CanSat 2012 CDR Outline Version 0.4

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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 1

CanSat 2012 CDR OutlineVersion 0.4

Team #1719

Tarleton Aeronautical Team

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Presentation Outline

## Title

Systems OverviewMission SummarySummary of Changes since PDRSystem Concepts of OperationsPhysical LayoutLaunch vehicle compatability

Sensor Subsystem DesignSensor Subsystem OverviewSensor Changes since PDR

Descent Control DesignDescent Control OverviewDescent Control Changes since PDRDescent Control Hardware SummaryDescent Rate Estimates

Mechanical Subsystem DesignMechanical System Overview & changes since

PDRLander Egg ProtectionMechanical Layout of ComponentsCarrier Lander Interface

678

11-1314-18

19202123272829

30-3133-34

3536-3740-41

4244

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Presentation Outline

## Title

Communication & Data Handling OverviewCDH OverviewChanges since PDRCarrier Antenna SelectionRadio ConfigurationTelemetry Transmission

Electrical Power SubsystemElectrical Block DiagramsPower Source Selection

Flight Software OverviewCarrier OverviewLander Overview

Ground Control StationGCS AntennaGCS Software

CanSat Integration & TestMission Operations & AnalysisConclusions

48495055

57-5860

62-6466-67

7072-7477-7880-8184-8587-88

8990

102114

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Team Organization

Presenter: Cletus Fuhrmann

Team Leader

Dustin Neighbors

Mission Operations & Management

Dustin Neighbors

(Sophomore)

Tyler Case

(Sophomore)

Cletus Fuhrmann

Cansat Mechanical

Control & Testing

Greg Mosier

(Junior)

Cletus Fuhrmann

(Senior)

Ethan Moore

(Junior)

Tyler Case

Data Acquisition, Communication

& Software

Blake Lohn-Wiley

(Graduate)

Billy Fournier (Senior)

Jake Rhodes (Senior)

Electrical Power & Ground Control

System

Jake Rhodes

Billy Fournier

Greg Mosier

Cletus Fuhrmann

Faculty Advisor

Dr. Brawner

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Acronyms

• A – analysis• ACL – acceleration• ADC – Analog to digital convertor• ALD – audible locating device• ALT – altitude• ASI – asynchronous serial interface• BMR – base mission requirement• bps – bits per second• CDH – communication and data handling• CMOS – Complimentary Metal oxide semi-

conductor• COTS – Commercial off the shelf• D – demonstration• dB - decibels• DCS – Descent Control System• DIO – digital input\output• EPS – Electrical Power System• FSC – Flight Software of Carrier• FSL – Flight Software of Lander• FSW – flight software

• G – G force• g-gram• GHz-Gigahertz• GCS – Ground Control Station• GPS – global positioning system• hPA – hectoPascal• Hz – hertz• I – inspection• I2C – Inter-integrate circuit• IDE – Integrated development environment• lb – pound• LED – Light Emitting Diode• m – meter• m/s – meters per second• mA – milliamps• MAC – Media access control• MEC – Mechanical Requirement• mg – milligrams• mm – millimeters• mW - milliwatts


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(If You Want) Acronyms (continued)


• NASA – National Aeronautics and Space Administration• PDR – Preliminary Design Review• RF – radiofrequency• SD – secure digital• SMA-SubMiniature version A• SPI –Serial Peripheral Interface• SSR – Sensor Subsystem requirement• SYS – System Requirement• T – Test• TEM – Temperature • TTL –Transistor–transistor logic • TNC-Threaded Neill-Concelman • UART – Universal asynchronous receiver/transmitter• USLI – University Student Launch Initiative• UTC - Coordinate Universal Time• V - Volts


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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) )

7

Systems Overview

Cletus Fuhrmann

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Mission Summary

Launch an autonomous Cansat with a deployable lander that ensures the safe descent of a large raw hen’s egg

- Descent rate must be controlled throughout

- Deployment must occur at a set altitude

- Sensors must collect a variety of data during flight

- Some data must be transmitted to a ground station

- All data must be collected and analyzed


Main Objective

External Objective

Gain familiarity with subject for NASA USLI competition

Selected Objective

Measure the lander’s force of impact with the ground

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(If You Want) Summary of Changes Since PDR

• Sensor Subsystem• Descent Control Subsystem• Mechanical Subsystem• Communication & Data Handling• Electrical Power Subsystem• Flight Software Design• Ground Control Station

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 9Presenter: Cletus Fuhrmann

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Cansat 2012 PDR: Team 1719 (Tarleton Aeronautical Team) 10

System Requirements


ID Requirement RationalePriorit

yParen

t(s)Children

VM

A I T D

SYS 1Total mass excluding egg payload

must be between 400-750gBMR High -

MEC 6MEC 7EPS 7

X

SYS 2Cansat shall meet rocket payload

requirementsRocket must remain

undamagedHigh - MEC 2 X X

SYS 3The Cansat shall comply with the

descent and recovery requirementsBMR High -

DCS 1 DCS 2DCS 4FSC 4FSC 5MEC 9

X

SYS 4The Cansat shall comply with the

communication requirementsBMR High -

CDH-01CDH-06CDH-07CDH-08

X

SYS 5All operations shall comply with field

safety regulationsBMR High -

MEC 11MEC 12MEC 13

X X

SYS 6The Cansat shall be launched within

the assigned launch windowBMR

Medium

- X

SYS 7The Cansat shall comply with Base

Mission power requirementsBMR High - EPS 8 X X

SYS 8The cost of the Cansat flight

hardware shall be less than $1000BMR

Medium

- X

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Cansat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 11

System Requirements


ID Requirement Rationale PriorityParent(s)

