University PDR Presentation Iowa ?· Iowa State University PDR Presentation 2017-2018 1. Overview Project…

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Iowa State University PDR Presentation



Overview Project Overview Design Subscale Safety Project Plan Conclusion


Project Overview


Team Structure


Mission OverviewRequirements:

Reach an apogee of exactly 5,280 ft

Safely recover rocket and land within 2,500 ft of the launch pad

Fully reusable for another launch on the same day

Perform 1 experiment onboard

Visual recognition of ground targets




Rocket Overview


Vehicle Requirements Launch vehicle will deliver payload to altitude of 5280 feet

Preliminary simulations predict apogee of 5280 feet or higher

The vehicle will be designed to be reusable and recoverable No major components will need replacing Recovery system ensures safe landing

Total impulse of launch vehicle cannot exceed that of an L-class Total impulse of AeroTech L2200 below L-class limit

Full-scale rocket model must be tested and recovered prior to FRR Test launch planned for February 17th

All airbrakes should fail in the safest manner as possible Airbrakes on opposite sides are coupled Airbrakes will fail closed


Rocket Specifications:

Length 117 in.

Body Diameter 6 in.

Weight - 48 lb

Rocket Features:

Carbon fiber air brakes

Split fin design

Dual-parachute recovery system

Onboard flight data processing and recording


Rocket Specifications


Nose ConeParachute Bay 2 (120


Avionics Bay

Parachute Bay 1 (24 Drogue) Motor Mount

Flight Computer Bay

OpenRocket Diagram

Center of gravity: 79.2 in (from nose cone) Center of pressure: 92.5 in (from nose cone)

Stability margin: 2.19



Mass Statement Nose Cone: 4.92 lbs Main Section: 18.05 lbs Motor Mount: 25.17 lbs (with motor)

Total estimated weight of 48.14 pounds


Section: Nosecone Parachute

bay 1




bay 2









4.92 7.39 5.04 5.62 3.75 10.88 10.54

Mission Performance Predictions



Velocity off rod(ft/s)


Velocity at detach(ft/s)

Optimum delay(s)

Max Velocity(ft/s)

Max accel.(ft/s^2)

Time to apogee(s)

Flight time(s)

Ground hit velocity(ft/s)

5 91.2 5646.3

76.8 16.4 669.3 429.8 18.7 102 17.8

10 90.6 5613.5

76.8 16.3 669.3 429.8 18.7 102 17.8

15 91.2 5567.6

75.5 16.2 669.3 429.8 18.5 100 17.78

20 91.2 5561.0

76.7 16.2 669.3 429.8 18.5 102 17.68

Mission Performance Predictions (cont.)


OpenRocket simulation for 10 mph wind


6 Bluetube airframe with couplers Five birch plywood bulkheads Fiberglass nose cone and main fins Carbon fiber air brakes 3D printed exterior fins Aero-Epoxy


Filament wound fiberglass Aluminum tip 33 long

Von Karman vs. Ogive

More aerodynamic at subsonicvelocities

Reduces drag


Nosecone 5.5:1 Von Karman

75 mm Blue Tube motor tube

Aeropack flanged retainer

Load transfer through aft


5 Centering ring assemblies



Split fins

4 sets of fins (8 total)


G10 fiberglass



Geometry optimization for fin flutter

45 different fin designs tested


Main Fin Design

Motor Thrust Curve AeroTech L2200

Total weight: 10.54 pounds

Average thrust: 494.58 pounds

Max thrust: 697.31 pounds

Total Impulse: 1147.42 lb *sec

Burn Time: 2.3 seconds

Thrust to Weight Ratio: 9.89


Experimental Overview


System RequirementsNASA Derived Requirements

# Name: Requirement Verification

4.4.1 Team will design an onboard camera system to identify and differentiate 3 randomly placed targets.

A Raspberry Pi system and Pi cameras will acquire, store, and assess in-flight images during the flight.

4.4.2 Data to be analyzed in real time to identify and differentiate three separate targets.

Pi boards will use the input from the cameras to process and differentiate between the three targets on the ground.

4.4.3 Teams will not be required to land on any of the targets. We will be using a dual-deployment parachute recovery system without a targeted landing system.


System RequirementsExperimental Team Derived Requirements

# Name: Requirement Verification

T1.1 Clear image to identify targets on the ground. The cameras will be hard mounted to the side of rocket for the greatest stability during ascension.

T1.2 A full range image of the ground below the rocket. Five cameras are to be mounted to gain the greatest view of the targets on the ground.

T1.3 Analysis of the image(s) from the Pi cameras. Programed Raspberry Pi boards will take in, store, and differentiate the pi camera data.


