CanSat 2018 Critical Design Review (CDR) Outline Version 1Cansatcompetition.com/docs/teams/Cansat2018_4404_CDR_v03.pdfsample atmospheric properties, wind velocity, heading angle and

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CanSat 2018 CDR: Team #4404 ( APIS AR-GE ) 1

CanSat 2018

Critical Design Review (CDR)Version 3.0

#4404

APIS AR-GE

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Presentation Outline

Presenter: Kemal Barkin BAS

Systems Overview Kemal Barkin BAS

Sensor Subsystem Design Burak Berkay KAYA

Descent Control Design Ismail OZCAN

Mechanical Subsystem Design Oguzhan CAM

CDH Subsystem Design Altug ERTAN

EPS Design Burak Berkay KAYA

FSW Design Furkan CETIN

GCS Design Cansu YIKILMAZ

CanSat Integration and Test Ozen HALIC

Mission Operations & Analysis Aykut UCTEPE

Requirements Compliance Burcu GOCEN

Management Aykut UCTEPE

Section Presenter

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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Team Organization

Presenter: Kemal Barkin BAS CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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Acronyms

A Analysis

BR Base Requirement

CanSat Can-sized Satellite

CDH Communication Design and Handling

CONOPS Concept of Operations

CReq Competition Requirement

D Demonstration

DCS Decent Control System

EPS Electric Power System

FSW Flight Software

G G-force

GCS Ground Control Station

HW Hardware

I Inspection

I2C Inter-Integrated Circuit

I/O Input/Output

ID Identity

IDE Integrated Development Environment

LED Light Emitting Diode

MOSFETMetal-Oxide Semiconductor Field-Effect

Transistor

MS Mechanical Subsystem

PCB Printed Circuit Board

RC Radio Controlled

RP SMA Reverse Polarity SMA

RTC Real Time Clock

SMA SubMiniature Version A

SPI Serial Peripheral Interface

T Testing

UARTUniversal Asynchronous

Receiver/Transmitter

USARTUniversal Synchronous/Asynchronous

Receiver/Transmitter

USB Universal Serial Bus

VM Verification Method

Presenter: Kemal Barkin BAS CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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System Overview

Kemal Barkin BAS


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(If You Want) Mission Summary

Main ObjectivesA payload which simulates space probe

(CanSat) entering a planetary atmosphere shall

sample atmospheric properties, wind velocity,

heading angle and shall send sample data to

ground station via transmitter module.

6

Just after payload is deployed from rocket,

payload shall open the aero-braking heat shield.

The descent rate shall be kept at 10 to 30

meters/sec till 300 meters.

The payload must maintain a stable orientation

while heat shield is limiting CanSat velocity

during descent. For that, external mechanisms

can be used.

At the 300 meters, heat shield shall be released

from probe and parachute shall be opened. After

that, descent rate shall be kept at 5 m/s.

Egg shall remain intact from forces which will

occur during flight.

Stoppage of data transmission and initiation of

audio beacon after landing.

Recovery of probe and heat shield.

External Objectives

Funding for project’s hardware and logistic

needs.

Funding for flight tickets which covers round

trip from Istanbul, Turkey to Texas, USA.

Promoting APIS R&D with CanSat Competition

and scientific developments achieved. The aim

is to gain reputation in our home university and

in Turkey.

Organizing social activities which includes

BBQ parties, musical activities, studio

recording to improve relationship between

team members.

Bonus Objective

Capturing the release of the heat shield and

the ground during the last 300 meters of

descent with a video camera is attempted

due to higher possibility of success and

weight advantage.

Wind sensor bonus objective is not

attemped due complexity and additional

weight.

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS

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Summary of Changes Since PDR

(1/2)

Mechanical Changes

Component Changes Rationale

Egg protection container

Inner container has removed. One

layer of container will protect the

egg.

Pulling down the center of

gravity by reducing weight at

the top of CanSat.

Heat shield covered materialAluminum foil tape has replaced

with parachute fabric.

Heat shield covered aluminum

foil tape did not stow and

deploy smoothly.

Heat shield deployment

mechanism

A cap is added at the top of the

CanSat to keep heat shield rods

closed.

Old servo mechanism was

complex to hold and release

heat shield. Heat shield

operations will be carried out

with two different way.

CanSat dimensionsCansat is now smaller and

narrower.

To increase efficiency of

mounting and reducing total

weight.


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Component Changes & Rationale

ProcessorDue to stability issues caused by low flash and SRAM memory, we decided to use a

Teensy 3.5 processor.

Voltage

Measurement

New proccessor’s ADC port will be used to measure the battery voltage since old

processor is replaced.

SD Card

ReaderSince new processor has an built-in SD card reader, external reader is removed.

PCB Design is updated for the new processor unit.

FSWCode is modified slightly to work with the new

processor. Also, by optimizing the FSW, power consumption is reduced.

Electronic Changes


(2/2)


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ID Requirement Rationale Parent Children PriorityVM

A I T D

SY-1

Total mass of the CanSat (probe and

heat shield) shall be 500 grams +/-10

grams.

Creq BR-1 MS-1 Very High ✓

SY-2

The aero-braking heat shield shall be

used to protect the probe while in the

rocket only and when deployed from

the rocket.

To simulate to

prevent heating of

probe and

decrease the

descent rate.

BR-2 MS-6 Very High ✓

SY-3The heat shield must not have any

openings.Creq BR-3 MS-7 Very High ✓ ✓

SY-4The probe must maintain its heat shield

orientation in the direction of descent.Creq BR-4 DCS-4 Very High ✓ ✓

SY-5The probe shall not tumble during any

portion of descent.Creq BR-5 Very High ✓ ✓

SY-6

CanSat shall fit in a cylindrical envelope

of 125 mm diameter x 310 mm length,

including tolerances.

Creq BR-6 MS-2 Very High ✓ ✓

System Requirement Summary (1/4)


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A I T D

SY-7

The probe shall hold a large hen's egg

and protect it from damage from

launch until landing.

To simulate the

delicate vehicle.BR-7 MS-9 Very High ✓

SY-8The heat shield shall not have any sharp

edges.Creq BR-9 Very High ✓ ✓

SY-9The heat shield shall be a florescent

color, pink or orange.

To distinguish the

CanSat clearly

during descent.

BR-10 MS-5 High ✓

SY-10

The rocket airframe shall not be used to

restrain any deployable parts of the

CanSat.

CreqBR-11

BR-13Very High ✓

SY-11The rocket airframe shall not be used as

part of the CanSat operations.Creq BR-12 Very High ✓ ✓

SY-12


released from the probe at 300

meters.

Creq BR-14 MS-10 Very High ✓ ✓ ✓

SY-13The probe shall deploy a parachute at

300 meters.Creq BR-15 MS-11 Very High ✓ ✓ ✓



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A I T D

SY-14

All structures and components shall

survive30 Gs of shock and 15 Gs

acceleration.

To secure the

Cansat

operations.

BR-16

BR-17

BR-19

BR-20

MS-12 Very High ✓ ✓

SY-15

All electronic components shall be

enclosed and shielded from the

environment with the exception of

sensors.

To strengthen

CanSat against

external forces

BR-18 DCS-1 High ✓ ✓

SY-16

All mechanisms shall be capable of

maintaining their configuration or states

under all forces.

Creq BR-22 BR-21 High ✓ ✓

SY-17Flammable and explosive substances

should not be used in mechanisms.Creq BR-23 BR-24 Very High ✓

SY-18During descent, the probe shall transmit

all telemetry.Creq BR-26 CDH-1 Very High ✓

SY-19XBEE radios shall be used for telemetry

transmission.Creq BR-28 CDH-4 Very High ✓ ✓



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A I T D

SY-20Cost of the CanSat shall be under

$1000.Creq BR-31 High ✓

SY-21Each team shall develop their own

ground station.Creq BR-32 GCS-1 Very High ✓ ✓

SY-22

The ground station must be portable so

the team can be positioned at the

ground station operation site along the

flight line.

Creq BR-37 GCS-6 High ✓ ✓

SY-23

The probe must include an easily

accessible power switch and a power

indicator.

CreqBR-41

BR-42EPS-2 High ✓

SY-24

The descent rate of the probe with/out

the heat shield shall be kept at the

desired speed range.

CreqBR-43

BR-44High ✓ ✓

SY-25A tilt sensor shall be used to verify the

stability of the probe during descent.Creq BR-49 SS-2 Very High ✓



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System Concept of Operations (1/3)

1.Rocket takes off.

2.Rocket

ascends with

Cansat.

3.Rocket reaches

maximum range

and starts to

descend.

300m Altitude

5.Heat shield separation

at 300 meters.

6a.Heat shield

continues descending.

7a. The heat shield

lands.

6b.Probe maintains its

direction while collecting and

transmitting desired data.

7b.The probe lands, stops transmission,

initiates beacon and is ready for recovery.

4.When rocket reaches apogee, payload is released from

rocket and the cap separates from the payload by

parachute. Then,heat shield is deployed.


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• Team briefing.

• Electronic and mechanical

integrity checks.

• Competition area arrival.

• GCS and antenna set up

• Damage control by CanSat Crew.

• Double check for final

CanSat integrity

configuration and release

mechanism by CanSat

Crew.

• Assembly of CanSat and

intertion of hen’s egg.

• Making sure mass is

between 490g and 510g.

Pre-Launch Launch

• Placement of

Cansat into rocket

payload section.

• Launch, and

events of

CONOPS

(previous slide).

• Telemetry data

obtaining and .csv

file creation via

GCS software.

(Steps 4, 5, 6b in

previous slide)

Post-Launch

• Recovery of probe

and heat shield

with indicators

fluorescent color,

GPS telemetry

and audio beacon.

• Recovered

CanSat is brought

to GCS.

• Analysis of

sampled data.

• Preparation of

PFR.

• PFR presentation

to jury.

System Concept of Operations (2/3)


Mechanics

Oguzhan,Kemal

Electronics

Berkay,Furkan

CanSat Crew

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15

• Power on CanSat.

• Placement to rocket payload section.Deployment

• Rocket takes off.

• At apogee, cap frees itself with the help of parachute and separates from theprobe with heat shield.Cansat starts to descent with heat shield until 300m.

Launch

• At 300m, the probe-heat shield separation mechanism is activated and heatshield is released. At same altitude, camera captures separation.

• During decend, CanSat collects: air pressure,temperature,voltage,GPSdata,tilting,software state, altitude for 80 seconds.

Airborne

• The probe and cap lands with parachute.

• The probe finishes descent, stops telemetry and initiates audio beacon.Recovery

• Analyzing the data retrieved from decent control devices.

• Delivering requested data to jury.

