cansat2015_3976_cdr_v02

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CanSat 2015

Critical Design Review (CDR)Version 2.0TEAM 3976

NEBULA

CanSat 2015 CDR: Team 3976 NEBULA

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Presentation Outline

Presenter: Osman Mirza Demircan CanSat 2015 CDR: Team 3976 (NEBULA)

• System Overview - Osman Mirza Demircan

• Sensor Subsystem Design - Fırat Dağkıran

• Descent Control Design - Ahmet Serkan Altınok

• Mechanical Subsystem Design - Osman Mirza Demircan

• Communication and Data Handling Design - Fırat Dağkıran

• Electrical-Power Subsystem Design - Fırat Dağkıran

• Flight Software Design - Ahmet Bayram

• Ground Control System - Muhammed Ali Kul

• CanSat Integration and Test - Gamze Gökmen

• Mission Operations & Analysis - Kutay Çetin

• Requirements Compliance - Gamze Gökmen

• Management - Muhammed Ali Kul

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Team Organization

CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Osman Mirza Demircan

Surname Name Department Year of Study

Aktaş Rozerin Computer Engineering Sophomore

Altınok Ahmet Serkan Aeronautical Engineering Junior

Bayram Ahmet Astronautical Engineering Junior

Çetin Kutay Aeronautical Engineering Junior

Dağkıran Fırat Electrical & Electronics Engineering Junior

Demir Oğuzhan Aeronautical Engineering Junior

Demircan Osman Mirza Aeronautical Engineering Junior

Gökmen Gamze Astronautical Engineering Junior

Kul Muhammed Ali Astronautical Engineering Junior

Yıldız Ahmet Astronautical Engineering Freshman

All members are undergraduate students at the University of Turkish Aeronautical Asssociation.

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Team Organization

CanSat 2015 CDR: Team 3976 (NEBULA)

Team Lead

Osman Mirza Demircan

Mechanical Systems Lead


Ahmet Serkan Altınok

Oğuzhan Demir

Ahmet Yıldız

Electronics & Flight Software Lead

Fırat Dağkıran

Ahmet Bayram

Rozerin Aktaş

Mission Operations &

System Testing Lead

Gamze Gökmen


Kutay Çetin

Telecommunication &

Ground Station Lead

Muhammed Ali Kul

Ahmet Bayram

Faculty Advisor

Assoc. Prof. Nevsan Şengil

Logistics Management

Muhammed Ali Kul

Presenter: Osman Mirza Demircan

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Acronyms


• A : Analysis

• ADC : Analog Digital Converter

• ALT : Altitude

• C : Container

• CAM : Video Camera

• CDH : Communication and Data Handling

Requirement

• D : Demonstration

• DCR : Descent Control System Requirement

• DCS : Descent Control System

• EEPROM : Electronically Erasable Programmable Read-

Only Memory

• EPR : Electrical Power System Requirement

• EPS : Electrical Power System

• FSR : Flight Software Requirement

• FSW : Flight Software

• GCS : Ground Control System Requirement

• GS : Ground Station

• I : Inspection

• I2C : Inter-Integrated Circuit

• MCU : Microcontroller

• MR : Mechanical System Requirement

• P : Payload

• PDR : Preliminary Design Review

• PFR : Preflight Review

• PRM : Payload Release Mechanism

• RTC : Real-Time Clock

• RF : Radio Frequency

• SEN : Sensor Subsystem Requirement

• SPI : Serial Peripheral Interface

• SR : System Requirement

• T : Test

• VM : Verification Method

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System Overview

Osman Mirza DEMİRCAN


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Mission Summary


• Mission Objectives– Simulating a payload* traveling through a planetary atmosphere sampling and sending

telemetry data to the ground during descent.

– Separating the payload from the container** at the right moment.

– Recording the descent of the payload in the nadir.

– Preventing the video image from rotating more than 90 degrees.

– Storing telemetry and video image for recovery and inspection after landing.

– Transporting an egg*** inside the payload.

– Assuring the safety of the container, the payload and its components from launch tolanding.

• Bonus ObjectiveSelection: Using a three-axis accelerometer to measure the stability and angle of descent ofthe payload. Sampling at appropriate rate and store data for later retrieval.

Rationale: It will tell us the descent velocity ters of the science vehicle and give an idea aboutits stability parameters.

• External ObjectiveAcquiring the needed experience for future projects of Nebula Space Systems Society.

* «The science vehicle» is simply referred to as «the payload» throughout this CDR

** «The re-entry container» is simply referred to as «the container» throughout this CDR

*** «The large raw hen’s egg» is simply referred to as «the egg» throughout this CDR

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(If You Want) Summary of Changes Since PDR

• Container body is reinforced with better structure

• Payload structure is modified for better area usage and functionality

• 4 more blades are considered for the autogyro mechanism

• Stability rod is removed

• Placement of the egg has changed

• Electronics are not all together anymore

• Placement of each electronic component is decided

• Major FSW codes are finished and tested

• Manufacturing processes are decided and explained

• Testing environments are decided and explained

• Most of the CanSat components are ordered

• University’s lab equipments are at our disposal

• Sponsorship applications started

8CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Osman Mirza Demircan

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(If You Want) System Requirement Summary


ID Requirement Rationale Priority ChildrenVM

A I T D

SR01Total mass of the CanSat (Container and Science Vehicle) shall

be 600 grams +/- 10 grams not including the egg.

Competition

RequirementHigh X X

SR02

The Science Vehicle shall be completely contained in the

Container. No part of the Science Vehicle may extend beyond

the Container.

Competition

RequirementHigh MR01 X

SR03

The Container shall fit in the envelope of 125 mm x 310 mm

including the Container passive descent control system.

Tolerances are to be included to facilitate Container deployment

from the rocket fairing.

Competition


SR04

The Container shall use a passive descent control system. It

cannot free fall. A parachute is allowed and highly

recommended. Include a spill hole to reduce swaying.

Competition

RequirementHigh DCR01 X

SR05 The Container shall be a florescent color, pink or orange.Competition

RequirementLow X

SR06The rocket air frame shall not be used to restrain any

deployable parts of the CanSat.

Competition

Requirement High X

SR07The rocket air frame shall not be used as part of the CanSat

operations.

Competition

RequirementHigh X X

SR08The CanSat (Container and Science Vehicle) shall deploy from

the rocket payload section.

Competition

RequirementHigh X

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A I T D

SR09

The Container or Science Vehicle shall include electronics and

mechanisms to determine the best conditions to release the

Science Vehicle based on stability and pointing. It is up to the

team to determine appropriate conditions for releasing the

Science Vehicle.

Competition

RequirementHigh SEN01 X X X X

SR10

The Science Vehicle shall use a helicopter recovery system.

The blades must rotate. No fabric or other materials are allowed

between the blades.

Competition

RequirementHigh DCR02 X X

SR11All electronic components shall be enclosed and shielded from

the environment with the exception of sensors.

Competition

RequirementLow MR04 X

SR12All electronics shall be hard mounted using proper mounts such

as standoffs, screws, or high performance adhesives.

Competition

RequirementHigh MR07 X X

SR13All mechanisms shall be capable of maintaining their

configuration or states under all forces.

Competition


SR14 Mechanisms shall not use pyrotechnics or chemicals.Competition

RequirementHigh X

SR15

Mechanisms that use heat (e.g., nichrome wire) shall not be

exposed to the outside environment to reduce potential risk of

setting vegetation on fire.

Competition

RequirementMedium X

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A I T D

SR16

During descent, the Science Vehicle shall collect and telemeter

air pressure (for altitude determination), outside and inside air

temperature, flight software state, battery voltage, and bonus

objective data (accelerometer data and/or rotor rate).

Competition

RequirementHigh

SEN02

FSR01X X X X

SR17

XBEE radios shall be used for telemetry. 2.4 GHz Series 1 and

2 radios are allowed. 900 MHz XBEE Pro radios are also

allowed.

Competition

RequirementHigh X X

SR18Cost of the CanSat shall be under $1000. Ground support and

analysis tools are not included in the cost.

Competition

RequirementHigh X

SR19 Each team shall develop their own ground station.Competition

RequirementMedium GCS01 X X X

SR20The Science Vehicle shall hold one large raw hen’s egg which

shall survive launch, deployment and landing.

Competition

RequirementHigh X X X

SR21Both the Container and Science Vehicle shall be labeled with

team contact information including email address.

Competition

RequirementLow X X

SR22 No lasers are allowed.Competition

RequirementHigh X

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System Concept of Operations


• Arriving at launch site

• Preflight briefing

• Preflight tests

• Finalizing launchpreparations

Pre-LaunchOperations

• Launch wait

• Lift-Off & CanSat missions (see thefollowing slide)

LaunchOperations

• Search & Recovery of container and payload

• Data Analysis

• PFR preparations

• Post Flight Review

Post-LaunchOperations

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System Concept of Operations


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Physical Layout: Container


Container Interface

Body Frame

Parachute

Air Inlets

PRM Connection

Payload Compartment

Cover Membrane

All dimensions are in millimeters.

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Physical Layout: Payload



Payload Interface

PRM

Autogyro Mechanism

Body Frame

Cover Membrane

Primary Electronics Compartment

Egg Compartment

Power Supply Compartment

Secondary Electronics Compartment

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Physical Layout: CanSat


CanSat Interface

Container DCS

PRM

Payload DCS

Payload Compartments

Cover membranes are not shown.


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Physical Layout: CanSat Integrated



Rocket Nose Cone

CanSat Integrated Configuration

(Upside Down)

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Launch Vehicle Compatibility


• The payload and its subsystems are designed to be placed

upside down inside the rocket’s payload section. The main

reason behind this choice was to ease the deployment of the

container’s parachute.

• Rocket payload : Height = 310mm Diameter = 125mm

• CanSat dimensions : Height = 300mm Diameter = 115mm

• As can be seen on the visual representation of how the

integration will look like, our design fits inside the payload

section with margins of 5mm. We kept this value a bit small

intentionally in order to prevent the CanSat to move too much

during ascent which could cause damage.

• To verify the rocket payload section compatibility, the

dimensions of both the CanSat and the rocket are going to be

checked for any protrusions and any necessary action will be

taken during preflight tests.


