CanSat 2020 Preliminary Design Review (PDR) Outline Version 1

CanSat 2020 PDR: Team 4920 Manchester CanSat Project 1

CanSat 2020

Preliminary Design Review (PDR)

Outline

Version 1.0

Team 4920

Manchester CanSat Project

2

Presentation Outline

Presenter: May Ling Har CanSat 2020 PDR: Team 4920 Manchester CanSat Project

This review follows the sub-sections listed below:

Section Presenter Page Number

Systems Overview May Ling Har (MLH) 5

Sensors Sub-System Overview May Ling Har (MLH) 21

Descent Control Design May Ling Har (MLH) 34

Mechanical Sub-System Design May Ling Har (MLH) 55

Communications and Data Handling Sub-System Design

May Ling Har (MLH) 93

Electrical Power Sub-System Conor Shore (CS) 109

Flight Software Design Conor Shore (CS) 122

Ground Control System Design Conor Shore (CS) 130

CanSat Integration and Testing Conor Shore (CS) 141

Mission Operations and Analysis Conor Shore (CS) 152

Requirements Compliance Conor Shore (CS) 157

Management Conor Shore (CS) 164

3

Team Organization

CanSat 2020 PDR: Team 4920 Manchester CanSat Project

May Ling Har

Chief Engineer

Mechanical Subsystem

May Ling Har

2nd Year

Claudio Rapisarda

2nd Year

Min Woo Ryu

2nd Year

Gaurav Jalan

4th Year

Timos Chronis

4th Year

Electronics Subsystem

Conor Shore

2nd Year

Mihnea Romanovschi

2nd Year

Marin Dimitrov

3rd Year

Teja Potocnik

3rd Year

George Amies

4th Year

Integration and Testing

Teja Potocnik

Ground Control Station

Teja Potocnik

Conor Shore

Project Manager

Kate SmithAcademic Advisor

Team Member Responsibility

May Ling Har (MLH) CE, ME

Conor Shore (CS) PM, CDH, EPS

Teja Potocnik (TP) I&T, GCS

Claudio Rapisarda (CR) DC

Min Woo Ryu (MWR) ME

Gaurav Jalan (GJ) ME

Timos Chronis (TC) DC

Mihnea Romanovschi (MR) FSW

Marin Dimitrov (MD) EPS, CDH

George Amies (GA) SE, CDH

Presenter: May Ling Har

4

Acronyms


CDH Communications and Data Handling

EPS Electrical Power Sub-System

FSW Flight Software

GCS Ground Control Station

ME Mechanical Sub-System

SE Sensors Sub-System

DC Descent Control Sub-System

CE Chief Engineer

PM Project Manager

I&T Integration and Testing

CONOPS Concept of Operations

A Analysis

I Inspection

T Testing

D Demonstration

TBC To be confirmed

TBD To be determined

RE# Top Level Requirement

SL System Level

SSL Sub-system Level

GUI Graphical User Interface

IDE Integrated Development Environment

RTC Real Time Clock

I2C Inter-Integrated Circuit

SPI Serial Peripheral Interface

ADC Analog to Digital Converter

DAC Digital to Analog Converter

EEPROM Electrically Erasable Programmable Read-only memory

MCU Microcontroller

ADU Analog Digital Unit

IMU Inertial Measurement Unit

CCU Central Control Unit

CG Centre of Gravity

NP Neutral Point


5

Systems Overview

May Ling Har


6

Mission Summary


Objectives:1. Build a CanSat with an atmospheric-sampling Science Payload, a delta-wing glider, that shall descend in a

circular pattern and a Parachute, and a separate Container and Parachute.2. The CanSat shall be launched in a sounding rocket to an altitude of 675-725 meters.3. Once the CanSat is deployed from the rocket, the CanSat shall descend using a Parachute at a descent rate of 20

m/s.4. The CanSat Container must protect the Science Payload from damage during the launch and deployment.5. At 450 meters, the Container shall release the Science Payload. The Science Payload shall then descend in a

circle for a minute and remain above 100 meters. After that, the Science Payload shall deploy a Parachute to descend at 10 m/s.

6. The Science Payload shall collect and transmit atmospheric data to a Ground Control Station in real-time, throughout its operation phase.

7. When the Science Payload lands, all telemetry transmission shall stop and a located audio beacon shall activate.8. The Ground Control Station shall receive and display CanSat data.

Selectable Bonus and Rationale:• Camera Bonus selected because of abundant team members experience.

External Objectives:• Continue to deliver Manchester CanSat Project weekly, educational, space-related Workshops towards University

of Manchester STEM Students. • Continue to develop a UK University CanSat Competition for UK universities. • Inspire other UK Universities and Academic Institutions to adopt the Manchester CanSat Project model to create

a network of CanSat societies across the UK.


System Requirement Summary

7CanSat 2020 PDR: Team 4920 Manchester CanSat Project

RE# RequirementVerification

A I T D

1 Total mass of the CanSat (science payload and container) shall be 600 grams +/- 10 grams. X X

2 CanSat 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.

X X

3 The container shall not have any sharp edges to cause it to get stuck in the rocket payload section which is made of cardboard.

X X X

4 The container shall be a fluorescent color; pink, red or orange. X X

5 The container shall be solid and fully enclose the science payload. Small holes to allow access to turn on the science payload is allowed. The end of the container where the payload deploys may be open.

X X

6 The rocket airframe shall not be used to restrain any deployable parts of the CanSat. X X

7 The rocket airframe shall not be used as part of the CanSat operations. X X

8 The container parachute shall not be enclosed in the container structure. It shall be external and attached to the container so that it opens immediately when deployed from the rocket.

X X X

9 The descent rate of the CanSat (container and science payload) shall be 20 meters/second +/- 5m/s. X X

10 The container shall release the payload at 450 meters +/- 10 meters. X X X

11 The science payload shall glide in a circular pattern with a 250 m radius for one minute and stay above 100 meters after release from the container.

X X X

12 The science payload shall be a delta wing glider. X X X

13 After one minute of gliding, the science payload shall release a parachute to drop the science payload to the ground at 10 meters/second, +/- 5 m/s

X X X

14 All descent control device attachment components shall survive 30 Gs of shock. X X





A I T D

15 All electronic components shall be enclosed and shielded from the environment with the exception of sensors. X

16 All structures shall be built to survive 15 Gs of launch acceleration. X X

17 All structures shall be built to survive 30 Gs of shock. X X

18 All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance adhesives. X

19 All mechanisms shall be capable of maintaining their configuration or states under all forces. X

20 Mechanisms shall not use pyrotechnics or chemicals. X

21 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.

X X X

22 The science payload shall measure altitude using an air pressure sensor. X X X X

23 The science payload shall provide position using GPS. X X X X

24 The science payload shall measure its battery voltage. X X X X

25 The science payload shall measure outside temperature. X X X X

26 The science payload shall measure particulates in the air as it glides. X X X X

27 The science payload shall measure air speed. X X X X

28 The science payload shall transmit all sensor data in the telemetry. X X X X

29 Telemetry shall be updated once per second. X X X

30 The Parachutes shall be fluorescent Pink or Orange . X X

31 The ground system shall command the science vehicle to start transmitting telemetry prior to launch. X X X





A I T D

32 The ground station shall generate a csv file of all sensor data as specified in the telemetry section. X X

33 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.

X X X

34 Configuration states such as if commanded to transmit telemetry shall be maintained in the event of a processor reset during launch and mission.

X X X

35 XBEE radios shall be used for telemetry. 2.4 GHz Series radios are allowed. 900 MHz XBEE Pro radios are also allowed. X

36 XBEE radios shall have their NETID/PANID set to their team number. X X X

37 XBEE radios shall not use broadcast mode. X X

38 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X X

39 Each team shall develop their own ground station. X

40 All telemetry shall be displayed in real time during descent. X X

41 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.) X X

42 Teams shall plot each telemetry data field in real time during flight. X X

44 The ground station shall include one laptop computer with a minimum of two hours of battery operation, XBEE radio and a hand-held antenna.

X

45 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.

X

46 Both the container and probe shall be labelled with team contact information including email address. X

47 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.

X X





A I T D

48 No lasers allowed. X X

49 The probe must include an easily accessible power switch that can be accessed without disassembling the CanSat and in the stowed configuration.

X X X

50 The probe must include a power indicator such as an LED or sound generating device that can be easily seen without disassembling the CanSat and in the stowed state.

X X X

51 An audio beacon is required for the probe. It may be powered after landing or operate continuously. X X X

52 The audio beacon must have a minimum sound pressure level of 92 dB, unobstructed. X X

53 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.

X X X

54 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.

X X X

55 Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause momentary disconnects.

X

56 The CANSAT must operate during the environmental tests laid out in Section 3.5. X X

57 Payload/Container shall operate for a minimum of two hours when integrated into rocket. X

B1 Bonus: A video camera shall be integrated into the science payload and point toward the coordinates provided for the duration of the glide time. Video shall be in color with a minimum resolution of 640x480 pixels and 30 frames per second. The video shall be recorded and retrieved when the science payload is retrieved. Points will be awarded only if the camera can maintain pointing at the provided coordinates for 30 seconds uninterrupted.

X X X


11

System Level CanSat Configuration

Trade & Selection


Concept 1 Concept 2

Central Control Unit (CCU) for Payload release, Wings deployment, and Payload Parachute release.

Enclosed Nichrome wire mechanism for Payload release, and Payload Parachute release.

Airfoil-shaped fuselage. Cuboid-shaped fuselage with a rounded nose.

‘X’ wing structure to fold wings Wings folded using torsion springs.

Container made of carbon fibre rods, and ABS ‘ribs’ and plates.

Container made of fiberglass.

Deflected elevon on T-tail to ensure circular descent. Deflected rudder on tail to ensure circular descent.

Concept Chosen Rationale

CONCEPT 1

Improved stability and predictabilityMore reliable release mechanismHigher wing structural integrity

Larger wingspan achieved

Both designs are compliant with the mission requirements. Hence, the most important factor is theaerodynamic stability of the glider, and the release and deployment mechanism. While Concept 1 isindeed harder to integrate and heavier, the the CCU has been tested in last year’s Competition along withvarious test launches, and has shown to be effective and reliable.


12


Trade & Selection


Concept One (Chosen):

Payload stowed in fluorescent pink Container

Payload with delta wing deployed

Payload with fluorescent pink parachute deployed

T-tail with slightly deflected elevon.

Camera with 360° continuous rotation and 90° pitch, with bevel gears.‘X’ structure to fold wings.

Central Control Unit for Payload release, Wings Deployment and Payload Parachute Deployment.


13


Trade & Selection


Concept Two:

Torsion springs to fold wings.Nichrome wire mechanism for Payload release

and Payload Parachute deployment.

Camera with 360° continuous rotation and 90° pitch, with

3D printed ABS gears.

Payload stowed in fluorescent pink Container

Payload with delta wing deployed

Tail with slightly deflected rudder.

Payload with fluorescent pink parachute deployed


System Level Configuration Selection


Concept Chosen: CONCEPT 1

Configuration Rationale

Central Control Unit (CCU) for Payload release, Wings deployment, and Payload Parachute release.

A CCU was used in last year’s design and consists of arotational servo with various rods attached,converting motion from rotational to linear. It hasbeen a thoroughly tested mechanism and is known tobe both effective and reliable.

Airfoil-shaped fuselage.An airfoil-shaped fuselage allows the team to predictand simulate the glider. It also improves theaerodynamic stability of the glider.

‘X’ wing structure to fold wingsAn ‘X’ wing structure not only improves the structuralintegrity of the wing, it can also achieve a largerwingspan.

Deflected T-tail to ensure circular descent.The deflection needed to ensure a circular descent islarger and easier to incorporate on a T-tail elevoncompared to a rudder.

Container made of carbon fibre rods, and PLA ‘ribs’ and plates.

This configuration allows for better access to the payload.


15

Physical Layout


321 4 5

1) Launch Configuration (In Rocket)2) Deployed Configuration (Rocket Deployment – 450 m)3) Payload released Configuration (450 m)4) Payload deployed Configuration (450m – 100m)5) Payload parachute deployed Configuration (100m – Landfall)


Physical Layout

16

Red – Container Parachute BayBlue – Central Control Unit (CCU) subassemblyYellow – PCB and Mounted ElectronicsGreen – Camera Mechanism subassembly

3

12 4

5

A

B

C

D

E F G H

I

J

Basic Dimensions1 – 305 mm2 – 300 mm3 – 125 mm4 – 400 mm5 – 280 mm6 – 120 mm

Major componentsA – BatteryB – GPS moduleC – Pitot tubeD – CameraE – Camera pitch/yaw mechanismF – PCB + TeensyG – PM sensorH – Parachute bayI – Central Control Unit (CCU)J – Tail


6

17

System Concept of Operations

•

•

•

•


0. Pre-Launch

1. Launch

2. Container Parachute

Deployment

3. CanSatDescent

4.1 Payload Release

4.2 Payload Wings

Deployment

5.1 Container Descent

5.2 Payload Descent

6. Payload Parachute

Deployment

7. Landfall 8. Recovery9. Data

Handover


18


•

•

•

•


0. Pre -Launch

• CanSatswitched on

• Telemetry transmitting start

1. Launch

• CanSatinsertion in Rocket Payload Bay

• Rocket ignition and ascension

• Apogee reached

2. Parachute Deployment

• Rocket and nose cone separation

• CanSatdeployed from rocket Payload Bay

• Container Parachute deploys

• Rocket and nose cone descend separately

3. CanSatDescent

• CanSat descent at 20 m/s with Parachute deployed

4. Payload Release

• 450 m altitude sensed by Payload

• Payload released from Container

• Payload wings deploy

• Camera begins recording


19


•

•

•

•


5.1. Container Descent

• Container descends separately under deployed Parachute

5.2. Payload Descent (Glide)

• Payload descends by gliding in a circular motion of radius 250 m for a minute, remaining above 100 meters in altitude

5.3. Payload Descent

(Parachute)

• Payload releases Parachute, and descends at 10 m/s

6. Landing

• Telemetry transmitting stop

• Audio beacon activation

7. Recovery

• Audio beacon operational

• All systems recovered (including Container)

• CanSatswitched off

8. Data Handover

• Data formatted and saved to USB

• USB handed over to officials


Dimensional constraints (as per Competition Requirements):• Diameter - 125 mm• Height - 310 mm

Dimensional constraints of current design:• Diameter – 120 mm• Height – 305 mm• Diameter clearance – 2.5 mm each side• Height clearance – 2.5 mm each side• No sharp protrusions (bolts will be sanded down if necessary)

Dimensions account for ease of fit and deployment.The team will endeavor to increase the clearance size to 5 mm.

