1. Project ASCEND! Embry-Riddle Aeronautical University Spring 2014

2. Team Organization Ankit Jain: Project Manager Ben Anderson: Assistant Project Manager Patrick Deskin: System Integrator Brigette Cochran: Software Engineer Dallas Hodge: Hardware Engineer Austin Leonard: Structural Engineer Loren Williams: Structural Engineer

3. Presentation Overview Project Overview Attitude Determination Computer Aided Design (CAD) Rapid Prototyping Fabrication Hardware Software System Integration Acknowledgments

4. Project Overview Accurate Attitude Determination Real-Time Implementation PCB Manufacturing 26-sided Structure Booms for Stabilization Standard Clamp Rod Attachment

5. Attitude Determination Ankit Jain – Project Manager

6. Attitude Determination 23 solar panels as sun sensors IMU consisting of a 3-axis rate gyroscope and 3-axis accelerometer Rate gyroscope data is integrated Each time step, the integration is initialized with a quaternion solved using Wahba’s Problem between two independent vector measurements

7. CAD & Rapid Prototyping Ben Anderson – Assistant Project Manager

8. Early CAD Design CATIA V5 R17

9. Final CAD Design

10. Rapid Prototyping

11. Fabrication Austin Leonard – Structural Engineer

12. Fabrication Bidirectional Carbon NOMEX Honeycomb 2/10” Styrofoam Insulation Lexan Plate for Camera Window

13. Fabrication Epoxy Fiberglass Reinforcement Microballoons Velcro Door Mechanism

14. Hardware & Software Brigette Cochran – Software Engineer

15. Hardware Microcontroller: TI-LM4F120XL IMU: Pololu AltIMU 10-DOF Solar Panels: Powerfilm Solar sponsored Printed Circuit Board (PCB) o Opamps for signal amplification o Multiplexers for multiple solar panel implementation o Power & Pin Routing

16. Hardware Pololu IMU EK-LM4F120XL

17. Software Programming Platform: Code Composer Studio Programming Language: C o Widely supported across Microprocessors Desired Features: o Real-Time Implementation o Analog to Digital Converter (ADC) o I 2 C o External SD via SPI

18. Software

19. Current Software / Hardware Dr. Isenberg’s Data logging system utilizing a PIC Processor 3.3V and 5V Power Regulators IMU Board PCB - ExpressPCB Video Recorder Data Analysis: MATLAB

20. System Integration & Future Recommendations Patrick Deskin – System Integrator

21. System Integration Brought together component subsystems into whole Made sure that the subsystems functioned together properly Wiring configuration of the solar panels Sun Vector Determination

22. Future Developments Recruit more software engineers Debug I 2 C Complete external SD & file system Real-time implementation Moving to C++ for Libraries Containing Array Math Attitude Control

23. Acknowledgements Jack Crabtree & ANSR - ERAU Dr. Gary Yale - ERAU Dr. Douglas Isenberg - ERAU Jim Weber – ERAU Dr. Brian Davis - ERAU Patrick David - ERAU Chris Smith – ERAU Ben Ellefson – Powerfilm Solar NASA Space Grant Interns