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Sensor Subsystem Design

Fırat DAĞKIRAN


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Sensor Subsystem Overview

Presenter: Fırat Dağkıran CanSat 2015 CDR: Team 3976 (NEBULA)

Sensor Type Model Purpose(Measurement) Placement

Pressure Sensor BMP180 • Altitude Payload

Temperature Sensor BMP180 • Inside Temperature Payload

Temperature Sensor LM35CZ • Outside Temperature Payload

3-Axis Accelerometer ADXL345• Stability parameters

• Velocity calculationPayload

Voltage Sensor PH–1135 • Voltage Payload

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21CanSat 2015 CDR: Team 3976 (NEBULA)

• Sensor Addition: LM35CZ

– More suitable physical structure to integrate on CanSat for outside temprature measurement

compared to BMP180

– Faster adaptation to temperature changes compared to BMP180

– Wider range compared to BMP180 (-55 – 150 °C Degree)

– Very low self heating 0.08 °C degrees in still air

Presenter: Fırat Dağkıran

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Sensor Subsystem Requirements


ID Requirement Rationale Priority Parent ChildrenVM

A I T D

SEN01

The Container or Science Vehicle shall include

electronics and mechanisms to determine the best

conditions to release the Science Vehicle based on

stability and pointing. It is up to the team to

determine appropriate conditions for releasing the

Science Vehicle.

Safety of the

MissionHigh SR09 X X X X

SEN02

During descent, the Science Vehicle shall collect

and telemeter air pressure (for altitude

determination), outside and inside air temperature,

flight software state, battery voltage, and bonus

objective data (accelerometer data and/or rotor

rate).

Competition

RequirementHigh SR16 FSR01 X X X X

SEN03• 1 meter resolution

• Sampling rate greater of than 1Hz

Competition

RequirementMedium X

SEN04• 1 Celcius degree resulotion

• Sampling rate of greater then 1Hz

Competition

RequirementMedium X

SEN05• 1g/LSB resolution

• Sampling rate of greater than 1 Hz

Competition

RequirementMedium X


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Altitude Sensor Summary


Selected Sensor: BMP180

• Accuracy down to 0.02 hPa in advanced resolution mode.

• Range is between 300–1100 hPa.

• Data interface is I2C. Provides 19 bits pressure value.

• Pressure change of ΔP = 1hPa, corresponds to 8.43m at sea level.

• Altitude calculating procedure shown below;

• From the ideal gas equation, we can say that the change in air temperature affects the

atmospheric pressure. That effect is known as ‘Density Altitude’ and it has effect on pressure

measurement.

• To perform pressure reading, we’ll first take temperature reading, then we’ll combine that with

a raw pressure reading to come up with a final temperature-compensated pressure

measurement. Then we’ll calculate altitude with the following formula;

- p is the calculated pressure value.

- p0 is pressure at sea level (1013.25 hPa ).

- p0 will be the initial pressure where the GS is.

StartStart Temperature

MeasurementRead UT

Start Pressure

MeasurementRead UP

Calculate Pressure

and Temperature In

Physical Units


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Air Temperature Sensor Summary


– Selected Sensor: BMP180• Selected to measure temperature inside the paylaod.

• Calculation of temperature in steps of 0.1 Celcius Degree.

• It’ll provide 16 bits measurement.

• For temperature calculating in 0.1 Celcius Degree accuracy, calibration must received from

the EEPROM. Procedure is shown below;

– Selected Sensor: LM35CZ• Selected to measure temperature outside the payload.

• Wide temperature range ( -55˚C to 150˚C ).

• Draws only 91.5µA from the power supply.

• Suitable physical structure for integration.

• Transfer function will be used to calculate temperature value shown below;


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Camera Summary


• Selected Camera: OV7670

• Power comsumption provides one hour of recording.

• It will be stabilized by the autogyro mechanism.

• The image shouldn’t rotate more than +/- 90 degrees.

• It is going to have a timestamp provided by FSW.

TypeVoltage

Required

Current

Consumption

Power

Consumption

Video

OutputSensitivity

OV7670 3.3 V 12mA 5mW RGB 1.3 Lux


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3-Axis Accelerometer Sensor

Trade & Selection


• Selected sensor: ADXL345

Rationale:

– Acceptable frequency

– Easy communication

– Suitable range

– Adequate resolution

Sensor Range Resolution Frequency Communication Protocol

ADXL345 ± 16g 0.03 g/LSB <1MHz SPI or I2C

MMA8653 ± 8g 0.015g/LSB <1MHz I2C

BMA140 ± 4g 0.002g/LSB <1MHz Analog


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Descent Control Design

Ahmet Serkan ALTINOK


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Descent Control Overview

CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Ahmet Serkan Altınok

1

2

3

4

Container DCS

Elements

Payload DCS

Elements

Parachute with spill hole Blades (4x2)

Air inlets (x8) Hubs (x2)

Hollow Shaft

Descending process1. After CanSat is deployed from the rocket at about 600

meters of height from the ground, the container’s parachute

should deploy passively with the airflow coming through to

air inlets.

2. Until the CanSat descends down to 500 meters of height,

the PRM is going to wait for the accelerometer’s

stabilization signal to release the payload.

3. However, It should definitely activate when the height is

below 500 meters using the data from FSW.

4. After the release, the blades of the payload should

passively open and start rotating in reverse direction,

slowing down the payload to a constant descent rate before

it reaches 300 meters. While the payload is descending,

this autogyro mechanism will keep it stabilized for better

image acquisition.

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Descent Control Changes Since

PDR


• Parachute radius is increased by 3 cm due to safety

concerns

• Number of blades are increased to 8

• Stability rod is removed due to manufacturing

considerations and increase in number of blades

• Prototype tests will begin on April 18th

Presenter: Ahmet Serkan Altınok

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Descent Control Requirements



A I T D

DCR01

The Container shall use a passive descent control

system. It cannot free fall. A parachute is allowed

and highly recommended. Include a spill hole to

reduce swaying.

Competition

RequirementHigh SR04 X

DCR02

The Science Vehicle shall use a helicopter recovery

system. The blades must rotate. No fabric or other

materials are allowed between the blades.

Competition

RequirementHigh SR10 X X

DCR03All descent control device attachment components

shall survive 50 Gs of shock.

Safety of the

MissionHigh X X

DCR04All descent control devices shall survive 50 Gs of

shock.

Safety of the

MissionHigh X X

DCR05

The descent rate of the Science Vehicle shall be

less than 10 meters/second and greater than 4

meters/second.

Competition

RequirementHigh X X X

DCR06

During descent, the video camera must not rotate.

The image of the ground shall maintain one

orientation with no more than +/- 90 degree rotation.

Competition

RequirementMedium X X X


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Container Descent Control

Hardware Summary

• Container does not contain any electronics

• Parachute will be hand made using parachute fabric. It

will include gores, shroud lines and a spill hole to reduce

swaying

• Parachute will open by air diffusion from air inlets

• We made air inlets as big as possible to stay safe

• We will test the parachute after manufacturing by blowing

air from below to see if it works, then we will test the drag

created by parachute

• Container cover membrane will be fluorescent orange

CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Ahmet Serkan Altınok

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Payload Descent Control Hardware

Summary


• Payload will be deployed when the container gets

stabilized

• Stabilization is measured by FSW, if there is almost no

acceleration in 2 directions and acceleration in vertical

direction is close to the gravitational acceleration for 3

seconds, payload will be deployed

• If stabilization does not occur when the cansat reaches

500 meters, FSW will deploy the payload anyways


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Payload Descent Control Hardware

Summary


• Deployment will occur by activating the PRM on top of

the autogyro mechanism

• Payload is slowed down to around 8 m/s by using 8

coaxial blades

• Blades are white since they will be made from polyamide

• Blades will have carbon fiber rods as spars inside them

to increase their structural properties


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Descent Rate Estimates


Container + Payload post separation (prior to deployment of the Payload)

• It is obtained that if a radius of 18 cm is used for parachute, velocity of container

+ payload above 500m altitude will be approximately calculated as follows.

• 𝐹 = 0 ∶ 𝑚𝑔 = 0.5 × 𝜌 × 𝑉𝑐2 × 𝐶𝐷 × 𝜋 × 𝑟

2

• 𝑉𝑐 =2×𝑚×𝑔

𝐶𝐷×𝜌×𝜋×𝑟2

• Total mass=0.6 kg

• Air density is assumed constant and 𝜌 = 1.1673 𝑘𝑔/𝑚3 @ 500 meters

• 𝐶𝐷 = 1.25 for semi-hemispherical shaped parachute canopy

• Since radius of parachute is 0.18 cm, terminal velocity is calculated as

𝑉𝑐 = 8.9 𝑚/𝑠

Container following deployment of the Payload

• Parachute is also going to descend the container after seperation. Velocity of

container is calculated in a similar manner as follows.

• 𝐹 = 0 ∶ 𝑚𝑔 = 0.5 × 𝜌 × 𝑉𝑐2 × 𝐶𝐷 × 𝜋 × 𝑟

2

• 𝑉𝑐 =2×𝑚×𝑔

𝐶𝐷×𝜌×𝜋×𝑟2

• Total mass of container = 0.092 kg

• Air density is assumed constant and 𝜌 = 1.1673 𝑘𝑔/𝑚3 @ 500 meters

• 𝐶𝐷 = 1.25 for hemispherical shaped parachute

• Since radius of parachute is 0.18 cm, terminal velocity is calculated as

𝑉𝑐 = 2.9 𝑚/𝑠

𝐹𝑑𝑟𝑎𝑔

W=mg


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Payload following separation from the Container

• To satisfy DCR 05, the payload should decend with a velocity between 4 m/s and 10 m/s. In

order to create an assistant force to body drag, blades are used since they will create lift.

Also to prevent rotational movement of payload, blades are placed as in a similar manner to

helicopter rotors. Lift coming from the blades and drag occuring from body will be in the

same direction which is negative to direction of descent of payload. These forces will

decelerate the payload until the net force exerting on payload i.e., acceleration of the

system will become zero.

• 8 blades are used and placed 4 by 4. Qblade software is used to specify the airfoil type,

blade shape and dimensions.

• 𝐹 = 0 ∶ 𝑚𝑔 = 8 ∗ 𝐿𝑖𝑓𝑡 𝑜𝑓 𝑒𝑎𝑐ℎ 𝑏𝑙𝑎𝑑𝑒 + (0.5 × 𝜌 × 𝑉𝑐2 × 𝐶𝐷 × (𝐹𝑟𝑜𝑛𝑡𝑎𝑙 𝐴𝑟𝑒𝑎 𝑜𝑓 𝑃𝑎𝑦𝑙𝑜𝑎𝑑))

• Mass of payload = 0.533 kg (max. mass stated at mass budget section of this CDR)

• Air density is assumed constant and 𝜌 = 1.225 𝑘𝑔/𝑚3

• 𝐶𝐷 = 1.2 for rectangular prism

• Frontal area of payload = 𝑎2 = 0.006 𝑚2 where a is length of an edge

• Desired terminal velocity interval 4 𝑚/𝑠 < 𝑉𝑐 < 10𝑚/𝑠

• Necessary lift production of each blade is going to be determined according to terminal

velocity.

