CanSat 2018 Critical Design Review (CDR) Outline Version...

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CanSat 2018

Critical Design Review (CDR)

Outline

Version 1.0

# 4128

TEAM CERVOS

CanSat 2018 CDR: #4128 Team CERVOS

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Presentation Outline

Presenter: Burhan Kaplan

Page No. Contents Presenter

5-16 System Overview Miray Özbay

17-28 Sensor Subsystem Design Burhan Kaplan

29-39 Descent Control Design Mustafa Eryılmaz

40-53 Mechanical Subsystem Design Berkay Küçükkılavuz

54-67 Communication and Data Handling Subsystem Design Alp Demirel

68-74 Electrical Power Subsystem Design Burhan Kaplan

75-80 Flight Software Design Kadir Serhat Altıntığ

81-94 Ground Control System Design Ramazan Kurban

95-106 CanSat Integration and Testing Mustafa Anıl Yiğit

107-114 Mission Operations & Analysis Mustafa Anıl Yiğit

115-123 Requirements Compliance Mustafa Anıl Yiğit

124-135 Management Melisa İrem Uzun


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Team Organization

Presenter: Burhan Kaplan CanSat 2018 CDR: #4128 Team CERVOS

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Acronyms

Acronym Meaning Acronym Meaning

CDH Communication and Data Handling PCB Printed Circuit Board

DCS Descent Control Subsystem GPS Global Positioning System

EPS Electrical Power Subsystem ADC Analog to Digital Converter

FSW Flight Software IC Integrated Circuit

GCS Ground Control System ISM Band Industrial Scientific Medical Band

MS Mechanical Subsystem CRC Cyclic Redundancy Check

SS Sensor Subsystem COTS Commercial off the shelf

SR System Requirement OS Operating System

GUI Graphical User Interface EEPROMElectronically Erasable Programmable Read-Only

Memory


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Systems Overview

Miray Özbay


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Mission Summary

Presenter: Miray Özbay

Mission Objectives

• Our main purpose is designing a model satellite system.

• Design two systems, probe and heat shield.

• A rocket will release the CanSat between 670 meters and 725 meters.

• When the probe reaches 300 meters altitude, heat shield will leave. Then, parachute will deploy.

• During descent, CanSat will communicate with GCS.

External Objectives

• Learning antenna analysis, and selection criteria; configuring XBEE module.

• Learning SolidWorks simulations, aerodynamic design and structural analysis.

• Utilizing HU-UAV Society R&D and PCB Laboratories efficiently.

Bonus Objective 1 Rationale

• Adding a color video camera with the resolution of 640x480p,

and saving video in SD card.• Recording video during flight.

Bonus Objective 2 Rationale

• A radio transmitter shall be added to transmit the wind speed

by changing its frequency.

• Using existing communication

system.

• Learning how to use transmitter and

receiver.


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(If You Want) Summary of Changes Since PDR

7CanSat 2018 CDR: #4128 Team CERVOSPresenter: Miray Özbay

MECHANICAL• Probe’s shape changed from rectangular to mix of rectangular and cylindrical.

• For parachute deploying a trigger has been attached upper side of probe.

• Flaps has been added rather fins to gain more stable descent.

• Improvements have been made on heat shield design.

• Egg Shell design has been changed to reduce mass.

ELECTRICAL

• To recover the our CanSat we drive audio beacons with transistor to increase

voice.

• For bonus mission, wind speed is calculating with external BMP280.

• To detect deployment CanSat from rocket at 675m we used a photoresistor on our

circuitry.

GCS

• Parachute deploy and heat shield release buttons are added in case of any

problem.

• Raw data is monitoring through GCS console.

• CRC count textbox is added.

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(If You Want) System Requirement Summary

8

ID Requirement Rationale ChildrenVM

A D I T

SR-1Total mass of the CanSat (probe) shall be 500 grams +/- 10

grams.

Taking into account

the weight of each

selected product

MS-1 X

SR-2

The aero-braking heat shield shall be used to protect the probe

while in the rocket only and when deployed from the rocket. It

shall envelope/shield the whole sides of the probe when in the

stowed configuration in the rocket. The rear end of the probe can

be open.

Ensuring that all

system are not

damaged and,

ensuring proper

landing

DC-1

MS-2X

SR-3The aero-braking heat shield shall be a florescent color; pink or

orange.Making visibility

goodMS-8 X

SR-4The CanSat, probe with heat shield attached shall deploy from the

rocket payload section.Competition

Requirement

DC-4

MS-11X

SR-5The aero-braking heat shield shall be released from the probe at

300 meters.Competition

Requirement

FSW-1

DC-5X

SR-6 The probe shall deploy a parachute at 300 metersCompetition

Requirement

FSW-2

DC-6X

SR-7

During descent, the probe shall collect air pressure, outside air

temperature, GPS position and battery voltage once per second

and time tag the data with mission time.

Competition

Requirement

FSW-3

CDH-1X X

SR-8During descent, the probe shall transmit all telemetry. Telemetry

can be transmitted continuously or in bursts.Competition

Requirement

FSW-4

CDH-2X X

Presenter: Miray Özbay CanSat 2018 CDR: #4128 Team CERVOS

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(If You Want) System Requirement Summary(cont.)

9

ID Requirement Rationale ChildrenVM

A D I T

SR-9

Telemetry shall include mission time with one second or

better resolution. Mission time shall be maintained in the

event of a processor reset during the launch and mission.

Competition

Requirement

FSW-5

CDH-3X

SR-10 Each team shall develop their own ground station.The best understanding

of incoming telemetry

data

GCS-1 X

SR-11 All telemetry shall be displayed in real time during descent. Instant data following GCS-2 X

SR-12

The flight software shall maintain a count of packets

transmitted, which shall increment with each packet

transmission throughout the mission. The value shall be

maintained through processor resets.

Competition

Requirement

FSW-6

CDH-7X

SR-13 The probe must include an easily accessible power switch.Competition

Requirement

EPS-1

MS-23X

SR-14

An easily accessible battery compartment must be included

allowing batteries to be installed or removed in less than a

minute and not require a total disassembly of the CanSat.

To avoid any failures of

systemMS-26 X X


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System Concept of Operations

2. Data link

verification on GCS

1.Cansat preparation

and power up prior to

launch

3. Launch

4. CanSat seperation5. CanSat descent

6. Descent with down

position

Prelaunch to CanSat Seperation


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System Concept of Operations (cont.)

6. Descent with down

position

10. Probe landing,

telemetry disconnection,

and activation of audio

beacon

7.Heat Shield release from

Probe at 300m

8. Probe parachute

deployment and descent

9. Probe software detection

final situation

Heat Shield Release to Deployment with Parachute


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System Concept of Operations (cont.)

Recovery and Data Reduction

• Recovery of probe with help of the observation in advance, data from

the GCS and audio beacon.

• Recovery of heat shield; landing zone will be determined by observing

descent, by examining video that, probe records and, by last GPS

location data.

• Returning to launch site.

• Acquiring saved flight data from probe.

• Analyzing and filtering data if needed.


Team Members:

– Burhan Kaplan (Mission Control Officer)

– Kadir Serhat Altıntığ (CanSat Crew)

– Ramazan Kurban (Ground Station Crew)

– Alp Demirel (Ground Station Crew)

– Mustafa Anıl Yiğit (Cansat Crew)

– Miray Özbay (Recovery Crew)

– Berkay Küçükkılavuz (Recovery Crew)

– Mustafa Eryılmaz (CanSat Crew)

– Melisa İrem Uzun (Recovery Crew)

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Parachute

deployment

mechanism

Heat sensor

Electronics

Egg

protection

shell

Heat shield

attachment

part

Flaps

Carbon fiber

rods

Camera

Power

switch

Elastic fabricRepresents

parachute

Battery


Air pressure sensor

RTC moduleTilt sensor

XBee

Regulators

GPS

Microcontroller

13CanSat 2018 CDR: #4128 Team CERVOS

Payload Physical Layout

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Payload Physical Layout(cont.)

Heat Shield

Attachment

Point

Nose-Cone

Nylon Fabric

Launch Configuration

Deployed Configuration


Spring

Latch

String

Carbon Fiber

Rods

Track

Rubber

Hinges


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60

mm

12

0m

m

15

Payload Physical Layout(cont.)

Top View

Side View

30

5m

m

120mm

11

0m

m1

35

mm

Launch Deployed - 2Deployed - 1

65mm

50

mm

170mm

60mm

Presenter: Miray Özbay1

0m

mCanSat 2018 CDR: #4128 Team CERVOS

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Launch Vehicle Compatibility

There are no sharp

edges to cause it to get

stuck in the rocket.

31

0m

m

Dimensions Probe Rocket Margin

Diameter 120 mm 125 mm 5 mm

Length 305 mm 310 mm 5 mm

Flaps have been added

to ensure that the system

does not tumble during

descent.

125mm

30

5m

m

120mm


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Sensor Subsystem Design

Burhan Kaplan


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Sensor Subsystem Overview

Wind Speed Sensor Own Design Calculating Wind Speed Probe

Real Time Clock DS3231 Checking Real Time Probe

Altitude, Pressure Sensor BMP280Measuring Altitude & Air

PressureProbe

GPS GY-NEO6MV2 Checking GPS Position Probe

Tilt Sensor MPU-6050 Checking Stability Probe

Camera Y2000 Video Recording Probe

Voltage Sensor Own ProductionChecking Instantaneous

Voltage Probe

Temperature Sensor LM35Measuring External

TemperatureProbe

Photoresistor Generic Type Checking Separation Probe

CanSat 2018 CDR: #4128 Team CERVOSPresenter: Burhan Kaplan

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(If You Want) Sensor Changes Since PDR

19

Change: We add the new sensor to detect separation.

