Team Garuda Cansat 2012 CDR

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CanSat 2012

Critical Design Review

Team 7634

Garuda

Indian Institute of Technology, Delhi

CanSat 2012 CDR: Team 7634 (Garuda) 1

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CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Arpit Goyal 2

Presentation Outline

• Introduction

– Team Garuda...................................................................................................................................................................................6

– Team organization...........................................................................................................................................................................7

– CanSat Crew……………………………………………………………………………………………………………….………………..8

– Acronyms.........................................................................................................................................................................................9

• System Overview

-- Mission Summary………………………………………………………………………………………………………………………….13

– System Requirements...................................................................................................................................................................14

– Summary of changes since PDR………………………………………………………………………………………………………...16

– System Concepts of Operations...................................................................................................................................................18

– Context Diagram...........................................................................................................................................................................20

– CanSat Systems…………………………………………………………………………………………………………………………...21

– Physical Layout-CanSat................................................................................................................................................................22

– Physical Layout-Lander.................................................................................................................................................................23

– Launch Vehicle Compatibility........................................................................................................................................................24

• Sensor Subsystem Design

– Carrier Sensor Subsystem overview.............................................................................................................................................26

– Lander Sensor Subsystem overview............................................................................................................................................27

– Sensor Changes since PDR……………………………………………………………………………………………………………...28

– Sensor Subsystem requirements..................................................................................................................................................29

– Carrier GPS Summary..................................................................................................................................................................31

– Carrier non-GPS Altitude and temperature sensor Summary………….......................................................................................34

– Lander altitude sensor Summary..................................................................................................................................................36

– Lander Impact force Sensor Summary…………...........................................................................................................................37

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• Descent control Design

– Descent control overview..............................................................................................................................................................39

– Descent control changes since PDR…………………………………………………………………………………………………….40

– Descent Control requirements......................................................................................................................................................41

– Descent rate hardware Summary…………………........................................................................................................................42

– Descent rates estimates and observations……………………………………………………………………………………………...44

• Mechanical Subsystem Design

– Mechanical Subsystems Overview...............................................................................................................................................51

– Mechanical Subsystem Design changes since PDR…………………………………………………………………………………..52

– Mechanical Subsystems Requirements........................................................................................................................................56

– Lander Egg protection Overview…………....................................................................................................................................58

– Mechanical Layout of Components...............................................................................................................................................59

– Material Selection..........................................................................................................................................................................60

– Carrier-Lander interface................................................................................................................................................................61

– Structure and Survivability Trades................................................................................................................................................62

– Mass Budget..................................................................................................................................................................................63

• Communication and Data Handling Subsystem Design

– CDH overview................................................................................................................................................................................65

– CDH changes since PDR……………………………………………………………………………………………………………....…69

– CDH requirements.........................................................................................................................................................................70

– Processor and memory Selection................................................................................................................................................73

– Carrier Antenna Selection.............................................................................................................................................................76

– Data package definition……………………………………………………………………………………………………………….......77

– Radio Configuration.......................................................................................................................................................................82

3 Presenter: Arpit Goyal

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– Carrier Telemetry Format..............................................................................................................................................................85

– Activation of Telemetry Transmissions.........................................................................................................................................88

– Locator Device overview...............................................................................................................................................................89

• Electrical Power Subsystem

– EPS overview................................................................................................................................................................................92

– EPS changes since PDR………………………………………………………………………………………………………………....94

– EPS requirements for Carrier........................................................................................................................................................95

– EPS requirements for Lander........................................................................................................................................................96

– Carrier Electrical Block Diagram...................................................................................................................................................98

– Lander Electrical Block Diagram...................................................................................................................................................99

– Power Budget..............................................................................................................................................................................100

– External Power Control Mechanism............................................................................................................................................102

– Power Source Summary.............................................................................................................................................................103

– Battery Voltage Measurement.....................................................................................................................................................104

• Flight Software Design

– FSW overview.............................................................................................................................................................................107

– FSW Requirements.....................................................................................................................................................................108

– Carrier and lander CanSat FSW libraries……………………………………………………………………………………………...110

– Carrier FSW overview.................................................................................................................................................................111

– Lander FSW overview.................................................................................................................................................................113

– Software development plan.........................................................................................................................................................115

• Ground Control System Design

– GCS overview..............................................................................................................................................................................117

– GCS requirements.......................................................................................................................................................................118

– GCS Antenna Overview..............................................................................................................................................................120

– GCS software Description...........................................................................................................................................................124


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• CanSat Integration and Test

– CIT overview................................................................................................................................................................................131

– Sensor subsystems Testing Overview…………………………………………………………………………………………………132

– Lander Impact force sensor Testing……………………………………………………………………………………………………134

– DCS Subsystem Testing Overview………………………………………………………………………………………………….…135

– Mechanical Subsystem Testing Overview…………………………………………………………………………………………..…136

– CDH Subsystem Testing Overview………………………………………………………………………………………………….…138

– EPS Subsystem Testing Overview…………………………………………………………………………………………………..…139

– FSW Subsystem Testing Overview………………………………………………………………………………………………….…140

– GCS Subsystem Testing Overview………………………………………………………………………………………………….…141

• Mission Operation & Analysis

– MOA overview.............................................................................................................................................................................143

– MOA manual development plan..................................................................................................................................................144

• CanSat Integration..................................................................................................................................................................145

• Launch Preparation................................................................................................................................................................146

• Launch Procedure..................................................................................................................................................................147

• Removal Procedure................................................................................................................................................................148

– CanSat Location recovery...........................................................................................................................................................149

– Mission Rehearsal Activities…………………………………………………………………………………………………………….151

• Management

– Status of Procurements………………………………………………………………………………………………………………….154

– CanSat Budget............................................................................................................................................................................155

– Sponsorship Plans......................................................................................................................................................................157

– Program Schedule.......................................................................................................................................................................158

– Conclusions................................................................................................................................................................................ 161


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(If You Want) Team Garuda

Contact Details: <firstname>@teamgaruda.in

CanSat 2012 CDR: Team 7634 (Garuda)

Name Major with Year

Arpit Goyal Electrical Engineering, Senior

Rajat Gupta Mechanical Engineering, Senior

Kshiteej Mahajan Computer Science, Senior

Aman Mittal Electrical Engineering, Junior

Prateek Gupta Mechanical Engineering, Junior

Sarthak Kalani Electrical Engineering, Junior

Sudeepto Majumdar Electrical Engineering, Junior

Akash Verma Mechanical Engineering, Sophomore

Rishi Dua Electrical Engineering, Sophomore

Harsh Parikh Computer Science, Freshman

6

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(If You Want) Team Organization


Team Leader

Faculty Mentor

Mechanical

Designs

Akash Verma

Prateek Gupta

Electrical Systems

Arpit Goyal

Sarthak Kalani

Sudeepto Majumdar

Software Control

Harsh Parikh

Kshiteej Mahajan

Rishi Dua

Team Mentor

Alternate Team Leader

Aman Mittal

Rajat Gupta

7

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(If You Want) CanSat Crew

Contact Details: <firstname>@teamgaruda.in

CanSat 2012 PDR: Team 7634 (Garuda)

Name Role

Mission Control Officer Arpit Goyal

Ground Station Crew Kshiteej Mahajan, Aman Mittal, Rishi Dua

Recovery Crew Sudeepto Majumdar, Aman Mittal, Sarthak

Kalani, Prateek Gupta, Akash Verma, Rishi

Dua, Harsh Parikh

CanSat Crew Sarthak Kalani, Rajat Gupta, Prateek Gupta,

Akash Verma

Emergency and Management Crew Rishi Dua, Harsh Parikh

Safety Crew Sudeepto Majumdar

8

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(If You Want) Acronyms

Abbreviation Meaning

µC Microcontroller

ACK Acknowledgement

ADC Analog to Digital Convertor

CAD Computer-aided design

CDH Communication and Data Handling

CIT CanSat Integration and Test

DC Descent Control

DS Data Sheet

EMRR Essence's Model Rocketry Reviews

EPS Electrical Power Subsystem

ERL Effective Rigging Line Length

Est Estimated

CanSat 2012 CDR: Team 7634 (Garuda) 9 Presenter: Arpit Goyal

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FAT File Allocation Table FEA Finite element Analysis FRP Fiber-reinforced plastic FSW Flight Software GCS Ground Control Station GPS Global positioning system IDE Integrated Development Environment Meas Measured experimentally MOA Mission Operation and Analysis Op-Amp Operational Amplifier P&T Pressure and Temperature


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PCB Printed Circuit Board

RF Radio Frequency

SD Secure Digital

SPI Serial Peripheral Interface

SPL Sound Power Level

SSS Sensor Subsystem

UART Universal asynchronous receiver/transmitter

USD United States Dollar

VSWR Voltage Standing Wave Ratio


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Systems Overview

Presenters: Harsh Parikh, Rajat Gupta


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(If You Want) Mission Summary


The Main Objective:

The main purpose of CanSat is to ensure that the egg remains intact from launch to landing

Auxiliary Objectives:

• launching CanSat

• descent CanSat from 600m to 200m at a constant descent rate of 10 m/s ± 1 m/s

• changing constant descent rate to 5 m/s ± 1m/s at 200m

• releasing the lander with egg at 91 m altitude

• landing lander with descent rate less than 5m/s without damaging egg

• collecting data at ground station from sensors in CanSat through Xbee radio modules

Selectable Mission: Calculating thrust force after lander has landed; data should be collected at rate more than 100Hz and stored on board for post-processing.

Selection Rationale:

• Easy implementation

• Criteria: Cost, weight, reliability, power and space effective.

