Fall
Balloon Satellite Proposal
Team: O2n Cloud 9
Team members: Ben Woeste, Brodie Schulze, Caitlyn Cooke, Ian
Barry, Lea Harris, Megan O’Sullivan, and Sebastian-Johannes Lorenz
ASEN 2500
University of Colorado at Boulder
Professor: Christopher Koehler
September 15th, 2010
10
Mission Statement
The BalloonSat “Cloud 9“ will rise to an altitude near 30km in order to complete
our mission. Our mission is to use this satellite to take 3D images of the clouds, measure
relative humidity, and the levels of oxygen in the atmosphere. We will be using these
sensors to come up with a composition of the atmosphere and compare our images to the
relative humidity.
Mission Objectives
1.
Construct a BalloonSat by 10/21/2010 that will reach altitudes of 30km
2.
We will measure the amount of elemental oxygen in the air using an
oxygen sensor
3.
Take 3D images of surrounding clouds
4.
Measure the external relative humidity in the atmosphere
Mission Overview
Through scientific discovery we have an explanation for how clouds are formed
and what they are made of. We know the environment needed for clouds to form and
what types of clouds produce certain weather. The conditions needed for cloud formation
are that there is high relative humidity, cooling atmosphere, and particles in the air for the
water to condense onto. What we want to study is the relative humidity that is needed for
clouds to form and with our oxygen sensor we will be able to read how much pure
oxygen there is in the air. We can test and see if the level of pure oxygen in the
atmosphere changes as we approach clouds. The other part of our experiment is to use 3D
imaging in order to get a better idea of size and magnitude of the clouds. These images
are going to be integrated into the other data so that we can correlate the amount of
oxygen to the type, thickness, and altitude of cloud. The whole point of this experiment is
to explore the effects of relative humidity and the composition of the atmosphere.
Requirements for O2n Cloud Nine:
Objectives: Collect Relative humidity to about 30,000 meters
Collect oxegen levels to about 30,000 meters
Collect temperature data to about 30,000 meters
Take stereoscopic images.
Requirement:
Humidity sensor with power to keep it running for about 135 minutes
Arduino board to collect humidity sensor data and Its power.
Oxygen sensor , power to run it, HOBO to collect data.
Eternal temperature probe and hobo,
Camera with strategically placed mirrors, memory, Image processing.
For the mission we will be flying a stereoscopic camera system, oxygen sensor,
internal and external humidity sensors, and internal and external temperature
sensors. We will also be flying an internal heater to keep the satellite at operating
temperatures (0 degrees Celsius), and an Arduino board and HOBO data logger to
store measurements.
Gateway to Space
Team O2n Cloud 9
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Sep. 15th 2010
Mission statement
Take 3D-images of
the clouds
Level 0
Take stereoscopic images
Level 1
Camera with strategically
placed mirrors, memory,
Image processing.
Measure the levels of
oxygen in the
atmosphere
Compare Humidity
levels to cloud
presence
Collect oxygen levels to about
30,000 meters
Oxygen sensor , power to
run it 135 minutes, HOBO to
collect data.
Humidity sensor power to
run it for about 135 minutes,
Arduino board to collect
data.
Measure temperature
data as function of
altitude.
Collect internal and external
temperature data to about 30,000
meters
Eternal temperature probe
and hobo to collect data
Keep Satellite running
Arduino Board, Camera need to be
kept above 0 degrees Celsius
Heater powered by 9 volt
batteries to provide heat.
Collect internal and external
relative humidity to about 30,000
meters
Technical Overview
Structural – The structure of our BalloonSat “Cloud 9” is going to be in the
shape of a rectangular prism. The structure will be about 30cm long, 10cm tall and 10cm
deep. The reasoning behind the 30cm length will be explained in the optical section. The
prism will be made out of foam core with aluminum tape and hot glue to hold the edges.
