Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
Colorado Space Grant Consortium
Gateway to Space
Fall 2012
Design Document
Team Napoleon
11/16/12
Written by;
Caleb Lipscomb, Ashley Zimmer, Ginny Christian, Akeem Huggins, Chris Grey,
Connor Strait, Chad Alvarez, Tucker Emmett
Page 1 of 26
November 16, 2012
Rev C
Gateway to Space ASEN 1400/ ASTR 2500
Revision
A/B
C
D
Fall 2012
Description
Conceptual and Preliminary Design Review
Critical Design Review
Analysis and Final Report
Date
10/22/12
11/16/12
12/08/12
Table of Contents
Section #
Section
Page
1.0
2.0
3.0
4.0
5.0
6.0
7.0
8.0
9.0
10.0
Mission Overview
Requirements Flow Down
Design
Management
Budget
Test Plan and Results
Expected Results
Launch and Recovery
Results and Analysis
Ready for Flight
3
4
6
14
16
17
25
26
N.A.
N.A.
Page 2 of 26
November 16, 2012
Rev C
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Fall 2012
1.0 Mission Overview
1.1 Mission Statement
Our Mission is to disprove the viability of 3D imaging of large, distant objects and to prove that
3D imaging is possible for objects close to the cameras in space. In order to do this, we will be
taking 3D photos of the Earth and of the balloon during the flight of our balloon satellite to test
3D imaging in future space missions. NASA has attempted to create 3D images in space, and has
even flown 3D cameras in a mission to Mars on the Curiosity Rover and had spent millions of
dollars in the process. Our mission is to show 3D images are possible in close fields of view, like
rocks near the rover, but not possible in space for creating 3D images of large landscapes, planets,
or stars, thus saving companies millions of dollars in future investments and validating NASA’s
expenditures on 3D imaging on the Mars rovers. We will take images using two identical cameras
of the ascent of our satellite, Shaniqua, of the balloon burst, and of the descent of our satellite.
Using these images, we will attempt to create 3D pictures.
1.2 Mission Objectives
1. To design and prepare a balloon satellite ready to launch by December 1, 2012.
2. To use two cameras to capture 3D images and film the entire launch using a GoPro camera.
3. To use a gyroscope to determine and record the orientation and rotation of the satellite during
flight.
4. Record and collect data on the required environmental variables.
5. Have the cost and weight of the satellite remain within budget and meet all scheduled deadlines.
6. Follow all RFP requirements.
1.3 Mission Overview
We are taking 3D images of the flight to test the efficacy of 3D in space and future planetary
missions. NASA's Curiosity Rover1 currently produces 3D stereo images from two mast cams as
well as two hazard cams, and before launch NASA commissioned MSSS to build zoom lenses to
enhance the 3D capability of the mast cams, at the behest of James Cameron 2. These zoom lens
where then scrapped from the mission, as they were not completed in time for testing. NASA
however spent thousands of dollars and months in development of said lenses, so they felt that the
expense was justified. In addition, 3one of NASA’s former missions, Spirit, sent 3D images back
from the Martian surface in 2004. These images do not appear to be poor quality. The 3D effect,
at first glance seems to have worked. This shows that while 3D imaging is possible with objects
1
Malin Space Science Systems. "NASA Halts Work on Zoom Mast cams". Oct 2,
2012.< http://www.msss.com/news/index.php?id=22 >
2
Wired. "The Photo-Geeks Guide to Curiosity Rover's 17 Cameras". Oct 2,
2012. <http://www.wired.com/wiredscience/2012/08/curiosity-mars-rover-cameras/ >
3
Mars 3D, NASA Jet Propulsion Laboratories; http://mars.jpl.nasa.gov/mars3d/
Page 3 of 26
November 16, 2012
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Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
close to the cameras, it is worth the investment. We expect to receive similar results on our
mission.
Our goal is to show that 3D imaging is effective for objects close to the cameras, but that it is not
effective in space by sending a 3D camera rig into space and compare the images of a far object,
Earth, to that of a closer object, the balloon, with a known point of reference in all photos. We
will compare the 3D photos of, the Earth, the balloon, and pictures taken on the ground to regular
2D images captured by our cameras. We believe the 3D images of Earth will be hardly
distinguishable from simple 2D images, because 3D imaging has two main requirements: a point
of reference to give scale to the viewer, and an object moving towards the lens. We will have a
point of reference, but due to the unknown scale of the images of Earth and the lack of
movement, the 3D images of Earth will be indistinguishable from the 2D images. However, we
believe that we will be able to capture 3D images of the balloon and of objects on the ground
because we will have a known point of reference and a known, small distance from the satellite to
the balloon. This will validate NASA’s attempt to crate 3D images on Mars, where they have a
known reference point on Curiosity and a known distance to close objects. To create a scale for
3D images, we will fly an object of known size so the exact size can be compared to the relative
size of the object in the film to find the distance from the camera to the object. For large objects
in space an on Mars, such as a planet or a mountain respectively, we cannot possibly fly an object
to give us an exact scale of the distance to these massive objects to use to create the 3D image. If
our hypothesis about the relative indifference between 2D and 3D images is correct, then we will
have proved that cameras used to create 3D images are a justified expense on planetary missions,
such as the Curiosity rover, and unjustified on interplanetary missions exclusively in space.