Rationale: We want to check separation of probe in rocket, to do this,

photoresistor will be using in our design. After separation from rocket,

photoresistor detect the light and then our aero-breaking heat shield and flaps

will open.

Change: We had a small changes on our bonus mission design.

Rationale: Previously , we used an air speed sensor to measure the z axis

descent speed. Actually the main idea has not changed. The external air

pressure is now measuring instantaneously with the help of the second pressure

sensor that is placed on side of the probe. It is same air pressure sensor that

used on probe.


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Sensor Subsystem Requirements

ID REQUIREMENT RATIONALE PARENTVM

A D I T

SS-1Cost of the CanSat shall be under $1000. Ground

support and analysis tools are not included in the cost.

Protect cost

efficiency- X

SS-2

A tilt sensor shall be used to verify the stability of the

probe during descent with the heat shield deployed

and be part of the telemetry.

Stability of probe - X X

SS-3

All electronic components shall be enclosed and

shielded from the environment with the exception of

sensors.

Electronic system

protection- X

SS-4

All electronics shall be hard mounted using proper

mounts such as standoffs, screws, or high

performance adhesives.

Electronic system

protection- X X


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Probe Air Pressure Sensor

Summary

ProductPressure

Resolution

Supply Voltage

RangeInterfacing Operating Temperature Cost

BMP280 0.16 Pa 1.7 -3.6V I2C & SPI -40 to +85°C $9.95

Air pressure chosen : BMP280

• Pressure range :300 … 1100 hPa

• Absolute accuracy typ. ±1 hPa (950 ...1050 hPa, 0 ...+40°C)

• Pressure is returned in the SI units of Pascals.

• BMP280 sensor features excellent relative accuracy is ±0.12

hPa, which is equivalent to ±1 m difference in altitude.

Data format :

• The data type “BMP280_S32_P should define a 32 bit signed

integer variable type and can usually be defined as “long

signed int”.


The same sensor that used on probe

will be used in bonus mission.

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Probe Air Temperature Sensor

Summary

Manufacturer ModelDimensions /

Weight Interfacing

Power

ConsumptionSpecifications Cost

Texas

InstrumentsLM35

4.3 x 4.3 mm

/1gAnalog 60 μA

Temperature Range:

−55°C to 150°C

Accuracy: ±0.25°C

$1

Probe Air Temperature Sensor Chosen : LM35

• Suitable for remote applications.

• Very low self-heating of less than 0.1°C in still air.

• High cost efficiency.

• Proper size to integrate.

Data processing

• No data processing.

• Calibrated directly in ° Celsius (Centigrade).

• 1.1V analog reference of arduino using for high resolution.

Data format

• Output in Celsius

• 10 bit unsigned integer


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GPS Sensor Summary

Manufacturer ModelDimensions/

WeightInterfacing Specifications Cost

U-bloxGY-NEO6MV2 GPS

Module

25x35mm/

16g

UART, USB,

and DDC

50 Channels

Supply Voltage:2.7 – 3.6 V

Position Accuracy: < 3 meters

Max. supply current : 67mA

Velocity accuracy : 0.1 m/s

Sensitivity: -160 dBm

$11.90

Probe Gps Sensor Chosen : GY-NEO6MV2 GPS module

• Cheaper than rivals

• Low Power consumption (Has Eco mode)

• Good resolution

• Higher accuracy

Data format :

• Universal UART protocols with 10 bits data format.


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Probe Voltage Sensor Summary

Manufacturer ModelDimensions

/ Weight Interfacing Specifications Cost

Own ProductionVoltage Divider

to ADC on MCU- Analog

Operating Supply Voltage:

0V to 10 V-

Chosen Voltage Sensor : Battery voltage is measured using the ADC

port through a voltage divider circuit.

Data Processing

R1= 10 kΩ

R2= 10 kΩ

analogReference = 5 // 5 voltage analog reference for arduino

vout = (analogValue* analogReference) / 1024.0 //10bit adc resolution

vin = vout / (R2 / (R1 + R2 ))

0-10V range enough for us

(Vin is a measured voltage, Vout is voltage read by MCU)

Accuracy : 5V / 1024 = 0.00488 V

Data format : 10 bit unsigned integer


http://www.hakkican.com/wp-content/uploads/2015/06/gerilimbolucu.png

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Tilt Sensor Summary



InvenSenseGY-521

MPU605030 x 20 mm /18g I2C

9-Axis MotionFusion

Operating current: 3.9mA

Gyro Range: ± 250 500 1000 2000 ° / s

Acceleration range: ± 2 ± 4 ± 8 ± 16g

$4.52

Probe Tilt Sensor Chosen : GY-521 MPU6050

3-axis gyroscope and 3-axis accelerometer on the same board

with Digital Motion Processor.

• Cost efficiency

• Good resolution for tilt

Data Processing:

• No data processing , Out of rotation values (in angles) using

an MPU-6050 gyro and accelerometer sensor

Data format :

• I2C data bytes are defined to be 8-bits long


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Bonus Objective Camera Summary



CADeN Y200035 x 30 x 30 mm/

9gUSB 2.0

Video Resolution :640 x 480

Frame rate :30fps

Video format: AVI

2.0 Mega pixel video recording

$6.99

Bonus Camera Chosen :Y2000

• Has internal micro SD card reader

• Video resolution of 640x480 pixels in color is tested.

• Has internal processor

• Higher cost efficiency

• Lightweight


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Bonus Objective Wind Sensor

Manufacturer Model Interfacing Specifications Cost

Texas

InstrumentsCC1000PW SPI,UART

RF Transceiver IC

315MHz, 433MHz, 868MHz, 915MHz;

Power Out 10dBm (Max);

sensitivity -110dBm

Operating voltage : 3.3V

$11.15

• Radio design have made by transceiver IC and external

components, capacitors and inductors choosed for antenna

matching, crystal oscillator choosed for 433 MHz ISM band, SPI

interfacing and Arduino Nano choosed for programming IC.

• Receiver design is same as trasnmitter design except registers of IC have different configurations.

• Frequency of signal will change by changing frequency deviation by programming registers in IC.

• Originally transciever IC has 2 channels with different specifications(Power out, Frequency deviation,

etc.) by programmed arduino nano and with help of button, every channel in 433MHz ISM band can

be implemented in IC.

IC Chip Chosen :CC1000PW


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Bonus Objective Wind

Sensor(Cont.)


ProductPressure

Resolution

Supply Voltage

RangeInterfacing Operating Temperature Cost

BMP280 0.16 Pa 1.7 -3.6V I2C & SPI -40 to +85°C $9.95

Air pressure sensor chosen for our design:

• Airspeed sensor changed with Bmp 280

pressure sensor. Bmp 280 will uses as like

airspeed sensor. And also it is easy to mount

and it has low weight.

Our wind sensor design:

• We are measuring pressure inside and outside of

the probe, then calculate the air speed due to

measurements. After substracting air speed from

gps speed, we get wind speed.

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Descent Control Design

Mustafa Eryılmaz


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Descent Control Overview

Heat Shield Descent Control System• Heat shield consists 8 active surfaces.

• In the rocket, heat shield will stay in

stowed configuration.

• After deployed from rocket, heat shield

will open and it will reduce the speed of

the probe to 10-30m/s until 300 meters.

• Probe will release the heat shield at 300

meters.

Probe Descent Control System• Probe has a octagonal parachute with a

diameter of 80 cm and a spill hole for

prevent drifting .

• At first, the parachute is in stowed

configuration. At 300 meters, probe will

deploy parachute and descent speed

will be reduced to 5m/s.

Presenter: Mustafa Eryılmaz CanSat 2018 CDR: #4128 Team CERVOS

300m

720m

Ground

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Descent Control Changes Since

PDR

Our descent system has changed. In addition, new

developments have occurred.

• Flaps have been attached instead of fins due to mechanism

of fins are more complicated than flaps system.

• Also, flaps are easy to produce.

• New design of heat shield can be opened 17 cm instead of

18 cm.

• Probe’s shapes changed from rectangular to mixture of

cyclindrical and rectangular to be more aerodynamic. We

observed aerodynamic characteristic in drop tests and found

the cyclindirical shape is more compatible for descent.


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CanSat 2018 CDR: #4128 Team CERVOS 32

Descent Control Requirements

Presenter: Mustafa Eryılmaz

ID Requirement Rationale ParentVM

A D I T

DC-1




stowed configuration in the rocket. The rear end of the probe can

be open.

Ensuring that all

systems are not

damaged and,

ensuring proper

landing

SR-2 X

DC-2The probe must maintain its heat shield orientation in the direction

of descent.

Heat shield protect

the probe from

heat

- X

DC-3The probe shall not tumble during any portion of descent.

Tumbling is rotating end-over-end.