Presenter: Harsh Parikh 13

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(If You Want) System Requirements


ID Requirements Rationale Priority Parent Children

VM

A I T D

SYS-01

CanSat constraints will be:

Diameter: less than 127mm

Total mass 400g - 750g

Justifies concept

of CanSat High - - X

SYS-02 CanSat egg placed inside will

be recovered safely

Competition

requirement High -

SSS-05

SSS-06

SSS-08

DC-02

DC-03

GCS-03

X X

SYS-03

The CanSat shall deploy from

the launch vehicle payload

section and no protrusions

Easy to leave

rocket High - MS-03 X

SYS-04

The descent control system

shall not use any flammable

or pyrotechnic devices

To comply with

field safety High SYS-09 -

X

SYS-05

Descent rate should be

10m/s till 200m altitude.

descent rate fall to 5m/s at

200m

Competition

requirement High -

DC-01

FSW-03

X X X

14 Presenter: Harsh Parikh

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ID Requirements Rationale Priority Parent Children

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A I T D

SYS-06 Detachment of lander at 91m and lander

velocity will be less than 5m/s

Competition

requirement High -

DC-01

FSW-04 X X

SYS-07

During descent the carrier shall transmit

required sensor data telemetry data once

every two second via XBEE Lander

descent telemetry shall be stored on –

board for post processing following

retrieval of the lander

Competition

requirement High -

SSS-01

SSS-02

SSS-03

GCS-02

FSW-05

CDH-01

CDH-02

CDH-03

CDH-06

X X

SYS-08

The cost of CanSat flight hardware shall

be under1000$ (other costs are

excluded)

Feasible to

design High - - X

SYS-09

The CanSat and associated operations

shall comply with all field safety

regulations.

Competition

requirement Medium - SYS-04 X

SYS-10

Impact parameter data shall be

measured and stored on data card on

sensor

Data backup Medium - SSS-04

CDH-04 X X


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(If You Want) Summary of Changes since PDR

CanSat 2012 CDR: Team 7634 (Garuda) 16 Presenter: Harsh Parikh

S.no. Subsystem Change Rationale

1 SSS GPS sensor is changed from Robokits RKI-1543

to MediaTekMT3329

Easy availability, easy

interfacing with Arduino Uno

2 CDH Telemetry starts before launch Easy Operation

3 CDH

Data parsing GPS

GPS o/p is a string containing

information about multiple

aspects

4 CDH SD card replaced by Micro SD card

Micro SD card is smaller in size

5 MS Bottom flap opening is now horizontal

Air drag opposing the opening in earlier orientation

6 MS Linear actuator placement changed form horizontal to vertical Interference in Lander deployment

5 MS Structural rods added to provide more stability

One point to be added

To provide alignment to lander inside Carrier

6 DC Deployment mechanism of 2nd parachute is changed

To avoid entanglement

7 EPS LCD has been removed from design Weight constraint

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S.no. Subsystem Change Rationale

8 GCS Implementation of upload of real time data onto Google

maps

Can be accessed easily

9 GCS Google Earth API introduced. Trajectory can be plotted

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(If You Want) System Concept of Operations


On CanSat

Keep CanSat in

rocket

Launch Rocket

Leaving CanSat

from rocket at

600m

Descent rate should be

10m/s when CanSat is at height more than 200m

Descent rate should be 5m/s when CanSat is at height more

than 91m

Detaching lander at

91m

Collecting data from sensors

Sending Data to ground station

Data Analysis

Calculating collision

force

Detecting CanSat Off

CanSat


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System Concept of

Operation

• Safety Inspection

• Briefing

• Last Mechanical control

• Last Electrical control

• Coming at Competition Arena

Pre Flight

• CanSat weight and size check.

• Launch Flight

• Deploy CanSat at 600m

• Opening parachute

• Controlling descent rate to 10m/s +- 1m/s up to 200m

• Data collection and transmission

• Reducing descent rate to 5m/s at 200m

• Detaching Lander at 91m

Launch and Flight

• Locating CanSat

• Saving Data

• Analyzing Data

• Preparing PFR

• PFR Presentation

Post Flight


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(If You Want) Context Diagram


CanSat Processor

Flight Software

Power System

Mechanical System

Sensor System

XBee System

Ground

Antenna

Receiver

Computer

Analyser

Environment

Mechanical System

descent Control

Lander Release


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(If You Want) CanSat Systems


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(If You Want) Physical Layout- CanSat

Presenter: Rajat Gupta

126mm

Space for Electronics

Parachute on top

Lander detachment from bottom

Lander

Actuator


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(If You Want) Physical Layout- Lander

12

5m

m

Space for

parachutes

Electronic Components

Egg

Egg protection system

CanSat 2012 CDR: Team 7634 (Garuda) 23 Presenter: Rajat Gupta

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(If You Want) Launch Vehicle Compatibility

• The starting point of design of CanSat body

was the inner dimensions of payload section

of rocket with sufficient clearance

• Outer diameter of fabricated body is measured

to be 126mm giving 1 mm clearance.

• Total height of CanSat system is 151mm

which is smaller than the given envelope.

• There are no protrusions from the CanSat

which could hamper the smooth deployment

from rocket

• The carrier body is tested by passing through

a sheet metal envelop of 127mm dia.

• As the rocket compartment opens up, CanSat

is deployed by action of gravity.


15

1m

m

94mm


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Sensor Subsystem Design

Presenter: Arpit Goyal

25

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Sensor Subsystem Overview

• Carrier Sensor Sub-system overview


Micro-controller

Arduino Uno

GPS Sensor

MediaTek

(MT3329)

Pressure Sensor

Bosch

(BMP085)

Non-GPS Altitude

Calculation

Battery

Voltage Data

Temperature Sensor

BMP085

26

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Sensor Subsystem Overview

• Lander Sensor Sub-system overview


Micro-controller

Arduino Uno

Accelerometer

Freescale

Semiconductors

MMA7361

Pressure Sensor

Bosch

(BMP085)

Non-GPS Altitude

Calculation

Battery

Voltage Data

Temperature Sensor

BMP085

27

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Sensor Changes since PDR

Component Change PDR CDR Rationale

GPS sensor RKI-1543 MediaTek

MT3329

Easy availability;

simple coding


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Sensor Subsystem Requirements

ID Requirement Rationale Priority Parent Children VM

A I T D

SSS-01 GPS data shall be

measured in carrier

(±3m)

Required as main objective

and for locating carrier after

it has landed. GPS data will

be telemetered to the

ground

HIGH SYS-07 SSS-07

X X

SSS-02 Altitude shall be

measured without

using a non-GPS

sensor in carrier and

lander both (±1.0m)

Required as main objective

and to calculate height

from ground. This will be

telemetered to ground and

will be used to calculate

descent rate

HIGH SYS-07 SSS-07

X X X

SSS-03 Air Temperature

shall be measured in

carrier

(±2°C)

Required as base objective

and for descent telemetry

HIGH SYS-07 SSS-07

SSS-09

X X X

SSS-04 Impact Force shall

be measured in

lander after it has

landed (at rate of at

least 100 Hz)

(6g)

Required as part of

selectable objective

HIGH SYS-10 SSS-07

X X X


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Sensor Subsystem Requirements


A I T D

SSS-05 Data Interfaces from

sensors, like SPI or

UART should be

limited

Limited UART and SPI

interface in µC

MEDIUM CDH

SYS-02

- X

SSS-06 Both lander and

carrier will have an

audio beacon of SPL

at least 80 dB

Required to retrieve lander

and carrier after they have

landed

HIGH SYS-02 CDH-09 X X X

SSS-07 Sensors should

have high

resolutions and high

range

For accurate data LOW SSS-01

SSS-02

SSS-03

SSS-04

- X

SSS-08 GPS sensor will be

used in lander

It will be used to locate

lander after it has landed

apart from audio buzzer

MEDIUM SYS-02 - X X

SSS-09 Temperature will be

measured in lander

For data matching with of

carrier

LOW SSS-03 - X


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Carrier GPS Summary

MT 3329 from MediaTek is chosen as GPS sensor

due to:

• Small size

• Low weight

• Low cost

• Easily available in India

Manufacturer Model Accuracy

(m)

Dimensions

(mm)

Mass (g) Voltage (V) Cost

(USD)

MediaTek MT3329 ± 3 16mm x

16mm x 6mm

8 3.2-5

Typically 3.3

40


MediaTek MT3329 GPS Sensor

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Carrier GPS Summary


• GPS accuracy: 3m.

• Typical GPS data format :

GGA

protocol

header

Latitude

ddmm

format

Longitude

ddmm

format

Position

Fix

Indicator* HDOP#

Unit of

Antenna

Altitude

Units of

Geoidal

Separation

UTC time

hhmmss

format

N-North

S-South

E-East

W-West

Satellites

Used

(0-14)

Antenna

Altitude Geoidal

Separation

Checksum

* 0 = Fix not available

1=GPS fix

2=Differential GPS fix

# Horizontal Dilution of precision

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Carrier GPS Summary


• Process Sequence:

– Read and store GPS data in SD card via µC.

– µC transmits data to GCS.

– When Δh < 0.1m send final data twice which will be used : • As an acknowledgement of carrier‟s arrival on ground.

• To stop transmission.

• Testing Status:

– GPS coding done

– Data format testing done.

– Interfacing with µC done.

– Distance accuracy checking done with two different GPS, the data differed by 0.5m

amongst the reading taken at 10 locations.

– The updating speed of GPS was confirmed by taking it in car moving at almost

constant speed of 50 kmph for about 10 min

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Carrier Non-GPS Altitude and

Temperature Sensor Summary


Manufacturer Model Accuracy

(%)

Dimensions

(mm)

Operating

Supply

Voltage

(V)

Data

interface

Cost (USD)

Bosch BMP085 ± 1.0 16.5X16.5 1.8-3.3 I2C 20

Bosch BMP085 is chosen as Non-GPS altitude

sensor and temperature sensor due to:

• Small Size

• Integrated Temperature Sensor

• Low cost

• Can be easily integrated with I2C bus

Type Range Accuracy Units

Pressure 300 to 1100

± 0.2

1.68

hPa (1hPa = 100 Pa)

m

Temperature -20 to +65 ± 0.5 °C

Bosch BMP085 Pressure Sensor

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Carrier Non-GPS Altitude and




• Read temperature and pressure data from the sensor and storing it into array

• Transmit data via Xbee radio

• Calculate the altitude on ground system using pressure obtained form the sensor with

the help of following equation:

255.5

1

0

144330p

pH

• Testing Status:

Sensor‟s coding done

Data format testing done.

