CanSat 2013 PDR Outline
Version 1.1
Team 1036
Florida State University
The Fighting Mongooses
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
1
Presentation Outline
•
•
•
•
•
•
•
•
•
•
•
Systems Overview………………………...Yasmin Belhaj
Sensor Susbsystem Design……………...Samuel Rustan
Descent Control Design…………………..Max Sandler, Andrew Grant
Mechanical Subsystem Deign…..............Max Sandler
Communication & Data Handling………..Andrew Guerr
Electrical Power System Design…………Samuel Rustan
Flight Software Design……………………Andrew Guerr
Ground Control Control System Design...Andrew Guerr
Cansat Integration and Test………………Andrew Grant, Samuel Rustan
Mission Operation and Analysis…………Yasmin Belhaj
Management…………………………...….Yasmin Belhaj, Samuel Rustan
Presenter: Name goes here
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
2
Team Organization
Name
Yasmin Belhaj
Andrew Grant
Andrew Guerr
Samuel Rustan
Maxwell Sandler
Presenter: Yasmin Belhaj
Year
Senior
Senior
Senior
Senior
Senior
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
Discipline
Mechanical
Mechanical
Computer
Electrical
Mechanical
3
Acronyms
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
A : Analysis
ADC : Analog-to-Digital Converter
ADR : Average Descent Rate
ALD : Audible Locating Device
API : Application Programming Interface
CDP : Communications and Data Processing
D : Demonstrable
DCD : Descent Control Design
DCS : Descent Control System
DS : Datasheet
EEPROM : Electrically Erasable Programmable
Read-Only Memory
EST : Estimate
FIFO : First In, First Out
FS : Flight Software
GCS : Ground Control System
I : Inspect
I2C : Inter-Integrated Circuit
I/O : Input/Output
IDE : Integrated Development Environment
Presenter: Samuel Rustan
•
•
•
•
•
•
•
•
IV : Initial Velocity
MMCX : Micro-Miniature Coaxial
RSSI : Received Signal Strength Indication
S/H : Shipping and Handling
SSD: Sensor Subsystem Design
SPI : Serial Peripheral Interface
T : Test
VM : Verification Matrix
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
4
Systems Overview
Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
5
Mission Summary
• Launch an autonomous CanSat with deployable payload
containing a large hen egg
• CanSat shall be deployed from Competition Rocket at
approximately 670 [m], begin descent using a parachute
and begin transmitting telemetry to ground station
• At 400 [m] the container and payload will separate, safely
landing using the parachute and aero-braking structure,
respectively
• Selectable Objective: Force of Impact Calculation
– Upon impact of the payload an impact-force calculation
shall be obtained and stored for post-flight analysis
– The selection is based on the criteria of being a simpler
sub-system to implement
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
6
System Requirement Summary
ID
Requirement
Rationale
Priorit
y
Pare
nt(s)
Child(ren)
VM
A
I
X
X
SYS-01
Total mass of cansat shall not
exceed 700 [g] (excluding egg)
Base Mission
Requirement
High
None
MS-05, EPS-02
SYS-02
Cansat shall use a container to
protect it from deployment from
the competition rocket
Base Mission
Requirement
High
None
MS-04
X
SYS-03
Cansat shall use a descent and
recovery system
Base Mission
Requirement
Medium
None
DC-01,02,03,
X
SYS-04
Cansat shall comply with XBEE
communication requirements
Base Mission
Requirement
Medium
None
GCS-02,05
SYS-05
Cansat shall comply with
electrical power requirements
Base Mission
Requirement
High
None
DC-05, EPS01, EPS-07
X
SYS-06
Cansat shall comply with the
flight software requirements
Base Mission
Requirement
Medium
None
FSW-01, 02,
04, 06
X
SYS-07
Cansat flight hardware shall not
exceed $1000 (USD) (Excluding
Ground Support and analysis
tools
Base Mission
Requirement
Medium
None
None
X
SYS-08
Each team must use own
ground control station (GCS)
Base Mission
Requirement
High
None
FSW-07, GCS01-05
X
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
X
T D
X
7
System Requirement Summary
ID
Requirement
Rationale
Priority
Parent(s)
Child(ren)
VM
A I T D
SYS-09
Cansat shall comply with
structural requirements
Base Mission
Requirement
High
None
DC-04, DC-01,
MS-01, MS-05
X
SYS-10
Cansat shall comply with
mechanisms requirement
Base Mission
Requirement
High
None
DC-04, DC-01,
MS 03
X
SYS-11
Cansat shall transmit
telemetry data once every two
seconds
Base Mission
Requirement
High
None
MS-06, EPS-06
X
SYS-12
Cansat shall measure the
impact force with the ground
Base Mission
Requirement
Medium
None
FSW-07
X
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
8
System Level CanSat Configuration Trade &
Selection
• Egg compartment difficult to access if between
electronics and separation mechanism
• Adds failsafe protection to egg compartment
utilizing the electronics as a hard cushion.