The second part of our mission is to determine the attitude and spin rate of our satellite. Using
data from the gyroscope, we will be able to determine where our cameras are pointing. A MEMS
gyroscope has been included in the satellite to record the spin rate of our satellite.
2.0 Requirements Flow Down
In order to complete our mission, we shall define requirements that must be met in order for our
satellite to fly. We shall start with mission objectives, or level 0 requirements. These
requirements shall define the goals of our mission. We shall then include objective requirements,
or level 1 requirements. These requirements shall define how we plan to achieve our mission
objectives. All following requirements shall include in more detail how we plan to achieve our
objective requirements.
Level 0 Requirements
#
0
1
2
3
Mission Objectives, Level 0 Requirements.
Test ability to produce 3D images in a near space environment.
Determine attitude and rotation of our satellite during the entire
flight.
Our Satellite shall reach an altitude of 30 km.
Keep total weight under 1125g and total money spent $250.
Page 4 of 26
Origin
Mission Statement
Mission Statement
RFP
RFP
November 16, 2012
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Gateway to Space ASEN 1400/ ASTR 2500
4
5
6
7
Keep internal temperature of Satellite above -10 C.
Record environmental variables.
Ensure the safety of all members of the team.
Balloon Sat must be able to fly again.
Fall 2012
RFP
RFP
RFP
RFP
Level 1 Requirements
#
0.1
0.2
0.3
0.4
#
1.1
1.2
#
2.1
2.2
2.3
#
3.1
3.2
#
4.1
4.2
Objective 0, Level 1
Satellite Shaniqua shall fly two Cannon SD 780 cameras side by side
to capture “3D” images.
Shaniqua shall fly a GoPro to capture standard 2D video.
The two cameras and GoPro shall be connected by a miniB USB
cable that will sync the timers on the camera hardware and software
before the fight to take pictures automatically during the duration of
the flight.
The Cannon Cameras and GoPro shall be attached to a mechanism
that shall rotate the cameras 90 degrees 25 minutes prior to balloon
burst.
Reference #
0
Objective 1, Level 1
Satellite Shaniqua shall fly a Gyroscope that will collect data
continuously for the entire duration of the flight.
The data collected by the gyroscope shall be recorded and used to
determine our satellite’s attitude and spin rate.
Reference #
1
Objective 2, Level 1
Our satellite Shaniqua shall be attached to a hydrogen balloon that
shall carry our satellite to an altitude of 30km.
Shaniqua shall be attached to a rope that is connected to the Balloon
via a tube running through the center of our satellite.
Shaniqua shall use washers and clips to keep it stable on the rope.
Reference #
2
Objective 3, Level 1
A weight budget shall be kept and updated weekly to ensure our
satellite shall weight less than 1125g.
A cost budget shall be kept and updated weekly to ensure our satellite
cost does not exceed $250.
Reference #
3
Objective 4, Level 1
Our Satellite shall have an internal heater powered by 9V batteries
that shall heat the satellite for the duration of the flight.
Our satellite shall have ½ inch foam insulation on the interior of the
structure.
Reference #
4
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0
0
0
1
2
2
3
4
November 16, 2012
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Gateway to Space ASEN 1400/ ASTR 2500
#
5.1
5.2
5.3
5.4
5.5
5.6
#
6.1
6.2
#
7.1
7.2
7.3
Fall 2012
Objective 5, Level 1
Our Satellite shall have an external and internal temperature sensor
that shall continuously collect data for the duration of the flight.
Our satellite shall have a pressure sensor that shall continuously
collect external pressure data for the duration of the flight.
Our satellite shall have an internal humidity sensor that shall collect
data continuously for the duration of the flight
Our satellite shall have a 3 axis accelerometer that shall collect data
continuously for the duration of the flight.
All data collected from the temperature sensors, pressure sensor,
humidity sensors, and accelerometer shall be stored on a 2 GB SD
card.
Data collected form the temperature sensor, pressure sensor, and
accelerometer shall be used to determine the altitude of our satellite
as a function of time.
Reference #
5
Objective 6, Level 1
Construction and Soldering equipment shall be used only in the
proper manner and for the direct purpose of constructing our satellite.
All construction equipment and soldering tools shall be properly
stored.
Reference #
6
Objective 7, Level 1
The structure of our satellite shall be made of foam core and shall be
held together using aluminum tape and hot glue.
Our satellite’s structure shall remain intact during the entire flight,
including the ascent, the balloon burst, the descent and
All of our satellite’s sensors, cameras, and Arduino boards shall be
functioning during the duration of the flight and after landing.