Children

VM

A I T D

SYS 9A ground station must be developed by the

team meeting telemetry requirementsBMR High -

FSC 2GCS 1GCS 2

X X X

SYS 10Cansat lander shall measure force of impact

with groundSelected Objective

High -SSR 7FSL 4

X X

SYS 11Carrier shall measure time, position, air

pressure, temperature, voltageBMR High SYS 3

FSC 1FSL 1

X X

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System Concept of Operations


Launch Operations

Insert egg into Lander

Power Cansat on

Insert Cansat in rocket payload

Begin communication

with CanSat

Assemble Cansat

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In-Flight OperationsCanSat sensors running Communicating data to GS

Rocket separates at apex Payload deploys first parachute

Carrier & Lander separate Sensors still recording Carrier sending data Lander storing data

Lander records impact force

At 200 meters2nd parachute deployed

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Presenter: Blake lohn-Wilie

Post-launch recovery and data reduction

Landing

• Lander measures force of impact with ground

• Egg should remain protected

Recovery

• ALDs sound on both carrier & lander

• Carrier will have GPS

• Parachutes are made of bright colors

Data reduction

• Data from Lander is collected by µSD card

• All data is analyzed for post-flight review

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Physical Layout

Presenter: Greg Mosier

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Physical Layout - Carrier

20mm

27mm

103mm

114mm

152mm


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Physical Layout - Carrier


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Physical Layout - Lander

82mm

21mm

64.5mm

15 mm

103mm


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Physical Layout - Lander


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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) )

20

Launch Vehicle Compatibility

• CanSat will be loaded into rocket payload compartment with first parachute stored towards rear of rocket

• Payload dimensions– Height = 152 mm– Diameter = 127 mm

• CanSat dimensions– Height = 152 mm– Diameter = 124 mm

• CanSat compatibility will be checked before launch date by model rocket payload compartment

External Parachute < 76 mm

Parachute 20mm

Electronics 27mm

Lander Compartment 103 mm

Diameter = 124mm

.5 mm eachHeight = 152 mm


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Sensor Subsystem Design

Blake Lohn-Whilie

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(If You Want) Sensor Subsystem Overview


Temperature & Altitude Sensor

BMP 180

GPS SensorLocoSys LS20031

Force ImpactSensor

ADXL 345

Presenter: Blake Lohn-Wilie

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ID Requirement Rationale Priority Parent Children VM

A I T D

SSR-01 All sensors shall have an operating voltage between 3.3V and 6V

Battery and sensors chosen

High EPS 2 X X X

SSR-02 GPS sensor shall sample UTC time, latitude, longitude, mean sea level altitude, and number of satellites tracked

BMR Low X X X

SSR-03 All sensors shall be able to sample data at a rate of at least 1 HZ

BMR Low X X X

SSR-04 Altitude must be determined using a sensor other than GPS

BMR High X X X

SSR-05 Pressure sensor must be able to accurately determine the current altitude at a 2 meter accuracy or better

BMR High X X X

SSR-06 Temperature sensor must capture temperature of air in Celsius

BMR High X X X

SSR-07 Acceleration sensor must be capable of measuring up to 16 g

To ensure accurate readings during landing

Medium X X X


Sensor Subsystem Requirements

Presenter: Blake Lohn-Wiley

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(If You Want) Sensor Changes Since PDR

• No changes since PDR

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 24Presenter: Blake Lohn-Wiley

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Carrier GPS Summary

GPS module chosen --- LS20031

• Accuracy around ±3m• Will be accessing the GPS using a software serial library on the Arduino.

– Must use PMTK commands to limit messages to only GGA.– Lower the baud rate, and refresh time so Arduino is not overloaded with data.

• Will be using NMEA GGA data messages. Ex.– $GPGGA,053740.000,32.2564,N,-98.21113,E,1,8,1.8,410.6,M,21.2,M,*64

GPS Unit Price Current Draw (mA)

Weight (g)

ConnectionType

Sample Rate (Hz)

Dimensions (mm)

66 Channel LS20031 GPS 5Hz Receiver

$49.95 41 12.7 TTL >10 30 x 30

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Carrier & Lander Altitude & Temperature Sensory Summary

• Pressure sensor chosen --- BMP180

• Accurate to ±0.02 hPa and ±0.5ºC • Using the I^2C interface requires only 4 pins for a connection. Vcc, Gnd, SDA, and

SCL.• Requires calibration on startup, the data is stored in it’s registers.• Calculates altitude using this equation:

– Where p is the measured pressure a and p knot is the sea level pressure.– Range of 0-1000 m is equal to delta p of about 100 hPa.

Non-GPS Unit

Price Weight (g)

Resolution(bits)

Connection Type

Sample Rate (MHz)

Dimensions (mm)

BMP180 15.00 1.1 Pressure- 19Temp. - 16

I^2C <3.4 18 by 19

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Lander Impact Force Sensor Summary

• Summary of air temperature sensor selection and characteristics

• At the ±16 g range, accuracy of ±0.03125 g, with resolution of 0.015625 g.• Using the I^2C connection, using pins: SDA, SCL, CS tied to VCC, and SD0

tied to GND.• Data reading in the format: (x,y,z)• Will begin sampling data at an altitude of 30 m, and will turn off when altitude

is constant for 5 seconds.