Interfacing with µC done.

Height accuracy checking done with a GPS and a pressure sensor, the data differed

by 1m amongst the reading taken at 10 locations.

• Data obtained when sensor was kept stationary was having some noise. We are

planning to implement a Kalman filter at GCS to remove noise component from the data.

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Lander Non-GPS Altitude and




• Read temperature and pressure data from the sensor and storing it into array

• Calculate the altitude on Microcontroller using pressure obtained form the sensor with

the help of following equation:

• Transmit data via Xbee radio

• Testing Status:

Sensor‟s coding done

Data format testing done.

Interfacing with µC done.

Height accuracy checking done with a GPS and a pressure, the data differed by 1m

amongst the reading taken at 10 locations.

255.5

1

0

144330p

pH

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Lander Impact Force Sensor

Summary

Deciding factors:

• Low cost

• ADC as data interface, Micro-controller have limited I2C

interface.

• Higher range

Accuracy: ± 0.1 g

Data format: (x,y,z) for acceleration in all 3-axis

Process:

• Read data and store in array.

• Calculate resultant acceleration magnitude: |a|

• Impact force = mass*acceleration. Store it in SD

Manufacturer Model Dimensions

(mm)

Output

(A/D)

Voltage

Range

Range Cost

(USD)

Freescale

Semiconductors

MMA7361 23.8X12.6 A 3.3 V ± 6g 12


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Descent Control Design

Presenter: Prateek Gupta

38

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Descent Control Overview

• The descent mechanism selected is parachutes with thorough calculation of the

drag area.

• The material selected after careful consideration is ripstop nylon and it will be

provided with spill holes to reduce drift and provide stability.

• 2 parachutes of bright red color are chosen for two levels of descent for carrier.

– 1st parachute will bring down the velocity of CanSat to 10m/s.

– 2nd parachute will be deployed in addition to 1st, at 200m altitude to bring down the

velocity to 5m/s.

– To avoid the fore body wake effects, the effective rigging line length is calculated.

– Use of bridle to prevent entanglement of shroud lines.

• The parachute in the lander directly brings it descent rate to below 5m/s.

• Before deployment the parachutes are folded to occupy the allotted minimum

space.

Presenter: Prateek Gupta 39

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Descent Control Changes since PDR

40 Presenter: Prateek Gupta

•Use of bridle to prevent entangling of shroud lines of two

parachutes of carrier.

•Tethered device for deployment of 2nd

parachute of carrier.

•Parachute has been tested to verify

coefficient of drag.

•Consideration of spill hole size according to vendors

available in market and modification of parachute size

accordingly.

•Two parachutes have been purchased and tested and

appropriate requirement of parachutes have been realized.

•Parachutes have been analyzed from the perspective of

oscillations as well.

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Descent Control Requirements


A I T D

DC-1 Use of two

parachutes in

Carrier and one in

lander

To attain required

descent rates

HIGH SYS-05

SYS-06

- X X X X

DC-2 Parachute should

have a shiny

colour

To locate carrier and

lander easily

HIGH SYS-02 - X

DC-3 Spill holes should

be used in

parachutes

To reduce drift MEDIUM SYS-02 - X X X

DC-4 At 200 m the 2nd

parachute shall not

entangle with the

1st one

Proper orientation

and deployment

mechanism is

required for 2nd

parachute

HIGH SYS-05 - X X


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(If You Want) Descent Rate Hardware Summary

DESCENT RATE CALCULATIONS FOR CanSat

Payload Diameter

(1st Parachute)

Descent

rate (600m)

Diameter

(2nd Parachute)

Descent Rate

(200m)

725g 36cm 10m/s 51cm 5.56m/s

CanSat 2012 PDR: Team 7634 (Garuda) 42 Presenter: Prateek Gupta

Tethered device and a deployment bag to be used for deploying 2nd parachute held

by the compressed spring which will act as a trigger to throw out lid.

• Passive Descent Control:

• Brighter parachute color to be selected

• Active Descent Control:

We will be calculating decent rate at GCS software from the data.

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(If You Want) Descent Rate Hardware Summary

DESCENT RATE CALCULATIONS FOR LANDER(91m)

• Parachute:


• Passive Descent Control:

Payload Diameter Descent rate

200g 37cm 5m/s

Parachute Testing done from IIT Delhi

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(If You Want) Descent Rate Estimates

Measurements:

• Each parachute weighs 50gm

• All parachutes in a cluster must be identical to prevent unbalancing of drag forces. This

requirement is completely relaxed and will be considered after testing of dual chutes.

• Spill hole of 20% of chute diameter is not going to affect the equivalent diameter and this is

available in the market.

• Spill hole will also help in increasing the stability of chute.

• Equivalent diameter for cluster is calculated using:

• All calculations are based on EMRR‟s Calculator


2221 DDDeq


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Testing of Descent Rate Control Status:


T

Lv

plumbline

• The parachute was tested by descent from 25m high building and payload of

725gm. Coefficient of drag was calculated from the observations and chute‟s

diameter were accordingly modified.

• The plumb line length were tested of the descent control mechanism. The results

were in consonance with (data table).

• Plumb line length =10m

• The steeper the negative dCm/dv slope, the greater is the stabilizing tendency of

the parachute, and the better is its damping capability against non stabilizing

forces such as sudden gusts of wind.

• Cm is the coefficient of moment acting on chute about payload

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(If You Want) Experimental Observations

Altitude =24m

Area =7*(0.17)2 m2 = 0.2023 m2

Calculated Cd comes out to be 1.30

Parachute sizes have been therefore

Modified and ordered from the same vendor.

MATLAB program has been made and velocity

curve has been plotted against time to verify

time to reach terminal velocity.

S. No. Mass Time Velocity Drift

1. 0.72gm 1.50 s 6.67m/s 1.5m

2. 0.72gm 1.47s 6.8m/s 1.1m

3. 0.72gm 1.48s 6.76m/s 0.9m

CanSat 2012 PDR: Team 7634 (Garuda) 46

17cm


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Formula used for calculating the terminal velocity

Vt= Terminal Velocity

W= Payload

Cd= Coefficient of Drag (1.5 for round and hemisphere)

ρ =Density of Air (It varies from 600m to ground level)

A= Equivalent area of Parachute or cluster of them ((Π*d2)/4)

CanSat 2012 PDR: Team 7634 (Garuda) 47

AC

WV

d

t

2


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Density of air is not

constant.

@ 600m

density=1.13 kg/m3

@Sea level

Density= 1.2 kg/m3

Terminal velocity will decrease as it approaches ground.

There is not much variation in density and hence we can assume it to be constant and

calculate for the worst case i.e. 1.13 kg/m3.


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*Use of spill hole deviates the equivalent diameter only by a small amount so these values should hold in

actual scenario. Cd taken is 1.30.

Object Altitude Weight Terminal Velocity

Carrier + Lander 600m 725g 10m/s

Carrier + Lander 200m 725 6m/s

Carrier 91m 525g 5.7m/s(Using non

identical chutes)

Lander 91m 200g 5m/s


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Mechanical Subsystem Design

Presenters: Rajat Gupta, Akash Verma

50

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51

Mechanical Subsystem Overview


• The design of the structure was governed by the

designated payload envelop. For the given

dimensions of payload, concentric arrangement of

carrier and lander one-inside-the-other was

perceived to be best suited.

• The body is fabricated with fiber re-enforced plastic

which provides good impact resistance

• The bottom of carrier is opens horizontally on

initialization of lander deployment with help of linear

actuator and the lander falls due to gravity.

• The structural rods are made of aluminum and

provide structural integrity.

• All electrical components are placed strategically to

bring the centre of gravity as close to the centre as

possible for balance of the system

• The egg protection system uses a combination of

impact force distributor and shock absorbing

material.


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Mechanical Subsystem

Changes Since PDR

52

Component

Changed

PDR CDR Rationale

Bottom flap

opening

Opened vertically

along horizontal

axis

Now opens

horizontally along

vertical axis

To prevent flap

opening against air

drag.

Linear actuator

placement

Placed on the flap Placed on main

body

Space constraints

and prevent

interference

Structural rods of

lander

Solid rods Hollow rods For rigid

attachment and

directed

deployment

CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Rajat Gupta

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Changes Since PDR-Detailed

1. Bottom flap opening: It was observed that the previous design for opening of bottom flap

for lander detachment is working against the drag force of air experienced during

descent and a strong springing mechanism would be required to overcome it.

To overcome this an alternate arrangement of the bottom opening horizontally sideways

is used. It is loaded on a Torsional spring on the axis and released using a linear

actuator.

53

Direction

of descent

Air Drag

Direction of

opening

New

direction

of opening


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2. Linear actuator placement: Earlier the actuator was placed on the flap according to the

original direction of opening. But the new horizontal opening the actuator is placed

vertically to avoid interference.

54 CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Rajat Gupta

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55

3. Structural rods of lander: Earlier the rods of lander were solid and independent of carrier.

Now the rods of lander are hollow and solid rods are added to the carrier. The solid rods of

carrier are inserted in the hollow rods of lander, providing it a rigid support and guiding

pathway for deployment.

Solid rods inserted

in hollow rods


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56

Mechanical System Requirements


ID Requirement Rationale Priority Parent Child VM

A I T D

MS-1 Total mass of CanSat shall

be between 400g and

750g.

Specified limits for the

base mission

requirement.

High - -

X X

MS-2 CanSat shall fit into a

cylindrical envelop of 130

mm diameter and 152mm

height.

The CanSat dimensions

are governed by the

payload envelop available

inside rocket.

