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CanSat 2012 PDR: Team 2134 (IEEE UCSD)1 CanSat 2012 Preliminary Design Review Team 2134 - IEEE UCSD.

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Presentation on theme: "CanSat 2012 PDR: Team 2134 (IEEE UCSD)1 CanSat 2012 Preliminary Design Review Team 2134 - IEEE UCSD."— Presentation transcript:

1 CanSat 2012 PDR: Team 2134 (IEEE UCSD)1 CanSat 2012 Preliminary Design Review Team IEEE UCSD

2 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 2 Presenter: Chris Warren Presentation Outline Introduction / Team Organization Chris Warren Systems Overview Chris Warren, Jeff Wurzbach Sensor Subsystem Design Alex Forencich Descent Control Design Jeff Wurzbach Mechanical Subsystem Design Jeff Wurzbach Communication and Data Handling Subsystem Design Alex Forencich Electrical Power Subsystem Design Alex Forencich Flight Software Design Chris Warren, Alex Forencich Ground Control System Design Chris Warren, Alex Forencich CanSat Integration and Test Jeff Wurzbach Mission Operations & Analysis Chris Warren Management Chris Warren

3 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 3 Team Organization Presenter: Chris Warren

4 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 4 Acronyms Presenter: Chris Warren AGL – Above Ground Level BPS – Barometric Pressure Sensor CAN – CanSat System CAR – Carrier Subsystem DCS – Descent Control System IMU – Inertial Measurement System LAN – Lander Subsystem MCU – Microcontroller Unit PCBA – Printed Circuit Board Assembly RTV – Room-temperature Vulcanizing Rubber FSW – Flight Software GSW – Ground Station Software OTA – Over the Air GCS –Ground Control Station

5 CanSat 2012 PDR: Team 2134 (IEEE UCSD)5 Systems Overview Chris Warren Jeff Wurzbach

6 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 6 Mission Summary CanSat Objectives – Successfully leave the Payload Envelope of the rocket – Record and transmit telemetry every two seconds – Passively control descent rate as specified – Autonomously seperate into Carrier and Lander units at 91 meters above the ground Carrier Objectives – Maintain a descent rate of 5 meters per second – Record atmospheric and position data onboard – Send recorded telemetry data to ground station Lander Objectives – Maintain a descent rate of 5 meters per second – Record atmospheric and position data onboard – Land a large grade A hen's egg safely Presenters: Chris Warren Jeff Wurzbach

7 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 7 Mission Summary (cont'd.) Selectable Objective – Lander shall measure the force of impact on the ground at a sampling rate of 100 Hz – This data will be stored onboard for post-processing – Due to space and weight constraints, this is the easiest bonus objective to attempt External Objectives – As a team, we wish to release as much open-source data, programming, and other system information as possible – We will publish information and experimental findings that proved to be important and useful in our project – This will serve as an aid and inspiration for other individuals/teams attempting similar system objectives Presenters: Chris Warren Jeff Wurzbach

8 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 8 System Requirements – Cansat Mission Presenters: Chris Warren Jeff Wurzbach IDRequirementRationalePriorityChildren VM AITD CAN-01 Total mass of Cansat shall not exceed 750 grams / be less than 400 grams (excluding egg) Mass is an expensive property concerning rockets and flight HIGHXX CAN-02 Cansat shall fit inside payload envelope 130mm in diameter and 152mm in length Systems will have to be constructed around space available in a transport vessel HIGHXX CAN-03 No protrusions beyond the envelope of the rocket allowed until the Cansat is deployed Many cansats fail to eject properly, this will aid in ensuring a proper ejection HIGHX CAN-04 The rocket airframe cannot be used to restrain any deployable parts of the Cansat The rocket is only for transport; systems must work independently MEDUIMX CAN-05 The rocket airframe and payload sections shall not be used as a part of Cansat operations Systems must work independentlyMEDIUMX CAN-06 The Cansat shall deploy from the rocket payload section Important to have a successful flight with proper telemetry HIGHX CAN-07 The descent control system shall not use any flammable or pyrotechnic devices We will be launching in a fire-risk areaMEDIUM CAR-06 LAN-06 DCS-04 X CAN-08 Prior to lander deployment, Cansat shall descend as a single unit Competition RequirementMEDIUMXX CAN-09 Cansat descent rate shall be 10 m/s above 200 meters AGL, and 5 m/s below 200 meters AGL Competition RequirementMEDIUM CAR-01 LAN-01 DCS-01 XXX CAN-10 The Cansat (Carrier+Lander) shall separate at an altitude of 91 meters Competition RequirementMEDIUMLAN-08XX CAN-11 All descent control systems must be capable of handling a 30G shock force The deployment of recovery parachutes could tear apart the Cansat airframe if it is not strong enough HIGH CAR-03 LAN-03 DCS-05 XX

9 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 9 System Requirements – Cansat Mission (contd.) Presenters: Chris Warren Jeff Wurzbach IDRequirementRationalePriorityChildren VM AITD CAN-12 Carrier and lander both shall include an audible locating device rated at 80dB or higher, independently powered with a dedicated power switch Cansat could be lost in the launch area after landing; audible locating is more reliable than visual in this situation HIGH CAR-09 LAN-10 X CAN-13 Cansat communications shall use the XBEE radio modules, with the NETID/PANID set to the team number, and the modules NOT in broadcast mode Reliable data handling and communications with no interference is key for this satellite flight HIGHX CAN-14 Cansat shall not transmit telemetry until commanded by the ground control station Preserves onboard memory and battery life for mission critical data MEDIUMXX CAN-15 Ground station must be developed that shall display telemetry in real-time and in engineering units Prevents messy conversions or accidental miscalculations MEDIUMX CAN-16 Ground control station antenna must be elevated a minimum of 3.5 meters Allows for clearer and more reliable radio transmissions HIGHX CAN-17 Carrier and lander both shall have battery capacity to support a one-hour delay on the launch pad as well as flight time, with an external power control There is a good chance that there will be launch delays due to wind or other events; an external power switch will allow for easy power control without tearing apart the Cansat HIGHXX CAN-18Cansat shall not use LiPo batteriesCompetition RequirementLOWX CAN-19 Cansat fight hardware budget shall be limited to $1000 All projects must work within their approved budgets MEDIUMX CAN-20 Cansat shall be launched within the assigned launch window Delays are costly, and must be avoidedMEDUIMX CAN-21 The Cansat and associated operations shall comply with all published field safety regulations Safety is key when dealing with rocket launches, projectiles, and possibly-free-falling objects HIGHXX