• Egg compartment placed in the bottom
section of the Payload. (Easy Access)
• This system level configuration utilizes
the trap door separation mechanism.
(Not Applicable)
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
9
System Level CanSat Configuration Trade &
Selection
Parachute
Separation
Mechanism
Electronic
Components
• Egg compartment positioned low
for easy access.
• Separation concept chosen
retains place at top of payload
• Aero braking structure surrounds
payload
Aero-braking
Structure
Egg
Compartment
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
10
System Concept of Operations
Final Check
& Power On
Integrate
CanSat into
Rocket
Pre-Launch
Preflight
Briefing
Launch
CanSat
Deployment
& Initiate
Telemetry
Lander
Separation &
Deployment
Ground
Impact, End
Telemetry
Post-Launch
CanSat
Recovery
Data
Retrieval
Post Flight
Analysis
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
11
System Concept of Operations
CanSat Deployment (from Rocket)
•
•
Container separates from rocket at
approximately 670 [m]
Container Air-braking Activated
Payload Deployment (Separation)
•
•
Ground Impact (Landing)
•
•
Recovery
•
Payload separates from container
at approximately 400 [m]
Payload is deployed
• Payload Air-braking Activated
Presenter: Samuel Rustan
Impact Force Calculation
Audible Locator Activated
•
Container and Lander
retrieved
Impact Force Calculation
obtained
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
12
Physical Layout – Launch Configuration
Parachute
Separation
Mechanism
Container
Electronic
Components
Aero-braking
Structure
Payload
Egg
Compartment
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
13
Physical Layout – CanSat Dimensions
50 mm
Dimensions allow
clearance in the
given rocket section
of 130 mm x 250 mm
45 mm
220 mm
100 mm
85 mm
120 mm
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
14
Physical Layout – Deployed Configuration
375 mm
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
15
Launch Vehicle Compatibility
• The given length of the rocket compartment is said to be 250mm.
The CanSat will be designed in order to give ample space for a
smooth release. The designed Cansat length will be 220mm leaving
15mm of space on the top and bottom.
• The given diameter of the rocket compartment is said to be 130mm.
The designed CanSat diameter will be 120mm, leaving 5mm of
space on both sides.
• CanSat dimensions were chosen in order to give a comfortable
fitment inside of the rocket compartment.
• Spacious yet tight fit will ensure CanSat will not bounce around
and reliable ejection.
• Container of CanSat will will be a smooth, simple cylinder
disallowing any protrusions to hinder ejection.
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
16
Sensor Subsystem Design (SSD)
Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
17
Sensor Subsystem Overview
Sensor
Type
Model or Identification
and Description
Purpose
CanSat
Req.
Pressure
BMP-085, Barometric Pressure, Temperature,
Altitude Sensor
Non-GPS Altitude
measurement
Payload
Temperature
BMP-085
Temperature and Altitude
Payload
Accelerometer
ADXL 326, triple axis sensing, ±16g output
Base Mission Requirement
Payload
GPS
66-Channel, 10 Hz, Receiver, MTK339 Chipset
Base Mission Requirement
Payload
Volt meter
Arduino onboard ADC
Base Mission Requirement
Payload
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
18
Sensor Subsystem Requirements
VM
ID
Requirement
Rationale
Priority
Parent
Child
A
I
SSD-01
Sensors must operate at 5 V or
less.
Arduino
operates at 5 V
Medium
SYS-05
EPS-04
X
SSD-02
Sensors must sample data at a
rate of 1 [Hz] or higher
Base Mission
Requirement
High
SYS-11
None
X
SSD-03
Sensors shall use the following
protocols: I2C, SPI, or Analog
Interface to
Microcontroller
Medium
SYS-06
None
X
SSD-04
Non-GPS Altimeter pressure
sensor shall measure altitude with
a precision of 0.5 [hPa]
Base Mission
Requirement
High
SYS-11
None
X
X
SSD-05
Non-GPS Altimeter temperature
sensor shall measure with a
precision of 1 [ºC]
Base Mission
Requirement
High
SYS-11
None
X
X
SSD-06
GPS sensor shall sample and
transmit UTC time, latitude,
longitude, mean sea level altitude,
number of satellites tracked.
Standard NEMA.
