B.O.S.S. – Balloon-Operated Seeding System
Colorado Space Grant Consortium
GATEWAY TO SPACE
FALL 2012
DESIGN DOCUMENT
Team Up, Up, and Away
Written by:
Trevor Arrasmith, Ty Bailey, Cameron Coupe,
Samuel Frakes, Brandon Harris, Carolyn Mason,
Soo Rin Park, and Peter VanderKley
December 12, 2012
Revision D
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B.O.S.S. – Balloon-Operated Seeding System
Table of Contents
Revision Log…………………………………………………………….…………3
Mission Overview………………………………………………………………….4
Requirements Flow-Down Chart…………………………………………………...5
Design………………………………………………………………………………8
Management………………………………………………………………………10
Budget……………………………………………………………………………..13
Test Plan and Results……………………………………………………………...14
Expected Results…………………………………………………………………..20
Launch Day Plan………………………………………………………………….22
Results, Analysis, Conclusion…………………………………………………….24
Conclusions and Lessons Learned………………………………………………..36
Message to Next Semester………………………………………………………..36
Sources Cited……………………………………………………………………...37
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B.O.S.S. – Balloon-Operated Seeding System
Revision Log
Revision
Description
Date
A/B
Conceptual and Preliminary Design Review
10/22/2012
C
Critical Design Review
11/15/12
D
Final Report
12/12/12
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B.O.S.S. – Balloon-Operated Seeding System
MISSION OVERVIEW:
Mission Statement: Team Up, Up, and Away will attempt to prove the feasibility and
cost effectiveness of a balloon-mounted cloud seeding system.
The mission of team Up, Up, and Away was to successfully send a Balloon-Satellite to
over 30,000 m (100,000 feet) and test a cloud seeding mechanism at 20 minutes (an altitude of
about 5000 meters) which is the standard altitude of cloud seeding, as this is where
Cumulonimbus and Nimbostratus clouds exist, which are the clouds that commonly produce rain
- and 30 minutes (about 10,000 meters) which is nearing the highest altitude that clouds exist [1].
Team Up, Up, and Away is attempting to study the feasibility and efficacy of a balloon-mounted
cloud seeding system at varying altitudes. The balloon-mounted cube-sat will have a particle
substance, Sodium Chloride, the use of which in cloud seeding is called hygroscopic cloud
seeding [2]. The substance will be dropped out of one of two cones inside the BalloonSat at a
time, each time dispensing all of the powder in that cone. The results of the physical experiment
will then be compared with the data on humidity, temperature, and pressure to prove or disprove
the effectiveness of our mechanism.
The mechanism will consist of two funnels, each containing a predetermined mass of a
Sodium Chloride and reflective glitter mixture so that we can better see the powder. A Servo
below the funnel opening will control the release of the mixture out the bottom of the cube at the
determined times derived from the desired altitudes. A chute will be in place under the openings
to provide a backdrop to better witness the release of the mixture recorded by the GoPro. No
such experiment has been performed, and the findings should be completely original. Data will
be achieved in several different subareas; first and foremost, to prove the feasibility and cost
effectiveness of balloon sourced cloud seeding at standard cloud seeding altitude. The next goal
is to find data on the efficacy of our cloud seeding mechanism at standard and high altitude. If
this is proven useful, it could have major effect on cloud seeding as a whole. If water vapor
exists at higher altitudes at low enough temperatures, only without a particle upon which to
condensate, high altitude particle cloud seeding would reveal a previously untapped source of
water.
Although not particularly well known, cloud seeding is extensive in where and how it's
used. One of the most common uses is to attempt to encourage precipitation during droughts one of the most recent applications of this goal was in China, where the government attempted to
alleviate one of its worst droughts in decades with cloud seeding. After seeding, however, the
temperature dropped significantly, resulting in a blizzard. "Officials said their cloud-seeding
program directly caused the snowstorm. Engineers blasted more than 400 cigarette-size sticks of
silver iodide into the sky shortly before the storm, and a senior engineer told Reuters that it was
'a procedure that made the snow a lot heavier...' The blizzard caused 12 area highways around
Beijing to close," [3]. Cloud seeding is even used for the opposite, to alleviate rain or cloud
cover. In another instance in Beijing, officials had promised clear skies for the 2008 summer
Olympics, and "The Chinese government seeded clouds ahead of the 2008 Olympics opening
ceremony to create a downpour elsewhere and keep the stadium dry. This involved firing
rockets packed with silver iodide crystals into rain clouds over the suburbs of Beijing" [4].
Another use for cloud seeding is at airports, where ground fog and clouds are far more dangerous
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B.O.S.S. – Balloon-Operated Seeding System
to landing planes than rain, so cloud seeding is used to cause the clouds to precipitate and
dissipate. One other use for cloud seeding is for recreational purposes, notably in ski areas. Vail
Resorts, for instance, frequently seeds clouds with silver iodide to encourage snowfall.
Further research in cloud seeding can have long-lasting and global impact. Almost all
locations in the world are at one point or another affected by drought or can benefit from
additional precipitation. It is cost efficient as well, as the cost of materials and implementation is
fairly cheap, even on a large scale, and the resulting precipitation saves significantly more
money. The issue strikes particularly close to home here in Colorado, both with the recent
drought and with the numerous ski resorts in the state dependent on snowfall. If the experiment
is proven successful, it may reveal the possibility for even further cloud seeding opportunities in
areas which it may not have been previously feasible. Even if unsuccessful, the experiment will
hopefully open other eyes to the idea and practice of cloud seeding.
REQUIREMENTS FLOW-DOWN CHART:
The requirements of B.O.S.S. are based upon the goal of the completion of the mission objective.
In order to accomplish the objective, Team Up, Up, and Away must create a functional and
reliable mechanism to release NaCl powder at the pre-specified altitudes where the drop would
be most useful in the aiding of precipitation. Furthermore, we must fulfill the requirements as
stated on the Request for Proposal and also those derived from our mission objective, both of
which are defined below.