Reference #
7
5
5
5
5
5
6
7
7
3.0 Design
In order to take 3D images during our flight, our camera shall flight two Canon SD 780 cameras side by
side, as well as a GoPro camera. In addition, we will fly a gyroscope to collect data on the spin rate an
attitude of our flight, and temperature sensors, a humidity sensor, a pressure sensor, and an accelerometer
to collect environmental data during our flight. To ensure the survival of our satellite during the flight, our
satellite’s structure shall be made of foam core. To ensure our satellite’s internal temperature remains
above -10 degrees C, we shall insulate our satellite with ½ inch foam insulation and install a heater in the
satellite. Finally, we shall fly two Arduino Uno boards to collect data from the sensors, and the data shall
be stored on two 2 GB SD cards.
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Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
3.1 Cameras, 3D Imaging and Filming:
Our satellite will carry a 3D camera rig, designed to take 3D pictures of the ascent and the
balloon burst. We will use a Canon camera identical to the one provided, and create a fastening system
that inverts one camera and aligns the lenses on the same plane, 6cm apart to create a stereoscopic 3D
effect. We shall take pictures at 5 second intervals for the duration of the flight. This system will be
contained within the satellite, facing out through two viewing windows. The internal configuration allows
the cameras to stay within their minimum operating requirements as ordained by the manufacturer. To
capture both ascent and balloon burst, at launch the cameras will be pointing horizontally from the
satellite. 75 minutes into the flight, the rig will rotate 90 degrees vertically to capture images of the burst.
A small DC motor attached to a gear system will initiate this rotation. With free 2D to 3D software, which
takes a frame from the left then a frame from the right, and on into perpetuity we will combine each
separate picture file into one file. We will hack the cameras’ firmware, enabling us to program the
camera’s functions. We will set the picture intervals on both cameras to the same time as well as using a
miniB USB cable to synchronize the cameras shutter rate to operate both cameras simultaneously. Post
flight, we will compare the 3D images captured by both Canon cameras to a standard 2D image captured
by a single Canon camera. A GoPro Hero HD 2 will also be attached to the rig, providing 2D film of the
entire launch: ascent, burst, and descent. The GoPro will be turned on before launch, as it is capable of
filming 1080p video for four hours, which allows us to leave out the now unnecessary on/off system. The
memory will be contained on SD cards in the cameras. Post-flight, the images shall be uploaded on to
Connor’s computer and 3D images we attempt to create using the free 2D to 3D software.
3.2 Gyroscope
An Arduino GY-521 MPU-6050 Module 3 Axial Gyroscope Accelerometer Stance Tilt Module
shall be used to continuously collect data about the attitude and rate of rotation of the BalloonSat for the
approximately 135 minute flight. The gyroscope shall be programed prior to the flight using the Arduino
software, and shall collect data autonomously. The gyroscope requires between 3.3 volts of power and is
able to collect rotational data from the Shaniqua at the ranges 250, 500, 10000 and 20000 degrees per
second. We shall program the Gyroscope to collect data at a rate of 250 degrees per second. The
gyroscope collects raw data in the form of mV/degrees/second. The collected data shall be recorded and
stored on a 2 GB SD card. We will start with a reading of 0 volts to determine our gyroscope’s data
outputs when the sensor is stationary. We will use this voltage output as our zero when analyzing our
data. In addition, we will rotate the gyro 180 degrees about a single axis, for the x, y, and z axes, over one
second, and compare the sensor data to the actual rotation rate. We shall use this data, in addition to the
zero voltage data, to calibrate the sensor. We will then find the sensitivity of the sensor from the data
sheet and convert our data to volts before performing the final calculation to find the degrees of rotation
of the satellite per second. Readings taken from launch to landing will provide a continuous graph of the
rotation of the satellite and allow us to compare rotation rate of the satellite with the video feed at the
same time for any time during the flight.
3.3 Sensors:
All sensors shall be attached to one of two Arduino boards. Sensors shall be used to collect
internal and external temperature, humidity, and pressure measurements. These sensors, in addition to a 3axies accelerometer shall be attached to the first Arduino. A 3-axies gyroscope shall collect data and shall
be connected to a second Arduino. To calibrate the sensor, we will find what the sensors read in 3
Page 7 of 26
November 16, 2012
Rev C
Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
separate controlled situations and then use these readings to calibrate the sensors. For the temperature
sensors, we will find what the sensors read in a room of known temperature, and then use that data to
calibrate the sensor. We shall repeat this test for three separate temperatures. For the humidity sensor, we
will see what the sensor reads in a room of know humidity and use this data to calibrate the sensor. We
shall repeat this test for three different known humidifies. For the pressure sensor, we will see what the
sensor reads in normal room pressure. We will look up the atmospheric pressure in Boulder and
combining this information with the sensor reading we will calibrate the sensor. For the accelerometer,
we will place the accelerometer on a flat surface and see what the sensor reads. We shall place the
accelerometer with two of its axes horizontal to the surface with one vertical. We shall repeat this process
so that each axes is placed vertical, and thus should read 1 g when vertical and 0 g when placed
horizontally. We will use this data as the zero value for the accelerometer. The Arduinos shall activate
theses sensors automatically before the flight and collect the data for the entire duration of the flight. All
data collected by the sensors shall be stored in two 2 GB SD cards, one attached to each Arduino via a
microSD protoshield.