• Getting ready for PFR.Analysis

Mission Control

Officer

Aykut

Ground Control

Station

Cansu

Probe

Oguzhan, Kemal

Cap & Heat Shield

Ismail,Ozen

PFR

Kemal,Furkan


Recovery Crew

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Payload Physical Layout (1/5)

OVERVIEW OF PAYLOAD

Stowed configuration

Heat shield

Probe

ParachuteCap for

opening of

heat shield


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Launch ConfigurationDeployed Configuration


OVERVIEW OF PAYLOAD


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PROBE


Parachute

Servo

Battery

CameraServo

PCBMain Frame

Parachute stowed

section

Top View

Bottom View

Switch


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HEAT SHIELD

Little rods

Pole

Outer rods

Ring

LegsSpring

Actual Manufacture


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PROBE HEAT SHIELD

48 mm

107.5 mm

77.5 mm

11 mm

93 mm50 mm

10 mm

51.5 mm

96.5 mm

118.5 mm

120 mm

Thickness

3mm


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• Rocket payload dimensions based on Creq:

Height: 310 mm

Diameter: 125 mm

• CanSat dimensions:

Height: 297 mm

Diameter: 120 mm

• Heat shield dimensions after deployment:

Height: 287 mm

Diameter: 220 mm

• Parachute dimensions after separation:

Diameter: 455 mm

• CanSat design has selected to be narrower through rocket nose cone to reduce

possibility of deployment failure.

• Margins left for secure deployment are examined in slide 22.

21

Launch Vehicle Compatibility (1/2)


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Launch Vehicle Compatibility (2/2)

120 mm

CanSat

diameter

297 mm Total length of CanSat

Margins:

• Longitudinal(x axis): 13 mm

• Latitudinal(y axis): 5 mm

50 mm

y

x

Dimensions do not extend rocket frame and CanSat has

enough margin ensuring safe fit and deployment.


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Sensor Subsystem Design

Burak Berkay KAYA


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Sensor Subsystem Overview

Sensor Type Model Purpose

Air Pressure BMP 180Altitude calculation and

competition requirement

Air Temperature BMP 180 Air temperature measurement.

GPS Adafruit Ultimate GPS Precise location determination

Power Voltage Arduino Pro Micro

To monitor battery status, and

verify adaquate power to

complete mission

Tilt Sensor MPU 6050Competition requires prevention

of tumbling

Camera Turbowing Cylops dvr 3Capturing video of heat shield

release

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA

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• Microprocessor is changed.– Due to stability issues caused by low flash and SRAM memory of

previous Arduino Pro Micro, we decided to use a Teensy 3.5

processor.

• Voltage sensor is replaced with one of the analog pins

of Teensy 3.5.– Since the prossor is changed, new proccessor will be used to

measure voltage.

25CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA

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Sensor Subsystem Requirements


A I T D

SS-1

During descent, the probe shall collect air

pressure, outside air temperature, GPS position

and battery voltage once per second and time tag

the data with mission time

Creq BR-25 Very High ✓ ✓

SS-2A tilt sensor shall be used to verify the stability of

the probe during descent with the heat shield

deployed

Creq BR-49 Very High ✓

SS-3The probe shall have a color video camera with a

resolution of at least 640x480 and a frame rate of

at least 30 frames/sec.

Bonus

ObjectiveHigh ✓ ✓

SS-4

The release of the heat shield and the ground

during the last 300 meters of descent must be

captured by the camera and the pictures captured

must be stored on the probe.

Bonus


SS-5The ranges of the sensors shall satisfy the

minimum and maximum values during the mission.

Health

MeasuringHigh ✓ ✓

SS-6 Sensors must be calibrated.Health

MeasuringHigh ✓


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Probe Air Pressure Sensor

Summary

Our Air Pressure sensor selection is Bosch BMP180.

CHARACTERISTICS BOSCH BMP180

Interface TypeI2C

Accuracy -4 +2 hPa

Pressure

Range300-1100 hPa

Operating voltage 1.8V-3.6V

Current

Consumption3 μA

Data Format XXXXXX.XX (Pa)

• We selected Bosch BMP180

since it ensures easy

communication with I2C and it

has low current consumption.

• It was examined with Arduino

data format and calculations

used are given below:


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Probe Air Temperature Sensor

Summary

CHARACTERISTICS BOSCH BMP180

Interface TypeI2C

Accuracy ±2°C

Temperature

Range

-40°C to

+85 °C

Operating voltage 1.8V-3.6V

Current

Consumption3 μA

Data Format XX.XX (°C)

Our Air Temperature sensor selection is Bosch BMP180.

• Appropriate range and accuracy for

healthy measurement, low operating

voltage why it was selected.

• It has data transfer from I2C port which

is faster.

• The measurements and calculations

obtained are below:


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GPS Sensor Summary

CHARACTERISTICSAdafruit Ultimate

GPS

Interface TypeI2C/UART

Accuracy 3 m

Operating voltage 3.0-5.5V

Current 20mA

Data FormatLat, Long:

XX.XXXXXXXXXX (°)

Altitude: XX.XX (m)

Our GPS sensor selection is Adafruit Ultimate GPS.

• Reasons for selection are high speed, high

sensitivity logging and tracking.

• It has suitable accuracy for right results.

• The measurements obtained below

demonstrates location of our faculty:


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Probe Power Voltage Sensor

Trade & Selection

30

CHARACTERISTICS Teensy 3.5 Analog

Interface Type Analog

Accuracy +/- 0.1

Operating voltage 0-5V

Data Format X.XX (V)

PriceIncluded onboard

with Teensy.

Our power voltage sensor selection is one of the analog pins of Teensy 3.5.

• Voltage will be measured using one of

the analog pins of Teensy 3.5 and a

voltage divider.

• Analog is chosen since no external

component is needed.

• Sensitivity is high and cost-free.

• Voltage will be divided with 1:11 ratio

and calculated by following formula:


where R2=100K and R1=1M ohm

Presenter: Burak Berkay KAYA

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Our Tilt sensor selection is MPU6050.


CHARACTERISTICS MPU6050

Interface TypeAnalog

Accuracy +/- 0.02

Operating voltage 3-5 V

Data FormatRoll,Pitch,Yaw: XX.XX (°)

Tilt x,y,z: X (1 or 0)

Price $4.22

if( abs(aa.x/8192.0)>0.95) {

tiltroll=1;

}

else if(abs(aa.y/8192.0)>0.95){

tiltpitch=1;

}

else if( abs(aa.z/8192.0)<0.01 || aa.z<0){

tiltyaw=1;

}

• By determining the orientation with

gyroscope, tilt status is determined.

• Measurements are a lot more

accurate and reliable compared to

simple tilt sensors.

• Tilt in 3 axes is determined using

following algorithm by comparing

the direction of measured gravity

vector with the orientation of the

gyroscope :


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Bonus Objective Camera Summary

Our camera selection is Pro Turbowing Cylops dvr3.


CHARACTERISTICSPro Turbowing

Cylops dvr3

Interface Type Analog

Resolution 720*480p

Operating voltage4.2V

Frame Rate(frame

per second)30

Price $14.55

File Format .avi

• Resolution satisfies the

requirement of the competition.

• Few connection pins.

• Affordable price.

• Saves video directly to its onboard SD

card slot.

• One screenshot from the video taken

by the camera is given below:


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Bonus Objective Wind Sensor

• Wind sensor mission is not attempted.


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Descent Control Design

Ismail OZCAN


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Probe:

CanSat has 120 mm diameter and 297 mm height.It is divided into

segments for parachute, electronics, protection of hen’s egg and heat

shield seperation mechanism.

Parachute:

Parachute has made from 30d Silicon Nylon 66 Cloth.It has 455 mm

diameter.It includes a spill hole radius of 50 mm to stabilize probe

during descent. Small parachute is made from 30d Silicon Nylon 66

Cloth.It has 75 mm diameter which is enough for deployment heat

shield.

Heat Shield:

Cone shaped heat shield has 220 mm diameter and α=45 degree.It

has elevator system for controlling opening and closing.Heat shield

includes 4 rods for adjusting drag force. Cone’s nose is made from

PLA material to resist heat.

Descent Control Overview (1/4)

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN

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Spill hole to

reduce rocking

Heat shield rods

Spring areaCopper wire

220 mm

Servo control area


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3737

Deployment of CanSat

from rocket frame at

post-apogee.(670-720

m)

Rocket launch

Motion path

of probe

Landing and

recovery

Terminal velocity with

heat shield which is

16.254 m/s.

Seperation (300 m)

Stable velocity with

parachute for probe

( 5.01 m/s)

• The descent velocity with

heat shield is 16.254 m/s

before separation time due

to terminal velocity.

• The probe descends with

spilled hole parachute from

300 meters to ground after

seperation.

• The descent velocity

without heat shield is

calculated to be 5.01 m/s.

ground


Heat shield reduce

it’s velocity to

8.301 m/s


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Component Used in

PLA Material Probe main frame

PLA Material Heat shield mechanism

Cotton line rope Parachute connection with main frame

Rip-Stop Nylon Heat shield’s cone

30d Silicon Nylon 66 Cloth Parachute fabric

Shaft(Copper wire) Stowing and deployment mechanism of the heat shield

Servo Motor Separation system

Configuration Selected: Cylindirical Probe with Cone Heat Shield

Components :


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Descent Control Changes Since

PDR (1/2)

Component Changes Rationale

Seperation mechanism Mechanism is simplified To reduce possibility of failure

DimensionsCansat is now smaller and

narrower

For smoother deployment and

reducing total weight.


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Descent Control Changes Since

PDR (2/2)

PROTOTYPE TESTING:

• Drop test for heat shield+probe is made and observations show that heat

shield+probe did not tumble in 50 meter drop tests. (Passed )

• New opening system for heat shield is tested and has no negative effects

experimentally.(Passed )

• Servo motor generates enough torque to carry and release heat shield.

(Passed )

• Fabric used in heat shield is tested, it is found that fabric does not let air

penetrate other side which is required for stable flight.(Passed )

• Fabric is heated and found to be able to withstand high temperatures.(Passed )

• Parachute is tested and desired velocity values are observed.(Passed )


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Descent Control Requirements


A I T D

DCS-1



environment with the exception of sensors.

CReq BR-18Very

High✓ ✓

DCS-2

The CanSat, probe with heat shield

attached shall deploy from the rocket

payload section.

CReq BR-13Very

High✓

DCS-3The aero-braking heat shield shall be

released from the probe at 300 metersCReq BR-14

Very

High✓ ✓

DCS-4The probe must maintain its heat shield

orientation in the direction of descent.CReq

BR-4

BR-5

Very

High✓ ✓

DCS-5The probe shall deploy a parachute at 300

meters.CReq BR-15

Very

High✓ ✓

DCS-6All descent control device attachment

components shall survive 30 Gs of shock.CReq BR-16 High ✓ ✓

DCS-7

The descent rate of the probe with the

heat shield deployed shall be

between 10 and 30 m/s, parachute

deployed velocity shall be 5 m/s.