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B.O.S.S. – Balloon-Operated Seeding System
Level 0 Requirements
0.0
0.1
0.2
0.3
0.4
0.5
Requirement
Prove the possibility and efficiency of a balloon-mounted mechanism for cloud
seeding: Named B.O.S.S. for Balloon-Operated Seeding System
Keep internal temperature above -10°C
Keep total weight and budget spent under or equal to 1.125 kg and $250
respectively
Collect data for humidity, air pressure, acceleration, wind speed, and inside
and outside temperature
Maintain safety of all team members at all times
Post-flight, B.O.S.S. will be ready to fly again
Origin
Mission
Statement
RFP
RFP
RFP
RFP
RFP
Level 1 Requirements
Requirement 0.0: Prove the possibility and efficiency of a balloon-mounted mechanism for
cloud seeding
#
Requirement
Origin
Test the effectiveness and reliability of the funnel dispersing system of
0.0.0
B.O.S.S.
0.0
0.0.1
Integrate the Servos to the Arduino
0.0
Set the Servos to disperse the salt powder in the funnels to at 20 minutes and
0.0.2
30 minutes, respectively.
0.0
0.0.3
Use cameras to monitor and confirm salt dispersal
0.0
Optimize the weight of the satellite such that the amount of salt that can be
0.0.4
carried is maximized
0.0
Compare the cost and the reliability data of B.O.S.S. to other conventional
0.0.5
cloud seeding methods
0.0
Integrate the digital camera and the GoPro to B.O.S.S. (charged and memory
0.1.0
cards cleared)
0.0
0.1.2
Perform duration tests in order to ensure functionality for entire flight
#
0.1.1
0.1.2
0.1.3
0.1.4
Requirement 0.1: Keep internal temperature above -10°C
Requirement
Run electric active heater system powered by 3 9V batteries
Insulate B.O.S.S. using foam insulation and aluminum tape
Test the functionality of B.O.S.S. under extreme cold conditions (both internal
and external components) prior to launch with various tests (primarily cooler
test) and make necessary alterations
Record temperature with Arduino in order to ensure requirement 0.3 is fully
met
Origin
0.1
0.1
0.1
0.1
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0.0
B.O.S.S. – Balloon-Operated Seeding System
Requirement 0.2: Keep total weight and budget spent under or equal to 1.125 kg and $250
respectively
#
Requirement
Origin
Weigh the satellite to ensure weight is under 1.125 kg and keep a spending
0.2.0 log to keep track of the spending budget
0.2
0.2.1 Team member in charge of spending budget: Ty Bailey
0.2
Create a contract with other teams to “borrow” mass from other teams if
0.2.2 necessary
0.2
Requirement 0.3: Collect data for humidity, air pressure, acceleration, wind speed, and inside
and outside temperature
#
Requirement
Origin
Test functionality of each sensor separately with their own respective tests
0.3.0 (refer to “Testing Section”)
0.3
0.3.1 Program each sensor with arduino. Test and document sensor performance.
0.3
Test B.O.S.S. in a cooler with dry ice to ensure systems functionality in
0.3.2 extreme conditions
0.3
Test structural integrity with drop, whip, and stair tests (as this is what
0.3.3 encloses and protects our systems)
0.3
0.3.4 Write data from all sensors on SD card on SparkFun ProtoShield
0.3
0.3.5 Practice retrieving and analyzing data from SD card
0.3
0.3.6 Place LEDs on exterior of to indicate power to all systems
0.3
#
0.4.0
0.4.1
0.4.2
0.4.3
#
0.5.0
0.5.1
Requirement 0.4: Maintain safety of all team members at all times
Requirement
Always maintain safe habits and working conditions when working with and
around B.O.S.S.
Design and carry out safe testing procedures (only test remaining is cooler
test)
Perform careful and safe construction (i.e. soldering, use of hot glue and other
potentially harmful adhesives, etc.)
Place sticker of U.S. flag visibly on exterior
Requirement 0.5: B.O.S.S. will be ready to fly again
Requirement
Design and test B.O.S.S. (and all its components) to withstand forces
encountered at balloon burst and landing
Make necessary adjustments and alterations to B.O.S.S. after recovery on
launch day
Origin
0.4
0.4
0.4
0.4
Origin
0.5
0.5
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B.O.S.S. – Balloon-Operated Seeding System
DESIGN:
Because the purpose of our mission is to test the feasibility of balloon-based cloud
seeding, we will determine our success based on the functionality of our release system. The
satellite will contain two separate but identical release systems, one of which will be
programmed to release at 20 minutes after launch (at an altitude of 5,000 meters), and the other
of which will be programmed to release at 30 minutes after launch (an altitude of 10,000 meters).
Each system will consist of an aluminum funnel, an oscillating aluminum plate, and a
Servo. Each funnel will contain approximately 50 grams of powder, which will be released at the
predetermined times. In order to release, the Servo will rotate the aluminum plate along the
underlying surface of the insulation to align a series of holes allowing powder to flow freely
from the funnel and out the bottom of the satellite. This system will be mounted to the inner
sides of the cube using paperclips, hot glue, and aluminum tape. Two Arduino UNO units will be
flown in order to command the Servos and collect data from all sensors. The outer structure will
consist of foam core, insulation, and a non-metal flight tube to accommodate the flight string.
This design complies with all requirements specified in the Request for Proposal. For
science data an anemometer will be included. The anemometer will be placed on the top of the
BalloonSat to collect data on the vertical ascension rate of the balloon. The mass of the satellite
will be at the maximum allowable mass of 1125 grams, but will not exceed it. All required
sensors and components such as the Arduino, digital camera, and heater will be flown and the
internal temperature will remain above -10 degrees Celsius. The outside of the satellite will have
an American flag sticker, contact information, and a CU Buffs sticker in order to assist with its
retrieval. An external switch will be flipped prior to launch in order to provide power to the
Arduino UNO units and the heater. Holes will be cut in the insulation and foam core to allow for
the GoPro and digital camera to be turned on manually. In addition, an LED on the outside of the
cube will confirm that all systems are powered on. After flight, the BalloonSat will be analyzed
and returned to Professor Koehler in working condition and ready for another flight.