High - -

X

MS-3 There shall be no

protrusions beyond the

payload envelop until

CanSat deployment

Protrusions may interfere

with smooth deployment.

High SYS-03 -

X

MS-4 The various components

shall be located

strategically so as to bring

the CG near the centre

line.

The mass distribution of

the rocket should be fairly

uniform for stable

operations

Medium SYS-11 -

X

MS-5 The egg shall be recovered

without breaking

The egg protection

system should withstand

all impacts and ensure

safety of egg

High - -

X X


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(If You Want) Mechanical System Requirements

57

MS-6 The lander shall be

released at height of

91m

The lander should be

securely attached to

carrier and only be

deployed at designated

altitude.

High - -

X

MS-7 All electronics shall be

shielded from the

environment

Structure must provide

protection to the

electronics

High - -

X

MS-8 The structure must

support 30gees of

shock force and 10

gees of acceleration

The structure has to

withstand various forces

during takeoff and landing

High - -

X X


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58

Lander Egg Protection Overview

• The selected egg protection system consists of a force distributor at bottom and

surrounded by a shock absorbing and dampening material.

– The hip bone protector(used by elderly people) is used as a force distributor to

distribute the impact forces sideways and protect the egg from breaking

– The egg is placed in a spherical foam ball with cavity carved inside to provide

protection from all sides. It is covered from top by more foam pieces.


• Other alternates: cotton & bubble wrap are also tested for cushioning effect.

• In final configuration, Egg is wrapped with a layer bubble wrap to protect from self

crushing force from foam ball

• Polystyrene balls are filled in any space left to provide extra cushion.

• All the materials: foam, bubble wrap, polystyrene balls are easily available lightweight

and inexpensive. Hip protector was available in our lab as part of ongoing product

developed with patented research.


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59

Mechanical Layout of Components

15

1m

m

94mm

12

5m

m

Electronics

Space for parachute

Egg Protection system

Actuator

Main Structure


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(If You Want) Material Selections

60

FRP (fiber reinforced plastic) • Density = 1799.19381 kg / m3

• chemical, moisture, and temperature resistance

• superior tensile, flexural and impact strength behaviour

• High Strength to Weight Ratio

• Easy to mold and cast in our lab

• Cheap and easily available

Aluminum rods • Density 2.63 gram

• Ultimate strength 248 MPa

• Light weight and strong enough for the CanSat

• Easily available in various diameters

Torsional spring • For quick opening of bottom flap of the carrier

The material chosen for structure is FRP body with aluminum support rods due

their superior qualities at affordable price as shown below.


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(If You Want) Carrier-Lander Interface

Release of the lander results in opening of the parachute which is above the lander.

61

•The lander will be placed inside the carrier.

•The bottom part of the carrier is a rotating disc.

•A torsional spring is attached between the disc and the carrier

for quick opening.

• A linear actuator is used for holding the bottom disc. At 91m

actuator pulls the locking rod and the disc rotates by spring force.

•Lander comes out by gravitational force.

•Hollow rod of the lander will slide through the solid rods attached

to the carrier, providing a guided path to lander deployment.

CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma

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(If You Want) Structure and Survivability

• The components are securely fastened on the structure of carrier and lander with the help

of nut and bolts. Superglue is used wherever there is space or size constraint for bolts.

• The structure is tested for shock force survivability both by numerical simulations(Finite

element method) and by actual strength testing under load(explained in testing section).

• The preliminary FEA results of the structure for load due 20gees average deceleration

shows resultant displacement and von-mises stress way below limits.

62

*The analysis is for static forces equivalent to 20g impact for fixed end boundary conditions with material properties assumed to be uniform. In real case the properties are different in direction

of fibers for FRP

Max resultant disp.: .01mm Max von mises stress= 0.23 Mpa


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(If You Want) Mass Budget

63

Carrier components Weight (g)

Arduino board 32

LCD 35

Parachutes 60

Structure 250

Battery 24

Other electronics 20

Total carrier mass 421

Carrier components Weight (g)

Arduino board 32

LCD 35

Parachutes 30

Structure 100

Battery 24

Other electronics 20

Egg protection(without egg) ~60

Total carrier mass(without

egg)

241


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Communication and Data Handling

Subsystem Design

Presenter: Aman Mittal


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CDH Overview – Lander

GPS Data

SD Card

BMP 085

(T&P sensor)

Xbee Pro

Battery Voltage

Buzzer

Arduino Uno

Serial Data Serial for Tx

Through

ADC I2

C

data

L293D

(buffer for

actuator) Output

PWM


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CDH Overview – Carrier

• BMP sensor gives the temperature and pressure data in I2C

format, so we use the corresponding pins in the Arduino.

• The Battery Voltage gives Analog data, and hence analog

pins in Arduino Uno are used.

• GPS sends data serially to the Arduino and hence we use

the Rx pin on Arduino.

• Data is sent to Xbee serially from Arduino using the Tx pin

in Arduino.

• Data is stored in SD card through SPI mode, and hence SPI

pins on Arduino are used for the same.

• Output is given out to Buzzer to enable auditory location. It

is done using Digital pins on Arduino.

• PWM output is given to L293D which drives the actuator.


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GPS Data

SD Card

BMP 085

(T&P sensor)

Xbee Pro

Battery Voltage

Buzzer

Arduino Uno

Serial Data Serial for Tx

Through

ADC I2

C

data

MMA 7361 (Accelerometer) Through

ADC


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CanSat 2012 CDR: Team 7634(Garuda) 68


• BMP sensor gives the temperature and pressure data in I2C

format, so we use the corresponding pins in the Arduino.

• The Battery Voltage and MMA 7361 gives Analog data, and

hence analog pins in Arduino Uno are used.

• GPS sends data serially to the Arduino and hence we use

the Rx pin on Arduino.

• Data is sent to Xbee serially from Arduino using the Tx pin

in Arduino.

• Data is stored in SD card through SPI mode, and hence SPI

pins on Arduino are used for the same.

• Output is given out to Buzzer to enable auditory location. It

is done using Digital pins on Arduino.


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(If You Want) CDH Changes Since PDR

• The START signal for Xbee communication was sent after

take off in PDR. Now it is being sent before take off in CDR

because the modification in this rule was discussed in the

Yahoo Group of CanSat.

• In PDR we used SD card adaptor. This is replaced with

mini SD card in CDR because it is less preserves space.

• In PDR, we had missed the data parsing of GPS output.

This has been corrected in CDR.

CanSat 2012 CDR: Team 7634 (Garuda) 69 Presenter: Aman Mittal

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CDH Requirements


A I T D

CDH -01 Sensor data will

be sent

Base mission

requirements

HIGH SYS-07 - X X

CDH-02 Carrier data will

be stored

Store all data to be

transmitted as

backup

MEDIUM SYS-07 - X

CDH-03 Store lander data Base mission

requirement for

velocity data

HIGH SYS-07 - X X

CDH-04 Accelerometer

data

ADC data for force

calculation

HIGH SYS-10 - X

CDH-05 Micro-controller

speed>1MHz

To process all data

and send telemetry

MEDIUM - - X

CDH-06 Telemetry from

Xbee will be

used

Base Station

Requirements

HIGH SYS-07 FSW-02 X

70 Presenter: Aman Mittal

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(If You Want) CDH Requirements

ID Requirement Rationale Priority Parents Children VM

A I T D

CDH-07 AT Mode for Xbee

will be used

Base Mission

Requirement

HIGH - - X X

CDH-08 Locating device

active on landing

Base mission

requirements and

to save power

HIGH - - X X

CDH-09 SPL for Buzzer

shall be greater

than 80dB

For location HIGH SSS-06 - X

CDH-10 Handheld locator

will trigger buzzer

To provide ease

in locating

MEDIUM - - X X

CDH-11 Buzzer will be off

before landing

Base mission

requirements and

to save power

HIGH - - X

CDH-12 CanSat will stop

transmitting when

triggered off

Saving power MEDIUM - FSW-07 X X


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(If You Want) CDH Requirements


A I T D

CDH-13 The Pan ID of

Xbee module

should be set as

Team Number

To avoid

interference

HIGH - - X


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(If You Want) Processor and Memory Selection

Parameter Arduino Uno

Processor Speed(MHz) 16

Operating Voltage 5

Data Interface (D/A) 14/6

Size(cm x cm) 6.5x5.2

Flash Memory(kB) 32

Price(in USD) 25

Modes

Available(SPI/I2C/Serial)

1/1/1


Micro SD card

ATmega 128

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Processor and Memory

Selection

• Carrier

– Arduino Uno is chosen for the microcontroller.

– Easy interfacing, sufficient digital outputs for data handling.

– Low price and size.

– Sufficient modes of communication available.

• Lander

– Arduino Uno is chosen for the microcontroller.

– Same design for the carrier and Lander.


Arduino Uno

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(If You Want) Memory Selection

• Micro-SD card is used for external memory

– Standard FAT 32 file system.

– Large amounts of data can be stored.

– Non-volatile.

– Easy to retrieve data on laptop.


Micro-SD card

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Carrier Antenna Selection

• Antenna used is - A24HASM 450 – an RPSMA antenna

to be used with XBP24BZ7SIT-004J

S. No. Performance Measure Specifications

1 Frequency (in MHz) 2400-2500

2 Gain (in dB) 2.5

3 VSWR <1.6:1

4 Impedance 50 Ώ

5 Height (in mm) 109

6 Weight (in g) 14


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(If You Want) Data Package Definitions - Radio

The Xbee communicate in AT mode (transparent mode).

Xbee uses USART communication at baud rate 57600.

The communication protocol in AT mode is simple serial

communication with any device.

Point to point communication is established in Xbee.

The coordinator ID is set at 0 while the other Xbee(in the

modules) have a unique PanID.

We are using 64-bit addressing (transparent) for Xbee.

The network address will be stored in the table


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(If You Want) Data Package Definitions - GPS

• GPS transmits data serially using UART at baud rate of

57600 (configurable).