3.4 Structure:
To insure the survival of our satellite during the flight, we shall construct our balloon satellite
using foam core to create a skeletal structure in the shape of a box. To create the cube out of foam core,
we will form a “cross” shape making angular cuts to create 6 squares (1x3x1x1). Our structure shall have
dimensions 12.25 cm by 11.36 cm by 17.83 cm. The box will contain our Cannon cameras, a GoPro, our
rotating mechanism, two Arduino boards, an internal heater powered by three 9V batteries an external and
internal temperature sensor, a pressure sensor, a humidity sensor, a gyroscope, and an accelerometer. 3
external LED’s shall be attached on the outside of the structure to indicate if our payload is functioning.
In the center of the box, from top to bottom, we will insert a rope surrounded by plastic tubing on the
inside of the box. This rope will attach Shaniqua to the balloon and allow our satellite to fly. All of our
experiments will be attached internally. The two Canon SD780 IS cameras attached on the inner side of
the cube with two view-ports, one located on the side of the satellite and one located on the top of the
satellite, allowing the cameras to see outside the satellite. In order to create stable view ports without
sacrificing structure we will make 3 rectangular cuts into the foam core, one in front of each of the
camera lenses and then create a plastic casing to protect the lenses from radiation and other damaging
factors such as weather and temperature. We used the similar design of commercial airplanes with two
plastic casings at each opening, one screen attached from the inside while the other is attached in an
identical position on the outside. We will then make 3 identical cuts on top of the box in accordance to the
vertical rotation for the camera in order to film the balloon pop and use an identical procedure to the side
cuts to install protective plastic casings. The rest of our hardware will be placed on the bottom of our
balloon satellite box. This includes the Arduino-Uno, Arduino gyroscope, all of our sensors, and internal
heater with 3 9-V batteries. We shall insulate the satellite using foam insulation in order to keep the
internal temperature above -10°C and allowing all hardware to function. We will seal Shaniqua using hot
glue and aluminum tape.
3.5 Arduino-Uno Board:
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November 16, 2012
Rev C
Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
The Arduino-Uno is a microprocessor that can collect data from a variety of sensors using both analog
and digital outputs. We shall fly two Arduinos in our satellite. The Arduinos shall be used to control our
subsystems and various sensors, the motors and the LEDs included in our satellite. A micro SD shield
shall be attached to the top of the Arduinos to house the SD cards. All data gathered by our sensors will
be uploaded to the Arduinos and then stored on the micro SD cards. One SD card shall be used to store
data from our temperature sensors, pressure sensor, humidity sensor, and accelerometer. A second SD
card shall store data from our gyroscope. In addition, a development board shall be attached to each of our
Arduinos. The wiring connecting our sensors to the Arduino shall be soldered to the development boards
to ensure that they do not become detached during the flight.
3.6 Data Retrieval:
All data recorded by the sensors, Canon cameras; GoPro and Arduino unit shall be stored on 2
GB SD cards that will be retrieved from the satellite after it is recovered. The sensors shall store their data
on two separate 2 GB SD cards connected to the Arduinos and the Cannon cameras and GoPro shall have
their own internal SD cards. All data gathered by the sensors will be downloaded from the SD card
directly onto Caleb’s computer. All images captured by the cameras shall be uploaded to Connor’s
computer.
3.7 Diagrams:
Satellite
Back View:
GoPro
Canon SD 780 Cameras
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November 16, 2012
Rev C
Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
Back View:
Motor
Camera Rig
GoPro
Canon SD 780 Cameras
Arduino w/ temperature
sensors, humidity sensor,
accelerometer, and
pressures sensor
9V Batteries
Arduino w/ gyroscope
Heater
Camera Rig:
Motor
Rotation Axel
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November 16, 2012
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Fall 2012
Gyroscope Schematics:
The gyroscope has three output pins connected to the Arduino. It has an analog data line, pin SDA on the
Arduino, connected to pin A4 on the Arduino. It has an analog clock line, pin SCA on the Arduino,
connected to pin A5 on the Arduino. There is a digital communication line, pin INT on the gyro,
connected to pin D3 on the Arduino. There is a 3.3V line and a GND line connecting the gyro to the
Arduino.
