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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 1
CanSat 2012 CDR OutlineVersion 0.4
Team #1719
Tarleton Aeronautical Team
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 2
Presentation Outline
## Title
Systems OverviewMission SummarySummary of Changes since PDRSystem Concepts of OperationsPhysical LayoutLaunch vehicle compatability
Sensor Subsystem DesignSensor Subsystem OverviewSensor Changes since PDR
Descent Control DesignDescent Control OverviewDescent Control Changes since PDRDescent Control Hardware SummaryDescent Rate Estimates
Mechanical Subsystem DesignMechanical System Overview & changes since
PDRLander Egg ProtectionMechanical Layout of ComponentsCarrier Lander Interface
678
11-1314-18
19202123272829
30-3133-34
3536-3740-41
4244
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 3
Presentation Outline
## Title
Communication & Data Handling OverviewCDH OverviewChanges since PDRCarrier Antenna SelectionRadio ConfigurationTelemetry Transmission
Electrical Power SubsystemElectrical Block DiagramsPower Source Selection
Flight Software OverviewCarrier OverviewLander Overview
Ground Control StationGCS AntennaGCS Software
CanSat Integration & TestMission Operations & AnalysisConclusions
48495055
57-5860
62-6466-67
7072-7477-7880-8184-8587-88
8990
102114
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 4
Team Organization
Presenter: Cletus Fuhrmann
Team Leader
Dustin Neighbors
Mission Operations & Management
Dustin Neighbors
(Sophomore)
Tyler Case
(Sophomore)
Cletus Fuhrmann
Cansat Mechanical
Control & Testing
Greg Mosier
(Junior)
Cletus Fuhrmann
(Senior)
Ethan Moore
(Junior)
Tyler Case
Data Acquisition, Communication
& Software
Blake Lohn-Wiley
(Graduate)
Billy Fournier (Senior)
Jake Rhodes (Senior)
Electrical Power & Ground Control
System
Jake Rhodes
Billy Fournier
Greg Mosier
Cletus Fuhrmann
Faculty Advisor
Dr. Brawner
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 5
Acronyms
• A – analysis• ACL – acceleration• ADC – Analog to digital convertor• ALD – audible locating device• ALT – altitude• ASI – asynchronous serial interface• BMR – base mission requirement• bps – bits per second• CDH – communication and data handling• CMOS – Complimentary Metal oxide semi-
conductor• COTS – Commercial off the shelf• D – demonstration• dB - decibels• DCS – Descent Control System• DIO – digital input\output• EPS – Electrical Power System• FSC – Flight Software of Carrier• FSL – Flight Software of Lander• FSW – flight software
• G – G force• g-gram• GHz-Gigahertz• GCS – Ground Control Station• GPS – global positioning system• hPA – hectoPascal• Hz – hertz• I – inspection• I2C – Inter-integrate circuit• IDE – Integrated development environment• lb – pound• LED – Light Emitting Diode• m – meter• m/s – meters per second• mA – milliamps• MAC – Media access control• MEC – Mechanical Requirement• mg – milligrams• mm – millimeters• mW - milliwatts
Presenter: Cletus Fuhrmann
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(If You Want) Acronyms (continued)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 6
• NASA – National Aeronautics and Space Administration• PDR – Preliminary Design Review• RF – radiofrequency• SD – secure digital• SMA-SubMiniature version A• SPI –Serial Peripheral Interface• SSR – Sensor Subsystem requirement• SYS – System Requirement• T – Test• TEM – Temperature • TTL –Transistor–transistor logic • TNC-Threaded Neill-Concelman • UART – Universal asynchronous receiver/transmitter• USLI – University Student Launch Initiative• UTC - Coordinate Universal Time• V - Volts
Presenter: Cletus Fuhrmann
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) )
7
Systems Overview
Cletus Fuhrmann
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 8
Mission Summary
Launch an autonomous Cansat with a deployable lander that ensures the safe descent of a large raw hen’s egg
- Descent rate must be controlled throughout
- Deployment must occur at a set altitude
- Sensors must collect a variety of data during flight
- Some data must be transmitted to a ground station
- All data must be collected and analyzed
Presenter: Cletus Fuhrmann
Main Objective
External Objective
Gain familiarity with subject for NASA USLI competition
Selected Objective
Measure the lander’s force of impact with the ground
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(If You Want) Summary of Changes Since PDR
• Sensor Subsystem• Descent Control Subsystem• Mechanical Subsystem• Communication & Data Handling• Electrical Power Subsystem• Flight Software Design• Ground Control Station
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 9Presenter: Cletus Fuhrmann
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Cansat 2012 PDR: Team 1719 (Tarleton Aeronautical Team) 10
System Requirements
Presenter: Cletus Fuhrmann
ID Requirement RationalePriorit
yParen
t(s)Children
VM
A I T D
SYS 1Total mass excluding egg payload
must be between 400-750gBMR High -
MEC 6MEC 7EPS 7
X
SYS 2Cansat shall meet rocket payload
requirementsRocket must remain
undamagedHigh - MEC 2 X X
SYS 3The Cansat shall comply with the
descent and recovery requirementsBMR High -
DCS 1 DCS 2DCS 4FSC 4FSC 5MEC 9
X
SYS 4The Cansat shall comply with the
communication requirementsBMR High -
CDH-01CDH-06CDH-07CDH-08
X
SYS 5All operations shall comply with field
safety regulationsBMR High -
MEC 11MEC 12MEC 13
X X
SYS 6The Cansat shall be launched within
the assigned launch windowBMR
Medium
- X
SYS 7The Cansat shall comply with Base
Mission power requirementsBMR High - EPS 8 X X
SYS 8The cost of the Cansat flight
hardware shall be less than $1000BMR
Medium
- X
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Cansat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 11
System Requirements
Presenter: Cletus Fuhrmann
ID Requirement Rationale PriorityParent(s)
Children
VM
A I T D
SYS 9A ground station must be developed by the
team meeting telemetry requirementsBMR High -
FSC 2GCS 1GCS 2
X X X
SYS 10Cansat lander shall measure force of impact
with groundSelected Objective
High -SSR 7FSL 4
X X
SYS 11Carrier shall measure time, position, air
pressure, temperature, voltageBMR High SYS 3
FSC 1FSL 1
X X
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 12
System Concept of Operations
Presenter: Cletus Fuhrmann
Launch Operations
Insert egg into Lander
Power Cansat on
Insert Cansat in rocket payload
Begin communication
with CanSat
Assemble Cansat
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 13
System Concept of Operations
Presenter: Cletus Fuhrmann