10 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 10 System Requirements – Carrier Presenters: Chris Warren Jeff Wurzbach IDRequirementRationalePriorityParentsChildren VM AITD CAR-01 Average descent rate of Carrier after Cansat separation shall be 5 m/s Competition RequirementMEDIUMCAN-09DCS-02XXX CAR-02 Parachutes / parafoils shall be florescent pink or orange Aids visibility of the Carrier when in the skyMEDIUMDCS-06X CAR-03 Structure must support 10G acceleration force and 30G shock force, with the descent control attachment points to be easily inspected Structure must not deform under expected launch, flight, and descent forces HIGHCAN-11XXX CAR-04 Mechanisms must be able to maintain their configuration under any loading Structure must maintain its configuration in order to reliably work HIGHXXX CAR-05 All electronic circuit boards must be properly mounted and enclosed/shielded from the environment Proper design and mounting of PCBs will ensure reliable electronic functioning MEDIUMX CAR-06 Mechanisms must not use pyrotechnics or chemicals, and any use of heat must not be exposed to the outside environment We are operating in a fire-risk area; safety is key HIGHCAN-07X CAR-07 Contact information and identifying marks must be places on the Carrier structure In case the Carrier travels off-range, there is more of a chance of it being returned MEDIUMX CAR-08 Telemetry must be transmitted every two seconds, and shall consist of GPS fix data, altitude from a non-GPS sensor, air temperature, and battery voltage Telemetry data is a large part of the competition HIGHXX CAR-09 Carrier shall activate an audible beacon only following landing, and for at least three hours thereafter After landing, visual contact will most likely be lost; audible contact will be much more reliable HIGHCAN-12X

11 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 11 System Requirements – Lander Presenters: Chris Warren Jeff Wurzbach IDRequirementRationalePriorityParentsChildren VM AITD LAN-01 Average descent rate of Lander after Cansat separation shall be 5 m/s Competition RequirementMEDIUMCAN-09DCS-03XXX LAN-02 Parachutes / parafoils shall be florescent pink or orange Aids visibility of the Lander when in the skyMEDIUMDCS-06X LAN-03 Structure must support 10G acceleration force and 30G shock force, with the descent control attachment points to be easily inspected Structure must not deform under expected launch, flight, and descent forces HIGHCAN-11XXX LAN-04 Mechanisms must be able to maintain their configuration under any loading Structure must maintain its configuration in order to reliably work HIGHXXX LAN-05 All electronic circuit boards must be properly mounted and enclosed/shielded from the environment Proper design and mounting of PCBs will ensure reliable electronic functioning MEDIUMX LAN-06 Mechanisms must not use pyrotechnics or chemicals, and any use of heat must not be exposed to the outside environment We are operating in a fire-risk area; safety is key HIGHCAN-07X LAN-07 Contact information and identifying marks must be places on the Lander structure In case the Lander travels off-range, there is more of a chance of it being returned MEDIUMX LAN-08 Lander shall safely land a single large Grade A egg from 91 meters AGL Competition RequirementHIGHCAN-10XXX LAN-09 Lander shall measure the force of impact with the ground at a rate of 100 Hz, with data stored onboard Bonus Objective HIGHXX LAN-10 Lander shall activate an audible beacon only following landing, and for at least three hours thereafter After landing, visual contact will most likely be lost; audible contact will be much more reliable HIGHCAN-12X

12 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 12 System Level CanSat Configuration Trade & Selection Stacked Module Design (Selected) Proven design Easily constructed Lower risk of binding during release phase 360° antenna coverage is straight forward to accomplish Sliding Module Design (Not used) Simple retention mechanism Higher sensitivity to tolerance stack up and misalignment Possible antenna occlusion due to asymmetric design Concentric Module Design (Not used) High complexity geometry Requires exotic PCB substrate to accommodate electronics If designed correctly center of mass will not change dramatically after release Parachute mount to inner module is simple, the outer module mount is comparatively complex Presenters: Chris Warren Jeff Wurzbach

13 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 13 System Concept of Operations Presenters: Chris Warren Jeff Wurzbach Pre-Launch Cansat will listen to XBEE, waiting for ground station to signal telemetry start Sleep MCU SENSOR (IMU / BPS / TMP) GPS Lander Carrier OFF BUZZ XBEE Active MCU SENSOR (IMU / BPS / TMP) GPS OFF BUZZ XBEE Active Sleep Active

14 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 14 System Concept of Operations (contd) Presenters: Chris Warren Jeff Wurzbach Launch MCU will cycle, pulling necessary information from SENSOR package. Data retrieval and storage will be interrupt-based Sleep Active MCU SENSOR (IMU / BPS / TMP) GPS Active Lander Carrier OFF BUZZ XBEE Active MCU SENSOR (IMU / BPS / TMP) GPS Active OFF BUZZ XBEE Active Carrier and Lander will have near-exact flight hardware. Telemetry data from both units will be separated and parsed by the ground station

15 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 15 System Concept of Operations (contd) Presenters: Chris Warren Jeff Wurzbach Apex / Deployment SENSOR data still polled, stored onboard, and sent via XBEE Sleep Active MCU SENSOR (IMU / BPS / TMP) GPS Active Lander Carrier OFF BUZZ XBEE Active MCU SENSOR (IMU / BPS / TMP) GPS Active OFF BUZZ XBEE Active CanSat will fall out of payload envelope. Drag chute (resting inside payload bay) will release, keeping CanSat at required descent rate

16 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 16 System Concept of Operations (contd) Presenters: Chris Warren Jeff Wurzbach Descent A SENSOR data still polled, stored onboard, and sent via XBEE. Sleep Active MCU SENSOR (IMU / BPS / TMP) GPS Active Lander Carrier OFF BUZZ XBEE Active MCU SENSOR (IMU / BPS / TMP) GPS Active OFF BUZZ XBEE Active Once altitude transitions past 200 meters AGL, the secondary drag chute attached to the Carrier will be released BPS pressure altitude will be monitored

17 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 17 System Concept of Operations (contd) Presenters: Chris Warren Jeff Wurzbach Lander Carrier Descent B SENSOR data still polled, stored onboard, and sent via XBEE. Once altitude transitions past 91 meters AGL, the Carrier and Lander will separate BPS pressure altitude will be monitored Active MCU SENSOR (IMU / BPS / TMP) GPS Active OFF BUZZ XBEE Active MCU SENSOR (IMU / BPS / TMP) GPS Active OFF BUZZ XBEE Active Lander chute will deploy during separation