CReqBR-43

BR-44

Very

High

✓ ✓


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Payload Descent Control Hardware

Summary (1/3)

Deployment Method

• Cap will keep CanSat in stowed condition. After rocket deployment, small cap parachute

system will open and it will create upward force which causes cap to remove completely.

• At the same time, heat shield rods will produce torque and heat shield will be opened.

• In 300 meters altitude,servo motor releases heat shield, then main parachute will slow

down the CanSat.


Stowed Configuration Deployed Configuration After seperation

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Summary(2/3)

• Color Selections :

• Component Sizing:

• Key Design Considerations:

Heat shield rods: blue;

Parachute: orange;

Ropes: white;

Heat shield cover: orange

Spill hole to reduce rocking

30d Silicon Nylon 66 Cloth for stopping air flow onto pressure probe

Easy opening system for heat shield to get efficient descending

Easy releasing system to be stable at beginning position

Considered velocities found for requirements


Mechanical components and dimensions are shown with details in System Overview

section

Parachute : 455 mm diameter

Parachute of the cap: 75 mm diameter

Heat shield : 220 mm diameter

Heat shield rods : 1.6 mm

Parachute ropes : 500 mm

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Summary(3/3)

Sensors Accuracy

Air pressure sensor ±1 hPa

GPS sensor 3 m

Rocket launch

ground

Air pressure sensor

and GPS sensor are

used for seperation

system to determine

altitude (300 m)

670-720m altitude are

read by Air pressure and

GPS sensors

Last data is taken

when landing is

succeeded

DATA FORMAT:

Lat, Long: XX.XXXXXXXXXX (°)

Altitude: XX.XX (m)

Presenter: Ismail OZCAN CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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Descent Stability Control Design

(1/2)

45

• Nadir direction will be maintained since the center of mass will be positioned below pressure

center and aerodynamic center. Vector passing through these points will be parallel to the

descent direction. Relatively heavier electronic components are placed at lower section,

moreover the main frame of probe has a decreasing density through the top in order to lower

the position of center of mass.

Center of mass

Aerodynamic center

Passive nadir direction controlPressure center


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Descent Stability Control Design

(2/2)

• In order to avoid tumbling at last 300 meters after heat shield and parachute are released,

a hole with 5 cm diameter will be positioned at the top of the parachute. This spill hole will

help CanSat to have much more stable flight and reduce the possibility of tumbling.

• CFD analysis confirmed that in different initial configurations, CanSat tends to return and

maintain stable nadir orientation as discussed in the previous slide. This prevents

tumbling.

46CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN

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Descent Rate Estimates (1/4)

Descent with Heat shield + Probe after deployment from rocket :

V =2 x m x g

A x ρ x Cd

2 x (0.475 kg) x (9.81 m/s^2)

𝜋x (0.11 m) x (0.11 m) x (1.16 kg/m^3) x (0.8)

V = terminal velocity (Final velocity) ρ = 1.16 kg/m^3 (air pressure for Texas)

M = mass (Probe + Heat shield) g = 9.81 ^m/s^2 (acceleration of gravity)

A = area (Circular area of cone) C = drag coefficient (0.8 for cone)

16.254 m/s

Terminal velocity for probe with heat shield is

16.254m/s, which is appropriate for competition

scale 10-30 m/s.In addition, 16.254 m/s close to

terminal velocity of probe with parachute, 5 m/s

which means CanSat can withstand the force

due to quick deceleration.


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V =2 x m x g

A x ρ x Cd

2 x (0.027 kg) x (9.81 m/s^2)

𝜋

4x (0.075 m) x (0.075 m) x (1.16 kg/m^3) x (0.8)

Descent of cap’s parachute after seperation from probe :

8.301 m/s

V = terminal velocity ρ = 1.16 kg/m^3 (air pressure for Texas)

M = mass (little part and parachute) g = 9.81 ^m/s^2 (acceleration of gravity)

A = area (Circular area of parachute) C = drag coefficient ( 1.5 for Dome type)

After the heat shield is released, parachute of cap opens and

decreases the velocity of cap to terminal velocity calculated

above. Equation states us that parachute with 7.5 cm diameter

has 8.301 m/s final velocity.


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V =2 x m x g

A x ρ x Cd

2 x (0.116 kg) x (9.81 m/s^2)

𝜋x (0.11 m) x (0.11 m) x (1.16 kg/m^3) x (0.8)

V = terminal velocity (Competition requires 5 m/s ) ρ = 1.16 kg/m^3 (air pressure for Texas)

M = mass (Probe only) g = 9.81 ^m/s^2 (acceleration of gravity)

A = area (Circular area of parachute) C = drag coefficient ( 1.5 for Dome type)

8.032m/s

This equation concludes that terminal velocity for heat

shield is 8.032 m/s, meaning that heat shield will fall after

separation at this speed rate and land to area.

Descent of heat shield after seperation from probe :


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x (0.455 m)x(0.455 m)x(1.16 kg/m^3)x 1.5V =

2 x m x g

A x ρ x Cd

2 x (0.386 kg) x (9.81 m/s^2) 5.01 m/s

V = terminal velocity (Final velocity) ρ = 1.16 kg/m^3 (air pressure for Texas)

M = mass (Heat shield) g = 9.81 ^m/s^2 (acceleration of gravity)

A = area (Circular area of cone) C = drag coefficient (0.8 for cone)

Descent of probe after seperation from heat shield :

After the heat shield is released, velocity of probe is 16.254 m/s.

At the same time ,parachute opens and decrease the velocity of

CanSat to terminal velocity calculated above. Equation states us

that parachute with 455 cm diameter has 5.01 m/s final velocity.


𝜋

4

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Mechanical Subsystem Design

Oguzhan CAM


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Mechanical Subsystem Overview

Major Structural Elements• Probe

• Parachute deployment module

• Heat shield releasing mechanism

• A cap for heat shield opening

mechanism

Heat shield

outer rods

CanSat Main

Frame

Egg protection

container

Servo motor

Battery

Switch

Camera

Servo Motor

Ring

Pole

Parachute

PCB

Material Selection

• 3D printed PLA for Probe Main Frame

and egg protection

• 3D printed PLA for heat shield’s rods

and pole.

• Parachute fabric will be used to cover

the heat shield.

• Copper pipe will be used as shaft for

axial movements

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Oguzhan CAM

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ID Component Changes Rationale

1 Egg protection container

Inner container is removed. Outer

container will protect the egg covered

with bubble wrap.

Pulling down the center of gravity by

removing the inner container from the

system and minimise the weight.

2 Heat shield covered materialAluminum foil tape is replaced with

parachute fabric.

Heat shield covered aluminum foil

tape did not stow and deploy softly.

3 Heat shield deployment mechanismAdded a cap at the top of the CanSat to

keep heat shield rods closed.

Old servo mechanism was too

complex to hold and release heat

shield. Heat shield operations will be

carried out with two different ways.

4 Cansat dimensions Height and width is reduced.To increase efficiency of mounting

and reducing weight.

1 2 3


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A I T D

MS-1Total mass of the CanSat should be

500gram(±10gram)Creq BR-1

Very

High✓ ✓

MS-2

CanSat shall fit in a cylindrical

envelope of 125 mm diameter x 310

mm length including the heat shield.

Creq BR-6Very

High✓

MS-3

The CanSat shall not have any

sharp edges to cause it to get stuck

in the rocket payload section.

Creq BR-9Very

High✓

MS-4



environment with the exception of

sensors and all electronics shall be

hard mounted using proper mounts.

To strengthen

CanSat against

external forces

BR-18

BR-21High ✓ ✓

MS-5

The aero-braking heat shield shall

be a fluorescent color; pink or

orange

To distinguish the

CanSat clearly

during descent.

BR-10 High ✓

Mechanical Sub-System

Requirements (1/3)


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A I T D

MS-6


used to protect the probe while in the

rocket and the rocket airframe shall not

be used as part of the CanSat

operations.

Creq

BR-2

BR-11

BR-12

Very

High✓ ✓

MS-7The heat shield must not have any

openingsCreq BR-3

Very

High✓

MS-8The probe must maintain its heat shield

orientation in the direction of descent. Creq BR-4 BR-5

Very

High✓ ✓

MS-9

The probe shall hold a large hen's egg

that its measures are between 54-68

gram and 50-70 mm diameter.

CreqBR-7

BR-8

Very

High✓ ✓

MS-10


released from the probe at 300

meters.

Creq BR-14Very

High✓ ✓

MS-11The probe shall deploy a parachute at

300 meters.Creq BR-15

Very

High✓ ✓


Requirements (2/3)


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A I T D

MS-12

All structures and components

shall survive30 Gs of shock and

15 Gs acceleration

To secure the

Cansat

operations.

BR-16

BR-17

BR-19

BR-20

Very

High✓ ✓

MS-13

All mechanisms shall be

capable of maintaining their

configuration or states under all

forces.

Creq BR-22 BR-21Very

High✓ ✓

MS-14

Flammable and explosive

substances should not be used

in mechanisms.

Creq BR-23 BR-24Very

High✓


Requirements (3/3)


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Payload Mechanical Layout of

Components(1/9)

Structure on different phases of flight

Just after payload is

separated from rocket

At 300

meters.


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PROBE (with cap) HEAT SHIELD

48 mm

107.5 mm

77.5 mm

11 mm

93 mm50 mm

10 mm

51.5 mm

96.5 mm

118.5 mm

120 mm


Components(2/9)

Cap

Layer

thickness

3mm


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Structure on prototype


Components(3/9)

PROBE HEAT SHIELD PAYLOAD


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Components(4/9)

Location of electrical components and mechanical parts

Egg protection

container

Parachute

Bottom

ServoBattery CameraUpper

ServoPCB

Main FrameParachute stowed

section

Little rods

Pole

Outer rod

Ring

Leg

Spring

Parachute

ropes

Shafts


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Components(5/9)

• Heat shield mechanism contains a spring to open heat shield.

• Shafts keep the components of the heat shield together and

allow them to rotate on its axis.

• Cap will be used for deployment of heat shield when payload is

separated from rocket. Just after separation, cap’s parachute

opens and separates cap from payload. Now, heat shield is free

to open, the force produced by the spring will allow heat shield to

deploy at 700 meters.(SY-11)

Mechanical parts

Spring

Cap

CapShafts


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Mechanical parts on prototype


Components(6/9)

ShaftsSpring

Cap


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Electrical Components

• The PCB will be located in the center of probe

and attached to corner of structure.

• The battery will be located between the PCB

and egg protection section.

• The servo motor will be placed to last layer of

main frame to carry out the heat shield’s

releasing.

• The camera will be positioned properly to

show all the operations of the heat shield.

• Sensors will be mounted on PCB.

• Switch will be fixed anywhere of electronic

section.

Upper

Servo

SwitchBattery

PCB

Camera

Bottom

Servo


Components(7/9)


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Components(8/9)

Attachment points to probe Heat shield's own attachment points

1) Yellow sticks which are attached stopping

points on last layer of probe keep the heat

shield stationary.