Acceleration Sensor

Price Weight (grams)

Resolution(g)

Connection Type

Sample Rate (MHz)

Dimensions (mm)

ADXL345 $26.95 1.5 ±2,4,8,16 I^2C and SPI <3.2 3.05 x 5.08

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Descent Control Design

Greg Mosier

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CanSat 2012 PDR: Team 1719 (Tarleton Aeronautical Team) 29

Descent Control Overview


• 450-670m – Cansat deploys from rocket – Dynastar 24” parachute

• 200m – Cansat slows descent rate– Dynastar 36” parachute

deployment using servo and fiberglass cover

↓ 10±1 m/s

↓ 5±1 m/s

↓

• 91m – Carrier & Lander separate – Lander deploys Dynastar 24” parachute using a static line connected to Carrier

Carrier Lander

↓ <5 m/s

• 0m – Recover Carrier & Lander

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Descent Control Changes Since PDR

• Deployment mechanism for parachutes finalized– Will use servo to release fiberglass disc cover for 2nd

parachute– Will use static line to release fiberglass disc cover for

final parachute

• Carrier and Lander separation mechanism altered to prevent Lander from rotating


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Descent Control Requirements


ID Requirement Rationale Priority ParentChildr

en

VM

A I T D

DCS 1 Parachute deployment shall slow Cansat down to a descent rate of 10 m/s

BMR High SYS 3 X X

DCS 2 When the Cansat reaches 200 meters, the Cansat descent rate will be reduced of 5 m/s

BMR High SYS 3 X X

DCS 3 At 91 meters separation of Carrier and lander shall occur.

BMR High X X

DCS 4 After 2 seconds the lander will deploy its own parachute and slow the descent rate to 5 m/s.

BMR High SYS 3 X X X

DCS 5 The color of the parachute will be florescent pink or florescent orange

BMR Medium X

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Carrier Descent Control Hardware Summary

• Passive Components– 1st parachute (fluorescent

orange)• Released at rocket

separation• 24”

– 2nd parachute (fluorescent orange)• Release triggered by

height sensing by microcontroller

• Servo releases fiberglass cover that flops open to release parachute

• 36”

• Active Components– Altimeter

• ±0.02 hPa• Stored in a 3 element array

– Servo• 0.10 sec/60º @ 4.8V

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Lander Descent Control Hardware Summary

• Parachute deployment is triggered by separation of Carrier and Lander pulling a static line which releases parachute

• Passive Components– 3rd parachute (fluorescent orange)

• Fiberglass cover holds parachute in place until static line pulls it open upon Carrier-Lander separation

• 24”

Parachute

Fiberglass coverStatic Line

CARRIER

LANDER

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Descent Rate Estimates


•

• d is the diameter of the parachute

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Descent Rate Estimates

Presenter: Blake Lohn Wiley

Configuration Diameter of Parachute (inches)

Weight (g)

Descent Rate (m/s)

Carrier & Lander (pre-separation)

22 453 10

Carrier (post-separation) 35 269 5

Lander (post-separation) 23.12 184 <5

Assumptions The changes in air density will not significantly affect descent rate.Parachutes will be modified for appropriate diameters as indicated above.

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Mechanical Subsystem Design

Greg Mosier

Ethan Moore

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Mechanical Subsystem Overview

• Carrier– Was prototyped to specification with a perforated steel

body and silicon bulk heads that also carried the electronics

– Compartment size stayed the same as the original design• Lander

– Was prototyped using aluminum instead of carbon fiber

• Both worked in static testing

Presenter: Ethan Moore

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(If You Want)Mechanical Subsystem Changes Since PDR

• Dimensions of several compartments changed• Two rods added to carrier frame to prevent rotation of

lander during separation• Lander frame discs have notches added as guides for

the rods

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 38Presenter: Ethan Moore

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ID Requirement Rationale PriorityParen

tChildr

en

VM

A I T D

MEC 1Total mass of Cansat excluding egg payload will

be between 400-750gBMR High SYS 1 X X

MEC 2Cansat shall fit inside cylindrical envelope of 130mm diameter and 152mm length with no protrusions until after deployment from rocket

BMR High SYS 2 X X

MEC 3Structural integrity of Cansat must be maintained

throughout mission

Electronics must store data post landing

High X X

MEC 4 Use of metals must be limitedInterfere with radio signals

Medium CDH 1 X

MEC 5 Structure must withstand 30G shock force BMR High X X

MEC 6 Mass of carrier shall be less than 375g

Weight budget is

shared with lander

Low SYS 1 X

MEC 7 Mass of lander shall be less than 375gWeight budget

Low SYS 1 X

Mechanical System Requirements


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(If You Want) Mechanical Systems Requirements


ID Requirement RationalePriority

Parent(s) Children

VM

A I T D

MEC 8All electronics shall be enclosed and shielded, with only sensors exposed

BMR High SYS 11 X X

MEC 9 The structure shall support 10G acceleration BMR High SYS 3 X X

MEC 10Circuit boards shall be mounted with

standoffs, screws, or high performance adhesives

Necessary to ensure

data recovery

High SYS 11 X X

MEC 11Team number, email, and phone number

shall be placed on both Carrier and LanderAssist

recoveryHigh SYS 5 X X

MEC 12All Cansat mechanisms shall maintain

configurations under all shock and acceleration forces

BMR High SYS 5 X X

MEC 13No pyrotechnics or chemicals shall be used

for any Cansat mechanismSafety High SYS 5 X X


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Lander Egg Protection Overview

• Egg will be placed sideways in a polyurethane mold that will fit in a cylindrical shape of 82 cm x 64.5 cm

• Duct tape will be used to hold the two sections of the mold together

Presenter: Tyler Case

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(If You Want) Lander Egg Protection Overview

• Testing indicated that our egg protection is more than significant to protect our egg from the forces of acceleration upon takeoff and the impact force upon hitting the ground

• Our data is as follows:


Test #1 Test #2 Test #3 Test #4

Protection Polyurethane foam

Polyurethane foam

Polyurethane foam

Polyurethane foam

Height 6 ft 10 ft 15 ft 30 ft

Survived? Yes Yes Yes No

Presenter: Tyler Case

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(If You Want) Mechanical Layout of Components


CarrierLander

Dimensions: 124mm (dia) x 152mm (height)


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(If You Want) Material Selections

• Frame rods– Carbon fiber

• High strength• Low weight

• Frame discs– Carbon fiber

• High strength• Low weight

• Separation Screw & Nut– Plastic

• Low weight• Fewer number of turns

• Static Line

– 60 lb Braided Dacron• Exceeds strength needed

to open cover

• Parachute Covers– Fiberglass

• Lightweight• Easily modified

• Outer Shell– Plastic

• Allows for easy access to CanSat while still enclosing structure

CanSat 2012 CDR: Team1719 (Tarleton Aeronautical Team) 44Presenter: Ethan Moore

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Carrier – Lander Interface

CARRIER

Deployment Trigger & Mechanism

www.solarbotics.com

GM11a Metal Geared Motor

Notches in side of lander top disc will keep it from rotating while screw is turning.