One side of our prism will be at an angle so as to allow our camera to get a view of the
top of the clouds. In order for our satellite to reach the target altitude we will be attaching
it to a weather balloon by a nylon flight cord through an internal PVC pipe. We must also
use insulation inside of our satellite because of the extreme cold temperatures reached
throughout the flight. For this we will use a one-centimeter thick insulation glued on the
interior of the structure and a heater. (The heater will be explained in the electrical part of
the technical overview)
Optical – Part of our experiment is to take 3D images of clouds throughout the
flight. We will be using a digital camera in order to create an effect much like the eyes of
a human to give us depth to pictures. The camera will be placed on one end of our
structure and we will use angled mirrors to allow the camera to take one picture that
views the outside from both ends of our structure, this will give us the ability to have two
different angles of the same object. The camera will be placed at the back of the structure
to leave room for the mirrors and any sort of glass will not cover the windows in the side
of our structure. The effect of having an open-air design is that we have to protect our
lens and mirrors from condensation. In order to stop water from condensing on our lens
and mirrors we have to use an anti-fog agent.
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Team O2n Cloud 9
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Sep. 15th 2010
Electrical – The heater that we will make in class requires three nine-volt
batteries and these will be mounted on the inside of our structure. The heater will be
placed in the structure so that the electrical components do not get colder than -10
degrees Celsius. This subsystem is independent of all of the others and is only wired to a
switch that is on the outside of our structure so that we can power it on and off.
The next subsystem we have to have power for is our HOBO data logger. This
subsystem has an internal power source that will last for hours, but in order to make sure
that it does not run out of battery mid-flight we will program it to delay the start of data
collection until the launch. This system logs the data of outside temperature, inside
temperature, inside relative humidity, and in our experiment will also log the oxygen
level.
The oxygen sensor will be hooked up to a 4-20mA connection. The power of this
system comes from two nine-volt batteries that will be mounted inside our structure.
The next subsystem is our camera. We will use our mirrors in order to get one
picture from two angles. The camera will be using a 4Gb memory card and has a internal
rechargeable battery.
The last subsystem is our external relative humidity sensor. This is connected to
an Arduino Pro board in order to log our data. The power will come from a nine-volt
battery. We will also wire in a switch so we can turn it on before launch.
Hardware we need and where we plan to get it
 Oxygen Sensor donated by In-Situ Inc.
 HOBO provided by Gateway to Space class
 Camera donated by Gateway to Space class
 Mirrors bought from Home Depot
 Relative humidity sensor from Sparkfun Electronics
 Arduino Pro board from Sparkfun Electronics
 1 2Gb memory card donated by Gateway to Space class
 6 nine-volt batteries provided by Gateway to Space class
 4-20mA cable from HOBO Onset Corporation
 Plastic flight tube provided by Gateway to Space class
 Foam core provided by Gateway to Space class
 Aluminum tape provided by Gateway to Space class
 Washers and bolts for flight tube and rope attachment provided by
Gateway to Space class
 Heater provided by Gateway to Space class
 Insulation provided by Gateway to Space class
 Switches provided by Gateway to Space class
Illustration and Special Features of our Design
The team’s design includes a digital camera with a system of angled mirrors,
which will allow for stereoscopic imaging and provide some sense of depth in the images
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Sep. 15th 2010
of clouds obtained. The slanted side on which the mirrors are mounted will allow the
camera to point downward toward the clouds in the troposphere for a longer interval.
There is an oxygen (O2) sensor and a relative humidity sensor that will take
measurements outside the structure. These features allow for correlations to be drawn
between humidity, oxygen levels, cloud appearance, temperature, and altitude.
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Team O2n Cloud 9
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Sep. 15th 2010
How we plan to turn our design into an actual satellite
The satellite will be comprised of two separate systems, one of which will collect
qualitative data and one of which will collect quantitative data. In addition, we will have
a satellite support system.