To protect the

probe and its

interior

- X X

DC-4The CanSat, probe with heat shield attached shall deploy from the

rocket payload section.Competition

RequirementSR-4

DC-5The aero-braking heat shield shall be released from the probe at

300 meters.Competition

RequirementSR-5 X X

DC-6 The probe shall deploy a parachute at 300 meters.Competition

RequirementSR-6 X X

DC-7The descent rate of the probe with the heat shield deployed shall

be between 10 and 30 meters/second.Competition

Requirement- X X

DC-8The descent rate of the probe with the heat shield released and

parachute deployed shall be 5 meters/second.Competition

Requirement- X X

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Payload Descent Control Hardware

Summary

• Heat shield is made of 8 carbon rods.

• There is nylon fabric between these rods.

• Flaps are opening 135 degrees by rubber

mechanisms.

• We burn string with nichrome wires to deploy heat

shield.

• We have 4 opening flaps to keep nadir direction.

• Heat shield and flaps will be fluorescent orange


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(If You Want) Descent Stability Control Design

• Our design method is to increase the

drag force applied from top of the

probe to keep nadir direction.

• Flaps are bonded with hinges to

system on upper side of probe.

Rubbers are used to open the flaps.

• After burning the ropes which holds

flaps tight, with nichrome wire flaps

can open with support of rubbers.

• When released, flaps are opening

135 degrees.

Presenter: Mustafa Eryılmaz CanSat 2018 CDR: #4128 Team CERVOS 34

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Descent Rate Estimates

Used formulas;

(1) 𝑣 =2∗𝑚∗𝑔

𝐴∗𝜌∗𝐶𝑑

(2) x =1

2∗ 𝑎 ∗ 𝑡2

(3) x = 𝑣 ∗ 𝑡

➢ 𝑣: 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 Τ𝑚 𝑠

➢ 𝐹𝑑𝑟𝑎𝑔: 𝑑𝑟𝑎𝑔 𝑓𝑜𝑟𝑐𝑒 𝑁

➢ 𝐴: 𝑎𝑟𝑒𝑎 𝑚2

➢ 𝜌: 𝑎𝑖𝑟 𝑑𝑒𝑛𝑠𝑖𝑡𝑦 ൗ𝑘𝑔𝑚3

➢ 𝐶𝑑: 𝑑𝑟𝑎𝑔 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡

➢ 𝑚:𝑚𝑎𝑠𝑠 𝑘𝑔

➢ 𝑔: 𝑔𝑟𝑎𝑣𝑖𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑎𝑐𝑐. ( Τ𝑚 𝑠2)

➢ 𝑥: 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑚

➢ 𝑡: 𝑡𝑖𝑚𝑒 𝑠


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Descent Rate Estimates(cont.)

Heat shield + Probe post rocket-separation;

CAD estimations are used to find 𝐶𝑑 . Formulas (2) and (3)

are used to find approximate descent velocities for CAD

simulations. Air density assumption was made for Stephenville

in June.

𝜌: 1.175 ൗ𝑘𝑔𝑚3 , 𝐶𝑑: 0.5, m:498g, 𝑔 ∶ 9.81 Τ𝑚 𝑠2 , 𝑅: 12𝑐𝑚

Estimated Descent Rate

38.3 Τ𝑚 𝑠


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Heat shield after being released;



24.71 Τ𝑚 𝑠

Probe after heat shield deployed;



9.06 Τ𝑚 𝑠


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Probe following separation from the Heat shield;


By using formula (1), we can easily calculate descent

rate of probe with parachute. %4 swaying hole for parachute

included.


Diameter(corner to corner) (cm) Descent Rate (m/s)

60 6.66

80 4.99

100 4.00


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Diameter(corner to corner) (cm)Descent Rate

(m/s)

Heat shield + Probe post rocket-separation 38.3

Probe after heat shield deployed 24.71

Heat shield after being released 9.06

Probe following separation from the Heat shield 4.99

We can clearly see that, heat shield deployment causes

slow down on probe speed. After releasing heat shield and

deployment of parachute, descent rate reduces to 5m/s.


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Mechanical Subsystem Design

Berkay Küçükkılavuz


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Mechanical Subsystem Overview

Probe Frame• Includes PLA components, carbon fiber rods, plastic

coatings. This configuration makes the probe lightweight and

durable.

Parachute System• Includes parachute, elastic fabric , servo, and deployment

system.

Electronics• Electronics will be mounted using stand-off.

• Battery will secured by 3D Printed PLA case.

Egg Protection System• Includes egg shells, sponges,carbon rods and springs.

Heat Shield System• Includes 8 opening carbon rods, releasing servo mechanism

and opening nichrome wire mechanism. Orange colored PLA

is used. Strings are part of mechanism. Nylon fabric is used

to ensure not any openings.

Presenter: Berkay Küçükkılavuz CanSat 2018 CDR: #4128 Team CERVOS

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Mechanical Subsystem

Changes Since PDR

42

• Shape of probe has changed from square prism to mix of square prism

and cylindirical to have more aerodynamic shape. Also, it is more

compatible with rocket’s payload section.

• We improved our egg protection system and made it more reliable.

• After descent tests, we observed that heat shield can’t open enough to

slow down the probe. So , we designed a new system which is more

stable, accurate and has bigger surface to reduce probe’s speed

to 24.71 Τ𝑚 𝑠.


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Mechanical Sub-System

Requirements


A D I T

MS-1Total mass of the CanSat (probe) shall be 500 grams +/- 10

gramsLimits mass budget SR-1 X

MS-2




stowed configuration in the rocket. The rear end of the probe

can be open.

To protect the probe

while in the rocket.SR-2 X X

MS-3 The heat shield must not have any openingsCompetition

requirement- X

MS-4

The probe with the aero-braking heat shield shall fit in a

cylindrical envelope of 125 mm diameter x 310 mm length.

Tolerances are to be included to facilitate container deployment

from the rocket fairing.

Compatibility with

rocket- X

MS-5The probe shall hold a large hen's egg and protect it from

damage from launch until landing.Competition

requirement- X

MS-6

The probe shall accommodate a large hen’s egg with a mass

ranging from 54 grams to 68 grams and a diameter of up to

50mm and length up to 70mm.

Competition

requirement- X

MS-7

The aero-braking heat shield shall not have any sharp edges to

cause it to get stuck in the rocket payload section which is made

of cardboard.

Prevention from

getting stuck in the

rocket

- X


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Requirements (cont.)


A D I T

MS-8The aero-braking heat shield shall be a florescent color;

pink or orange.Ease of retrieval after landing SR-3 X

MS-9The rocket airframe shall not be used to restrain any

deployable parts of the CanSat.Compatibility with rocket - X

MS-10The rocket airframe shall not be used as part of the

CanSat operations.Competition requirement - X

MS-11The CanSat, probe with heat shield attached shall deploy

from the rocket payload section.Competition requirement SR-4 X

MS-12

All descent control device attachment components (aero-

braking heat shield and parachute) shall survive 30 Gs of

shock.

Damage prevention - X X

MS-13All descent control devices (aero-braking heat shield and

parachute) shall survive 30 Gs of shock.Damage prevention - X X

MS-14All electronic components shall be enclosed and shielded

from the environment with the exception of sensors.Safe of all electronics - X

MS-15All structures shall be built to survive 15 Gs of launch

acceleration.Damage prevention - X X

MS-16 All structures shall be built to survive 30 Gs of shock. Damage prevention - X X


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45


Requirements (cont.)


A D I T

MS-17All electronics shall be hard mounted using proper mounts

such as standoffs, screws, or high performance adhesivesSafe of all electronics - X X

MS-18All mechanisms shall be capable of maintaining their

configuration or states under all forces.Damage prevention - X X

MS-19 Mechanisms shall not use pyrotechnics or chemicals Competition requirement -

MS-20

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

be exposed to the outside environment to reduce potential

risk of setting vegetation on fire.

Safety - X

MS-21Both the heat shield and probe shall be labeled with team

contact information including email address.CanSat loss prevention - X

MS-22 The probe must include an easily accessible power switch. Safety SR-13 X X

MS-23

An easily accessible battery compartment must be

included allowing batteries to be installed or removed in

less than a minute and not require a total disassembly of

the CanSat.

To replace battery quickly

at the competition fieldSR-14 X X


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Payload Mechanical Layout of

Components

46

Component Issues Materials Rationale

Probe Shells

It must be resistant to the impacts

received. The mass limit should not be

exceeded. It should not be flexible to

prevent the load in the probe from

moving. It should survive 30Gs shock.

• PLA, plactic coat, carbon fiber

rod

• Low mass

• Easy and detailed

production

• Thanks to the 3D

printer, you can test

more.

Parachute System

It must be able to withstand the

applied acceleration of 30Gs during the

drop, and the parachute deploy

mechanism must be able to operate

during acceleration of 30Gs. The mass

must be low. It should keep the cabin

speed at 5 m when deployed.

• Elastic Fabric, Parachute

Fabric, PLA,

• Easy production

• Low mass

• Thanks to the 3D

printer, you can test

more.

Heat Shield

Mechanism

It must be strenghtful to wind force

caused by fall. Also, it must decrease

descent rate by increasing drag force.

• PLA, Nylon Fabric, Spring,

String, Carbon Fiber Rods,

Rubber

• Low mass

• Robust and reliable

design

Egg Protection

System

It must absorb shock force during

launch and landing.

• PLA, Sponge, Spring, Carbon

Rods

• Shock absorbing

system

• Low mass


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Components(Cont.)