2) Main holder of heat shield is servo arm

and servo holds heat shield till release it

from probe at 300 meters.

Stoppers

Shaft

1) Shafts keep the components of the

heat shield together and allow them to

rotate on its axis.

Servo arm


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Components(9/9)

Structural material selection

Material Use Area Rationales

3D printed PLA

Main frame of probe

Heat shield components


Cap

Optimal melting temperature

High density.

Good durability.

Synthetic rope Parachute rope Cheap

Durable

Easy to find

Parachute fabricParachute

Heat shield cover material

Lightweight

Hand made is easier

Copper pipe Heat shield Durable

Suitable shape for shaft

Duct Tape Probe electrical section

To protect the electrical

components by wrapping

with duct tape the electric

section


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Egg Protection Mechanical Layout

of Components(1/2)

66

95 m

m*

67.5 mm*

*The dimensions are demonstrated from outer diameters of the egg protector.

• Competition will provide the egg which will have

maximum diameter of 50 mm and maximum height of

70 mm.

• The egg protection has 2.5 mm thickness.

• Egg will be covered with bubble wrap.

• PLA is chosen due to high endurability.

Bubble Wrap


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Egg Protection Mechanical Layout

of Components(2/2)

• Firstly, egg protector can be removed from probe

easily owing to the gap located under the egg

protector.

• After that, the lid of the protector is turned

counter-clockwise and is pulled from the top will

provide a direct access to the egg.

• Then, we will wrap the egg with bubble wrap and

put it into the protector.

• After the lid is closed, we will attach the hook

with parachute and the protector, so with the

help of the forces, egg protector will maintain its

steady position on the air.

• When we want to remove the egg, we will follow

the same path as we insert the egg.

67

Bulge

Hook

Lid


Insertion and Removal Method

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Heat shield Release Mechanism

(1/2)

Pole

• The servo arm holds the heat shield

up to second 300 meters from the

launch. (First 300 meters will be

measured by pressure sensor when

rocket is rising)

• When the payload comes to

second 300 meters servo arm

rotates 90 degrees and the servo

arm leaves the pole hole.

• Simultaneously, parachute is

opened and heat shield begins to

free fall in its direction.

Hole


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Heat shield Release Mechanism

(2/2)

Release mechanism of prototype


Heat shield

Before release

Heat shield

Post release

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Probe Parachute Release

Mechanism(1/2)

70

• Parachute ropes are attached to main frame with knots behind the holes on probe and

strong adhesives.

• Parachute section is placed at the top of CanSat. Folded parachute will remain folded with

fishing line.

• The fishing line wraps the parachute by passing through the holes placed at the top layer.

• Servo motor is placed close to fishing line, hence servo arm is able to reach the wire and

cut it at 300 meters.

Parachute

section

Holes

Fishing line


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Mechanism(2/2)

71

Servo motor will wait motionless until 300m. Fishing line

that holds parachute in folded position is slim to cut easy

with servo's blade arm.

Besides, there will be a ni-chrome wire wrapped to fishing

line. Ni-chrome wire system will be used in case servo

mechanism fails.

When the altitude is measured 300m by pressure sensor,

servo motor will start rotate to cut the rope. After that the

parachute will be released.

Inside of the released parachute will be filled with air and it

will open. After that, probe will be slowed down to 5.01

m/s.


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Mounting methods

• PCB is planned to have 4 holes at 4 corners of it.

• PCB is to be mounted with M.3.5*9mm screws.

• PCB will also be sealed with epoxy to bottom surface.

• A hole is opened in the layer for the camera in a way that camera records the releasing of heat

shield.

• Camera is mounted with M.3.5*9mm screw.

• Pin connections are sealed with polyolefin tubing.

• Battery holder with 2.5cm diameters inner pitch is specially designed for battery.

• Servo’s are mounted with epoxy.

Enclosures

• Electronic section and egg protection section in probe will be enclosed with duct-tape. Duct tape

will be wrapped throughout the structure.

• Ni chrome mechanism will be totally isolated from outside effects due to safety procedures.

Structure Survivability(1/2)


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Acceleration and shock force requirements and testing

• Acceleration and shock force tests were evaluated with drop test. The probe structure epoxy-

reinforced payload was released in 3 meter. The results showed that the electronic components

remained stationary and did not disperse.

Electrical Connections• Depending on the connection components, proper method for securing will be used.

• Electrical connection methods are:

Soldering

Specific adhesives for electronic

Electric tape

Descent control attachments• Heat shield will be attached to probe with servo arm.

• Parachute will be attached to probe using nylon chords.

• Parachute connections will be secured with knots behind the holes on probe.

• Parachute will have direct connection to egg protection shell.

Structure Survivability(2/2)


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PROBE Weight(g) Data Type Margin(g)

Main Frame 112 M -

Parachute 24 M -

Protection Container + Egg 28+50 M+E ±4

Cap(with little parachute) 27 M -

Battery 18.5 D -

Camera 7.2 D -

Electronic Components 68.3 D -

PCB 23 M -

Servo x2 18 D -

M.3.5*9 Screw x4 & Adhesives 10 E ±1

Source:

E:Estimated

D:Data Sheet

M:Measured

Total Mass of Probe(g)

386±5

Mass Budget(1/3)

▪ The margin is 10% for estimated data.


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HEAT SHIELD Weight(g) Data Type Margin(g)

Outer Rod x4 48 M -

Pole(with ring) 15 M -

Spring 8 M -

Copper pipe(shafts) 10 M -

Leg x4 10 M -

Heat shield surface cover material 15 E ±1.7

Adhesives 10 E ±1

Source:

E:Estimated

D:Data Sheet

M:Measured

Total Mass of Heat

Shield (g)

116±2.7

Mass Budget(2/3)

▪ The margin is 10% for estimated data.


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Mass Budget(3/3)

Total Mass of Payload(g)Mass with minimum

margin (g)

Mass with Maximum

margin(g)

502 494.3 509.7

Total expected mass of CanSat = 502 grams with a ± 7.7 grams of

margin.

• Competition rules indicate that total mass must be 500 +/- 10 grams.(MS-1)

• In the worst case scenario, we are 0.3 grams below the limit.

Correction Methods

In case total mass measured at the launch site is different than expected, following

processes planned to be done.

If mass of CanSat <490g, probe frame or cap will be changed with higher density 3D

printed materials which are previously printed as spare parts.

If mass of CanSat >510g, probe frame or cap will be changed with lower density 3D printed

materials which are previously printed as spare parts.


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Communication and Data Handling

(CDH) Subsystem Design

Altug ERTAN


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78

Component Type Purpose

Teensy 3.5 Microprocessor To obtain and process the sensor data.

Sandisk SD Card Storage Device To store the sensor data and video.

Teensy 3.5’s Oscillator Real Time ClockTo measure mission duration with the

real time.

TL-ANT2405CL Probe AntennaTo strengthen the transmitted signals

from probe to ground station.

XBee Pro S2B TransceiverTo transmit and receive data between

the probe and ground station.

ANT-2415D GCS AntennaTo strengthen ground stations signal

capture capability.

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN

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79Presenter: Altug ERTAN

Teensy 3.5

Sensor Subsytem

XBEE S2B

Ground Station

Antenna

ANT-2415D

Probe

Antenna

TL-ANT2405CL

RTC SD Card

Mis

ssio

n T

ime

Telemetry Data Amplify Signal


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(If You Want) CDH Changes Since PDR

80

• Due to insufficient flash memory of Arduino Pro Micro,

we decided to use Teensy 3.5 as a microprocessor.

• Since the microprocessor is revised, RTC is also

changed. We decided to use microprocessor’s built-in

RTC.


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CDH Requirements (1/2)


A I T D

CDH-1


pressure, outside air temperature, GPS

position and battery voltage once per second

and time tag the data with mission time.

CReq BR-25 Very High ✓ ✓ ✓

CDH-2

During descent, the probe shall transmit all

telemetry. Telemetry can be transmitted

continuously or in bursts.

CReq BR-26 Very High ✓ ✓ ✓ ✓

CDH-3

Telemetry shall include mission time with one

second or better resolution. Mission time

shall be maintained in the event of a

processor reset during the launch and

mission.

CReq BR-27 Very High ✓ ✓

CDH-4

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.

CReq BR-28 Very High ✓ ✓

CDH-5XBEE radios shall have their NETID/PANID

set to their team number.CReq BR-29 Very High ✓ ✓

CDH-6 XBEE radios shall not use broadcast mode. CReq Very High ✓ ✓


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82


A I T D

CDH-7All telemetry shall be displayed in real time

during descent. CReq BR-33

Very High✓

✓

CDH-8

All telemetry shall be displayed in

engineering units .(meters, meters/sec,

Celsius, etc.)

CReq BR-34 Very High ✓

CDH-9Teams shall plot each telemetry data field

in real time during flight.Creq BR-35 Very High ✓ ✓ ✓

CDH-10

A tilt sensor shall be used to verify the

stability of the probe during descent with

the heat shield deployed and be part of the

telemetry.



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Probe Processor & Memory

Selection (1/3)

ModelClock

Speed

Operating

Voltage I/O Pins Memory Price

Data

Interfaces

Teensy 3.5120

MHz5V 62 512 KB 24.95$

I²C

SPI

Serial TX

and RX

Selected Processor : Teensy 3.5

• Easy to program as it is compatible with Arduino IDE.

• Large memory to keep flight sofware and operate stably.

• High processor speed to process data.

• Satisfying power, memory and data interface that the system

uses.

• I²C is required to connect BMP180 and MPU 6050.

• Serial connection is required for XBee module and Adafruit

Ultimate GPS.


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Selection (2/3)

84

Operating Voltage (logic level) 5V Analog Input 25

Input Voltage (limits) 3.6V-6.0V I²C 3

I/O Pins 62 SPI pin 3

PWM 20 Uart 6

Flash Memory 512 KB Price 24.95$

Dimensions62.3 mm x 18.0

mm x 4.2 mmWeight 4.8g

The properties of Teensy 3.5 are given below:


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Selection (3/3)

85

Model Memory Interface Price

SanDisk 16 GB SD Card 16 GB SPI $6

Selected Memory: SanDisk 16 GB SD Card:

• Low cost.

• Better reading/writing rate.

• Easy to use thanks to pluggable and removable

structure

• According to data interface analysis, SPI is easy to

setup and more stable than I²C.

• SD Card capacity is selected to be 16GB since heat

shield separation will captured in video format.


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(If You Want) Probe Real-Time Clock

86

ModelVoltage

(V)

Power

Consumption Accuracy Reset Tolerance Price

Hardware /

Software

Teensy 3.5

Oscillator- - +/-500ppm

Using its own 3V button

battery, RTC will give

time even if the CanSat

is completely turned off.

Free of

chargeHardware

Selected RTC : Teensy 3.5 Oscillator

•No power consumption.

•Easy to program.

•Not to add external weight and not to occupy more

space since it is integrated in Teensy 3.5.