Static line connecting carrier to cover of lander parachute.Opens cover upon separation.


http://www.solarbotics.com/

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(If You Want) Structure and Survivability

• Lander and Carrier successfully static tested– 1st prototype was identical to PDR model but used 26

gauge aluminum and steel rods• Failed the strength test

– 2nd prototype: lander had all aluminum cylindrical shell• Both lander and carrier used silicon board for bulk heads and

electronics• Both used PVC pipe for an anti-torsion collar to prevent rotation

during separation

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 46Presenter: Ethan Moore

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Carrier Mass Budget


Component Name Mass Source

Pressure/ Temp Sensor BMP 180 1.1 g Measured

Microcontroller Arduino Pro Mini 1.5 g Measured

Communication Radio Xbee-Pro S2B 8.7 g Measured

Buzzer AI-2429-TWT-R 4.4 g Measured

Battery Powerizer 3.7V 63.7 Measured

Battery 6V 10.0 Measured

GPS LocoSys 12.7 g Measured

Separation Mechanism GM11a Motor 12.9 g Measured

Frame Carbon Fiber 50 g Estimated

Parachute 1 24” 26.3 g Measured

Parachute 2 36” 55.1 g Measured

Micro SD card and Holder Scandisk 2Gb 3.6 g Measured

Servo Digital Servo 4.1 g Measured

Circuitry Wires, wafer board, etc. 15 g Estimated

Carrier Total: 269.1 g

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Lander Mass Budget


Component Name Mass Source

Pressure/ Temp Sensor BMP 180 1.1 g Measured

Accelerometer ADXL 345 1.5 g Measured

Microcontroller Arduino Pro Mini 1.5 g Measured

Buzzer AI-2429-TWT-R 4.4 g Measured

Battery Powerizer 3.7V 63.7 Measured

Battery 6V 10.0 Measured

Relay 2.2 g Measured

Circuitry Wires, wafer board, etc. 15 g Estimated

Lander Parachute 36” 55.1 g Measured

Micro SD card and Holder Scandisk 2Gb 3.6 g Measured

Frame Carbon Fiber 50 g Estimated

Egg Protection Polyurethane Foam 25.5 g Measured

Lander Total: 183.6 g CanSat Total: 453 g

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Communication and Data Handling Subsystem Design

Blake Lohn-Wiley

Billy Fournie

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CDH Overview

• Lander – Data from the accelerometer, barometer is received by

the Arduino Pro mini and stored on external Micro SD card.

– Retrieved later by reading from the Arduino using an FTDI cable

• Carrier– Data from the GPS, barometer, and temperature sensor

is received by the Arduino Pro Mini and transmitted by the Xbee Pro S2B transceiver to the Ground Control Station (GCS) for fault tolerance data will also be stored on an external Micro SD Card

Presenter: Billy Fournie

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(If You Want) CDH Changes Since PDR

• Carrier – Switched from the Fez Mini Microcontroller to the

Arduino Pro 328 mini microcontroller

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 51Presenter: Blake Lohn- Wilie

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CDH Requirements

ID Requirement Use Rationale Priority Parent Child VM

CDH-01 Cansat shall transmit, receive, and store GPS data

Carrier, GCS BMR High

CDH-02 Cansat shall transmit, receive, and store altitude in meters

Carrier, Lander, GCS

BMR High

CDH-03 Cansat shall transmit, receive, and store temperature in degrees Celsius


BMR High

CDH-04 Cansat shall transmit, receive, and store battery voltage


BMR High

CDH-05 Cansat shall store impact force (at a rate of at least 100 Hz)

Lander Selected Objective Requirement

High

CDH-06 Microcontroller must support I2C and SPI and have sufficient number of pins


All sensors must be utilized and use one of the two mentioned protocols

High

CDH-07 Telemetry packets shall be transmitted at 0.5 Hz

Carrier, GCS BMR High

Presenter: Blake Lohn- Wilie

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CDH Requirements


CDH-08 Microcontroller shall operate at a high enough frequency to manipulate data and output at 0.5 Hz


Data must be sent one packet at a time

High

CDH-09 SD cards will be used for external memory for data storage

Carrier, Lander

Backup Carrier data, store Lander data for post flight records

Medium

CDH-10 All data shall use hexidecimal encoding


Lowers the necessary number of bytes for data transmission and storage

Medium

CDH-11 Communications radio shall be XBP24BZ7UIT-004

Carrier, GCS BMR High SYS-04

CDH-12 Communications shall use the XBP24BZ7UIT-004


CDH-13 Radio must use AT mode (no broadcast mode)



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CDH Requirements


CDH-14 CanSat shall terminate telemetry transmissions autonomously

Lander, GCS Reduces power consumption

Medium

CDH-15 ALD shall be active only after landing for at least 3 hours

Carrier, Lander

BMR High

CDH-16 ALD should be at least 80dB

Carrier, Lander

BMR High


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Processor & Memory Selection

Processor Chosen: Arduino Pro Mini 3.3V

• Using in carrier and lander• Pros: Has a large user base, plenty of interfaces, very small

size, and 3.3 V operating voltage• Cons: Clock speed is only 8 MHz, no onboard USB, and

less memory than other Arduino Models.