47

Led indicator and

Power , Reset switches

Springs

Egg Protection Shell

Carbon rods

Carbon rods

Pressure Sensor

Temperature Sensor

Photoresistor

Buzzer

Flaps

Represents

ParachuteParachute Case

(elastic fabric)


11

2 m

m

120 mm

85

mm

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Components(Cont.)

48

Heat Shield

Attachment

Point

Heat Shield

Attachment

Point

Hinges

Latch

Rubber

Carbon Fiber

Rods Camera

Carbon Rods

Attachment Point

BatteryServo

Motor

Release

Holder


Nose-Cone

String

Carbon Fiber

Rods

Track

Rubber

Hinges

60

mm

120 mm

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Egg Protection Mechanical Layout

of Components

49

Mechanical

DesignDescription Pros Cons

Screw Mounting

Design

Containers that protect the egg are connected

to each other by screw mounting. There are

sponges with 1 cm thick inside the container.

When the containers are fitted with screw

mounting, the egg gets stuck with the sponge and

prevent the egg from moving.

• The movement of the egg is

inhibited by compression

• Opening and closing

requires easy and short

time.

• Consists only 2 parts.

• Production is difficult

due to details

Shell

Egg

Sponge

Screw

mechanism


90

mm

70 mm

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Heat shield Release Mechanism

DEPLOYED POSITION

SEPARATION

After the heat shield

deployment, disk will be

rotated by servo motor at

desired height and

support bars, which are

attached to disc, will leave

the attachment point and

ensure heat shield to

leave from probe.Servo

Movement

Heat Shield

is releasing

from probe


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(If You Want) Probe Parachute Release Mechanism

Before flight, parachute

will be secured by crew.

During flight, at the

desired altitude with help of

servo movement parachute

will be deployed.

Servo control

Represents

parachute

Attachment points

Servo motor

Elastic fabric

(holds parachute)

Presenter: Berkay Küçükkılavuz CanSat 2018 CDR: #4128 Team CERVOS 51

45

mm

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52

Screws

Buzzer

Led indicator,

Power switch

and Reset button

• Screws are used to fasten

electronics.

• In case of vibrations, thread-lock

will be used.

• During launch, to protect

electronics, egg shell’s springs

mechanism is prepared and tested

by using airplane catapult.

• Battery will secured by 3D Printed

PLA case .

Temperature sensor,

Photoresistor,

Air Pressure Sensor,

Audio Beacon


Hinges

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Mass Budget

Component Source Mass (g) Tolerance (g)

Probe Frame Measurement 124 g +/- 3 g

Plastic coat Measurement 20 g +/- 1 g

Parachute & Deployment Mech. Measurement 33 g +/- 1 g

Electronics Measurement 98 g +/- 2 g

Egg Protection Shell Measurement 27 g -

Battery Measurement 45 g -

Servo x 2 Measurement 24 g -

Egg Estimate 58 g +/- 5 g

Flaps Measurement 24 g -

Probe Total 453 g +/- 11 g

Heat Shield Frame Measurement 35 g +/- 3 g

Carbon rods Measurement 10 g -

Heat Shield Total 45 g

PAYLOAD TOTAL 498 g +/- 14 g

MARGIN 2 g

Total mass is compliant with requirements.

Total mass will be measured before competition. In case of low or over-weight situations,

desired weight for egg will be selected.


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Communication and Data Handling

(CDH) Subsystem Design

Alp Demirel


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CDH Overview

Presenter: Alp Demirel

• RF Module: XBee Pro S2C 2.4GHz

– Sending telemetry data to GCS

• MCU: Arduino Nano

– Reading and processing sensor data

– Sending data packages to GCS via XBee

– Writing data on SD card

• Storage: SD card and EEPROM

– SD card for video recording

– EEPROM for data storing

• Sensors: Air Pressure, Temperature, Tilt, GPS, Voltage, RTC

– Gathering information from peripheral environment to be processed

• Antennas:

– Taoglas FXP70 selected for XBee module.

– Molex, LLC 2042870100 selected for bonus mission RF modules.


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(If You Want) CDH Changes Since PDR

• We changed our bonus mission antenna to have more

received power and bigger safe margin.

• Bonus mission telemetry is included.

• Transmission will start from launch instead of descent.

56Presenter: Alp Demirel CanSat 2018 CDR: #4128 Team CERVOS

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CDH Requirements

ID Requirement Rationalite Parent VM

A D I T

CDH-1


temperature, GPS position and battery voltage once per

second and time tag the data with mission time.

We will able to know

atmospheric data

and probe’s status.

SR-7 X

CDH-2During descent, the probe shall transmit all telemetry.

Telemetry can be transmitted continuously or in bursts.

Competition

Requirement.SR-8 X

CDH-3

Telemetry shall include mission time with one second or better

resolution. Mission time shall be maintained in the event of a

processor reset during the launch and mission.

Competition

Requirement.SR-9 X X

CDH-4

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

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

allowed.

Provides

communication

between long

distance.

- X X

CDH-5XBEE radios shall have their NETID/PANID set to their team

number.

Competition

Requirement.- X

CDH-6 XBEE radios shall not use broadcast mode.

Assuring

communication

between only probe

and GCS.

- X

CDH-7

The flight software shall maintain a count of packets

transmitted, which shall increment with each packet

transmission throughout the mission. The value shall be

maintained through processor resets.

Keeping data

packages in order.SR-12 X

Presenter: Alp Demirel CanSat 2018 CDR: #4128 Team CERVOS

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Probe Processor & Memory

Selection

Selected : Arduino Nano

• Ease of programming

• Small size

• Low weight

Processor Voltage MemoryClock

SpeedInterfaces Weight PWM pins Power

Arduino Nano

(ATmega328)5V

Flash: 32Kb

SRAM: 2Kb

EEPROM:1Kb

16MHz

1xUART

1xSPI

1xI2C

7g 619mA@

5V


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Selection(Cont.)

Selected : Internal EEPROM

• Ease of use

• Enough data space

• Enough speed

• We already have it

Memory Model Voltage Storage Speed Interfaces TypeOperating

CurrentPrice

Internal EEPROM - 1 KB 300Hz - EEPROM --


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60


Selection(Cont.)

Selected : SANDISK SDSQUAR-016G-GN6MA

• Big memory space for video recording

• High speed for video recording

• Easy to find and buy

Memory Model Voltage Storage SpeedInterface

sType

Operating

CurrentPrice

SANDISK

SDSQUAR-016G-

GN6MA

3 – 5 V 16 GB 98 MHz SPI Flash 100 mA $8.49

*We need a micro SD Card to insert video camera for bonus mission


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(If You Want) Probe Real-Time Clock

61

RTC Model Voltage AccuracyOperating

CurrentInterfaces Weight

Maxim DS3231 2.3 - 5.5 V 2 ppm 200 µA I2C 2.3g

Selected: Maxim DS3231

• High accuracy

• Internal oscillator

• Low power consumption

• Used before

*In case of the processor resets for an unpredictable duration, mission time is not stored

properly. Therefore, we decided to employ an external RTC.


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62

Probe Antenna Selection

Selected : Taoglas FXP70

• High gain

• Low weight

• Small dimension

• Easy to mount

• Low price

Antenna Model Type Gain WeightDimensions

(mm)

Mounting

typeConnector Price

Taoglas FXP70 Flex 5dBi 1.2 g27 x 25 x 0.08

mmAdhesive u.Fl $3.52

*We need omni directional antenna to avoid connection losses caused by movement.


*We have effective range 3 km with 19.4 dBm safe margin.


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Selected : Molex, LLC 2042870100

• Stable gain

• Low weight

• Small dimension

• Easy to mount

• Detailed datasheet

63

Probe Antenna Selection (cont.)


(mm)

Mounting

typeConnector Price

Molex, LLC

2042870100

Flat

Patch10 dBi 3 g

100 x 50 x 2.5

mmAdhesive U.FL $5.82


Bonus mission antenna selection for custom transmitter:


*We have 3km effective range with 26dBm safe margin.


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Selected : Molex, LLC 2042870100

• Stable gain

• Low weight

• High gain

• Easy to mount

• Detailed datasheet

64

Probe Antenna Selection (cont.)


(mm)

Mounting

typeConnector Price

Molex, LLC

2042870100

Flat

Patch10 dBi 3 g

100 x 50 x 2.5

mmAdhesive U.FL $5.82


Bonus mission antenna selection for custom receiver:


*We have 3km effective range with 26dBm safe margin.


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65

Probe Radio Configuration

Selected : XBee Pro S2C 2.4GHz

• Enough range with high gain antenna

• Lower power consumption

• NETID set team number (#4128) on XBee by XCTU interface.

• Transmission is provided by using serial interface

of Arduino Nano.

• Communication is in Transparent Mode.

• Adresses are set, so broadcasting is not used.

Model VoltageTransmit

Power

Transmit

Current

Receiver

SensitivityRange Data Rate

XBee Pro

S2C 2.4GHz2.7-3.6V +18dBm 120mA -101dBm 3200m 250kbps


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66

Probe Radio Configuration(Cont.)


Mission Phase Transmission Control

Pre-Launch There will be no communication.

LaunchUpon Launch, transmission will start at

the rate of 1Hz with start command

sent from GCS to probe and it will

continue during all phases of descent.

CanSat Descent(with heat shield)

Heatshield Release

Probe Descent(with parachute)

Probe LandingWhen the probe is landed,

communication will stop.