• Characteristics of blade and airfoil used is given in the following slide.

𝐹𝑑𝑟𝑎𝑔 + 𝐹𝑙𝑖𝑓𝑡

W=mg


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Blade Design• 8 identical blades are going to be used in order to produce the required lift

• Designed elementary and simple in manufacturing

Airfoil Design

Characterics of Blades• Chord length = 3cm

• Span = 16cm

• Hub radius = 4cm

• Airfoil = S-808

• Tip speed ratio = 7

• Twist angle = 12 degrees


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Payload following separation from the Container

• Obtained values of Qblade showed that maximum 𝐶𝐿 that can be produced is 1.2. By using this value for calculations,

terminal velocity is determined as follows.

• 𝐹 = 0 ∶ 𝑚𝑔 = 8 ∗ 𝐿𝑖𝑓𝑡 𝑜𝑓 𝑒𝑎𝑐ℎ 𝑏𝑙𝑎𝑑𝑒 + (0.5 × 𝜌 × 𝑉𝑐2 × 𝐶𝐷 × (𝐹𝑟𝑜𝑛𝑡𝑎𝑙 𝐴𝑟𝑒𝑎 𝑜𝑓 𝑃𝑎𝑦𝑙𝑜𝑎𝑑))

• Mass of payload = 0.533 kg

• Air density is assumed constant and 𝜌 = 1.225 𝑘𝑔/𝑚3

• 𝐶𝐷 = 1.2 for rectangular prism

• Frontal area of payload = 𝑎2 = 0.006 𝑚2 where a is length of an edge

• Cross sectional area of one blade = 0.01 𝑚2

• Lift =0.5 × 𝜌 × 𝑉𝑐2 × 𝐶𝐿 × 𝐴𝑏𝑙𝑎𝑑𝑒

• 𝐶𝐿 = 1.2

• Desired terminal velocity interval 4 𝑚/𝑠 < 𝑉𝑐 < 10𝑚/𝑠

• Terminal velocity is determined as approximately 8 m/s.

• Considering real life case, payload will continue its fall approximately between 7.5-8.5 m/s.


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Mechanical Subsystem Design

Osman Mirza DEMIRCAN


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Mechanical Subsystem Overview


Structural

componentContainer Payload

Longitudinal

framesx4 x4

Formers x4 x1

Horizontal Plates x1 x4

Material Polyamide Polyamide

Mass (gr) 47.0±0.1 51.1±0.1

Shape Cylindrical Square prism

Compartments x2 x4

Container Elements Payload Elements

Parachute

compartment (1)Autogyro connection (3)

Air inlets x8Primary electronics

compartment (4)

PRM connection Egg compartment (5)

Payload

compartment (2)

Power supply compartment

(6)

Secondary electronics

compartment (7)

13

4

5

6

7

2

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Mechanical Subsystem

Changes Since PDR: Container


Change Rationale

One more former is added to the body frame Increasing overall stiffness to maintain shape

Top former is thinner Assisting parachute deployment by widening deployment hole

4 big air inlets on the sides and 4 other on the horizontal plate

instead of 8 small ones on the cover membraneAssisting parachute deployment by increasing air flow rate

Top part of the body is not covered, but made part of the body Better maintain the shape of the air inlets

Bottom part of the body is filled Preventing payload to get stuck during payload deployment

PDR PDRCDR CDR

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Mechanical Subsystem

Changes Since PDR: Payload


Change Rationale

Electronics are separated in different compartments Otherwise is not feasible due to the length of the antenna

Instead of 2, 4 compartments are considered: primary

electronics compartment, egg compartment, power supply

compartment, secondary electronics compartment

Better placements in terms of area usage and functionality

2 vertical clearences on each horizontal plate are considered,

one for the cables and one for the antennaConnection between electronics and a way for the antenna

A fluorescent orange colored cover membrane is considered Assisting postflight recovery and protecting components

A former is considered at the bottom instead of a plate, this

part is not covered

Better for both the camera and the antenna, plus, it allows an

open area for measuring air temperature

8 blades instead of 4, stability rod is removed Obtaining required lift to stay between 4-8 m/s

PDR CDR

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Mechanical Sub-System

Requirements



A I T D

MR01

The Science Vehicle shall be completely contained in

the Container. No part of the Science Vehicle may

extend beyond the Container.

Competition

RequirementHigh SR02 X

MR02

The Container shall fit in the envelope of 125 mm x

310 mm including the Container passive descent

control system. Tolerances are to be included to

facilitate Container deployment from the rocket

fairing.

Physical

ConstraintsHigh SR03 X

MR03The Container shall not have any sharp edges to

cause it to get stuck in the rocket payload section.

Safety of the

MissionHigh X X

MR04

All electronic components shall be enclosed and

shielded from the environment with the exception of

sensors.

Competition

RequirementLow SR11 X

MR05All structures shall be built to survive 15 Gs

acceleration.

Structural

IntegrityHigh X X

MR06 All structures shall be built to survive 30 Gs of shock.Structural

IntegrityHigh X X

MR07

All electronics shall be hard mounted using proper

mounts such as standoffs, screws, or high

performance adhesives.

Safety of the

ElectronicsHigh SR12 X X

MR08All mechanisms shall be capable of maintaining their

configuration or states under all forces.

Safety of the

MissionHigh SR13 X

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Egg Protection Overview

• The egg is going to be secured inside a viscoelastic material

covered with a protective polyamide shell

• The viscoelastic material is chosen as soft rubber, the reason

behind this choice is to provide the required damping and a soft

surface to avoid damaging the egg in any way

• After placing the egg vertically between the rubbers, the rubber

case will be covered horizontally inside the shell. The shell is going

to be fastened to the egg compartment with small plates using

screws/bolts


Egg Covering Process

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Mechanical Layout of Components:

Container


#Component

NameProperties

1 Body Frame

Subcomponents: Longitudinal frames(x4), horizontal plate(x1),

formers(x4)

Shape: Cylindrical frame structure

Material: Polyamide PA2200

Size: Diameter = 115mm, height = 300mm

2Cover

MembraneMaterial: Thin Cardboard

3 DCS

Subcomponents: Gores(x6), shroud lines(x6), spill hole, eye-bolt(x2)

Shape: Semi-hemispherical (canopy)

Material: Parachute fabric (gores)

Size: Diameter = 16

Parachute fabric

Cover membrane

PRM

connection

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Payload


#Component

NameProperties

1 PRM

Subcomponents: Turnigy TGY-

50090M(x1), output arm(x1)

Material: Metal (gear)

2 Autogyro Blades(x4), hollow shaft, hubs

3 Body Frame

Subcomponents: Longitudinal

frames(x4), horizontal plates(x4),

formers(x1)

Shape: Square prism frame structure

Material: Polyamide PA2200

Size: Width = 75mm, height = 164mm

4Cover

MembraneMaterial: Thin Cardboard

5 Electronics

Subcomponents: ADXL345, BMP180,

LM35CZ, Phidgets 1135, OV7670,

Arduino SD Card Module, Arduino

Nano 3.0, Xbee Pro 900 RPSMA, A09-

HASM-675, DS1307, Buzzer

6 Power Supply 9V Duracell Alkaline Battery x2

7 ConnectorsScrews, bolts, fasteners, tape,

cables(electronics)

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CanSat


# Component Name

1 Container Body Frame

2 Container Parachute

3 PRM

4 Autogyro Mechanism

5 Payload Body Frame

6 Primary Electronics

7 Egg Protector

8 Batteries

9 Secondary Electronics

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(If You Want) Material Selections


• Polyamide (PA 2200) is chosen as material for all structural elements.

• Although its density is high, this material has exceptional mechanical,

thermal and chemical resistance properties.

• Standard screws and bolts are decided to be used where needed.

• The actuator has metal gears which should resist the stress on it.

• The blades are to be 3D printed but their spars are decided to be carbon

fiber rods to reduce bending due to aerodynamic loading.

Component Name Material

Container Body Frame Polyamide

Container Parachute Parachute Fabric

Autogyro Mechanism Polyamide+Carbon Fiber

Payload Body Frame Polyamide

Egg Protector Rubber+Polyamide

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Container - Payload Interface


- Firstly, blades are folded and the payload is placed inside the container’s payload

compartment.

- The upper bars of the actuator are placed such that the payload doesn’t rotate about itself

when the actuator is activated. Then the arm is manually turned to fit in the extruded part of

the horizontal plate separating the two compartments of the container.

PRM PRM

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Container - Payload Interface


- This way, the payload stays put until the arm is activated. After this process, the cover

membrane is placed on top of the container.

When the releasing command is given by the FSW, the output arm

turns, releasing the payload.

The container body frame is to be designed such that when the

payload is released, it conducts the payload directly below without

giving it any chance to get stuck.

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(If You Want) Structure Survivability

Container:

• The parachute is going to be attached to the container body frame

with eye-bolts

Payload:

• Mounting holes are considered on the horizontal plates for properly

mounting all electronics

• Hard screw mounting method is chosen

• Battery packs are considered for easy change, each battery will also

be secured with fasteners to stay safe

• Primary electronics are enclosed by the body and cover membrane

while other ones such as camera, air temperature sensor and buzzer

are open to atmosphere

• Electric cables are going to be fastened to the payload body frame

keep them in place


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(If You Want) Structure Survivability: Container


15G Acceleration Test:

(Solidworks Simulation)

Whole structure survives.

Maximum displacement = 0.086mm

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(If You Want) Structure Survivability: Payload


15G Acceleration Test:

(Solidworks Simulation)

Whole structure survives.

Max. displacement = 0.57mm

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(If You Want) Manufacturing


Container body frame, payload body frame and egg container shell are all manufactured using

a laser synthering machine provided by our university with polyamide PA2200 as material.

Payload Body Frame

+ Egg Container

CanSat Body Frame

+ Egg Container

cleaning process

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Mass Budget


Container Component Mass(g) Margin Source

Container Body 75 ±1 Weighted

Container DCS 25 ±5 Estimate

Payload Component Mass(g) Margin Source

Payload Body 50 ±1 Weighted

Payload DCS (blades, shaft, hubs) 100 ±10 Estimate

Actuator (servomechanism and output arm) 10 ±1 Hobbyking.com

1 Large Raw Hen’s Egg 60 ±5 Wikipedia.com

Egg Container (protective material and shell) 100 ±10 Estimate

Electronics (microprocessor, sensors, camera, radio etc.) 50 ±1 Datasheet

Printed Circuit Board 10 ±1 Estimate

Batteries (both) 90 ±2 Duracell.com

Radio Antenna 30 ±5 Estimate

Total Mass (egg included) 600±42 grams

Container Mass 100±6 grams

Payload Mass (egg included) 500±36 grams

Additional weigth will be added on the container to satisfy SR01 if necessary.