Qualitative System: Optical camera system
The satellite will contain a digital camera, which will have a primary goal of capturing
images of the clouds at various altitudes during flight. We will have an internal mirror
system to allow a single camera to capture two angles. The separation of the windows in
the side of the structure that the mirrors will be placed in will be 30cm. This separation
distance is optimized in order to create a focal 3D distance of 17.7 m. The camera will
contain and internal rechargeable battery that will provide power to the system. The
camera firmware is also equipped with an internal timing system that will control the
photo-sampling rate and an internal memory card for data storage. The simultaneity of
image generation from the two angles will allow a 3D image to be viewed by placing the
two printed photos into www.start3d.com, which creates transition slides and then
animates this. The focal distance and sampling rate accuracy will be tested prior to launch
using the website to ensure clarity of the 3D images. If the 3D picture quality is not
optimized, the mirror system within the box and internal timing system will be revised
accordingly. An external switch located outside of the satellite structure will activate the
system proceeding launch.
Gateway to Space
Team O2n Cloud 9
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Sep. 15th 2010
Quantitative System: HOBO data-logging system
The quantitative system consists of the HOBO data logger. This unit is equipped
with internal temperature, internal relative humidity, and external temperature
capabilities. The HOBO data logging system also includes it’s own internal power
source. In addition to these given parameters, the team is also planning to record oxygen
content of the atmosphere. In-Situ Inc will donate the oxygen sensor, called an RDO Pro
optical oxygen sensor. The company was excited to donate a sensor to an educational
program and will use our data for a technical application note for marketing purposes.
The oxygen sensor is equipped with customizable 4-20mA output capabilities that are
compatible with the HOBO data-logging device. This will be wired to the HOBO’s 420mA cable, equipped with specialized 10K ohm resistor to adequately control current
input from the oxygen sensor. The system will also be wired to a 9V battery, which will
power the RDO Pro device. The RDO Pro is equipped with a specialized current output
control chip (datasheet: xtr 117) that regulates the current being sent to the HOBO
device. If the sensor unexpectedly produces a current above 25mA, the output regulator
will essentially deactivate the entire system. With a 10K ohm resistor in the system, the
maximum voltage that can be obtained by the system is 2.5V, which is the HOBO
allowed specification. Thus, the HOBO data-logging device is incapable of being
exposed to an overvoltage due to the RDO Pro optical oxygen sensor. The sampling rate
of the HOBO and it’s corresponding sensors will be controlled using the HOBO software,
while the oxygen sensor sampling rate will be customized using the Win-Situ 5 software,
provided by In-Situ Inc. The data will be collected and recorded within the HOBO datalogging device’s internal memory for the duration of the mission, and downloaded after
landing for analysis using the provided HOBO software. The team will do a full testing
analysis before launch to determine the overall functionality of the device, as well as the
accuracy of the sensors. The system design will be modified accordingly to account for
any errors. An external switch located outside of the satellite structure will activate the
system proceeding launch.
We also have a relative humidity sensor that will be mounted on the outside of
our structure. This relative humidity sensor will be connected to an Arduino Pro board to
log our data. We will power it by using a nine-volt battery because the sensor is a five
volt sensor.
- Satellite Support System: Heating, insulation, and condensation
To ensure performance of both the qualitative and quantitative systems, an
optimized environment will be achieved using the satellites internal support system. A
heater will be provided to the team, consisting of an external switch for system activation
prior to launch, and three 9V batteries to power the heating device during flight. Onecentimeter foam insulation will also be provided to line the satellite structure and
maximize heat efficiency. A desiccant in a bag will be donated by In-Situ Inc. and placed
inside the satellite structure to absorb moisture accumulation. Revisions to the internal
heating system will be made if the target temperature of -10 degrees Celsius is not
achieved.