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67

Probe Telemetry Format

• Data will send at the rate of 1 Hz and frames are sending in burst mode.

[<TEAM ID>,<MISSION TIME>,<PACKET COUNT>, <ALTITUDE>, <PRESSURE>,<TEMP>, <VOLTAGE>,

<GPS TIME>,<GPS LATITUDE>,<GPS LONGITUDE>, <GPS ALTITUDE>, <GPS SATS>,<TILT X>,<TILT

Y>, <TILT Z>,<SOFTWARE STATE>,<CRC>,<FRAME STOP>],[<MISSION TIME>,<WIND SPEED>]

Team IDA number wich assigned to our team(also

indicates frame began)GPS Time Time information obtained from GPS module

Mission Time Time since powered up (seconds) GPS Latitude Latitude of current position obtained from GPS

Packet Count Number of packages that transmitted GPS Longitude Longitude of current position obtained from GPS

Altitude Altitude measured by pressure sensor GPS Altitude Altitude of current position obtained from GPS

Pressure Atmospheric pressure by pressure sensor GPS Sats Number of satelites of GPS connected

Temperature External temperature Tilt X Degree of X axis with respect to offset position

Voltage Instantaneous voltage of battery Tilt Y Degree of Y axis with respect to offset position

Software State Current state of the operation Tilt Z Degree of Z axis with respect to offset position

CRC Data for error detection of telemetry data Frame Stop Indicates frame completed

Wind Speed Instantaneous speed of wind

EXAMPLE:

[<4128>,<022>,<022>,<1120.47>,<500>,<40>,<7.978>,<12:47:19>,<01122.001>,<4807.025

>,<1200>,<6>,<2.28>,<1.49>,<5.24>,<DESCENT>,<210>,<301>],[<022>,<4.12>]


*We use ASCII for data format.


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Electrical Power Subsystem Design

Burhan Kaplan


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EPS Overview

Probe power diagram :

• All components of electronical

system included.

• 3.3V regulator supply XBee,

GPS and Bonus mission’s

transmitter.

• 5V regulator supply servo and

camera.

• Other components supplied by

internal regulator on Arduino

Nano.


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(If You Want) EPS Changes Since PDR

• We added a 3.3v voltage regulator that is AMS1117, we wanted

to reduce the load on the Arduino.

• Arduino Nano 3.3V pins has a limited current supply, also we showed that it is

not enough for our electrical design.

• Arduino Nano has internal regulator that is also using minimal sensors.

• All changes to avoid break down the regulator and to avoid an unexpected

situation.

• To sum up , by separating power load into three parts, we try to increase power

health.

• Buzzer supplied from 9V battery to increase buzzer voice, and buzzer is drived

by transistor.

70CanSat 2018 CDR: #4128 Team CERVOSPresenter: Burhan Kaplan

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EPS Requirements

ID REQUIREMENT RATIONALE PARENTVM

A D I T

EPS-1The probe must include an easily accessible power

switch

Competition

Requirement SR-13 X X

EPS-2The probe must include a power indicator such as an

LED or sound generating device.

To Understand if

the system is

running

- X

EPS-3

Battery source may be alkaline, Ni-Cad, Ni-MH or

Lithium. Lithium polymer batteries are not allowed.

Lithium cells must be manufactured with a metal

package similar to 18650 cells

Competition

Requirement - X

EPS-4An audio beacon is required for the probe. It may be

powered after landing or operate continuously. Easy Recovery - X


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Probe Electrical Block Diagram


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(If You Want) Probe Power Source

73

Manufacturer ModelDimensions /

Weight Power Storage Current Capacity Cost

Duracell 522 45.6 g 5040 mWh 500 mAh $2.10

Battery Chosen : Duracell MN1604

• 9V industrial battery

• Used before

*Single battery is connected to system in series.


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74

Probe Power Budget

Component Model Duty Cycle Operation Current Operation Voltage Max. Power Source

Processor Arduino Nano 100% 16mA 5V 80mWData Sheet &

Measurement

GPS GY-NEO6MV2 100% 67mA 3.3V 221.1 mW Data Sheet

Tilt Sensor MPU 6050 100% 3.9mA 5V 19.5 mW Data Sheet

Temperature

sensorLM-35 100% 60mA 5V 300 mW Data Sheet

Photoresistor - 5% 2mA 5V 0.5 mW Measurement

Nichrome wire Nichrome 80 0.2 mm 5% 300mA 9V 135 mW Measurement

Real Time Clock DS3231 100% Has a coin cell 3.3V - -

Camera Y2000 25% 150mA 5V 187,5 mW Measurment

Bonus

TransmitterCC1000 100% 26.7mA 3.3V 88.11 mW Data Sheet

Altitude &

PressureBMP 280 100% 2.7 µA 5 V 13.5 µW Data Sheet

Voltage Sensor Own Production 100% - 0-10 V - -

XBee S2C PRO 50% 120 mA 3.3 V 198 mWData Sheet &

Estimate

Servo Motor MG-90 25% 200mA 5 V 250 mWData Sheet &

Measurement

Buzzer - 5% 8.8 mA 9 V 4 mW Measurement

Total Power Consumed Total Power Generated Margin

1270mW 5040 mWh 3.45 hours


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Flight Software (FSW) Design

Kadir Serhat Altıntığ


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76

FSW Overview

Presenter: Kadir Serhat Altıntığ

❖ Basic FSW architecture,

❖ Our software automatically detects the error in the event of an error. It

exclusively completes mission objectives.

❖ We have developed thread-based software

for high-level use of processor performance.

❖ Programing language,

❖ C/C++ programing language

❖ Development environment,

❖ Arduino IDE

❖ FSW tasks summary,

❖ Reading sensor values

❖ Progressing thru mission phases

❖ Preparing data packages to transmit

❖ Tasks of recording video


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(If You Want) FSW Changes Since PDR

Our software has not changed much. However, new

developments have occurred.

❖ After the printing of the circuit board we have prepared,

we are now doing our experiments on the circuit board,

not on the breadboard.

❖We have prepared the software completely but according

to the tests we have done with the mechanical team, we

set the offset values.

77Presenter: Kadir Serhat Altıntığ CanSat 2018 CDR: #4128 Team CERVOS

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78

FSW Requirements

ID Requirement Rationalite ParentVM

A D I T

FSW-1The aero-braking heat shield shall be released from the probe at

300 meters.

Competition

RequirementsSR-5 X X

FSW-2 The probe shall deploy a parachute at 300 metersCompetition


FSW-3


temperature, GPS position and battery voltage once per second


Competition


FSW-4During descent, the probe shall transmit all telemetry. Telemetry

can be transmitted continuously or in bursts.

Competition

RequirementSR-8 X

FSW-5

Telemetry shall include mission time with one second or better

resolution. Mission time shall be maintained in the event of a

processor reset during the launch and mission.

Competition

RequirementSR-9 X

FSW-6

The flight software shall maintain a count of packets transmitted,

which shall increment with each packet transmission throughout

the mission. The value shall be maintained through processor

resets.

To separate data

packets from

each other

SR-12 X X

FSW-7

A tilt sensor shall be used to verify the stability of the probe

during descent with the heat shield deployed and be part of the

telemetry.

To understand

the position of

the system

- X X

Presenter: Kadir Serhat Altıntığ CanSat 2018 CDR: #4128 Team CERVOS

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79Presenter: Kadir Serhat Altıntığ CanSat 2018 CDR: #4128 Team CERVOS

Probe CanSat FSW State Diagram

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Software Development Plan

❖ To Avoid Late Software Development:

❖ The software will be developed and verified step by step according to schedule.

❖ Prototyping & Prototyping Environments:

❖ The software will first continue to be developed on breadboard.

❖ When the design of circuit is finished, the circuit board will be printed on PCB

Laboratory and the software will improve on it.

❖ Test Methodology:

❖ Drone flight tests

❖ Power test

❖ Outdoor free-fall drop test

❖ Debugging test

❖ Development Team:

❖ Kadir Serhat Altıntığ

❖ Burhan Kaplan

Presenter: Kadir Serhat Altıntığ

❖ Development Sequence

Software

Development

Software

Prototyping

Software

Testing

Software

Analyzing

Debugging


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Ground Control System (GCS) Design

Ramazan Kurban


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82

GCS Overview

Antenna

Arduino

Cable

Radio Receiver Circuit

Usb

Presenter: Ramazan Kurban CanSat 2018 CDR: #4128 Team CERVOS

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(If You Want) GCS Changes Since PDR

83

We have made some improvements and changes in

GCS. These are the following.

● Stop, Check, Save and Restart buttons has deleted.

● Connect configuration is separated to «Connect XBee» and «Connect Arduino».

● Refresh, Parachute Release, Shield Release buttons are added to GCS.

● We also added a Load button to reuse the previous data.

● Unverified data console is added to GCS.

● CRC Count text box is added to GCS for displaying how many CRC errors.

● We also changed the background color of GCS screen as the appearance.


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84

GCS Requirements

Presenter: Ramazan Kurban

ID Requirement Rationalite ParentVM

A D I T

GCS-1 Each team shall develop their own ground station. Uniqueness of

GCSSR-10 X X

GCS-2 All telemetry shall be displayed in real time during descent. Competition

RequirementSR-11 X X

GCS-3All telemetry shall be displayed in engineering units (meters,

meters/sec, Celsius, etc.)