18 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 18 System Concept of Operations (contd) Presenters: Chris Warren Jeff Wurzbach Lander Carrier Landing / Post-flight SENSOR data still polled, stored onboard, and sent via XBEE. IMU (containing the accelerometer) will be monitored at 100 Hz Sleep MCU SENSOR (IMU / BPS / TMP) GPS Active ON BUZZ XBEE Sleep Active Sleep MCU SENSOR (IMU / BPS / TMP) GPS Active ON BUZZ XBEE Sleep Active After impact data is stored, Buzzer will be turned on, sensor package will be turned off, and the MCU and XBEE will sleep OFF ON MCU and XBEE will wake periodically to ping the ground station

19 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 19 Physical Layout Presenters: Chris Warren Jeff Wurzbach Isometric view of the Complete CanSat (covers not shown) Sectioned Front view of the Complete CanSat (covers not shown) 127mm 145mm

20 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 20 Physical Layout Presenters: Chris Warren Jeff Wurzbach Carrier (cover not shown)Lander (cover not shown)

21 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 21 Physical Layout Presenters: Chris Warren Jeff Wurzbach Front view of Carrier (cover shown)Carrier (cover shown) Note: Lander cover design is incomplete.

22 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 22 Launch Vehicle Compatibility CanSat (Carrier + Lander) will be inserted into the payload envelope upside-down, with the initial drag chute closest to the base of the rocket stack This allows the CanSat to fall out in the proper orientation The CanSat dimensions will be within the required envelope, and will have a factor of safety built in such that the CanSat will fall out smoothly 127mm 145mm We have ordered and received a LOC/Precision Minie-Magg rocket body We will use this prior to our flight to ensure proper CanSat – Rocket integration and fit Presenters: Chris Warren Jeff Wurzbach

23 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 23 Launch Vehicle Compatibility Presenters: Chris Warren Jeff Wurzbach This rendering shows the Cansat assembly inside the specified reference payload envelope

24 CanSat 2012 PDR: Team ### (Team Name)24 Sensor Subsystem Design Alex Forencich

25 CanSat 2012 PDR: Team ### (Team Name) 25 Sensor Subsystem Overview Presenter: Name goes here SubsystemComponent ChosenPurpose ALTDEV-100/BMP085Measure barometric pressure TEMDEV-100/BMP085Measure open-air temperature ACLDEV-100/ADXL345Measure acceleration GYRDEV-100/ITG-3200Measure rotation rate MAGDEV-100/HMC5883LMeasure heading GPSMT3329Calculate Altitude, Latitude, Longitude, and Time SCPDEV- 100/ATMEGA328P Coprocessor to assist in sensor data acquision and processing

26 CanSat 2012 PDR: Team ### (Team Name) 26 Sensor Subsystem Requirements Presenter: Name goes here IDRequirementRationalePriorityParent VM AITD SEN-01Telemetry shall be displayed at GCSCompetition requirementHIGH X X SEN-02Position shall be recorded via GPSCompetition requirementHIGH SEN-01 X SEN-02 Altitude shall be recorded via non-GPS sensor Competition requirementHIGH SEN-01 X SEN-03Air temperature shall be recordedCompetition requirementHIGH SEN-01 X SEN-04 Accelerometer shall measure impact force Competition requirementHIGH X SEN-05 Accelerometer shall be sampled at a minimum of 100 Hz Competition requirementHIGH X SEN-06GPS shall operate at 3.3 voltsHardware requirementMEDIUM EPS-04 XX SEN-07 IMU sensors shall operate at 3.3 volts Hardware requirementMEDIUM EPS-07 XX

27 CanSat 2012 PDR: Team ### (Team Name) 27 Carrier GPS Trade & Selection Presenter: Name goes here ModelPowerChannelsAccuracyMassFrequency MT V/42mA662.5m6g10Hz LS V/41mA6610m9g5Hz Venus634FLPx3.3V/28mA14<2.5m2g10Hz Selection: MT3329 Extremely compact and lightweight Internal antenna High update rate Binary protocol support for efficient storage and transmission of GPS data with no reprocessing

28 CanSat 2012 PDR: Team ### (Team Name) 28 Carrier Non-GPS Altitude Sensor Trade & Selection Presenter: Name goes here ModelVoltage/CurrentRangeAccuracyMassInterface BMP V/5 A 30kPa-110kPa 100Pa.09gI2CI2C MPL115A1 (3.3V or 5V)/10 A 50kPa-115kPa 1000Pa <1gSPI SCP V/25 A 30kPA-120kPa 1.5Pa <1gSPI Selection: BMP085 Extremely compact and lightweight Very accurate Built in pressure sensor Included in Mongoose IMU board

29 CanSat 2012 PDR: Team ### (Team Name) 29 Carrier Air Temperature Trade & Selection Presenter: Name goes here ModelVoltage/CurrentRangeAccuracyMassInterface BMP V/5 A -40 to +85°C±0.1°C<1gI2CI2C TMP36 (3.3V/5V)/50 A –40°C to +125°C±1°C<1gAnalog DS18B20(3.3V/5V)/NA–55°C to +125°C±0.5°C<1gDigital Selection: BMP085 Extremely compact and lightweight Very accurate Built in temperature sensor Included in Mongoose IMU board

30 CanSat 2012 PDR: Team ### (Team Name) 30 Lander Altitude Sensor Trade & Selection Presenter: Name goes here ModelVoltage/CurrentRangeAccuracyMassInterface BMP V/5 A 30kPa-110kPa 100Pa.09gI2CI2C MPL115A1 (3.3V or 5V)/10 A 50kPa-115kPa 1000Pa <1gSPI SCP V/25 A 30kPA-120kPa 1.5Pa <1gSPI Selection: BMP085 Extremely compact and lightweight Very accurate Built in pressure sensor Included in Mongoose IMU board

31 CanSat 2012 PDR: Team ### (Team Name) 31 Presenter: Name goes here Lander Impact Force Sensor Trade & Selection ModelVoltageCurrent (active/sleep) RangeFrequencyInterface ADXL3453.3V 40 A/.1 A 2, 4,8,16g 3200HzI2CI2C MMA V 440 A /3 A 1.5, 6g 400Hz (x,y) 300Hz (z) Analog SCA V A No Sleep Mode 2g 300HzSPI ADXL3203.3V/5.0V A No Sleep Mode 5g 500HzAnalog Selection: ADXL345 Extremely compact and lightweight Very accurate Included in Mongoose IMU board