Base Mission
Requirement
High
SYS-11
None
X
X
SSD-07
Accelerometer shall sample at a
rate of at least 100 [Hz]
Base Mission
Requirement
High
SYS-12
None
X
X
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
T D
19
GPS Trade & Selection
GPS Model
Price
[USD]
Current
[mA]
MTK3339, 10
[Hz]
39.95
25
EM-406A, Sirf III
60.00
Tyco A1035-D, 5
[Hz]
62.00
Weight
[grams]
Accuracy
[m]
Start
(Cold/Hot)
Dimensions
[mm]
8.5
2
34/2
25 x 35 x 7
44
16
10
42/8
31 x 31 x 10
41
15
10
35/1
36 x 36 x 8
GPS Module Selected: MTK3339
• Significantly lower weight
• Significantly lower current (power draw)
• Highly Accurate to 2 [m]
• Antenna sensitivity to -165 [dB]
• Fast Start time
• Coding libraries available, widely used
and tested
Presenter: Samuel Rustan
Photo courtesy of http://www.adafruit.com
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
20
Non-GPS Altitude Sensor
Trade & Selection
Model
Price
[USD]
Mass
[grams]
Resolution
[bits]
Interface
Protocol
Sample
Rate [Hz]
Dimensions
[mm]
BMP-085
19.95
2
Pressure: 17
Temp: 16
I2C
2
17 x 17 x 2
MPL115A2
11.95
1
Pressure: 12
Temp: 11
I2C
1
10 x 15 x 2
SCP1000
29.95
2
Pressure: 17
Temp: 14
SPI
1-9
20 x 20 x 2
Altitude Sensor Selected: BMP-085
•
•
•
•
•
•
Significantly lower current (power draw)
Pressure Accuracy to ± 0.2 [hPa]
Temperature Accuracy to ± 0.5 [ºC]
Altimeter accuracy of 0.25 [m]
Ultra low current (power)
Widely used and tested
Photo courtesy of http://www.adafruit.com
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
21
Air Temperature Trade & Selection
• Air Temperature handled by the BMP-085
– Meets guidelines base mission requirements
– Convenient since integrated on the same chip as the
pressure/Altimeter sensor
Presenter: Sam Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
22
Impact Force Sensor
Trade & Selection
Model
Price
[USD]
Mass
[grams]
Current
Draw [µA]
Interface
Protocol
Sample
Rate [Hz]
Res.
SIze
[mm]
ADXL 326
17.95
2
125
I2C, SPI
100
±16g
19x19x3
LSM 303A
24.95
1
110
I2C, SPI
75
±16g
3x5x1
ADXL 335
14.95
2
350
I2C, SPI
100
19x19x3
Accelerometer Selected: ADXL 326
•
•
•
•
Embedded FIFO, simplifies storage
Ultra low current (power)
Widely used and tested
Included in same package as the
pressure/altimeter sensor
Photo courtesy of http://www.adafruit.com
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
23
Descent Control Design (DC)
Andrew Grant
Max Sandler
Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
24
Descent Control Overview
• The descent is broken up into two
phases.
– Phase 1: Apogee to 400 m.
– Phase 2: 400 m to impact.
• For Phase 1 a parachute or
streamer will be used.
– It will be properly sized to meet
the descent rate requirement of
20 m/s.
• For Phase 2 a mechanism will
activate to reduce the descent
velocity to an acceptable impact
velocity.
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
25
Descent Control Requirements
ID
Requirement
Rational
Priority
Parent(s) Child(ren)
VM
A I D T
DC-01
The descent control system
shall not use any flammable
or pyrotechnic devices.
Base
Requirement
High
SYS-03,
SYS-09,
SYS-10
None
X X
DC-02
When above 400m the
Cansat will be limited to 20
m/s by a passive descent
control device
Base
Requirement
Medium
SYS-03
None
X
DC-03
Below 400m the Cansat will
deploy an aero braking
structure.
Base
Requirement
High
SYS-03
None
X
DC-04
All descent control devices
and attachments must
survive a 30g shock.
Base
Requirement
High
SYS-09,
SYS-10
MS-01
X
DC-05
The Cansat must have an 80
decibel audible locating
device that will last for up to 3
hours.
Base
Requirement
High
SYS-05
None
X
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
26
Container Descent Control Strategy
Selection and Trade
Option 1: Round Parachute
Pros: Drag coefficient 1.5 High stability, Compact
Cons: High wind drift potential
Option 2: Parasheet (Concept Selected)
Pros: Simple, Compact, Drag Coefficient 0.75
Cons: High wind drift potential, less stable
Option 3: Streamer
Pros: Low Wind Drift Potential, Simple
Cons: Drag Coefficient 0.14 – 0.4
Presenter: Andrew Grant
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
27
Payload Descent Control Strategy
Selection and Trade
Option 1: Spring Loaded Rods (Concept
Selected)
Torsional springs open rods/fabric fastened at
base.
Pros: Lightweight, Easy deployment
Cons: Structural Integrity
Option 2: Deployable Exterior Panels
Rigid panels open using motor.
Pros: Durable
Cons: Weight, Power requirement
Color: Blaze Orange
Option 3: Telescoping Arms
Fabric connected at center and tips will extend
using linear actuator.
Pros: Large area, Max drag
Cons: Complex, Lengthy deployment time
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
28
Descent Rate Estimates
• Descent rates were estimated using a theoretical model built in Matlab
using an iterative process.
• Model designed behind the fundamentals of kinematics, Newtons Law of
motion, and aerodynamic drag.
