonomous Ground Support Equipment Project WALL-EagleOverall AGSE Concept

Overall AGSE Concept

AGSE Payload HatchPayload Hatch FunctionSeals payload bay during flightHatch opens and closes autonomously with a microservoGuides robotic arm into payload bay

Payload Access Plate and PositioningSingle access plate revolves on hingeHinge operates with microservoWill allow remote opening and closingOptical markers to guide robotic arm

Payload Access Plate and PositioningSingle access plate revolves on hingeHinge operates with microservoWill allow remote opening and closingOptical markers to guide robotic arm

Payload Hatch Animation

AGSE Payload Capture & TransportRobot Arm CapabilitiesNeeds at least 4 degrees of freedom

Controlled by central master-controller

Detect Payload via IR sensorsBackup: Navigate to predetermined location

Be able to lift 4 oz. payload

Navigate over payload and rocket hatch

Fabricated vs. PurchasedFabrication Advantages:Customizable for any purposeCost-effectiveDeep subsystem educational meritUnique and originalHigh scientific merit

Purchase AdvantagesCommit team-member time elsewhereHigh-performanceReduce risk of subsystem failureCompensate for lack of team-member experienceCustomizable partsHigh scientific merit

Decision: Purchase Robot ArmChose to purchase commercially available arm.

High performance, legacy, and affordability warrant purchase of arm.

Arm like Lynxmotion AL5B or AL5D possible choices.CrustCrawler AX-12A Smart Robotic Arm~22 maximum reach

5-6 degrees of freedom

Most value and capabilities for the priceCompletely customizable

Price - $830

CrustCrawler AX-12A Key Features1mbs serial communication protocolDual actuator design in the shoulder and wrist axis for maximum lifting capability (2 to 3 pound (.907kg to 1.36kg)Fully ROS,MATLAB,LABVIEW Compatible!Rugged, all aluminum construction for maximum kinematic accuracy (1mm - 3mm)Hard Anodized finish for maximum scratch and corrosion resistanceCompatible with ANY micro-controller/computer control system / programming Language (Open Source!)The only robotic arms that feature feedback for position, voltage, current and temperatureSmooth, sealed, self lubricating ball bearing turntableFully adjustable initial base angle(3) integrated mounting tabs for easy mounting to a fixed or mobile base(5) Gripper options to choose fromFull control over position (300 degrees), speed, and torque in 1024 incrementsAutomatic shutdown based on voltage or temperature with status indicator LEDSensor engineered gripper design accepts, pressure sensors, IR detectors, CCD cameras and more!Robot Arm Gripper Requirements

Able to hold cylindrical payloadSupport 4 oz. weightReach ground/reach payload bayAble to rotate at the wristAble to sense that payload has been obtainedThe Big Grip Kit from the CrustCrawler AX-12A series robotic arms meet criteria plus moreIR SensorsAffixed to front of grabber, scans dark ground (grass/dirt) for light surface (payload).Arm engages payload once detected.If payload dropped, search and capture of the payload may be repeated until mission success

Contingency: Preprogrammed LocationUse preprogrammed location of payload in case IR sensors plan doesnt work out

Can choose location of payload, so static coordinates suffice

Easier, but will cause launch failure if payload dropped

AGSE Launch Rail and TrussAGSE TrussConstructed out of durable carbon fiberDesigned to support the full weight of the rocketConnected to two electric gear motorsRotates from horizontal to 85Returns to horizontal after rocket launch

AGSE TrussBottom is counterweighted to ease liftingMeasurements ensure bottom does not contact the groundRocket attached to truss via slotted railsAttachment rails double as launch rails ensuring launch stabilityTruss will lock in vertical position once erect

AGSE TrussIn launch position, blast shield protects sensitive componentsIgniter insertion system extends into motorRocket is then ready for inspection Once inspected, rocket is ready for launch

AGSE Igniter Insertion SystemIgniter Insertion SystemToothed insertion systemDC electric motor drives the tooth extender into the mast Initiated with a program that is linked to the AGSE controller

Igniter Insertion SystemLocated 6-8 inches below the base of the rocket.Main motor is protected by the blast plateRise through a whole in the blast plate to access the rocket

Igniter Insertion SystemExtension of 21 inchesIgniter pause at full extension E-match attached to tip of the insertion system is in contact with motorInspection and arming of the rocketCountdown ensues, followed by blast off

Igniter Inserter System

Master Microcontroller and Full System OperationMaster MicrocontrollerSingle microcontroller drives all AGSE functionsSimplifies designMinimizes riskEliminates communication between multiple microcontrollersArduino mega or comparable device used

Subsystem ConnectivityAll autonomous systems connected through microcontrollerOnly launch controller handled independentlySingle start, pause, and reset switches

Nominal AGSE ProcessStart command receivedRobotic arms commanded to find payloadArm deposits payload in rocketPayload bay hatch closesLaunch rail raisedIgniter inserted Sequence pausesLaunch button depressedRocket launches

AGSE Flow Chart

System inspected prior to launchIn some cases it is possible to reset and re-run sequence in an error has occurredRisksPower FailureProgramming ErrorsEquipment Assembly ErrorsComponent Synchronization FailureSequence exceeds allotted time (10 minutes)System unresponsiveDamage from environment (humidity, rain)

Test PlansFull system test (normal conditions)Off-design rocket massOff-design payload configurationPartially drained batteriesPower failure during AGSE sequence Dropped payload

Safety SectionConstruction Safety TechniquesAll members sign a form for their understanding of lab safety practicesProper personal protective equipment will be easily accessible and in good conditionProper hazardous material disposal units will be easily accessibleProper safety equipment is in place in all labsTesting Safety TechniquesProper protective systems will be in use during testing practicesSafe testing guidelines will be posted in the testing facilitiesTesting equipment will have sign-out sheetsTesting checklist will be proactively filled out

Operations Safety TechniquesSafe range practices will be strictly enforcedChecklists for transport, assembly, and launch procedures will be completedLocations for safe observation of Auburn launches will be marked offPersonnel will be properly trained for launch and recovery procedures

Incident SafetyStandard operating guidelines are in place for different emergencies with easy accessMaterial Safety Data Sheets will be posted in all facilities Proper precautions will be taken to ensure a safe working environmentEmergency incident operations will be required training for all organizational personnelEducational Outreach7th Grade Rocket WeekStudents Learn About:Gravity and g-forcesNewtons Laws of MotionElementary rocketryScience, technology, engineering, and mathematicsTeamwork and communication

7th Grade Rocket WeekStudents Work Hands-On:

Assembling an Alpha rocket in teams of 2-3Sanding, gluing, and painting rocketsInitiating and observing rocket launchesEducational Outreach ProgramsAuburn Junior High School/Auburn High School Rocket TeamMentor team to compete in Team America Rocketry ChallengeTeach students design and technical writing methodsProvide facilities and equipment for team use

Boy Scout Merit Badge UniversityTeach troops about space explorationSupervise Alpha rocket assemblyAward Space Exploration Merit BadgeEducational Outreach ProgramsTuskegee Airmen National Historic Site Field TripGuide Drake Middle School students on half-day field trip

Samuel Ginn College of Engineering E-DayPresent AURA and Student Launch teams to prospective students

AURA Movie Night EventShow Apollo 13 at Tiger 13 CinemasProvide Q&A with engineers and studentsAdditional InformationBudget SummaryTimeline SummaryQuestions