In-Flight OperationsCanSat sensors running Communicating data to GS
Rocket separates at apex Payload deploys first parachute
Carrier & Lander separate Sensors still recording Carrier sending data Lander storing data
Lander records impact force
At 200 meters2nd parachute deployed
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 14
System Concept of Operations
Presenter: Blake lohn-Wilie
Post-launch recovery and data reduction
Landing
• Lander measures force of impact with ground
• Egg should remain protected
Recovery
• ALDs sound on both carrier & lander
• Carrier will have GPS
• Parachutes are made of bright colors
Data reduction
• Data from Lander is collected by µSD card
• All data is analyzed for post-flight review
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 15
Physical Layout
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 16
Physical Layout - Carrier
20mm
27mm
103mm
114mm
152mm
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 17
Physical Layout - Carrier
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 18
Physical Layout - Lander
82mm
21mm
64.5mm
15 mm
103mm
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 19
Physical Layout - Lander
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) )
20
Launch Vehicle Compatibility
• CanSat will be loaded into rocket payload compartment with first parachute stored towards rear of rocket
• Payload dimensions– Height = 152 mm– Diameter = 127 mm
• CanSat dimensions– Height = 152 mm– Diameter = 124 mm
• CanSat compatibility will be checked before launch date by model rocket payload compartment
External Parachute < 76 mm
Parachute 20mm
Electronics 27mm
Lander Compartment 103 mm
Diameter = 124mm
.5 mm eachHeight = 152 mm
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 21
Sensor Subsystem Design
Blake Lohn-Whilie
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(If You Want) Sensor Subsystem Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 22
Temperature & Altitude Sensor
BMP 180
GPS SensorLocoSys LS20031
Force ImpactSensor
ADXL 345
Presenter: Blake Lohn-Wilie
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ID Requirement Rationale Priority Parent Children VM
A I T D
SSR-01 All sensors shall have an operating voltage between 3.3V and 6V
Battery and sensors chosen
High EPS 2 X X X
SSR-02 GPS sensor shall sample UTC time, latitude, longitude, mean sea level altitude, and number of satellites tracked
BMR Low X X X
SSR-03 All sensors shall be able to sample data at a rate of at least 1 HZ
BMR Low X X X
SSR-04 Altitude must be determined using a sensor other than GPS
BMR High X X X
SSR-05 Pressure sensor must be able to accurately determine the current altitude at a 2 meter accuracy or better
BMR High X X X
SSR-06 Temperature sensor must capture temperature of air in Celsius
BMR High X X X
SSR-07 Acceleration sensor must be capable of measuring up to 16 g
To ensure accurate readings during landing
Medium X X X
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 23
Sensor Subsystem Requirements
Presenter: Blake Lohn-Wiley
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(If You Want) Sensor Changes Since PDR
• No changes since PDR
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 24Presenter: Blake Lohn-Wiley
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 25
Carrier GPS Summary
GPS module chosen --- LS20031
• Accuracy around ±3m• Will be accessing the GPS using a software serial library on the Arduino.
– Must use PMTK commands to limit messages to only GGA.– Lower the baud rate, and refresh time so Arduino is not overloaded with data.
• Will be using NMEA GGA data messages. Ex.– $GPGGA,053740.000,32.2564,N,-98.21113,E,1,8,1.8,410.6,M,21.2,M,*64
GPS Unit Price Current Draw (mA)
Weight (g)
ConnectionType
Sample Rate (Hz)
Dimensions (mm)
66 Channel LS20031 GPS 5Hz Receiver
$49.95 41 12.7 TTL >10 30 x 30
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 26
Carrier & Lander Altitude & Temperature Sensory Summary
• Pressure sensor chosen --- BMP180
• Accurate to ±0.02 hPa and ±0.5ºC • Using the I^2C interface requires only 4 pins for a connection. Vcc, Gnd, SDA, and
SCL.• Requires calibration on startup, the data is stored in it’s registers.• Calculates altitude using this equation:
– Where p is the measured pressure a and p knot is the sea level pressure.– Range of 0-1000 m is equal to delta p of about 100 hPa.
Non-GPS Unit
Price Weight (g)
Resolution(bits)
Connection Type
Sample Rate (MHz)
Dimensions (mm)
BMP180 15.00 1.1 Pressure- 19Temp. - 16
I^2C <3.4 18 by 19
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 27
Lander Impact Force Sensor Summary
• Summary of air temperature sensor selection and characteristics
• At the ±16 g range, accuracy of ±0.03125 g, with resolution of 0.015625 g.• Using the I^2C connection, using pins: SDA, SCL, CS tied to VCC, and SD0
tied to GND.• Data reading in the format: (x,y,z)• Will begin sampling data at an altitude of 30 m, and will turn off when altitude
is constant for 5 seconds.
Acceleration Sensor
Price Weight (grams)
Resolution(g)
Connection Type
Sample Rate (MHz)
Dimensions (mm)
ADXL345 $26.95 1.5 ±2,4,8,16 I^2C and SPI <3.2 3.05 x 5.08
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 28
Descent Control Design
Greg Mosier
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CanSat 2012 PDR: Team 1719 (Tarleton Aeronautical Team) 29
Descent Control Overview
Presenter: Greg Mosier
• 450-670m – Cansat deploys from rocket – Dynastar 24” parachute
• 200m – Cansat slows descent rate– Dynastar 36” parachute
deployment using servo and fiberglass cover
↓ 10±1 m/s
↓ 5±1 m/s
↓
• 91m – Carrier & Lander separate – Lander deploys Dynastar 24” parachute using a static line connected to Carrier
Carrier Lander
↓ <5 m/s
• 0m – Recover Carrier & Lander
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 30
Descent Control Changes Since PDR
• Deployment mechanism for parachutes finalized– Will use servo to release fiberglass disc cover for 2nd
parachute– Will use static line to release fiberglass disc cover for
final parachute
• Carrier and Lander separation mechanism altered to prevent Lander from rotating
Presenter: Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 31
Descent Control Requirements
Presenter: Blake Lohn-Wiley
ID Requirement Rationale Priority ParentChildr
en
VM
A I T D
DCS 1 Parachute deployment shall slow Cansat down to a descent rate of 10 m/s
BMR High SYS 3 X X
DCS 2 When the Cansat reaches 200 meters, the Cansat descent rate will be reduced of 5 m/s
BMR High SYS 3 X X
DCS 3 At 91 meters separation of Carrier and lander shall occur.