• Assumptions - Constant drag coefficients
- Interaction between container and parachute
geometry, negligible
- Estimated weight maximum allowable by rules
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
29
Descent Rate Estimates
Container & Payload Post Separation
Matlab Output Screenshot
Presenter: Max Sandler
30
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
Descent Rate Estimates
Container after Separation from Payload
Matlab Output Screenshot
Presenter: Max Sandler
31
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
Descent Rate Estimates
Payload after Separation from Container
Matlab Output Screenshot
Presenter: Max Sandler
32
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
Mechanical Subsystem Design
Max Sandler
Andrew Grant
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
33
Mechanical Subsystem Overview
• Structure
– The container and the payload structure will be made of
molded polyethylene
• Container/Payload Interface
– The container will have hooks attached to hold the parachute
and payload
– The detachment mechanism will sit on top of the payload
• Payload
– The top portion of the payload will hold the electronics
– The bottom portion of the payload will hold the egg and the
batteries
• Once the payload is being constructed the position of certain
components may be changed to optimize the center of gravity
Presenter: Andrew Grant
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
34
Mechanical Sub-System
Requirements
ID
Requirement
Rational
Priority Parent(s)
Child(ren)
VM
A I D T
MS-01
Mechanisms must be
capable of
maintaining their
configuration under
all forces
Base
Requirement
High
SYS-10, DC04
None
X
X
MS-02
Mechanisms must
not use pyrotechnics
or chemicals
Base
Requirement
High
DC-01
None
X
X
MS-03
Mechanisms that use
heat must not use be
exposed to the
environment
Base
Requirement
High
DC-01, SYS10
None
X
X
MS-04
Mechanism must fit
inside container
Container
must protect
Payload
High
SYS-02
None
X
X
MS-05
Total Mass of CanSat
must be less than
700 [g]
Rocket must
be able to lift
CanSat
High
SYS-01,
SYS-09
None
MS-06
Use of metal
components shall be
limited
Limit Radio
interference
Medium
SYS-11
None
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
X
X
X
35
Egg Protection Trade & Selection
Material
Density
Cost
Details
Pros
Cons
Memory
Foam
48-80
kg/m^3
$20-150/
mattress
topper
Rectangular
foam 1.5 in
thick
Soft, light
Susceptible to
heat
Dough
unknown
$2-10
Organic
material with
air pockets
cheap
Difficult to obtain
consistent
properties
Polystyrene
Beads
10501120
kg/m^3
12-15¢/
liter
Expanded
soft beads
Cheap,
light
May get loose in
container
• Polystyrene Beads were selected.
• Air between beads will lower density.
• Inexpensive.
• Best performance in experiment.
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
36
Mechanical Layout of Components
Trade & Selection
• Structural materials will be made from
selected Polyethylene.
• Container, Payload envelope, and
Payload compartments will all be
formed from this same material by
melting them together or creating small
brackets in order to make
manufacturing easier.
• Egg Compartment will be placed on the
bottom for ease of axis.
• Ring release separation mechanism
placed on top of payload in order to
connect to eye bolt from container.
• Phase 2 Aero Braking mechanism will
encapsulate payload until deployment
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
37
Material Selections
Material
Cost
($/m^2)
Tensile Strength Density
(MPa)
(kg/m^3)
Polyethylene
12.20-47.94 41.2
1040
light, strong, cheap, weaker then
easily molded
other options
Fiber Glass
20-40/gal
42.3
1120
Light Strong
difficult to use
Carbon Fiber
300-500
3500
1330
Aluminum
69.00-144.77 152-310
light, strong
strong, relatively
cheap
expensive
heavier then
other choices,
2700
Pros
Cons
Material Chosen: Polyethylene
• Light
• Strong Enough
• Easily molded
Presenter: Andrew Grant
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
38
Container - Payload Interface
• Container
•
•
•
•
DC Motor
Motor Bracket
Open Ring
Eye Bolt
• Payload
Presenter: Maxwell Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
39
Structure Survivability Trades
• For both Container and Payload discuss:
– Electronic component mounting methods
• Use stand-off screws for circuit boards and platforms within the
interior of the payload for the electronics enclosure
• All components will be connected via soldered connections
– Unless cable or wire is secured by harness or clamp-connector
– Acceleration and shock force requirements and testing
• Based off material selection
– Securing electrical connections.
– Solder connections
• Unless solderless, compression connections suffice
• Electronics PCB held in place with glue
Presenter: Maxwell Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
40
Mass Budget
Payload
Container
Component
Mass [g]
Source
Component
Mass [g]
Source
Exterior Frame
61
Estimate
Exterior Frame
130
Estimate
Separation Component
(lower)
20
Estimate
Parachute
80
Estimate
XBEE
5
Datasheet
Estimate
6
Estimate
Separation component
(upper)
20
Antennae
ADXL326
2
Datasheet
Container Total
230
BMP085
2
Datasheet
GPS
10
Datasheet
Arduino Uno
20
Estimate
6
Datasheet
Motor
10
Estimate
Egg protection material
30
Estimate
Battery
20
Datasheet
Payload Total
208
Buzzer AI-2429-TWT-R
Presenter: Andrew Grant
Total Mass
Estimate = 438 [g]
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
41
Communication and Data Handling
(CDH) Subsystem Design
Andrew Guerr
Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
42
CDH Overview
• Data from the GPS, altimeter, voltage divider, and
accelerometer is received and processed by the
Arduino Uno
• Data from the sensors is put into a telemetry data
packet by the FSW and transmitted to the GCS by the
XBEE-Pro series 1 transciever
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
43
CDH Requirements
ID
Requirement
Rationale
CDH-01
Microcontroller shall be capable of
interfacing with all components.