Changes Since Proposal Removed Gimbal Concept

Reduced mass and complexity Added Mission Assurance through increased Field of View

Change Old Version New Version Rationale

Camera Mounting Gimbal System Hard Mount Reduction of mass and costs

Number of Cameras Two cameras Five cameras Greater field of view with chosen method of mount


Target Detection System -Computational HardwareRaspberry Pi 3 Model B

CPU Quad Cortex A53 @ 1.2 GHz

GPU 400MHz VideoCore IV


Storage Micro-SD

Wireless 802.11n / Bluetooth 4.0

Video Output HDMI / Composite


Raspberry Pi Camera Module V2

Resolution 8 megapixel native resolution high quality Sony IMX219 image sensor Cameras are capable of 3280 x 2464 pixel static images

Quality Capture video at 1080p30, 720p60 and 640x480p90 resolutions Software is supported within the latest version of Raspbian Operating


1.12 m X 1.12 m pixel with OmniBSI technology for high performance (high sensitivity)

Optical size of 1/4"

Target Detection System - Camera Hardware


Target Detection System - Power Supply Hardware

UPS HAT module board & Battery Cascading design to save mounting space Retains GPIO pins for additional expansion board possibilities 2.8 x 2 x 0.7 62.37 grams

Li-Ion Battery 2500 mAh 3.7 V 2 Amps


Target Detection System Software

The Raspberry Pi receives image stored on a microSD card by the Pi camera

Image is converted from RGB to HSV Copies HSV channel in grey channel and



Electronics Bay 12 inch coupler bay located between parachute bays Contains hardware

Raspberry Pis and Batteries Horizontally stacked circular plates Passageways for camera and battery wiring Five cameras mounted on rocket exterior


Camera Mounting Full ground tracking field of view below rocket desired Minimum of 5 downward facing cameras Mounting angle of 24.4 degrees

295 Cameras vs. 6 Cameras

Camera Ducts Mounting Point for Pi Cameras Reduce drag from mounting the cameras directly Contain and protect cameras during launch and landing


23.86 mm

25 m

m 11 cm

Moving ForwardTesting and Verification:

Ensure Program works Stationary testing on platform Scaled down targets to simulate altitude view Each test will last for estimated launch duration

Next Steps:

Look into reducing required number of Raspberry Pis Continue development of software Test software in a simulated environment Iterate and continue to improve software


Apogee Control


Changes Since Proposal

Change Old Version New Version Rationale

Battery number and type 1 9V battery 2 LiPo batteries redundancy and longer lasting

Flight computer Arduino Pro Mini Arduino Duo used Analytic Hierarchy Process to choose between board options and Arduino came out on top, the Due has higher clock speed than the Pro Mini



Simulated Air Brake Deployment

Flight Computer Bay Parts housed:

Flight computer and sensors Airbrake servo governed by

flight computer

Servo winch Pulleys

Construction: U-bolt with wing nuts Finnish birch plywood

13.5 inches long


Air brakes actuated by a servo controlled by the flight computer Flight computer continuously performs apogee calculations If the expected apogee is greater than 5,280 ft, the airbrakes will be


This process is repeated until apogee is reached


Air Brake Functions

Flight Computer Comparison Results

-All Consistency Indices are below the .1 standard

0.4780 Arduino Due

0.2965 Raspberry Pi 3

0.2255 BeagleBone Black


Sensor Choices Barometers

BMP180 (I2C) GPS Modules

U-blox Neo M8N (UART) Accelerometer

MPU6050 (3 axis) (I2C)


Control Flow

Flow diagram of flight computer code39

Target Computer Setup Purpose

Run Simulations for the airbrakes Program

Simulink Real time Host computer to target computer connection

Ethernet cable Target computer to target monitor

VGA cable


Results Conditions for 2016-2017 rocket run through simulation:

Max altitude Simulation: 4921 ft Actual apogee: 4916 ft

Max velocity Simulation: 564 fps




Recovery Systems

24 Drogue parachute opens at apogee 120 Main parachute opens at 800 feet Black powder ejection charges Rocket separates to deploy parachute Parachutes secures to rocket through



Parachute Bays Shock cords - kevlar and nylon Attached to u-bolt assemblies Anti-zippering ball on shock cords

Parachute bay 1

Drogue parachute - 24 Between avionics bay and motor mount

Parachute bay 2

Main parachute - 120 Between avionics bay and nose cone


Configuration 1 (Drogue): Descent rate: 106 ft/s Parachute: 24 elliptical Shock cord: 33 ft nylon

Configuration 2 (Main): Descent rate: 15 ft/s Parachute: 24 elliptical and 120

elliptical Shock cord: 27 ft nylon


Configuration 1 - Drogue

Rocket Weight (on descent) 44.4 lb.