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November 16, 2012
Rev C
Gateway to Space ASEN 1400/ ASTR 2500
Arduino
Uno
Fall 2012
Pin A5
SCL
Pin A4
SDA
Pin D3
INT
3.3V
GND
MPU 6050
Gyroscope
VCC
GND
Functional Block Diagram:
Page 12 of 26
November 16, 2012
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Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
3.8 Final Hardware List
Item
Arduino GY-521 MPU-6050
Module 3 axial gyroscope
accelerometer stance tilt module
(entire unit 76.7 g, have 2 of them)
2 GB SD Card
Amount Cost
1
$21
Supplier
Amazon.com
4
$0
Arduino Uno with Humidity
Sensor
Foam Core
1
$0
Provided/
Donated from
Connor
Provided
.50 𝑚2
$0
Non-Metal tube
1
$0
Hot Glue Sticks
4
$0
Aluminum foil tape
3m
$0
Dry Ice (4.5 kg)
Insulation
1 bag
$12
.5 sheet $0
9 V Batteries
12
$9
GoPro camera
Heater System
Canon SD780 IS
1
1
2
$0
$0
$83.47
Free Software
Housing and gears made in house
1
1
$0
$5
Mabuchi FF-N20PN Small DC
Motor
2
$13.76
Mini USB to Mini USB cable
Plastic
Wire
1
1 bag
3 feet
$5
$5.40
$0.30
TOTAL:
Gateway
Store
Gateway
Store
Gateway
Store
Gateway
Store
Safeway
Gateway
Store
Gateway
Store
Team
Provided
Provided
/Amazon.com
Team
Team/ home
made
Ebay.com
Amazon.com
McGuckin
Electronics
Lab
$154.93
Page 13 of 26
November 16, 2012
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Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
4.0 Management
Our team consists of 8 members: Chad Alvarez, Tucker Emmitt, Ginny Christianson, Ashley Zimmer,
Chris Grey, Connor Strait, Akeem Huggins, and Caleb Lipscomb. Caleb Lipscomb is the team leader.
Ashley Zimmer is in charge of keeping the budget. Our team has been divided into four groups: Structure,
systems, programming and science. The structure team is in charge of designing and constructing the
structure of our satellite. The systems team is in charge of integrating all of our sensors, switches, LEDs,
and Arduino boards. Our programming team in in charge of writing code for the Arduinos to collect data
from the sensors. The Science team is in charge of programming the cameras and creating the 3D images.
Each group has a leader and a main engineer, with two assistant engineers. Each member of our team was
assigned a main group, and was assigned to be an assistant engineer for a second group. This ensures that
there is more than one person working on all aspects of our satellite. Chad is the structural lead, Tucker is
the main structural engineer, and Ginny and Ashley are the assistant structural engineers. Ashley is the
lead systems engineer and Ginny is the main systems engineer. Chad and Tucker are the assistant systems
engineers. Caleb is the programming lead, Akeem is the main programming engineer, and Chris and
Connor are the assistant programmers. Connor is the science lead, Chris is the main science engineer, and
Caleb and Akeem are the assistant science engineers.
Caleb
Team Leader
Programming Lead
Science
Ashley
Connor
Chad
Formatting
Systems Lead
Structures Lead
Science Lead
Formatting
Systems
Programming
Budget
Formatting
Ginny
Tucker
Chris
Akeem
Systems
Structures
Science
Science
Structures
Systems
Programming
Programming
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Fall 2012
Schedule
Meeting Dates:
Date
Tuesdays at 6pm
Wednesdays at 4pm
9/28
10/3
10/5
10/10
10/18
10/19
10/22
10/23
10/26
11/2
11/5
11/6
11/7
11/10
11/14
11/15
11/16
11/19
Purpose
General Team Meeting: Work on project
and discuss future events, schedule, and
deadlines
General Team Meeting: Work on project
and discuss future events, schedule, and
deadlines
Turn in Proposal
CoDR Presentation
Authority to Proceed Given
Order Parts Deadline
pCDR Presentation
Receive Parts Deadline
Design Document Rev A/B Due
Begin Structure Construction
Begin wiring/programming sensors
Hack 2nd Canon Camera, begin sync with
1st camera
1st Structure Test
Re-design and Re-construct Structure
Sauder Sensors to Arduino Proto-Shield
1st Calibrate Sensors/ Functional Testing
Cold Testing
In-Class mission simulation
Design Document Rev C due
2nd sensor Calibration, test at different
sensor values than 1st test.
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November 16, 2012
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11/20
11/26
11/27
11/28
11/30
12/01
12/04
12/05
12/08
12/11
12/13
Fall 2012
2nd structure test
3D/2D Image testing
Launch Readiness Review
Integrate all parts into Final Satellite
Final Balloon Sat Weigh in and Turn in
Launch Day
Analyze Data/ Review results of Flight
Edit/Finalize Team Video
ITLL Design Expo
Design Document Rev D Due
Team Videos Due
All DATA Due in class
Final Presentations and Reports
Final Team Evaluations
5.0 Budget
Budget:
Ashley is in charge of keeping the budget balanced. She will record the cost, source, and weight
of each product bought for Shaniqua. All purchases made will be confirmed with Professor Koehler prior
to making the purchase. Team Napoleon will keep the receipts. The following list documents all of the
purchases we currently anticipate.