Competition

Requirement- X X

GCS-4Teams shall plot each telemetry data field in real time during

flight.

Examine CanSat

condition in real

time

- X X X

GCS-5

The ground station shall include one laptop computer with a

minimum of two hours of battery operation, XBEE radio and a

hand held antenna.

Operate without

AC power- X

GCS-6

The ground station must be portable so the team can be

positioned at the ground station operation site along the flight

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

operation site.

Competition

Requirement- X X


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(If You Want) GCS Design

Main Mission Design:

• Antenna is connected to XBee with Co-axial cable.

• XBee is connected to USB-TTL converter.

• Converter is connected to PC with USB cable.

Bonus Mission Design:

• Antenna is connected to radio receiver circuit.

• Radio receiver circuit is connected to Arduino via SPI.

• Arduino is connected to PC with USB cable.

Specifications:

• GCS laptop can operate at least 2 hours with battery.

• To prevent over heating, portable umbrella along with

arrangements shall be set up to prevent GCS from the

overheat sun secondly cooler fan for laptop.

• OS updating has done already and after closed.

• All other unnecessary OS actions will be disabled during GCS

operations.

Presenter: Ramazan Kurban CanSat 2018 CDR: #4128 Team CERVOS 85

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GCS Antenna

Chosen : TP-LINK TL-ANT2415D

* High gain

* Cheap

* Can easily mounted to tripod

* Omni-directional

● Antenna will be mounted on a tripod so eliminate

vibrations.


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87

GCS Antenna (Cont.)

For calculating received power(in dBm):

Received Power = Transmitter Power + Transmitter Antenna Gain + Receiver Antenna Gain - Path Loss

- Miscellaneous Losses (Cable, connector etc.)

Transmitter Power = 18 dBm Transmitter d = 3000 meters , f = 2400 MHz

Antenna Gain = 5 dBi

Receiver Antenna Gain = 15 dBi

Path Loss(calc. by given formula) = 109.6 dBm

Miscellaneous Lost(estimated) = 10 dBm

Received Power: -81.6 dBm To sum up:

*Our receiver sensitivity is -101 dBm

*19.4 dBm safe margin

*Effective range is 3 km.

Our tests showed that, this configuration is enough for 3km operation distance.


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(If You Want) GCS Software

88

COTS Software Packages

• Visual Studio 2015.

Real-Time Plotting Software Design

• Software is designed with Visual Studio using C#. When data is received, it has displayed

in GUI Real-Time.

Progress Since PDR

• Charts, map plotting, connection panel, commands panel and current data panel have

rearranged.

• Map plotting algorithm has improved.

• GCS can send command to CanSat: Release and start command.

• Restart case has improved. When GCS is restarted because of adverse conditions,

previous data can be replotted and GCS will continue to work on it.


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(If You Want) GCS Software(Cont.)

89

Command software and interface• All function is autonomous through timer.

• Multi-threading is performed.

• CRC is used for error detection.

• All telemetry are displayed in engineering units.

• ".csv" file generated once by GCS , when data is received.

• Connect Arduino button for connect to Arduino with require port and baud rate.

• Connect XBee button for connect to XBee with require port and baud rate.

• Start button for send start command to CanSat and start to autonomous

commands; read telemetry data, display, record once at one second.

• Parachute Release button and Shield Release button for release override

command in case autonomous release fails.

• Load button for display and plot data that previous recorded ".csv" file.


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90

Probe XBEE

GUIReal-Time

plotter

«.csv»

generator

Radio

Transmitter

CanSat

GCS Radio Receiver

+ArduinoGCS XBEE


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91Presenter: Ramazan Kurban CanSat 2018 CDR: #4128 Team CERVOS

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(If You Want) GCS Bonus Wind Sensor

• Wind sensor signal is received to radio receiver circuit in

digital signal.

• Arduino read wind sensor data in binary from radio receiver

circuit’s digital output pin.

• Arduino decode the binary wing sensor data to decimal

wing speed data and mission time.

• Arduino send data to GCS via serial port.

• GCS read wing speed and mission time from serial port.

• Wing speed data is plotted on charts and is displayed on

text box and data grid.

• Mission time and wing speed is recorded to separated

".csv" file.

Presenter: Ramazan Kurban CanSat 2018 CDR: #4128 Team CERVOS 94

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95

CanSat Integration and Test

Mustafa Anıl Yiğit


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96


Overview

We will separate 3 main groups for testing.

As shown in table subgroups are below:

• Our primary target is to test subsystems successfully.

• Later on, the main groups will merge to perform all system tests

• Each group’s member will test each group in a progressive manner.

Mechanics Electronic Software

Probe Communication GCS

Heat Shield Electronic Hardware FSW

CanSat 2018 CDR: #4128 Team CERVOSPresenter: Mustafa Anıl Yiğit

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Overview (Cont.)

• Sensor tests are based on getting valid data at all conditions. Our

tests include following;

➢ Each sensor tested individually on arduino and tests showed

that sensors are working.

97

Sensors

Tilt Sensor Test GPS Sensor Test

Air Pressure Test Photoresistor Test

Voltage Sensor Test External Temperature Test

Camera Test RTC Test

Wind Speed Sensor -


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Overview (Cont.)

• Communication and data handling tests are based on communication

between peripheral devices and processor. Our tests include following

subtests;

• Communication test includes, all of the sensors working at the same time.

98

Data Handling

I2C Connection Test UART Connection Test

SPI Connection Test EEPROM Test

• Communications tests are based on proper connection. Our tests

include following subtests;

Communication

Range Test Release Override Command Execution Test

Communication Test with XBee RF Module Test (Bonus Mission)


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Overview (Cont.)

• GCS and FSW tests are based on softwares works properly. Our tests


99CanSat 2018 CDR: #4128 Team CERVOS

GCS FSW

RF Communication Loss Test Reset Status Test

Reset Status Test System State Test

CSV File Generating Test Thread Process Test

Serial Communication Test Data Initialization Test

Mapping Test Data Sending Test

Multi-Threading Test Video Recording Test

Presenter: Mustafa Anıl Yiğit

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Overview (Cont.)

• Electrical tests are based on power sufficiency. Our tests


• EPS tests are done by using voltmeter, oscilloscope,

ammeter.

100

Electronic Hardware & Electrical

G Test Battery Test

Strength Test Regulator Power Test

Vibration Test PCB Circuit Test

Thermal Test Extreme Conditions Test

Stability Test -


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Overview (Cont.)

• We divided mechanical subsystems testing in two sections. Also

environmental tests are based on durability of our system to do

environmental effect. Our tests include following subtests;

101

Probe Heat Shield

Low - Altitude Drop Test Deploying Test

Mid - Altitude Drop Test Descent Test

High - Altitude Drop Test (Drone) Stability Test

Strength Test Drop Test

Thermal Test Strength Test

Vibration Test Thermal Test

Egg Protection Case Tests Vibration Test

G Test G Test

Center of Mass Test (Stability) Shield Releasing Test

CanSat Descent Test without Shield CanSat Descent Test with Shield

Probe Parachute Trigger Test Dimension Verification Test

Dimension Verification Test -


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Overview (Cont.)

102CanSat 2018 CDR: #4128 Team CERVOSPresenter: Mustafa Anıl Yiğit

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(If You Want) Test Procedures Descriptions

Test

ProcTest Description Rqmts Pass Fail Criteria

1 Tilt Sensor Test. : To check data stabilization at all angles. 49If CanSat direction is thesame as in the real world

2GPS Sensor Test : To check coordinates are accurate enough with respectto online maps.

-If global position accuracy is equal to 2.5 meters .

3Air Pressure Sensor Test. : To check that comparing is taken with Ankara’sair pressure.

-

If air pressure accuracy is equal to 0.12hPa which is equivalent to 1m diffrencealtitude.

4Photoresistor Sensor Test : To check proper threshold value of light in rocket.

-If photoresistor is not activein rocket.

5External Temperature Sensor Test : To check the accuracy written in datasheet.

-If temperature sensors accuracy change 0.1

6Voltage Sensor Test : To ensure scale voltage to a value that atmega can handle.

-If the range is in between 0.1 V and 9 V.

7 Camera Test : Checking camera resolution. -If the camera has videoresolution of 640x480p.

8 RTC Test : To ensure RTC is working properly with battery. 27,39Even processor reset, if weget right time data.

9 Wind Speed Sensor Test: To check calculation of wind speed -If the wind speed value is thesame with anemometer .

Sensors:

CanSat 2018 CDR: #4128 Team CERVOS 103Presenter: Mustafa Anıl Yiğit

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Test Procedures Descriptions

(Cont.)

104

Test


1 I2C Conneciton Test : To ensure all I2C devices are connected. -If all data received

succesfully.

2 UART Connection Test : To check data are sending properly. -If all data received

succesfully.

3SPI Connection Test : To ensure all SPI device is connected and

working properly.-

If all data received

succesfully.

4 EEPROM Test : To ensure have proper write and read operations. -

If all data can be legibility

from EEPROM or writability

to EEPROM.

5Range Test : To ensure at the distance 3km, datalink is working

properly-

If at 3km datalink is

connected.

6

Release Override Command Execution Test : : To ensure while

CanSat communicating with ground station, parachute relase and

shield release override command is working properly.

- If no frame lost.