Multiple test launches will be performed at the University of Manchesterto verify Launch Vehicle Compatibility.

2.5 x 2.5clearance

20

Launch Vehicle Compatibility


2.5 x 2.5clearance


21

Sensor Subsystem Design

May Ling Har


Sensor Subsystem Overview

22

Selected Component Function

ICM-20948 9-axis IMUMeasures angular velocity, angular acceleration, and magnetic heading. All measurements contain readings in 3-axis.

BMP 388 Barometric Pressure SensorMeasures the air pressure to provide temperature compensated altitude information. Also provides temperature information.

u-blox NEO-M8N GPS ModuleTracks the position of the Payload. Also provides ground speed readings.

MS4525DO Differential Pressure Sensor

Measures differential pressure to provide airspeed readings.

GP2Y1010AU0F Particulate Sensor Measures the concentration of particulates in the air.

RunCam Nano 2 CMOS Camera Used for camera bonus objective to record position of target location.

HMDVR Digital Video Recorder Used to record video from the camera.

CanSat 2020 PDR: Team 4920 Manchester CanSat ProjectPresenter: May Ling Har

23

Sensor Subsystem Requirements



A I T D


2 CanSat 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. X X



11 The science payload shall glide in a circular pattern with a 250 m radius for one minute and stay above 100 meters after release from the container. X X X

13 After one minute of gliding, the science payload shall release a parachute to drop the science payload to the ground at 10 meters/second, +/- 5 m/s X X X






24




A I T D


22 The science payload shall measure altitude using an air pressure sensor. X X X X






28 The science payload shall transmit all sensor data in the telemetry. X X X X


41 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.) X X


57 Payload/Container shall operate for a minimum of two hours when integrated into rocket. X


25




A I T D


X X X


Payload Air Pressure Sensor

Trade & Selection

26

Component InterfaceResolution

(Pa)

Accuracy (hPa) Size (mm)L x W x H

Mass (g) Cost (£)Error (m)*

BMP180 I2C 0.01-4.0 / +2.0 2.5 x 2 x

0.950.04 3.19

-0.28 / -0.14

BMP388 I2C / SPI 0.016+/- 0.4 2.0 x 2.0 x

0.750.06 2.62

+/- 0.03

MS5607 I2C / SPI 2.4+/- 1.5 5.0 x 3.0 x

1.00.12 2.42

+/- 0.11

*At altitude of 300m


Selected Component Rationale

BMP388

• Best specifications• Small footprint• Direct upgrade from last year’s solution (BMP180). Familiar with

interface.


27

Payload Air Temperature Sensor

Trade & Selection



BMP388• Module already integrated in the system• Highest resolution and accuracy


(oC)Accuracy (oC)

Size (mm)L x W x H

Mass (g) Cost (£)

BMP180 I2C 0.1 ± 0.52.5 x 2 x

0.950.04 3.19

BMP388 I2C / SPI 0.005 ± 0.32.0 x 2.0 x

0.750.06 2.62

MS5607 I2C / SPI 0.008 ± 2.05.0 x 3.0 x

1.00.12 2.42


28

GPS Sensor

Trade & Selection


Component InterfaceHorizontal

Position Accuracy (m)

Velocity Accuracy

(m/s)

Time-To-First-Fix (s) Size (mm)L x W x H

Mass (g)Cost (£)Cold Hot

uBlox NEO M8N

I2C/ SPI/ UART

2.5 0.05 29 116 x 12 x

2.23.00 6.78

MTK MT3339I2C/ SPI/

UART3.0 0.1 35 1 16 x 16 x 5 4.00 23.15

Titan X1I2C/ SPI/

UART3.0 0.1 35 1

13 x 13 x 6.9

5.30 38.54


uBlox NEO M8• Most accurate position tracking• Fastest operation• Previous experience


29

Payload Power Voltage Sensor

Trade & Selection


Component Interface Resolution (mV)Size (mm)L x W x H

Mass (g) Cost (£)

Onboard ADC + Voltage Divider

Analog 1.6 Negligible Negligible Negligible

INA219 I2C 41.63 x 2.90 x

1.450.08 20


Onboard ADC + Voltage Divider

• Simplicity• Previous experience

Note: the voltage divider is needed as the inbuilt Teensy

ADC measures voltage values up to 3.3 V.


30

Air Speed Sensor

Trade & Selection


Component InterfacePressure

Range (kPa)Accuracy (%

span)Size (mm)L x W x H

Mass (g) Cost (£)

MPXV7002 I2C ± 2 ± 2.517.8 x 18.4 x

9.44.5 17.4

MS4525DO I2C / SPI ± 6.89 ± 0.2512.4 x 17.4 x

7.23.0 31.57

MS5525DSO I2C / SPI ± 6.89 ± 0.25 12.5 x 7.9 x 9.7 3.0 17.75


MS4525DO

• Low Mass• Accuracy• Availability• Previous experience


31

Particulate/Dust Sensor

Trade & Selection



GP2Y1010AU0F• Smallest size• Lightest


(µm/m3)Size (mm)L x W x H

Mass (g) Cost (£)

GP2Y1010AU0F Analog 1.6 46 x 34 x 17.6 15 7.43

PPD42NS SPI 1 59 x 45 x 22 24 8.89


32

Bonus Camera Trade & Selection


Component Interface ResolutionField of View

(deg)Size (mm)L x W x H

Mass (g) Cost (£)

RunCam Nano 2

Serial 976 x 582 155 14 x 14 x 16 3.2 12.58

Foxeer XAT520 Mini FPV Camera

Serial 786 x 576 10011.8 x 11.8 x

24.54.5 19.58

SQ11 Pawaca Camera

SelfContained

640 x 480 140 20 x 28 x 105

(disassembled)12


RunCam Nano 2• Lowest Mass• High field of view


33

Container Air Pressure Sensor

Trade & Selection


Note:From previous experience, there is no need for an air pressure sensor in the container. The sensor available in the payload is sufficient to determine the exact altitude.


(Pa)

Accuracy (hPa) Size (mm)L x W x H

Mass (g) Cost (£)Error (m)*

BMP180 I2C 0.01-4.0 / +2.0 2.5 x 2 x

0.950.04 3.19

-0.28 / +0.14

BMP388 I2C / SPI 0.016+/- 0.4 2.0 x 2.0 x

0.750.06 2.62

+/- 0.03

MS5607 I2C / SPI 2.4+/- 1.5 5.0 x 3.0 x

1.00.12 2.42

+/- 0.11


*At altitude of 300m

34

Descent Control Design

May Ling Har


35

Descent Control Overview

•

•

•


Stage 1: apogee → 450m

Container is released from the rocket at apogee. The Container parachute is deployed with the payload stowed inside the container.

Stage 2A: 450m → ≥100m

The payload is released from the container and glides in a circular pattern for 60 seconds while data acquisition takes place and the camera tracks its target.

Stage 3: ≥100m → landfall

The payload parachute is deployed.

Stage 2B: 450m → landfall

After the payload is released, the container continues to descend under its parachute.

1

2A

2B

3

Container and container parachute will be fluorescent pinkPayload parachute will be fluorescent pink


36

Descent Control Requirements



A I T D



X X


X X X



X X




X X X



11 The science payload shall glide in a circular pattern with a 250 m radius for one minute and stay above 100 meters after release from the container.

X X X



X X X



37

Descent Control Requirements



A I T D





30 The Parachutes shall be fluorescent Pink or Orange X X




X X X

Note: Regarding RE B1, an outer structure will be required in order to accommodatethe camera. This will create extra drag and lower the net Lift over Drag ratio.


38

Payload Descent Control Strategy

Selection and Trade


STAGE 1 & 2B - Container Parachute design Selection & Trade off:

Shape Advantages Disadvantages

CircleHigher drag, short deployment time,

high durabilityDifficult to fabricate

Cross Easy to manufacture, easy to stack Lower drag

Square Easy to manufacture, ease of integration Longer deployment time, lower drag

Material Advantages Disadvantages

Ripstop NylonLightweight, high strength-to-weight ratio, resistant to tear, low moisture

absorbencyHeat sensitive, not eco-friendly

Terylene High strength, heat resistant Not eco-friendly, not easily procurable

KevlarHigh tensile strength, thermal stability

and resilienceLow compressive strength, absorbs

moisture, expensive

Therefore, a fluorescent pink circular Ripstop Nylon parachute has been chosen to control stowed descent rate. This is thefirst parachute and it will be deployed at rocket separation for both the container and payload and, once the payload hasbeen released, only for the container. The parachute will be purchased off-the shelf to compensate for the disadvantage.

Used from apogee (670-725 m) until landing (0 m)


39


Selection and Trade


Configuration B: Folding wingsConfiguration A: Extending blended wing

Deployed payload descent control strategy

Payload descent control will be achieved by means of the lifting force generated by wings in a delta configuration. The rate of descent is depended on the ratio of the lifting force to the aerodynamic drag force. Two configurations were conceived to provide the required lift-to-drag ratio:

Configuration Advantages Disadvantages

A: Extending blended wing• Allows the use of more efficient airfoils• Larger wing surface area achievable

• Complex to design and assemble

B: Folding wings• Easy to manufacture• Simpler mechanism• More flexible allocation of fuselage space

• Smaller wing area• Poorer wing structural integrity


40


Selection and Trade


Configuration A was chosen with the following details:

Component Construction Reasons for selection

Fuselage compartment Rib frame with fabric skin• Lightweight• More aerodynamic

Wings Extending X-frame spar with stretched fabric skin• Space-efficient stowage• Rigid construction• Smooth wing blending

Collapsed configuration Extended configuration


41


Selection and Trade•


Option B: Nichrome wireOption A: Central Control Unit (CCU)

Payload parachute deployment method

CCU in parachute release position

Option Advantages Disadvantages

A: CCUIntegrates with other mechanisms of the

design, reusable, previous experienceHeavier, occupies more space

B: Nichrome wire Lightweight, simple operation Single use, requires insulating

Parachute bay lid release controlled by Nichrome wire heating


Option A was chosen as the CCU has shown to be reliable and has been tested thoroughly in previous competitions and test launches.

42


Selection and Trade


STAGE 3 - Payload Parachute design Selection & Trade off:

Shape Advantages Disadvantages

CircularHigher drag, short deployment time,

high durabilityDifficult to fabricate

Cross Easy to manufacture, easy to stack Lower drag

Square Easy to manufacture, ease of integration Longer deployment time, lower drag

Material Advantages Disadvantages

Ripstop NylonLightweight, high strength-to-weight ratio, resistant to tear, low moisture

absorbencyHeat sensitive, not eco-friendly

Terylene High strength, heat resistant Not eco-friendly, not easily procurable

KevlarHigh tensile strength, thermal stability

and resilienceLow compressive strength, absorbs

moisture, expensive

Therefore, a circular fluorescent pink Ripstop Nylon parachute has been chosen to control stowed descent rate.This is the second parachute and it will be deployed after one minute of gliding, or at 100 metres, only for the payload.The parachute will be purchased off-the shelf to compensate for the disadvantage.

Used after one minute of gliding until landing (0 m)


Payload Descent Stability Control

Strategy Selection and Trade

•


Active or Passive control Selection & Trade off:

Design Advantages Disadvantages

Passive

The design is inherently positively stable and does not need any active

corrections, ease of integration, no dependence on sensors and software

Challenging to manufacture and assemble, less predictable in case of

strong wind or air currents

Active

The turn would be achieved with greater accuracy, stability could be controlled actively, reducing the risk of tumbling

due to air currents

Extra weight and volume required for servo,

complexity of integration and coding

A passive control system has been chosen for the mission as it isless complex to integrate, allowing the team to focus on othertasks for the mission to be successful. Static stability control willbe achieved by generating enough lift to balance the drag and acomponent of the weight. Longitudinal stability is attained as theCG is forward of the NP, whereas lateral stability is obtained usinga vertical fin and a dihedral angle. The glider will then descend ina circular pattern due to a fixed elevon deflection.

CGNP

Vertical fin


44



•


Option B: Section twistOption A: Reflex cambered airfoil

Longitudinal stability

XFLR5 was initially used to iterate through combinations of airfoil sections. With the planform area constrained by the payload container and deployment mechanism, the main requirements for airfoil selection were the descent rate, positive longitudinal stability and internal volume.

Two options for balancing the pitching moment were identified:

Option A (reflex airfoil) was chosen as it was easier to incorporate into the design and to manufacture.


A: Reflex cambered airfoil Simpler to incorporate into design Performance reliant on accurate manufacturing

B: Section twist More effective in balancing pitching momentLess compatible with selected wing skinning method


45




For the inboard panels (1, 2):the GOE735 airfoil was chosen for its internal volume. Data was obtained from XFLR5 airfoilanalysis.

For the outboard panels (3):The ESA40 was chosen as a reflex airfoil with high L/D. Data was obtained from Selig Low Speed Airfoil Data Vol.3.

A static margin of 30% of the wing mean aero chord was selected based on the XFLR5 analysis of the longitudinal stability modes.

CG

NP

11

22

3 3

Horizontal stabiliser

Wing span 400 mm

Total wing area 0.0788 m2


46




Based on Prandtl’s lifting line theory, the aerodynamic coefficients of the glider were calculated from the 2D airfoil data and used to validate the chosen configuration. Longitudinal stability was determined using the total pitching moment coefficient, evaluated using moment contributions from each wing panel for a given airfoil section.