Item
Arduino GY-521 MPU-6050
Module 3 axial gyroscope
accelerometer stance tilt module
(entire unit 76.7 g, have 2 of them)
2 GB SD Card
Arduino Uno with Humidity
Sensor
Foam Core
Non-Metal tube
Hot Glue Sticks
Aluminum foil tape
Dry Ice (4.5 kg)
Insulation
9 V Batteries
Amount Weight
1
14g
Value
$21
Cost
$21
Supplier
Amazon.com
4
1
4g
30g
$15
$39
$0
$0
Provided/Donated
Provided
.50 𝑚2
1
4
3m
1 bag
.5 sheet
12
80g
20g
5g
10g
4500g
5g
111g
$45
$3
$1
$11
$12
$10
$12
$0
$0
$0
$0
$12
$0
$9
Page 16 of 26
Provided
Provided
Provided
Provided
Safeway
Provided
Provided
November 16, 2012
Rev C
Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
GoPro camera
Heater System
Canon SD780 IS
1
1
2
350g
100g
260g
$300
$5
$150
$0
$0
$83.47
Free Software
Housing and gears made in house
Mabuchi FF-N20PN Small DC
Motor
1
1
2
N/A
50g
5g
$0
$5
$13.67
$0
$5
$13.76
/Safeway
Team
Provided
Provided
/Amazon.com
Team
Team
Ebay.com
Mini USB to Mini USB cable
Plastic
Wire
1
1 bag
3 feet
5.6g
3g
3g
$5
$5.40
$0.30
$5
$5.40
$0.30
Amazon.com
Team
Team
1055.6
g
$653.37
$154.93
TOTAL:
Any unanticipated spare parts needed shall be purchased using the remaining $95.07 from our budget.
6.0 Test Plan and Results
In order to ensure our satellite will be able to meet all the RPF and mission requirements, our
satellite shall undergo several tests. We shall perform a drop test to ensure our satellite survives
the flight. We shall perform a whip test to ensure the satellite survives the balloon burst and the
following “whip”. Our satellite shall undergo a vibration test to ensure the structure survives the
ascent and descent. Our cameras shall undergo image testing to ensure we can capture images
automatically. In addition, we shall perform a 3D image test to verify that 3D imaging is possible
with our cameras. All of our sensors shall undergo functionality tests to ensure they are collecting
accurate data and they shall be calibrated using the testing results. Our satellite shall undergo a
cold test to ensure the interior temperature remains about -10 degrees C for the duration of the
flight. Finally, our satellite shall undergo a mission simulation test to ensure that all systems will
function properly for the approximately 135 minute flight.
6.1 Drop Test
To ensure the strength of our structure, our satellite shall undergo two drop tests. For the first
drop test, our satellite shall be thrown down a large flight of stairs. After the test, the damage to
the structure shall be analyzed to see if there were any structural failures. This test shall be
repeated 3 times. For the second drop test, our satellite shall be thrown into the air from an initial
height of 15 m above the ground. Post-test, our satellite’s structure shall be analyzed to see if
there were any structural failures. If there are any failures, the structure shall be re-designed and
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Fall 2012
tested again. The goal of these tests is to insure our satellite will survive the flight and be able to
fly on future missions.
Results:
The 1st drop test resulted in moderate success of the structural integrity. Rocks of slightly
greater mass than the actual satellite components were collected to use as mass models for
testing. The rocks were bundled in paper, and duct taped to the inside of Shaniqua. When
dropped from the ITLL/DLC crossover bridge, it was observed that Shaniqua did survive the fall.
However, one of Shaniqua’s corners was noticeably dented; a similar fall may dent our science
equipment during flight.
Upon further analysis, it was discovered that the rock mass models had become loose during
impact. It is therefore likely that the combined mass of the rocks created a large enough impulse
to create the dent in the corner. We will not loosely duct tape the science equipment to the
interior of Shaniqua, and the combined mass of our equipment will be less than the rock mass
models, so it is expected that in the case of a long drop, Shaniqua will survive.
Another possible reason for the structural dent was an incomplete seal in Shaniqua’s side. The
dented corner was not completely hot-glued shut before the test, but, unfortunately, this
structural inconsistency was discovered after the test.
The staircase test was completely successful, as Shaniqua survived with minor dents. The rock
mass models were not secured for the staircase test, which created an optimal situation for a
worst-case-scenario. The rocks, freely colliding against the walls of Shaniqua, imparted the
greatest forces possible that Shaniqua will endure. . The sides, corners, and all connecting
surfaces of Shaniqua must be precisely glued to attain a desirable amount of structural integrity.
6.2 Whip Test
To ensure our satellite survives the “whip” immediately after the balloon burst, our satellite shall
undergo a whip test. For this test, our satellite shall be attached to the end of a 1.5 m rope and
rotated as fast as Tucker can swing the satellite above his head for one minute. After the test, the
satellite structure shall be analyzed for any structural failures. If there are any failures, the
structure shall be re-designed and tested again. This test shall be repeated 3 times.
Results:
The 1st whip test had mixed results. Shaniqua withstood the forces imparted, but the structure
began to fail during the test. While the foam core exterior remained untouched, the center tube
that contained the string nearly separated from Shaniqua. It was again observed that this was a
failure to properly hot glue the structure before testing; the center tube was glued only minutes
before testing commenced. Although the tube slipped halfway out of Shaniqua, the test was
successful in demonstrating the necessity for a properly glued structure.