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Probe Antenna Selection (1/2)

ModelConnection

TypeFrequency Direction Gain Impedance VSWR(Max) Mass

TL-

ANT2405CLSMA 2.4Ghz Omni-directional 5 dBi 50 Ohms 1.92:1 20g

Mass & Size

• 20 g is lightweight when the performance is

considered.

• Dimensions: 160 mm x 12 mm x 12 mm.

• Compact design to fit in the probe.

Selected Antenna : TL-ANT2405CL

• TL-ANT2405CL is used with XBee to increase

communication range.


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Performance

• Voltage Standing Wave Ratio (VSWR) value for the antenna is 1.92:1 keeping

signal reflection at low level and increase the performance importantly.

• Appropriate polarization rates:

Horizontal Polorization (Azimuth) : 360°

Vertical Polarization (Elevation) : 32°

Radiation patterns of selected antenna


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Probe Radio Configuration (1/2)

•XBee Pro series 2B is used as transreceiver for probe and ground station.

•NETID/PANID numbers of XBees are adjusted as 4404, which is our assigned team number.

•Configuration of both XBees is established with X-CTU software.

•1 Hz is adjusted as transmission rate of XBee in probe.

•Communication between probe and ground station is provided by using two same model

XBees which are set to unicast mode.

•The XBee in the probe is adjusted as an endpoint ,and the XBee at the ground station is

adjusted as a coordinator.

•The XBee used as a endpoint transmits the telemetry data to coordinator XBee.

•The XBee used as a coordinator receives the telemetry data from endpoint XBee.


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(If You Want) Probe Radio Configuration (2/2)

90

Demonstration of our endpoint XBee's NETID/PANID which is adjusted as 4404.


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Probe Telemetry Format (1/2)

<TEAM ID> is the assigned team identification.

<MISSION TIME> is the time since initial power up in seconds.

<PACKET COUNT> is the count of transmitted packets, which is to be maintained through processor reset.

<ALTITUDE> is the altitude with one meter resolution.

<PRESSURE> is the measurement of atmospheric pressure.

<TEMP> is the sensed temperature in degrees C with one degree resolution.

<VOLTAGE> is the voltage of the CanSat power bus.

<GPS TIME> is the time generated by the GPS receiver.

<GPS LATITUDE> is the latitude generated by the GPS receiver.

<GPS LONGITUDE> is the longitude generated by the GPS receiver.

<GPS ALTITUDE> is the altitude generated by the GPS receiver.

<GPS SATS> is the number of GPS satellites being tracked by the GPS receiver.

<TILT X> Tilt sensor X axis value.

<TILT Y> Tilt sensor Y axis value.

<TILT Z> Tilt sensor Z axis value.

<SOFTWARE STATE> is the operating state of the software. (boot, idle, launch detect, deploy, etc.)

<ROLL> is degree of rotation around the front-to-back axis of probe.

<PITCH> is degree of rotation around the side-to-side axis of probe.

<YAW> is degree of rotation around the vertical axis of probe.

<CAMERA STATE> is the situation of the camera whether it records or not after the second 300 meter.If it

record state is ‘ON’, if it is not record state is ‘OFF’.


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•Data Rate of Packets

- Burst transmission is used to transmit data.

- Data is transmitted with 1 Hz to the ground station.

•Data Format

<TEAM ID>,<MISSION TIME>,<PACKET COUNT>,<ALTITUDE>, <PRESSURE>,

<TEMP>,<VOLTAGE>,<GPS TIME>,<GPS LATITUDE><GPS LONGITUDE><GPS

ALTITUDE>,<GPS SATS>,<TILT X>,<TILT Y>,<TILT Z>,<SOFTWARE STATE>,

<ROLL>,<PITCH>,<YAW>,<CAMERA STATE>

Example Telemetry: <4404>,<00050>,<50>,<62>,<2133.145>,<35.7>,<17>,

<17:47:36.0>,<4059.5676N>,<2850.7741E><65.60>,<4>,<1.00>,<0.00>,<0.00>,<1>, <93.81>,

<-8.38>,<10.86>,<OFF>

• Example telemetry given above is provided with system prototype.

• Example telemetry matches with competition guide requirements.

• Telemetry is saved on the ground station computer as

CANSAT2018_TLM_4404_APISARGE.csv .

•Note:

We calculate <ROLL>,<PITCH> and <YAW> telemetries by using MPU6050 gyroscope. Thus, we created

an algorithm that checking tilt condition according to these telemetry values.

Probe Telemetry Format (2/2)

92CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN

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Electrical Power Subsystem Design

Burak Berkay KAYA


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EPS Overview(1/2)


Component Purpose of the Component

Battery In order to provide the required electricity to operate electronic system.

SwitchMakes the connection between battery and electronic system to supply or interrupt

the power.

Voltage RegulatorTo step up or down the voltage to supply appropriate voltages to sensors and

processor.

Voltage Divider To measure the voltage level from one of the processor’s analog pins.

Buzzer Makes noise after landing and helps recovery team to find easily.

MOSFET To use hotwire system for backup separation system.

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EPS Overview(2/2)


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96CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA

• We have decided to change the microprocessor as Teensy 3.5.

Therefore, in power budget and diagrams, microprocessor is changed.

• The new microprocessor Teensy 3.5 has its own SD card reader. So we

do not need an external SD card reader anymore. Consequenly, SD

card reader is removed from power budget and diagrams.

• MOSFET is added to make a backup seperation system with hotwire, in

the case of Servo seperation is failed.

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97

Our first PCB is designed,

printed and tested.

It worked successfully.

Then it is redesigned after

the microprocessor change.

Final PCB design is ready.

It will be tested after

printing.

1

2

3

Presenter: Burak Berkay KAYA CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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EPS Requirements(1/2)


A I T D

EPS-1

During descent, the probe shall collect

air pressure, outside air temperature,

GPS position and battery voltage once

per second and time tag the data

with mission time.

CReq BR-25 SS-1Very

High✓ ✓

EPS-2The probe must include an easily

accessible switch.CReq BR-41 Sy-23

Very

High✓

EPS-3

The probe must include a power

indicator such as an LED or sound

generating device.

CReq BR-42 High ✓ ✓

EPS-4

An audio beacon is required for the

probe. It may be powered after landing

or operate continuously.

CReq Br-45 FSW-5 High ✓ ✓

EPS-5

Battery source may be alkaline, Ni-Cad,

Ni-MH or Lithium. Lithium polymer

batteries are not allowed. Lithium cells

must be manufactured with a metal

package similar to 18650 cells.

CReq BR-46Very

High✓


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A I T D

EPS-6

An easily accessible battery

compartment must be included allowing

batteries to be installed or removed in

less than a minute and not require a

total disassembly of the CanSat.

CReq BR-47Very

High✓ ✓

EPS-7

Spring contacts shall not be used for

making electrical connections to

batteries. Shock forces can cause

momentary disconnects.

CReq BR-48Very

High✓

EPS Requirements(2/2)


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Probe Electrical Block Diagram


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Probe Power Source

• Our final selection is OEM 16340 Li-Ion Battery.

• This battery is selected due to enough capacity, reliability

and rechargeability.

• Since lithium-polymer batteries are not allowed by BR-46,

we have chosen a lithium battery.

• It’s weight and dimensions are small enough.

• Properties of OEM 16340 Battery:

-Voltage: 3.7 V

-Current capacity: 1400 mAh

-How much current can battery generate: 3A

-Weight: 18.5 g

-Dimensions: 16mmx34.5mm


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Component Current(mA) Voltage(V) Power (mW)Duty

Cycle(%)

Source/Unce

rtainity

BMP180 0.65 3.3 2.1 100 Datasheet

Teensy 3.5 45 5 156.5 100Datasheet/

Estimate

Buzzer 25 5 125 100 Datasheet

Xbee

S2B(Transmit)205 3.3 676.5 95 Datasheet

Xbee

S2B(Receive)47 3.3 155.1 5 Datasheet

Mini Servo 100 5 500 5 Datasheet

Turbowing

700 TVL Camera180 5 25 20 Datasheet

Adafruit Ultimate

GPS25 5 125 100 Datasheet

Probe Power Budget(1/2)


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Component Current(mA) Voltage(V) Power (mW)Duty

Cycle(%)

Source/Uncer

tainity

MPU6050

Gyroscope3.9 5 19.5 100 Datasheet

Total Power

Consumed

Total Current

Consumed

Available Current

CapacityMargin

1784.7 mWh 631.55 mAh 1400 mAh 768.45 mAh

Probe Power Budget(2/2)

TOTAL 631.55mA 1784.7 mW

Total current and power consumptions for 1 hour full operation are given

in the below table:

There is enough margin; therefore, the system can operate more than 2

hours.


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Flight Software (FSW) Design

Furkan CETIN


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FSW Overview (1/2)

• Programming Language

– C/C++

• Development Environments

– Arduino IDE

• FSW Tasks Summary

– Read raw data from sensors and convert them to physical values.

– Create telemetry according to required format, store it in the SD card

and sent to the ground station.

– Release the heat shield and deploy the parachute at an altitude of

300 meters.

– If the initial release attempt fails, initiate backup release mechanism.

– As bonus objective, capture the release of the heat shield.

– In case of a reboot, recover the last known state, and verify the state

with sensor data.

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN

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FSW Overview (2/2)

FSW

Release

Mechanism

Sensor

Subsystem

Transmitter

Xbee

Receiver

Xbee

SD Card

Camera

Telemetry

Ra

wd

ata

Te

lem

etr

y

At 300m altitude

Backup Release

Mechanism


SD Card-2

Basic FSW Architecture

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107

• FSW code is modified slightly to work with the new

proccessor.

• FSW now transmits any errors during initialization to the

ground station. This allows locating any problem faster.

• By optimizing the FSW, power consumption is reduced.


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FSW Requirements (1/2)


A I T D

FSW-1The CanSat, probe with heat shield attached

shall deploy from the rocket payload section. CReq BR-13Very

High✓ ✓

FSW-2The aero-braking heat shield shall be released

from the probe at 300 meters. CReq BR-14Very

High✓ ✓ ✓

FSW-3


pressure, outside air temperature, GPS position

and battery voltage once per second and time tag

the data with mission time.

CReq BR-25Very

High✓ ✓ ✓

FSW-4

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.

CReq BR-39Very

High✓ ✓ ✓

FSW-5An audio beacon is required for the probe. It may

be powered after landing or operate continuously. CReq BR-45Very

High✓ ✓

FSW-6

A tilt sensor shall be used to verify the stability of


deployed and be part of the telemetry.CReq BR-49

Very

High✓ ✓


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FSW Requirements (2/2)


A I T D

FSW-7





FSW-8

Telemetry shall include mission time with

one second or better resolution. Mission

time shall be maintained in the event of a

processor reset during the launch and

mission.


FSW-9Store the telemetry data in an external SD

Card.