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Communication and Data Handling

Subsystem Design

Fırat DAĞKIRAN


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CDH Overview

CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Fırat Dağkıran

• Payload: – XBEE Pro 900 RPSMA and A09–HASM–675 (antenna) are used for telecommunication.

– BMP180 to measure altitude and inside temperature of the payload.

– LM35CZ to measure the outside temperature.

– ADXL345 to calculate the velocity and stability parameters of the payload.

– OV7670 to record the descent of the payload.

– Arduino Nano for data transmission and handling.

– SD Card Module to store all sensor data and video image.

– DS1307 to record time after CanSat is powered on.

– Phidgets 1135 for power bus voltage measurement.

There are no electronics on the container

Microcontroller

Sensors

Power Supply

XBEE

(End Device)

Memory Unit

XBEE GCSAntenna

Energy Flow

Data/Control

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(If You Want) CDH Changes Since PDR


SubjectPrevious

Component

Selected

ComponentRationale

Change A24–HASM–525 A09–HASM–675 • easy to procure in our country


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CDH Requirements



A I T D

CDH01

During descent, the Science Vehicle shall collect

and telemeter air pressure (for altitude

determination), outside and inside air temperature,

flight software state, battery voltage, and bonus

objective data (accelerometer data).

Competition

RequirementHigh SR16

SEN02

FSR01X X X X

CDH02The Science Vehicle shall transmit telemetry at a

1Hz rate.

Competition

RequirementHigh FSR02 X X

CDH03

Telemetry shall include mission time with one

second or better resolution,

which begins when the Science Vehicle is powered

on.

For Setting

Mission TimeHigh X X

CDH04

XBEE radios shall be used for telemetry. 2.4 GHz

Series 1 and 2 radios are allowed. 900 MHz XBEE

Pro radios are also allowed.

Competition

RequirementLow SR17 X X

CDH05XBEE radios shall have their NETID/PANID set to

their team number (decimal).

Distinguish

the team

datas from

other teams’

packets

MediumX X

CDH06 XBEE radios shall not use broadcast mode.Competition

RequirementMedium X X


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– Arduino Nano has really small size and weight compared to any other microcontroller unit.

– Arduino Nano has enough analog and digital pin for all components.

– Arduino Nano has 5.0V and 3.3V voltage regulator. It will make it easier to handle DC–DC

converter circuit.

Data Interfaces:

Sensor

TypeBMP180 LM35CZ ADXL345

SD Card

ModuleXBEE

OV76

70

DS13

07

I2C

SPI

UART

59

Processor & Memory Selection


ProcessorSupply

Voltage(V)

Current

Consumption(mA)

Analog

Pins

Flash

Memory(kb)Speed(MHz)

Arduino Nano +9V 40 8 32 16


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• Selected Memory: SD Card Module

• For Container : There is no data flow, then no data storage.

• For Payload : 12 000 068 bit equals to 0.0015000085 gigabytes.

And SD card’s capacity is 8 gb

then 8 / 0.0015000085 is equal to

5333.2 seconds or 88.8 minutes.

60

Processor & Memory Selection


TypeVoltage

Required

Current

Required

Power

RequiredInterfaces Speed

Memory

Capacity

SD Card

Module3.3 V 100-150mA 500mW Digital(SPI) 200MHz GBs

Sensors Memory

Pressure & Temperature

(BMP180)32 bits/s

Accelerometer (ADXL345) 36 bits/s

Camera (Ov7670) 12 mega bits/s


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(If You Want) Real-Time Clock


• Selected RTC: DS1307 Which is a hardware type.

• Flight Software includes Real Time Clock too so they are going to check each other all the

time to see if there is a problem with the hardware.

• And every packet is going to be stored in the SD card after writing every packet, it can be

read from software if there is any inconsistancy with time.


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Antenna Selection


Selected Antenna: A09 – HASM – 675– Proporties

• 900 MHz Frequency

• Half Wave Dipole Articulated

• 2.1 dBi Gain

• Mounting type is connector

• 80 mA current consumption

– Performance Discussion (@9600 bps)

• Transmit power output is between 1mWatt and 1Watt.

• Indoor range up to 22km.(Dipole Antenna)

• Outdoor range up to 64km.(High Gain Antenna)

• Receiver sensitivity is -110 dBm

• RF data rate is 10,000 bps.

– Mass Discussion

• 18 grams which is fairly light.


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Radio Configuration


• Radio Requirements

– 2.4 GHz Series 1 and 2 radios are allowed. Also, 900MHz XBEE Pro radios

are allowed.

– XBEE radios shall have their NETID/PANID set to team number.

– Container and payload shall have the same NETID/PANID.

– XBEE radios shall not use broadcast mode.

• Transmission Control

– All radios will be set to API mode

– Ground Station Radio works as a coordinator

– Payload radio programmed as an end device

– Payload radio will be programmed to be in Unicast mode

– Payload radio will have the network ID


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64

Telemetry Format


• What data is included?

- All data obtained from required sensors (air temperature, air pressure, voltage,

acceleration etc.)

- Packet count

- Time

• Data rate of packets?

- One packet of data at every second (1Hz)

• How is data formatted?

- After receiving data from transmitter, GS code will write the data to formatted file.

Then, the data will be plotted by Matlab on the user interface in real time.

- Since the only connection between container and science vehicle is the PRM,

there is no packet transfer to ground station from the container. Examples are

shown on the next slide.


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Telemetry Format


Format:

– Science Vehicle:<TEAM_ID(3976)>,<PACKET_COUNT>,<MISSION_TIME>,

<ALT_SENSOR>,<TEMP>,<VOLTAGE>,<FSW_STATE>,<BONUS_ACCELEROMETER>

Example Data Packet:

– Science Vehicle : 3976, 48, 48, 500, 33.5, 3.3, 4, 0.2, 10, 0.7.

3976: Team ID

48: Packet Count

48: Mission Time n Seconds

500: Altitude

33.5: Temperature in Celcius

3.3: Voltage

4: Stabilization (FSW State)

0.2, 10, 07 : Acceleration in x, y, z directions m/s2


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Electrical Power Subsystem Design

Fırat DAĞKIRAN


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EPS Overview


• Power Source:

– 9V Alkaline batteries(x2) will be used to provide power to all electronic devices.

• Power Switch

– A slided power switch will be used to enable power flow for the entire EPS system.

• DC–DC Converter

– Arduino Nano has 5.0V and 3.3V voltage regulator on board. It will be used as DC–

DC converter for components.

DIAGRAM:

9V Alkaline

BatterySwitch

3.3V

DC to DC

Converter

(OnBoard)

5.0V

DC to DC

Converter

(OnBoard)

Components

which need

9.0V power

supply


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(If You Want) EPS Changes Since PDR

• No Change.

68CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Fırat Dağkıran

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EPS Requirements


ID Requirement Rationale Priority Parent ChidrenVM

A I T D

EPR01

The Science Vehicle shall include an easily

accessible power switch which does not

require removal from the Container for

access. An access hole or panel in the

Container is allowed.

Competition

RequirementMedium X

EPR02

The Science Vehicle must include a battery

that is well secured. (Note: a common cause

of failure is disconnection of batteries and/or

wiring during launch.)

Safety of the

MissionHigh X X

EPR03Lithium polymer cells are not allowed due to

being a fire hazard.Competition

RequirementHigh X

EPR04

Alkaline, Ni-MH, lithium ion built with a metal

case, and Ni-Cad cells are allowed. Other

types must be approved before use.

Competition

RequirementMedium X


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70

Electrical Block Diagram


Slided

Switch

9V Alkaline

Battery

5.0V

DC – DC

Converter

3.3V

DC – DC

Converter

Arduino

Nano

LM35CZ

Sensor

Subsystem

CDH

SystemPRMPH – 1135

• On Arduino

Board

5.0V

DC – DC

Converter

• On Arduino

Board

DS1307

• SD Card Module and OV7670 included in Sensor Subsystem

• DS1307 will not be effected by system reset.

• Sensor Subsystems also include; BMP180,ADXL345

• CDH System include XBEE Radio Module

• Led will be used to control power ON/OFF status

Data/Control

Energy Flow


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Payload Power Source

Selection and Design


Battery Voltage(V)Nominal

Capacity(mAh)Size(mm) Weight(g) Cost

Duracell

Alkaline Battery x29 1200 48.5x26.5x17.5 90 $6.99

• Selected battery: 9V Duracell Alkaline

• Reason Selected:• Suitable size and weight for our CanSat.

• Enough nominal capacity as mAh for our CanSat.

• Used for only payload.

• Easy to find.

• All batteries will be covered with the payload cover membrane.

• Batteries will be easily accesable from outside for changing.

• Batteries will be connect to each other as parallel, so the nominal capacity will doubles.

• For safety, batteries will be connected different points on same bus. If one battery’s connection is

broken other battery can handle the entire system.


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Power Budget


Component Current(mA) Voltage(V) Power(mW)Expected Duty

Cycle(min)

Total Energy

Consumed(mWh)Source

BMP180 0.65 3.3 2.145 5 0.178 Datasheet

LM35CZ 0.0915 9.0 0.823 5 0.068 Datasheet

DS1307 1.5 5.0 7.5 5 0.625 Datasheet

XBEE 210 3.3 693.0 5 57,75 Datasheet

SD Car Module 150 3.3 495 5 41.25 Datasheet

ADXL345 0.04 3.3 0.132 5 0.011 Datasheet

OV7670

Camera10.0 3.3 33 5 2.75 Datasheet

Arduino Nano 40.0 9.0 360 5 30 Datasheet

Precision

PH–1135 3.6mA 5.0V 18 5 15 Datasheet

• Total Power Consumption: 147.632 mWh for 5 minutes. (worst case scenario)

• Battery Nominal Capacity: 7200 mWh

• Minimum Life Time: 4.4 Hours

• Excess energy will be stored in capacitor.


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Power Bus Voltage Measurement


• PH–1135 sensor will be used for voltage measurement

– Sensor measures differential voltage between the input terminals and outputs the difference

proportionally.

– The maximum differential voltage that can be measured accurately is +/-30V.