The functionality of the mechanisms is dependent on many of the satellite’s parts. One
Arduino must command the Servos to oscillate, at which point the oscillating aluminum plate
will move along the surface of the insulation and allow the powder to be released. The second
Arduino will collect data from the anemometer, temperature sensor, pressure sensor, humidity
sensor, and accelerometer, as well as power on the digital camera. The GoPro and digital camera
will be powered by their own respective batteries and record to their respective SD cards.
All necessary components have been acquired, although we are currently awaiting two
new Servos to replace the damaged original Servos. Ty Bailey has an additional backup Servo
that we will use in the event of one of these Servos failing. We have acquired enough salt and
reflective glitter to be able to thoroughly test our mechanisms and the visibility of the powder to
the GoPro camera before the flight date.
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B.O.S.S. – Balloon-Operated Seeding System
VIZUALIZATION:
Side View
Top View
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B.O.S.S. – Balloon-Operated Seeding System
FUNCTIONAL BLOCK DIAGRAM:
Color Key: Purple: switch, red: power, orange: micro controller,
green: SD memory, yellow: Purpose of set-up, blue: LED
MANAGEMENT:
Effective project management is crucial to the success of Team Up, Up, and Away’s
mission. Therefore, areas of focus are assigned to each team member, while ensuring that no
team member is left alone in any task. A rigid schedule has been constructed to keep the team on
track with testing, construction, and other work. Team meetings are held every Saturday at noon.
Additional meetings are scheduled as needed, typically on Mondays and Wednesdays. Because
the duration of this project spans approximately three months, time limitations are a concern. All
team members must budget their time with other classes and will have to devote many hours per
week to this project.
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B.O.S.S. – Balloon-Operated Seeding System
TEAM SAFETY:
In order to ensure the safety of all team members, we have used and will continue to use safety
goggles during all soldering and aluminum cutting. All structure tests were done clear from
passers-by and windows as to make sure no humans or property was damaged. Dry ice will be
handled carefully with gloves during the cooler test. All tests have been done with two or more
team members present and the cooler test will be conducted with at least three team members
present.
TEAM MEMBERS AND ROLES:
Trevor Arrasmith
Ty Bailey
Cameron Coupe
Samuel Frakes
Brandon Harris
Carolyn Mason
Soo Rin Park
Peter VanderKley
-
Design and Design Illustration-Lead
Science and Documentation
Videographer
Programming-Lead
Budgeter
Project Manager
Electrical
Structures-Lead
Science and Documentation
Science and Documentation-Lead
Structure
Electrical-Co-Lead
Foreman
Programming
Electrical-Co-Lead
Vice Project Manager
Programming
Structures
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B.O.S.S. – Balloon-Operated Seeding System
SCHEDULE:
Task to be Completed
Date
First Design Complete
PDR
Authority to Proceed
Hardware Acquired
Initial Programming
Accelerometer Test
CDR
Sensor calibration Done
Heater Test
Camera(s) Test
Mass Model
Drop Test
Whip Test
Stair Test
Humidity Sensor Test
Pressure Sensor Test
Temperature Sensors Test
Anemometer Test
Final structure
9/27
10/1
10/5
10/10
10/10
10/16
10/18
10/18
10/18
10/20
10/21
10/21
10/21
10/21
10/27
10/27
10/28
11/2
11/8
Initial Powder Release Test
11/8
Task to be Completed
Date
Electronics Build
BalloonSat Completed
Complete Programming
Complete Systems Test
Demo Mission Test
Cooler Test
Launch Readiness Review
DD Rev C Due
Final Weigh-in
Launch
Troubleshooting
Analysis of Flight Data
ITLL Design Expo
Document Results
Final Report
Team Video Assembly
Final Presentation Due
11/10
11/14
11/14
11/14
11/15
11/17
11/27
11/16
11/30
12/1
11/5 - 12/9
12/1 – 12/7
12/8
12/9
12/9
11/1 – 12/10
12/11
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B.O.S.S. – Balloon-Operated Seeding System
BUDGET:
Item
Quantity
9V batteries
Mighty Mini Servo
(HS-225MG)
Aluminum Bare Sheet
Tin Funnels
(8996T12)
Sodium Chloride Powder
Mathmos Wind Light
(Part # not available)
GoPro
Canon Camera
Arduino Unos (2)
Heater
Foam Core and Insulation
U.S. Flag
Hot Glue
Aluminum Tape
Paperclips
Cost
Weight
Place of Purchase
5
4
(2 Backups)
0.5 meters2
2
$85.94
190 g
62 g
Wal-Mart
Servocity.com
$8.62
20 g
61.9 g
Space Grant
Mcmaster.com
100 grams
1
$25.20
100 g
11.5 g
King Soopers
Lamplust.com
-
150 g
130 g
158 g
30.4 g
244.5 g
0.7g
50g
26g
5g
Provided (by student)
Provided
Provided
Provided
Provided
Provided
Provided
Provided
Provided
1
1
2
1
2 sheets
1
2 sticks
1 meter
2
Total
$119.76
1,240g
The original mass budget was exceeded with prior approval from Chris and with a donation of
150g of mass from Team 8.
Company contact information:
Servocity
McMaster
Lamplust
Phone: (620) 221-0123
Phone: (630) 833-0300
Email: chi.sales@mcmaster.com
Address: 600 N County Line Rd. Elmhurst, IL 60126-2081
Phone: (866) 490-9358
Email: sales@lamplust.com
BUDGET MANAGEMENT:
Ty Bailey is the budget manager. He will keep an itemized list of all the parts, their place of
purchase, cost of part and shipping. He will verify these costs with professor Koehler.
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B.O.S.S. – Balloon-Operated Seeding System
TEST PLAN AND RESULTS:
STRUCTURAL TESTING:
A mock-up structure was created to undergo the drop test, tumble test, and whip test. The mass
of this structure totaled approximately 1,200 grams and the mass was distributed inside the box
in order to simulate the layout of the actual satellite.