Microcontroller Input Voltage(V)

Current Per Pin(mA)

Clock Frequency(Mhz)

Digital Pins

Analog Pins

Weight(g)

Dimensions(mm)

Price

Arduino Pro Mini 3.35-12 V 40 8 14 6 1.5 17.8 x 33.02 $18.95

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Carrier Antenna Selection

• Antenna Chosen: ANT-2.4-WRT-UFL

• Unobtrusive• Tiny footprint• Adhesive or Permanent mount

Antenna Type Gain (dB) Length Interface Price

ANT-2.4-WRT-UFL

½-wave antenna

n/a 215 mm cable

U.FL $12.94


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(If You Want) Data Package Definitions

• Storage device protocols --- MircoSD reader/writer– Operates over SPI, the device communicates using a master/slave

relationship. The master device generates a clock and selects the slave, and then data is transferred in either or both directions simultaneously

• Accelerometer --- ADXL345– Operates over I^2C, have to initialize a transmission to it’s address. Send a

request for data, then specify what data is wanted and wait for that data. • Radio --- Xbee Pro S2B

– Operates over serial TTL connection, outputs altered data sets at various speeds depending on specific commands issued to it.

• GPS --- LS20031– Operates over serial TTL connection, outputs altered data sets at various

speeds depending on specific commands issued to it • Barometer --- BMP180

– Operates over I^2C, have to initialize a transmission to it’s address. Sent a request for data, then specify what data is wanted and wait for that data.

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 57Presenter: Billy Fournie

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Radio Configuration

• Communication Protocol : AT a.k.a. Transparent– In this mode just the data itself is sent and received. The protocol link

between the two is “transparent” to the end user and it appears to be nearly a direct serial link.

– This mode allows for simple transmission and reception of serial data. – The data being passed between the coordinator node and the end device

node our encapsulated with needed information such as addressing and error checking.


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(If You Want) Radio Configuration (continued)

• Impact is standardization of radio equipment among all other teams. – Pros: Easier to troubleshoot– Cons: The Xbee Series 2 offers more functionality and thus is more

complicated to implement. • Include Transmission control

– Handled by the Arduino Pro Mini • How is this managed during each mission phase?

– GCS will send signal to Xbee to change from stand by mode to running mode via the microcontroller.

– Arduino will maintain running mode with full transmission for the duration of the flight and until CanSat recovery (carrier)

• We have yet to prototype but will implement testing this April.


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Carrier Telemetry Format

• Data included in carrier Transmissions:– From GPS: UTC Time, latitude, longitude, mean sea level

altitude, and satellites tracked.– From barometer: pressure and temperature– From Analog input of : battery voltage

• 250 kbps data rate through air, 38.4 kbps on CanSat and GCS

• Format of data:– Stores in a 3 element array for comparisons written to the

Mirco SD card.


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Activation of Telemetry Transmissions

• CanSat will be stand by mode for pre-launch phase• At the GCS a command will be transmitted to the carrier

antenna, which will signal the microcontroller to activate CanSat for launch phase.

• This will initialize the Xbee to not only receive data, but transmit data as well

• To achieve AT command mode, +++ will be entered into the terminal. Once command is achieved then we can transition from stand mode to running mode.

Presenter: Name goes herePresenter: Billy Fournie

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Locator Device Selection Overview

• Audible Locating Device (Buzzer)– Activated by the altimeter measuring a set height for a

period of time• Operated on an independent circuit triggered by an altitude

sensitive coded relay

– Power Consumption: 240mW• 10mA current at 6Volts for 3hrs

– 100 decibels

Courtesy: http://parts.digikey.com/1/parts/indexc8.html

http://parts.digikey.com/1/parts/indexc8.html

http://parts.digikey.com/1/parts/indexc8.html

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Electrical Power Subsystem Design

Jake Rhodes

Greg Mosier

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EPS Overview

Component (Quantity) Use

3.7V 2250mAh Batteries (2) Provide adequate power for carrier and lander

electronics

6V 160mAh Batteries (3) Provide power for ALD in Lander and Carrier and release motor in Carrier

SPST Relays (3) Provide switching for ALDs and the separation motor

Mechanical Switch w/ LED (2) Activate power to main circuits of Lander and

Carrier

Presenter: Jake Rhodes

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(If You Want) EPS Changes Since PDR

• Mechanical switches have built in LEDs to indicate power of CanSat

• Changed batteries from 6V to 3.7V• Incorporated ALD to Carrier circuit

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 65Presenter: Jake Rhodes

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ID Requirement Rationale Priority Parent Children

VM

A I T D

EPS 1 Carrier Battery shall supply 6VAll components use

under 6VHigh

SYS 11SSR 1

EPS 2 X

EPS 2 Carrier shall use 6V, 160mA batteriesBalance between weight and power

Medium EPS 1 X

EPS 3Carrier & Lander shall have adjustable voltage regulators

Components use less than 6V

High

EPS 4 Lander battery shall supply 6VAll components use

under 6VHigh SSR 1 EPS 5 X

EPS 5 Lander shall use 6V, 160mA batteriesBalance between weight and power

Medium EPS 4 X

EPS 6 Voltage accuracy shall be ±.05VVoltage needs

monitoredLow SYS 11 X X

EPS 7Voltage measurement circuit will draw

minimum currentPower/weight

tradeoffLow SYS 1 X

EPS 8ALDs shall have separate power

sourcesBMR High SYS 7

EPS 2EPS 5

X X


EPS Requirements


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Carrier Electrical Block Diagram

+ -

Microcontroller

GPS

µS D

Radio

Relay

+ -

ALD

Relay

+ -

Motor

6V 6V

3.7V

Barometer

Standby-on switch

L.E.D.