32 CanSat 2012 PDR: Team 2134 (IEEE UCSD)32 Descent Control Design Jeff Wurzbach

33 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 33 Descent Control Overview Presenter: Jeff Wurzbach Carrier and Lander descent control will be accomplished with a parachute. A hemispherical or an elliptical configuration shall be used ration to minimize mass, material, and volume. A spill hole may be used for improved stability. Rip-stop Nylon fabric will be used cut into gores and stitched into desired geometry. Nylon cords will be used for suspension lines

34 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 34 Descent Control Requirements Presenter: Jeff Wurzbach IDRequirementRationalePriorityParentsChildren VM AITD DCS-01 CanSat descent rate shall be 10 m/s above 200 meters AGL, 5 m/s below 200 meters AGL Competition RequirementMEDIUMCAN-09XX DCS-02 Carrier descent rate shall be 5m/s after separation Competition RequirementMEDIUMCAR-01XX DCS-03 Lander descent rate shall be 5m/s below 91 meters AGL Competition RequirementMEDIUMLAN-01XX DCS-04 Descent control system shall not use and flammable or pyrotechnic devices Safety is key, as we are launching in a fire- risk area HIGHCAN-07X DCS-05 All descent control systems must be capable of handling a 30G shock force The deployment of parachutes must not teat apart the CanSat structure HIGHCAN-11XX DCS-06 Parachutes / parafoils shall be florescent pink or orange High visibility of descending carrier and lander MEDIUM CAR-02 LAN-02 X

35 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 35 Carrier Descent Control Strategy Selection and Trade Material Selection – Rip Stop Nylon Lightweight Strong– proven to hold up humans when skydiving Easy to work with Bright orange is easily procured We used nylon in last years competition Parachute design performed marginally well Flaws in last years implementation Edges of the parachute crept up the shroud lines Packing error caused the canopies to collapse during release phase Using data / experience from last year to design and fabricate higher performance descent control parachutes Presenter: Jeff Wurzbach

36 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 36 Lander Descent Control Strategy Selection and Trade Using Rip Stop Nylon for Lander descent control It makes sense for us to use only one material Simplifies manufacturability Nylon, as stated before, is proven to work Bright pink selected for Lander descent control parachute Presenter: Jeff Wurzbach

37 Descent Rate Estimates Assumptions Maximum system mass of 750 g Mass split equally between Carrier and Lander Mass of egg neglected for estimations Pieces falling at terminal velocity Air density at standard temperature and pressure Configurations Estimates Since mass of Carrier + Lander is double that of just the Carrier (or Lander), we can assume that the descent speed of the combined configuration is double that of the single pieces CanSat 2012 PDR: Team 2134 (IEEE UCSD) 37 Presenter: Jeff Wurzbach

38 Descent Rate Estimates (contd) Thus, we have decided to use the same parachute for both halves of the Cansat assembly This will simplify design and manufacturability However, since our CAD model has not yet been refined, we have not focused on nailing down the descent control design The governing equations for parachute decent are well documented The final mass budget we get from our final CAD design will drive those equations, the solution of which will be our finalized parachute design All we really need is the parachute dimensions from those equations to move forward CanSat 2012 PDR: Team 2134 (IEEE UCSD) 38 Presenter: Jeff Wurzbach

39 Descent Rate Estimates (contd) CanSat 2012 PDR: Team 2134 (IEEE UCSD) 39 Presenter: Jeff Wurzbach

40 CanSat 2012 PDR: Team 2134 (IEEE UCSD)40 Mechanical Subsystem Design Jeff Wurzbach

41 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 41 Mechanical Subsystem Overview Summary Carrier design overview Lander design overview Egg Container and Protection System overview PCBAs and electrical components Material Selections Presenter: Jeff Wurzbach

42 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 42 Mechanical System Requirements Presenter: Jeff Wurzbach IDRequirementRationalePriorityParentsChildren VM AITD MEC-01 Structure must support a 10G load The Cansat must not deform; it must stay strong throughout the mission HIGHXXX MEC-02 Structure must support a 30G shock force Parchute deployment can be violentHIGHXXX MEC-03 Structure must have an enclosure Protects electronic components; adds strength MEDIUMX MEC-04 Cansat structure must have a mass between 400 and 750 grams Mass is a valuble resource in space misions HIGHX

43 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 43 Lander Egg Protection Trade & Selection Selection: Neoprene Rubber and Expanding Foam (formed in the field, around egg to be launched) Presenter: Jeff Wurzbach MaterialCostWeightComments Closed Cell Foam (thin)MediumLowObserved effectiveness is low (used in last years scheme) Neoprene RubberHigh Whole sheets are very costly Polystyrene BeadsN/A (left over from last year)LowObserved effectiveness is low Expanding FoamMedium-HighMediumExpanding foam to be contained so that it does not stick to the egg or container the egg is in. Peanut ButterLowHighAlmost as dense as water. Eliminated as the primary cushion material due to high density

44 44 Mechanical Layout of Components Trade & Selection Principle metric for judging materials is workability. This metric is key based on last years experiences of building the structures at the last minute Parts have to machine-able with the tooling we have on hand Table below shows the metrics considered and a brief description of the metric MaterialWorkabilityCostStrength/WeightOther Name of the materialOverall ease of machining and forming processes Cost of the raw material Strength of the material divided by its weight. Notes and comments CanSat 2012 PDR: Team 2134 (IEEE UCSD)Presenter: Jeff Wurzbach

45 45 Mechanical Layout of Components Trade & Selection MaterialWorkabilityCostStrength/WeightOther 6061-T6 Alloy Aluminum MediumLow-MediumMediumTears easily when bent 7075-T6 Alloy Aluminum MediumLow-MediumMediumTears easily when bent 3003 Alloy AluminumEasy-MediumLowLow-MediumUsed last year Carbon Fiber/Other Composites MediumHigh Dust is very annoying Nickel Based Alloys (such as Inconel) DifficultAstronomicalHighNo prior knowledge of working with material High Impact Polystyrene EasyLow For use on non structural parts. No prior experience with vacuum forming process Expanding FoamMedium (messy)Medium-HighN/A (used for cushioning) Expanding foam to be contained so that it does not stick to the egg or container the egg is in. Peanut ButterMedium (messy)LowN/A (used for cushioning) Almost as dense as water. CanSat 2012 PDR: Team 2134 (IEEE UCSD)Presenter: Jeff Wurzbach