• It uses NMEA for data transmission.

• The data starts with a „$‟ and ends with the <cl><rf> in this

format and output format is comma separated. This is used

to parse the data to get the required data.

• The GPS automatically sends the data at 1Hz when

powered on, and we take this data from UART.

• The GPS data format has been mentioned in the GPS

subsection in the Sensor Subsystem Design.


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(If You Want) Data Package Definitions- T&P sensor

• Uses I2C format for the transmission of data to the Arduino.

• In this protocol, SDA line sends the data while SCL is the

clock.

• Start – SDA pulled low while SCL is high.

• Stop – SDA pulled high while SCL is high.

• We are using it in ultra low power mode, putting the

oversampling setting (osrs) to 0.

• I2C Address of the sensor – 0x77 for start of transmission.


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Data Package Definitions -

Accelerometer

• Analog data output to the microcontroller.

• We use the g select as 0.

• 10 bit ADC mode is used at sampling rate 50KHz.


Accelerometer

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Data Package Definitions – SD Card

and Battery Voltage

• Battery Voltage Sensor –

– Uses 2 amplifiers for the sensing of battery voltage.

– Gives an analog data which is fed to the analog pin of

arduino.

• SD Card –

– Uses SPI mode for transfer of data.

– Uses the SPI bus on the Arduino.


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Radio Configuration

• The radio module XBP24BZ7SIT-004J is configured to be used in AT

mode.

• AT mode supports any device with serial communication, so we use

serial pins in Arduino.

• As AT Mode is being used, we will mainly be talking to one Xbee at a

time, as talking to multiple Xbee requires changes destination address

from command mode. We will be using point to point network.

Selects

channel and

PAN ID

Set the Xbee to

join a specific

PAN ID(7639)

Security key

to be

obtained in

preinstall

Send data to

the specific 16

bit addresses.


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Radio Configuration

Pre-Flight

• Establish connection by sending START from GCS and receiving ACK from Xbee Module(PAN on same ID, transmission to specific addresses.)

Ascent

• Send data from Carrier Xbee to GCS

• One way communication in this phase.

Descent

• Send data packets from Carrier Xbee to GCS

• One way communication in this phase.

Post Flight

• Carrier Xbee stops transmission and its location is stored.

• Lander Xbee starts transmission to GCS.

• GCS can send activate buzzer commands to Lander and Carrier.


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Radio Configuration

• We have been successful in establishing communication

between the Xbee modules in AT mode.

• We have tested the transmission of data between Xbee

in when kept in separate rooms.

• We have successfully been able to test the Xbee over

the range of 300m in open.

• We need to further test its complete range.

• We need to test for the launch and drop cases for the

communication to be robust.


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Carrier Telemetry Format

• The data sent in the telemetry includes –

– GPS data

Height ( altitude)

No. of satellites tracked

Longitude

Latitude

UTC Time

– Altitude and temperature data from BMP085

– Battery Voltage

• Data rate: 0.5 Hz.

• The format is explained in the next slide.

Start of Transmission ($) Data Checksum


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– The data format is –

‟$,55,22,101.9,6.60,161441,4106.041N,02901.369E,03,39.

5,M,167” (to be sent via Xbee) • $ is Start Byte

• 55 is Seconds since launch

• 22 is temperature in Celsius

• 101.9 is pressure in kPa

• 6.60 is battery voltage in V

• 161441 is 16:14:41 UTC time

• 4106.0410 is latitude, N indicates North

• 02901.3697 is longitude, E indicates East

• 03 is the number of satellites tracked

• 39.5 is Mean Sea Level Altitude, M indicates meters.

• 167 is the checksum, calculated by adding all bytes in the frame modulus 255.


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Characters Sent Definition

HHmmss UTC Time

LLLL.LLLL Longitude

LLLL.LLLL Latitude

AAA.A Altitude (GPS)

NN No. of satellites

AAA.A Altitude (BMP085)

TT.T Air Temperature

VV.V Battery Voltage


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Activation of Telemetry Transmissions

• Telemetry activation done just before launch by sending a

START command from the GCS Xbee(Coordinator node)

• The end device(Carrier and Lander) joins the network

formed by the coordinator Xbee.


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Locator Device Selection Overview

• The locator devices will be a combination of GPS, Xbee and Buzzer.

• To activate telemetry from the Xbee and GPS, 2 flags will be set –

– After switching on, when height>300m, the first flag goes high, to

ensure that they don‟t send data before flight.

– The second flag goes high only when flag 1 is true, when the altitude

data is constant for 10 seconds.

• The buzzer can be activated by sending an ACTIVATE signal through

the GCS.

• If connection between Xbee fails, the Buzzer is switched on

automatically.

• On recovery, buzzer, Xbee and GPS are switched off through a manual

power switch.


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Locator Device Selection Overview

• There will be separate transmission ID for the carrier and the Lander.

• The Coordinates of the Carrier Xbee are located and stored in the GCS.

The Carrier Xbee stops transmitting after altitude data is constant for 10

sec post flight.

• In case of non recovery, on the launch day, the carrier and the lander

will be having Labels :

• “Carrier, CanSat 2012 Team 7639, Garuda, IIT Delhi”

“Lander, CanSat 2012 Team 7639, Garuda, IIT Delhi”

Performance Measure Specifications

Operating Voltage (V) 5

Current Consumption (mA) 35

Sound Output (dB) 95

Power Consumption (mW) 175


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Electrical Power Subsystem

Presenter: Harsh Parikh

91

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(If You Want) EPS Schematic Overview

CanSat

Power

System

Carrier

battery

source

Lander

battery

source

Sensors +

Xbee

Arduino Board

Buzzer and

actuator

Sensors +

Xbee

Arduino Board

Buzzer

92 CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Harsh Parikh

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(If You Want) EPS Overview

• 2 supplies: Carrier + Lander

• Most power consumers: GPS sensor and buzzer.

• Power supply:

– Main supply used : 9V.

– Supply to components via 3.3V and 5V regulator ICs.

– Rationale: Constant voltage to components.

• Use of GPS and radio on Lander:

– Rationale: Easy retrieval.

– Cost, space, power and weight: not a limiting factor.

• Power saving:

– High power components switched on only during flight.

– Sleep mode used during 1hour wait time and before retrieval (except

buzzer) via communication.


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(If You Want) EPS Changes since PDR

1. LCD has been removed as it was consuming lot of space,

weight and power.


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(If You Want) EPS Requirements-Carrier


A I T D

EPS-01

All electronic

components of carrier

will be powered.

Necessary for the

working of CanSat.

High - - X

EPS-02 Power shall be supplied

by 3.3V and 5V

regulator ICs (LM7833

and LM7805 used)

Components require

3.3V and 5V regulated

power supplies

High - - X

EPS-03 External switch and

LED shall be used for

initial and final on/off

Easy power turn on/off

mechanism

High - - X

EPS-04 Actuator should have

an external switch for

manual override.

Easy process of

testing

Medium - - X X X


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(If You Want) EPS Requirements-Lander


A I T D

EPS-05

All electronic

components of lander

will be powered.

Necessary for the

working of CanSat.

High - - X

EPS-06 Power shall be supplied

by 3.3V and 5V

regulator ICs (LM7833

and LM7805 used)

Components require

3.3V and 5V regulated

power supplies

High - - X

EPS-07 Voltage should be

displayed on LCD

Efficient monitoring of

battery voltage

Low - - X X

EPS-08 External switch and

LED shall be used for

initial and final on/off

Easy power turn on/off

mechanism

High - - X


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(If You Want) EPS Requirements-Lander


A I T D

EPS-09 Power to extra

hardware to

measure battery

voltage

Voltage level to

be transmitted

and so its

hardware needs

power.

High - - x x

EPS-10 External switch to

turn lander on/off

Easy mechanism

for turning lander

on/off

High - - x x

EPS-11 LED Display on/off

power of lander

High - - x

EPS-12 Power to

accelerometer

Need to measure

external force

with the same

High SYS-10 - x x


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(If You Want) Carrier Electrical Block Diagram


Arduino (9V)

GPS(5V)

P&T Sensor

(3.3V)

Actuator

(3.3V)

SD card

(3.3V)

Buzzer(9V)

LCD(5V)

Voltage Measurement Hardware(9V)

Radio Transceiver

(3.3V)

Power Source

3.3V regulator

5V regulator

9V supply


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(If You Want) Lander Electrical Block Diagram


Arduino (9V)

GPS(5V)

P&T Sensor

(3.3V)

Accelerometer

(3.3V)

SD card

(3.3V)

Buzzer(9V)

LCD(5V)

Voltage Measurement Hardware(9V)

Radio Transceiver

(3.3V)

Power Source

3.3V regulator

5V regulator

9V supply


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(If You Want) Power Budget - Carrier


S.

No. Component Voltage

(V)

Current

drawn

(mA)

Power

(mW)

Duty

Cycle/

Time of

operation

Uncert

ainty

(%)

Capacity

required

(mAh)*

Total

Power

Consumed

(mW)*

Source

1 Arduino (Board only) 9 0.02 18 100% 20 0.03 22 Meas

2 P&T Sensor 3.3 0.1 0.33 100% 10 0.15 0.4 DS

3 GPS Module 3.3 45 200 100% 10 50.0 160 DS

4 Transceiver Module 3.3 65 330 10% 10 7.50 33 DS

5 Actuator 3.3 30 99 1% 15 0.40 2 Est

6 Buzzer 9 15 135 3hrs 20 20.0 165 Est

7 SD card 3.3 50 165 5% 10 3.0 10 Est

8 Extra h/w (regulator ICs

+ voltage measurement

h/w)**

9 0.1 0.9 100% 20 0.2 1 Meas

9 LCD 5 40 200 5% 10% 0.4 10 DS

Total 81.28 403.4

* All values are assumed to be on higher side. ** Peak values attained.


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(If You Want) Power Budget - Lander


S.