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Team O2n Cloud 9
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Sep. 15th 2010
Data Retrieval
Satellite data retrieval will be presented in both a qualitative and quantitative
form. All data will be collected for the entire ascent and decent of the flight. For the
qualitative analysis, the two installed cameras will take simultaneous images of the
clouds during flight. The camera images will be stored in the internal memory card for
the duration of the flight. After recovery, the images from both cameras will be printed
and matched with the simultaneous image from the opposite camera. The fixed sampling
rate during flight will allow the cameras to take images simultaneously, and at various
altitudes along the flight path. The two matching images will be placed into a website,
which creates transition slides and animates them. This 3D representation will give the
team a qualitative analysis of the cloud density at various altitudes above the Earth. The
quantitative data analysis will consist of numerical measurements using the various
sensors attached to the HOBO data-logging device. Four sensors will be connected to the
HOBO including internal and external temperature, internal humidity, and oxygen
concentration. All data collected by the sensors will be logged within the HOBO’s
internal memory system. After recovery, the data will be downloaded from the HOBO’s
internal memory to a computer using the HOBO software. The two temperature sensors
will report data in the units of Celsius, and the humidity sensors in units of density. The
oxygen sensor however, will report the concentration of oxygen in units of voltage, due
to the 4-20mA connection. The oxygen data will be converted from voltage to partial
pressure of oxygen by application of Ohm’s Law V=IR. Using the known value of
resistance R (10k ohm) and the measured voltage, the current can be found for each
sample logged. The minimum and maximum current levels will be assigned a partial
pressure of oxygen value using the Win-Situ software provided by In-Situ Inc. Thus,
every current level on the scale from 4-20mA will correspond to a specific value of
oxygen partial pressure, which will be computed using a simple algebraic ratio. Internal
humidity readings will be evaluated to determine the efficiency of the moisture
absorption system, and internal and external temperature readings will be compared to
determine the heater efficiency. We will calibrate the sensor by placing it in a sample of
water and saturating with 100% oxygen using a bubbler.
The data for the relative humidity sensor will be recorded on our Arduino Pro
board. The data will be recorded in voltage readings that correspond to percent humidity.
The whole system is very similar to the oxygen sensor in data retrieval.
How we will keep people from getting hurt
We will take a number of safety precautions during all construction times and
tests. During construction, if we are using power tools we will wear safety goggles and
make sure that all blades are kept away from hands. We will also be using exact-o knifes
in our construction, so we will always make sure to cut away from ourselves and others
so the knife doesn’t slip and injure someone. We will be implementing several different
tests that have fairly standard safety precautions. One safety precaution that is essential is
a warning system that the test is about to begin. The tester will ask if the other team
members are ready, and upon confirmation the tester will loudly announce the name of
the test and a countdown so all that are in earshot know the test is taking place and know
to stand clear of the test site. A safe distance for most tests we will be performing is about
a 5m radius. This safety radius however should be increased to about 10m for the drop
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Team O2n Cloud 9
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Sep. 15th 2010
test, noting that the wind might carry the test satellite or pieces could come off and injure
someone. Other team members not performing the test will also watch for people passing
by and make sure that they know that a test is taking place and to stay away from the test
site. Another way to keep the team and others safe is to perform tests in a non-populated
area. Basically the key to being safe during testing and construction is to not do anything
foolish and use common sense, but having these safety procedures laid out ahead of time
will also help ensure team and passerby safety. We will have two or more team members
present at all times.
Functional Block Diagram
Gateway to Space
Team O2n Cloud 9
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Sep. 15th 2010
Testing of our design
There are several tests that must be done on our BalloonSat to ready it for flight.
Here we will give a description of each and how the data they give us will help ready our
satellite for flight. During all of the tests that involve the structure strength we will
simulate the mass by placing rocks or other weights inside.
-The Drop Test:
One stage of this test is dropping our structure down a flight of stairs to simulate
the impact on the structure as it hits the ground when it lands. This stage will tell us if our
structure can withstand an impact that makes the structure roll across the ground. The
second stage of this test is dropping it off a second story ledge to simulate the impact of
the landing. This test will be done with mass simulation to test the strength. We expect
our structure to survive the drop with little to know damage.
-The Whip Test:
In this test we will attach a flight string to our satellite and swing it around in
circles. This test will tell us two things, one if our flight string interface is strong enough
to endure the forces that will be exerted on it from the fall back to the ground. It will also
tell us if our structure can withstand the forces acting upon it when if falls, or if it will rip
apart. This test will be done with mass simulation to test the strength. We expect that the
structure will last the force and that the flight tube will stay in place.