Below is the outcome of these tests:
DROP TEST: The mass model was dropped from the second and third floor of the ITLL to test
structural integrity. Weights were included inside the box and taped down to produce an accurate
center of mass for the design. The box survived with light to moderate damage on the edges and
corners, but the integrity of the structure was not compromised. We will not make any changes to
the structure because we are confident that the design can fully protect its contents.
TUMBLE TEST: The mass model was tossed the down several flights of stairs (weights included)
to observe further reliability of the structure. We found that the box survived very well with only
light damage to the corners. The weights inside stayed in place and we are confident that we will
be able to secure the real components inside the satellite.
WHIP TEST: We tested to make sure that the satellite would remain attached to the flight rope
during flight and survive the acceleration, by conducting a whip test. The test was set up by
putting the satellite at the end of a string, attached exactly like it will be to the flight rope. We
took the apparatus to an overhang, held it over the edge, and violently swung the satellite in
circles to ensure its stability. We were able to swing the satellite around without it breaking off
the rope. We are confident that the pipe will be able to hold the satellite to the rope for all
conditions experienced during the flight.
POWDER RELEASE TEST: Our salt dispersal system releases powder by sweeping aluminum
plates underneath each of two funnels. We have been modifying and tuning the system so that it
will disperse powder at the proper altitudes without failure.
Results: We initially planned to run all of the sensors and Servos from one Arduino. However,
due to unforeseen complications of unpredictable behavior from the Servos, we will now fly both
Arduino units. We discovered that the one wire bus used for the digital temperature sensors
caused osculation in the signal and created the twitching motions of the Servos. We chose to
reduce complications with the electronics by running the Servos from a separate Arduino. The
Servos are currently programmed to release the powder at 20 and 30 minutes after the beginning
of the flight. We ran our initial tests without powder and modified the program until the
mechanism worked consistently. We then ran short tests with the powder in funnel, to ensure that
the Servo arm rotates smoothly and that the powder releases in the proper amounts. During our
most recent test, the Servos did not run properly, which we attributed to the Servo being broken.
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B.O.S.S. – Balloon-Operated Seeding System
STAIR TEST
WHIP TEST
DROP TEST
RESULTS
SERVO / SALT RELEASE TEST
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B.O.S.S. – Balloon-Operated Seeding System
ELECTRONICS TESTING:
ACCELEROMETER : The accelerometer measures acceleration in three different axes, in order to
determine the acceleration that the satellite experiences during flight. It is important that the
sensor is originally calibrated from a level surface, so that all of the readings are accurate. The
accelerometer is programmed to reset to its calibrated level each time it is turned on to ensure
that the readings are not skewed. To test that the program works, we held the accelerometer flat
against the table and then rotated it by 90 degrees every 10 seconds.
Test Results: The accelerometer responded as expected. Shown below are the graphs results. For
each test, one axis (of X, Y, or Z) recorded 1G of acceleration the other two rested close to zero.
We attribute the error noticed in the second and third axes not experiencing exactly zero Gs of
acceleration to human error in handling the accelerometer.
1.5
1
Accelerometer
0.5
AccelX (g)
0
-0.5 1
6 11 16 21 26 31 36 41 46 51 56 61 66 71 76 81 86 91 96 101
AccelZ (g)
-1
-1.5
AccelY (g)
Time (seconds)
HEATER: We put the heater through a series of tests:
a) We plugged the batteries into the system and make sure that the heater turned on
b) We left the heater in an unplugged microwave for 1 hour, to ensure that the heater will not
burn out or overheat in an enclosed space.
Test Results: The heater has turned on every time and actively heated the space without burning
out. To improve the system for flight we added an LED to the heater system to indicate when the
system is active. We have tested the LED with the heater system, and both work consistently.
The primary cause for failure of BalloonSats is heater failure. In order to know for sure that the
heater meets its requirements, we need to:
c) Incorporate the heater in the cooler test (for 2 hours) to ensure that it will still perform, and
keep the inside of the box above -10 degrees Celsius during flight.
CAMERA: In order to test the functionality of the dual-camera system, we turned the system on
for a full two hours, to simulate the duration of the actual flight. For this time, the BalloonSat
was left on a table undisturbed. The digital camera took pictures every 10 seconds and the GoPro
filmed for the entire two hours. The cameras recorded to their respective SD cards, and data was
uploaded to the computer.
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B.O.S.S. – Balloon-Operated Seeding System
Results: We found that we need to watch the length of time we press the GoPro record button. If
held for too long the GoPro went to picture mode, and did not record video. Other than that the
cameras and memory cards operated correctly during the test. Below are a series of pictures that
the camera took from inside the box during one of our meetings.
HUMIDITY SENSOR: We exposed the humidity sensor to varying humidity levels by breathing
on the sensor and noting the change. Next we tested the sensor over a period of days to see how
it compared to the outdoor humidity.
Results: The humidity sensor works and is consistently within 10% of the humidity read online.
The spike on the graph below is from breathing on the sensor.
Humidity Test (%)
1
13
25
37
49
61
73
85
97
109
121
133
145
157
169
181
193
205
217
229
241
253
265
277
289
301
313
325
200
100
0
Humidity (%)
Time (seconds)
TEMPERATURE SENSOR (DIGITAL AND ANALOG ): We first tested the temperature sensors by
holding them in a clenched fist and releasing them to see if they detected a change in temperature
from the heat provided by our hands. The sensors will be tested again three times each before the
flight.
Note: The digital sensor will be placed inside the satellite so it only needs to be accurate
to -15 degrees Celsius, and may not work as well in the freezer. The analog sensor, however
must work in the freezer since it will be detecting the temperature outside of the satellite.
Results: We found that each of the digital temperature sensors worked and responded to outside
stimuli. We then tested their accuracy by exposing the sensors to known temperatures, including
room temperature (20 degrees Celsius), refrigerator (0-4 degrees Celsius), and freezer conditions
(-5 to -15 degrees Celsius). To ensure that the final readings were accurate, we waited for the
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B.O.S.S. – Balloon-Operated Seeding System
readings to stop fluctuating, allowing the output to level out to a constant number. We then
repeated the tests at these three temperatures to make sure we got consistent readings. The results
from one test are shown in a graph below. We found that one sensor is far more responsive than
the other, but both give very similar readings to each other after approximately 15-20 minutes.