Data

ReliabilityVery High ✓ ✓ ✓

FSW-10

Capture the release of the heat shield and

the ground during the last 300 meters of

descent.

Bonus



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Probe CanSat FSW State Diagram

(1/2)

Power On

Initialize system,

send any errors to

ground station

State =1?

Start sampling

sensors(1Hz)

State 1 – Pre-Launch

Launch?

Yes

No

Yes

Set State 2

Telemetry (1hz)

Begin telemetry

(1Hz)

Sensor

sampling(1Hz)

Descent?No

Yes

Set State 3

Telemetry (1hz)

Sensor

sampling(1Hz)

Altitude

300m ?

State 3 – Descent

Battery

sufficient

?

Telemetry (1hz)

Sensor

sampling(10Hz)

No

Yes

Begin capturing

video

Release heat

shield and

parachute

Release

OK?

Backup release

mechanism

No

Landed?No

Stop telemetryYes Buzzer on

State 2 – Ascent

No

NoYes

Yes


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Probe CanSat FSW State Diagram

(2/2)

• Data Storage:

– All sampled sensor readings will be written to SD card.

– Video will be saved to another SD card by camera module.

• Power Management

– While in descent state, if battery voltage is sufficient, sampling rate

of sensors will be increased to 10 Hz. Main goal of this adjustment is

to minimize errors.

– Telemetry frequency will remain as 1 Hz during whole flight.

• State Recovery in case of Restart

– Flight state values will be saved to EEPROM. Therefore, if a restart

occurs, last state will be recovered by the processor.

– Additionally, values for packet count and mission time will be stored

in EEPROM in order to maintain them in case of a processor reset.


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Software Development Plan (1/4)

Prototyping and prototyping environments

-Power, communication and sensor subsystems are designed in accordance with the

competition and system requirements.

-A new electronic system prototype is created for the new processor on a breadboard. It

includes all sensors and we ensured that all sensors and new proccessor are working in

accordance with each other.

-A new PCB is designed with the results obtained from the prototype. The system is

continuously being tested and working as intended.

Software Subsystem Development

-Available libraries for sensors are analyzed and modified to work with the new processor

and satisfy competition requirements.

-Arduino serial monitor and MATLAB are used to debug the code and visualize sensor

outputs.

-A code utilizing all the sensors and flight tasks is written, and being tested with drone

flights.


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Software Development Schedule

Task StatusPlanned

Completion

Selection of sensors Completed -

Individual sensor tests Completed -

Library tests and modification Completed -

Test of prototype with all sensors active Completed -

Sensor output analysis using MATLAB Completed -

Wired serial communication with ground station prototype Completed -

PCB design and tests Completed -

EEPROM reboot tests for packet count and flight state Completed -

Wireless communication tests and verification of data health Completed -

Ensure camera recording does not interrupt other processes. Completed -

Calibrate the release command altitude for heat shield to be released

exactly at 300 meters.Completed -

Testing and improvement of power consumption Completed -


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• Test methodology

– Software development and component assemblies were conducted in faculty

laboratories.

– Temperature sensor calibrated by using external hardware from faculty.

– Pressure sensor is calibrated and verified at sea level and a location close to

the airport. Therefore from METAR (Meteorological Terminal Air Report), we

knew the exact sea level pressure.

– Wireless communication is tested between two coasts of Bosphorus with a

distance approximately 1 km.

– Free fall tests and flight tests with a drone have been conducted.

• Development team

– Furkan Çetin

– Burak Berkay Kaya


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FSW Progress since PDR

Initial PCB design is completed. Upon deciding changing the

processor unit, PCB design is updated.

EEPROM read/write operations and flight state recovery with forced

reboots are tested.

Camera is integrated to flight software.

To release the heat shield at exactly 300m, altitude calibration for

release mechanism is made.

Power consumption is tested, flight software is updated to increase

the power efficiency of the system.

After a fully-working serial communication with complete FSW,

wireless communication is implemented and tested.


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Ground Control System (GCS) Design

Cansu Yıkılmaz


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GCS Overview

USART RPSMA

Data transmit to

and receive from

ground station

N Type to

RPSMA

converter

Xbee connected

to GCS via Xbee

explorer

Connected

to serial port

via USB

PROBE

Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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• There is no change in Ground Control Station since

PDR.

118Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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GCS Requirements

ID Requirement Rationale Parent PriorityVM

A I T D

GCS-1Each team shall develop their own

ground station.CReq BR-32

Very

High✓ ✓

GCS-2All telemetry shall be displayed in real

time during descent.

CReqBR-33

Very

High✓ ✓ ✓ ✓

GCS-3

All telemetry shall be displayed in

engineering units.(meters, meters/sec,

Celsius, etc.)

CReq. BR-34Very

High✓ ✓ ✓ ✓

GCS-4Teams shall plot data in real time

during flight.CReq BR-35

Very

High✓ ✓ ✓ ✓

GCS-5

The ground station shall include one

laptop computer with a minimum of two

hours of battery operation, XBEE radio

and a hand held antenna.

CReq BR-36Very

High ✓

✓

GCS-6

The ground station must be portable so

the team can be positioned at the 9

ground station operation site along the

flight line. AC power will not be available

at the ground station operation site.

Creq BR-37Very

High✓ ✓


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120

▪ The GCS Laptop can

operate 2.5 hours with

battery.

▪ On the field, there will be an

external laptop cooling fan

to prevent overheating and

the cooler has its own

battery.

▪ On Windows OS, the auto

update function will be

disabled on the windows

update center before the

launch.

Antenna

connected to

Xbee with N- type

to RPSMA

connector

Xbee module

will be

connected to the

explorer with

2mm header

Explorer will be

connected Laptop

via USB cable

and communicate

with serial

connection


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GCS Antenna(1/4)

Selected Antenna : 2415D

• Omni – Directional

• Better radiation patter.

• Better gain

• Cost effective

• Light


ModelConnection

TypeFrequency Direction Gain Price Weight

2415D N-Type 2.4 GhzOmni -

Directional15 dBi $53 0.6kg

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GCS Antenna (2/4)

Presenter: Cansu YIKILMAZ

Link Budget

CanSat 2017 CDR:Team #4404 (APIS AR-GE)

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GCS Antenna (3/4)

Presenter: Cansu YIKILMAZ

Link Budget Calculation


● Transmitter Output Power: 15 dBi

● Receiver Output Power: 5 dBi

● Miscellaneous Power Loss: 5 dB(estimated)

● Xbee Transmit Power: 17 dBm

● Xbee receiver sensitivity: -102 dBm

● Maximum predicted link distance: 3 km

● FSPL(Free Space Path Loss) is calculated as 89.45 dB for d = 3000

meters and f = 2.4GHz

● Pout is calculated as -78.45 dBm > -102 dBm, so our margin is

approximately -23.55 dBm which is very sufficient.

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GCS Antenna(4/4)

Model Type Weight Material Price

Hand Held Hand Held ~1 kg 3D Printed ABS $6


Advantages of using Hand Held

Design:

• Cost effective.

• Easy to use.

• Lightweight.

• Very small.

• Control and stabilization of the

antenna with hand held design is a lot

easier.

• Manufacturing of hand held design

will be made by 3D printer.

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125

Telemetry Prototype

• <TEAM ID>,<MISSION TIME>,<PACKET COUNT>,<ALTITUDE>,

<PRESSURE>,<TEMP>, <VOLTAGE>,<GPS TIME>,<GPS LATITUDE>,<GPS

LONGITUDE>,<GPS ALTITUDE>,<GPS SATS>,<TILT X>,<TILT Y>,<TILT

Z>,<SOFTWARE STATE>,<ROLL>,<PITCH>,<YAW>,<CAMERA STATE>

Commercial Software Used

• Visual Studio 2015 Community

• XCTU (Xbee Program Software)

• MATLAB 2016a Student Version


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Commanding and Plotting Software Design

• Received data will be displayed and plotted in real time by Visual Studio.


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• Orientation of the probe will be shown in the MATLAB.

GYROSCOPE ORIENTATION (MATLAB)


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• Data is saved as .CSV format. In CSV format, data is separated by comma.

• Command software and interface and plotting software are programmed with

Visual Studio using C# program language.

• Data is saved by the GCS program created by Visual Studio C#, after serial

connection is established, each data from serial port should be saved.

• All received data is recorded in real time and plotted by GCS software.

• Telemetry data and plots will be displayed in engineering units (meters,

meters/sec, Celsius, etc.).

• CSV File name should be “Flight_4404.csv”.

• All data is delivered to jury via Flash Memory Stick.

Progress Since PDR

● Command and plotting interfaces are programmed in visual studio by

using C# programming language.

● Orientation of probe is shown in MATLAB successfully.


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• Camera task is chosen as bonus mission.

129Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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CanSat Integration and Test

Ozen HALIC


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Overview(1/6)

131

Test Overview

Subsystem Level Testing

Sensors

CDH

EPS

Communication

Mechanism

Integrated Functional Level Testing

Release Mechanism

Trigger release

Mechanisms

Probe parachute release

Communications

Ground Station

Telemetry

Antennas

Environmental Testing

Vibration

Thermal

Drop

Dimension Verification

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC

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Overview(2/6)

132

Sensors

• It is verified all of the sensors are functioning correctly, we first triedthem with breadboard, then checked the system all together.

CDH

• Transmission of telemetry via Xbee module is verified.

• Communication is checked.

EPS

• Current leakages is found and PCB redesigned accordingly.

• Battery is found to provide sufficient voltage.

Comm.

• Xbee and Antenna are tested for healthy data transfer in maximum range.

Mech.

• Deployment servo is calibrated and ensured to be working.

• Spring is tested whether it is producing enough force for deployment.

Subsystem Level Testing


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Overview(3/6)

Release Trigger

Altitude sensor is working in cooperation with servo motor.

Force release command sent from GCS is working.

MechanismsIt is confirmed the servo and moving parts of

deployment, opening mechanism is working properly.


Altitude sensor is working in cooperation with servo motor.

133


1.Release heat-shield from probe


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Overview(4/6)

Ground Station

Software

It is tested that the software is plotting the telemetries second by second.

TelemetryData transmissions from the sensors are transmitted

to the GCS via XBee module.

AntennasAntenna is tested within the different ranges to make

sure data transfer is smooth.

134

2.Communications


Communication Tests Methodology

Laboratory conditions and two coasts of Bosphorus are chosen to do

communication test.

Payload and GCS are placed on different sides of Bosphorus.

Xbee is tested whether the range is enough for the mission or not.

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Overview(5/6)

135

Drop Test

Attach the payload to the quadcopter.

Quadcopter rises until the altitude reach 700

meter.

Drop the payload and see if probe and heat

shield separate from each other.

Check out both probe and heat shield if they

survive after free-fall.

Check out the egg whether is broken or not.

Fall test is done on the roof of our faculty.

Thermal Test

Thermal tests are done at university laboratory

to see whether mechanical and electronic

components can withstand at extreme

temperatures.