Parachute Size 24 in.

Descent Rate 84.45 ft/s

Configuration 2 - Main and Drogue

Parachute Size 120 in and 24 in.

Descent Rate 14.76 ft/s

Forward Section Avionics Section Motor Mount

Section Weight 4.91 lb. 16.16 lb. 16.8 lb.

Impact Energy 16.67 ft-lb 54.85 ft-lb 57.02 ft-lb

Parachute Configurations

Avionics Bay Coupler also houses the Electronics Bay Copper tape lined Altimeters

AIM USB Perfectflite Stratologger

Recovery system comprised of redundant altimeters, power supplies, and ejection charges

Ejection charge masses will be calculated by CDR


Drift calculation

Regardless of wind speed, rocket will remain within launch field maximum radius




Safety Team Members

Team Safety Officer - Nick Holaday Second Safety Officer - Briana Staheli Technical Communication - Sarah Kreutner

Team Responsibilities Maintain record of trainings and briefings for all CySLI team members Prepare Risk Assessment Tables Prepare Build and Launch Procedures Oversee all safety concerns and legal compliances


Risk Severity


Risk Probability


Risk Assessment Matrix


Facilities and Safety Policies Policies

Use of Facilities Iowa State Safety Policies Team supervision during build

Facilities Make 2 Innovate Student Lab Boyd Engineering Lab M:2:I Conference Room Howe Hall Computer Lab


CySLI Website

Maintained with all current team information, Student Launch Initiative documentation, and M:2:I documentation by Technical Communication Lead, Sarah


Risk Assessment Lab and machine

Hazards that could occur due to the laboratory equipment and machinery Rocket

Hazards that could be caused to or by the rocket Avionics

Hazards that could occur due to the avionics system of the rocket Experimental

Hazards that could occur due to the experimental factor of the rocket Environmental

Hazards that could occur due to the environment around the rocket


Compliance with Laws Iowa State Rocketry Laws Minnesota State Rocketry Laws NAR and TRA requirements Required NAR supervisor will be Gary Stroick


Handling of Rocket Motors Purchase and Storage

Online Vendor- Off We Go Rocketry Due to ISU safety policy, purchased and handled by Team Advisor Gary Stroick M:2:i Director Matt Nelson will handle in between delivery and launch Shipped with HAZMAT safety precautions

Handling and Transportation Fullscale delivered and handled by Gary Stroick Project Lead Becca will handle subscale motor Properly secured and stowed away during all transit


Range Safety Regulations

1. Certification

2. Materials

3. Motors

4. Ignition Systems

5. Misfires

6. Launch Safety

7. Launcher

8. Flight Safety

9. Launch Site

10. Launch Location

11. Recovery System

12. Recovery Safety


Documentation Identifying hazards

Each subteam provided a list of possible hazards Comply with NAR, and NFPA 1122 model rocket safety codes

Procedure Approval sheets Signatures needed from all members of build and launch team Ensures knowledge of safety requirements during build and launch

Log sheets Log flight info and data during check before launch

Supervision Safety officers present during all build and launch events


NASA Safety Regulations All CySLI team members have agreed to follow the specific NASA SL Handbook regarding Launch Safety.

This was agreed to in the Safety Agreement Form and re-discussed during all briefings.

1.6.1. Range safety inspections of each rocket before it is flown. Each team shall comply with the determination of

the safety inspection or may be removed from the program.

1.6.2. The Range Safety Officer has the final say on all rocket safety issues. Therefore, the Range Safety Officer has

the right to deny the launch of any rocket for safety reasons.

1.6.3. Any team that does not comply with the safety requirements will not be allowed to launch their rocket.




Subscale testing Launching subscale test on

November 11th

Pearson Farms in Mitchellville, Iowa


Subscale testingSubscale will be size


Subscale Testing Testing aerodynamic properties of the airframe

Replicate placement of CG and CP Testing altimeter (Stratologger CF)

Ride-along mode


Verification Plan

Verification Checklist to ensure proper assembly and preparation Subscale construction

Parts are securely epoxied together Loading the motor Packing the parachute

Correct packing Untangled shroud lines Secured to airframe


Subscale Launch Safety Safety Briefings Subscale Build Build/Launch Procedure Sheets Subscale Procedure for Launch

Prep Black Powder Charges Recovery Charge and Coupler Installation Motor Installation Safety Tests (Shake Test)


Project Plan



ScheduleCompetition Tim...