A negative rate of change of Cm with angle of attack confirmed positive longitudinal stability.

Ӗ𝑐 Mean aero chord of wingന𝑐𝑖 Mean aero chord of panel 𝑖ℎ CG position, in % of Ӗ𝑐ℎ0𝑖 AC of panel 𝑖, in % of Ӗ𝑐𝑆𝑖 Surface area of panel 𝑖𝑆 Total wing surface area𝐶𝑀, 0𝑖

Moment coefficient of panel 𝑖𝐶𝐿, 𝑖 Lift coefficient of panel 𝑖

(function of AoA and lift slope)

𝑉𝑇 Horizontal stabiliser volume coefficient

𝐶𝐿, 𝑇 Horizontal stabiliser lift coefficient


47




Lateral Stability

A simulated approach to evaluating dynamic stability was chosen given the complexity of the system to be solved. XFLR5 was used to predict the lateral stability in all dynamic modes when determining the appropriate size for the vertical fin and degree of dihedral.

Damping of the dutch roll mode is predicted, however the spiral mode diverges slightly over the

descent time.


48




Option B: Fixed elevon deflection angle

Asymmetric deflection of the elevons on the horizontal stabiliser will induce a rolling moment, leading to a banked turn.

Option A: Fixed rudder deflection angle

A rudder deflection will induce a yawing moment, leading to a change of direction.

Methods to induce the turn

Based on flight dynamic theory, it was determined that two options were available to induce the turn without active control. The vertical fin is required in both cases for directional stability.


A: Fixed rudder deflection angle • Rate of turn is more constant• A very small deflection angle is needed for the

required 250m radius turn, which would be difficult to set accurately

B: Fixed elevon deflection angle• A much larger deflection angle can be

used to achieve the required 250m radius turn

• The addition of a horizontal stabiliser upon which to mount the elevons is required

• Rate of turn slow at first, before converging to required radius


Option B was selected as the larger deflection angle would be easier to manufacture and adjust during testing.

49




The glider’s descent was simulated in the University of Manchester’s Merlin flight simulator to obtain an estimate of the required elevon deflection angle for the turn (approximately 3 degrees).

Further testing will be performed to ensure actual performance matches these results.

Deflected elevon


50



•


Design Advantages Disadvantages

Spill holeDrifting is decreased and

stability increasedReduce effective size of

parachute

No spill hole Ease of manufacture Reduced stability

A spill hole will be integrated in both parachutes to improve stability. This will be accountedfor in the descent rate calculations.

Spill hole


51

Descent Rate Estimates

Parachute Calculations:

Assumptions made:

1. Weight of falling object is equal to drag when it travels at terminal velocity.

2. Density of air is assumed to be 1.225 kg/m3

3. No wind or air currents.

Using the Drag Equation


Note that the assumptions and the valuesin this slide will be used in the followingslide throughout the calculations


52


Container + Payload Parachute Calculation:

For V=15 m/s For V=25 m/sThe area of the spill hole is chosen tobe equal to 3% of the totalparachute projected area (A⋅103%)

Container Parachute Calculation (After Payload is released):

Science Payload Parachute Calculation (After separation from Container):


A diameter of 0.229 m has been chosen as it can easily be purchased (9'')

For V=5 m/s For V=15 m/s

A diameter of 0.457 m has been chosen as it can easily be purchased (18'')

Mass is reduced by 378g (as payload is released from container.Hence only the mass of the container is accounted for

The area of the spill hole is chosen tobe equal to 3% of the totalparachute projected area (A⋅103%)


53



Payload descent

Assumptions made:

• Descent rate is assumed constant

• The turn has a negligible effect on the descent rate

• The initial deployment is not considered

• Small-angle approximations for γGlide ratio γ = atan

1L

D

= 8.7°

Total lift L = mgcos(γ) = 3.5 𝑁

𝐿 =1

2𝜌𝑉2𝑆𝐶𝐿 ⇒ 𝑉 =

2𝐿

𝜌𝑆𝐶𝐿= 28.8 𝑚/𝑠

𝑉𝑠𝑖𝑛𝑘 =𝑉

𝐿𝐷

= 4.4 m/s

Maximum allowed descent speed (Vsink): 350 𝑚𝑒𝑡𝑟𝑒𝑠

60 𝑠𝑒𝑐𝑜𝑛𝑑𝑠= 5.8 𝑚/𝑠

L/D taken at 𝛼Τ = 1.5°(from stability analysis)

L

mgγ

Vsink

D


54


Summary


Container mass 222 g

Payload mass 378 g

Total mass 600 g

Stage 1 Container + Payload

Parachute diameter is 0.229 m

Estimated descent rate is 17.6 m/s

Stage 2A Payload while gliding

Glider wing area is 0.0788 m2

Lift-to-drag ratio is 6.50


Stage 2B Container after Payload release


Stage 3 Payload with parachute deployed

Parachute diameter is 0.457 m


Stage 1 Stage 2A

Stage 2B Stage 3


55

Mechanical Subsystem Design

May Ling Har


56

Mechanical Subsystem Overview


Structural Rods (Carbon fibre)

Container ‘Ribs’(ABS)

Fluorescent pink cover to aid CanSat location

and recovery(PE)

Central Control Unit (CCU) Mechanism

Spool (ABS)

180° Servo

Steel rodsCCU mounting structure (ABS)

305 mm

120 mm

180 mm

Electronic components placement mounts (ABS)

Key Aspects and Materials

Payload with Fluorescent Pink Parachute Deployed

Deflected elevon on tail (ABS)

Container with Fluorescent Pink

Parachute Deployed

Wing ribs (Balsa wood)

Wing structure

(ABS)

PCB

Payload ParachuteBay

Structural Fuselage plates (Foam cored carbon fibre)


String connecting Payload and

Container

57

Mechanical Sub-System

Requirements



A I T D



X X


X X X



X X




X X X



X X X






58

Mechanical Sub-System

Requirements



A I T D



20 Mechanisms shall not use pyrotechnics or chemicals. X

21 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.

X X X

30 The Parachutes shall be fluorescent Pink or Orange . X X


46 Both the container and probe shall be labeled with team contact information including email address. X


49 The probe must include an easily accessible power switch that can be accessed without disassembling the CanSat and in the stowed configuration.

X X X

54 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.

X X X



X X X


59

Payload Mechanical Layout of

Components Trade & Selection


The following page discusses the structure materials for the payload.

Structure Materials

Material Density (kg/m3) Manufacturing Advantages Disadvantages

FuselageStructural

Plates

ABS (3D Printed) 1052 3D Printer Very strongToxic fumes released in manufacture

Foam Cored Carbon Fibre

1280/32 CNC Lightweight, very strongExpensive, difficult to manufacture

Pine Plywood 575 Laser Cutter Very lightweight Low strength

Mounts for electronic

components

PLA (3D Printed) 1430 3D Printer Very strong Heavy



Wing structure




Balsa Wood 170 Laser Cutter Extremely lightweight Low strength


60




The following page discusses the mechanisms for the payload.

Mechanisms

Material Mass (g) Manufacturing Advantages Disadvantages

PayloadRelease

Solenoid 12.6 Off the shelf Reliable, high performance Short travel range, heavy

Servo with string 9 Off the shelfReliable, able to control in small steps

Large space required, larger battery required

Nichrome wire with string TBD Off the shelfReduces need for actuating, lightweight

Needs to be insulated, not as reliable as mechanical methods

Wing Deployment






Torsion springs 2 Off the shelf Reliable, space efficientNeeds to be replaced after a number of test iterations due to fatigue

PayloadParachute

Deployment







61




Chosen Structure Materials

Material Rationale

Fuselage structural

platesFoam Cored Carbon Fibre High strength and lightweight. Team members have experience in the manufacture.

Mounts for electronic

componentsABS (3D Printed) High strength and stiffness. Easy to remodel and manufacture.

Wing Structure

ABS (3D Printed) High strength and stiffness. Easy to remodel and manufacture.

Balsa Wood Extremely lightweight, sufficient strength for its purpose. Fast and easy to manufacture.

The following page summarizes the chosen materials and mechanisms to be used in the Payload.


Method Rationale

Payload Release

Servo with string (CCU) High reliability of servo. Thoroughly tested in previous Competitions and test launches.

WingDeployment

Servo with string (CCU) High reliability of servo. Thoroughly tested in previous Competitions and test launches.

Torsion springs High reliability and space efficiency.

Payload Parachute

DeploymentServo with string (CCU) High reliability of servo. Thoroughly tested in previous Competitions and test launches.


62




The four following pages discuss the first method conceptualized for the mechanical layout of the payload.

CONCEPT 1 (Chosen)

Rocket bodytube

Fluorescent Pink Container

Cover (PE)

Transparent payload cover

(PE)

Structural Fuselage plates (Foam cored carbon fibre)

Electronic components placement mounts (ABS)

String attaching Payload to Container String attaching Wing rib to

Fuselage


63




CONCEPT 1 (Chosen)

‘X’ wing structure (ABS)

Balsa Ribs

Spool (ABS)

Central Control Unit (CCU) Mechanism

180° Servo

Steel rods

CCU mounting structure (ABS)

Slightly deflected elevon (ABS)

Tail (ABS)

Torsion springs Fluorescent Pink wing skin (ripstop nylon)


64




CONCEPT 1 (Chosen)

Stacked PCBs for mounted electronics

Pitot tube

GPS

Particulate sensor

Battery

SwitchPCBsCamera

Buzzer

FPVDVR Hinged Parachute Bay

Lid (ABS)

Teensy 4.0

IMU (underneath Teensy 4.0)

BMP388

ADUXBEE

Transparent vacuum formed

PE structureHeaders

Folded Fluorescent Pink Parachute (Ripstop nylon)


65




CONCEPT 1 (Chosen)Key Features:• ‘X’ wing structure for folding, aided by

torsion springs and string connected to a spool

• Camera with 360° continuous rotation and 90° pitch.

• Central Control Unit (CCU) mechanism for Payload Release, Payload Wings Deployment, and Payload Parachute Deployment.

• Deflected elevon on T-tail.• Airfoil-shaped fuselage with transparent

dome for camera mechanism.

Advantages:• Larger wingspan achieved.• Higher wing structural integrity.

Disadvantages:• Difficult to manufacture and integrate.• Less space efficient.

Camera

Slip ring to avoid wire entanglement

Motor for 360°

continuous rotationBevel gears (off the shelf)

Servo for 90° pitch

Mounts (ABS)Structural plate (plywood)


66




The four following slides discuss the second method conceptualized for the mechanical layout of the payload.

CONCEPT 2

Rocket bodytube

Fluorescent Pink Container

Cover(Fibreglass)

Parachute Bay Lid (Plywood)

Structural Plates (Plywood)

Structural Plate (Acrylic) Nylon Spacers for

structural purposes

Parachute Bay Lid Hinge

Transparent payload cover

(PE) 153 mm


67




Carbon Fibre plates

Plywood guide for rudder deflection

Carbon Fibre rods

Fluorescent Pink wing skin (ripstop nylon)

Carbon Fibre ribs

Wing spar (Plywood)

Torsion spring for wing

deployment

Boxes (ABS) to contain NichromeWire Deployment Mechanism

NichromeWires

CONCEPT 2


68




Pitot tubeFolded Fluorescent Pink

Parachute (Ripstop nylon)GPS

Particulate sensor

Battery Switch PCBCamera

CONCEPT 2

ADU

Stacked PCBs for mounted electronics

XBEE

Buzzer

FPVDVR

Teensy 4.0

IMU (underneath Teensy 4.0)

BMP388

Headers


69




CONCEPT 2

Slip ring to avoid wire entanglement Stepper motor for 360°

continuous rotation

3D printed gears (ABS)

Servo for 90° pitch

Camera

Key Features:• Wings folded and deployed using

torsion springs.• Camera with 360° continuous rotation

and 90° pitch.• Nichrome wire mechanism for Payload

Release and Payload Parachute Deployment.

• Deflected rudder on tail.

Advantages:• Easier manufacture and integration.• Space efficient.

Disadvantages:• Difficult prediction of glider

performance.• Lower wing structural integrity.


70




Concept 1 Concept 2

Difficult manufacture and assembly Shorter manufacture and assembly times

Higher predictability of performance, more aerodynamic

Low predictability of performance, less aerodynamic

Deflected elevon on T-tail to ensure circular descent pattern

Deflected rudder on tail to ensure circular descent

Off the shelf gears used for camera mechanism 3D printed ABS gears used for camera mechanism

Higher wing structural integrity due to ‘X’ wing spar Less wing structural integrity

CHOSEN CONCEPT RATIONALE

Concept 1While Concept 1 is more difficult to manufacture and assembly, it has higher predictability and stability. A larger wingspan can also be achieved with Concept 1.


71

Payload Pre Deployment

Configuration Trade & Selection


The following three slides discuss the two methods conceptualized for the Payload pre-deployment configuration.

Design 1:

Stowed Payload in Container: Servo + String (CCU)• The Payload is held inside the

Container with string, secured to the Payload by the CCU servo. The Payload will not be released from the Container until the first rod in the CCU is retracted so that the Payload is free to fall from the Container.

Stowed Wings: Torsion springs + Spool + String (CCU)How it works:• Payload wings are kept in stowed

configuration using torsion springs that connect the wing spar to the Fuselage structure, and string connecting to the first wing rib is wound around the spool which is held stationary by a servo arm attachment on the CCU servo. This enables the wings to remain stowed until the Payload is fully released from the Container.

String attaching Payload to Container

Payload-Container String is connected to

this slot

Servo

CCU Mechanism: Before Payload is released

Rod

Torsion spring CCU Mechanism

Spool

String from Wing rib

Wing rib string connecting to Spool


72




Stowed Payload in Container: Nichrome wire + String• Payload is held inside the

Container through the use of string. When the Payload is ready to be released, the Nichrome wire is heated to the string’s melting point. The string will melt and the Payload will be free to fall from the container. The Payload will not be released until the wire is heated and the string melts, which is controlled by the FSW.