BMR High X X
DCS 4 After 2 seconds the lander will deploy its own parachute and slow the descent rate to 5 m/s.
BMR High SYS 3 X X X
DCS 5 The color of the parachute will be florescent pink or florescent orange
BMR Medium X
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 32
Carrier Descent Control Hardware Summary
• Passive Components– 1st parachute (fluorescent
orange)• Released at rocket
separation• 24”
– 2nd parachute (fluorescent orange)• Release triggered by
height sensing by microcontroller
• Servo releases fiberglass cover that flops open to release parachute
• 36”
• Active Components– Altimeter
• ±0.02 hPa• Stored in a 3 element array
– Servo• 0.10 sec/60º @ 4.8V
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 33
Lander Descent Control Hardware Summary
• Parachute deployment is triggered by separation of Carrier and Lander pulling a static line which releases parachute
• Passive Components– 3rd parachute (fluorescent orange)
• Fiberglass cover holds parachute in place until static line pulls it open upon Carrier-Lander separation
• 24”
Parachute
Fiberglass coverStatic Line
CARRIER
LANDER
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 34
Descent Rate Estimates
Presenter: Blake Lohn-Wiley
•
• d is the diameter of the parachute
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 35
Descent Rate Estimates
Presenter: Blake Lohn Wiley
Configuration Diameter of Parachute (inches)
Weight (g)
Descent Rate (m/s)
Carrier & Lander (pre-separation)
22 453 10
Carrier (post-separation) 35 269 5
Lander (post-separation) 23.12 184 <5
Assumptions The changes in air density will not significantly affect descent rate.Parachutes will be modified for appropriate diameters as indicated above.
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 36
Mechanical Subsystem Design
Greg Mosier
Ethan Moore
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 37
Mechanical Subsystem Overview
• Carrier– Was prototyped to specification with a perforated steel
body and silicon bulk heads that also carried the electronics
– Compartment size stayed the same as the original design• Lander
– Was prototyped using aluminum instead of carbon fiber
• Both worked in static testing
Presenter: Ethan Moore
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(If You Want)Mechanical Subsystem Changes Since PDR
• Dimensions of several compartments changed• Two rods added to carrier frame to prevent rotation of
lander during separation• Lander frame discs have notches added as guides for
the rods
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 38Presenter: Ethan Moore
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 39
ID Requirement Rationale PriorityParen
tChildr
en
VM
A I T D
MEC 1Total mass of Cansat excluding egg payload will
be between 400-750gBMR High SYS 1 X X
MEC 2Cansat shall fit inside cylindrical envelope of 130mm diameter and 152mm length with no protrusions until after deployment from rocket
BMR High SYS 2 X X
MEC 3Structural integrity of Cansat must be maintained
throughout mission
Electronics must store data post landing
High X X
MEC 4 Use of metals must be limitedInterfere with radio signals
Medium CDH 1 X
MEC 5 Structure must withstand 30G shock force BMR High X X
MEC 6 Mass of carrier shall be less than 375g
Weight budget is
shared with lander
Low SYS 1 X
MEC 7 Mass of lander shall be less than 375gWeight budget
Low SYS 1 X
Mechanical System Requirements
Presenter: Cletus Fuhrmann
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(If You Want) Mechanical Systems Requirements
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 40
ID Requirement RationalePriority
Parent(s) Children
VM
A I T D
MEC 8All electronics shall be enclosed and shielded, with only sensors exposed
BMR High SYS 11 X X
MEC 9 The structure shall support 10G acceleration BMR High SYS 3 X X
MEC 10Circuit boards shall be mounted with
standoffs, screws, or high performance adhesives
Necessary to ensure
data recovery
High SYS 11 X X
MEC 11Team number, email, and phone number
shall be placed on both Carrier and LanderAssist
recoveryHigh SYS 5 X X
MEC 12All Cansat mechanisms shall maintain
configurations under all shock and acceleration forces
BMR High SYS 5 X X
MEC 13No pyrotechnics or chemicals shall be used
for any Cansat mechanismSafety High SYS 5 X X
Presenter: Cletus Fuhrmann
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 41
Lander Egg Protection Overview
• Egg will be placed sideways in a polyurethane mold that will fit in a cylindrical shape of 82 cm x 64.5 cm
• Duct tape will be used to hold the two sections of the mold together
Presenter: Tyler Case
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(If You Want) Lander Egg Protection Overview
• Testing indicated that our egg protection is more than significant to protect our egg from the forces of acceleration upon takeoff and the impact force upon hitting the ground
• Our data is as follows:
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 42
Test #1 Test #2 Test #3 Test #4
Protection Polyurethane foam
Polyurethane foam
Polyurethane foam
Polyurethane foam
Height 6 ft 10 ft 15 ft 30 ft
Survived? Yes Yes Yes No
Presenter: Tyler Case
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(If You Want) Mechanical Layout of Components
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 43
CarrierLander
Dimensions: 124mm (dia) x 152mm (height)
Presenter: Ethan Moore
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(If You Want) Material Selections
• Frame rods– Carbon fiber
• High strength• Low weight
• Frame discs– Carbon fiber
• High strength• Low weight
• Separation Screw & Nut– Plastic
• Low weight• Fewer number of turns
• Static Line
– 60 lb Braided Dacron• Exceeds strength needed
to open cover
• Parachute Covers– Fiberglass
• Lightweight• Easily modified
• Outer Shell– Plastic
• Allows for easy access to CanSat while still enclosing structure
CanSat 2012 CDR: Team1719 (Tarleton Aeronautical Team) 44Presenter: Ethan Moore
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 45
Carrier – Lander Interface
CARRIER
Deployment Trigger & Mechanism
www.solarbotics.com
GM11a Metal Geared Motor
Notches in side of lander top disc will keep it from rotating while screw is turning.
Static line connecting carrier to cover of lander parachute.Opens cover upon separation.