Servo


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Lander Electrical Block Diagram

Microcontroller

+ -

µS D

Acceler-ometer

Barometer

Relay

6V+ -

ALD

3.7V


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Carrier Power Budget

ComponentCurrent

(mA)Voltage

(V)Power(mW)

Duty Cycle(hrs)

Energy Consumed(mWh)

Source

GPS 41 3.3 135.3 1.5 202.95 DS

Microcontroller 50 3.3 165 1.5 247.5 DS

Altimeter .032 3.6 11.52 1.5 17.28 DS

uSD card 80 3.6 288 1.5 432 DS

Radio (R/T) 47 / 205 3.6 169.2 / 738 1.5 253.8 / 1107 DS

TOTAL (Main Circuit) 1279.53 / 2132.73

Buzzer 10 6 60 3 180 DS

Motor 28 3 84 .002 .168 DS

Relay 10 5 50 1.5 75 DS

TOTAL (Secondary Circuit) 255


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Lander Power Budget

ComponentCurrent

(mA)Voltage

(V)Power(mW)

Expected Duty Cycle

Energy Consumed

(mWh)Source

Accelerometer .145 3.6 52.2 1.5 78.3 DS

Microcontroller 50 3.3 165 1.5 247.5 DS

Altimeter .032 3.6 11.52 1.5 17.28 DS

uSD card 80 3.6 288 1.5 432 DS

TOTAL (Main Circuit) 775.08

Buzzer 10 6 60 3 180 DS

Motor 28 3 84 .002 .168 DS

Relay 1 0 5 50 1.5 75 DS

TOTAL (Secondary Circuit) 255


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Power Source Summary

• Carrier– Main Circuit will use 3.7V 2250mAh battery pack– Secondary Circuit will use two 6V 160mAh batteries

• Lander– Main Circuit will use 3.7V 2250mAh battery pack– Secondary Circuit will use 6V 160mAh battery

• Power Source Advantages– Adequate capacity– Voltage range within specifications– Fits mass budget– Meets volume constraints


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Battery Voltage Measurement

• Battery Voltage will be measured by microcontroller• Analog Input voltage range: 0-3.3V• Digital output range: 0-1023

µC

GND AO


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Flight Software Design

Billy Fournie

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FSW Overview

• Common between Lander and Carrier– Programming Languages

• C– Development Environment

• Arduino IDE• FSW will be responsible for:

– Collecting data from sensors• Pressure, Temperature, GPS position

– Controlling data sample rates– Activating Transmitters, and ADL– Deploying decent control measures

• i.e. Parachutes released by servo– Carrier/Lander separation

Presenter: Billy Fournier

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(If You Want) FSW Changes Since PDR

• Changed the programming environment for the Carrier from C# to C using Arduino


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FSW (Carrier) Requirements


ID Requirement Rationale Priority Parent A I T D

FSC 1 Sensor data will be collected at no less than 1hz

Ensure accurate data High SYS 11 X X X

FSC 2 FSW will activate RF transmitter

Radio needs to be activated from the ground station

High SYS 9 X X

FSC 3 Data will be stored to local back-up medium

Data back-up on board the carrier in case of RF failure

High X X

FSC 4 DCS will be activated at predetermined altitudes

BMR High SYS 3 X X X

FSC 5 FSW will activate separation with Lander at predetermined altitude

BMR High SYS 3 X X

FSC 6 ALD will be activated after landing

BMR High X X

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FSW (Lander) Requirements


ID Requirement Rationale Priority Parent A I T D

FSL 1 Sensors will collect data at 1 Hz

Ensure accurate data collection

Medium SYS 11 X X X

FSL 2 Data will be stored to local back-up medium

BMR High X X

FSL 3 ALD will be activated after landing

BMR High X X

FSL 4 Data will be collected by accelerometer at no less than 100hz

BMR High SYS 10 X X

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Carrier CanSat FSW Overview


In: Altitude

Store current Sensor Readiness in variable

Populates a data string with current, sensor reading

Populates a 3 element array with altitude readings and determines which direction it is

sorted.

Store data string to MircoSD card

Alt < 200 mAnd going

down

True Rotate servo180 degrees

Alt <91 m

False

Activate Electric Motor

Carrier Landed

Activate ADL

True

True

False

False

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Carrier CanSat FSW Overview

• Procedural Programming – Arduino C

• Arduino IDE– Sets a baseline altitude and then reads each sensor, creates a data

string with the data, records it on a MircoSD card, stores the altitude in a 3 element array for comparisons , and activates a servo, electrical motor and ADL, as well a RF transmitter for the carrier.

• Hardware Interfaces– BMP180- I^2C– MircoSD card – SPI– GPS – TTL– Xbee -- TTL


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(If You Want)Carrier Software Flow Diagram or Pseudocode

• Major Decision Points – Activation of the RF Transmitter

• RCU signal

– Activating the servo• Going down• Altitude equals 250 m

– Activating the electrical motor• Going down• Altitude equals 91 m

– Activating the ALD• Already launched • And landed


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Lander CanSat FSW Overview


StartCollect data at

@ 1HzFalling & Altitude below 25m

Increase Accelerometer to

100Hz sample rate

Store Data to MircoSD card

Is Lander

still falling?

Activate ALD

Yes

Yes

No

No

Is altitude changing

?

Yes

No

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(If You Want) Lander CanSat FSW Overview

• Accelerometer– I^2C hardware interface

• Mirco SD Card– SPI hardware interface

• Barometer– I^2C hardware interface


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(If You Want)Lander Flow Diagram or Psuedocode

• Major decision points – Is altitude changing?