Nichrome wires

ABS Casing

Stowed Wings: Torsion springs• Payload wings are kept in stowed

configuration using torsion springs that connect the wing spar to the Fuselage structure. This enables the wings to stay stowed until the Payload is fully released from the Container. Torsion spring connecting wing

spar to fuselage structure

Design 2:String attaching Payload

to Container

Stowed Wing


73




Design 1 was chosen because of its higher reliability with the CCU, as it has been tested thoroughly in previous Competitions and test launches. Furthermore, the additional string connecting to the first rib and

wound around a spool ensures that the wings will remain in stowed configuration.

Design 1: Servo and String (CCU) Design 2: Nichrome wire and String

Can be controlled in small steps Relies on strength of both Nichrome wire and string

Difficult to set up Difficult to set up

Reusable Needs to be replaced for every test

Larger space and more powerful battery required Extra wiring may be needed to keep payload in Container

Method to keep Payload Stowed in Container: Key Trade Issues

Design 1: Torsion springs, Spool and String (CCU) Design 2: Torsion springs

Wings kept in stowed configuration with torsion springs and with string connecting spool and wing rib

Wings kept in stowed configuration with only torsion springs

Difficult to set up Wing tips in contact with Container walls

Method to keep Wings Stowed: Key Trade Issues


74

Payload Deployment



The following three slides discuss the two methods conceptualized for the Payload’s transition from stowed to deployed configuration.

Design 1:

Releasing Payload from Container: Servo + String (CCU)• The Payload is held inside the Container with

string, secured to the Payload by the CCU servo. Once the CanSat reaches 450 m altitude, the servo is actuated by the FSW and rotates, moving the first rod in the CCU. The string is no longer secured by the pin, and the Payload is no longer held inside the Container by the string, allowing it to fall from the Container.

Deploying Payload Wings: Torsion springs + Spool + String (CCU)• Payload wings are kept in stowed configuration

using torsion springs that connect the wing spar to the Fuselage structure, and string connecting to the first wing rib is wound around the Spool which is held stationary by the servo arm attachment on the CCU servo. After the Payload is fully released from the Container, the servo is actuated and moves the arm, allowing the spool to spin freely due to tension release in the torsion springs. The string is then unwound by the rotation of the spool and the wings unfold with the aid of torsion springs.

CCU Mechanism: Releasing Payload and Deploying Payload Wings

CCU Rod no longer holding string to Container

Spool allowed to spin, unwinds string to Wing rib

Torsion springs unfolds wings


Nichrome wires

ABS Casing

75

Payload Deployment



Design 2:

Releasing Payload from Container: Nichrome Wire• Payload is held inside the Container through

the use of string. When the Payload is ready to be released, the Nichrome wire is heated to the string’s melting point. The string will melt and the Payload will be free to fall from the container. The Payload will not be released until the wire is heated and the string melts, which is controlled by the FSW.

Deploying Payload Wings: Torsion springs• Payload wings are kept in stowed configuration

using torsion springs that connect the wing spar to the Container structure. This enables the wings to transition into deployed configuration when the Payload is fully released from the Container.

Torsion springs connecting wing spar to fuselage structure

Wings in deployed configuration via torsion springs


76

Payload Deployment



Design 1: Servo and String (CCU) Design 2: Nichrome wire and String

Difficult to set up Difficult to set up

Reusable Needs to be replaced for every test

Can be used to perform other operations Multiple modules needed for multiple operations

Larger space and more powerful battery required Extra wiring may be needed to keep payload in Container

Method to release Payload from Container: Key Trade Issues

Design 1: Torsion springs, Spool and String (CCU) Design 2: Torsion springs

Wings allowed to transition from stowed to deploy state only when spool is allowed to rotate, and torsion springs unfold wings

Wings kept in stowed configuration with only torsion springs

Difficult to set upWing tips in contact with Container walls may lead to additional friction

Method to deploy Payload Wings: Key Trade Issues

Design 1 was chosen because of its higher reliability with the CCU, as it has been tested thoroughly in previous Competitions and test launches. Furthermore, the additional string connecting to the first rib and wound around a spool ensures that the wing tips are not in contact with the Container walls, allowing the

Payload to slide out of the Container with ease.


77

Container Mechanical Layout of



Structure Materials

Material Density (kg/m3) Manufacturing Advantages Disadvantages

Parachute attachment

plate


Carbon Fibre (Plate) 1280 CNC Lightweight, very strong Expensive

Pine Plywood 575 Laser Cutter Extremely lightweight Low strength

Main Structural

Parts



Fiberglass 1522 CNC Very strongHard to machine, heavy

Carbon Fibre (Rods) 1280Cutting to Size

(Dremel)Lightweight, very strong

Brittle, weak under compression

The following page discusses the structure materials for the Container.


78





Method Rationale

Parachute attachment

plateABS (3D Printed)

High strength, tested in 2019 Competition and various drop tests, has shown to be capable of withstanding very high loads. Easy to remodel and manufacture.

Main Structural

Parts

ABS (3D Printed)High strength, stiff enough for its purpose of ensuring structural integrity of the Container. Easy to remodel and manufacture.

Carbon Fibre (Rods) High strength and stiffness with very little weight. Easy to acquire and manufacture.

The following page summarizes the chosen materials to be used in the Container.


The following page discusses the first conceptual design for the mechanical layout of the Container.

CONCEPT 1 (chosen)

79




Parachute plate (ABS)

Structural Rods (Carbon fibre)

Container ‘Ribs’(ABS)

Holes for Parachute string

Holes for string connecting

Payload and Container

Fluorescent pink cover to aid CanSat

location and recovery(PE)

300 mm

5 mm

120 mm

Parachute Bay

Payload Bay (ABS, carbon

fibre rods)

Fluorescent Pink Parachute (Ripstop Nylon)


80




The following page discusses the second conceptual design for the mechanical layout of the Container.

CONCEPT 2

Holes for Parachute string

Fluorescent pink Container Body to aid CanSat location and recovery (Fiberglass)

Holes for string connecting

Payload and Container

Parachute Bay

Fluorescent Pink Parachute (Ripstop Nylon)

Payload Bay (Fibreglass) 290 mm

5 mm

120 mm


81




Concept 1 Concept 2

Longer manufacture and assembly timesShorter manufacture times (can be provided by sponsor)

Combination of Carbon Fibre rods and 3D printed ABS for Container structure

Fiberglass for Container body

Lightweight Heavy

CHOSEN CONCEPT RATIONALE

Concept 1While Concept 1 takes longer to manufacture, it consists of less mass and allows for easier access to the Payload.


82

Payload Release Mechanism


The following page discusses the mechanism conceptualized for the release of the Payload from the Container.

Central Control Unit (CCU)

The Central Control Unit (CCU) is designed such that Payload Release, Wing Deployment, and Payload Parachute Deployment can be actuated from a single location with a servo. The first operation performed by the CCU servo will be to release the Payload from the Container.

Sequence of Events:1. The CCU Servo is sent a signal determined by altitude to actuate Payload Release.2. The CCU Servo rotates, and retracts the rod by a specific margin and releases the string from

the CCU. 3. Once the string is no longer attached to the CCU, the Payload is free to fall from the Container.4. When the Payload is fully separated from the Container, the CCU Servo rotates again, and

raises the CCU arm.5. The spool spins and unwinds the string connecting to the wing ribs, allowing the wings to

deploy.

String connecting

Payload and

Container


String connecting Wings and

CCU

Container Parachute Attachment

Mechanism


The following page discusses the Container Parachute Attachment mechanism.

The Container Parachute is attached to the Container via string and a swivel pin. It will not be enclosed by the Container structure to ensure deployment after the CanSat is released from the rocket.

In Launch Configuration, the Parachute will be folded such that it will deploy effectively after CanSat release from the rocket, and that it will not cause the CanSatdimensions to exceed the given dimensional constraints.

After the CanSat is released from the rocket, air flow will cause the Parachute to deploy and slow the descent rate of the CanSat to 20 m/s. The swivel pin will prevent the Parachute strings from tangling, thus preventing Parachute collapse as this was found to be an issue in the 2019 Competition.

After the Payload is released from the Container, the Container will continue to descend separately with its Parachute.

Fluorescent pink Parachute

Fluorescent pink Container

Container Parachute

attachment point


Electronics Structural Integrity


The following two slides discuss the electronics structural integrity of the CanSat.

Selection of the method for hard-mounting the electronics was constrained by RE18, which states that:

‘All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance adhesives.’

Payload Electronics Mounting Methods

Method Advantages Disadvantages

Screws Very secure, strong Non-reusable, additional mass

Standoffs Variable in sizes Additional mass

Bolts & Nuts Variable in sizes, can detach if needed Additional mass

High performance adhesives Lightweight, very secure Permanent

Gorilla Tape Lightweight, easy to apply Can become easily detached

Velcro Easy to apply/remove, lightweight Can become easily detached

PCBAll-in-one, ease of integration, less likelihood of

short-circuitingRequires manufacture

Electronic Equipment Enclosure Methods

Method Advantages Disadvantages

EPS Foam Good shock absorption Difficult to mould and allow access to electronics.

Carbon Fibre Very strong Difficult to manufacture

Plastic Cover Very light, easily shapedDifficult to secure, would require unscrewing for

access

3D Printed ABS Strong, easy to produce Heavy if high infill


Electronics Structural Integrity


Descent Control Attachment Methods

Part Method Justification

Parachutes Swivel & StringSwivel used to secure parachute strings to container such that the parachute strings do not twist, leading to parachute collapse.

CCU

3D Printed ABS Housing Holds servo and rods in place.

3D Printed ABS Spool systemStrings connecting to the first wing ribs are wound around the spool. When the servo moves, the spool is allowed to spin and the wings deploy.

Adhesive Secures rod to servo head.

Washer & String Rod secures the washer until the servo moves and releases the strings.

Securing Electrical Connections Selection

Method Justification

Cable ties Cheap, ease of use, non-permanent.

Epoxy High dielectric strength, very good thermal conduction.

The CCU will be made out of an ABS casing that will hold the servo in place. The servo controls the linear movement of a metal rod thatwill release the load on the spool, allowing the spool to spin due to tension release in the torsion springs, and thus the glider’s wingsunfold and deploy.

A PCB and high performance adhesives will be used for the attachment methods as it provides a strong bond against extreme vibrations.

A plastic cover was chosen to cover the electronics in the payload as it is lightweight and does not need to be structurally supporting anycomponents/parts. It is also easy to remove and replace when replacing the battery.

Epoxy is to be used for securing electrical attachments. Epoxy would be used for cases where the wires are better suited to beingsecured permanently. Otherwise, they will be left to be loose to make remedial actions easier.


86

Mass Budget


Container Mass Breakdown

Subsystem Component Mass (g) Justification

ME/DCS

Structural Carbon Fibre Rods (x6) 10.03 Datasheet

Container Cover (PE) 5.00 Estimated

Parachute (Ripstop Nylon) 3.45 Datasheet

3D Printed Parts (ABS)

Container ‘Ribs’ (x3) 28.50 Datasheet

Container top plate 90.32 Datasheet

Container bottom rib 15.10 Datasheet

String 3.00 Estimated

M3x10 bolt (x12) 5.52 Datasheet

Total 160.92 g


87

Mass Budget


Payload – Electronics Mass Breakdown (1/2)


EPS PCB Core (no headers) 3.27 Measured

SE GPS 4.30 Measured

EPS Battery 15.45 Measured

CDH Buzzer 1.40 Measured

SE Camera 3.20 Measured

ME Motor 11.61 Measured

ME Servo 10.48 Measured

SE Pitot tube 7.78 Measured

SE PM sensor 15.17 Measured

EPS Switch 2.70 Measured

ME Slip Ring 10.00 Measured

CDH/SE/FSW Teensy 4.80 Measured


88

Mass Budget


Payload – Electronics Mass Breakdown (2/2)


CDH XBee 3.68 Measured

EPS PCB add on 4.43 Measured

SE/CDH FPVDVR 8.70 Measured

EPS Headers 6.00 Measured

EPS Wiring 5.00 Measured

Total 117.97 g


89

Mass Budget


Payload – Structure Mass Breakdown (1/3)


ME/DCS

3D printed ABS

X frame arms 48.00 Datasheet

Fuselage – X frame attachment 22.70 Datasheet

GPS mount 3.21 Datasheet

Roof scoop 3.42 Datasheet

Buzzer mount 6.49 Datasheet

PCB mount 3.48 Datasheet

CCU housing + spool 12.30 Datasheet

Camera mechanism mount 7.70 Datasheet

Tail 21.70 Datasheet

Parachute bay 17.10 Datasheet

1mm CFRP Fuselage airfoil (x4) 22.70 Datasheet

3mm Rohacell foam Fuselage airfoil (x2) 0.55 Datasheet

Laser cut BalsaWing ribs (x4) 3.00 Datasheet

Camera mechanism mount 0.63 Datasheet


90

Mass Budget




ME/DCS

Torsion spring (x2) 2.05 Datasheet

Motor bevel gear 1.87 Datasheet

Servo bevel gear 6.26 Datasheet

Kevlar string 0.50 Estimated

Ripstop nylon (glider cover) 5.90 Estimated

PETG sheet (camera bubble) 7.10 Estimated


M3 nut (x4) 1.27 Datasheet

M2.5x6 bolt (x3) 1.23 Datasheet

M2.5 nut (x3) 0.97 Datasheet



91

Mass Budget




ME/DCS

M2 nuts (x12) 4.10 Datasheet

M1.6x10 bolts (x8) 6.11 Datasheet

M1.6 nuts (x8) 5.21 Datasheet

2mm dia. Steel shaft (CCU, Ribs)

3.00 Estimated

3mm dia. Steel shaft (fuselage attachment, parachute bay)

5.26 Estimated

Glue 8.00 Estimated

Parachute 20.00 Datasheet

Total 260.13 g


92

Mass Budget


TOTAL BUDGET

System Mass (g)

Container 160.92

Payload (Electronics + Structure)

378.10

Payload + Container 539.02

Mass Margin

Mass (g) Available mass (g) Margin (g)

539.02 600 ±10 60.98 ± 10

Currently, the mass is below the mass budget requirement at 539.02 g. Once the first prototype has been fully assembled, the team will assess where mass can be added so that it will meet the required mass budget.