Presenter: Ethan Moore
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(If You Want) Structure and Survivability
• Lander and Carrier successfully static tested– 1st prototype was identical to PDR model but used 26
gauge aluminum and steel rods• Failed the strength test
– 2nd prototype: lander had all aluminum cylindrical shell• Both lander and carrier used silicon board for bulk heads and
electronics• Both used PVC pipe for an anti-torsion collar to prevent rotation
during separation
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 46Presenter: Ethan Moore
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 47
Carrier Mass Budget
Presenter: Greg Mosier
Component Name Mass Source
Pressure/ Temp Sensor BMP 180 1.1 g Measured
Microcontroller Arduino Pro Mini 1.5 g Measured
Communication Radio Xbee-Pro S2B 8.7 g Measured
Buzzer AI-2429-TWT-R 4.4 g Measured
Battery Powerizer 3.7V 63.7 Measured
Battery 6V 10.0 Measured
GPS LocoSys 12.7 g Measured
Separation Mechanism GM11a Motor 12.9 g Measured
Frame Carbon Fiber 50 g Estimated
Parachute 1 24” 26.3 g Measured
Parachute 2 36” 55.1 g Measured
Micro SD card and Holder Scandisk 2Gb 3.6 g Measured
Servo Digital Servo 4.1 g Measured
Circuitry Wires, wafer board, etc. 15 g Estimated
Carrier Total: 269.1 g
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 48
Lander Mass Budget
Presenter: Greg Mosier
Component Name Mass Source
Pressure/ Temp Sensor BMP 180 1.1 g Measured
Accelerometer ADXL 345 1.5 g Measured
Microcontroller Arduino Pro Mini 1.5 g Measured
Buzzer AI-2429-TWT-R 4.4 g Measured
Battery Powerizer 3.7V 63.7 Measured
Battery 6V 10.0 Measured
Relay 2.2 g Measured
Circuitry Wires, wafer board, etc. 15 g Estimated
Lander Parachute 36” 55.1 g Measured
Micro SD card and Holder Scandisk 2Gb 3.6 g Measured
Frame Carbon Fiber 50 g Estimated
Egg Protection Polyurethane Foam 25.5 g Measured
Lander Total: 183.6 g CanSat Total: 453 g
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 49
Communication and Data Handling Subsystem Design
Blake Lohn-Wiley
Billy Fournie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 50
CDH Overview
• Lander – Data from the accelerometer, barometer is received by
the Arduino Pro mini and stored on external Micro SD card.
– Retrieved later by reading from the Arduino using an FTDI cable
• Carrier– Data from the GPS, barometer, and temperature sensor
is received by the Arduino Pro Mini and transmitted by the Xbee Pro S2B transceiver to the Ground Control Station (GCS) for fault tolerance data will also be stored on an external Micro SD Card
Presenter: Billy Fournie
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(If You Want) CDH Changes Since PDR
• Carrier – Switched from the Fez Mini Microcontroller to the
Arduino Pro 328 mini microcontroller
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 51Presenter: Blake Lohn- Wilie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 52
CDH Requirements
ID Requirement Use Rationale Priority Parent Child VM
CDH-01 Cansat shall transmit, receive, and store GPS data
Carrier, GCS BMR High
CDH-02 Cansat shall transmit, receive, and store altitude in meters
Carrier, Lander, GCS
BMR High
CDH-03 Cansat shall transmit, receive, and store temperature in degrees Celsius
Carrier, Lander, GCS
BMR High
CDH-04 Cansat shall transmit, receive, and store battery voltage
Carrier, Lander, GCS
BMR High
CDH-05 Cansat shall store impact force (at a rate of at least 100 Hz)
Lander Selected Objective Requirement
High
CDH-06 Microcontroller must support I2C and SPI and have sufficient number of pins
Carrier, Lander, GCS
All sensors must be utilized and use one of the two mentioned protocols
High
CDH-07 Telemetry packets shall be transmitted at 0.5 Hz
Carrier, GCS BMR High
Presenter: Blake Lohn- Wilie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 53
CDH Requirements
ID Requirement Use Rationale Priority Parent Child VM
CDH-08 Microcontroller shall operate at a high enough frequency to manipulate data and output at 0.5 Hz
Carrier, Lander, GCS
Data must be sent one packet at a time
High
CDH-09 SD cards will be used for external memory for data storage
Carrier, Lander
Backup Carrier data, store Lander data for post flight records
Medium
CDH-10 All data shall use hexidecimal encoding
Carrier, Lander, GCS
Lowers the necessary number of bytes for data transmission and storage
Medium
CDH-11 Communications radio shall be XBP24BZ7UIT-004
Carrier, GCS BMR High SYS-04
CDH-12 Communications shall use the XBP24BZ7UIT-004
Carrier, GCS BMR High SYS-04
CDH-13 Radio must use AT mode (no broadcast mode)
Carrier, GCS BMR High SYS-04
Presenter: Blake Lohn- Wilie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 54
CDH Requirements
ID Requirement Use Rationale Priority Parent Child VM
CDH-14 CanSat shall terminate telemetry transmissions autonomously
Lander, GCS Reduces power consumption
Medium
CDH-15 ALD shall be active only after landing for at least 3 hours
Carrier, Lander
BMR High
CDH-16 ALD should be at least 80dB
Carrier, Lander
BMR High
Presenter: Blake Lohn- Wilie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 55
Processor & Memory Selection
Processor Chosen: Arduino Pro Mini 3.3V
• Using in carrier and lander• Pros: Has a large user base, plenty of interfaces, very small
size, and 3.3 V operating voltage• Cons: Clock speed is only 8 MHz, no onboard USB, and
less memory than other Arduino Models.
Microcontroller Input Voltage(V)
Current Per Pin(mA)
Clock Frequency(Mhz)
Digital Pins
Analog Pins
Weight(g)
Dimensions(mm)
Price
Arduino Pro Mini 3.35-12 V 40 8 14 6 1.5 17.8 x 33.02 $18.95
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 56
Carrier Antenna Selection
• Antenna Chosen: ANT-2.4-WRT-UFL
• Unobtrusive• Tiny footprint• Adhesive or Permanent mount
Antenna Type Gain (dB) Length Interface Price
ANT-2.4-WRT-UFL
½-wave antenna
n/a 215 mm cable
U.FL $12.94
Presenter: Billy Fournie
Team LogoHere
(If You Want) Data Package Definitions
• Storage device protocols --- MircoSD reader/writer– Operates over SPI, the device communicates using a master/slave
relationship. The master device generates a clock and selects the slave, and then data is transferred in either or both directions simultaneously
• Accelerometer --- ADXL345– Operates over I^2C, have to initialize a transmission to it’s address. Send a
request for data, then specify what data is wanted and wait for that data. • Radio --- Xbee Pro S2B
– Operates over serial TTL connection, outputs altered data sets at various speeds depending on specific commands issued to it.