Microcontroller must take
data from and control all
other components
CDH-02
Microcontroller shall operate at a high
enough frequency to gather sensor data
and output telemetry at 0.5 HZ
Telemetry data must be
sent every 2 seconds
CDH-03
Communications radio shall be XBEE
Series 1 or 2
Competition requirement
CDH-04
XBEE radios shall have NETID set to the
team number
Competition requirement
CDH-05
XBEE radio shall not use broadcast mode
Competition requirement
CDH-06
XBEE radio shall have minimum range of at
least 1.4 km
Radio must stay in contact
throughout the flight
CDH-07
ALD shall be rated above 80 dB
Competition requirement
ALD shall operate for at least 3 hours
Competition requirement
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
44
Processor & Memory
Trade & Selection
Memory Communication Operating
Interfaces
Voltage [V]
Microcontroller
Clock
Speed
[MHz]
Arduino Uno
16
32k
Arduino Pro Mini 328
16
16k
FEZ Cerberus
168
300k
Size
Cost
[$US]
Serial, I2C, SPI,
A2D
Serial, SPI, I2C,
A2D
5
2.7 x 2.1 in
30
5
0.7 x 1.3 in
19
SPI, I2C, 2xUART,
A2D
5
2.25 x 1.85 in
30
Microcontroller Selection – Arduino Uno
• Capable of interfacing with all needed components.
• Good community support.
• Existing libraries and simple development environment
make it easy to develop for.
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
45
Antenna Trade & Selection
• Antenna compatible with XBEE
– For integration onto CanSat, mobility is priority
• ¼ wave monopole antenna
• ½ wave dipole
– Currently testing with A24-HASM 450
• Selected CanSat XBEE “on module” whip antenna
• This antenna is designed specifically
for the XBEE module
• Placement of antenna can be moved
off the module by u.FL cable
Photo source: www.sparkfun.com
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
46
Radio Configuration
• Mission Guidelines stipulate the use of XBEE series 1 or 2
– XBEE modules shall not operate in the “Broadcast” mode
• Direct Transmission in “Unicast Mode” will be utilized
– This will reduce the chance of interference with other modules
• To setup the XBEE, the X-CTU software is used
– Set the PAN ID (4 digit hex)
– Set Baud rate (57600 bps)
• Transmission Control via API mode (Data Structure)
– Start delimiter, data length bytes, API identifier, API frame ID,
destination address, telemetry data, checksum
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
47
Telemetry Format
• Data included in transmissions:
– From GPS: Local time, latitude, longitude, altitude,
number of satellites tracked
– From altitude sensor: altitude, temperature
– From voltage divider: Battery voltage
– From software: Team ID, software state
• 75 characters sent every 2 seconds
• Data rate 300 bps
• Data will be sent in ASCII format
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
48
Telemetry Format
Data format
CANSAT,<TEAM_ID>,<MISSION_TIME>,<GPS_TIME>,<GPS_LAT>,<GPS_LONG>,<GPS_
ALT>,<GPS_SAT>,<ALT_SENSOR>,<TEMP>,<BAT_V>,<STATE>
Field
Format
Description
<TEAM_ID>
XXXX
Assigned team id
<MISSION_TIME>
SSSSS
Software mission time in seconds
<GPS_TIME>
HH:MM:SS
GPS local time
<GPS_LAT>
DDMM.mmmmN
GPS latitude
<GPS_LONG>
DDDMMM.mmmW
GPS longitude
<GPS_ALT>
AAA.A
GPS altitude in meters
<GPS_SAT>
XX
GPS satellites tracked
<ALT_SENSOR>
AAA.A
Non GPS altimeter altitude in meters
<TEMP>
TT
Air temperature in degrees C
<BAT_V>
VV.V
Battery voltage
<STATE>
X
State of flight software
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
49
Activation of Telemetry
Transmissions
• The flight software will run a loop checking for the
command to begin telemetry transmissions and will do
nothing until it is received.
• The command to begin telemetry will be sent through
the radio from the ground station.
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
50
Audible Locating Device Trade &
Selection
Part
Price Loudness Size (mm)
(dB)
Weight
(g)
Power Req.
AI-2429-TWT-R
$4.73 100
23.8 Dia x 16 H
6
8 mA
3-20 VDC
AI-3035-TWT-3V-R $3.55 100
30 Dia x 20.5 H
10
9 mA
2-5 VDC
AI-4228-TWT-R
42 Dia x 14 H
12
10 mA
3-28 VDC
$4.54 99
• AI-2429-TWT-R chosen
– Small size and weight and fulfills all requirements.