We will put the more responsive sensor on the outside of the satellite.
PRESSURE SENSOR: The pressure sensor was set up with a tube to allow for a lower pressure to
be created by sucking the air out of the tube like a straw.
Pressure (Kilopascals)
Results: When left to measure the pressure of the surrounding air, the pressure was a consistent
1.74 kPa. When we sucked air from the tube, we were able to obtain lower pressures as shown in
the graph. The pressure sensor test was successful.
2
1.5
1
0.5
Pressure vs. Time
<- Here is where we sucked air
from the tube
0
1 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61 64 67 70 73 76 79 82
Time (seconds)
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B.O.S.S. – Balloon-Operated Seeding System
Read Out (Volts)
ANEMOMETER: The Anemometer measures wind speed on the outside of the BalloonSat. We
tested the anemometer system by attaching a voltmeter to leads on the anemometer and driving
around at different speeds. With the voltmeter data, we recorded the speed to determine the
speed of the wind. We collected a lot of data ranging from speeds of 0 to 38 kph.
20
Anemometer Test
10
0
0
-10
50
100
150
Speed (Kilometers/hour)
We derived this equation based on collected data: kph=(2.0244+8*voltage)/0.1468
Note: Wind readings less than 13 kph will not be accurate. This is an acceptable constraint
because our goal is to detect change in wind speed and analyze data (which we expect to be
higher than 20 kph for most of the flight).
SYSTEM TESTING:
COOLER TEST: The cooler test was attempted with too little dry ice. The temperature did not
decrease on the outside (as expected) and the inside reached 45 degrees Celsius at the location of
the internal temperature sensor, which was located close to the heater. Instead of running the dry
ice test again, we conducted a series of freezer tests.
The graph on the following page shows results from a test run with 9 volt batteries for 30
minutes. The Arduino worked the whole time, but the heater did not. The inside temperature fell
nearly as fast as the outside temperature did. From this test we learned that the outside
temperature sensor needs to be farther away from the outside of the box (more than an inch), or it
cannot accurately read the temperature. From previous tests we know that the digital temperature
sensor should not take half an hour before it starts leveling out to the correct value. We also
learned that we would need to closely monitor battery voltage. The heater died soon after being
powered on because the batteries did not start at 9 volts.
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B.O.S.S. – Balloon-Operated Seeding System
40
Inside and Outside Temperature vs Time for
Pre-Launch Freezer Test
30
20
10
OutsideTemp (Deg C)
InsideTemp (Deg C)
0
-10
1
91
181
271
361
451
541
631
721
811
901
991
1081
1171
1261
1351
1441
1531
1621
1711
1801
Temperature (degreess Celsius)
50
-20
-30
Time (seconds)
A few alterations were made to the BalloonSat, and then several more freezer tests were
conducted. Similarly, the tests lasted 30 minutes and the BalloonSat was placed in the freezer.
After several tests, we found that we were only able to collect 10 minutes, 7 minutes, and 24
seconds of data, along with dozens of blank data files. At this point, we found that battery on the
sensor Arduino was dropping in voltage very fast. The battery consistently dropped 2 volts in a
time span of less than 10 minutes, which was a serious problem considering that the Arduino
ceased to function when the battery dropped to around 7 volts.
We determined that between the initial freezer test and these subsequent ones that an
LED had been added as an output from the Arduino. The LED did not have a resistor on it and
consumed a lot of power and very fast. Once a resister was added to the system the Arduino ran
far more efficiently on battery power.
SYSTEMS TEST: We set up the BalloonSat and added salt to the funnels. The box was set on the
table to witness the salt dispersal events (we were confident that the temperature sensors
worked). The test was run for 30 minutes. The primary goal of this test was to make sure that the
power remained stable and the SD cards wrote as expected. This test was successful. The salt
dispersed at 20 and 30 minutes and all other data was on the SD card as expected.
DEMO MISSION TEST: This test was never run for lack of time and unforeseen power problems.
Instead we conducted thorough tests of each system to ensure that they would work for flight.
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B.O.S.S. – Balloon-Operated Seeding System
EXPECTED RESULTS:
Team Up, Up, and Away expects to record and recover accurate information from all
sensors on our satellite. We expect the temperature sensor to detect a decrease in temperature
until satellite flies above the ozone layer, where the measured temperature will increase due to
solar radiation (Figure 1). The same trend will be observed after balloon burst, however it will be
opposite and compressed horizontally (along the axis measuring altitude). In regards to the
anemometer, we expect the wind speed to vary during ascent and descent (as show in Figure 2),
due to unpredictable air currents. We predict that the air pressure will decrease during ascent at a
steady rate, and then increase again upon descent. This trend is due to a decreasing amount of
molecules in the surrounding air as altitude increases (Figure 3). We predict humidity will follow
a similar trend to temperature for the same reasons, however would level off before burst unlike
temperature. Next, regarding the accelerometer, upon ascent we expect, one G (9.8 m/s2) in the
y-direction and zero degrees in both the x and z-directions, with small variances in all three
directions due to unknown factors such as wind. Upon descent, however, the G-force in each
direction will vary erratically as a result of an unpredictable and turbulent descent. Lastly, we
expect the cameras, both the GoPro and the Canon, to take clear pictures and video throughout
the flight. The GoPro will be focused on confirming the release of our sodium chloride powder.
Another aspect of expected results is how we predict our mechanisms, namely our
Servos, to function throughout the flight. Presuming the connections are stable, and the tests
which confirm this are conducted accurately, all mechanisms should properly perform their
specific functions. Post-flight confirmation will be made through GoPro video of the release.
By means of ground testing, the results we expect to confirm after flight have been
justified. Primary structural testing (including drop, whip, and stair tests) has confirmed the
integrity of our design and its overall reliability. Through physical observation by a number of
team members and also close documentation with the GoPro, this has been verified. The ensuing
electronics testing was also successful in supporting our predictions. Each sensor has been tested
and re-tested multiple different times, precisely calibrated, and will allow for accurate data
retrieval from the flight.