46 Material Selections 3003 Aluminum sheet metal Easy to work with (machines easily, takes bends well) Readily available (carried by Home Depot and other local vendors) Good strength to weight ratio 40 mil High Impact Polystyrene Vacuum formable Allows low weight non-structural and low strength parts to be made Low density foam Low weight Easily custom formable Readily available Neoprene/similar Rubber Good shock absorption Moderate weight Augments the expanding foam 46 CanSat 2012 PDR: Team 2134 (IEEE UCSD)Presenter: Jeff Wurzbach

47 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 47 Carrier-Lander Interface Operational Model 4 locking tabs hold the lander to the carrier The carrier has a plate that turns and releases the locking tabs. There are alignment tabs and pins that ensure the Lander does not rotate with the Carrier Rotation is accomplished by rotary solenoid Considering swapping a servo in to save weight. Parachute for the lander will be stowed to the side of the lander Pulled out during the separation phase by a drag line taped to the Carrier Stowed here to prevent damage from moving parts Presenter: Jeff Wurzbach

48 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 48 Carrier-Lander Interface Parts Presenter: Jeff Wurzbach Rotary Solenoid Alignment Bracket Release Tabs Rotating Arm Lander Top Plate Carrier Parachute Foundation Mounting Nuts and Washers Planned Alignment Pins on Lander (not modeled yet)

49 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 49 Carrier-Lander Interface Operation Part Presenter: Jeff Wurzbach Planned Motion of the Solenoid and Arm

50 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 50 Carrier-Lander Interface Parachute Storage Presenter: Jeff Wurzbach Parachute wrapped around the enclosure. Drag line (yellow) taped to the bottom of the Carrier

51 Structure Survivability Trades PCBAs mounted with 4-40 hardware to core structures –Lander: Mounted to Egg Protection Cup –Carrier: Mounted to Parachute Foundation PCBAs will be covered with enclosures made from high impact polystyrene on both Lander and Carrier –Enclosures will cover entire module. Batteries adhered to PCBAs with zip tie and adhesive based RTV GPS will be secured with adhesive based RTV to top of enclosure (not modeled in CAD yet) CanSat 2012 PDR: Team 2134 (IEEE UCSD) 51 Presenter: Jeff Wurzbach

52 Structure Survivability Trades 10G Acceleration and 30G shock force verification –Conduct FEA simulations in Solidworks to verify. –Requires a more complete CAD model than we presently have. –Learning How to use the bolt and screw joint modeling feature CanSat 2012 PDR: Team 2134 (IEEE UCSD) 52 Presenter: Jeff Wurzbach

53 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 53 Mass Budget Table(s) providing the following: –Mass of all components –Mass of all structural elements –Sources/uncertainties – whether the masses are estimates, from data sheets, measured values, etc. –Total mass –Margins Must clearly distinguish between carrier and lander masses –Include allocated mass for egg payload Presenter: Jeff Wurzbach

54 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 54 Mass Budget (Carrier, Lander, Egg and Margin) Presenter: Jeff Wurzbach ModuleEstimated Mass (grams)Percent of System Mass Carrier % Lander % Margin/unallocated % Egg63.19N/A Note 1: Margin/unallocated mass accounts for parts not yet modeled. This number will change as the design matures. Note 2: Egg model was created last year. Measurements of eggs purchased in the past 30 days validates the model, with margin.

55 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 55 Mass Budget (Electronics) Presenter: Jeff Wurzbach ElectronicsEstimated Mass (grams)Notes PCBA-CPU37.18Includes CR123A Battery PCBA-Sensor37.18Includes CR123A Battery GPS15Manufacturers Website. Mass not captured in Integrated CAD model. Xbee3Manufacturers Website. Mass partially captured in Integrated CAD model. Antenna4Average mass of 4 units. PCBA-RF Power Divider2Estimate based on density of FR4 substrate and estimated dimensions of PBCA. Mass not captured in Integrated CAD model. Note: Electronics configuration is identical on the Lander and Carrier

56 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 56 Mass Budget (Wiring and Interconnects) Presenter: Jeff Wurzbach ElectronicsEstimated Mass (grams)Notes Carrier Interconnects50Target Value Lander Interconnects50Target Value Note: Final weight of interconnects will be driven by the CAD model

57 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 57 Mass Budget (Carrier Structure) Presenter: Jeff Wurzbach ElectronicsEstimated Mass (grams)Notes Baseplate54CAD Model estimate from material properties Parachute Foundation15CAD Model estimate from material properties Servo9Manufacturers Website Parachute Retention Mechanism23CAD Model estimate from material properties Release Mechanism75CAD Model estimate from material properties Antenna Bracket (x2)1.2CAD Model estimate from material properties. Given mass is for both brackets Fasteners30Target value. Not Captured in the CAD model yet Enclosure/Cover40CAD Model estimate from material properties

58 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 58 Mass Budget (Lander Structure) Presenter: Jeff Wurzbach ElectronicsEstimated Mass (grams)Notes Baseplate31CAD Model estimate from material properties Parachute Foundation16CAD Model estimate from material properties Top Plate27Manufacturers Website Release Tabs (x4)10CAD Model estimate from material properties. Mass given is for all 4 parts Antenna Bracket1CAD Model estimate from material properties Fasteners30Target value. Not Captured in the CAD model yet Enclosure/Cover40Target value. Not Captured in the CAD model yet

59 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 59 Mass Budget (Egg Protection) Presenter: Jeff Wurzbach ElectronicsEstimated Mass (grams)Notes Cover 19 CAD Model estimate from material properties Neoprene 32 CAD Model estimate from material properties Foam Half (x2) 1.7 CAD Model estimate from material properties. Given mass is for both brackets PCBA Mounts 10Target value. Not Captured in the CAD model yet

60 CanSat 2012 PDR: Team 2134 (IEEE UCSD)60 Communication and Data Handling Subsystem Design Alex Forencich

61 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 61 CDH Overview Presenter: Alex Forencich Carrier XBee Transponder XBee XMEGA processors in Carrier and Lander will packetize telemetry data for transmission via the XBee radios Transponder XMEGA will process received packets and pass them to the ground station computer via RS485 Multiple ground receive radios with overlapping antenna patterns allow for seamless sky and long range ground coverage Ground station software will format and display data in real time XMEGA Lander XBee XMEGA Ground Station Computer