Set timing equal to time that payload’s stay in

the air.

Check out that heat shield can endure specific

temperatures.

Environmental Testing


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Overview(6/6)

136

Vibration Test

Structural integrity, probe strength and

fatigue will be determined with vibration

test.

Mount the payload to the machine.

The sander adjusted to its max. power.

After the power up, sander is turned off

during 2 seconds of periods.

Repeat the process for 1 minute.

Check out if there is any damage on

payload.


Dimension Verification

Dimensions are verified by sensitive

equipment.

Diameter of CanSat is verified using a laser-

cutted hoop with hole diameter equal to

competion requirement (125mm).

Height is verified using a digital caliper.

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137

Test Procedures Test Description Requirements Pass/Fail Criteria Pass/Fail

Sensors

Subsystem Test

Sensors are tested at

different temperatures

for long time periods to

see how accurate

sensors are.

SS-1, SS-5

SS-6

Incoming data must be

accurate, continuous

and stable.

(CDH)

Serial

Communication

Test

Microcontrollers baud

rate is to be fixed at

9600 and all data is to

sent in string format.

CDH-2

CDH-7

If string formatted data

is sent without

interruption and in the

desired order, test is

successful.

(CDH)

RTC Time Keeping

Test

RTC is started-

stopped continuously

and RTC data is

recorded.

CDH-2

Despite the forced

resets RTC must keep

the time and continue

from where it reset.

(FSW)

Release

Mechanism

Algorithm Test

CanSat with heat

shield is thrown from

rooftop of 18 meters.

FSW-1, FSW-4

Servo motor must be

triggered to release the

heat shield.


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(EPS)

Battery Test

Battery is connected to

PCB and voltmeter is

connected in parallel.

EPS-1, EPS-5

Read voltage must be

3.7 Volts as

calculated.

(EPS)

Voltage and

Current Leakage

Test

Voltmeter is connected

at the not power

connected points.

-

Read voltage must be

zero at these neutral

points.

Wireless

Communication

Test

Flight controller is

connected to Xbee and

data transfer is started.

CDH-4

Despite the forced

resets RTC must

keep the time and

continue from where

it reset.

Servo Motor

Calibration Test

Servo motor rotation is

calibrated with flight

algorithm code.

FSW-2

Motor must rotate

90deg. as the

command turn(90)

sent.


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Heat shield

Deployment Test

CanSat will be

dropped several times

to make sure cap is

safely removing.

DCS-2

Cap holding the rods

must be freed, letting

heat shield open.

Heat shield

Release Test

Servo motor will be

tested with a special

circuit.

FSW-1,DCS-3

If servo motor turns

about 90deg. Heat

shield will be

separated.

Spring Test

Spring is exposed to

varying forces for 10

minutes.

DCS-2

Spring must not show

deformation and

produce enough force

for heat shield

deployment.

Parachute Release

Test

Servo motor will be

tested with a special

circuit.

DCS-5, MS-3Parachute must be

released smoothly.Not tested yet.

Tumble TestCanSat will simulate

flight.DCS-4

CanSat must not

tumble.

Partially passed

tests will

continue.


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BMP 180 Test

Pressure sensor is

kept working at

different temperatures

and incoming data is

recorded.

SS-1, SS-5

Recorded pressure

and temperature data

must be stable and

must not have

oscillation.

MPU 6050 Test

Gyroscope is kept

working for 1 hour and

data is recorded both

as the sensor is being

moved and kept

steady.

SS-1, SS-2

If data is stable as the

sensor is steady and

data is changing

accordingly with the

actual movement,

test is successful.


Altitude sensor data plotted

on ground station.

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Test Procedures Test Description RequirementsPass/Fail Criteria

Pass/Fail

Deformation and

Stress Test of

CanSat parts

Total deformation of

main frame and heat

shield is analyzed by

ANSYS 16.0.

SY-14, MS-12,

MS-13

Result of analysis

must show that main

frame and heat shield

will withstand landing

impact.

Total Flight

Duration Test

CanSat is released

from drone and flight

time is recorded.

CDH-3

Total flight duration

must be close to 80

seconds as

calculated.

Not tested yet.


A screenshot captured from

main frame stress and

deformation test results

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Test

ProceduresTest Description Requirements Pass/Fail Criteria Pass/Fail

Vibration Test

Probe is placed on vibration

test machine and vibration

machine is operated at high

frequencies.

SY-16

CanSat must survive

one piece,

undamaged.

Not tested yet.

Thermal Test

Thermal tests are made at

hand made furnace

temperatures up to 80

Celcius.

-

All components must

withstand

undamaged.

Drop TestFree fall test with

quadcopter is planned.

SY-12, SY-13,

SY-16

After CanSat lands

components and

hen’s egg must be

intact.

Mass TestTotal mass of the CanSat is

measured.SY-1, MS-1

Total mass must be

500g.

Dimensions

Test

Stowed CanSat and

deployed heat shield

dimensions are measured

with calipers.

SY-3,MS-2

CanSat dimensions

must be less than

requirements.


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Mission Operations & Analysis

Aykut UCTEPE


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Arrival

• Team will arrive to launch site.

• Integrity of CanSat will be checked for damage.

• GCS and antenna will be prepared.

Pre-launch

• Assembly of CanSat.

• Insertion of Hen’s egg.

• Final corrections will be done for probe including separation mechanism and sensor subsystem test.

• Making sure that total mass is between 490g and 510g.

• Check whether the probe fits rocket smoothly.

Deployment

• CanSat will be taken and switched on before installing to rocket.

• Data transfer with GCS will be confirmed.

• Rocket will be delivered to staff member.

Damage control:

Ozen-Altug

Mission Control

Officer:

AykutMechanics:

Oguzhan-Kemal

Electronics:

Berkay-Furkan

Overview of Mission Sequence of

Events(1/2)

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE

CanSat Crew

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Overview of Mission Sequence of

Events(2/2)

Launch

• Rocket will launch after Mission Control Officer completes flight procedures.

• Probe will free itself at apogee and start descent with heat shield until 300m.

Airborne

• At 300 meters, heat shield separation mechanism will be activated and parachute will be decelerate probe to 4.98 m/s.

• Probe will collect telemetry data and transfer to the GCS during descent.

Recovery

• Probe lands with parachute while protecting hen’s egg.

• With GPS telemetry and initialized audio beacon recovery team locate the CanSat.

• Recovery team will start searching when all launches are completed and area is safe.

Analysis

• Transmitted data will be analyzed.

• Telemetry data file will delivered to field judge for review.

• Moving on to PFR.

Data Analysis

Burak-Altug


Ground Control

Station

Cansu

Probe

Oguzhan,Kemal

Cap&Heat shield

Ismail,Ozen

PFR

Kemal,Furkan

Recovery Crew

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(If You Want) Field Safety Rules Compliance

Mission operations manual will consist

of 6 sub-topics as indicated in mission

guide. Preparing mission guide will help

team members to understand safety

procedures.

Indicated manual will also be used in

launch rehearsals before competition

day.

Two copies of the Manual in three ring

binders will be present at Flight

Readiness Review the day before

launch.

The draft of the document is created. It

is updated as we progress towards the

launch day. The document will be

finalised in April.

146CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE

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147

CanSat Location and Recovery

Heat shield Recovery CanSat Recovery

The heat shield will have bright color.

Heat shield will free fall after separation,

GPS data at 300 meters will provide

approximate location to recovery crew.

Recovery crew will find heat shield with

the help of bright color and GPS data.

The CanSat will be painted bright and

visible color.

The CanSat will initialize audio beacon

after landing.

GPS sensor will provide information

about landing location.

Recovery team will detect CanSat by

observing its color, hearing buzzer

and analyzing last GPS coordinates.

CanSat Competition 2018

#4404 APIS

If found, please contact:

[email protected]

+90-534-395-2519

Figure:

Address labelling on

CanSat and heat

shield


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148

Mission Rehearsal Activities(1/2)

Ground Control System Radio Link Check

• Ground Station and Xbee are communicating as required.

• Communication between Ground Station and Xbee are strong and efficient.

• Telemetry data is taken for controlling accurate data.

Powering on/off CanSat

Rehearsed at 03.18.2018

Rehearsed at 03.18.2018

• CanSat gets powered on by an external switch.

• System can be rebooted by wireless GCS command.

Launch Configuration Preparations

• Final integration and component placing tests will be done.

• Ground Station will be ready to take data.

Will be rehearsed on May


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149

Mission Rehearsal Activities(2/2)

Rocket-Payload Assemble

• Final integrated CanSat will be loaded into a imitation rocket frame to detect any possible

problems.

Will be rehearsed at May

Telemetry Processesing

• The final version of the software will be used.

• Telemetry data will be collected,stored in SD card and GCS

• Data will be analyzed at ground Control Station.


Recovery

• Recovery team will get ready.

• Heat shield,probe and little parachute were tracked.

• Landing locations will be found with GPS data.

• Main components will be recovered.



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150

Requirements Compliance

Burcu GOCEN


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Requirements Compliance

Overview

151

Improvements since PDR

The table filled according to requirement based compliance help us to see which

subsystem is needed to be developed.

Most of the tests are done after PDR is delivered, and requirement table is redesigned

accordingly.

Theoretical results are verified with actual tests.

Partially complied requirements will be complied after remaining tests and rehearsals are

done.


The majority of the requirements are currently complied.

There is not any requirement that does not complied with our integrated system.

Presenter: Burcu GOCEN

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(If You Want) Requirements Compliance(1/8)

152

ID Requirement Compliance Demonstrator Comments & Notes

01Total mass of the CanSat (probe) shall be 500 grams

+/- 10 grams. Comply p.76

02

The aero-braking heat shield shall be used to protect

the probe while in the rocket only and when deployed

from the rocket. It shall envelope/shield the whole

sides of the probe when in the stowed configuration

in the rocket. The rear end of the probe can be open.

Comply p.16

03 The heat shield must not have any openings. Comply p.59

Heat shield is

manufactured as one

piece.

04The probe must maintain its heat shield orientation in

the direction of descent. Comply p.45-46

05The probe shall not tumble during any portion of

descent. Tumbling is rotating end-over-end.Partial p.45-46

Theoretically passed.

Complied in initial test.

Inspections will continue.

06

The probe with the aero-braking heat shield shall fit

in a cylindrical envelope of 125 mm diameter x 310

mm length. Tolerances are to be included to facilitate

container deployment from the rocket fairing.

Comply p.21-22

07The probe shall hold a large hen's egg and protect it

from damage from launch until landing.Comply p.66-67

CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN

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08

The probe shall accommodate a large hen’s egg with

a mass ranging from 54 grams to 68 grams and a

diameter of up to 50mm and length up to 70mm.

Comply p.66-67

09

The aero-braking heat shield shall not have any

sharp edges to cause it to get stuck in the rocket

payload section which is made of cardboard.