• If yes, start recording data• If no, repeat the loop

– Falling and Altitude below 25m• If yes, increase accelerometer sample rate to 100 Hz• If no, continue storing data to MircoSD card

– Is the lander still falling• If yes, return to the loop • If no, activate the audible locating device


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Software Development Plan

•Prototype developed on breadboard w/ Arduino Uno R3–More suitable for configuration and testing

•Development sequence

1. BMP 180

2. ADXL 345

3. MicroSD card

4. GPS LS 20031

5. Zigbee Radio•Each sensor verified individually, then together, then with battery power supply


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Ground Control System Design

Billy Fournie

Blake Lohn-Wilie

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GCS Overview

Antenna receives signal from Carrier

Data processed, displayed and stored by computer

Sent to XB Pro Module Interface Board

Data transferred to computer via USB cable


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GCS Requirements


ID Requirement Rationale Priority Parent Children

VM

A I T D

GCS 1The antenna shall be elevated at

least 3.5m above groundBMR High

SYS 9GCS 4

X

GCS 2GCS shall initiate transmission of

telemetry from CansatBMR High SYS 9 X X

GCS 3GCS shall display data received in real time using appropriate units

BMR High SYS 9 GCS 6 X X

GCS 4 Antenna shall be free of interferenceCommunication

with Cansat neededHigh GCS 1 X X

GCS 5GCS will verify that transmission from Cansat has stopped 5 minutes after

landingBMR Medium GSC 6 X X

GCS 6 Antenna range shall be 1500mCommunication

with Cansat neededHigh

GCS 3GCS 5

X X

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GCS Antenna Selection

• GCS Antenna Chosen: S151AH2450S

• Pros– SMA connector more versatile– Higher Gain for Greater range

• Antenna will be angled facing away from the launch site. This will account for drop in coverage.

• x is the distance fromGS to launch site

Antenna Price Gain Frequency Connector

S151AH2450S $12 5 db 2.4GHz ~ 2.5GHz SMA


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(If You Want) GCS Antenna Selection (cont.)

• Distance Link Prediction: The radius of this zone can be calculated using the following equation.


GCS antenna angled relative to distance from launch pad, minimum height of 3.5 meters.

Carrier radio in flight


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(If You Want) GCS Software

• Telemetry display screen shots– We plan to use Matlab for the GCS software

• Data archiving and retrieval approach– Matlab will receive data from the Xbee and then plot the telemetry in

real time. • Command software and interface

– Graphical User Interface will be used• Progress since PDR

– Decided are using Mat lab for GCS• Testing

– First will set both Xbee’s 1 ft apart, testing transmission and reception

– After establishing connection will slowly increase distance until transmission fails.

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 90Presenter: Blake Lohn-Wilie

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CanSat Integration and Test

Dustin Neighbors

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(If You Want)CanSat Integration and Test Overview

Sensors & FSW – software necessary

for sensor evaluation; sensors must be working before

integration to CanSat

EPS – Circuitry and power requirements

need to be met before trying to integrate within structure

constraints

GCS – once have operating payload

circuits, need receiver and ability to analyze

data


Mechanical – structural integrity, deployment and

separation mechanisms need

verified first

Descent Control – Needs checked

before testing with valuable payloads

CDH – Transmission and storage of data becomes necessary

for mission simulation testing

Full Flight Simulation

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CanSat Integration and Test Overview

Presenter: Name goes here

Goal Constraints Procedure Pass Criteria Results

Successful deployment from rocket

Mock payload compartment must be built

Integrate CanSat as if for launch, check for rapid deployment

CanSat deploys from payload without external assistance

Static tests were a success, going to launch tests

Full scale flight test

All prior testing must be completed and successful before launch

Run through flight procedure as if for launch day, check for issues

Pass if successful deployment and egg recovery

Prototype will be flown after Easter.

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(If You Want)Sensor Subsystem Testing Overview


Verify barometer

Code must be developed for data display

Take barometer and processor on elevator, see if it notes changes

Barometer accurately reflects height

Passed

Verify GPS Code must be developed for communicating with the microprocessor

Move several blocks, comparing GPS with Google Maps location

GPS corresponds to Google Maps

Plan to test early April

Verify thermometer

Thermometer is on same sensor as barometer

Check for temperature correspondence with known temperature at a range of degrees

Thermometer reflects accurately the temperature of the air

Passed


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Lander Impact Force Sensor Testing


Test working code for accelerometer

Software code must be developed to record and display results

Test ‘tapping’ of accelerometer to verify changes recorded

Accelerometer reflects changes of force during tapping roughly

Passed

Once sensors have been mounted, verify recorded data against predicted estimates

Data recording must be functional

Full CanSat flight test

Data recorded roughly correlates with prediction

Test early April

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(If You Want) DCS Subsystem Testing Overview



Verify descent rate of CanSat with 1st parachute

Height must be great enough to allow for needed acceleration

Record test flight with weight equal to CanSat, measure descent time, calculate rate

Descent is less than 10 m/s


Verify descent rate of 2nd parachute


Record test flight with weight equal to CanSat, measure descent time, calculate rate

Descent rate is 5 m/s ±1m/s


Verify descent rate of lander with 3rd parachute


Record test flight with weight equal to Lander, measure descent time, calculate rate

Lander descent rate is less than 5 m/s


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(If You Want)Mechanical Subsystem Testing Overview



Shock survivability

Need Lander and Carrier structures built

Apply shock force up to 30Gs by hand, noting force with accelerometer

Structure remains intact during testing

Early April

Verify separation mechanism

1st verify using partial mock model, 2nd with built Carrier and Lander

Separation is achieved

Passed 1st 2nd in early April

Adequate egg protection

Must meet weight, volume, cost constraints

1st Test various protection types by dropping >3m2nd Test best with full flight simulation

Egg remains protected

Spray in foam mold successful

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(If You Want)Mechanical Subsystem Testing Overview


Goal Pass Criteria Results

Prototype Verification Structure has correct volume requirements while fitting necessary payload and maintaining structural integrity and egg protection

Passed

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(If You Want) CDH Subsystem Testing Overview



Verify communication between CanSat and Ground Station

Need proper formatting for data packets and software to collect and display data

Send basic messages between Arduino and Ground Station

Successful message transmission and reception

Early April

Verify Arduino Pro Minis data handling capability

Sensors must be functioning individually before collective test possible

Connect all hardware to Arduino, verify data collection, processing, and transmission