62 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 62 CDH Requirements Presenter: Alex Forencich IDRequirementRationalePriorityParent VM AITD CDH-01 Radios used shall be Digi XBP24-AUI- 001 and XBP24-ASI-001 Competition requirementHIGH CAN-13 X CDH-02 Communications shall be carried out through the XBee API Necessary for robust packetized telemetryHIGH CAN-13 XXX CDH-02 XBee PAN ID shall be the team number, 2134 Competition requirement, necessary to prevent interference HIGH CAN-13X CDH-03 Telemetry data shall be transmitted at a rate of 0.5 Hz Competition requirementHIGH CAR-08 XX CDH-04 Telemetry data shall be backed up on board in real time Accurate analysis of flight dataHIGH XX CDH-05 Primary processor shall be Atmel ATXMEGA128A1 running at 32 MHz Internal oscillator and lots of serial IO for communicating with internal peripherals MEDIUM X CDH-06 Auxillary sensor processor shall be Atmel ATMEGA328P running at 16 MHz On integrated IMU board, offload sensor data acquisition and processing MEDIUM X

63 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 63 Processor & Memory Trade & Selection Selection: XMEGA128A1 for communications processing, MEGA328 for sensor processing Easy to use, widely available, open source toolchain XMEGA has numerous serial ports for comms, data acquisition, control, and logging IMU board contains an ATMEGA328, convenient for off-loading high rate sensor data acquisition and processing Interrupt support allows for easy multitasking Low power Presenter: Alex Forencich ModelVoltageClockSRAMUART / I 2 C / SPIFlash ATXMEGA128A13.3 V32 MHz8 KB8 / 4 / 4128 KB ATMEGA V16 MHz2 KB1 / 1 / 132 KB AT91SAM7X5123.3V55 MHz128 KB2 / 1 / 2512 KB

64 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 64 Carrier Antenna Trade & Selection Presenter: Alex Forencich Selection: ANT-2.4-CW-RH Very small size, light weight, economical Low gain Correct frequency band ModelGain Center F BWLengthWeight ANT-2.4-CW-RH2 dBi 2.45 GHz 80 MHz27 mm4 g GW dBi2.45 GHz50 MHz109 mmunknown W dBi2.45 GHz50 MHz128 mmunknown

65 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 65 Radio Configuration Radios will be configured in API mode Radio PAN ID will be set to the team number Radio configuration parameters will be stored in nonvolatile memory making them immune to unexpected resets Radio data frames will be encapsulated in XBee transmit request packets and sent to the XBee radio for transmission XBee radio will be connected to a buffered, interrupt driven USART in the XMEGA controller to enable efficient asynchronous transfers of packet data while allowing minimally interrupted processing Packets for transmission will be enabled or disabled based on internal mission phase selection Presenter: Alex Forencich

66 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 66 Carrier Telemetry Format Data will be sent in packet format Data frames will be encapsulated inside ZigBee packets Data frames will include high precision timestamps, source, and type information Data frames will have different formats for different sensors Data will be transmitted in binary to conserve transmitted wireless data Communication to ZigBee module will take place at baud Radio data rate will be baud Presenter: Alex Forencich

67 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 67 Activation of Telemetry Transmissions Telemetry transmissions will be controlled as part of a mission phase state machine State change will be triggered by onboard interpretation of sensor data in addition to command packets sent by the ground station software Data will be logged before and during telemetry transmission during all phases of flight Radios and sensors will enter a low power state after landing to preserve battery life Presenter: Alex Forencich

68 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 68 Locator Device Trade & Selection Selection: CEM-1203 Produces audible sound Much smaller and lighter than alternative speakers FSW onboard carrier will enable buzzer once the lander mission phase has switched from descent to landed State change should be triggered by sensor data, but could be manually actuated by a radio command Presenter: Alex Forencich ModelFrequencyImpedenceMass CEM kHz42 Ohm1.4g COM-09151Unknown8 Ohm10g ZSP99023A400 Hz-8 kHz4 Ohm>30g

69 CanSat 2012 PDR: Team 2134 (IEEE UCSD)69 Electrical Power Subsystem Design Alex Forencich

70 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 70 EPS Overview Presenter: Alex Forencich Components require 3.3 volts Chose 3.7 volt RCR123A 880 mAh Li-Ion cells 2 series cells, 7.4 volts total Components require 3.3 volts Chose 3.7 volt RCR123A 880 mAh Li-Ion cells 2 series cells, 7.4 volts total Carrier components include: XBee Radio XMEGA CPU GPS IMU 328/Acc/Gyro/BPS Temperature Sensor Release Solenoid Servo Buzzer Carrier components include: XBee Radio XMEGA CPU GPS IMU 328/Acc/Gyro/BPS Temperature Sensor Release Solenoid Servo Buzzer Lander components include: XBee Radio XMEGA CPU GPS IMU 328/Acc/Gyro/BPS Temperature Sensor Servo Buzzer Lander components include: XBee Radio XMEGA CPU GPS IMU 328/Acc/Gyro/BPS Temperature Sensor Servo Buzzer

71 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 71 EPS Requirements Presenter: Alex Forencich IDRequirementRationalePriorityParent VM AITD EPS-01 High efficiency switching regulator will generate 3.3 volts from batteries Hardware RequirementHIGH X X EPS-02XMEGA MCU shall operate at 3.3 vHardware RequirementMEDIUM EPS-01 XX EPS-03XBee radio shall operate at 3.3 vHardware RequirementMEDIUM EPS-01XX EPS-04MTK GPS shall operate at 3.3 vHardware RequirementMEDIUM EPS-01 X X EPS-05 Parachute release servo shall operate at 3.3 v Hardware RequirementMEDIUM EPS-01 X X EPS-06 Separation solenoid shall operate at 35 v provided by a step-up converter Hardware RequirementMEDIUM X X EPS-07IMU module shall operate at 3.3 vHardware RequirementMEDIUM EPS-01 XX

72 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 72 Carrier Electrical Block Diagram Carrier will be put in sleep mode with a pin actuated switch Verification will be an on board LED in addition to XBee radio packets Presenter: Alex Forencich 7.4v Li-Ion Pack 3.3 V Switcher 3.3 V Switcher XMEGA XBee IMU Micro SD Step up switcher Buzzer Servo Solenoid Actuator Solenoid Actuator

73 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 73 Lander Electrical Block Diagram Presenter: Alex Forencich Lander will be put in sleep mode with a pin actuated switch Verification will be an on board LED in addition to XBee radio packets 7.4v Li-Ion Pack 3.3 V Switcher 3.3 V Switcher XMEGA XBee IMU Micro SD Buzzer Servo

74 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 74 Power Budget Presenter: Alex Forencich DeviceSourceTyp. I (A)Max I (A)Stdby I (A) QtyTotal Typ. I Total Max ITotal Stdby I VTyp. P (W)Max P (W)Stdby P (W) xmegaLogic mega368Logic ledLogic max3468Logic adxl345Logic hmc5883lLogic Ps-itg Logic bmp085Logic XBee Radio Radio MTK GPSRadio Power figures drawn from datasheets Maximum values used for current and minimum values used for efficiency for worst case calculation Assuming radio typically transmits 50% of the time (overestimate)