• GPS --- LS20031– Operates over serial TTL connection, outputs altered data sets at various
speeds depending on specific commands issued to it • Barometer --- BMP180
– Operates over I^2C, have to initialize a transmission to it’s address. Sent a request for data, then specify what data is wanted and wait for that data.
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 57Presenter: Billy Fournie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 58
Radio Configuration
• Communication Protocol : AT a.k.a. Transparent– In this mode just the data itself is sent and received. The protocol link
between the two is “transparent” to the end user and it appears to be nearly a direct serial link.
– This mode allows for simple transmission and reception of serial data. – The data being passed between the coordinator node and the end device
node our encapsulated with needed information such as addressing and error checking.
Presenter: Billy Fournie
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(If You Want) Radio Configuration (continued)
• Impact is standardization of radio equipment among all other teams. – Pros: Easier to troubleshoot– Cons: The Xbee Series 2 offers more functionality and thus is more
complicated to implement. • Include Transmission control
– Handled by the Arduino Pro Mini • How is this managed during each mission phase?
– GCS will send signal to Xbee to change from stand by mode to running mode via the microcontroller.
– Arduino will maintain running mode with full transmission for the duration of the flight and until CanSat recovery (carrier)
• We have yet to prototype but will implement testing this April.
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 59Presenter: Billy Fournie
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(If You Want)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 60
Carrier Telemetry Format
• Data included in carrier Transmissions:– From GPS: UTC Time, latitude, longitude, mean sea level
altitude, and satellites tracked.– From barometer: pressure and temperature– From Analog input of : battery voltage
• 250 kbps data rate through air, 38.4 kbps on CanSat and GCS
• Format of data:– Stores in a 3 element array for comparisons written to the
Mirco SD card.
Presenter: Billy Fournie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 61
Activation of Telemetry Transmissions
• CanSat will be stand by mode for pre-launch phase• At the GCS a command will be transmitted to the carrier
antenna, which will signal the microcontroller to activate CanSat for launch phase.
• This will initialize the Xbee to not only receive data, but transmit data as well
• To achieve AT command mode, +++ will be entered into the terminal. Once command is achieved then we can transition from stand mode to running mode.
Presenter: Name goes herePresenter: Billy Fournie
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(If You Want)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 62
Locator Device Selection Overview
• Audible Locating Device (Buzzer)– Activated by the altimeter measuring a set height for a
period of time• Operated on an independent circuit triggered by an altitude
sensitive coded relay
– Power Consumption: 240mW• 10mA current at 6Volts for 3hrs
– 100 decibels
Courtesy: http://parts.digikey.com/1/parts/indexc8.html
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 63
Electrical Power Subsystem Design
Jake Rhodes
Greg Mosier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 64
EPS Overview
Component (Quantity) Use
3.7V 2250mAh Batteries (2) Provide adequate power for carrier and lander
electronics
6V 160mAh Batteries (3) Provide power for ALD in Lander and Carrier and release motor in Carrier
SPST Relays (3) Provide switching for ALDs and the separation motor
Mechanical Switch w/ LED (2) Activate power to main circuits of Lander and
Carrier
Presenter: Jake Rhodes
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(If You Want) EPS Changes Since PDR
• Mechanical switches have built in LEDs to indicate power of CanSat
• Changed batteries from 6V to 3.7V• Incorporated ALD to Carrier circuit
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 65Presenter: Jake Rhodes
Team LogoHere
(If You Want)
ID Requirement Rationale Priority Parent Children
VM
A I T D
EPS 1 Carrier Battery shall supply 6VAll components use
under 6VHigh
SYS 11SSR 1
EPS 2 X
EPS 2 Carrier shall use 6V, 160mA batteriesBalance between weight and power
Medium EPS 1 X
EPS 3Carrier & Lander shall have adjustable voltage regulators
Components use less than 6V
High
EPS 4 Lander battery shall supply 6VAll components use
under 6VHigh SSR 1 EPS 5 X
EPS 5 Lander shall use 6V, 160mA batteriesBalance between weight and power
Medium EPS 4 X
EPS 6 Voltage accuracy shall be ±.05VVoltage needs
monitoredLow SYS 11 X X
EPS 7Voltage measurement circuit will draw
minimum currentPower/weight
tradeoffLow SYS 1 X
EPS 8ALDs shall have separate power
sourcesBMR High SYS 7
EPS 2EPS 5
X X
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 66
EPS Requirements
Presenter: Cletus Fuhrmann
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 67
Carrier Electrical Block Diagram
+ -
Microcontroller
GPS
µS D
Radio
Relay
+ -
ALD
Relay
+ -
Motor
6V 6V
3.7V
Barometer
Standby-on switch
L.E.D.