No. Component Voltage

(V)

Current

drawn

(mA)

Power

(mW)

Duty

Cycle/

Time of

operation

Uncert

ainty

(%)

Capacity

required

(mAh)*

Total

Power

Consumed

(mW)*

Source

1 Arduino (Board only) 9 0.02 18 100% 20 0.03 22 Meas

2 P&T Sensor 3.3 0.1 0.33 100% 10 0.15 0.4 DS

3 GPS Module 3.3 45 200 100% 10 50.0 160 DS

4 Transceiver Module 3.3 65 330 10% 10 7.50 33 DS

5 Accelerometer 3.3 0.4 1.32 5% 10 0.02 0.1 DS

6 Buzzer 9 15 135 3hrs 20 20.0 165 Est

7 SD card 3.3 50 165 5% 10 3.0 10 Est

8 Extra h/w (regulator ICs

+ voltage measurement

h/w)**

9 0.1 0.9 100% 20 0.2 1 Meas

9 LCD 5 40 200 5% 10% 0.4 10 DS

Total 80.9 401.5

* All values are assumed to be on higher side. ** Peak values attained.


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External Power Control Mechanism

• Separate on off switch both for carrier and lander

• Power monitoring system:

– LED shows whether 9V battery is switched on/off

• All components put to sleep mode during 1hour prelaunch time

and in the post flight period with the use of radio communication

with CanSat. This prevents faster battery drain.


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(If You Want) Power Source Summary


S.

No.

Battery Name Battery

Type

Weight

(gm.)

Typical

Voltage

(V)

Capacity

(mAh)

Energy

(Wh)

Cost

(USD)

Decision

1 Duracell ultra Alkaline 45 8.4 550 4.5 2.40 S

• Finally selected battery: Duracell Ultra.

• Power available is 550mAh and 4.5Wh.

• Power consumed (3hrs of working) is 250mAh and 0.5Wh

• Available margin assuming 3 hours of working: 300mAh (55%)

• Minimum time of operation assuming full operation of all components :

5hour.

• Selection criteria:

• Reliability

• Cost

• Easy availability

• Service hours provided


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(If You Want) Battery Voltage Measurement


Additional hardware is comprised of voltage follower by inverting amplifier (used

for attenuator here)

Voltage follower helps in isolation of output and input. Inverting amplifier corrects

sign and provides given output as . Taking Rf as 10kΩ, Ri as 20kΩ,we get Vmax

up to 5V.

ADC output multiplied by 2 gives exact Voltage value.

This is better than potential divider because

• Consumes almost no current.

• Has much better stabilization characteristics

i

f

R

R


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Battery Voltage Measurement

Testing


•Testing Status:

•The component and the circuitry of

electrical power subsystem is tested.

•The op-amp follower circuit along

with regulator was checked

•Testing Result:

•When the circuit was tested with

LED for the output, the LED went

„on‟ on attaching battery. This

confirmed the proper circuitry

•The output of the circuit was

measured:

•Rf=170Ω, 330Ω; Ri=1k Ω,

•Vo=1.68V, 3.29V

•It was inferred that the voltage

regulation is effective

Circuit used for testing Battery Voltage Measurement

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Flight Software Design

Presenter: Sudeepto Majumdar

106

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FSW Overview

• Programming Language : .NET/JAVA

• Developing Environment : Arduino IDE (processing language)

• Flight software is responsible for ensuring that:

–Carrier releases the Lander at the right time.

–Lander is aware when its released.

–All sensors and GPS data are read and the data packet for RF

Transmission is prepared.

–All read data and detailed flight log are stored on SD-Card.

–Communication with ground station is maintained.

–Speed of descent is controlled.

Presenter: Sudeepto Majumdar 107

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FSW Requirements

ID Requirement Rationale Priority Parent(s) Child(ren) VM

A I T D

FSW-01 FSW shall initialize

the sleep mode

To save

power

MEDIUM - - X X

FSW-02 FSW shall start

telecommunication

To avoid

transmission

of data while

not in flight

mode

HIGH CDH-06 - X X X

FSW-03 FSW will be

responsible for

opening of

parachute at 200m

Base Mission

Requirement

HIGH SYS-05 - X X X X

FSW-04 FSW shall be

responsible for

releasing the

lander at 91m

Mission

Requirement

HIGH SYS-06 - X X X X

FSW-05 FSW shall collect

data from sensors

and then store and

telemeter to the

ground

Base Mission

Requirement

HIGH SYS-07 - X X X

108 Presenter: Sudeepto Majumdar

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(If You Want) FSW Requirements


ID Requirement Rationale Priority Parent(s) Child(ren) VM

A I T D

FSW-06 FSW shall activate

impact sensor after

the lander is

released

To avoid

sensor

operations

when not

required

MEDIUM SYS-10 - X X X

FSW-07 FSW shall stop

telemetry of data

after CanSat has

landed

To avoid

transmission

when not

required

MEDIUM CDH-12 - X X


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Carrier and Lander CanSat FSW

Libraries


S.No. Sensor Model No. Library

1 Temperature and

Pressure

BMP085 Bmp085.h from

adafruit*

2 GPS Mediatek MT 3329 Arduino.h

SoftwareSerial.h

3 SD card Kingston sd.h from Arduino

4 Xbee radio Digi International SoftwareSerial.h

*- Open Source Library

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(If You Want) Carrier CanSat FSW Overview

CanSat 2012 CDR: Team 7634 (Garuda) 111 Presenter: Sudeepto Majumdar

• The Data will be transmitted at the rate of 0.5

Hz and Throughput value will be 25 bytes per

second

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(If You Want) Carrier CanSat FSW Pseudo Code

CanSat 2012 CDR: Team 7634 (Garuda) 112 Presenter: Sudeepto Majumdar

System Start

Read Sensor:

While(altitude>200)

if (descent rate>10)

Command DCS descent rate=10m/s

Write to SD card

Transmit to GCS

While(200>=altitude>91)

if(descent rate>5)

Command DCS descent rate=5m/s

Write to SD card

Transmit to GCS

while(91>=altitude)

if(Lander deployed=false)

Signal Deployment

Write to SD card

Transmit to GCS

If(landed=true)

Buzzer status->on

on Button press

Stop else Repeat

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Lander CanSat FSW Overview


• The Data will be stored at the rate of 0.5 Hz

and Throughput value will be 25 bytes per

second

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Lander CanSat FSW Pseudo Code


System Start

Read Sensor

Write to SD card

if(landed=true)

Buzzer->on

On button press

Stop

else

Repeat

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Software Development Plan

• FSW testing:

• The code has been written and the interface is

established.

• The response of GPS sensor, Temperature and Pressure

sensor and the Buzzer was tested when the

acknowledgement was received .

• The system is ready to use.

• Development Team:

• Sudeepto Majumdar, Rishi Dua


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Ground Control System Design

Presenters: Kshiteej Mahajan, Rishi Dua

116

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GCS Overview

Presenter: Rishi Dua

Antenna receives Signal

from Carrier

Microcontroller provides serial

input to the computer

Computer processes, stores and

displays the data

117

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GCS Requirements


A I T D

GCS-01 Antenna shall point

upwards and be at

least 1m above the

ground

To prevent

interference

High - - X

GCS-02 Data will be

processed and

stored

To meet base

mission

requirements

High SYS-07 - X X

GCS-03 Recovery of CanSat To avoid loss of

carrier, lander and

egg

Medium SYS-02 - X X

GCS-04 Mission operations:

Includes the

detection of various

phases by the GCS

To ensure base

mission

requirements are

met

Medium - - X X X

GCS-05 Real-time online

uploading of data on

a remote server

For Remote Access Medium - - X X

118 Presenter: Rishi Dua

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GCS Requirements


A I T D

GCS-06 Software made

using JAVA and

PHP

Cross platform

support and faster

High - - X

GCS-07 Power Backup for 4

hours

Should not fail in

case of power

outage

Low - - X


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GCS Antenna Overview

• The antenna to be used is A24HASM-450 – ½ wave

dipole antenna.

• The coverage of the antenna module is about the range

of 2 km.

• This antenna has omni-directional pattern when places

in vertical direction.

• The antenna should be able to cover a drift of up to

1km, so we have a margin of 500m from our design.

• The antenna will be facing at an angle to the launch site

to increase coverage.

Presenter: Rishi Dua 120

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(If You Want) GCS Antenna Selection


• Assuming the wind speed of 25kph in Abilene, Texas in

June.

Time of descent at 5m/s for 600m.

Time = 120sec.

So, d = 833m.

• So, we need to have an antenna that can expect a drift of at

least 833m.


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• The Antenna selection is done on the basis on Link Budget.

• The Xbee sensitivity is -102dBm, so assuming -90dBm to

account for the uncalculated losses, using the Link Budget

equation –

PRX = PTX + GTX + GRX – LTX – LRX – 20log(4πd/λ)

PTX = 17dBm

GTX = GRX = 2.5dBi

LTX = LRX = 1 dB

Calculating the above, we get d = 3.145 km, which is well

above the calculated maximum drift.


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Carrier Antenna Module

Ground Antenna Module

UART

data to

Xbee

The communication is established

between X-Bees (in API mode)

•The carrier module above transmits the

sensor data back to the ground module.

•The ground station module receives data

from the carrier module and transmits

the data to the laptop.

• We are planning to make portable mast

with PVC pipes for mounting antenna.

• Antenna will be inclined at an angle for

max coverage.


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(If You Want) GCS Software

• Data taken currently from CSV file (which is updated every 2 seconds), later on

preferred mode of input would be serial input.

• Data plotted and also uploaded simultaneously on the internet so that it can be

remotely accessed.

• Data plotted using Java library (Live-Graph).

• Data can be exported to Excel file, XML, SQL and the Graph can be exported as

JPEG image.

• Since it is based on JAVA, PHP and SQL, it will be faster and more reliable than

third party tools like MATLAB. Moreover, all tools used are open source with

good cross platform support.

• GPS data is also embedded in Google Maps, to possibly help recover location of

the CanSat.

CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Kshiteej Mahajan 124

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(If You Want) GCS Software Description


Data file

Settings

Graph

Settings

Graph

Data Series

Settings

Presenter: Kshiteej Mahajan 125

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• GPS data is also embedded in Google Earth. This can help recover location of

the CanSat.

• Longitude, Latitude, Altitude data of the CanSat with time is taken from a CSV

file and converted to KML file using self-written adapter and convertor to

generate a flight path on Google Earth.

• We currently have two types of visualizations: Extruded and Linear.

• The following slides give snapshots of Extruded & Linear path of our CanSat

(Garuda) for fictitious data, respectively.

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CanSat Integration and Test

Presenter: Akash Verma


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CanSat Integration and Test

Overview

Stage I: CanSat has following subsystems, that are built up in parallel:


Descent Control Subsystem

Sensor and Communication Subsystem

Electrical Subsystem

Software Subsystems

Stage II: Mechanical Subsystem and DCS are integrated first and ECS,

SSS, CDH are integrated in parallel.

Stage III: Merging of the two subsystems of Stage II to make final

CanSat.

Test equipments and conditions are specified in respective

tables/sections. in following slides.

All test data is uploaded real-time and available on

www.teamgaruda.in/testdata

CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma 130

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Clearance test (Mechanical)

Weight Test

(Mechanical)

Body strength test

(Mechanical)

Shock Absorption Test

(Mechanical)

Descent Rate Control

(Mechanical)

EPS testing along with robustness

(Electrical)

Sensor testing

(Electrical)

FSW response

(Software Control)

Detachment of Lander

(Mechanical)

Deployment of parachute

(Mechanical)

Communication linking

(Electrical)

GCS testing

(Software Control)

Data handling and mathematic

modelling

Testing the Integrated Model

CanSat Testing as a Unit

Testing Sequence:

CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma 131

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(If You Want) Sensor Subsystem Testing Overview

S.No Component/

Subsystem

Tested

Test Description

Test Constraints Result Criteria Result

1 GPS Interfacing with

Microcontroller

GPS availability in

breakout board

Reception of

data in the

proper format

Pass

2 GPS Measurements tested

against Google Earth

API

jqPlot Charts

required for jQuery

for plotting

variations

The

measurement

difference plot

should lie

within 2.5m

Pass.

Accuracy

achieved: 1m

3 GPS Tested by taking data

from GPS placed in

car moving with

constant speed of

50kmph

Arduino interfacing

Hyperterminal

Interfacing

Data variation

should be

continuous

Pass

CanSat 2012 CDR: Team 7634 (Garuda) 132 Presenter: Akash Verma

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(If You Want) Sensor Subsystem Testing Overview

S.

No.

Component/

Subsystem

Tested

Test Description


4 Non GPS

Altitude sensor

Interfacing with

Microcontroller

Sensor availability

in breakout board

Reception of data

in the proper

format

Pass

5 Non GPS

Altitude sensor

Variation of altitude

tested by going to

highest floor (7th) in lift

and compare results

with that of GPS

Carrying the whole

setup as a

handheld one. GPS

should be already

tested.

Variation in GPS

and non-GPS

altitude measurer

should not differ

by more than 2m.

Pass.

Accuracy

achieved:

1.2m

6 Temperature

sensor

Tested with cold water

with ice to hot water till

luke warm and cross

checked variation

using Laboratory

Thermometer

Preventing the

sensor from getting

wet.

Difference in

readings should

be less than 0.8°C

Pass. Max.

difference

0.5°C when

properly

calibrated

7 Temperature

Sensor

Below 0°C up to -10°C

checked using

refrigerator.

Variation in

temperature at

different points of

fridge gave

abnormal readings

Variation should

be visible for

below 0°C

temperatures.

Pass


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(If You Want) Lander Impact Force Sensor Testing

S.

No.

Component/

Subsystem

Tested

Test Description


1 Accelerometer/

Impact Force

Sensor

Interfacing with

Microcontroller

- Reception of data

in the proper

format

Pass

2 Accelerometer/

Impact Force

Sensor

Checking for

acceleration values in

10 places e.g.. Lift,

car.

Movement of

Arduino board and

the source with

accelerometer.

Comparison with

any other possible

source of

acceleration

(where possible)

and estimated

calculations

otherwise.

Pass


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(If You Want) DCS Subsystem Testing Overview

S.No. Component/

Subsystem

Tested

Test

Description

Test

Constraints

Result

Criteria

Result

1.

Parachutes along

with mass

•Experimental throws

of 700gm object from

15m height.

•Terminal velocity

found out using

speed time formula

•Length of plumbline

takes is 10m

•Reaction time of

an observer

•Attainable height

for parachute

releasing

•Terminal

velocity within

the range

•Drift- not too

large

Pass

2. Parachute‟s shroud

lines

Experimental throws


15m height.

Attainable height

for parachute

releasing

Shroud lines

should not

entangle

Fail

3. Parachute packing Experimental throws


15m height.

Attainable height

for parachute

releasing

Parachute

should unfold

itself

Pass

CanSat 2012 PDR: Team 7634 (Garuda) 135 Presenter: Akash Verma

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Mechanical subsystem testing

overview

136

S.No. Component/

Subsystem

tested

Objectives Test description Constraints Pass Criteria Results

1 Deployment/

Separation

Testing for

load

Smooth

release of

lander.

It should be

able to uphold

the load of

lander

Actuator is

connected to the

Battery and the

linear movement of

the plunger tested

for various loads

Test conditions

may not be able

to simulate the

actual friction

characteristics

of the interface.

Capacity to hold

the maximum load

of 750g

To be

performed

once actuator

is delivered

2 Deployment/

Separation

testing for

response

time

Quick release

of lander.

response time of

the plunger for

Error in time

measurement

due to human

response time

Allowable error of

1% in lander

deployment target

altitude

To be

performed

once actuator

is delivered

3 Shock

survivability

Structure

should survive

30gees of

shock force

30g equivalent of

force is applied

through static

weights (30x

720g~210Kg)

The strength is

only tested in

longitudinal

direction which

is only relevant.

Structure should

be able to

withstand the load

without failure and

low distortions.

Pass


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S.No. Component/

Subsystem

tested

Objectives Test description Constraints Pass

Criteria

Results

4 Clearance

for Launch

vehicle

Compatibilit

y

To check if

the

structure is

able to slide

through

rocket

payload

section

A sheet metal

envelope of 127mm

is made and the

carrier is slid

through it at various

orientations.

Errors in the cylindricity of

the fabricated sheet metal

envelop may be preset

and the surface

characteristics may be

different for actual rocket.

Smooth

passage of

the carrier

structure.

Pass

5 Egg

protection

system

To ensure

protection

of egg for

impact

force

experience

d during

landing

Drop the finally

selected egg

protection system

from various

heights of 10, 20 ,

30 , 40ft. for

maximum impact

velocity of 11m/s

Impact depends on the

softness of the ground

which maybe different

from launch location

Safe

recovery of

the egg

Pass

137

Mechanical subsystem testing

overview


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(If You Want) CDH Subsystem Testing Overview

S.

No.

Component/

Subsystem

Tested

Test Description


1 Xbee radio

receiver testing

The communication

link was checked

using a test data

signal from computer

Xbee module,

computer and GCS

software

The data should

be received

without any error

Pass

2 Xbee radio

transmitter

testing

The communication

link was checked

using a test data

signal to computer

Xbee module,

computer and GCS

software

The data should

be received

without any error

Pass

3 Buzzer testing The buzzer range was

tested by supplying

power to it

Buzzer, battery The buzzer‟s buzz

was audible to a

range of 100m

Pass

Range:100m

4 SD card testing SD card was tested

using arduino board

SD card, arduino

board, SD card

reader

The data stored

should be not be

corrupted and

should be

accessible

Pass


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(If You Want) EPS Subsystem Testing Overview

S.

No.

Component/

Subsystem

Tested

Test Description


1 Battery Voltage

measuring

circuit

External voltage of 9V

was applied and

regulated output was

checked using

potentiometer

Op-Amp, Resistors,

9V battery and

potentiometer

For input voltage

of 9V regulated

voltage should be

5V

Pass

2 Battery Life A battery of 9V was

drained using a buzzer

Buzzer, battery and

Stop watch

The buzzer should

buzz for atleast 5

hours

Pass

Life: 6 hours

3 External Switch LED was used to

check switching

LED, battery,

Switch

LED should glow

for on and off

when the switch is

off

Pass

4 Components

power

specification

Potentiometer was

used to check the

power specifications

Potentiometer,

electrical

components

Power output

should be within

specified range

Pass


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(If You Want) FSW Subsystem Testing Overview

S. No. Component/

Subsystem

Tested

Test Description


1 Xbee

check RSSI and

connectivity in case of

relative motion and across

multiple barriers.

Simulated environment

does not cover all

possibilities.

RSSI should be more

than 20% Pass

2 Pressure Sensor

check pressure in room

conditions and in blowing

wind at various heights.

pressure actually

varies very rapidly

while falling down at

10m/s

pressure values

should match

barometer values Pass

3 GPS

data checked in various

locations separated by

5kms and in moving

vehicles


does not cover all

possibilities.

output accuracy +/-

3m Pass

4 Accelerometer

magnitudes and directions

of acceleration while

moving and while impact


does not cover all

possibilities. accuracy +/- 0.5 m/s2 Unconfirmed

5 Temperature

check temperature at

various locations, heights

and time intervals. - accuracy +/- 1C Pass

6 Software

Interfacing with individual

sensors and above tests

conducted. Collected data

stored onto the SD card.

Integration not done,

only individual sensors

tested at a time.

Successful running of

the code and proper

data acquisition from

the sensors.

Partially pass.

Accelerometer

interfacing

failed


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(If You Want) GCS Subsystem Testing Overview

S.

No.