– This sensor is able to measure the differential voltage of +/-10V with a CMR of 40V while keeping

the accuracy within 2%.

– The best accuracy can be achieved by using a 2 or more point calibration of system - effectively

calibrating the 1135.

– Using RawSensorValue in the formula will increase the resolution, which is limited by SensorValue

to about 67mV.

– The formula to translate SensorValue into differential voltage is as follows:

where Vdiff defined as Vpositive – Vnegative.


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Flight Software (FSW) Design

Ahmet BAYRAM


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FSW Overview

Presenter: Ahmet Bayram CanSat 2015 CDR: Team 3976 (NEBULA)

• Basic FSW architecture

• Programming languages

- C/C++

• Development environments

- Arduino IDE

FSW

ACTUATOR

STORAGE

GCS

SENSORS

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FSW Overview

Presenter: Ahmet Bayram CanSat 2015 CDR: Team 3976 (NEBULA)

• FSW tasks

- Communication between Payload; sensors, mechanisms

and Ground Control Station via transmiting telemetry data at 1

Hz rate. There are no electronics in the container, thus no

electric connection between container and payload. The only

physical connection between container and payload is the

PRM which is controlled by the FSW.

- During flight; recording video, calculating altitude, controlling

descent, seperating Container and Payload and storing all the

data taken from sensors and camera.

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(If You Want) FSW Changes Since PDR

• There has been no change in the software plan.

77CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Ahmet Bayram

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78

FSW Requirements

CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Ahmet Bayram


A I T D

FSR01

During descent, the Science Vehicle shall

collect and telemeter air pressure (for

altitude determination), outside and inside

air temperature, flight software state,

battery voltage, and bonus objective data

(accelerometer data and/or rotor rate).

Competition

RequirementHigh SR16

SEN02

CDH01X X X X

FSR02The Science Vehicle shall transmit

telemetry at a 1 Hz rate.Competition

RequirementHigh CDH02 X X

FSR03

Telemetry shall include mission time with

one second or better resolution, which

begins when the Science Vehicle is

powered on.

Competition

RequirementHigh CDH03 X X

FSR04

XBEE radios shall have their

NETID/PANID set to their team number

(decimal).

Competition

RequirementMedium CDH05 X X

FSR05XBEE radios shall not use broadcast

mode.Competition

RequirementMedium CDH06 X X

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FSW Requirements



A I T D

FSR06

The Science Vehicle shall have a video camera

installed and recording the complete descent from

deployment to landing. The video recording can

start at any time and must support up to one hour

of recording.

Competition


FSR07

The video camera shall include a time stamp on the

video. The time stamp must work from the time of

deployment to the time of landing.

Competition


FSR08

The CanSat flight software shall maintain and

telemeter a variable indicating its operating state. In

the case of processor reset, the flight software shall

re-initialize to the correct state either by analyzing

sensor data and/or reading stored state data from

non-volatile memory. The states are to be defined

by each team. Example states include:

PreFlightTest(0), LaunchWait(1), Ascent(2),

RocketDeployment(3), Stabilization(4),

Separation(5), Descent(6), and Landed(7).

Competition

RequirementMedium X X X X

FSR09Data will be stored using an external memory

module through SPI protocol.

Additional

Memory Unit In

Case of Need

Medium X X

FSR10All telemetry data will be displayed and plotted in

real-time during launch and descent.

Competition

RequirementMedium X X X X

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Yes

No

For Payload:

80

CanSat FSW State Diagram


Start Reading Sensors and Set Initial Altitude Power on

Start Recovery Mode and

Exit Code

Is the altitude greater than 500 m ? Is the Cansat stabilized in x and z

direction ?

Release Container and Science

Vehicle

Continue reading sensors and

store

Yes

No

No Yes

Sample, Store and Transmit

Telemetery Data

Are the past 3 altitude measurements

within our altitude resolution

No

Yes

Is the altitude => 100 m ? Are the

last 2 altitude

measurements decreasing?

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For Payload :

• BMP180(Pressure and Temperature):

– Communication between microcontroller via I2C interface.

– It requires 1 micro-Amper current.

• XBEE(Telemetry Transmition):

– Communication between transceiver and microcontroller is via serial

interface called USART.

– XBEE will be used as a transmitter. Operating voltage is 3.3V and current

required from the power system is 210mA.

• SD CARD Module (Data Storage):

– Communication between Arduino Nano isvia SPI.

– Its operating speed is 200 MHz.

– The current required is 100-150mA.

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For Payload :

• ADXL345(Accelerometer):

– Communication is via SPI or I2C interface.

– Current required is 0.14 mA.

– Resolution is 0.03 g/LSB.

• PH 1135(Voltage Measurement):

– Current required is 3.6mA.

– Typical error is ±0.7%.

• OV7670(Camera):

– Communication is via SPI.

– Current required is 12mA.

– Video output is RGB

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For Container:

• Since all the container roles are passive, there is no need for electronics then no

need for software. Container descent is expected to happen as described in the

Descent Control System Review.

• At the desired altitude, the PRM is going to be triggered for separation process.

Safely descend

Wait for air inlet

Open the parachute

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• In case of any Microprocessor reset possibility, SD card data are going to

be always checked with the next sensor data(see example below)

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85

Software Development Plan


PROCESS DETAIL DATE CHECK

Designing an algorithm Most important part 08.28.2014 DONE

Arduino Uno Test Led using breath effect 09.15.2014 DONE

SD Card Module Test 1Reading and writing data(only

text)

09.15.2014 DONE

APC220 Radio Transmission tests 09.16.2014 DONE

Telemetery Data Data Packet Formation 09.16.2014 DONE

LM35DZ TestsTemperature tests and selection

of the correct sensor

10.05.2014 DONE

MPX4115A TestsPressure tests and selection of

the correct sensor

10.05.2014 DONE

MMA7361L Tests

Accelerometer tests and

selection of the correct sensor

for bonus.

10.05.2014 DONE

Altitude Data Tests For testing resolution 10.05.2014 DONE

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PROCESS DETAIL DATE CHECK

PDR Preparation 02.10.2015 DONE

ADXL345 Acceleration test 03.21.2015 DONE

CDR Preparation 03.23.2015 DONE

Arduino Nano Test 1 Pin Check 03.25.2015 -

Real Time Clock Tests Comparison with satellite datas 03.25.2015 -

Arduino Nano Test 2 Led using breath effect 03.26.2015 -

Camera Test Capturing video 03.29.2015 -

XBEE Radio Test Data transmission 04.05.2015 -

SD Card Module Test 2Capturing video and writing to

sd card.04.10.2015 -

Servo Motor Test Checking the response 04.12.2015 -

Arduino Nano Test 3 Reset 04.25.2015 -

Buzzer Tests Landing check 05.05.2015 -

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• General view of CanSat Software Algorithm

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• The SD Card Module is tested by writing and reading data.

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• ADXL345 is tested by applying giving an acceleration to the system and

writing data to SD Card(successful).

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• Software development began early in development of our CanSat; some

software tests are done and the remaining will be done when a new

sensor or a part of system is ready. Software planning will be developed

in order of: Altitude sensing, radio transmitting, separation commands

and then the bonus objective.

• After finishing coding any component, we will consult academicians at

our university. Debugging with them to gain acceleration.

• Development Team: Ahmet BAYRAM, Rozerin AKTAŞ

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Ground Control System (GCS) Design

Muhammed Ali KUL


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GCS Overview

CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Muhammed Ali Kul

• The antenna is connected to the XBEE Pro 900 RPSMA

• XBEE is connected to the computer via a serial port

• A MATLAB script will read the data, save it into a CSV file, and then

plot it in real time.

Payload Antenna RadioComputerSerial Port

MATLAB Script

(Computer)

PayloadPanel Antenna

XbeeUSB Adaptor (XBee

Explorer Dongle)Computer

Antenna Cable

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93CanSat 2015 CDR: Team 3976 (NEBULA)Presenter: Muhammed Ali Kul

• The software has been updated for a better aspect of

interface, effectiveness and ease to read, plot, and save

data.

– The software were written in MATLAB R2012a, now we

have rewritten them using MATLAB R2014a.

– Less time consuming commands have replaced the old

ones.

– The interface is more visual.

– Some bugs have been fixed.

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GCS Requirements

Presenter: Muhammed Ali Kul CanSat 2015 CDR: Team 3976 (NEBULA)


A I T D

GCS01 Each team shall develop their own ground station.Competition

RequirementMedium SR19 X X X

GCS02All telemetry shall be displayed in real time during

descent.

Competition

RequirementHigh X X

GCS03All telemetry shall be displayed in engineering units

(meters, meters/sec, Celsius, etc.)

Competition

RequirementMedium X

GCS04Teams shall plot data in real time during flight on the

ground station computer.

Competition

RequirementMedium X X

GCS05

The ground station shall include one laptop computer

with a minimum of two hours of battery operation,

XBEE radio and a hand held or table top antenna.

Competition

RequirementMedium X

GCS06

The ground station shall be portable so the team can

be positioned at the ground station operation site

along the flight line. AC power will not be available at

the ground station operation site.

Competition

RequirementHigh X

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GCS Antenna


– HG-8909P Panel antenna will be used for our ground

station.

Name Gain Frequency VSWR Antenna Type

HG-8909P 9dBi 900 MHz <1.8:1 avg. Panel

– This antenna was chosen for several reasons:

• Greater range than the Omni-Directional antennas

• Wider beam angle then Yagi antennas

• Heavy duty all weather plastic radome

• Can be installed for vertical or horizontal polarization

• Includes tilt and swivel mast mount

• Ease of buying and finding in the area where we live

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GCS Antenna


GS Antenna Design

ᶿAntenna

• Antenna will be mounted on an beam

which will have 4 legs for stability and 4

clearly marked wires will be planted to

the ground. The antenna will be on the

mid-top point (Shown figure right).

• Ground antenna will be tilted by 34

degrees (ᶿ).

• 3.90 meter height beam, 315 mm to 315

mm Panel antenna, the total force for the

ropes to carry will be 104 N (for the 4

ropes) and it is well in the safe

circumstances. For the best suitable

placement 4.9 m length rope with 35

degrees to the top vertical plane will be

enough. For this configuration, almost any

5mm diameter nylon rope will be resistant

for the safe load up to 60kph wind.

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GCS Antenna


ᶿ

Approx. 900m max.

Approx. 600m max.

CanSat

Antenna

• Antenna mast will have 4 legs and 4 clearly

marked rope which are connected to the

ground to stabilize and support properly to

preserve the configuration.

• Antenna and the mast will be tested based on

calculation made before to ensure the safety

under extreme conditions and wind up to

60kph.