Servo
Presenter: Jake Rhodes
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 68
Lander Electrical Block Diagram
Microcontroller
+ -
µS D
Acceler-ometer
Barometer
Relay
6V+ -
ALD
3.7V
Presenter: Jake Rhodes
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 69
Carrier Power Budget
ComponentCurrent
(mA)Voltage
(V)Power(mW)
Duty Cycle(hrs)
Energy Consumed(mWh)
Source
GPS 41 3.3 135.3 1.5 202.95 DS
Microcontroller 50 3.3 165 1.5 247.5 DS
Altimeter .032 3.6 11.52 1.5 17.28 DS
uSD card 80 3.6 288 1.5 432 DS
Radio (R/T) 47 / 205 3.6 169.2 / 738 1.5 253.8 / 1107 DS
TOTAL (Main Circuit) 1279.53 / 2132.73
Buzzer 10 6 60 3 180 DS
Motor 28 3 84 .002 .168 DS
Relay 10 5 50 1.5 75 DS
TOTAL (Secondary Circuit) 255
Presenter: Jake Rhodes
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 70
Lander Power Budget
ComponentCurrent
(mA)Voltage
(V)Power(mW)
Expected Duty Cycle
Energy Consumed
(mWh)Source
Accelerometer .145 3.6 52.2 1.5 78.3 DS
Microcontroller 50 3.3 165 1.5 247.5 DS
Altimeter .032 3.6 11.52 1.5 17.28 DS
uSD card 80 3.6 288 1.5 432 DS
TOTAL (Main Circuit) 775.08
Buzzer 10 6 60 3 180 DS
Motor 28 3 84 .002 .168 DS
Relay 1 0 5 50 1.5 75 DS
TOTAL (Secondary Circuit) 255
Presenter: Jake Rhodes
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 71
Power Source Summary
• Carrier– Main Circuit will use 3.7V 2250mAh battery pack– Secondary Circuit will use two 6V 160mAh batteries
• Lander– Main Circuit will use 3.7V 2250mAh battery pack– Secondary Circuit will use 6V 160mAh battery
• Power Source Advantages– Adequate capacity– Voltage range within specifications– Fits mass budget– Meets volume constraints
Presenter: Jake Rhodes
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 72
Battery Voltage Measurement
• Battery Voltage will be measured by microcontroller• Analog Input voltage range: 0-3.3V• Digital output range: 0-1023
µC
GND AO
Presenter: Jake Rhodes
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 73
Flight Software Design
Billy Fournie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 74
FSW Overview
• Common between Lander and Carrier– Programming Languages
• C– Development Environment
• Arduino IDE• FSW will be responsible for:
– Collecting data from sensors• Pressure, Temperature, GPS position
– Controlling data sample rates– Activating Transmitters, and ADL– Deploying decent control measures
• i.e. Parachutes released by servo– Carrier/Lander separation
Presenter: Billy Fournier
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(If You Want) FSW Changes Since PDR
• Changed the programming environment for the Carrier from C# to C using Arduino
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 75Presenter: Billy Fournie
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(If You Want)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 76
FSW (Carrier) Requirements
Presenter: Billy Fournier
ID Requirement Rationale Priority Parent A I T D
FSC 1 Sensor data will be collected at no less than 1hz
Ensure accurate data High SYS 11 X X X
FSC 2 FSW will activate RF transmitter
Radio needs to be activated from the ground station
High SYS 9 X X
FSC 3 Data will be stored to local back-up medium
Data back-up on board the carrier in case of RF failure
High X X
FSC 4 DCS will be activated at predetermined altitudes
BMR High SYS 3 X X X
FSC 5 FSW will activate separation with Lander at predetermined altitude
BMR High SYS 3 X X
FSC 6 ALD will be activated after landing
BMR High X X
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 77
FSW (Lander) Requirements
Presenter: Billy Fournier
ID Requirement Rationale Priority Parent A I T D
FSL 1 Sensors will collect data at 1 Hz
Ensure accurate data collection
Medium SYS 11 X X X
FSL 2 Data will be stored to local back-up medium
BMR High X X
FSL 3 ALD will be activated after landing
BMR High X X
FSL 4 Data will be collected by accelerometer at no less than 100hz
BMR High SYS 10 X X
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 78
Carrier CanSat FSW Overview
Presenter: Billy Fournier
In: Altitude
Store current Sensor Readiness in variable
Populates a data string with current, sensor reading
Populates a 3 element array with altitude readings and determines which direction it is
sorted.
Store data string to MircoSD card
Alt < 200 mAnd going
down
True Rotate servo180 degrees
Alt <91 m
False
Activate Electric Motor
Carrier Landed
Activate ADL
True
True
False
False
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 79
Carrier CanSat FSW Overview
• Procedural Programming – Arduino C
• Arduino IDE– Sets a baseline altitude and then reads each sensor, creates a data
string with the data, records it on a MircoSD card, stores the altitude in a 3 element array for comparisons , and activates a servo, electrical motor and ADL, as well a RF transmitter for the carrier.
• Hardware Interfaces– BMP180- I^2C– MircoSD card – SPI– GPS – TTL– Xbee -- TTL
Presenter: Billy Fournie
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(If You Want)Carrier Software Flow Diagram or Pseudocode
• Major Decision Points – Activation of the RF Transmitter
• RCU signal
– Activating the servo• Going down• Altitude equals 250 m
– Activating the electrical motor• Going down• Altitude equals 91 m
– Activating the ALD• Already launched • And landed
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 80
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 81
Lander CanSat FSW Overview
Presenter: Billy Fournier
StartCollect data at
@ 1HzFalling & Altitude below 25m
Increase Accelerometer to
100Hz sample rate
Store Data to MircoSD card
Is Lander
still falling?
Activate ALD
Yes
Yes
No
No
Is altitude changing
?
Yes
No
Team LogoHere
(If You Want) Lander CanSat FSW Overview
• Accelerometer– I^2C hardware interface
• Mirco SD Card– SPI hardware interface
• Barometer– I^2C hardware interface
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 82Presenter: Billy Fournie
Team LogoHere
(If You Want)Lander Flow Diagram or Psuedocode
• Major decision points – Is altitude changing?
• If yes, start recording data• If no, repeat the loop
– Falling and Altitude below 25m• If yes, increase accelerometer sample rate to 100 Hz• If no, continue storing data to MircoSD card
– Is the lander still falling• If yes, return to the loop • If no, activate the audible locating device
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 83Presenter: Billy Fournie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 84
Software Development Plan
•Prototype developed on breadboard w/ Arduino Uno R3–More suitable for configuration and testing
•Development sequence
1. BMP 180
2. ADXL 345
3. MicroSD card
4. GPS LS 20031
5. Zigbee Radio•Each sensor verified individually, then together, then with battery power supply
Presenter: Billy Fournier
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 85
Ground Control System Design
Billy Fournie
Blake Lohn-Wilie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 86
GCS Overview
Antenna receives signal from Carrier
Data processed, displayed and stored by computer
Sent to XB Pro Module Interface Board
Data transferred to computer via USB cable
Presenter: Billy Fournie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 87
GCS Requirements
Presenter: Cletus Fuhrmann
ID Requirement Rationale Priority Parent Children
VM
A I T D
GCS 1The antenna shall be elevated at
least 3.5m above groundBMR High
SYS 9GCS 4
X
GCS 2GCS shall initiate transmission of
telemetry from CansatBMR High SYS 9 X X
GCS 3GCS shall display data received in real time using appropriate units
BMR High SYS 9 GCS 6 X X
GCS 4 Antenna shall be free of interferenceCommunication
with Cansat neededHigh GCS 1 X X
GCS 5GCS will verify that transmission from Cansat has stopped 5 minutes after
landingBMR Medium GSC 6 X X
GCS 6 Antenna range shall be 1500mCommunication
with Cansat neededHigh
GCS 3GCS 5
X X
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 88
GCS Antenna Selection
• GCS Antenna Chosen: S151AH2450S
• Pros– SMA connector more versatile– Higher Gain for Greater range
• Antenna will be angled facing away from the launch site. This will account for drop in coverage.