-The Cooler Test:
In this test we will be testing our internal technology and our insulation to see if it
will withstand the extreme cold of high altitude. We will place our satellite with all of our
technological components inside a cooler with dry ice in it, turn on our satellite, and see
if the internal temperature will stay above -10 degrees Celsius with our heater and
insulation in affect. The satellite will stay in the cooler for about 135 minutes to simulate
the estimated time that the satellite will be exposed to the extreme cold temperatures of
high altitude. We expect it to fully function after the 135 minute in the cooler and that the
temperature will never drop below -10 degrees Celsius.
-Camera Test
In this test we will ensure that our 3D picture taking idea can work, and we will
test all the software needed to make the 3D image. We will take our camera and mirrors,
that are about 30cm apart, and test by taking pictures. Our object will have to be about
17.7 meters or more away, since that is our estimate of how far away some clouds will be
from our satellite in flight. Then we will take our pictures and test our software to make
sure that the 3D image will come out, or if we need to adjust our camera distances to
ensure a better 3D picture. We expect to get two angles in a single picture and us the two
angles to create the animated gif file to give the appearance of depth.
-Oxygen Sensor Test
We will test our oxygen sensor by placing it in our satellite and see if it is taking
readings. It will be placed in a sample of water to check for accuracy. We expect the
oxygen reading to be 100% when submerged in the water and an oxygen bubbler.
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Team O2n Cloud 9
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Sep. 15th 2010
-Full Mission Simulation:
We will also test our satellite as a whole, to make sure that all the components
work together. This test will also show if all components work properly in our structure.
We expect everything to work and give accurate readings at ground level.
Budget and Weight Overview
We shall keep our budget by minimizing the cost of all the supplies we require. This can
be accomplished by shopping around to find the best value for the components we need.
Another step we will follow to avoid going over budget is by prioritizing, and going
through an approval process for all purchases outside what is built into our budget and
the Ben Woeste will control the purchasing power.
Item
O2 Sensor
4GB memory card
Glass cutter
Mirror
4 to 20 amp cable with built
in resistor
Arduino Pro 328 3.3V/8MHz
Humidity Sensor - HIH-4030
Breakout
Total
Camera
HOBO
Heater
Oxygen Sensor
Additional power
Foam Core
Aluminum tape
Flight tube
Mirrors
Humidity Sensor - HIH-4030
Breakout
Arduino Pro 328 3.3V/8MHz
Total
Gateway to Space
Team O2n Cloud 9
Cost
~$2250
Donated
$ 29.99
Donated
$ 3.79
$ 9.99
$ 34.00
Subtotal
$ 0.00
Purchase Location
In-Situ Inc
$ 0.00
Brodie Schulze
$ 3.79
$ 13.78
$ 49.78
Home Depot
Home Depot
Onset
$ 19.95
$ 69.73
Spark Fun
$ 16.95
$ 86.68
Spark Fun
Weight (g)
132
30
100
150
228
60
5>
5
50
3
$ 86.68
Subtotal (g)
132
162
262
412
640
700
705
710
760
763
10
773
773
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Sep. 15th 2010
Expected Results
We have several sensors on our craft that we expect results from, our oxygen
sensor, our humidity sensor, our optical sensor (3D Images), and Big Green Spacegasm’s
CO2 sensor.
From our oxygen sensor we expect to find an inverse relationship between oxygen
levels and elevation. This is expected because it is already scientifically proven that
oxygen levels decrease, as you get higher in altitude.
From our humidity sensor we also expect to find an inverse relationship between
humidity levels in the atmosphere and elevation. We assume this because we know that,
as you get higher in the atmosphere you begin to see less clouds, and since clouds are
condensed water vapor or water crystals we can conclude that humidity decreases as
elevation increases. This can also be complimented by our optical sensor (3D images),
which we expect to show that cloud existence will decrease with altitude.