A source of uncertainty is that each prototype assembled by the team will have varied masses due to different lengths of wires and strings. Another source of uncertainty is the use of high performance adhesives in the assembly of prototypes. As the CanSat will be assembled by hand, the amount of adhesive used will vary between prototypes, and thus the mass of the prototypes will vary.

To increase the mass of the CanSat, ballast will be added to the Payload to ensure that the Payload is aerodynamically stable. Ballast can also be added to the Container to ensure that the design is compliant with the mass budget requirement. The team will also replace certain structural materials with materials that are heavier yet stronger (such as replacing balsa wood with plywood). The thickness of structural elements and infill percentages of 3D printed components can also be increased. Furthermore, additional adhesive can be applied. This will increase the structural strength and integrity of the CanSat.


93

Communication and Data Handling

(CDH) Subsystem Design

May Ling Har


CanSat 2019 PDR: Team 4999 Manchester CanSat Project 94

Payload CDH Overview


MCU

EEPROMFlash

RTC

Analogue input

IMU, Barometer,

ADU

I2C

GPSSerial

Particle sensor

Analog input

SD card

RadioSerial

AntennaCoax

GCS

Serial

CameraVideo

recorder

Buzzer,Motor,Servos

Digital output

Digital output

Component FunctionTeensy 4.0 internal RTC

RTC

Teensy 4.0 Microcontroller (MCU)ICM-20948 9 –axis IMU8 GB SD card For local data storageXBee Pro 900HP RadioTaoglas FXP290 915 MHz

Antenna

NEO M8N GPS Radio And Antenna

BMP 388Pressure and temperature measure

GP2Y1014AU0FParticles in air measurement

4525DOADU – for differential pressure

95

Payload CDH Requirements


RE# DescriptionVerification

A I T D

1 Total mass of the CanSat (science payload and Container) shall be 600 grams +/- 10 grams. X X

2CanSat shall fit in a cylindrical envelope of 125 mm diameter x 310 mm length. Tolerances are to be included therocket fairing.

X X


18All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performanceadhesives.

X

22 The science payload shall measure altitude using an air pressure sensor. X X X X23 The science payload shall provide position using GPS. X X X X24 The science payload shall measure its battery voltage. X X X X25 The science payload shall measure outside temperature. X X X X26 The science payload shall measure particulates in the air as it glides. X X X X27 The science payload shall measure air speed. X X X X28 The Science Probe shall transmit all sensor data in the telemetry X X X X


31 The ground system shall command the science vehicle to start transmitting telemetry prior to launch. X X X

33Telemetry shall include mission time with one second or better resolution. Mission time shall be maintained in theevent of a processor reset during the launch and mission

X X X

34Configuration states such as if commanded to transmit telemetry shall be maintained in the event of a processorreset during launch and mission.

X X X

35XBEE radios shall be used for telemetry. 2.4 GHz Series radios are allowed. 900 MHz XBEE Pro radios are alsoallowed.

X

36 XBEE radios shall have their NETID/PANID set to their team number. X X X

37 XBEE radios shall not use broadcast mode. X X


39 Each team shall develop their own ground station X


96

Payload CDH Requirements



A I T D

42 Teams shall plot each telemetry data field in real time during flight. X X

44The ground station shall include one laptop computer with a minimum of two hours of battery operation, XBEEradio and a hand-held antenna.

X


Payload Processor & Memory

Trade & Selection

97

Memory Storage Requirements:

• 1 kB of non-volatile memory is needed at least- For maintaining mission time and packet count In case of a processor restart

• 32 kB of program storage (flash) memory is needed at least. From previous years’ experience 32kB is the minimum required. The chosen microcontroller has 64 times thatamount. Additional program storage capacity allows for greater flexibility.

• An additional 8 GB non-volatile memory for telemetry data needed- External SD card reader

• A non-volatile memory solution for video storage is required- A video recorder with a SD card


98


Trade & Selection


Micro-controller

Processor Speed (MHz)

Data Interfaces

Non-Volatile Memory (kB)

Volatile Memory

(kB)

Current (mA)

Size (mm)Mass

(g)Cost (£)

Flash EEPROM

ArduinoNano

161x UART1x SPI1x I2C

32 12

SRAM19

@ 5 V43 x 19 7 16.87

Teensy 4.0 6007x UART3x I2C3x SPI

2048 641024RAM

100@ 5 V

36 x 18 4.8 15.26

Teensy 3.2 24-96 (OC)3x UART2x I2C1x SPI

256 264

RAM

32@ 5 V

(72MHz)36 x 18 4.8 15.14

Microcontroller Boot Time (s)

Arduino Nano 1.46

Teensy 3.2 1.09

Teensy 4.0 1

• Boot time information is not obtainable online, that is why itwas measured experimentally. The table on the right showsthe boot time of the three compared microcontrollers.

• This was achieved by having a program that sets a port highas soon as the device turns on. The device was then reset andthe time from the reset pin going high to the output goinghigh is the result. This was repeated 20 times for an averagemeasurement.



Trade & Selection

99

Chosen Microcontroller Board

Rationale

Teensy 4.0 Microcontroller

• The fastest processing speed. Power consumption changes if device is underclocked or overclocked

• It is as light as Teensy 3.2 and lighter than most microcontrollers• Smallest form factor• Outstanding flash storage for complex programs• High RAM value• Previous team experience will accelerate integration• High number of Data interfaces• Compatible with Arduino IDE, speeding up the software development process• Cheap

Teensy 4.0 MC GPIO Pins Digital IO PWM Pins Analog Inputs Analog Output

Pin Number 40 40 ( All interrupt capable ) 31 14 0

Note: Teensy 4.0 not having a DAC is not a problem as it will not be needed for the given project.


Payload Real-Time Clock


Name AccuracyActive Supply Current (µA)

InterfaceOperating

voltageHardware/Software Cost (£)

Teensy 4.0internal lowspeed clock

50 ppm 26 Internal to CPU 3.3 V Hardware

Free ( It comes

with the Teensy)

DS3231 3.5 ppm 300 I2C 3.3 V Hardware 1.84

Chosen RTC Rationale

Teensy 4.0 RTC

• Lower supply current• Does not require additional circuitry• Comes as part of the MCU• Does not add extra weight or occupy extra are since its already on the board

A hardware RTC will be used. At mission start, the time will be recorded and saved to the EEPROM on the MCU. Inthe event of a processor reset, the mission start time in EEPROM will be used as a reference. The Teensy 4.0 RTCwill have an additional battery, so whenever the microcontroller resets or stops working, it will continue to operate.On the other hand, when the Teensy is on, the RTC will be powered by it.


101

Payload Antenna Trade & Selection


Chosen Antenna Rationale

Taoglas FXP290 915 MHz

• Can be placed near the outside of the payload• Best gain pattern• No extra circuitry needed• Lighter when extra PCB area is accounted for

Antenna Connector Gain (dBi) VSWR Range (m) Mass (g) Size (mm) Polarization Cost (£)

Taoglas FXP290 915 MHz

MHFII (U.FL compatible)

1.5 < 2:1 11646* 1.5 75 x 45 Linear 14.29

Abracon ACAG1204-915-T 915 MHz

Surface Mount 3.42 <2:1 5202** 0.452* 12 x 4 x 1.6 Linear 1.22

* Needs PCB based circuit of 50mm x 90mm adding an additional 12 grams. ** Range estimated based on the Friis transmission equation with a -20 dBm link margin and non-optimal projection angle.


Payload Antenna Trade & Selection

102

On this slide, the antenna patterns are shown. The plots were taken from the antenna datasheet. Patterns provided in the top row are for Taoglas FXP290 915 MHz (chosen). Patterns provided in the bottom row are for Abracon ACAG1204-915-T 915 MHz.

Radiation pattern XZ planeRadiation pattern YZ plane Radiation pattern XY plane


103

Payload Radio Configuration


Chosen Radio Rationale

Xbee-Pro 900HP

• High Range• High Transmit power• Best RX sensitivity• Previous Experience

NETID/PANID will be 4920.

Tranmission is going to be handled by the FSW. GCS to payload transmission will start on power on and stop on touchdown. Data will be transmitted every 1 s ( frequency of 1 Hz) back to the GCS. Additionally, it will be saved locally to non-volatile memory. This will be burst transmission. The XBEE will use direct addressing, not broadcasting.

NameOperating Frequency (MHz)

Ant. Conn. Type

TX Current

(mA)

RX Current

(mA)

Tx Power (dBm)

Rx Sensitivity (dBm)

LOS Range (km)

Mass (g)Dimensions (mm)

Cost (£)

Xbee-Pro 900HP

915U.FL or

RPSMSA215

@3.3V29

@3.3V+24 -101 15.5 42 32 x 22 41.66

Xbee-Pro S2C

2400U.FL or

RPSMSA120

@3.3V31

@3.3V+18 -101 3.2 40 24 x 33 30.46

Xbee -S2C

2400U.FL or

RPSMSA33

@3.3V28

@3.3V+5 -100 1.2 40 24 x 28 20.24


104

Payload Telemetry Format


Frame ID Description Example Value

<TEAM ID> Unique assigned Team ID 4920

<MISSION TIME> Time since power up of the payload in seconds 280

<PACKET COUNT> number of transmitted packets which will be maintained even in the event of processor reset 59

<ALTITUDE> altitude relative to ground level. Resolution 0.1m 103.3

<PRESSURE> Atmospheric pressure in pascals. Resolution 0.1Pa 101358.5

<TEMP> Measured temperature in degrees C. Resolution 0.1 degrees C 26.6

<VOLTAGE> Voltage of CanSat power bus. Resolution 0.01V 5.02

<GPS TIME> Time reported by GPS receiver, UTC time zone in seconds 12:38:47

<GPS LATITUDE> Latitude reported by GPS receiver in decimal degrees. Resolution 0.0001 degrees 53.4851

<GPS LONGITUDE> Longitude reported by GPS receiver in decimal degrees. Resolution 0.0001 degrees -2.2748

<GPS ALTITUDE> Altitude reported by GPS receiver in meters above mean sea level. Resolution 0.1m 103.3

<GPS SATS> Number of GPS satellites being tracked, as reported by the GPS receiver. Integer number 5

<AIR SPEED> The airspeed relative to the payload in meters/second 20.4

<SOFTWARE STATE> Operating state of software. States include boot, idle, launch detection, deployed, landed 0 (idle)

<PARTICLE COUNT> Decimal value showing the measured particle count in mg/m^3 0.025

• Full Packet Makeup = <TEAM ID>,<MISSION TIME>,<PACKET COUNT>,<ALTITUDE>, <PRESSURE>,<TEMP>,<VOLTAGE>,<GPS TIME>,<GPS LATITUDE>,<GPS LONGITUDE>,<GPS ALTITUDE>,<GPS SATS>,<AIR SPEED>,<SOFTWARE STATE>,<PARTICLE COUNT>

• Packet will be ASCII comma delimited format• Transmission will be burst and occur every 1 sec• Example packet:

4920,280,59,103.3,101358.5,26.6,5.02,12:38:47,53.4851,-2.2748,103.3,5,20.4,IDLE,0.025

Transmission format


105

Payload Telemetry Format


Frame ID Description Example Value

<TEAM ID> Unique assigned team ID 4920

<TX START> Transmission trigger 1

Receiving format

• Full Packet Makeup = <TEAM ID>,<TX START>

• Packet will be ASCII comma delimited format.

• When its idle,The Payload will be waiting for these commands from the GCS. Afterwards, it will no longer be listening.

• Example packet:4920, 1

• Transmission of the TX start packet will only occur once.


106

Container CDH Overview


There will be no electronics in the Container.

The Payload will contain all electronics associated with Payloaddeployment and Payload parachute deployment


107

Container CDH Requirements



A I T D


2CanSat shall fit in a cylindrical envelope of 125 mm diameter x 310 mm length. Tolerances are to beincluded the rocket fairing. to facilitate Container deployment from

X X

3The Container shall not have any sharp edges to cause it to get stuck in the rocket payload section whichis made of cardboard.

X X X

4 The Container shall be a fluorescent color; pink, red or orange. X X

10 The Container shall release the payload at 450 meters +/- 10 meters. X X X

15All electronic components shall be enclosed and shielded from the environment with the exception ofsensors.

X

18All electronics shall be hard mounted using proper mounts such as standoffs, screws, or highperformance adhesives.

X



Container Processor & Memory

Trade & Selection


Micro-controller

Processor Speed (MHz)

Data Interface

Non-Volatile Memory (kB) Volatile Memory

(kB)

Boot Time (s)

Current (mA)

Size (mm)

Mass (g) Cost (£)Flash EEPROM

None N/A N/A N/A N/A N/A N/A N/A N/A N/A N/A

Teensy 4.0 6007x UART

3x I2C3x SPI

2048 64 1024 (RAM) 1100

@ 5V36 x18

4.8 15.26

Chosen Solution Rationale

No microcontroller for Container• All functionality can be contained in in payload• Cheaper and lighter• Reduced complexity for same functionality

Related to the Container electronics must ensure safe and correct payload deployment.

It is not a necessity for the electronics/hardware to be located in the Container in order to perform this function.

Therefore, there will be no processor in the Container.