These graphs are used from one of Carolyn Mason’s high school rocket projects.
Figure 1 (Temperature vs. Altitude)
Figure 2 (Wind Speed vs. Altitude)
Figure 3 (Air Pressure vs. Time)
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B.O.S.S. – Balloon-Operated Seeding System
Data recorded at this stage is partially representative of the data we expect to see recorded during
flight. Similar to what the temperature sensors recorded when placed in the freezer, we expect to
see a steady drop in internal and external temperatures during flight. Data recorded for humidity
is representative of the sorts of ranges of data we expect to see during flight, though the graph
below shows fluctuations whereas we expect to see a steady drop in humidity during flight.
LAUNCH AND RECOVERY:
Launch Day Plan:
On launch day, Team Up, Up, and Away will meet at 4:30 at the parking garage located on the
South east corner of Colorado and Regent Drive. All members will ride with Cameron Coupe or
Ty Bailey to Windsor, Colorado. Upon arrival at the launch site we will run through the
following checklist to verify that the satellite is ready for flight.
1.
2.
3.
4.
5.
Satellite has Canon camera secured in the viewing position
Satellite has GoPro camera in the viewing position
Three new 9volt batteries are installed to the heater
The Heater produces heat when switched on
One fresh 9volt battery is given to both Arduinos and both LEDs illuminate when
switched on
6. Sodium chloride is placed in the funnels
7. Steps 1 through 7 shall be completed at least by 6:20am
8. At 6:40am Cameron Coupe will hold the satellite while Trevor Arrasmith turns on the
heater
9. Trevor will turn on the Go Pro
10. Trevor will turn on the Canon camera
11. Trevor will turn on the Arduinos
12. Carolyn Mason will verify that steps 8 through 11 have been completed
13. Samuel Frakes will verify that steps 8 through 11 have been completed
14. Cameron will then wait for further instructions from Chris until launch
The recovery team will include all team members. In the event that only one person can go on
the recovery, that person shall be Ty Bailey. Upon recovery, Ty shall cut the tape from the top
panel of the cube and remove the SD cards from both cameras and the SD card from the Arduino
UNO. We will ensure that duplicates of all files are saved, including pictures, video, and flight
data. The memory shall be downloaded to both Trevor’s laptop Carolyn’s laptops. This method
has already been tested by downloading two complete sets of camera data and flight data from all
sensors to both Trevor and Carolyn’s laptops.
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B.O.S.S. – Balloon-Operated Seeding System
Actual Satellite Launch Events:
Power on: 7:08 AM
Launch Windsor Colorado: 7:10 AM
Apogee (Balloon string was cut): 8:57 AM
Balloon Landed: 9:30 AM (extrapolated from EOSS data, shown below)
Recovery in Nebraska: 12:13 PM
Arrived Home: 5:15 PM
Flight time to apogee: 1 hour 47 minutes
Average ascension rate: 326 m/min
Max Height: 30308.7 meters
Balloon altitude data supplied by EOSS:
35000
Altitude vs. Time for Balloon Flight
Altitude (Meters)
30000
25000
20000
15000
10000
5000
0:00:00
0:19:25
0:24:58
0:29:36
0:33:25
0:37:06
0:40:55
0:44:36
0:48:25
0:52:55
0:56:55
1:01:06
1:05:25
1:09:55
1:13:36
1:18:06
1:22:36
1:26:36
1:30:36
1:34:55
1:38:36
1:42:55
1:47:36
1:51:25
1:55:36
1:59:25
2:03:06
2:07:06
2:10:55
2:14:55
2:18:36
0
Time (hours: minutes: seconds)
Following page: On the left is a picture from the balloon tracking station a minute after the
balloon was cut. The green dots show the path of our balloon and satellite. On the right is a
picture of our box lying in a corn field in Nebraska. The structure was intact with no major
damage. The funnels stayed in place and there was minimal salt spillage around the box. The
structure is in flight-ready condition.
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B.O.S.S. – Balloon-Operated Seeding System
RESULTS, ANALYSIS, CONCLUSION :
Results:
 Structure:
o The structure held up to expectations
o All internal components except the Canon camera maintained their correct
positions. The Canon camera was shaken loose after apogee.
 Sensor Arduino:
o Collected data during flight: 7:08 AM- 9:08 AM
o Turned on again once landed: 10:20 AM- 12:13 PM
o All sensors functioned at expected
 Servo Arduino:
o Ran from 9:07 AM to 10:37 AM
o Data shows that both Servos functioned. We found however, that only the first
Servo was actually able to open and release the sodium chloride.
 Power:
Voltage for Start and End of Flight
Start (as
End
Functions after flight?
labeled)
Sensor Arduino
9
8.3
yes
Servo Arduino
9
8.02
yes
External Power for Servos
6
2.35
no
Heater
9
8.16
yes
9
8.16
yes
9
8.16
yes
System
The power readings after flight show that all 9 volts retained charge very well. The
Arduino needs a solid 7.5 volts to function properly and all 9 volts remained above 8 volts. The
external Servo battery was the only one to drop significantly. The second Servo failed due to the
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B.O.S.S. – Balloon-Operated Seeding System
quick voltage drop. Each of the Servos runs on 4.8 to 6 Volts. The remaining 2.35 volts is not
enough to power a Servo.
Graph Analysis:
The sensor Arduino ran for the first two hours of flight. To better understand why the
Arduino powered off for an hour and then back on, we recreated the accelerometer and
temperature graphs for the full flight. We also compared our data with teams who collected data
for the whole duration of flight, to confirm our analysis.
Below are graphs and explanations for all of our sensors along with the Servos.