• Antenna will be elevated 3.90 meters

approximately.

• Antenna will be connected to the XBEE with a

shielded cable, then to the computer via a

serial port with the dongle connected directly

to it. (Total shielded cable length: 5 meters)

• Antenna mast will be selected such that it will

be suitable for ease transport, easy to

transplant and lightweight, and also strong

enough to resist weather conditions to ensure

safety.

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GCS Antenna


• Distance link predictions and margins:

– Assuming that maximum altitude will be 900 meters, and maximum

drift away will lead 600 meters distance horizontally. Hypotenuse of

this assumption (which is total distance from receiver to the CanSat)

is around 1100 meters.

• So we must have the capability to communicate with distance up to 1.1 km.

– Cable loss will be around 1 dB ( for approximately 5 meters cable

loss may be 2 dB max.). 2 dB will be used for simuling the worst

case.

– Antenna gain is 9dBi for panel antenna and 2.1dBi for dipole

antenna

– XBEE output power is «50mW», XBEE sensitivity for receiving mode

is «-100dB»

– Link calculation:

• Using a free software and hand calculations is showed on the next slide.

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GCS Antenna


As the made assumption the cable loss is near 1.6 dB

Source: http://www.afar.net/rf-link-budget-calculator/

Calculated by hand:

• Power budget total power of the system in

dBm:

– Result: 18.905 dB

• Power loss over 100m distance

– Result: 92.335 dB

• How high should the antenna be:

– Best reasonable result in 3.90 meter

• Operating margin:

– Results in a worst scenario:

– RX Power: -75.345dBm

– SAD Factor: 30%; Theoretical: 24.655 dB

• Conclusion: The ground control station have

a capability to receive data and works

properly under worst scenario

circumstances.

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GCS Antenna


• Screen shot of the updated ground control software in operation:

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Antenna receives data (signal)

Data transferred to computer via serial

port

Save to a matrixwith MATLAB

Matlab code willread the matrix

and makecalculation if any

The matrix is updated in every

one second

MATLAB GUI interface module will plot data and Show them with a graphical format

• MATLAB will be used as our software and GUI will be used to generate an

interface with a normal MATLAB script to read, plot, save and show data from

the telemetry packets and visualize them with graphics.

• The antenna will be connected to the computer via a serial port. The software

will read the data from serial port.

• A button assigned for running the code will firstly use fscanf function to read the

data, which will be saved in a matrix.

• The interface will automatically plot with plot command and with some different

versions of the same command for a better understanding of the displayed

data.

• However, ground station software is not fully completed yet. Right now, the

ground station receives the packets, saves and It can also plot them in real

time; but some test are yet to be done. A complete ground station test will be

tested in near-end of April firstly with weather balloon then in near-end May, a

complete test and competition simulation will be held.

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• Data will be updated and stored in matrix which a text file (.txt) consist of

it. Fopen command will be used

• Created CSV file (.csv) will be submitted to judges. Csvwrite command

will be used.

Above the MATLAB GUI Interface that will be used

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• Telemetry display:

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CanSat Integration and Test

Gamze GÖKMEN


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Overview

Presenter: Gamze Gökmen CanSat 2015 CDR: Team 3976 (NEBULA)

• We will integrate our CanSat after all of the equipment are partially

tested and passed the tests successfully. University lab

equipments are going to be used for proper integration.

• We don’t want our CanSat to fall apart when opposed with high G’s.

For this purpose we designed our CanSat to print it out as less

parts from a Laser Synthering Machine which is provided by our

university. This way our CanSat will have less weak points as

connection and will have less weight without screws and other

connectors.

• Every part will be integrated in our university’s mechanical and

electronical laboratories individually.

• Electronic components integration design: there will be a spot for

easy access to batteries. The camera and outside temperature

sensor will be at the bottom, since we need to get the image in the

nadir. The electrical components will be integrated in two different

compartment as shown in previous sections.

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Overview


• Sequence of the integration process.

CDH System

• CDH system carries priority because it will effect other systems highly.

Sensor System

• Second part that will be integrated because it carries an importance in mission.

EPS

• Third part EPS will be integrated alongside the parts that needs power.

FSW System

• FSW is important because we need it to monitor the datas.

Ground Station

• It will not be integrated to the CanSat itself so obviously it has noimportance in integration

Descent Control System

• For the full mission tests.

Mechanical System

• It is important forCanSat’s deploymentand structuralintegrity concerns

Presenter: Gamze Gökmen

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Overview


• Test equipments include every individual component of

the CanSat and as the second phase, the integrated

CanSat.

– Also to get reference data for pressure, temperature

sensors we used trusted barometer and thermometer,

respectively, which is provided by our university.

– In EPS, to make sure that there is a current flow in

circuits, a multimeter is used.

• Environments for our tests are,

– Firstly most of the partial tests are performed in our

university’s laboratories.

– Then there will be tests that are performed outside of the

university, in an open space.


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Overview


Mechanical tests will be performed in the laboratories of our university.


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Overview


• The CanSat Tests include two phases:

– Part Tests: CanSat electronics and other systems will be tested

individually.

– Integrated Tests: Tests will be carried out as integrated.

• There will be individual tests for each subsystem

– Sensor subsystem will be tested with breadboarding each

component.

– Descent Control Subsystem will be tested with drop tests.

– Mechanical Subsystem testing will also be tested with drop tests.

Besides, we will perform vibration tests in laboratory.

– CDH Subsystem will be tested with distance tests.

– EPS subsystem tests are circuit tests.

– GCS testing will be tested alongside with the CDH subsystem tests.


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Sensor Subsystem Testing

Overview


Sensor

Subsystem Test

Accomplishments Constraints Equipment Procedure (Pre- On-

Post Test)

Pass-Fail

Criteria

Pressure Sensor

(BMP180)

Sensor must give

correct data with

different pressure

points.

•EPS,

•FSW

•Ground Station

Equipment

Sensor,

Microprocessor,

battery, a

protection

Model Aircraft.

Barometer

•Create a test bed.

•Get readings from

different pressure

points with the help of a

model aircraft.

•Compare readings

with reference pressure

data.

If readings from

the sensor

maches with the

reference data

the sensor

passes.

Temperature

Sensor

(BMP180)

To ensure correct

working of

temperature

sensor.

•EPS,

•FSW

•Ground Station

Equipment

Sensor,

Microprocessor,

Thermometer

•Create a test bed

•Put the sensor to a

refrigirator and near a

heat source to get

temperature

differences.

•Compare readings

from the sensor and

thermometer.

If readings from

the sensor

maches with the

reference data

the sensor

passes.

Camera

(OV7670)

Camera view must

be stable.

•EPS

•FSW

Camera,

Microprocessor,

SD Card Module

A cord and a high

ceiling.

•We attached a cord to

a ceiling and then the

camera is programed

and hanged to the

ceiling.

•The camera will reord

the ground and save it

to the SD Card Module.

If recording and

saving is

successful then

camera passes.


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3-Axis Accelerometer Testing


• Format for the Accelerometer is explained in the CDH subsystem design, telemetry format

part. (TEAM_ID,MISSION_TIME,ALT_SENSOR,OUTSIDE_TEMP,INSIDE_TEMP,

VOLTAGE,FSW_STATE,BONUS)

• We need a storage and power that can work up to 1 hour. Data stored with SD Card

Module to a 8 Gb SD card. ADXL365 (Accelerometer) is stored with 36 bits/sec.

Sensor

Subsystem

Test

Accomplishments Constraints EquipmentProcedure (Pre- On-

Post Test)

Pass-Fail

Criteria

3-Axis

Accelerometer

(ADXL345)

•Ensure accelerometer

works properly.

•Get correct data during

the entire flight state.

•EPS

•FSW

•Ground

Station

Equipment

•Accelerometer

•Microprocessor

•GS equipment

•Mount the accelerometer

and MCU into a small box.

Drop from an height.

•Take and store the data

when it hit the ground.

•Analyze the data and

decide that the sampling

rate is high enough to

catch the peaks.

If data read and

stored

successfully with

wanted rate then

accelerometer

can pass the

test.


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DCS Test Name Accomplishments Constraints EquipmentProcedure (Pre- On-

Post Test)Pass-Fail Criteria

DCS test (Shock

test for

Parachute)

•To ensure all

descent control

attachments can

resist 30 Gs of

shock.

•Check parachute

variables are

correctly designed.

N/A •Container

•Parachute

•Prepare a prototype for

payload with descent

system and connection

material.

•Drop the prototype from

a height. Release the

descent system and

check if it can resist the

load.

•Recover system and

analyze it.

If the connection

material is strong

enough to endure the

shock loading of release

and deployment of

descent then CanSat

passes the test.

DCS test (Drop

test for Auto-

Gyro Descent

System)

By dropping

CanSat from a

height we can

estimate how does

the CanSat

behaves under

flight conditions.

N/A •Payload

•Auto-Gyro

System

•We will use some

unmanned aircrafts to

reach the wanted altitude

and perform drop tests.

•After necessary altitude

is provided drop the

prototype.

•Observe if descent

system can deploy.

If deployment is correct

and CanSat can reach

the appropriate speed

then it can pass the

test.

Also use the data

received from the test

and calculate drag

coefficient.


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Mechanical Subsystem Testing

Overview


Mechanical

Subsystem Test

Name

Accomplishments Constraints EquipmentProcedure (Pre- On-

Post Test)

Pass-Fail

Criteria

Mechanical

subsystem test

(Drop tests/ egg

protection)

To choose material

fro egg protection.

To see if egg

protected or not.

N/A •Egg

compartment

an materials.

•Descent

System

•Prepare a prototype

which contains egg

container and descent

system.

•Drop the prototype

•Check egg for

breaking.

If egg is

protected

successfully then

it passes.

Mechanical

subsystem test

(Drop tests/

Survivablity )

Check the durability

and survivability of

CanSat to various

accelerations.

N/A •Integrated

CanSat

•Drop CanSat from

different altitudes for

checking if CanSat can

resist different

accelerations and

impact forces.

If CanSat

survives the drop

tests it passes

the test.

Mechanical

subsystem test

(Drop test/

seperation

mechanism)

Check if seperation

mechanism can

operate under

payload.

•EPS •Integrated

CanSat with

the release

mechanism

Drop the CanSat to

simulate the Flight and

let it released during fall.

If separates

correctly then

CanSat can pass

the test. If fails

the test must be

redone with

moderated

design.


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CDH Subsystem

Test NameAccomplishments Constraints Equipment

Procedure (Pre- On-

Post Test)

Pass-Fail

Criteria

Radio

Transmission test

To ensure that

CanSat can

communicate with

ground station.