7Communication Test with XBee : To have valid XBee

communication28,29,30

A data package that

transmitted from transmitter

XBee is received from

receiver XBee.

8RF Module Test (Bonus Mission) : To check wireless

communication between receiver and transmitter-

If all data received

succesfully.

Communication & Data Handling:


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(Cont.)

105

Test


1 G Test : To ensure all electronics are resistant to G shock. 16,17,19,20If system is working properlyunder G force.

2 Strength Test : To ensure all electronics are resistant to impacts it can face 21If system is working properlywhen the system is facingimpacts

3 Vibration Test : To ensure all electronic are runproof to vibrations 21If system is working properlywhen the system is undervibration

4Thermal Test : Observing the CanSat structural integrity and functionalityin high temperature environments

-If electronics survive without damage and remain functional after the test

5Regulator Test : To ensure regulators are working properly at the ownrange.

-If output voltage of regulatorsare voltages that is required.

6 PCB Circuit Test : To ensure there is no short circuit. -If no short circuit., PCB willwork properly.

7Battery Test : To ensure the battery runs the system for a sufficient period of time.

-If system works at least twohours.

8Extreme Conditions Test : To ensure even high temperature and even high current power circuit is working robust.

-If system operate in extremeconditions.

Electronical & Power:


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106

Test

ProcedureTest Description Requirements Pass Fail Criteria

1Drop Test : Verifying that the parachute,attachment point, releasemechanism, component and battery mounts will survive the deployment from the rocket payload section

13If structure and electronics survive without damage and remain functional after the test

2Shield Deploying Test : Checking if the heat shield deploy properly after CanSat is released from rocket.

-If the heat shield deployed properly after CanSat is released from rocket payload section.

3 Descent Test : Checking if the system descends with estimated descent rates 43,44If the systemdescends withestimated descent rates

4 Stability Test : To ensure CanSat descends without tumbling 4,5If the CanSat descends withouttumbling

5 Strength Test : To ensure all electronics are resistant to impacts it can face 22If system is working properly when the system is facing impacts

6Thermal Test : Observing the CanSat structural integrity and functionality in high temperature environments

-If structure survive without damage and remain functional after the test

7 Vibration Test : To ensure all mechanical systems are runproof to vibrations 22If system is working properly when the system is under vibration

8 G Test : To ensure all mechanical systems are resistant to G shock. 16,17,19,20,22If system is working properlyunder G force.

9Egg Protection Case Test : To ensure payload is not damaged after systemoperation

7If payload is not damaged after system operation

10 Shield Releasing Test : To ensure shieldis released properly from probe 14If shield is released properly from probe

11 Probe Parachute Trigger Test : To ensure parachute is deployed properly 15 If parachute is deployed properly

12 Dimension Verification Test: To ensure probe size is available for rocket. 6If it’s dimension less than rocket’spayload sections dimension

Mechanics & Environmental:



(Cont.)


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Mission Operations & Analysis


CanSat 2018 CDR: #4128 Team CERVOS 107

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108

Overview of Mission Sequence of

Events


Team Members:

– Burhan Kaplan (Mission Control Officer)

– Kadir Serhat Altıntığ (CanSat Crew)

– Ramazan Kurban (Ground Station Crew)

– Alp Demirel (Ground Station Crew)

– Mustafa Anıl Yiğit (Cansat Crew)

– Miray Özbay (Recovery Crew)

– Berkay Küçükkılavuz (Recovery Crew)

– Mustafa Eryılmaz (CanSat Crew)

– Melisa İrem Uzun (Recovery Crew)

Recovery CrewGround Station

CrewCanSat CrewMission Control

Officer

CanSat

assembly &

testing

GCS and

antenna

Setup

CanSat

turn on

Collecting CanSat,

powering up and

loading to a rocket

launch siteArrival at

Data link

connection

verification

Applying

launch

procedures

Taking

rocket and

ground station

to launchpad

Displaying

ground station

operation to

the judge

Recovering

Probe

Making sure

all field

scores filled

Data

analysis

descent

operation

Monitoring

Delivery of telemetry

Data file to field

Judge for review

Clearing out

Of the area


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109109Presenter: Mustafa Anıl Yiğit

Overview of Mission Sequence of

Events (cont.)

• Manage the team in a coordinated manner

• Executing launch procedures

• Initiating launch sequence

• Maintaining telemetry connection

• Performing descent operations

• Providing (.csv) file to do judges after the launch operations via USB drive.

• Checking structural integrity of probe parts afterarrival

• Assembly & testing, structures

• Checking electronic subsystem functionality

• Responsible for recovering probe and heat shield.

Mission Control Officer

Ground Station Crew

CanSat Crew

Recovery Crew


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110

Field Safety Rules Compliance


Content• Crew roles

• Safety guide

• Configuring ground station

• Preparing and integrating Cansat

• Recovery

• Mission operation Schedule

✓Setting up ground control station

✓Verifying connection

✓Visual check on CanSat

✓Integrating CanSat during mission

Development Status• Manual includes instructions to follow before, during and after launch.

• Mostly completed.


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111

CanSat Location and Recovery


Locating and Recovering Heat Shield

• Heat Shield will be painted with fluorescent color.

• Landing zone will be determined by observing descent, by

examining video that, probe records and, by last GPS

location data.

Locating and Recovering Probe

• Probe will be painted with fluorescent color.

• Landing zone will be determined by observing descent and

by GPS location data.

• Buzzer will be activated after landing and can be heard at a

distance.

Address Labeling

• Probe will have an address label to be returned. On that

address label there will be a mail address for

communication.


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(If You Want) Mission Rehearsal Activities


Ground system radio link check

–Connecting necessary modules to the GCS

–Powering up probe, initiating telemetry connection

–Verifying real time data on the GCS, verifying release override

command

–Verifying real time data on the GCS

Rehearsed during CDH and GCS subsystem testing.

Powering on/off CanSat

–Checking battery voltage of the probe, powering on probe

–Verifying all necessary components have power, powering off

probe


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113

Mission Rehearsal Activities(Cont.)


Launch configuration preparations

–Checking flap mechanism operation of probe

–Checking heat shield releasing and opening mechanism

–Checking parachute releasing mechanism

–Folding the parachute on the probe

–Integrating probe

–Powering up CanSat, initiating telemetry connection

Rehearsal will be done on the upcoming days

Loading CanSat in the launch vehicle

–Fit check and weight check on the fully integrated CanSat

–Loading CanSat into the rocket

Rehearsal will be done on launch day


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114114

Mission Rehearsal Activities(Cont.)


Telemetry processing, archiving and analysis

–Initiating telemetry connection with CanSat

–Checking recieved data on GCS

–Archiving data on GCS by .csv, analyzing the archived data

Rehearsed during CDH and GCS subsystem testing

Recovery

–Tracking the CanSat after rocket separation

–Tracking the probe and heat shield separately after separation

–Locating the probe and heat shield after landing

Rehearsal will be done on launch day


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115

Requirements Compliance



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Overview


Full Comply:

• By good cooperation with team members all of the

requirements are met.

• Minor improvements and optimizations will be made.

• Mechanical prototypes have been made.

• All of sensors are tested.

• GCS software have been done, appearance

improvements will be made.

• Stability mechanism has been made and tested.


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(1 of 7)

Rqmt.

Num.Requirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

1Total mass of the CanSat (probe) shall be 500

grams +/- 10 grams.Comply

2

The aero-braking heat shield shall be used to

protect the probe while in the rocket only and

when deployed from the rocket. It shall

envelope/shield the whole sides of the probe

when in the stowed configuration in the rocket.

The rear end of the probe can be open.

Comply

3 The heat shield must not have any openings. Comply

4

The probe must maintain its

heatshield orientation in the direction

of descent.Comply

5

The probe shall not tumble during any

portion of descent. Tumbling is rotating

end-over-end.Comply

6

The probe with the aero-braking heat shield

shall fit in a cylindrical envelope of 125 mm

diameter x 310 mm length. Tolerances are to

be included to facilitate container deployment

from the rocket fairing.

Comply


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118


(2 of 7)

Rqmt

NumRequirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

7

The probe shall hold a large hen's egg

and protect it from damage from launch

until landing.Comply

8

The probe shall accommodate a large hen’s

egg with a mass ranging from 54 grams to

68 grams and a diameter of up to 50mm and

length up to 70mm.

Comply

9

The aero-braking heat shield shall not have

any sharp edges to cause it to get stuck in

the rocket payload section which is made of

cardboard.

Comply

10The aero-braking heat shield shall be a

florescent color; pink or orange.Comply

11The rocket airframe shall not be used to

restrain any deployable parts of the CanSat.Comply

12The rocket airframe shall not be used as part of

the CanSat operations.Comply

13

The CanSat, probe with heat shield

attached shall deploy from the rocket

payload section.Comply

14

The aero-braking heat shield shall be

released from the probe at 300

meters.Comply

Presenter: Mustafa Anıl Yiğit CanSat 2018 CDR: #4128 Team CERVOS

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119


(3 of 7)

Rqmt

NumRequirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

15The probe shall deploy a parachute at 300

meters.Comply

16

All descent control device attachment

components (aero-braking heat shield and

parachute) shall survive 30 Gs of shock.Comply

17

All descent control devices (aero-braking heat

shield and parachute) shall survive 30 Gs of

shock.Comply

18

All electronic components shall be

enclosed and shielded from the

environment with the exception of

sensors.