108Presenter: May Ling Har

109

Electrical Power Subsystem (EPS)

Design

Conor Shore


110

EPS Overview

Presenter: Conor Shore CanSat 2020 PDR: Team 4920 Manchester CanSat Project

Component Function

RS PRO 6V dc Buzzer

NEO M8N GPS

BMP 388 Barometer

Qulit Fire 16340 3.7 Li-ion Battery

GP2Y1014AU0F Particle sensor

Runcam Nano 2 Camera (for the bonus)

ICM-20948 9-Axis IMU

HMDVR Camera video recorder

Motor encoder Camera bonus

Servo 1 4.8 g 180 degrees Camera bonus

Servo 2 4.8 g 180 degrees CCU mechanism

Teensy 4.0 MCU

XBEE 3 PRO Radio

SD card breakout boardInterfacing SD card – for additional memory

The CanSat will be powered using only one Lithium-ion battery. The rationale for thischoice is presented in the following slides.Teensy 4.0 will act as the only MCU in the Payload. 5 V are required to power thecomponent.The system RTC will be powered by the MCU when MCU is on, when it is off orreseting it will be powered by an external battery.The IMU requires 1.8 V, which will be supplied by another voltage regulator.All the electronic components will be in the Payload, enclosed by the Payload cover.The Container will not have its own electronic components or enclose any of its own.

111

EPS Requirements



A I T D


2CanSat shall fit in a cylindrical envelope of 125 mm diameter x 310 mm length. Tolerances are to be included tofacilitate Container deployment from the rocket fairing.

X X



22 The science payload shall measure altitude using an air pressure sensor. X X X

23 The science payload shall provide position using GPS. X X X

24 The science payload shall measure its battery voltage. X X X

25 The science payload shall measure outside temperature. X X X

26 The science payload shall measure particulates in the air as it glides. X X X

27 The science payload shall measure air speed. X X X

35 XBEE radios shall be used for telemetry. 2.4 GHz Series radios are allowed. 900 MHz XBEE Pro radios are also allowed. X X


44The ground station shall include one laptop computer with a minimum of two hours of battery operation, XBEE radioand a hand-held antenna.

X X X

Presenter: Conor Shore

EPS Requirements

112


A I T D

45The ground station must be portable so the team can be positioned at the ground station operation site along theflight line. AC power will not be available at the ground station operation site.

X X

48 No lasers allowed. X

49The probe must include an easily accessible power switch that can be accessed without disassembling the cansatand in the stowed configuration.

X X X

50The probe must include a power indicator such as an LED or sound generating device that can be easily seenwithout disassembling the cansat and in the stowed state.

X


53Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed. Lithium cellsmust be manufactured with a metal package similar to 18650 cells.

X

54An easily accessible battery compartment must be included allowing batteries to be installed or removed in lessthan a minute and not require a total disassembly of the CanSat.

X X

55Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause momentarydisconnects.

X X

56 The CANSAT must operate during the environmental tests laid out in Section 3.5. X

57 Payload/Container shall operate for a minimum of two hours when integrated into rocket. X X

B1

Bonus : A video camera shall be integrated into the science payload and point toward the coordinates provided forthe duration of the glide time. Video shall be in color with a minimum resolution of 640x480 pixels and 30 framesper second. The video shall be recorded and retrieved when the science payload is retrieved. Points will beawarded only if the camera can maintain pointing at the provided coordinates for 30 seconds uninterrupted.

X X X


Payload Electrical Block Diagram

113

•

•

•



114Presenter: Conor Shore CanSat 2020 PDR: Team 4920 Manchester CanSat Project


115

The current slide discusses the electrical block diagram.Notes:• The SD card will be powered by the Teensy 4.0 as it will be interfaced to its 4 bit SDIO, which is located under

the real board.

• A battery header will be used to connect the battery to the PCB. It ensures easy replacement.

• Two PCBs will be used for the circuit connection. One containing core CanSat components and one with components that are necessary for this year.

• Umbilical cord will be used to access the Teensy. This will be a USB cable which will connect to the Teensy. This will provide power to the Payload and allow for data transmission.

• An easily accessible external switch will be used to turn on and off the power.

• Two voltage regulators are used to provide stable 3.3 V and 1.8 V and one synchronous boost converter is used to provide 5 V.

• The Buzzer will be beeping every second to show that the system is turned on

•

•

•


Payload Power Trade & Selection


• The team has decided to choose the Qulit fire 16340 Lithium-ion battery, because the team has hadsuccessful experience using this component. A single battery will be used. Two voltage regulators will beused to maintain a steady voltage. One will be 3.3 V and the other 1.8 V. In addition, a synchronous boostregulator will be used for components, which require 5 V.

• The chosen battery source is Lithium-ion. The battery size is 16340, it is small and quite light. The chosenbattery does not represent a fire hazard.

• The battery will be secured with velcro and cable ties. A header will be used to connect it to the core PCB.

Battery Name SizeMass

(g)Type

Voltage (V)

Capacity (mAh)

Price (£) Advantages Disadvantages Energy (Wh)

Qulit fire 16340 Li-ion Rechargeable

34 X 16 mm (L x Dia)

16 Li-ion 3.7 1400 4.99Light, small size, cheap and

rechargeable.Medium capacity 5.18

Sony VTC664.9 X 18.2 mm

(L x Dia)46.8 Li-ion 3.6 3000 5.99

Outstanding capacity, large amount of power, cheap.

Heavy and large 10.8

KeepPower ICR14500


21.44Li-ion

3.7 800 4.13 Cheap, relatively light.Small amount of

capacity2.96


117

Payload Power Budget


Component Name Current (A) Voltage (V) Power (W)Duty Cycle

(%)Duty Cycle (Hrs) Duty hour (sec)

Required Energy

(W·h)

9-axis IMU 3.11 x 10-3 1.8 5.6 x 10-3 100 01:00:00 3600 11.2 x 10-3

Barometer 3.4 x 10-6 3.3 11.2 x 10-6 100 01:00:00 3600 22.4 x 10-6

GPS 0.023 5 0.115 100 01:00:00 3600 0.23

3.3 V Voltageregulator

18 x 10-6 3.7 66.6 x 10-6 100 01:00:00 3600 133.2 x 10-6

1.8 V Voltageregulator

23 x 10-6 5 115 x 10-6 100 01:00:00 3600 230 x 10-6

Synchronous boostregulator

109 x 10-6 3.7 403 x 10-6 100 01:00:00 3600 806 x 10-6

2 x Servo 4.8g 180º 0.0612 5 0.306 100 01:00:00 3600 0.612

Buzzer 0.03 5 0.15 25 00:15:00 900 0.075

Teensy 4.0 0.1 5 0.5 100 01:00:00 3600 1

XBEE 0.229 3.3 0.7557 10 00:06:00 360 0.15114

ADU 0.003 3.3 0.01 100 01:00:00 3600 0.02


Payload Power Budget

118

Component Name Current (A) Voltage (V) Power (W)Duty Cycle

(%)Duty Cycle (Hrs) Duty hour (sec)

Required Capacity

(W·h)

Particle sensor 0.02 5 0.1 100 01:00:00 3600 0.2

Camera 0.11 5 0.55 10 00:06:00 360 0.11

Motor driver 0.85 x 10-3 5 4.25 x 10-3 100 01:00:00 3600 8.5 x 10-3

Motor 0.07 5 0.35 10 00:06:00 360 0.07

Voltage level shifter 20 x 10-6 3.3 6.6 x 10-5 100 01:00:00 3600 13.2 x 10-5

Video recorder 0.05 5 0.25 100 01:00:00 3600 0.5

Teensy 4.0 RTC 26 x 10-6 3.3 85.8 x 10-6 100 01:00:00 3600 171.6 x 10-6

SD card breakout board 2 x 10-3 3.3 6.6 x 10-3 100 01:00:00 3600 0.0132

• The main source of uncertainty is that the data was taken from component datasheets. Data will be confirmed experimentally when CanSat is built.

• Note : Servo current consumption was estimated combining servo being idle and servo operating.• The only power source for the system is the selected battery. For the RTC an additional battery will be used when

the Teensy is turned off.• The total power consumption is expected to be 3.00 Wh, while the battery can supply 5.18 Wh. The margin is

2.18 Wh, which is 42.1 % of the battery supply. There will be enough power to supply the operation of the CanSat for more than 2 hours.

CanSat 2020 PDR: Team 4920 Manchester CanSat ProjectPresenter: Conor Shore

119

Container Electrical Block Diagram


Container will not contain any electronics, therefore no block diagram is required.


Container Power Trade & Selection


The team has chosen to not use any battery for the Container as there will not beany electronic components that require power in the Container.

Battery Name SizeMass

(g)Type

Voltage (V)

Capacity (mAh)

Price (£) Advantages Disadvantages Energy (Wh)

Qulit fire 16340 Li-ion Rechargeable


16 Li-ion 3.7 1400 4.99Light, small size, cheap and

rechargeable.Medium capacity 5.18

Sony VTC664.9 X 18.2 mm

(L x Dia)46.8 NMC 3.6 3000 5.99

Outstanding capacity, large amount of power, cheap.

Heavy and large 10.8

KeepPower ICR14500


21.44Li-ion

3.7 800 4.13 Cheap, relatively light.Small amount of

capacity2.96


121

Container Power Budget


The total required capacity for the Container will be 0 Wh, because there are no electronics in the container.

Component NameCurrent

(A)Voltage

(V)Power

(W)Duty

Cycle (%)Duty Cycle

(Hrs)Duty hour

(sec)

Required Capacity

(W·h)

N/A N/A N/A N/A N/A N/A N/A N/A


122

Flight Software (FSW) Design

Conor Shore


123

FSW Overview


Brief summary of the FSW tasks:

• Throughout: Collect data from sensors, GPS and camera, form data packets for transmission and save backup to

SD card, ensure recovery in case of failure or reboot.

• Launch Pad: Calibrating sensors, setting up SP, ensuring working condition, detecting launch, starting the

telemetry collection and transmission loop

• Before Apogee: Transmit telemetry

• At Apogee: Detect apogee and release of CanSat from rocket (and parachute release)

• Above 450 metres: Detect reaching 450 metres above ground

• Below 450 metres: Deploy SP from Container

• Landed: Detect landing, turn on buzzer and switch off other components

Bonus objective:• A video camera will be integrated into the science payload and point toward the coordinates

provided by the GPS for the duration of the glide time.

FSW Overview

124CanSat 2020 PDR: Team 4920 Manchester CanSat ProjectPresenter: Conor Shore

C++ is the main language of development

• Encapsulation: The ability to store different

functions into specific structs or classes.

Thus the code will be easier to be

understood by all team member.

• Low level: It gives us the ability to

manipulate variables and function via

pointers to the memory address.

• Light weight: C++ follows a philosophy

where only the important metadata is stored.

Language: Development environment:

Arduino IDE for Teensy 4.0

• Community support: The Arduino project

has a lot of community backing, making it

easy to troubleshoot common problems.

• Library friendly: It allows for easy

implementation of pre-existing libraries or

even custom ones.

FSW Overview

125CanSat 2020 PDR: Team 4920 Manchester CanSat ProjectPresenter: Conor Shore

Basic FSW architecture:

126

FSW Requirements

•

•

•

•

•



A I T D



28 The science payload shall transmit all sensor data in the telemetry. X X X

29 The science payload shall transmit all sensor data in the telemetry. X X X

33Telemetry 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.

X X X X

34Configuration states such as if commanded to transmit telemetry shall be maintained in the event of a processor reset during launch and mission.

X X X

47The 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.

X X X X


50The probe must include a power indicator such as an LED or sound generating device that can be easily seen without disassembling the cansat and in the stowed state.

X X X



22 The science payload shall measure altitude using an air pressure sensor X X X X



B1

Bonus : A video camera shall be integrated into the science payload and point toward the coordinates provided for theduration of the glide time. Video shall be in color with a minimum resolution of 640x480 pixels and 30 frames per second.The video shall be recorded and retrieved when the science payload is retrieved. Points will be awarded only if the cameracan maintain pointing at the provided coordinates for 30 seconds uninterrupted.

X X X


127

Payload FSW State Diagram

•

•

•


RECOVERY: During the

operation of the CanSat a

proccesor reset might be

caused by a short circuit or one

of the electrical motors

temporarily drawing too much

power.

In the case of reset data will be

saved in the EEPROM after

every measurment and state

transition, thus in case of

processor reset the state of the

FSW can be broght back

128

Container FSW State Diagram


There are no electronics in the Container. There is no processor, hence no flight software, in the Container. Thus a Container FSW state diagram

is unnecessary.

129

Software Development Plan

•

•

•


GITLAB will be the platform used to keep track of the development cycle.The Software development will be divided into the:• Flight Software branch• Ground Control Station branchOnce the Software has been completed for each branch the two will be merged on themaster branch creating a deployable FSW/GCS package.

Prototyping: will be done when ever possible using the components in isolation or in combination with others.Divide work: work is divided into the two main branches. For further subdivisions different branches will be made with appropriate name of their main branch and given task. Example: FSW-StateMachineDevelopment team: SE – GA, FSW – MR, CDH –CS, EPS – MD, Integration and Test – MR with support from rest of the teamIn the case of problems arising: It will be possible to revert to a previous version from Gitlab. Thus we avoid breaking dependent systems.