•Ground

Station

•FSW

•Ground

Station

Equipment

•Integrated

CanSat

•Start communication

with ground station and

CanSat

•Receive data.

•Check for data sending

and receiving.

If communication

is successful

then it passes.

CDH subsystem

testing (Distance

testing)

Check if the data can

be received without a

problem from a

distance.

•Ground

Station

•FSW

•Ground

Station

Equipment

•Integrated

CanSat

•Prepare transmitter

and receiver to send

and receive data.

•Prepare the software to

read the data.

•Put transmitter and

receiver into different

places with different

distances.

•Send data to receiver.

•Analyze the data

If all the data can

be received with

different distance

then CanSat can

pass the test.

Integrity Test Ensure all the

subsystems can work

well together.

•EPS All the

electronic

devices.

•Integrate the electronic

devices carried in

payload.

•Turn on the CanSat.

•Check for any

disconnections.

If system works

and can transmit

data, it passes

from the test.


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EPS Test Name Accomplishments Constraints EquipmentProcedure (Pre- On-

Post Test)

Pass-Fail

Criteria

Battery Capacity

Testing

Ensure the battery

can provide enough

voltage to system.

N/A •Integrated

CanSat

•Prepare a test bed

which contains all the

electrical subsystems.

•Run the test bed

through a full mission

cycle.

•Check for failures.

The system must

not fail due to

low voltage

through the full

flight state.

Short/ Open

Circuit Test

Ensure that there is

no disconnection

(open circuits).

N/A All of the

electronic

components in

payload

•Perform during

assembly. Check for

any disconnection in the

circuits. Measure the

battery voltage with

multimeter.

CanSat passes

the test if every

member draws

enough power to

work.


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FSW Subsystem


Procedure (Pre- On-

Post Test)

Pass-Fail

Criteria

Transmission and

receiving test

Verify communication

between the

microcontroller and

ground station

through the

transceiver.

•Ground

Station

•Integrated

CanSat

•Ground

Station

Equipment

Prepare flight software

and ground software to

deliver and receive

data.

Pass if all the

messages

received.

SD card saving

Test

Test if FSW can take

readings from all

sensors and store

them on SD card.

N/A •Integrated

CanSat

•Set up the flight

system.

•Let the system run for

a long time and see if it

works without any

problem.

•Look for stability and

correctness of data.

If every

subsystem

including

communication

routines works

properly then the

CanSat can

pass.

Releasing

Command Test

To make sure that

FSW will give the

command when it

reached at least 500

m.

N/A •Container

•Payload

•Release

Mechanism

•Prepare CanSat for

drop test.

•Release the system.

•Check if the FSW can

give the release

command.

If FSW can

command to the

release

mechanism at

appropriate

altitude it passes.


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GS Subsystem


Procedure (Pre- On- Post

Test)

Pass-Fail

Criteria

Communication

Test

To ensure that

CanSat can

communicate with

ground station.

•FSW

•CDH

•Integrated

CanSat

•Ground

Station

equipments

•Set communication between

CanSat radio module and

ground station.

•Start the CanSat

communication.

•Check that if all data sent can

be seen on ground station

computer.

If communication

is successful

then CanSat

passes.

Data receiving,

storage and

display

Test if ground

station can receive

the data in intervals

and store the data.

•FSW

•CDH

•Ground

Station

Equipment

•Payload

•Prepare GS software and flight

software. Activate flight

systems.

•The payload will send telemetry

to ground station in standard

packets.

•Ground station must receive

the packets and archive info.

If data is

received and

displayed

successfully it

can pass the

test.

Communication

s range test

Test if

communication can

work properly with

a height difference.

•CDH •Ground

Station

Equipments

•Payload

•Put height difference between

GCS and CanSat (tower to

ground) .

•Investigate network trouble for

communication system and

ground station system

functionality.

Pass if

communication is

successful.


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118

Mission Operations & Analysis

Kutay ÇETİN


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119

Overview of Mission Sequence of

Events

Presenter: Kutay Çetin CanSat 2015 CDR: Team 3976 (NEBULA)

ArrivingSetting up the

GCSSetting up the

Antenna

Perform Function Test of

CanSat

Weight Check of the CanSat

Obtain Science Vehicle Egg

Fit ChecksAssemble CanSat

Perform Another Function Test

Loading the CanSat to the

Rocket Mission Start

Communication Check with

Ground Station

Performing Mission and

Landing Scoring

Delivering Telemetry Data

Recovery of the CanSat

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120

Overview of Mission Sequence of

Events


Mission & Systems Engineering Group

• Coordination of Launch Campaign and Operations

Electronics System Group

• Electronic System Check

• Electrical Ground Support Equipment Preparation

• CanSat Preparation

Telecommunication& Ground Station

Group

• Software and Electrical Ground Support Equipment Preparation

• Communication System Check


Mechanical System Group

• Mechanical Ground Support Preparation

• Structural Inspection and Equipment Check


Presenter: Kutay Çetin

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121

Field Safety Rules Compliance


• The Mission Operations Manual will be developed based on the

provided competition Mission Operations Manual and will be used

in pre-launch rehearsal activities.

• The Mission Operations Manual will include the following:

Ground Station Configuration

CanSat Preparation

CanSat Rocket Integration

Launch Preparation

Launch Procedure

Recovery Procedure

Troubleshooting Procedures

• Two copies of the Mission Operations Manual will be ready at the

Flight Readiness Review the day before launch.

• The first draw of manual is currently being prepared.


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CanSat Location and Recovery


• Our recovery crew will be located in strategic locations at the

launch field to spot the payload and the container.

• We will paint both the container and payload with orange color to

have a good visibility.

• We will place a label on both the container and payload that

includes Team Name, Team ID, Contact Phone, Contact Email and

University Name.

• There will be no GPS installed on CanSat due to lack of empty pin

on board.


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Ground System Radio Link Check

• Check XBee Radio on Cansat

• Check Ground Station Xbee connection between PC

• Start Ground Station Software and connect with correct baud rate

• Check the telemetry

• Confirm integrity of telemetry and check status of RSSI LED

• Radio link check pass

Loading the Egg Payload

• Request an egg from judge and make sure that the egg is numbered

• Place the egg and make sure that protection material is placed

• Carefully place the egg and make sure that it is secured

• Egg payload loading success


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Powering On/Off the CanSat

• Reset CanSat with removing battery

• Make sure power source is properly connected and connection is secured

• Switch power source to internal power source

• Connect debug board and make sure that CanSat has powered

• Power on success

Launch Configuration Preparation

• Request a rocket and get located with launch officer

• Locate the recovery crew to their strategic positions

• Place the egg payload

• Power on CanSat

• Check radio link and make sure that electrical/mechanical connections are secured

• Notify CanSat ready


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Loading CanSat into Launch Vehicle

• Wait until launch vehicle is ready

• When launch window opens, take CanSat to launch pad

• Confirm all components and connections are included

• Confirm CanSat is powered on and radio link is working

• Carefully place CanSat onto launch vehicle

• Notify launch vehicle ready

Telemetry Processing, Archiving and Analysis

• Confirm both raw and valid telemetry log files are created by ground station succesfully.

• During missions present real time data to field judges

• After recovery read the logged data

• Cross check logged and received data

• Perform an analysis of data for PFR


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Recovery

• Take positions before launch

• Track rocket and CanSat with binoculars

• Find location of impact and get there with field judge to confirm status of egg before the recovery

• Recover both modules

• Bring logged data to CanSat crew for retrieval the data


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127

Requirements Compliance

Gamze GÖKMEN


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Requirements Compliance

Overview

128Presenter: Gamze Gökmen CanSat 2015 CDR: Team 3976 (NEBULA)

• We complied every requirement in our design. Including

mass budget, size requirements, passive descent

control system, deployment and separation of payload

from container, survivability and resistance,

transmission rates, camera recording, ground station

development, etc.

• We are waiting for some components to be purchased.

After that we will integrate the CanSat.

• We haven’t did all of the drop tests and vibration test

but they are scheduled and will be completed without

any problem.

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Rqmt

Num.Requirement

Comply/

No

Comply/

Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

01Total mass of the CanSat (Container and Science Vehicle) shall

be 600 grams +/- 10 grams not including the egg.Comply 53

02

The Science Vehicle shall be completely contained in the

Container. No part of the Science Vehicle may extend beyond

the Container.

Comply 14, 18

03

The Container shall fit in the envelope of 125 mm x 310 mm

including the Container passive descent control system.

Tolerances are to be included to facilitate Container deployment

from the rocket fairing.

Comply 14,18

04

The Container shall use a passive descent control system. It

cannot free fall. A parachute is allowed and highly

recommended. Include a spill hole to reduce swaying.

Comply 28, 31

05The Container shall not have any sharp edges to cause it to get

stuck in the rocket payload section.Comply 40, 49

06 The Container shall be a florescent color, pink or orange. Comply 31

07The rocket air frame shall not be used to restrain any deployable

parts of the CanSat.Comply 18

08The rocket air frame shall not be used as part of the CanSat

operations.Comply 18


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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

09The CanSat (Container and Science Vehicle) shall deploy from

the rocket payload section.Comply 13

10

The Container or Science Vehicle shall include electronics and

mechanisms to determine the best conditions to release the

Science Vehicle based on stability and pointing. It is up to the

team to determine appropriate conditions for releasing the

Science Vehicle.

Comply 20, 28, 49

11

The Science Vehicle shall use a helicopter recovery system.

The blades must rotate. No fabric or other materials are allowed

between the blades.

Comply 28, 33

12All descent control device attachment components shall survive

50 Gs of shock.Comply 47

13 All descent control devices shall survive 50 Gs of shock. Comply 47

14All electronic components shall be enclosed and shielded from

the environment with the exception of sensors.Comply 16, 17

15 All structures shall be built to survive 15 Gs acceleration. Comply 51, 52


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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

and notes

16 All structures shall be built to survive 30 Gs of shock. Comply -

17

All electronics shall be hard mounted using proper

mounts such as standoffs, screws, or high performance

adhesives.

Comply 50, 61, 94

18All mechanisms shall be capable of maintaining their

configuration or states under all forces.Comply 40

19 Mechanisms shall not use pyrotechnics or chemicals. Comply -

20

Mechanisms that use heat (e.g., nichrome wire) shall

not be exposed to the outside environment to reduce

potential risk of setting vegetation on fire.

Comply 16, 17

21

During descent, the Science Vehicle shall collect and

telemeter air pressure (for altitude determination),

outside and inside air temperature, flight software state,

battery voltage, and bonus objective data

(accelerometer data and/or rotor rate).