Comply

19All structures shall be built to survive 15 Gs of

launch acceleration.Comply

20All structures shall be built to survive 30 Gs of

shock.Comply

21

All electronics shall be hard

mounted using proper mounts such

as standoffs, screws, or high

performance adhesives.

Comply


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120


(4 of 7)

Rqmt

NumRequirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

22

All mechanisms shall be capable of

maintaining their configuration or states under

all forces.Comply

23Mechanisms shall not use pyrotechnics or

chemicals.Comply

24

Mechanisms that use heat (e.g., nichrome

wire) shall not be exposed to the outside

environment to reduce potential risk of setting

vegetation on fire.

Comply

25

During descent, the probe shall collect air

pressure, outside air temperature, GPS

position and battery voltage once per second


Comply

26

During descent, the probe shall transmit

all telemetry. Telemetry can be

transmitted continuously or in bursts.Comply

27

Telemetry shall include mission time with one

second or better resolution. Mission time shall

be maintained in the event of a processor

reset during the launch and mission.

Comply

28

XBEE radios shall be used for telemetry. 2.4

GHz Series 1 and 2 radios are allowed. 900

MHz XBEE Pro radios are also allowed.Comply


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(5 of 7)

121Presenter: Mustafa Anıl Yiğit CanSat 2018 CDR: #4128 Team CERVOS

Rqmt

NumRequirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

29XBEE radios shall have their NETID/PANID set

to their team number.Comply

30 XBEE radios shall not use broadcast mode. Comply

31

Cost of the CanSat shall be under $1000.

Ground support and analysis tools are not

included in the cost.Comply

32Each team shall develop their own ground

station.Comply

33All telemetry shall be displayed in real time

during descent.Comply

34

All telemetry shall be displayed in

engineering units (meters, meters/sec,

Celsius, etc.)Comply

35Teams shall plot each telemetry data field in

real time during flight.Comply

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(6 of 7)

122

Rqmt

NumRequirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

37

The ground station must be portable so the

team can be positioned at the ground station

operation site along the flight line. AC power

will not be available at the ground station

operation site.

Comply

38

Both the heat shield and probe

shall be labeled with team contact

information including email

address.

Comply

39

The flight software shall maintain a count of

packets transmitted, which shall increment

with each packet transmission throughout the

mission. The value shall be maintained

through processor resets.

Comply

40 No lasers allowed. Comply

41The probe must include an easily accessible

power switch.Comply

42

The probe must include a power

indicator such as an LED or sound

generating device.Comply

43

The descent rate of the probe with

the heat shield deployed shall be

between 10 and 30 meters/second.Comply


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(7 of 7)

123

Rqmt

NumRequirement

Comply / No

Comply / Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

or Notes

44

The descent rate of the probe with the heat

shield released and parachute deployed

shall be 5 meters/second.Comply

45

An audio beacon is required for the probe. It

may be powered after landing or operate

continuously.Comply

46

Battery source may be alkaline, Ni-Cad, Ni-

MH or Lithium. Lithium polymer batteries are

not allowed. Lithium cells must be

manufactured with a metal package similar

to 18650 cells.

Comply

47

An easily accessible battery compartment

must be included allowing batteries to be

installed or removed in less than a minute

and not require a total disassembly of the

CanSat.

Comply

48

Spring contacts shall not be used for

making electrical connections to

batteries. Shock forces can cause

momentary disconnects.

Comply

49

A tilt sensor shall be used to verify the stability

of the probe during descent with the heat

shield deployed and be part of the telemetry.Comply


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124

Management

Melisa İrem Uzun

CanSat 2018 CDR: # 4128 Team CERVOSPresenter: Melisa İrem Uzun

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CanSat 2018 CDR: # 4128 Team CERVOS 125

Status of Procurements

Presenter: Melisa İrem Uzun

✓Antennas were ordered and delivered so we could test

range of the communication system.

✓All mechanisms printed from 3D printer.

✓RF module components were ordered and received.

✓SD Card, XBee and Camera have been ordered and

received.

✓PCB circuits were designed and printed.

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126

CanSat Budget – Hardware

ELECTRONICS HARDWARE

COMPONENT MODEL QUANTITY COST TOTAL COST DETERMINATION

Micro ControllerArduino Nano

ATmega3281 $9.19 $9.19 Actual

Nichrome Wires Nichrome 80 - 0.2mm 1 m $0.5 $0.5 Actual

Photoresistor Generic Type 1 $1 $1 Actual

Real Time Clock Maxim DS3231 1 $25 $25 Estimated

Air Pressure Sensor BMP280 1 $9.95 $9.95 Actual

GPS GY-NEO6MV2 1 $11.90 $11.90 Actual

Tilt Sensor MPU-6050 1 $4.52 $4.52 Actual

Camera Tiny Camera 1 $6.99 $6.99 Actual

Voltage Sensor Own Production 1 - - -

Temperature Sensor LM35 1 $1 $1 Actual

Micro SD CardSandisk SDSQUAR-

016G-GN6MA1 $8.49 $8.49 Actual

Bonus Transmitter Antenna LLC 2042870100 1 $5.82 $5.82 Actual

Probe Antenna Taoglas FXP70 1 $3.52 $3.52 Actual

RF Module XBee Pro S2C 2.4 GHz 1 $12 $12 Estimated

Regulator MP1584 1 $3 $3 Actual

Bonus Mission Transmitter CC1000 1 $16.52 $16.52 Estimated

Battery MN1604 1 $2.2 $2.2 Actual

SUBTOTAL $121.6


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127

Mechanical Subsystem

MODEL QUANTITY COST TOTAL COST DETERMINATION

PLA 250g 20$/kg $5 Estimation

Carbon Rods 65cm 6$/m $3.9 Actual

Rope 1m 0.10$/m $0.1 Actual

Springs 15pcs 0.10$/pcs $1.5 Actual

Sponges 1pcs 1$/pcs $1 Actual

Servo 2pcs 4$/pcs $8 Actual

Parachute Fabric 1𝑚2 4$/𝑚2 $4 Actual

Nylon Fabric 1𝑚2 2$/𝑚2 $2 Actual

Glue 1pcs 2$/pcs $2 Estimated

Hinge 4pcs 0.35$/pcs $1.4 Actual

Nichrome Wire 0.5m 1$/m $0.5 Actual

Tyre 0.2m 0.5$/m $0.1 Actual

Plastic Coating 1pcs 8$/pcs $8 Actual

Electronic Total Cost Mechanical Total Cost

$130.78 $37,5


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128

CanSat Budget – Other Costs

Ground Control

COMPONENT MODEL QUANTITY COST TOTAL COST DETERMINATION

Micro ControllerArduino Nano

ATmega3281 $9.19 $9.19 Actual

Main Mission

Antenna

TP-LINK

TL-ANT2415D1 $50 $50 Actual

Bonus Mission

ReceiverCC1000 1 $16.52 $16.52 Estimated

Bonus Receiver

AntennaPC240.09.0300K 1 $15 $15 Actual

RF ModuleXBEE Pro S2C 2.4

GHz1 $12 $12 Actual

XBee ExplorerSparkFun USB

Explorer1 $24 $24 Actual

Tripod - 1 $10 $10 Actual

Computer MSI 1 Our own PC $1000 Actual

SUBTOTAL $136.71


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129

CanSat Budget – Other Costs(cont.)

COMPONENT QUANTİTY COST TOTAL COST DETERMİNATİON

Application Fee 1 $100 $100 Actual

Visa Fee 9 $160 $1440 Actual

Travel 9 $600 $5400 Estimated

Accommodation/

Hotel Room10 days $100 $1000 Estimated

Transport 10 days $100 $1000 Estimated

Food 300 $15 $4500 Estimated

SUBTOTAL $13440

Total Other Costs

$13,576.71


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130

Program Schedule


Major Milestones

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131

Program Schedule (cont.)


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(If You Want) Program Schedule (cont.)

132CanSat 2018 CDR: # 4128 Team CERVOSPresenter: Melisa İrem Uzun

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(If You Want) Program Schedule (cont.)

133Presenter: Melisa İrem Uzun CanSat 2018 CDR: # 4128 Team CERVOS

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(If You Want) Shipping and Transportation

134

✓ We will order special transportation bags that have

appropriate size for probe. We will carry important

equipments in our cabin bags. Considering the current

situation about the electronics restrictions on airplanes

in Turkey, electronic devices will be carried with

corresponding baggage policy of the ar carrier.

✓We will add our contact information and cargo address

information to our bags to prevent losses.


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(If You Want) Conclusions

135

❖ In general

-The main circuit board of the probe is printed and tested.

-We already developed and fabricated our probes mechanical parts.

-Ground Control System software is successfully tested under extreme cases.

-Parachute test performed without any damage to egg or the probe.

-There is no major unfinished work.

-Most of the environmental tests are done succesfully.

On flight software;

-All of the sensors are fully operational

-Elementry communication with GCS is full operational

-Decision-making algorithms are still developing.


After the presentation, we worked on mechanical desing and made tests which

resulted in major improvements especially in mechanical and CDH subsystems.

System analyses were made. We designed more sufficient systems instead of deficient

systems. We reported these changes in CDR and now we are finalizing the prototype

testing. We will be ready to launch!

CanSat 2018 Critical Design Review (CDR) Outline Version...

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