Accelerometer Data:
Wind Gust
The accelerometer sensor successfully showed fluctuations in axis orientation confirming
three events in our timeline (launch, apogee, and pick up). Launch occurred two minutes after all
systems were powered on. This can be seen when the axis orientation spikes from negative to
positive. Apogee (burst) occurred 1 hour and 47 minutes after launch. As expected, the
accelerometer gave sporadic readings when the balloon string was cut and the BalloonSat got
whipped around. About ten minutes after apogee the Arduino stopped taking data. An hour later
as the Arduino turned back on, we can see immediate fluctuations.
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B.O.S.S. – Balloon-Operated Seeding System
The balloon landed at 9:30 (as per the EOSS graph above), but at 10:20 there is a spike in
accelerometer readings. From the data, it appears that the satellite was jolted and a faulty
connection became solid again. All of the teams have a fluctuation at this point. There are two
theories; either someone moved the satellites or a large gust of wind dragged the parachute and
balloon string along the ground. While recovering out BalloonSat, we observed highly windy
weather. A town nearby, Imperial, Nebraska, recorded winds from the south at 27 mph with
gusts up to 36 mph. It therefore makes sense that at 10:20 a large gust of wind took hold of the
parachute and dragged the string of BalloonSats along the ground. At the very end of our
recorded data, just before the satellite was powered off, there was fluctuating data due to the
satellite being picked up from the ground and being held.
While the fluctuations were useful for indicating event times, the numbers the
accelerometer read were not as expected. We expected to see the accelerometer read between -3
and 3 Gs (per Triple Axis Accelerometer Breakout - ADXL335 spec), not between -4 and 8.5
Gs. This random offset occurred several times during testing, but never to this degree. This may
have occurred because the sensor got jostled during launch.
Further analyzing the axis orientation, we can see how the accelerometer thought the
satellite was orientated during flight (note: the accelerometer was upside down. The program
accounted for this so when the BalloonSat is right-side-up, we expect a -1 G for the Z axis):
Launch
Apogee
Pick Up
The launch orientation was as expected. The accelerometer was mounted upside-down on
the ceiling of the BalloonSat. The Z-Axis should read -1 and the X and Y should be around zero.
The interpretation of the rest of the data is not as straightforward. The data for the flight
of the balloon is non-linear, with large perturbations. There are evident spikes in the data. The
spikes in recorded acceleration show where the satellite was jostled and whipped around by high
and turbulent winds. We know that the recorded pick-up orientation is incorrect because we took
pictures of the BalloonSat on the ground in a particular orientation (shown on the following
page). If the readouts in this section were shifted up by 2.5 Gs (Y and Z at zero), we would see
the correct orientation. Likewise, the apogee orientation would make more sense if X and Y were
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B.O.S.S. – Balloon-Operated Seeding System
around zero and Z was negative. If this were the case at apogee then the satellite would be the
same as at launch.
Another theory, at least for pick up orientation is that the satellite was on a different side,
when a gust of wind filled the parachute and drug the string of satellites along. At this point our
second Arduino got jostled, powered on (due to the program re-se the axis to zero), then came to
rest as shown. An axis reset would case confusing data such as what we saw, so this is likely to
be the source of this error.
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B.O.S.S. – Balloon-Operated Seeding System
Temperature Data:
Tropopause
Tropopause
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B.O.S.S. – Balloon-Operated Seeding System
The temperature sensors both worked as expected. The outside temperature sensor
dropped to -54 degrees Celsius at the tropopause and got warmer up until apogee. After apogee
the temperature decreased again as the satellite fell through the stratosphere. Our temperature
data shows that the inside temperature sensor remained above -3°Celsius, proving that the
heaters were functioning for the first two hours of flight. We compared our data with Team #6,
to fill in the gaps of our missing data. We found that the data we collected was consistent with
theirs. We also helped piece together our flight timeline with this graph, determining a clear
point where the BalloonSat hit the ground. We compared this again with the EOSS data and
concluded that the balloon landed at 9:30.
Pressure Data:
The pressure results were as expected; increasing altitude resulted in decreasing pressure.
There is a clear switch in direction of the change in pressure at apogee, after which the pressure
begins to rise rapidly. The pressure after apogee was the inverse of the trend during ascent,
though at an increased rate since the satellite was falling much faster than it had risen. During the
turbulent descent, the Arduino stopped recording data. It was not until after landing that the
Arduino resumed recording data, at which time it recorded a pressure of 1.87 kilopascals.
Because this data was recorded in Nebraska, at a lower altitude than the satellite was launched at,
this higher pressure reading matched our expectations.
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B.O.S.S. – Balloon-Operated Seeding System
Humidity Data:
Cloud Layer
The humidity sensor recorded data as expected. As pressure and temperature decreased,
humidity also decreased. Although humidity does not have a direct correlation with altitude, we
generally expected humidity to drop as the balloon rose. The exception to this is when the
balloon passed through the cloud layer. We witnessed this at 1500 seconds (25 minutes). From
launch until around 1500 seconds, the humidity dropped constantly. At 1500 seconds the
humidity began to increase. We have GoPro confirmation that the satellite goes through dense
clouds at this point. Below is a screenshot of the GoPro footage as it enters the cloud layer.
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B.O.S.S. – Balloon-Operated Seeding System
All systems were powered on two minutes before launch, so the 27 minutes indicated by
the clock was actually 25 minutes into flight.
There are two reasons humidity began to rise. At 2000 seconds (33 minutes) the balloon
reached the tropopause and temperature began to rise. On the basis that increased temperature
correlates with increased humidity, we attribute the gradual rise in humidity to the gradual rise in
temperature seen in the stratosphere. After apogee, we saw the reverse of this to be true as the
satellite fell back through the stratosphere, during which time temperature was steadily
decreasing until the satellite re-entered the troposphere.
Wind Voltage Data:
Reentry to thicker air
Spinning fast after launch
Air too thin to get data
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B.O.S.S. – Balloon-Operated Seeding System
The anemometer collected data, though was not what we expected to see. We expected to
see a trend that correlated with the jet stream and get a trend more like the following image,
graphed by wind speed up to 25 kilometers per hour over a time period of approximately one
hour.