Software testing cycle

Hardware testing cycle

Revert cycle

130

Ground Control System (GCS) Design

Presenter Name(s) Go Here


131

GCS Overview

Payload XBee-Pro900HP

900 MHz Yagi Antenna

GCSXBee-Pro 900HP

Laptop (GUI)

N-Female to SMA Male Adapter

.csv files and graphs


132

GCS Requirements


A I T D

29 Telemetry shall be updated once per second. x x x

31The ground system shall command the science vehicle to start transmittingtelemetry prior to launch.

x x x

32The ground station shall generate a csv file of all sensor data as specified inthe telemetry section.

x x

33Telemetry shall include mission time with one second or better resolution.Mission time shall be maintained in the event of a processor reset during thelaunch and mission.

x x x

34Configuration states such as if commanded to transmit telemetry shall bemaintained in the event of a processor reset during launch and mission.

x x x

35XBEE radios shall be used for telemetry. 2.4 GHz Series radios areallowed. 900 MHz XBEE Pro radios are also allowed.

x

36 XBEE radios shall have their NETID/PANID set to their team number x x x

37 XBEE radios shall not use broadcast mode. x x

38Cost of the CanSat shall be under $1000. Ground support and analysistools are not included in the cost.

x x

39 Each team shall develop their own ground station. x


GCS Requirements

133


A I T D

40 All telemetry shall be displayed in real time during descent. x x

41All telemetry shall be displayed in engineering units (meters, meters/sec,Celsius, etc.)

x x

42 Teams shall plot each telemetry data field in real time during flight. x x

44The ground station shall include one laptop computer with a minimum of twohours of battery operation, XBEE radio and a hand-held antenna.

x

45The ground station must be portable so the team can be positioned at theground station operation site along the flight line. AC power will not beavailable at the ground station operation site.

x

46Both the container and probe shall be labeled with team contact informationincluding email address.

x

56The CANSAT must operate during the environmental tests laid out inSection 3.5.

x x

57The CANSAT must operate during the environmental tests laid out inSection 3.5.

x


GCS Design

134

Specifications

Laptop Battery 3 hours from fully charged

Overheating mitigationSun shielding umbrella

Laptop cooling pad

Auto update mitigationDisable auto-update

Disable Internet Connection

GCS Antenna GCS XBee-Pro 900 HS

GCS LaptopN-Female toSMA Male Adapter

USB Cable


135

GCS Antenna Trade & Selection

Antenna Gain VSWR ConnectorBeam width

horizontal/verticalPolarization Cost (£)

TerraWave Yagi Antenna

15dBi ≤1.5 N-female 28˚/28˚Vertical/

horizontal47.95

900 MHz 9 dBi SS Yagi Antenna SMA

Male Connector9dBi ≤1.5 SMA Male 54˚/48˚

Vertical/horizontal

65.24

Hyperlink Wireless Yagi Antenna

14dBi ≤1.5 N-female 30˚/30˚Vertical/

horizontal179.50


All antennas are handheld.

GCS antenna will have a 900 MHz operating frequency, because of XBee Pro 900 HS. It will be handled and directed by a team member.


136


Selected Antenna Rationale

900 MHz 9 dBi SS Yagi

Antenna SMA

Male Connector

The largest horizontal

beam width.

Antenna radiation and gain patterns.


TerraWave Yagi Antenna900 MHz 9 dBi SS

Yagi Antenna SMA Male Connector

Hyperlink Wireless Yagi Antenna

Selected antenna radiation and gain patterns.


137


Antenna mounting design:


Antenna will be mounted on a wooden pole, as shown in the image above. This method was used in previous years and was found to be appropriate.


GCS Software

138

Software Packages:

• Python 2.7.15 - Computational environment of choice

• XCTU – XBee Program Software

• XBEE Python Library – real time access to XBEE via USB interface

• Matplotlib Python Library – real time plotting and data manipulation

• SKlearn Python Library – simple data filtering and post-processing features

Command Software and Interface:• Commands can be sent from the Ground Control Station to the CanSat via command.• The GCS uses the XBEE Python Library to access the XBEE receiver through the USB interface.

Telemetry Data Recording:• Telemetry will be recorded in a .csv file without processing after being read via USB interface.• .csv data will be analyzed in python to present in PFR.

CSV File Generation:• .csv file will be generated in GCS Python software and data will be continuously appended to the

file as it arrives in packets to GCS.


GCS Software


Payload transmission procedure flowchart:


GCS Software

GCS Architecture

140

All x-axis units are in seconds.

Telemetry display prototype.

Wait for dataRead data from

USB portCheck data not

corrupt

Convert data from string to float

Save data .csv file

Plot data


141

CanSat Integration and Test

Conor Shore


142


Overview

•

•

•

•

• 31/57 requirements + Bonus requirement can be tested, the other are satisfied in design stage

• If problems arise during integration, it is likely that retroactive design iterations will occur, and these will maintain compliance with the requirements at all times.

• CanSat will be tested:

Component level

Subsystem level

• Then as grouped subsystems, such as the embedded subsystems Sensors, EPS and CDH, are ready, they can be integrated together and tested:

System level

• Then when grouped subsystems are ready, whole system tests can be performed


Overview of Integration and Testing

• All of these 31 requirements would benefit from an integrated level test

• Launch test(s) will be performed at the University of Manchester with the assistance of the University’s Space Systems Engineering Group

• These launch tests will assess:

– How the components and subsystems perform when fully integrated

– How the entire design performs at integrated level

• Environmental testing will be carried out to verify physical mission conditions - for exampletemperature, shock acceleration, vibration, wind - will not affect system performance

– These should be performed at the component, subsystem and system levels

143Presenter: Conor Shore CanSat 2020 PDR: Team 4920 Manchester CanSat Project


Overview

Subsystem Level Testing Plan

144

CanSat: Payload



145

SubsystemTesting plan

Component Level Subsystem Level System Level

Sensors

• Test if sensor readings are accurate: Altimeter, Adu, IMU, GPS, Particle sensor.

• Test both servos mechanism.• Ensure video being stored on SD

card on FPVDVR on command.• Verify the motor spinning and

changing on command• Test motor response time.• Test encoder.

• Test camera response to changes from GPS

• Test multiple sensor data can be measured at the same time

• Ensure live data collected by sensors can be transmitted and stored

• Verify software can control wing, glider and parachute deployment

• Ensure data transmission starts on command

• Verify live data plotting

CDH

• Verify the buzzer sounds at 92 db• Check is RTC keeps time in case of

power disconnection• Test if data can be received with

XBee• Test if data is stored on SD

• Ensure microcontroller keeps its function in case of power disconnection

• Ensure live data transmission packets can be controlled by FSW

• Verify data packets are sent in appropriate time intervals



146



EPS

• Test if voltage is maintained under expected load for 5V, 3.3V and 1.8V regulator.

• Ensure battery can run for 3 hours at expected load level.

• Test if reading are accurate from the voltage divider.

• Ensure all power rails behave in combination

• Ensure power requirements are satisfied

• Test the system in different external conditions

Radio Communications

• Ensure XBee sends data by testing with randomly generated data

• Test live graph generation with randomly generated data

• Verify communication occurs at and above the required range

• Test data transmission can be stored by generating random data every second

• Verify live data transmission is not affected by external conditions

• Ensure data transmission can be actuated by command



147



Mechanical

• Ensure any changes in component design allow for compatibility and easy integration with requirements

• Test mechanical stresses/strains on all components

• Ensure the CCU works when manually initiated

• Ensure the camera mechanism works manually actuated

• Test wing mechanism works when manually initiated

• Ensure functions (camera mechanism, parachutes deployment) is not affected by external conditions

• Ensure camera is not obstructed in any situation

• Test CCU mechanism with wing and parachute deployment

• Ensure the system operation is not affected by external conditions

• Ensure the system does not fail in different external conditions

• Test if the system withholds stresses/strains of the integrated system

Descent Control

• Ensure easy container parachutedeployment

• Ensure easy glider parachutedeployment

• Flight Simulation Testing• Ensure wing deployment

is not affected by external conditions

• Ensure the payload is aerodynamically stable

• Ensure the payload descends in a circular pattern



148



FSW

• Ensure software maintains packet count in case of processor reset

• Ensure software maintains mission time in case of processor reset

• Ensure software state is correct at each point in the sequence of events

• Test the microcontroller memory after sensor, CDH and GCS subsystem integration

• Verify software operation with randomly generated data

• Ensure software runs without errors

• Verify software works in the case of different external conditions

• Ensure compatibility and integration with all subsystems


Integrated Level Functional Test Plan

Important considerations:• Each system requires sequenced testing to guarantee its required integrated

functions• One or two subsystems in each system acts as a critical subsystem and it is identified

to guarantee the start of the sequence• Table below shows the critical subsystem of both systems:

149

•

System Critical Subsystem Description

CanSat EPSAll mechanisms depend on correct power distribution and supply from the power source to sensors and servos.

CanSat DC, METest launch to validate descent control design concept including stability, descent rate. Also to validate mechanisms.

Comms GCS, CDHAll transmission of mission data and telemetry depends on the correct operation and function of the microcontroller and communication system.


Integrated Level Functional Test Plan


Payload


Environmental Test Plan

The following table gives the environmental tests for the subsystems:

151

Subsystem Critical Subsystem Description

ProbeFlight Simulation Testing

Wind Tunnel Testing

• Performance of the glider will be tested in a Flight Simulator to assess the behaviour and descent velocity in initial stages of the design.

• Glider will be examined in the wind tunnel using different air flow velocites.

CanSat

Vibration TestThermal Test

Drop TestFit Test

• CanSat will be tested under specified conditions to ensure compatibility with specified requirements.

• Vibration test will be performed to evaluate the mounting integrity of the components and entire CanSat.

• Thermal test will be performed in an insulating chamber to evaluate performance at higher temperatures.

• Drop test will be performed to test survival of 30Gs of shock on descent control device attachment component and structures as stated in mission requirements.

• Container compatibility will be tested by measuring the dimensions of the final CanSat.

• Ensure fit of CanSat using jigs, such as diameter jig to ensure CanSar passes through laser cut 125 mm circular hole and height jig, ensuring CanSat passes through 125 x 310 mm rectangle.


152

Mission Operations & Analysis

Conor Shore


153

Overview of Mission Sequence of

Events


Roles and Responsibilities:Mission Control Officer: TCGround Station Crew: MLH, CS, TP, MR, GA, CRRecovery Crew: GJ, MD, MWRCanSat Crew: MLH, CS, TP, CR, MWR, GJ, MR, MD, GA

Final Integration and Testing:• Between 08:00 and 12:00• Full team involved, excluding TC• Various CanSat I&T procedures are carried out prior to the competition to ensure that everything is in order.

This is led by TP and performed by the CanSat Crew.• Antenna and GCS set-up will be carried out by the Ground Station Crew. Simple plug-and-play philosophy stands

behind the design of the GCS and Antenna systems.• An I&T plan will be followed throughout this process to ensure that all procedures have been carried out

sufficiently – see Mission Operations Manual.


154

Overview of Mission Sequence of

Events


Arrival

•08:00 – Full Team

Final Integration and Testing

•CanSat Crew

Official Inspection

•12:00 - TC

Collect CanSat

•TC

CanSat integration with rocket

•MLH, CR

Check Communications

•CS, TP

GCS & Antenna Set-Up

•CS, TP

Rocket with CanSattaken to Launchpad

•MLH, CR

Rocket Installation

•Officials

GCS operational

•GCS Crew

Launch Procedures Execution

•TC

Flight + GCS Operational

•GCS Crew

CanSat Launched

Recovery

•Recovery Team

Handover CanSatfor Final Judging

•MD

Terminate GCS Operation

•TP

Submit USB with collected and received data

•MLH

Begin PFR work and data analysis


155

Mission Operations Manual

Development Plan


The Mission Operations Manual will contain instructions for the following procedures:

1. CanSat Integration and Testing TP, MLH, CS1.1. Integration Procedure1.2. Testing Procedure1.3. Operational Checks

2. GCS & Antenna Setup and Operation Ground Station Crew2.1. Setup Procedure2.2. Operational Checks

3. CanSat-Rocket Integration CanSat Crew4. Launch TC, Officials

4.1. Preparation Procedure4.2. Launch Procedure

5. Other Procedures TC

The Mission Operations Manual will be compiled at individual- and team-level to ensure suitable accuracy and detail of tests and procedures.

The Mission Operations Manual shall be completed by early February in time for the first test launch.

The Mission Operations Manual will be reviewed and approved by the full team. Multiple copies will be distributed to the team on test launch days and at the competition.


156

CanSat Location and Recovery


The following measures will ensure that both the Container and the Payload will be recovered.

1. Audio BeaconContinuously beeping on the Payload at 92 dB unobstructed.

2. TelemetryPayload GPS position plotted on the GCS. Subject to errors and degree of accuracy.

3. ColourThe Container and the Payload will be fluorescent pink to make the CanSat easier to identify and locate.

4. VisuallyRecovery Crew will track the Container and Payload as they descend.

In the event that the CanSat is not recovered, both the Container and the Payload will have Manchester CanSatProject’s address and email address clearly labelled, along with any other relevant contact details.


157

Requirements Compliance

Conor Shore


Requirements Compliance Overview


The current design complies with all requirements.

The design shall be tested to ensure Requirement Compliance, following the procedure explained in the Integration and Testing section of this document.

The design can be altered by the CDR, in case the testing outcome is negative, to ensure the revised design also complies with requirements.

The following five slides trace and demonstrate compliance with all requirements. Comments have been included where necessary.

The legend provides an explanation as to the colour coding used throughout this section, with the goal of demonstrating if a requirement has been met.

Full Compliance

Partial Compliance

No Compliance



(Slide 1 of 5)


RE#

Requirement ComplianceReference

SlidesComments

1 Total mass of the CanSat (science payload and container) shall be 600 grams +/- 10 grams. 92

539.02 g. Will add Ballast to

Payload. See ref slide.

2CanSat 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.

20, 151 120 x 305

3The container shall not have any sharp edges to cause it to get stuck in the rocket payload section which is made of cardboard.

20, 79Bolts will be

sanded if needed

4 The container shall be a fluorescent color; pink, red or orange. 35, 62, 79

5The container shall be solid and fully enclose the science payload. Small holes to allow access to turn on the science payload is allowed. The end of the container where the payload deploys may be open.

20, 62, 79

6 The rocket airframe shall not be used to restrain any deployable parts of the CanSat. 20, 62, 66

7 The rocket airframe shall not be used as part of the CanSat operations. 20, 62, 66

8The container parachute shall not be enclosed in the container structure. It shall be external and attached to the container so that it opens immediately when deployed from the rocket.

20, 79, 83

9 The descent rate of the CanSat (container and science payload) shall be 20 meters/second +/- 5m/s. 54 17.6 m/s

10 The container shall release the payload at 450 meters +/- 10 meters. 82, 123, 127

11The science payload shall glide in a circular pattern with a 250 m radius for one minute and stay above 100 meters after release from the container.

49, 54

12 The science payload shall be a delta wing glider. 12, 13, 39



(Slide 2 of 5)


RE#


SlidesComments

13After one minute of gliding, the science payload shall release a parachute to drop the science payload to the ground at 10 meters/second, +/- 5 m/s

65, 69, 127

14 All descent control device attachment components shall survive 30 Gs of shock. 82, 83, 151

15All electronic components shall be enclosed and shielded from the environment with the exception of sensors.