• Enabling/Disabling
– ALD will be activated when altitude has become
constant.
– Can be turned off by using external power switch.
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
51
Electrical Power Subsystem (EPS)
Design
Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
52
EPS Overview
Part
Purpose
Li-Ion Battery
Stores all energy for all electrical devices
Switch SPDT
Controls power from battery to main circuitry
Indicator LED
Indicates “power on” state of CanSat
Voltmeter
Indicates battery state (via ADC of Arduino)
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
53
EPS Requirements
VM
ID
Requirement
Rationale
Priority
Parent
Child
A
I
EPS-01
Battery shall provide at least 5 [V]
output for duration of flight
Arduino & sensors
operate at 5 V
Medium
SYS-05
None
X
EPS-02
Battery mass/weight shall be less
than 100 [g]
Per the overall
mass limitation
Low
SYS-01,
MS-01
None
X
EPS-03
Battery shall be stored in Payload
section of CanSat
All electronics
operate from
payload
Low
None
None
X
EPS-04
Voltage measurement shall draw
negligible current
Minimize energy
loss
Medium
None
None
X
EPS-05
Battery shall supply at least 2
times the expected energy use
To ensure power
is supplied for
duration of flight
and recovery
Medium
None
None
X
EPS-06
Voltage measurement shall be
integrated
Base Mission
Requirement
High
SYS-11
None
X
EPS-07
On/Off switch with external power
indicator shall be accessible from
the exterior of Container
Base Mission
Requirement
High
SYS-05
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
T D
X
54
Electrical Block Diagram
GPS 5 V
ON/OFF
Arduino Uno
5V
(onboard regulation)
BMP085 5
V
Battery 6 V
XBEE 5 V
Motor
Buzzer 5 V
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
55
Power Budget
Component
Voltage [V]
Current [mA]
Power [mW]
Duty Cycle
[min.]
Energy
[mWh]
Arduino
5
50
250
10
42
I/O pns
5
40
200
10
33
GPS
3.3
25
82.5
10
14
BMP085
3.3
0.1
0.33
10
0
ADXL326
3.3
0.1
.33
10
0
XBEE Tx
3.3
250
825
6
83
XBEE Rx
3.3
55
181.5
6
18
Motor*
5
300
1500
1
25
Buzzer
5
8
40
180
120
Total
334
Available
750
* Denotes estimates, further work needed
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
56
Power Source Trade & Selection
Price
[USD]
Part
Li-Ion Camera
6 [V], 2CR5MPA/B
7
Voltage
[V]
6
Material
Li
Capacity
[mAh]
1400
Mass [g]
38
Size [mm]
34 x 17 x 45
Battery Chosen: 2CR – 5MPA/B
•
•
•
•
More than adequate capacity
Provides enough voltage for 5 V system
Small package, connections
Continuous load current of 20 [mA]
Photo source: www.digikey.com
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
57
Battery Voltage Measurement
Trade & Selection
• Arduino onboard ADC used to measure voltage
– Resolution of 10 bits
• Simple voltage divider to ensure 3 V max, then voltage
is measured based on schematic shown
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
58
Flight Software (FSW) Design
Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
59
FSW Overview
• Will be programmed in C/C++ with Arduino IDE.
• Flight software:
– Monitors mission time and altitude.
– Will release parachute and deploy
– Reads sensors, builds data string, and transmits
telemetry to ground station.
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
60
FSW Requirements
ID
Requirement
Rationale
Priority Parent
Child
A I
T
FSW-01
FSW shall maintain and
telemeter an indicator of the
software state
Base Mission
Requirement
High
SYS-06
None
X
X
X
FSW-02
FSW shall be able to determine
the correct state in the event of
a processor reset
Base Mission
Requirement
High
SYS-06
None
X
X
X
FSW-03
FSW shall maintain total
mission time in integer seconds
Base Mission
Requirement
High
SYS-06
None
X
X
X
FSW-04
FSW shall read sensors and
transmit telemetry data packets
at a rate of 0.5Hz
Competition requires
telemetry packets every
2 seconds
High
SYS-06
None
X
X
FSW-05
FSW shall monitor altitude and
deploy aero-braking structure
when cansat goes below 400 m
So aero-braking
structure will be
deployed at the proper
altitude
High
SYS-03
None
X
FSW-06
FSW shall begin telemetry
transmissions only when given
the signal by the ground station
Base Mission
Requirement
High
SYS-06,
SYS-11,
SYS-08
None
X
FSW-07
FSW shall capture cansat’s
impact force with the ground
Selectable objective
requirement
High
SYS-08
None
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
X
X
61
D
CanSat FSW State Diagram
Presenter: Andrew Guerr
Flight Software State
Description
0
1
2
3
4
5
Software Initialization
Launch Pad
Ascending
Descending to 400m
400m to Landing
Landed
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
62
Software Development Plan
• Early FSW prototypes have been coded using the
Arduino IDE and an Arduino simulator.