Comply p.21Heat shield is designed

accordingly.

10The aero-braking heat shield shall be a florescent

color; pink or orange.Comply

Material is chosen

accordingly.

11The rocket airframe shall not be used to restrain any

deployable parts of the CanSat. Comply p.57

CanSat is designed

accordingly.

12The rocket airframe shall not be used as part of the

CanSat operations.Comply

CanSat is designed

accordingly.

13The CanSat, probe with heat shield attached shall

deploy from the rocket payload section. Comply p.15-22

14The aero-braking heat shield shall be released from

the probe at 300 meters. Comply p.68-69

15 The probe shall deploy a parachute at 300 meters. Comply p.70-71

Requirements Compliance(2/8)

153CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN

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16

All descent control device attachment components

(aero-braking heat shield and parachute) shall

survive 30 Gs of shock.

Partial p.141-142Theoretically complies but

not yet tested.

17All descent control devices (aero-braking heat shield

and parachute) shall survive 30 Gs of shock.Partial p.141-142

Theoretically complies but

not yet tested.

18

All electronic components shall be enclosed and

shielded from the environment with the exception of

sensors.

Comply p.72

19All structures shall be built to survive 15 Gs of launch

acceleration.Partial p.141-142

Theoretically complies but

not yet tested.

20 All structures shall be built to survive 30 Gs of shock. Partial p.141-142Theoretically complies but

not yet tested.

21

All electronics shall be hard mounted using proper

mounts such as standoffs, screws, or high

performance adhesives.

Comply p.72

22All mechanisms shall be capable of maintaining their

configuration or states under all forces. Comply p.142



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23Mechanisms shall not use pyrotechnics or

chemicals.Comply

There is no mechanism

using these technics.

24

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 p.72

25

During descent, the probe shall collect air pressure,

outside air temperature, GPS position and battery

voltage once per second and time tag the data with

mission time.

Comply p.91

26




Comply p.92

27

Telemetry shall include mission time with one

second or better resolution. Mission time shall be

maintained in the event of a processor reset during

the launch and mission.

Comply p.86

28

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.

Comply p.87-122

29XBEE radios shall have their NETID/PANID set to

their team number.Comply p.89-90

30 XBEE radios shall not use broadcast mode. Comply p.89



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31

Cost of the CanSat shall be under $1000. Ground

support and analysis tools are not included in the

cost.

Comply p.163

32 Each team shall develop their own ground station. Comply p.117-129

33All telemetry shall be displayed in real time during

descent.Comply p.86

34All telemetry shall be displayed in engineering units

(meters, meters/sec, Celsius, etc.).Comply p.128

35Teams shall plot each telemetry data field in real

time during flight.Comply p.126



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157


36

The ground station shall include one laptop

computer with a minimum of two hours of battery

operation, XBEE radio and a hand held antenna.

Comply p.120

37

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.

Comply p.120

38Both the heat shield and probe shall be labeled with

team contact information including email address.Comply p.147

39

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.

Comply p.111

40 No lasers allowed. ComplyThere is no laser in any

subsystem.

41The probe must include an easily accessible power

switch. Comply p.100

42The probe must include a power indicator such as

an LED or sound generating device.Comply p.100


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43

The descent rate of the probe with the heat shield

deployed shall be between 10 and 30

meters/second.

Comply p.47

44

The descent rate of the probe with the heat shield

released and parachute deployed shall be 5

meters/second.

Comply p.51

45An audio beacon is required for the probe. It may be

powered after landing or operate continuously. Comply p.100

46

Battery source may be alkaline, Ni-Cad, Ni-MH or

Lithium. Lithium polymer batteries are not allowed.

Lithium cells must be manufactured with a metal

package similar to 18650 cells.

Comply p.101 .

47

An easily accessible battery compartment must be

included allowing batteries to be installed or

removed in less than a minute and not require a

total disassembly of the CanSat.

Comply p.63

48

Spring contacts shall not be used for making

electrical connections to batteries. Shock forces can

cause momentary disconnects.

Comply p.73

49

A tilt sensor shall be used to verify the stability of


deployed and be part of the telemetry.

Comply p.31



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159

Bonus

Add a color video camera to capture the

release of the heat shield and the ground

during the last 300 meters of descent. The

camera must have a resolution of at least

640x480 and a frame rate of at least 30

frames/sec. The camera must be activated

at 300 meters.

Comply p. 32



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160

Management

Aykut UCTEPE


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(If You Want) Status of Procurements(1/2)

161

Mechanical

Component Model Quantity Order Date Status

Probe Main Frame 3D Print PLA 200 gr 10.15.2017 ~ 3.22.2018 Received

Heat shield Frame 3D Print PLA 50 gr 10.15.2017 ~ 3.22.2018 Received

Heat shield Fabric 30d silicone nylon 66cloth 1 m2 10.15.2017 ~ 3.22.2018 Received

Bubble Wrap - 2 m2 10.15.2017 ~ 3.22.2018 Received

Mechanism Spring 1 m 10.15.2017 ~ 3.22.2018 Received

Parachute 30d silicone nylon 66cloth 1 m2 10.15.2017 ~ 3.22.2018 Received

Release Mechanism Servo 9gr 2 10.15.2017 ~ 3.22.2018 Received

Egg Protection

Mechanism3D Print PLA 24 gr 10.15.2017 ~ 3.22.2018 Received

Other tools Adhesive,hinge, etc - 10.15.2017 ~ 3.22.2018 Received


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(If You Want) Status of Procurements(2/2)

162

Electronics

Component Model Quantity Order Date Status

Barometer BMP180 2 12.01.2017 Received

Voltage Regulator Pololu 5V 1 12.01.2017 Received

Camera Turbowing DVR 700TVL 1 12.01.2017 Received

SD Card SANDISK 16 GB 2 12.01.2017 Received

XBEE XBEES2B 3 12.01.2017 Received

XBEE’s Adapter XBEE Explorer Dongle 1 12.01.2017 Received

Antenna (Probe) 2405CL 1 12.01.2017 Received

Microcontroller Teensy 3.5 1 02.25.2018 Received

GPS Adafruit Ultimate GPS 1 02.25.2018 Received

Gyroscope MPU6050 1 02.25.2018 Received

BUZZER BUZZER 1 02.25.2018 Received

MOSFET - 1 02.25.2018 Received


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(If You Want) CanSat Budget – Hardware(1/3)

163

Electronics

Component Model Quantity Unit Price[$] Total[$]

Gyroscope MPU6050 1 8.25 (Actual) 8.25

Barometer BMP180 2 10.00 (Actual) 20.00

GPS Adafruit Ultimate GPS 1 39.95 (Actual) 39.95

Camera Turbowing DVR 700TVL 1 16.81 (Actual) 14.99

SD Card SANDISK 16 GB 2 6.00(Actual) 12.00

XBEE XBEES2B 2 55.00 (Actual) 110.00

Antenna (Probe) 2405CL 1 5.00 (Actual) 5.00

Microcontroller Teensy 3.5 1 24.95 (Actual) 24.95

SD Card Reader SD Card Reader 1 1.20 (Actual) 1.20

Voltage Regulator Pololu 5V 1 7.00(Actual) 7.00

MOSFET - 1 0.7(Actual) 0.7

BUZZER BUZZER 1 1.00(Actual) 1.00


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164

Mechanical


Probe&Heat shield

Components3D Print ABS 250 gr 0.40 per gr 100.00 (Actual)

Bubble Wrap - 2 m2 0.5 per m2 1.00 (Actual)

Parachute&

Heat shield

Fabric

30d silicone nylon

66 cloth2 m2 5.00 per m2 5.00 (Actual)

Mechanism Spring 1 m 5.00 per m 5.00 (Actual)

Release

MechanismServo 9gr 2 5.00 10.00 (Actual)

Other tools Adhesive,hinge, etc - 25.00 30.00 (Estimate)

OVERALL TOTAL

(Mechanical+Electronics):$ 374.09


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165

Ground Station


XBEE XBEES2B 1 55.00 (Actual) 55.00

XBEE’s Adapter XBEE Explorer

Dongle

1 24.95 (Actual) 24.95

Antenna(Ground) 2415D 1 Re-Used 53.00 (Actual) 53.00

Computer Dell-inspiron 3542 1 Re-Used Private Private

TOTAL (Ground Station): $ 154.9


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(If You Want) CanSat Budget – Other Costs(1/2)

166

Other Costs Quantity Unit Price[$] Total[$]

Travel 10 500 (Estimate) 5000

Hotel 2x5 Days 100 (Estimate) 1000

Car Rental 2x6 Days 80 (Estimate) 960

Prototyping 3 30 (Estimate) 90

Test facilities and

equipment

University Provided University Provided University Provided

Fee 1 100 (Actually) 100

TOTAL $ 7150


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(If You Want) CanSat Budget – Other Costs(2/2)

167

Categories Cost [$]

Electronics and Mechanical 374.09

Ground Station 154.9

Other Costs 7150

TOTAL $ 7678.99

INCOME $ 10000


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(If You Want) Program Schedule(1/3)

168

PROGRAM SUMMARY

Presenter: Aykut UCTEPE CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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169

DETAILED PROGRAM

Presenter: Aykut UCTEPE CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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170Presenter: Aykut UCTEPE CanSat 2018 CDR: Team #4404 ( APIS AR-GE )

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171

Flight

CanSat

Hardware

Tools and

Equipment

• Chosen airline: Turkish Airlines

• Planned arrival to Houston: 06.07.2018

• We have covenanted a cargo company to carry

our CanSat from Istanbul to Houston.

• It will be transported inside safe containers.

• The contracted cargo company will carry our

Antenna mast and assembly, spare part and other

materials.

• They will be transported inside safe bags.

Shipping and Transportation


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Administration & Finance

Electronics & Programming

Mechanics & Aerodynamics

172

ConclusionsConclusions

Major Accomplishments:

1. Schedule was created.

2. Financial income was secured.

3. Airline tickets sponsors were found.

4. PDR was completed.

Major Unfinished Work:

1. Visas of 5 team members are not

approved yet.


1. Electronic component choosing is

almost fully completed.

2. Electronic design progress is almost

done.


1. The fully integrated electronic systems

will be tested in order to have perfect

functionality.


1. Probe, parachute and heat shield

trades were elaborately discussed and

a choice that seemed the best for every

branch was made.


1. The fully finished CanSat needs to be

tested with drone.

Conclusion: The schedules and deadlines have been met.

Team APIS ARGE is ready to move on to Launch Day and PFR.

5. CDR was completed.

6. We have covenanted

a cargo company to carry

our CanSat from Istanbul

to Houston.

2. Majority of tests are

done.

3. Flight Software

design progress is

almost finalised.


Documents

CanSat 2018 Critical Design Review (CDR) Outline Version 1Cansatcompetition.com/docs/teams/Cansat2018_4404_CDR_v03.pdfsample atmospheric properties, wind velocity, heading angle and