The recorded voltage readings showed a spike at the very beginning and another larger
spike approximately 10 minutes after apogee. Because there was a great deal of turbulence after
apogee, not all recorded voltage can be attributed to wind speed, as the satellite was rotating
quickly and thus would get inconsistent readings from the variations in orientation.
There are two theories for the absence of measurement between 1900 seconds and 6600
seconds. The first theory is that the anemometer became stuck during ascent and stopped reading
after 25 minutes, but then after burst became free and started collecting data again. This
explanation is unlikely, since the paperclip through the flight tube was the only possible source
of jam and we determined that nothing could have caused it to shift this drastically during flight
and then return to its original position before landing.
The more probable explanation is that air density as the satellite exited the troposphere
and entered the stratosphere simply became too low to have enough force to turn the blades of
the anemometer. This theory is backed up by the fact that we saw data begin to be recorded once
more approximately 10 minutes after apogee, when the satellite was falling at a much faster rate
than it rose, and it began to re-enter the thicker atmosphere.
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B.O.S.S. – Balloon-Operated Seeding System
Comparison Graph for Air Pressure and Wind Voltage:
Based on calibrations prior to flight, we used the following expression to relate recorded
voltage from the anemometer to the speed of the satellite: ((8*windVolt+2.0244)/0.1468). Below
is the voltage data converted to wind speed in kilometers per hour. The absence of data in the
middle section is caused by inaccuracies of the anemometer below 13 kph. During this period,
wind speeds could have ranged from 0 to 13 kph, but no useful data was recorded.
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B.O.S.S. – Balloon-Operated Seeding System
Servo Data:
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B.O.S.S. – Balloon-Operated Seeding System
The first of the two release systems was successful in dispensing the sodium chloride.
The time of release corresponded closely with typical cloud seeding altitudes. At approximately
19.5 minutes into flight, which was at an altitude of between 14,000 and 15,000 meters, the salt
was released out of the satellite, as shown in the picture on the previous page. This proves the
feasibility of a balloon-mounted cloud seeding device, since Team Up, Up, and Away
successfully dispersed a cloud seeding particle substance at the proper altitude.
The release of salt from the second Servo was unsuccessful due to a power failure caused
by the first Servo being unable to reposition itself fully to its zero-position. This drained charge
quickly from the battery, causing the battery to be unable to provide enough power to the second
Servo at its release time. This jam was confirmed through the sound recorded by the GoPro, and
by the fact that the Arduino correctly prompted the second Servo to open but it remained closed.
FAILURE ANALYSIS SUMMARY:
What failed:
• Servo 2 did not open.
• Both Arduino 1 and 2 stopped recording data for a given time.
Why it failed:
• The battery supplying power for Servo 1 and 2 lost power during flight.
• Loose wiring during descent caused power supply failure.
How we know:
• After recovery the power supply to the Servos had dropped from 6 volts to 2.4 volts
• Determined from the GoPro audio, Servo 1 was stuck and drained power from battery by
trying to re-position itself
• Both Servos worked properly when given new power supply
• During descent we had small, zero-second files indicating power supply shorts
• Power came back to the Arduinos after descent
• All switches were still on at recovery and batteries could supply power
• Other teams recorded their Arduinos working in cold temperatures, so failure due to cold
internal temperatures is ruled out
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B.O.S.S. – Balloon-Operated Seeding System
READY FOR FLIGHT:
Upon retrieval of the BalloonSat (B.O.S.S.), Team Up, Up, and Away was pleased to find
that B.O.S.S. was completely intact with no dents or cracks, and power to both Arduinos was
still running. Though an error occurred with our second Servo, our programming has been
retested and uploaded again in order to make a second mission possible. Besides the Canon
digital camera coming dislodged mid-flight, everything held in place. Moreover, once the
batteries are replaced, the salt is refilled, and the cameras charged and their SD cards cleared,
Team Up, Up, and Away is fully ready for a second flight. Nothing in the BalloonSat is
particularly time-sensitive all systems should remain functional for the foreseeable future,
provided that all electronics and structures remain undamaged.
CONCLUSIONS:
We conclude that cloud seeding could be done from a large-scale balloon-mounted
seeding system. Despite the failure of one of our Servos, the mechanism for the salt release
worked. We were also able to recover our payload and return it in working condition in less
than 10 days. One large concern with cloud seeding from a balloon is that it is very difficult to
control where the balloon flies and lands, as evidenced by the fact that our satellite landed in
Nebraska. An improved system of retrieval should be a major focus for future missions.
LESSONS LEARNED
Lessons that we learned while making our satellite include learning to ask for outside
help and discovering the fabulous resources available on campus. We learned to make a
rigorous test schedule and to try to make these test follow some sort of logical order. An
example of this is testing each component one at a time instead of putting them all together and
then trying to back out the problem. We learned that LEDs need resistors based on a night of
trouble shooting from quick power drainage. Most importantly all of the team members gained
confidence to be able to tackle seemingly impossible tasks.
MESSAGE TO NEXT SEMESTER:
This class will be one of your most memorable classes of all time. You are building a
satellite, which you most likely have never done before. Are you nervous yet? You should be
and if you are not, let us repeat...you will be making a fully functional satellite, on your own, in
less than 12 weeks! Well you will not be entirely alone. Tim May is a great resource for
electrical troubles and all the folks at Space Grant are invaluable resources for everything
satellite related. The number one secret to success in this class is to plan ahead. You will
encounter several problems along the way that you could not possibly have foreseen and the
best way to deal with these setbacks is to have left room for failure. Finally, be creative and
keep your mission simple.
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B.O.S.S. – Balloon-Operated Seeding System
Sources Cited:
1.
"Common Cloud Names, Shapes, and Altitudes."
http://nenes.eas.gatech.edu/Cloud/Clouds.pdf
2.
"Hygroscopic Cloud Seeding." http://www.justclouds.com/hygroscopic_cloud_seeding.asp
3.
"Does cloud seeding work?" http://www.scientificamerican.com/article.cfm?id=cloudseeding-china-snow
4.
"Why won't the UK make the sun shine for the Olympics"
http://www.bbc.co.uk/news/uk-politics-18817945
-END-
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