• Support for the radio transceivers will be coded first so
that the Arduino can communicate, sensors will be
coded for and integrated into the system as they are
received.
• The code will be tested as each sensor is integrated into
the program.
• Simulations will be run to approximate the conditions of
the flight and possible problems to ensure the software
will run properly under all conditions.
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
63
Ground Control System (GCS) Design
Andrew Guerr
Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
64
GCS Overview
Antenna
Presenter: Andrew Guerr
XBEE-Pro
Series 1
XBEE
Explorer
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
Computer
65
GCS Requirements
ID
Requirement
Rationale
Priority
Parent
Child
VM
A I
GCS-01
GCS antenna shall be
elevated a minimum of
3.5 m
Base Mission
Requirement
High
None
None
GCS-02
GCS shall receive
telemetry from the
CanSat during flight
GCS must
receive telemetry
for display and
storage
High
SYS-11,
SYS-94
None
GCS-03
GCS shall display and
graph telemetry in real
time
Base Mission
Requirement
High
SYS-11
None
GCS-04
GCS shall store
telemetry data in a .csv
file
Base Mission
Requirement
High
None
None
GCS-05
GCS shall send signal
to CanSat to begin
telemetry transmissions
Base Mission
Requirement
High
None
None
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
T D
66
GCS Antenna Trade & Selection
Antenna
Price [$]
Type
Gain [dBi]
ANT-DB1-VDP
9
Omni-Directional
0
A24-HASM-450
5
Dipole ½ wave
2.1
• Antenna Selected: A24-HASM-450
– Provides gain that will aid in maintaining link
– Antenna mast height and mounting strategy
• Launch day construction
Photo source: www.matlog.com
– Placed in proper competition area
– Simply attach antenna to mounting bracket of extendable tripod
– Height verified by tape measure of section lengths
– Distance link predictions and margins
• Expected range of 1.5 [km]
Presenter: Samuel Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
67
GCS Software
• Telemetry display prototypes
• Commercial off the shelf (COTS) software packages
used
• Real-time plotting software design
• Data archiving and retrieval approach
• Command software and interface
• Telemetry data recording and media presentation to
judges for inspection
Presenter: Andrew Guerr
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
68
CanSat Integration and Test
Samuel Rustan
Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
69
CanSat Integration and Test
Overview
• Mechanical
– Parachute Attachment and Deployment
• A large oatmeal can is about the size of the CanSat and can easily be made
the same allowable mass as the final product.
• Since there will certainly be excess plastic, a prototype attachment
mechanisms can be made and attached to the oatmeal can.
• A test of the parachute deployment can be tested by dropping the can from
safe location at a parking garage with similar exiting conditions to the rocket
and an ideal packing formation can be determined.
– Structural Integrity
• The structural integrity of the Payload can be determined by building a
prototype and adding material to the inside to increase its mass to the
proper amount.
• Then, it can be dropped from a height where it will hit the ground the
expected velocity.
• If it passes that test, it can then be dropped from a height where it reaches a
higher speed than intended for the worst case scenario.
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
70
CanSat Integration and
Test Overview
– Detachment Mechanism
• The attachment mechanism can be tested using a dragon board under static
loading conditions similar to the CanSat falling at terminal velocity.
• Then, its structural integrity will need to be tested under shock force conditions to
ensure that it can withstand the force when the parachute opens.
– Egg Protection
• The egg protection device can be tested at the same time as the structural
integrity test.
• A prototype can be made and mounted inside the prototype payload.
• If the egg survives the fall at the expected speed test, then it can also be tested
under the worst case scenario condition as well.
• If the prototype becomes dislodged during the test then, an new mounting method
can determined
– Aero-Braking Mechanism
• A prototype aero-braking mechanism’s deployment should be tested first to
ensure that the mechanism will open properly for a test with realistic conditions.
• A wind tunnel could be used to test the mechanism under shock conditions.
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
71
CanSat Integration and
Test Overview
– Aero-Braking Mechanism cont.
• Proper measures would need to be taken to ensure that the test apparatus
does not get sucked into the fan blades.
• If the mechanism fails then, a new configuration with better support will need
to be design or stronger material will need to be obtained.
• It may me more simple to attach a weight to the bottom of the mechanism
with a rope or cable and support the arms of mechanism with a flat surface,
like a table, and drop the weight to simulate the shock force.