• x is the distance fromGS to launch site
Antenna Price Gain Frequency Connector
S151AH2450S $12 5 db 2.4GHz ~ 2.5GHz SMA
Presenter: Billy Fournie
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(If You Want) GCS Antenna Selection (cont.)
• Distance Link Prediction: The radius of this zone can be calculated using the following equation.
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 89
GCS antenna angled relative to distance from launch pad, minimum height of 3.5 meters.
Carrier radio in flight
Presenter: Billy Fournie
Team LogoHere
(If You Want) GCS Software
• Telemetry display screen shots– We plan to use Matlab for the GCS software
• Data archiving and retrieval approach– Matlab will receive data from the Xbee and then plot the telemetry in
real time. • Command software and interface
– Graphical User Interface will be used• Progress since PDR
– Decided are using Mat lab for GCS• Testing
– First will set both Xbee’s 1 ft apart, testing transmission and reception
– After establishing connection will slowly increase distance until transmission fails.
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 90Presenter: Blake Lohn-Wilie
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 91
CanSat Integration and Test
Dustin Neighbors
Team LogoHere
(If You Want)CanSat Integration and Test Overview
Sensors & FSW – software necessary
for sensor evaluation; sensors must be working before
integration to CanSat
EPS – Circuitry and power requirements
need to be met before trying to integrate within structure
constraints
GCS – once have operating payload
circuits, need receiver and ability to analyze
data
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 92
Mechanical – structural integrity, deployment and
separation mechanisms need
verified first
Descent Control – Needs checked
before testing with valuable payloads
CDH – Transmission and storage of data becomes necessary
for mission simulation testing
Full Flight Simulation
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 93
CanSat Integration and Test Overview
Presenter: Name goes here
Goal Constraints Procedure Pass Criteria Results
Successful deployment from rocket
Mock payload compartment must be built
Integrate CanSat as if for launch, check for rapid deployment
CanSat deploys from payload without external assistance
Static tests were a success, going to launch tests
Full scale flight test
All prior testing must be completed and successful before launch
Run through flight procedure as if for launch day, check for issues
Pass if successful deployment and egg recovery
Prototype will be flown after Easter.
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(If You Want)Sensor Subsystem Testing Overview
Goal Constraints Procedure Pass Criteria Results
Verify barometer
Code must be developed for data display
Take barometer and processor on elevator, see if it notes changes
Barometer accurately reflects height
Passed
Verify GPS Code must be developed for communicating with the microprocessor
Move several blocks, comparing GPS with Google Maps location
GPS corresponds to Google Maps
Plan to test early April
Verify thermometer
Thermometer is on same sensor as barometer
Check for temperature correspondence with known temperature at a range of degrees
Thermometer reflects accurately the temperature of the air
Passed
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 94
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 95
Lander Impact Force Sensor Testing
Goal Constraints Procedure Pass Criteria Results
Test working code for accelerometer
Software code must be developed to record and display results
Test ‘tapping’ of accelerometer to verify changes recorded
Accelerometer reflects changes of force during tapping roughly
Passed
Once sensors have been mounted, verify recorded data against predicted estimates
Data recording must be functional
Full CanSat flight test
Data recorded roughly correlates with prediction
Test early April
Team LogoHere
(If You Want) DCS Subsystem Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 96
Goal Constraints Procedure Pass Criteria Results
Verify descent rate of CanSat with 1st parachute
Height must be great enough to allow for needed acceleration
Record test flight with weight equal to CanSat, measure descent time, calculate rate
Descent is less than 10 m/s
Plan to test early April
Verify descent rate of 2nd parachute
Height must be great enough to allow for needed acceleration
Record test flight with weight equal to CanSat, measure descent time, calculate rate
Descent rate is 5 m/s ±1m/s
Plan to test early April
Verify descent rate of lander with 3rd parachute
Height must be great enough to allow for needed acceleration
Record test flight with weight equal to Lander, measure descent time, calculate rate
Lander descent rate is less than 5 m/s
Plan to test early April
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(If You Want)Mechanical Subsystem Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 97
Goal Constraints Procedure Pass Criteria Results
Shock survivability
Need Lander and Carrier structures built
Apply shock force up to 30Gs by hand, noting force with accelerometer
Structure remains intact during testing
Early April
Verify separation mechanism
1st verify using partial mock model, 2nd with built Carrier and Lander
Separation is achieved
Passed 1st 2nd in early April
Adequate egg protection
Must meet weight, volume, cost constraints
1st Test various protection types by dropping >3m2nd Test best with full flight simulation
Egg remains protected
Spray in foam mold successful
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(If You Want)Mechanical Subsystem Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 98
Goal Pass Criteria Results
Prototype Verification Structure has correct volume requirements while fitting necessary payload and maintaining structural integrity and egg protection
Passed
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(If You Want) CDH Subsystem Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 99
Goal Constraints Procedure Pass Criteria Results
Verify communication between CanSat and Ground Station
Need proper formatting for data packets and software to collect and display data
Send basic messages between Arduino and Ground Station
Successful message transmission and reception
Early April
Verify Arduino Pro Minis data handling capability
Sensors must be functioning individually before collective test possible
Connect all hardware to Arduino, verify data collection, processing, and transmission
Sensor data successfully received by GS or stored on-board to µSD card
Early April
GS capability real-time data display
Need proper software in addition to adequate computing power
Set up display with sample data, then display data development during transmission
Display functional during data reception
Mid April
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(If You Want) EPS Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 100
Goal Constraints Procedure Pass Criteria Results
Determine operation current of separation motor
FSW Test the minimum current required for motor movement