Component/

Subsystem Tested

Test Description Test Constraints Result Criteria Result

1 Antenna

Send known data

from carrier radio

module to ground

station

running on simulated

data, not on actual

data

Result should

match with the sent

data Pass

2 Data plotting library

Plotting a sample

data

the library livegraph

should work correctly

The graph should

match with

standard software

like MATLAB Pass

3

Google earth API

integration

Input CSV position

data to generate a

KML file

running on simulated

data, not on actual

data

Visualization should

be successful Pass

4 Real time data update Input data to GCS

Internet connectivity

and server uptime

The database on

server should get

updated Pass


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Mission Operations & Analysis



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Overview of Mission Sequence of

Events


• Briefing

• Last Mechanical control

• Last Electrical control

• Coming at Competition Arena

Pre Flight

• Pre-Flight operation

• Integration of CanSat

• Setup of GCS

• Placement of Egg

• Launch Flight

• Deploy CanSat at 600m

• Opening parachute

• Controlling descent rate to 10m/s +/- 1m/s up to 200m

• Data collection and transmission

• Reducing descent rate to 5m/s at 200m

• Detaching Lander at 91m

• Landing and Locating CanSat

• Recover egg and data from Lander

Launch and Flight

• Saving Data

• Analyzing Data

• Preparing PFR

• PFR Presentation

• Pack up and leave for New Delhi

Post Flight


Please see Team

Members Role on slide 8

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Mission Operations Manual

Development Plan

• Mission Operation consist of 4 steps:

– CanSat Integration

– Launch Preparation and GCS setup

– Launch Operation

– Removal Operation


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(If You Want) CanSat Integration

• The CanSat system is basically divided into three parts:

– The Lander

– The Carrier

– Electrical and Electronic System

• The integrated parts are to be assembled to make CanSat.

• The Electrical System is first integrated with Lander and

Carrier

• The Carrier and Lander will be integrated and CanSat is

ready for Launch.


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(If You Want) Launch Preparation and GCS setup

• GCS will be setup by GCS crew after reaching competition

arena.

• Take rocket to flight line and get launch pad assignment

• Walk out with the pad manager and have rocket installed on

rail.

• Pad manager installs igniter.

• Pad manager verifies igniter continuity if launcher has

continuity tester.

• Team‟s picture next to Rocket

• Team goes back to flight line and assigned crew position


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(If You Want) Launch Procedure

• Request a GO/NO GO from GS

• Verify recovery crew is in place and ready

• Verify launch control officer is ready

• Verify flight coordinator is ready.

• Command ground station crew to activate the CanSat

telemetry.

• Verify with ground station crew that telemetry is being

received.

• Request GO/NO GO from ground station crew, recovery

crew and flight coordinator.

• Command launch control officer to proceed countdown and

launch.


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(If You Want) Removal Procedure

• Command ground station crew to disable telemetry from

CanSat.

• Team wait until all other launches are completed.

• Command launch control officer to disarm the launch pads.

• Launch control officer removes the arming key to the launch

controller.

• Pads are declared safe.

• Team can go with the pad manager and then can remove

the CanSat.


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(If You Want) CanSat Location and Recovery

1. Carrier Recovery

– Carrier will have buzzer inside it which will be only be activated

when carrier has landed. This buzzer has SPL>80 dB and will

aid us to recover carrier.

– We will use shiny and bright colored parachutes so that we can

spot it from some distance.

– GPS sensor on carrier will transmit exact coordinates after

landing. This data will help us to reach there.

– We will be using trajectory (obtained after getting data of position

from GPS sensor) to estimate landing coordinates for carrier.

This will be done automatically using a script (in GCS software

only) performing data analysis.

– Besides, all team members will be keeping eyes on carrier as it

descends down from sky.


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(If You Want) CanSat Location and Recovery

2. Lander Recovery

– Lander will have buzzer inside it which will be only be activated

when lander has landed. This buzzer has SPL>80 dB and will

aid us to recover carrier.

– We will use shiny and bright colored parachutes so that we can

spot it from some distance.

– We will be using a additional GPS sensor on lander that will

transmit exact coordinates after it has landed (also using extra x-

bee modules for that).

– Wind data and trajectory of carrier after it has got separated from

lander will be useful for us to implement a script to generate

estimated coordinates of lander.

– Besides, all team members will be keeping eyes on lander as it

descends down from sky.


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(If You Want) Mission Rehearsal Activities

• Description of mission operations rehearsal activities

– Ground system radio link check procedures: It was done after

sending a simple data to a far Xbee receiver from PC and then

sending same data from Xbee transmitter to PC. There was no

hassle in this activity.

– Loading the egg payload: The egg protection system was tested by

dropping under free fall from various heights to choose the cushion

material. Horizontal orientation of egg is chosen.

– Powering on/off the CanSat: An external switch is used to power

on/off CanSat. Led showed the power status.

– Launch configuration preparations: It was done after using a hollow

wooden structure of same size and then stuffing electrical

components into that.

– Loading the CanSat in the launch vehicle: Same wooden structure

was used and we tested it after trying to fit it inside payload section

of the specified size.


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(If You Want) Mission Rehearsal Activities

– Telemetry processing, archiving, and analysis: It was done using two

ways:

• We first made mathematical models for every data type. Then we used that data

into our GCS software to generate results.

• We then used our sensor components and then we send them to PC using xbee

transmitter to plot and analyze data in real time.

– Recovery: We were not able to rehearse it properly as we don‟t

have a launch rocket and we can only drop it from a small height of

30 m. But we checked it after hiding CanSat and then we tried to

locate it using buzzer and parachute color.

• Description of written procedures developed/required:

– GCS software is developed and code was written in Java (used an

open-source library Live-Graph).

– FSW is under development. Code is being written in Arduino IDE

and they have been tested using electrical components.


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Management



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(If You Want) Status of Procurements

• All electrical components have been ordered and procured.

• Mechanical components – parachutes and linear actuator have

been procured.

• Ground Control Software is developed fully.

• Integration is remaining

CanSat 2012 CDR: Team 7634 (Garuda) 154 Presenter: Rishi Dua

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(If You Want) CanSat Budget – Hardware


S.No. Component Quantity Rate (USD) Cost (USD)

1 Arduino Board Uno 2 27.6 55.2

2 Pressure Sensor Bosch 2 20.0 40.0

3 GPS sensor 2 50.0 100.0

4 Accelerometer 1 12.0 12.0

5 Xbee Radios 2 pairs 50.6 101.2

6 Battery Duracell 10

(2 to be used, 8 spare)

2.4 24.0

7 Audio Buzzer 2 1.5 3.0

8 Antenna A24HSM450 2 6.0 12.0

9 Parachutes 3 25.0 75.0

10 Material for structure and

fabrication

N.A 50.0 50.0

11 Linear actuator 1 5.0 5.0

TOTAL 477.4

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(If You Want)

Components Cost (USD)

Laptop for GCS None

Travel 16000

Rental 2000

Test facilities 100

Total 18100


CanSat Budget – Other Costs


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(If You Want) Sponsorship Plans

• The Team has been sponsored by IIT Delhi Alumni

Association (IITDAA) and IIT Delhi Industrial Research

Department (IRD).

• Website for the team Garuda has been developed by online

publicity partner Teknovates. (www.teamgaruda.in)

• Following things are updated in website since CDR:

• Animation video has been included which depicts the

concept.

• Team forum for discussions has been developed.

• Team has received media coverage in Hindustan

newspaper on 23 March.

• Team has got featured in an article in Institute‟s tech

magazine.

CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Rishi Dua 157

http://www.teamgaruda.in/

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(If You Want) Program Schedule


NOV

20-30 DEC

1-31 JAN

1-15 JAN

16-31 FEB

1-15 FEB

16-29 MAR

1-15 MAR

16-31 APR

1-15 APR

16-30 MAY

1-31 JUN

1-10

ELECTRICAL SYSTEMS

IDENTIFYING SYSTEM REQUIREMENTS

SELECTION OF COMPONENTS

REQUIRED

PROCUREMENT OF COMPONENTS AND

TESTING

IMPLEMENTATION OF ELECTRICAL

SYSTEM DESIGN

OVERALL TESTING OF ELECTRICAL

SYSTEM


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NOV

20-30

DEC

1-31

JAN

1-15

JAN

15-31

FEB

1-15

FEB

16-29

MAR

1-15

MAR

16-31

APR

1-15

APR

16-30

MAY

1-31

JUN

1-10

MECHANICAL DESIGN

IDENTIFYING DESIGN REQUIREMENTS

DESIGN OF DESCENT CONTROL

SYSTEM

CAD MODELLING

TESTING THROUGH SIMULATIONS

SELECTION OF MATERIALS

PROCUREMENT OF MATERIALS

IMPLEMENTATION OF MECHANICAL

DESIGN

TESTING OF MECHANICAL DESIGN


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NOV

20-30

DEC

1-31

JAN

1-15

JAN

15-31

FEB

1-15

FEB

16-29

MAR

1-15

MAR

16-31

APR

1-15

APR

16-30

MAY

1-31

JUN

1-10

SOFTWARE CONTROLS

IDENTIFYING SOFTWARE REQUIREMENTS

DECISION ON SOFTWARE PLATFORM FOR

GCS

ALGORITHM DESIGN FOR FSW

IMPLEMENTATION AND TESTING OF GCS

SOFTWARE

IMPLEMENTATION OF FSW

FSW SYNC WITH ELECTRICAL SYSTEM

COMPLETE SYSTEM TESTING


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(If You Want) Conclusions

• Major accomplishments

– Physical Model is ready

– GCS software is ready and FSW software is under

development

– Electrical components are tested and PCB is designed

– Sponsors are available for the Team

– Website is functional and operational

• Major unfinished work

– Integration of all subsystems.

– Mission Operation Manual is yet to be made.

We have been successful in all the duties until now.

We will go on according to schedule until competition.


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(If You Want) Thank you!

CanSat 2012 CDR: Team 7634 (Garuda) 162 Presenter: Team Garuda