These problems will be fixed with the application of hot glue to the connections of Shaniqua’s
surfaces, and further systems testing to ensure a sturdy and successful flight.
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Fall 2012
Result of 1st Whip Test:
6.3 Cold Test
To ensure our satellite survives the extreme low temperature that it will encounter during the
flight, our satellite shall undergo cold testing. We shall place our satellite in an ice cooler with 4.5
kg of ice for 135 minutes. This will simulate the cold temperatures our satellite will experience at
high altitudes during our flight. We shall run our payload during the entirety of the test. Post-test,
we will analyze our external and internal temperature sensors. If the internal temperature of our
satellite reaches below – 10 degrees C at any point during the test, our satellite structure and
heater placement will be re-designed and tested again.
Results:
Our cold test was a success. The internal temperature of our Arduino remained well above -10
degrees C during the test. The lowest temperature reached was 17 degrees C. We may have to
repeat the test, however, because our external temperature sensor was not outside of the structure
we used during the cold test. In addition, we only used 4.5 lbs. of dry ice, and we may need more
ice to reach the temperatures close to those experienced on the flight of our satellite.
Internal Temperature of Satellite:
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Fall 2012
Thermo (Deg C)
40
35
30
25
20
15
Thermo (Deg C)
10
5
millis (ms)
313755
627170
940823
1254480
1568004
1881747
2195365
2509040
2822682
3136263
3449695
3763265
4076881
4390817
4704461
5018025
5331874
0
6.4 3D image testing
In order to ensure our camera can successfully take pictures, all the cameras shall undergo image
testing. Our cameras shall be programed to automatically take pictures every ten seconds, and we
shall run the program to see if the camera can take pictures of various objects automatically. Posttest we will see if the camera automatically took pictures over the required time interval and
trouble shoot any errors. In addition, we will run the GoPro for 10 minutes to ensure that it can
successfully take video. We will trouble shoot any errors discovered during the test.
To ensure the cameras are capable of capturing 3D images, the cameras shall undergo 3D image
testing. The two Cannon cameras shall be attached to the rotating mechanism and shall take
pictures of objects of know size and distance from the camera. Using these pictures, we shall
attempt to create 3D images using the 2D to 3D image software.
In addition, we will test the field of view of all of our cameras. We will place an object next to the
Camera lens, but initial out of view of the camera. We will then move the object away from the
camera until it enters the view of the camera. In doing this, we will find out the width of the field
of view of our cameras
Results:
Our initial test pictures were with the two Canon cameras were able to capture 3D images. We
were also able to successfully program the cameras to take pictures on their own, and synchronize
both cameras to take pictures at the same time over an hour period. There was an issue in the
shutter rate of the cameras. This issue will be resolved by connecting the cameras with a miniB
USB cable that shall synchronize the shutter rate of the two cameras.
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We found that a 1cm by 1cm square was visible in the camera’s field of view at 2 cm away from
the camera’s lens. We plan on performing more field of view tests in the future, using different
objects of different shapes in order to increase our data on the camera’s field of view.
3D image:
2D image:
6.6 Functional testing and sensor calibration
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To ensure our sensors are functioning and collecting accurate data, they shall undergo functional
testing. For functional testing, the sensors shall be connected to the Arduino and we shall see if
the Arduino is reading the sensor measurements. For the temperature sensors, we will place our
finger on the sensor and see if the sensor reads the temperature change. For the humidity sensor,
we will breathe on the sensor and see if the sensor detects changes in humidity. For the pressure
sensor, we will suck on the sensor and see if the sensor detects changes in air pressure. For the
accelerometer, we will move the accelerometer and see if the sensor detects the changes in gforce. For the gyroscope, we shall rotate the gyroscope in various directions and see if the sensor
detects the change in rotation.
Results:
We performed two calibration tests up to this point.
For the first test, we ran the sensors in a room of 22 degrees C, a pressure of 12 psi, a humidity of
42%, and on a flat surface with the z axis of the accelerometer facing up for 7 minutes. Over the
7 minute time period, the mean temperature reading of our internal temperature sensor was
24.773 degrees Celsius and the mean temperature of our external temperature sensor was 26.319
degrees Celsius. Our humidity sensor mean reading was 44.14%. Our pressure sensor mean
reading was 12.5 psi. Our accelerometer X, Y, and Z mean readings were .334g.451g, and .98g
respectively. We found the difference between the actual readings of our sensors and the mean
values recorded by our sensors and then added the difference if it was positive and subtracted the
difference if it was negative to the sensor values in our Arduino code.
We ran a second calibration test on a flat surface, with the z axis of the accelerometer facing up,
in a room 20 degrees C, with a humidity of 32%, and a pressure of 12 psi. Our mean
Accelerometer readings were X=.087g, Y=.005g, and Z=.958g. Our mean pressure reading was
12.206 psi. our mean humidity reading was 20.718%. Our mean internal temperature sensor
reading was 20.718 degrees C. Our mean external temperature sensor reading was 21.15 degrees
C. We will repeat the same calibration process as we did in the 1 st test to increase the accuracy of
our sensors.