Presenter: Max Sandler
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
72
CanSat Integration and
Test Overview
• Power/Electrical
– All subsystems must be tested for expected behavior
– EPS can be tested once the sensor subsystem is
integrated with the microcontroller
• Battery life analysis can be conducted using actual tested values
• Communications
– Primary integration concern
– To ensure proper protocol and antenna selection, the
CanSat and GCS must maintain constant communication
for the entire duration
• Tests will be done at minimum range of 1.5 [km]
Presenter: Sam Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
73
CanSat Integration and
Test Overview
•
•
•
Sensors
– Pressure:
• Will test and contrast to known altitudes
• Test behavior communicating to microcontroller and XBEE
– Accelerometer:
• Sensor will be sampling at high rate for this device
• Low priority: Product has been well tested and verified by multiple sources,
though integration into CanSat system still unknown
– GPS:
• Predictions based of readings will require extensive testing
– Voltmeter
• Percent calculations and transmission will require some testing
Flight Software
– Some preliminary beta testing already completed
– Further tests with actual components will be next
Ground Control
– Extensive testing will be required, since it is in an undeveloped (pre-alpha) stage
Presenter: Sam Rustan
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
74
Mission Operations & Analysis
Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
75
Overview of Mission Sequence of
Events
Arrival at Launch Site
•
•
•
Unpack and arrange GSC and Cansat
Measure wind speed, environmental conditions
Make final checks on Cansat
Pre-Launch Checks
•
•
•
•
Subsystems Check
Configure Ground Station
Configure and Confirm Sensor subsystem
Confirm Mechanical Subsystems
Integrate Cansat into
Rocket
•
•
•
•
Place Egg into Payload
Place Payload into Container
Power on Cansat
Integrate Cansat into Rocket
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
76
Overview of Mission Sequence of
Events
Launch Rocket
•
•
Begin GCS and Cansat communications
Begin Telemetry
Phase1:
Deployment
•
•
Container parachute deployment
Telemetry Data plotted
Phase 2:
Payload Separation
and Descent
•
•
At 400 [m] separation mechanism initiated
Deployment of Payload airbraking system
Phase 3: Payload
Impact
•
•
Impact Force calculated and stored
Audible beacon activates
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
77
Overview of Mission Sequence of
Events
Recovery
•
•
•
Analysis
Post Flight Review
•
Recover Container using the color of the container to
aid in recovery
Recover Payload using the buzzer
Confirm that no part is left in the field
•
•
Retrieve data from Payload via serial connection to
Payload microcontroller
Inspect Payload contents
Analyze telemetry data
•
•
Finalize PFR presentation and report results of flight
Give presentation to competition attendees
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
78
Mission Operations Manual
Development Plan
• CanSat shall have finalized operation manual including
– Documentation (from Fall semester) for CanSat design
currently being revised
– Revised design documentation (still under development)
– Operating instructions
• Cansat Competition Team manual shall include
– Operations Manual
– Competition program schedule
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
79
CanSat Location and Recovery
• Container will be easily noticeable due to weatherproof
fluorescent paint. Parachute will also be chosen with a
bright color. No audible beacon will be placed on the
container. The use of binoculars will aid in the tracking
of the container.
• The payload will also be coated in a weatherproof
fluorescent paint. As well, mandated by the competition
rules, an audible beacon will also be activated upon
launch and remain on in order to give ample time to
locate. Binoculars may also be used in order to aid in
the retrieval of the payload. Gathered GPS data sent to
the ground station will also be used in retrieval
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
80
Management
Yasmin Belhaj
Andrew Grant
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
81
CanSat Budget – Hardware
Category
Model
Quantity
Unit Price
Price
Price Definition
ADXL326
1
18
18 Purchased
GPS Module
MTK3339
Altimeter/Pres/T
emp
BMP085
1
40
40 Purchased
1
20
20
Arduino Uno R3 Atmel 328
1
30
30 Purchased
XBEE S1 Pro
2
32
64 Purchased
CanSat Antenna N/A
Ground Control
Antenna
1
5
5 Purchased
1
60
60
Parachute
1
10
10 Estimated
Capsule Materials polyethylene
1
36.48
36.48 Estimated
Egg Protection
1
15
15 Estimated
N/A
N/A
30 Estimated
Accelerometer
XBEE 802.15.4
Misc. Mechanical N/A
Estimated
328.50
Total
Presenter: Andrew Grant
Purchased
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
82
CanSat Budget – Other Costs
Category
Model
Quantity
Unit Price
Price
Price
Definition
Travel
N/A
1
800
800
Estimated
Hotel
Shipping and
Handling
N/A
N/A
1
624
624
Estimated
Experiment
N/A
Estimated
1
100
100
N/A
16.42
16.42
1798.90
Total Cost
Actual
Estimated
Income
Sponsor Name
ECE Department
Private Donation
Dr. Shih
State Farm
Total Funding
Presenter: Andrew Grant
Funds Received
200
750
1000
250
2200
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
Funds Pending
0
0
0
0
0
83
Program Schedule
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
84
Conclusions
• Presentation summary and conclusions
• In general include the following:
– Major accomplishments
• Team collaboration & Concept Generation
• Egg protection tests completed
• Flight Software shell completed and tested with simulated
components
– Major unfinished work
• Motor selection for separation mechanism still needs trade and
selection
Presenter: Yasmin Belhaj
CanSat 2013 PDR: Team 1036 (FSU Fighting Mongooses)
85