75 Rail Name SourceVoltag e Efficienc y Typ. Load P Max Load P Stdby Load P Typ. PMax PStdby PTyp. Load I Max Load I Stdby Load I Logic battery Logic 3.3Logic battery Radio 3.3Logic battery SourceVoltag e Typ. PMax PStdby P Typ %Max %Stdby % Approx P Capaci ty Ah Capaci ty Wh Typ. Life (h) Max Life (h) Stdby Life (h) Approx Life Logic Battery Power Budget Power figures drawn from datasheets Maximum values used for current and minimum values used for efficiency for worst case calculation Figures include 15 minutes at max current draw, 1 hour regular telemetry transmission, and 8 hours standby CanSat 2012 PDR: Team 2134 (IEEE UCSD)Presenter: Alex Forencich 75

76 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 76 Power Source Trade & Selection Presenter: Alex Forencich ModelVoltageCapacityWeightDimensionType (CR123A)3.7 V880 mAh17 g16 x 34mmLi-ion (AA)3.7 V800 mAh16.2 g14 x 50mmLi-ion 9 volt9 V565 mAh47 g49 x 27 x 18 mmAlkaline Selection: Li-ion cell Physically short so easier to fit into CanSat body Large capacity cylindrical cell Relatively easy to obtain

77 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 77 Battery Voltage Measurement Trade & Selection Battery voltage measurements will be made with a voltage divider The output of the divider will be connected to an analog input of the XMEGA MCU ADC has 12 bits of resolution Carrier and lander use same measurement method Presenter: Alex Forencich

78 CanSat 2012 PDR: Team 2134 (IEEE UCSD)78 Flight Software Design Chris Warren Alex Forencich

79 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 79 FSW Overview FSW will be essentially the same for both the Carrier and Lander While the Carrier and Lander will function separately, the code running on each will be taking care of roughly the same things, however: The Carrier will be the only subsystem monitoring barometric pressure altitude, and will be controlling the release of drag chutes and system separation The Lander will be more of a data-logging unit, as it has no separation or chute release Lander shall record impact forces at 100 Hz FSW will be written for the Atmel XMEGA processor –Based off of the C programming language Presenters: Chris Warren Alex Forencich

80 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 80 FSW Requirements Presenters: Chris Warren Alex Forencich IDRequirementRationalePriorityParentsChildren VM AITD FSW-01 Software shall control the gathering and sending of telemetry data over the Zigbee protocol CARRIER ONLY – Competition Requirement; Ensures the availability of necessary flight data HIGHXXX FSW-02 Software shall store any telemetry data onboard for post-processing and risk reduction Storing the data sent to ground onboard as well reduces the risk of lost flight data HIGHXXX FSW-03 Software shall control the release and control of descent control methods Control of descent speed is necessary for a successful flight HIGHXXX FSW-04 Software shall measure impact force at a rate of 100 Hz LANDER ONLY – This is our chosen bonus objective MEDIUMXXX FSW-05 Both instances of software (Carrier and Lander) shall operate independently and autonomously Following the physical separation of subsystems, the Carrier and Lander must operate on their own for the flight to be a success HIGHXXX

81 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 81 CanSat FSW Overview Presenters: Chris Warren Alex Forencich Our plan for the flight software is an interrupt-driven state machine It isnt terribly efficient to outline this program style with a standard flowchart This state machine will change its behavior based mainly on its altitude read from the pressure sensor It will also begin its flight sequence from a command sent from the ground control station to initialize telemetry

82 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 82 Carrier CanSat FSW Overview Presenters: Chris Warren Alex Forencich The Carrier FSW states are as follows: Pre-Launch Carrier listens for Telemetry Go signal from ground station Launch Carrier polls sensor packages for GPS location, pressure altitude and other telemetry Deployment Sensors are still polled, Carrier now waits for pressure altitude checkpoints Descent Carrier releases main descent chute at 200 meters AGL Carrier separates from Lander at 91 meters AGL Landing / Post-Flight Sensor data continues to be polled until landing on ground Carrier will then relay the final GPS location, turn on the buzzer, and go into sleep mode waiting for signals from ground station

83 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 83 Lander CanSat FSW Overview Presenters: Chris Warren Alex Forencich The Lander FSW states are as follows: Pre-Launch Lander listens for Telemetry Go signal from ground station Launch Lander polls sensor packages for GPS location, pressure altitude and other telemetry – sensor packages are polled continuously until the Landing / Post- Flight state Deployment Sensors are still polled Descent Sensors are still polled Landing / Post-Flight Sensor data continues to be polled until landing on ground Lander records impact force data at 100 Hz and stores data onboard Lander will then relay the final GPS location, turn on the buzzer, and go into sleep mode waiting for signals from ground station

84 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 84 Software Development Plan We are already in the process of writing our flight software We have obtained and are using XMEGA development boards to test and prototype our code We are using Git as source control to allow team members to write, edit, and maintain our software independentlya We plan to test our code after major changes Tests will occur many times throughout our software development stage Presenters: Chris Warren Alex Forencich

85 CanSat 2012 PDR: Team 2134 (IEEE UCSD)85 Ground Control System Design Chris Warren Alex Forencich

86 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 86 GCS Overview Presenters: Chris Warren Alex Forencich

87 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 87 GCS Requirements Presenters: Chris Warren Alex Forencich IDRequirementRationalePriorityParentsChildren VM AITD GCS-01 Antenna shall be 3.5 meters above the ground (or greater) Allows for clearer / more reliable signal transmission HIGHXX GCS-02 Communications shall use the XBEE module, with PANID set to the team number Prevents crosstalk between different teams / systems HIGHXX GCS-03 GCS User Interface will allow for real- time viewing of telemetry data The ability to view real-time data allows for a better understanding of the mission at hand MEDIUMX GCS-04 GCS will communicate with both the Carrier and Lander units Gives a better picture of the mission by capturing data from two sources MEDIUMX

88 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 88 GCS Antenna Trade & Selection Presenters: Chris Warren Alex Forencich The antenna mast will consist of 1.5 (diameter) fiberglass/aluminum poles in 4 foot sections This is easily obtainable from various military surplus sources The mast will be feet tall We will use three antennas One 3dBi antenna One 8dBi antenna One patch antenna We have chosen these three antennas due to the various signal ranges and strengths they give us We will be able to automatically select the strongest signal