Comply 7, 20

22The Science Vehicle shall transmit telemetry at a 1 Hz

rate.Comply 75


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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

23

Telemetry shall include mission time with one second or

better resolution, which begins when the Science Vehicle is

powered on.

Comply 25, 55

24

XBEE radios shall be used for telemetry. 2.4 GHz Series 1

and 2 radios are allowed. 900 MHz XBEE Pro radios are

also allowed.

Comply45, 55, 62, 80,

97

25XBEE radios shall have their NETID/PANID set to their team

number (decimal).Comply 62

26 XBEE radios shall not use broadcast mode. Comply 62

27

The Science Vehicle shall have a video camera installed and

recording the complete descent from deployment to landing.

The video recording can start at any time and must support

up to one hour of recording.

Comply 7, 25

28

The video camera shall include a time stamp on the video.

The time stamp must work from the time of deployment to

the time of landing.

Comply 25

29The descent rate of the Science Vehicle shall be less than

10 meters/second and greater than 4 meters/second.Comply 34, 35, 37

30

During descent, the video camera must not rotate. The

image of the ground shall maintain one orientation with no

more than +/- 90 degree rotation.

Comply 48


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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

31Cost of the CanSat shall be under $1000. Ground

support and analysis tools are not included in the cost.Comply 139

32 Each team shall develop their own ground station. Comply 91, 95, 96

33All telemetry shall be displayed in real time during

descent.Comply 100, 102

34All telemetry shall be displayed in engineering units

(meters, meters/sec, Celsius, etc.)Comply 102

35Teams shall plot data in real time during flight on the

ground station computer.Comply 102

36

The ground station shall include one laptop computer

with a minimum of two hours of battery operation, XBEE

radio and a hand held or table top antenna.

Comply 100

37

The ground station shall be portable so the team can be

positioned at the ground station operation site along the

flight line. AC power will not be available at the ground

station operation site.

Comply 95


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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

38The Science Vehicle shall hold one large raw hen’s egg

which shall survive launch, deployment and landing.Comply 17, 43

39Both the Container and Science Vehicle shall be labeled

with team contact information including email address.Comply 122

40

The CanSat flight software shall maintain and telemeter a

variable indicating its operating state. In the case of

processor reset, the flight software shall re-initialize to the

correct state either by analyzing sensor data and/or

reading stored state data from non-volatile memory. The

states are to be defined by each team. Example states

include: PreFlightTest(0), LaunchWait(1), Ascent(2),

RocketDeployment(3), Stabilization(4), Separation(5),

Descent(6), and Landed(7).

Comply 64, 110

41 No lasers are allowed. Comply -

42

The Science Vehicle shall include an easily accessible

power switch which does not require removal from the

Container for access. An access hole or panel in the

Container is allowed.

Comply 104

43

The Science Vehicle must include a battery that is well

secured.. (Note: a common cause of failure is

disconnection of batteries and/or wiring during launch.)

Comply 104, 66


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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

44Lithium polymer cells are not allowed due to being a fire

hazard.Comply 50, 70

45

Alkaline, Ni-MH, lithium ion built with a metal case, and Ni-

Cad cells are allowed. Other types must be approved

before use.

Comply 50, 70

46

The Science Vehicle and Container must be subjected to

the drop test as described in the Environmental Testing

Requirements document.

Partial 108, 127

Tests scheduledbut they are

not completed.

47

The Science Vehicle must be subjected to the vibration

testing as described in the Environmental Testing

Requirements document.

Partial 108, 112, 127

Tests scheduledbut they are

not completed.

48

CanSat Science Vehicle and Container must be subjected

to the thermal test as described in the Environmental

Testing Requirements document.

Comply 109

49Environmental test results must be documented and

submitted to the judges at the flight readiness review.Comply -


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136

Management

Muhammed Ali KUL


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137

Status of Procurements

Presenter: Muhammed Ali Kul CanSat 2015 CDR: Team 3976 (NEBULA)

Component Name Number Status

BMP180 Barometric

Pressure/Temperature/Altitude Sensor2 Ordered

OV7670 camera module 2 Ordered

ADXL345 3-axis accelerometer 2 Purchased

Arduino Nano board

(with ATmega328)2 Ordered

Arduino SD Card Module 2 Purchased

DS1307 Real-Time Clock 2 Ordered

Phidgets 1135 voltage sensor 2 Ordered

Turnigy TGY-50090M metal gear servo 2 Ordered

Xbee Pro 900 RPSMA radio module 2 Ordered

Radio Antenna 2 Ordered

Buzzer 2 Ordered

Container Structure 1 Manufactured

Payload Structure 1 Manufactured

Batteries 4 Purchased

Electric Cables - Purchased

Autogyro Components - Prototype in 3 weeks

GCS Components - Ordered

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138

CanSat Budget – Hardware


Component Part Number Quantity CostNew /Re-use

Hardware

Pressure and Temperature Sensor BMP 180 2 12,28 $* New

Air Temperature Sensor LM35CZ 2 3,98 $* New

3-Axis Accelerometer ADXL 345 2 8,98 $* New

Actuator BMS-306DMAX 2 25,60 $ * New

Micro Processor Arduino Nano 2 27,04 $* New

Real-Time Clock DS 1307 2 10,64 $* New

Antenna A09-HASM-675 2 90,00 $ ** New

Batteries 9V Alkaline 4 11,56 $* New

Voltage Measure Phidgets 1135 2 40,00 $* New

Camera OV7670 2 44,98 $* New

Processor & Memory SD Card

Module2 11,58 $* New

TransmitterXBee Pro 900

RPSMA2 220,00 $* New

Presenter: Muhammed Ali Kul

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139

CanSat Budget – Hardware


Component Part Number Quantity CostNew /Re-use

Hardware

Mechanical Hardware

Total (Components,

parachute, blades,

manufacture, etc.)

- - 150,00 $** New

Subtotal Cansat Hardware 656,64 $ New

*: Actual cost **: Estimated cost ***: Budgeted cost


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140

CanSat Budget – Ground Station


Category Quantity Unit Cost Total Cost Determination

XBee Pro 900 RPSMA 2 110$ 220$ Actual

4 Meter Shielded Cable 25$ (per

meter)40 $ Actual

Hyper Link Wireless HG-8909P

Ground Control Antenna2 80 $ 160 $ Actual

Subtotal Ground Station 420 $


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141

CanSat Budget – Other Costs


Category Quantity Unit Cost Total Cost Determination

Travel 10 1.447$ 14.470$ Actual

Hotel (2 rooms) 10 250$ 2.500$ Estimate

Meals ( 3 times a day) 150 20$ 3.000$ Estimate

Car Rental (1 car for 5 people) 10 (2 cars) 50$ 500$ Estimate

Prototyping 2 - - UTAA*

Computers 2 - - UTAA*

Test Facilities and Equipment - - - UTAA*

Sub Total Other Costs 20.470$

* Provided by the University of Turkish Aeronautical Association


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142

CanSat Budget


Category of Cost Subtotal

CanSat Electronics Hardware 656,64 $

CanSat Mechanical Hardware 150 $

Ground Station 420 $

Other Costs 20.470 $

Total Cost 21.696,64 $

Total Cost with 10 % Overall Error Margin 23.866,30 $

Other Costs; 20470; 94%

Ground Station; 420; 2%

Cansat Electronics Hardware; 656,64; 3%

Cansat Mechanical Hardware; 150; 1%

CanSat Hardware; 806,64; 4%

Other Costs Ground Station Cansat Hardware Cansat Electronics Hardware Cansat Mechanical Hardware


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143

Program Schedule


Date DevelopmentComponent/ Hardware

deliveries

Academic

exams

Achievements and

Major integrations

1 November 2014

-

1 February 2015

• Team Formation

• Mission Definition

• Preliminary

Design

• Requirements

• Hardware

Comparaison

• Sponsorship

• Hardware Feasibility

Midterm and

finals (8

weeks)

Preliminary Design

and Reports

1 February 2015

-

19 March 2015

• Subsystem

Design, Analysis,

and Interfaces

• Software,

Operational

Modes

• Hardware

Producement

• Sposorship

Agreements

• Tests

• Environmental Tests

Identification

Quizes,

Homeworks,

and Midterms

(2 weeks)

Cansat, Software

Prototype

Test Reports

19 March 2015

-

29 March 2015

• Design

verification

• Documentation

Travel Planning

(Booking ticet, hotels,

car, etc.)

Quizes,

Homeworks,

and Midterms

(5 days)

• Critical Design

Review and

Reports

• Fixed Budget

• Cansat

Engineering

Model


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144

Program Schedule


Date DevelopmentComponent/

Hardware deliveries

Academic

exams

Achievements and

Major integrations

29 March 2015

-

15 May 2015

• System Test,

design verification

and corrections

• Software fixes and

improvements

• System checks

• Accomodation

and Flight

Reservation

• Visa Application

Quizes,

Homeworks, and

Midterms (2

weeks)

Team D-Day

Readiness Review

Final Software

Cansat Flight

Model

15 May 2015

-

10 June 2015

• System checks

• Launch Campaign

• Competition

PreparationFinals (3 weeks)

- Flight Readiness

Review &

Launch

- Post Mission

Report


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145

Program Schedule – Gantt Chart


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(If You Want) Shipping and Transportation


• All the components will be transported inside safe containers.

• As we are ten members in our team, team will carry hardware part of

CanSat easily with safe boxes, then rent a car for transportation to the

launch site. To prevent critical part losses, the important components

and electronics will be carried inside hand baggages. (Necessary

permissions will be secured in advance)

– If our request is denied we will seek to ship our most critical parts via

a courier company with high safety levels

• For easier transport the antenna mast and the ground station will be

disassembled and manufactured using small parts.

• Tools will be transported with the CanSat, and we will be choose the

tools wisely, taking into account the possibility to loose them and being

ready to replace them in Texas.

• The CanSat and tools will be protected as needed. All parts of CanSat

will carry with safe boxes which resistant to damages.


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(If You Want) Conclusions


• Major accomplishments

– Team is established

– Preliminary Design is completed

– Critical Design is completed

– Manufacturing processes are decided

– Container and Payload prototypes are manufactured

• Major unfinished work

– Some system and subsystem tests are to be completed

• Additional work

– Sponsors for all kinds of expenses are to be found

• We hope that our design will be a success and we can make our

name to be heard.


cansat2015_3976_cdr_v02

Documents

team logo

osman mirza demircan

team organization cansat

osman mirza demircan

nebula cansat

system requirement t

descent control system

electrical power system