We will also be receiving data from team Big Green Spacegasm’s CO2 sensor. As
with the other two, we expect to find an inverse relationship between carbon dioxide
levels in the atmosphere and elevation.
All these expected results are based off of prior scientific knowledge. Our results
may vary depending on the maximum elevation we reach.
Schedule
Date
10/5/2010
10/6/2010
10/7/2010*
10/8/201010/13/2010
10/14/2010*
DTL Event/Deadline
32 Pre-Critical design Review
DD Rev A/B and CDR Presentations Due
31
30 Pre-Critical design Review
29
Cloud Nine stage
First Build
23
First Build
First Build
Whip, Drop, Stair, Chill,
Optical tests
Design Review
10/15/201010/20/2010
10/21/2010*
22
Second Build
16
10/22/201010/24/2010
10/25/2010
15
Second Build, Design
Complete
All tests
12
All tests complete
10/26/2010
11 Pre-Launch Inspection, Bring All Hardware
10/27/2010
10
LRR presentations, DD Rev C
drafting
LRR presentations, DD Rev C
drafting, and Data Analysis
LRR presentations, DD Rev C
drafting, and Data Analysis
LRR presentations, DD Rev C
drafting, and Data Analysis
10/28/2010*
10/29/201011/1/2010
11/2/2010
11/5/2010
11/6/2010
11/9/201011/11/2010
11/12/201011/19/2010
11/20/201011/28/2010
11/29/201012/4/2010
12/4/2010
9 In class Mission Sim, Bring Ready to go
Balloon Sat
8
4 Launch Readiness Review,
LRR presentations, DD Rev C Due
1 Balloon Sat Weigh in, Balloon turn in by
2PM, LRR cards Due
0 Launch!
-3 Bring Raw Flight data
-6
Data Analysis
Data Analysis and final
presentation drafting
-14 Fall Break
-23
DD Rev D Drafting
-28 9-4 ITLL design Expo, DD rev D due @
judging Team video due @ judging
DTL = Days to launch
* Weekly meeting
Gateway to Space
Team O2n Cloud 9
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Sep. 15th 2010
Organizational Flow Chart
Lea Harris (612-730-3570) Lea.Harris@colorado.edu
- Team Leader and managing director of the teams, coordinating the team and
helping in any of the building, structure, electric, or science teams.
Ian Barry (970-372-7883) Ian.Barry@colorado.edu
-Head of Structures team, designing the basic plot of the structure and the technical
design of how to make our satellite fit to the double camera and multiple sensors.
Ben Woeste-(303-257-6931) Ben_woeste@yahoo.com Head of the Optical team.
Researcher and head of the optical design team for the satellite’s 3-D picture data
and constructing the plans for the space inside our box to put the cameras.
Brodie Schulze-(970-629-3832) Keegan.Schulze@colorado.EDU Head of the
Power Team. He will be controlling the research and construction of how the three
sensors will be connected to batteries, the two cameras, and the thermal heater. One
job will be helping the structures team to place the power components in the
satellite.
Caitlyn Cooke-(530-249-2354) Caitlyn.Cooke@colorado.EDU Head of the
Electrical team that connects the Oxygen sensor to the HOBO sensors and the two
cameras to the power. Caitlyn is also the main Software Head for the specialized
sensor that requires special data retrieval.
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Sebastian-Johannes Lorenz-(303-618-3160)
SebastianJohannes.Lorenz@colorado.edu Head of the Thermal Crew. Designating
where and how we wish to use the thermal temp controller. Designing the cold tests,
and making sure each subsystem is safe while in flight.
Megan O’Sullivan- (832-656-9096) megan.a.osullivan@colorado.edu Head of
the Health/Safety and Science crew. Megan will be the safe keeper on hand, with
help from Lea to control all possible injuries or stress factors. Megan is also the
Head of the Science Research to control our satellite’s main systems. This subject is
the outer science research that will link all of the different crews together to
construct the details of the satellite that don’t fall under the Electric, Optical,
Managing, Thermal, and Structural teams.
Gateway to Space
Team O2n Cloud 9
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Sep. 15th 2010