89 GCS Software Telemetry will be displayed via live graphs drawn on screen No commercial packages will be used in the GCS We wish to keep this design purely open-source Allows more fine control of our software Data from the antenna array will be directly logged to SD card Data will also be logged to a simple text file on the laptop(s) Command interface will be built into the telemetry viewer and data logger We wish to create a unified user interface CanSat 2012 PDR: Team 2134 (IEEE UCSD) 89 Presenters: Chris Warren Alex Forencich

90 CanSat 2012 PDR: Team ### (Team Name)90 CanSat Integration and Test Jeff Wurzbach

91 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 91 CanSat Integration and Test Overview 3D CAD Model integration prior to fabrication of parts Integrated system tests on flight unit representative parts Testing of flight representative radio configurations with ground station setup (small scale tests have been completed already). Long term (hours to days) testing of software systems to ensure stability Progressive testing during production to ensure problems are identified prior to installation into CanSat. Design reuse wherever possible Presenter: Jeff Wurzbach

92 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 92 CanSat Integration and Test System and Subsystem Integration Systems Integration prior to fabrication via In the box design Design system in Solidworks prior to fabrication and detailed design of the flight PCBAs to ensure that all components fit and mass budgets are observed 3D CAD allows immediate feedback on system level impacts of changes Use/Creation of accurate 3D models in Solidworks ensures that our team meets specs Proven method used last year and by other IEEE UCSD projects Design validated as a whole before production begins via simulations in Solidworks Technical Drawings made for dimensional verification of fabricated parts to the 3D CAD model. Parallel development of hardware and software systems by using non-flight unit prototypes Identifies electronic interface issues before long lead items are purchased. Presenter: Jeff Wurzbach

93 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 93 CanSat Integration and Test Integrated System testing Fully Integrated System Testing Drop testingDrop Cansat from 6 th floor Service elevator balcony down to the east loading dock (6+ story drop) Checkout operation of separation method Checkout operation of main parachute retainer Checkout landing software sequence Overall structural checkout of design Long distance radio testing Setup Ground station mast on Warren field Move CanSat away from mast until the connection drops. Presenter: Jeff Wurzbach

94 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 94 CanSat Integration and Test Module/Major Subassembly Level Testing Module Level Testing Assembled modules tested for basic functionality prior to integration into CanSat Assembly Each module to be drop tested to ensure that each DCS performs as expected GPS testing accom plished by long term logging tests (road trip). Major Subassembly Testing Shared configuration of electronics between Lander and Carrier Sensors system tested for electrical functionality after soldering into PCBA Software tested by running the system for long periods to verify logging tests, long term system stability (no counter overflows, etc), and battery life testing. Software updates can be completed OTA using xboot boot loader xboot installed on all microcontrollers in the system (flight and ground) Presenter: Jeff Wurzbach

95 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 95 CanSat Integration and Test Test Equipment Electronics testing accomplished with standard test equipment Oscilloscope Voltmeter Debugging terminal on computer Mechanical parts verified via measurement and inspection against CAD model Calipers Ruler Scale Many tests can be completed with sensors on board the CanSat modules. Data logging code within FSW is already verified GPS testing is underway Presenter: Jeff Wurzbach

96 CanSat 2012 PDR: Team 2134 (IEEE UCSD)96 Mission Operations & Analysis Chris Warren

97 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 97 Overview of Mission Sequence of Events Arrive at launch Site Check in with Flight Line Judge –Weigh Cansat –Perform fit-check of CanSat using sample payload –Receive Egg –Receive Rocket Payload Prep and test CanSat for flight Wait for launch window –Request flight from Flight Coordinator Set up CanSat on launch pad Give Flight Coordinator GO for launch Monitor Telemetry of descent following Rocket Separation Update Flight Day scoring card Coordinate CanSat recovery with Flight Line judge and Field judges –Recover CanSat ONLY when final approval is given by Field judge Presenter: Chris Warren

98 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 98 Mission Operations Manual Development Plan Development of our Operations Manual has only somewhat begun We have only included the basic launch day requirements and activities included in the Competition Guidelines As the team progresses through our final design plans and begins on the testing, verification, and manufacture phases of this project, we will add to our Operations Manual any interesting, important, and/or useful things we come across Ideally, by our demo flight, the Operations Manual will be the ultimate guide to running, repairing, and managing our project This ultimate guide will be a great addition to our plan to release our project data as open-source Presenter: Chris Warren

99 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 99 CanSat Location and Recovery Upon landing onboard buzzers will activate for 3 hours Carrier can be found by the last GPS location transmitted over the Xbee radios While one team member stays behind at the ground station, two people will become scouts, using any data relayed over handheld/shortwave radios Presenter: Chris Warren

100 CanSat 2012 PDR: Team 2134 (IEEE UCSD)100 Management Chris Warren

101 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 101 CanSat Budget – Hardware Presenter: Chris Warren ModelCost (US Dollars) SCP1000 (x2) CR123A (x4) 8.00 Buzzer (x2) IMU (x2) XBEE Module (x2) GPS Module (x2) Power divider (RF) (x2) Casing (exterior)UNK Micro-servo12.00 Casing (other)50.00 (allocated) Descent Control50.00 (allocated) Egg Protection20.00 (allocated) Custom PCB Total:644.00

102 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 102 CanSat Budget – Other Costs Presenter: Chris Warren ItemCost (US Dollars) XBEE Modules$70.00 Antenna$30.00 Computers$0.00 Software$0.00 Miscellaneous Other$50.00 Total$ ItemCost (US Dollars) Flight Hotel and Car$2400 (Estimate) Food$720 (Estimate) Prototyping$400 (Estimate) Total$3520 (Estimate) Ground Station Costs Travel and Other Costs Total BudgetCost (US Dollars) Cansat$644 Ground Station$150 Travel & Other$3520 Total$4314 Total Budget Costs

103 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 103 Program Schedule Presenter: Chris Warren

104 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 104 Program Schedule (contd) Presenter: Chris Warren

105 CanSat 2012 PDR: Team 2134 (IEEE UCSD) 105 Conclusions Major Accomplishments Mechanical design is essentially finalized Only a few minor details need to be worked out before we enter the prototyping and manufacturing phases Radio communications are proven in the lab Need trials in the field to test fully Major Unfinished Work Need to finalize plans for descent control Need to work on flight software Need to finalize the design, and test, our ground station setup Why Were Ready for The Next Step We have a very dedicated team Energy and motivation to move forward We have the history and experience to take this project to the next level and beyond Presenter: Chris Warren


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