Sensor data successfully received by GS or stored on-board to µSD card

Early April

GS capability real-time data display

Need proper software in addition to adequate computing power

Set up display with sample data, then display data development during transmission

Display functional during data reception

Mid April

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(If You Want) EPS Testing Overview



Determine operation current of separation motor

FSW Test the minimum current required for motor movement

Observe motor rotation

Passed

Determine battery life for required system runtime

FSW, individual components

Measure the time at which system completely consumes available power

System can operate for the required runtime (4 hours)

To be tested

Measurement of voltage using Arduino Pro Mini

µC has no voltage reference pin

Read analog input of microcontroller

Voltage correlates with external voltmeter measurement

Passed

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(If You Want) FSW Testing Overview



Successful formatting of data from sensors

Sensors must be functioning

Display output data from sensors on a connection computer

Experimental data correlates with predicted data

Early April

Successful storage of data on µSD

µSD must be hooked up and supplied power

Written to a text with a three element array

Successful retrieval from data on µSD card

Early April

Successful transmission of data to GS

Will be verified during CDH testing



Early April

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(If You Want) GCS Testing Overview



Verify communication between CanSat and Ground Station

Need proper formatting for data packets and software to collect and display data



Early April

GS capability real-time data display

Need proper software in addition to adequate computing power

Set up display with sample data, then display data development during transmission

Display functional during data reception

Mid April

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Mission Operations & Analysis

Cletus Fuhrmann

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Overview of Mission Sequence of Events: Pre-Launch

Launch Site Arrival

Find Team Space and

Setup Ground Station

Assemble egg protection

casing

Put egg in Cansat and Power On

Checking System

Check All Subsystems

Ensure Ground Station

communicating with Cansat

Go through Pre-flight checklist

Integration

Put parachutes in place

Put CanSat in external casing

Put Complete Assembly into

Rocket

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(If You Want)Overview of Mission Sequence of Events: Flight


Launch

Ground Station communicates with

Cansat

Sensors detecting and radio relaying

information

Flight

CanSat deploys from payload at

apex of flight

At 200 meters, Cansat slows to

5m/s

At 91 meters, Carrier and Lander

separate

Landing

Loud beacons activate upon

impact

Accelerometer records force of

impact with ground

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(If You Want)Overview of Mission Sequence of Events: Post-Launch


Recovering Cansat

Using GPS, audible locating

devices, parachute colors

and lander location

predictions, find Cansat

Analyzing Information

Check egg

Data from carrier and lander analyzed

Clean up work station and leave

launch site

Analysis made ready for Post Flight Review

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Field Safety Rules Compliance

• Missions Operations Manual– Preliminary pre-flight checklist developed

• Ground Station Configuration• CanSat Preparation• CanSat Integration• Launch Preparation• Launch Procedure• Removal Procedure

– Will be developed further with test launches

– Field Safety Rules included– Have yet to determine crew assignments


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CanSat Location and Recovery

• Carrier– GPS data near end of flight– Color of parachute– Audible Locating Device (100 dB)

• Lander– GPS data from Carrier near separation point can be used

to predict lander location using – Color of parachute– Audible Locating Device (100 dB)


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(If You Want) Mission Rehearsal Activities

Activity Description Date

Ground System radio link Test to see if GCS and CanSat communicate effectively at range of flight

4/7/12

Loading egg payload Tests to see if egg protection material can be made consistently and if payload can be integrated to Lander

3/25/12

Powering CanSat on/off Mission requirement that CanSat have external switch

4/7/12

Launch Configuration preparations

Practice final assembly and stowing appendages such as parachutes

3/25/12

Telemetry processing, archiving, and analysis

Ensure that the GCS will be able to effectively manage data received

4/7/12

Recovery Tests ALD activation and sound level 3/23/12


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Management

Dustin Neighbors

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Status of Procurements

• Provide status of sensor and component procurements– All Sensors and necessary hardware have been order

and have arrived.– GCS software is still to be developed.


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CanSat Budget – Hardware

Component(Quantity)

Price Source

GPS(1)

59.95 Actual

Microcontroller (2)

37.90 Actual

Buzzer(2)

9.46 Actual

Barometer(2)

59.9 Actual

Motor(1)

15.95 Actual

uSD card(2)

7.96 Actual

Servo(1)

11.95 Actual

Component Price Source

Relay(1)

11.55 Actual

Accelerometer(1)

55.90 Actual

36” Parachutes 1)

19.73 Actual

24” Parachute (2)

22.88 Actual

Battery(2)

83.80 Actual

Battery(3)

14.85 Actual

Radio(1)

28.00 Actual

TOTAL 439.78

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CanSat Budget – Other Costs

Item Price Source

GCS – Includes Antenna, computer, banner?, 25.5 Actual

Prototyping – Aluminum version 600 Estimate

Test facilities & Equipment – Mini Magg Rocket, Rocket Motors, Launch pad

350 Estimated

Rentals 300 Estimated

Computers 0 Actual

Travel 600 Estimated

Actual

TOTAL 1875.5 Estimated

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Program Schedule

18-Nov 2-Dec 16-Dec 30-Dec 13-Jan 27-Jan 10-Feb 24-Feb 9-Mar 23-Mar 6-Apr 20-Apr 4-May 18-May 1-Jun 15-Jun

Applications for CanSat Due

Research and Development

Carrier Manufacturing

Carrier Assembly

Critical Design Review

Demonstrative Testing

Necessary Revisions

Possible Revision

CanSat Competition

Launch Day

Post Flight Review

Demonstrative Testing

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(If You Want) Conclusions

– Major accomplishments• Carrier & Lander mechanical systems proven successful.• Egg protection system proven above satisfactory

– Major unfinished work• Testing of carbon fiber structure is assumed at this time.• Radio test

– Testing to complete• Structure• Radio

– Flight software status• Incomplete

CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 115Presenter: Dustin Neighors

Documents

CanSat 2012 CDR Outline Version 0.4