These are the graphs of our sensors during the second calibration test:
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November 16, 2012
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millis (ms)
31450
62779
94223
125552
156916
188254
219713
251194
282524
313873
345211
376678
408010
439344
470805
502150
533730
565063
596397
millis (ms)
22627
45128
67630
90254
112766
135273
157791
180302
202952
225470
248095
270601
293123
315639
338149
360651
383292
405800
428303
450812
473464
495972
518716
541222
563749
586255
608763
Gateway to Space ASEN 1400/ ASTR 2500
Fall 2012
Internal Temperature sensor
Deg C
22
21.5
21
20.5
20
Deg C
19.5
19
External Temperature Sensor
OneWire(Deg C)
21.8
21.6
21.4
21.2
21
20.8
20.6
20.4
OneWire(Deg C)
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Fall 2012
Pressure Sensor
Pressure (psi)
12.23
12.22
12.21
12.2
12.19
12.18
12.17
12.16
12.15
12.14
millis (ms)
36961
73810
110779
147619
184499
221479
258467
295331
332186
369040
406019
442875
479852
516948
553805
590670
Pressure (psi)
Humidity Sensor
Humidity (%)
40
35
30
25
20
15
Humidity (%)
10
5
millis (ms)
33218
66317
99521
132626
165746
198984
232205
265312
298412
331531
364628
397846
430951
464185
497288
530641
563749
596852
0
6.7 Mission Simulation
To ensure all parts of satellite will function properly during the entire mission, our satellite will
undergo a mission simulation. We will turn on all systems of our fully integrated satellite and run
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them for 135 minutes. Post-test we will collect and analyze all data collected by our sensors and
look at all images collected by our cameras.
Results:
Our mission simulation was a partial success. The pressure sensor, external temperature sensor,
internal temperature sensor, humidity sensor, and accelerometer all collected accurate data and
successfully wrote all data to an SD card. There was very little variation in all the data, as
expected because the sensors sat in a room of constant temperature, humidity, pressure, and their
orientation remained constant. Both of our cameras were able to take pictures automatically and
at the same time for the hour and a half duration of the test. We were also successfully able to
create 3D images from our pictures. Our gyroscope, however, failed to write to the SD card, and
we will re-write the code to fix the issue. Our motor to be used in the camera rig successfully
turned on 65 minutes into the test as planned.
7.0 Expected results
We expect that we will be able to produce 3D images of the balloon but that we will not be able
to produce accurate 3D images of Earth with the images taken at an altitude of 30 km. With a
known reference point and difference, we expect to be able to successfully create 3D images of
the balloon and any other objects close to the satellite. However, due to the immense distance, we
expect that we will be unable to produce 3D images of Earth during the flight. We also expect
that the camera rig will successfully rotate the cameras so that they can take pictures of the
balloon burst. We expect to gather accurate data about the attitude and spin rate of our satellite
from our gyroscope. Our spin rate will be recorded in degrees per second, and we will be able to
see at what parts of the flight our satellite was rotating at a faster rate. We expect that we will
gather accurate environmental data form all of our sensors. Using the external temperature and
pressure data compared with time, we expect to find the altitude of our satellite at any time during
the flight, and thus find the ascent rate of our satellite. We will compare our temperature and
pressure data with known temperature and pressure data at different points in Earth’s atmosphere
to find our satellites altitude. Furthermore, we expect that our satellite will survive the flight and
that all parts of the satellite will be fully functional after the flight. We also expect that the
internal temperature of our satellite was never below -10 degrees C.
The Data from all of our sensors shall be stored on one SD card attached to each of the Arduinos.
We will remove the Arduinos from the satellite post-flight and remove the SD cards form the
Arduinos. We will upload all sensor data from the SD cards to Caleb’s computer where it will be
analyzed and graphed. All of the pictures taken from the flight by the Canon Cameras will be
stored on an SD card attached to each camera. The SD cards shall be recovered from the Cameras
post-flight and all images shall be uploaded to Connor’s computer. Connor shall then attempt to
create 3D images from the cameras.
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Fall 2012
8.0 Launch and Recovery
We will meet outside of the Engineering Center at 4:45am on December 1st to prepare for our
launch. Our team shall drive in two separate cars driven by Tucker and Akeem. We shall arrive in
Windsor Colorado by 6:50am in order to launch our balloon satellite. Our satellite shall be sealed
and the payload and heater shall be turned on using external switches. Caleb shall hold and
launch our satellite. After the launch, we will track the balloon satellite using the GPS tracking
device attached to the Balloon. Chad shall recover our satellite after the balloon. After our
balloon has been recovered, Connor, Ginny, and Tucker shall collect the image data, Caleb,
Chris, and Akeem shall collect the data from the gyroscope, and Ashley and Chad shall collect
the data from the pressure sensor, temperature sensors, and humidity sensor, and accelerometer.
After the data has been retrieved, we shall upload the data to Caleb’s computer, analyze our data
and compare it to our test results.
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