Observe motor rotation
Passed
Determine battery life for required system runtime
FSW, individual components
Measure the time at which system completely consumes available power
System can operate for the required runtime (4 hours)
To be tested
Measurement of voltage using Arduino Pro Mini
µC has no voltage reference pin
Read analog input of microcontroller
Voltage correlates with external voltmeter measurement
Passed
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(If You Want) FSW Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 101
Goal Constraints Procedure Pass Criteria Results
Successful formatting of data from sensors
Sensors must be functioning
Display output data from sensors on a connection computer
Experimental data correlates with predicted data
Early April
Successful storage of data on µSD
µSD must be hooked up and supplied power
Written to a text with a three element array
Successful retrieval from data on µSD card
Early April
Successful transmission of data to GS
Will be verified during CDH testing
Send basic messages between Arduino and Ground Station
Successful message transmission and reception
Early April
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(If You Want) GCS Testing Overview
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 102
Goal Constraints Procedure Pass Criteria Results
Verify communication between CanSat and Ground Station
Need proper formatting for data packets and software to collect and display data
Send basic messages between Arduino and Ground Station
Successful message transmission and reception
Early April
GS capability real-time data display
Need proper software in addition to adequate computing power
Set up display with sample data, then display data development during transmission
Display functional during data reception
Mid April
Team LogoHere
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 103
Mission Operations & Analysis
Cletus Fuhrmann
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(If You Want)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 104
Overview of Mission Sequence of Events: Pre-Launch
Launch Site Arrival
Find Team Space and
Setup Ground Station
Assemble egg protection
casing
Put egg in Cansat and Power On
Checking System
Check All Subsystems
Ensure Ground Station
communicating with Cansat
Go through Pre-flight checklist
Integration
Put parachutes in place
Put CanSat in external casing
Put Complete Assembly into
Rocket
Team LogoHere
(If You Want)Overview of Mission Sequence of Events: Flight
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 105
Launch
Ground Station communicates with
Cansat
Sensors detecting and radio relaying
information
Flight
CanSat deploys from payload at
apex of flight
At 200 meters, Cansat slows to
5m/s
At 91 meters, Carrier and Lander
separate
Landing
Loud beacons activate upon
impact
Accelerometer records force of
impact with ground
Team LogoHere
(If You Want)Overview of Mission Sequence of Events: Post-Launch
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 106
Recovering Cansat
Using GPS, audible locating
devices, parachute colors
and lander location
predictions, find Cansat
Analyzing Information
Check egg
Data from carrier and lander analyzed
Clean up work station and leave
launch site
Analysis made ready for Post Flight Review
Team LogoHere
(If You Want)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 107
Field Safety Rules Compliance
• Missions Operations Manual– Preliminary pre-flight checklist developed
• Ground Station Configuration• CanSat Preparation• CanSat Integration• Launch Preparation• Launch Procedure• Removal Procedure
– Will be developed further with test launches
– Field Safety Rules included– Have yet to determine crew assignments
Presenter: Name goes here
Team LogoHere
(If You Want)
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 108
CanSat Location and Recovery
• Carrier– GPS data near end of flight– Color of parachute– Audible Locating Device (100 dB)
• Lander– GPS data from Carrier near separation point can be used
to predict lander location using – Color of parachute– Audible Locating Device (100 dB)
Presenter: Name goes here
Team LogoHere
(If You Want) Mission Rehearsal Activities
Activity Description Date
Ground System radio link Test to see if GCS and CanSat communicate effectively at range of flight
4/7/12
Loading egg payload Tests to see if egg protection material can be made consistently and if payload can be integrated to Lander
3/25/12
Powering CanSat on/off Mission requirement that CanSat have external switch
4/7/12
Launch Configuration preparations
Practice final assembly and stowing appendages such as parachutes
3/25/12
Telemetry processing, archiving, and analysis
Ensure that the GCS will be able to effectively manage data received
4/7/12
Recovery Tests ALD activation and sound level 3/23/12
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 109
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 110
Management
Dustin Neighbors
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 111
Status of Procurements
• Provide status of sensor and component procurements– All Sensors and necessary hardware have been order
and have arrived.– GCS software is still to be developed.
Presenter: Name goes here
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 112
CanSat Budget – Hardware
Component(Quantity)
Price Source
GPS(1)
59.95 Actual
Microcontroller (2)
37.90 Actual
Buzzer(2)
9.46 Actual
Barometer(2)
59.9 Actual
Motor(1)
15.95 Actual
uSD card(2)
7.96 Actual
Servo(1)
11.95 Actual
Component Price Source
Relay(1)
11.55 Actual
Accelerometer(1)
55.90 Actual
36” Parachutes 1)
19.73 Actual
24” Parachute (2)
22.88 Actual
Battery(2)
83.80 Actual
Battery(3)
14.85 Actual
Radio(1)
28.00 Actual
TOTAL 439.78
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 113
CanSat Budget – Other Costs
Item Price Source
GCS – Includes Antenna, computer, banner?, 25.5 Actual
Prototyping – Aluminum version 600 Estimate
Test facilities & Equipment – Mini Magg Rocket, Rocket Motors, Launch pad
350 Estimated
Rentals 300 Estimated
Computers 0 Actual
Travel 600 Estimated
Actual
TOTAL 1875.5 Estimated
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CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 114
Program Schedule
18-Nov 2-Dec 16-Dec 30-Dec 13-Jan 27-Jan 10-Feb 24-Feb 9-Mar 23-Mar 6-Apr 20-Apr 4-May 18-May 1-Jun 15-Jun
Applications for CanSat Due
Research and Development
Carrier Manufacturing
Carrier Assembly
Critical Design Review
Demonstrative Testing
Necessary Revisions
Possible Revision
CanSat Competition
Launch Day
Post Flight Review
Demonstrative Testing
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(If You Want) Conclusions
– Major accomplishments• Carrier & Lander mechanical systems proven successful.• Egg protection system proven above satisfactory
– Major unfinished work• Testing of carbon fiber structure is assumed at this time.• Radio test
– Testing to complete• Structure• Radio
– Flight software status• Incomplete
CanSat 2012 CDR: Team 1719 (Tarleton Aeronautical Team) 115Presenter: Dustin Neighors