62, 84

16 All structures shall be built to survive 15 Gs of launch acceleration. 61, 78, 151

17 All structures shall be built to survive 30 Gs of shock. 61, 78, 151

18All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance adhesives.

84, 85

19 All mechanisms shall be capable of maintaining their configuration or states under all forces. 82, 83, 151

20 Mechanisms shall not use pyrotechnics or chemicals. 60, 61, 78

21Mechanisms that use heat (e.g., nichrome wire) shall not be exposed to the outside environment to reduce potential risk of setting vegetation on fire.

61, 78Not using nichrome

wire

22 The science payload shall measure altitude using an air pressure sensor. 26

23 The science payload shall provide position using GPS. 28

24 The science payload shall measure its battery voltage. 29, 114

25 The science payload shall measure outside temperature. 27

26 The science payload shall measure particulates in the air as it glides. 31

27 The science payload shall measure air speed. 30



(Slide 3 of 5)


RE#


SlidesComments

28 The science payload shall transmit all sensor data in the telemetry. 101-105, 127

29 Telemetry shall be updated once per second. 126

30 The Parachutes shall be fluorescent Pink or Orange . 35, 56, 79, 83

31 The ground system shall command the science vehicle to start transmitting telemetry prior to launch. 138, 139

32 The ground station shall generate a csv file of all sensor data as specified in the telemetry section. 137

33Telemetry 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.

100, 104, 127

34Configuration states such as if commanded to transmit telemetry shall be maintained in the event of a processor reset during launch and mission.

127

35XBEE radios shall be used for telemetry. 2.4 GHz Series radios are allowed. 900 MHz XBEE Pro radios are also allowed.

102, 103

36 XBEE radios shall have their NETID/PANID set to their team number. 102, 103

37 XBEE radios shall not use broadcast mode. 102, 103

38Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost.

171

39 Each team shall develop their own ground station. 131-140

40 All telemetry shall be displayed in real time during descent. 140

41 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.) 140

42 Teams shall plot each telemetry data field in real time during flight. 140



(Slide 4 of 5)


RE#


SlidesComments

44The ground station shall include one laptop computer with a minimum of two hours of battery operation, XBEE radio and a hand-held antenna.

134

45The 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.

134

Using laptop. Thus,

portable.

46 Both the container and probe shall be labeled with team contact information including email address. 156

47The 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.

104, 105, 127

48 No lasers allowed. 12, 13No lasers

used.

49The probe must include an easily accessible power switch that can be accessed without disassembling the CanSat and in the stowed configuration.

64, 114

50The probe must include a power indicator such as an LED or sound generating device that can be easily seen without disassembling the CanSat and in the stowed state.

114, 127, 156

51 An audio beacon is required for the probe. It may be powered after landing or operate continuously. 114, 127, 156

52 The audio beacon must have a minimum sound pressure level of 92 dB, unobstructed. 156

53Battery 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.

116



(Slide 5 of 5)


RE#


SlidesComments

54An 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.

62, 64

55Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause momentary disconnects.

84, 85, 115

56 The CANSAT must operate during the environmental tests laid out in Section 3.5. 151

57 Payload/Container shall operate for a minimum of two hours when integrated into rocket. 118

B1

Bonus: A video camera shall be integrated into the science payload and point toward the coordinates provided for the duration of the glide time. Video shall be in color with a minimum resolution of 640x480 pixels and 30 frames per second. The video shall be recorded and retrieved when the science payload is retrieved. Points will be awarded only if the camera can maintain pointing at the provided coordinates for 30 seconds uninterrupted.

32, 69, 123, 125


164

Management

Conor Shore


165

CanSat Budget – Hardware

•

•


The following table shows the budget for hardware in terms of CanSat subsystems:

Subsystem Cost (£)

Structures 157.36

Electronics 164.70

Tools 0

Total: £322.06

Legend

Estimated XX Actual XX


166


•

•


Legend


3D Printed Components*

Part Name Function Reuse Quantity Total Cost (£) Total Cost ($)

Container top plate Attachment for Container Parachute

No

1 2.12 2.77

Container ribs Structural integrity 3 0.67 0.88

Container bottom rib Structural integrity 1 0.35 0.46

X frame arms Wing spar structure 2 1.13 1.48

Fuselage-X frame attachment Attach wings to fuselage 1 0.53 0.69

GPS mount To mount GPS 1 0.08 0.10

Roof scoop To aid airflow for particulate sensor 1 0.08 0.10

Buzzer mount To mount buzzer 1 1.53 2.00

PCB mount To mount stacked PCBs 1 0.08 0.10

CCU housing (inc. spool) To mount Servo for Payload release, wings and Payload Parachute deployment mechanism

10.29 0.38

Total Cost: £6.86 $8.97


167


•

•


Legend


3D Printed Components


Camera mechanism mount To mount camera mechanism components

No

10.18 0.24

Tail To ensure circular descent pattern 3 0.51 0.67

Payload parachute bay To enclose payload parachute 1 0.40 0.52

Total Cost: £1.09 $1.42


168


•

•


Electronic Components


ICM-20948 9-axis IMU Tilt

No

1 4.58 5.99

BMP 388 Barometer 1 2.48 3.24

u-blox NEO-M8N GPS Module GPS 1 5.50 7.19

MS4525DO ADU Measures differential pressure 1 30.43 39.77

2.6 Arduplane Airspeed Sensor Pitot tube 1 3.37 4.40

GP2Y1010AU0F Particle Sensor Particulate count 1 2.87 3.75

Runcam Nano 2 Camera 1 10.21 13.35

HMDVR Records video from camera 1 20.02 26.17

Hitec HS-40 180° Servo CCU and camera pitch 2 17.58 22.98

Aslong JG-12 Stepper motor (camera rotation) 1 6.56 8.57

XBEE Pro 900HP u.fl Communications 1 32.82 42.90

Switch On/Off Switch 1 0.61 0.80

Total Cost: £137.03 $179.11

Legend



169


•

•


Legend


Electronic Components


Slip Ring Camera Mechanism

No

1 5.02 6.56

Buzzer Payload Recovery 1 1.17 1.53

Headers N/A N/A 6.00 7.84

Capacitors N/A 25 11.00 14.37

Inductors N/A 1 0.30 0.39

Resistors N/A 14 2.00 2.61

Digital transistor N/A 1 0.40 0.52

PCB Component Mounting 2 0.78 1.02

Wiring N/A N/A 1.00 1.3

Total Cost: £27.67 $36.16


170


•

•


Legend


Off-the-Shelf Components


Carbon fibre rods Container structural support

No

3 7.20 9.41

Plastic file folder Container cover 1 1.50 1.96

String CCU mechanism 1 1.50 1.96

Nuts/Bolts Box Various nuts and bolts Assorted 11.00 14.38

1 mm CFRP Fuselage airfoils 4 21.50 28.10

3 mm Rohacell foam Fuselage airfoils 2 30.68 40.10

Balsa Wing ribs, camera mechanism mount plate 1 6.45 8.43

Parachutes N/A 2 17.23 22.52

PETG sheet Camera bubble 1 4.75 6.21

Torsion springs Wing deployment mechanism 2 6.00 7.84

Ripstop Nylon Payload wing skin 1 19.99 26.13

Total Cost: £127.80 $167.03


171


•

•


Legend


Off-the-Shelf Components


Steel shaft CCU rods, wing ribs, fuselage attachment, parachute bay

No

25.89 7.70

Gorilla epoxy High performance adhesive 2 11.00 14.38

Bevel gears Camera mechanism rotation 2 4.72 6.17

Total Cost: £21.61 $28.24


172


•

•


Total Spent (£) 322.06

Total Spent ($) 420.93

Budget Left ($) 579.06

Exchange Rate (£1 = ) $1.307

Exchange Rate Date 28/01/2020 14:30 GMT


173

CanSat Budget – Other Costs


Source Amount (£) Additional Information

Department of MACE 6500

Department of EEE 2000

Department of Computer Science 500

Aerospace Research Institute 1000

MANSEDS 620

BAE Systems 2,500 TBC

Airbus 6,000 TBC

Total Income Confirmed (£) 10,620

Legend



174

CanSat Budget – Other Costs


Detail Description Unit Cost Quantity Total Cost

Travel, Accommodation and Sustenance

Costs

Travel Flights, rental car, train £758 10 people £7,580

VisasTourist Visa £122.42 4 people £489.67

ESTA £10.71 6 people £64.27

HousingBased on a stay from

13/06/2019 to 17/06/2019£325 10 people £3250

Food Assuming £15/person/day £60 10 people £600

GCS Hardware Cost

DisplayLaptop (provided by team

member)N/A 1 N/A

Telemetry900 MHz 9 dBi SS Yagi Antenna

SMA Male Connector£65.24 1 £65.24

Emergency CanSat All CanSat parts N/A £322.06 1 £322.06

Competition Entry Fee

N/A N/A £159.19 1 £159.19

Total Mission Cost: $16377.27

Legend



175

Program Schedule Overview


• The Gantt chart on the left shows MCP’s Program Schedule Overview

• OpenProject is used as MCP’s primary project management tool

•Milestone

Isolated Task

Parent Task

Exam/Holiday


Detailed Program Schedule


ID Subject Category Relation ID Subject Start date Finish date Category Assignee

143 Initial Design Concept 18.10.2019 23.10.2019 Mechanical Claudio Rapisarda

93 Component Selection Electrical parent of 94 CDH Selection 16.10.2019 26.10.2019 Electrical Conor Shore

93 Component Selection Electrical parent of 96 EPS Selection 15.10.2019 26.10.2019 Electrical Marin Dimitrov

93 Component Selection Electrical parent of 95 Sensor Selection 15.10.2019 26.10.2019 Electrical Khalid Ibrahim

94 CDH Selection Electrical parent of 126 Other components 16.10.2019 26.10.2019 Electrical Conor Shore

94 CDH Selection Electrical parent of 125 Teensy 3.2 vs 4.0 16.10.2019 19.10.2019 Electrical Marin Dimitrov

95 Sensor Selection Electrical parent of 110 Select Pitot Tube/Pressure Sensors 15.10.2019 26.10.2019 Electrical Khalid Ibrahim

96 EPS Selection Electrical parent of 113 Battery Selection 15.10.2019 26.10.2019 Electrical Marin Dimitrov

96 EPS Selection Electrical parent of 114 Power System Design/Boost Converter 15.10.2019 26.10.2019 Electrical Marin Dimitrov

89 Electrical Schematic Finalised Electrical parent of 93 Component Selection 15.10.2019 26.10.2019 Electrical Conor Shore

89 Electrical Schematic Finalised Electrical parent of 97 Schematic Design 27.10.2019 02.11.2019 Electrical Conor Shore

97 Schematic Design Electrical parent of 148 CanSat Addon Schmatic 27.10.2019 02.11.2019 Electrical Marin Dimitrov

97 Schematic Design Electrical parent of 147 CanSat Core Schmatic 27.10.2019 02.11.2019 Electrical Conor Shore

117 Container Mechanical parent of 163 Additional 04.11.2019 23.11.2019 Mechanical May Ling Har

117 Container Mechanical parent of 162 Basic 04.11.2019 04.11.2019 Mechanical May Ling Har

117 Container Mechanical parent of 208 Parachute 13.11.2019 17.11.2019 Decent Control Tim Chronis

120 Container Mechanical parent of 165 Additional 04.11.2019 23.11.2019 Mechanical May Ling Har

120 Container Mechanical parent of 164 Basic 04.11.2019 23.11.2019 Mechanical May Ling Har

120 Container Mechanical parent of 202 Parachute 13.11.2019 17.11.2019 Decent Control Tim Chronis

166 PCB Mechanical parent of 168 Add-on 04.11.2019 24.11.2019 Mechanical May Ling Har

166 PCB Mechanical parent of 167 Core 04.11.2019 09.11.2019 Mechanical May Ling Har

81 Build PCB Electrical parent of 109 Build CanSat Addon PCB 24.11.2019 07.12.2019 Electrical Conor Shore

81 Build PCB Electrical parent of 108 Build CanSat Core PCB 24.11.2019 07.12.2019 Electrical Marin Dimitrov

81 Build PCB Electrical parent of 103 Design CanSat Addon 2020 03.11.2019 09.11.2019 Electrical Marin Dimitrov

81 Build PCB Electrical parent of 102 Design CanSat Core PCB 03.11.2019 09.11.2019 Electrical

The following five slides show the Program Schedule in detail, including Competition Milestones, Academic Milestones and Holidays, Major Development Activities, Component/Hardware Deliveries, and Major I&T Activities and Milestones. Team members have been assigned to each task.





81 Build PCB Electrical parent of 107 Order Parts For CanSat Addon 2020 10.11.2019 16.11.2019 Electrical Conor Shore

81 Build PCB Electrical parent of 106 Order Parts for CanSat Core PCB 10.11.2019 16.11.2019 Electrical Conor Shore

81 Build PCB Electrical parent of 104 Order PCBs 10.11.2019 23.11.2019 Electrical Conor Shore

81 Build PCB Electrical parent of 105 Order Stencil From UoM PCB Lab 10.11.2019 23.11.2019 Electrical Marin Dimitrov

112 GCS Modular Design Electrical parent of 145 Data CSV to graphs 23.10.2019 15.12.2019 Electrical Teja Potocnik

112 GCS Modular Design Electrical parent of 159 Data to Google Earth workflow 08.12.2019 14.12.2019 Electrical Teja Potocnik

112 GCS Modular Design Electrical parent of 158 Graph Generation Script 01.12.2019 07.12.2019 Electrical Teja Potocnik

112 GCS Modular Design Electrical parent of 160 Modify current GCS to work this year 26.10.2019 30.11.2019 Electrical Teja Potocnik

112 GCS Modular Design Electrical parent of 157 Serial Spitter 26.10.2019 09.11.2019 Electrical Teja Potocnik

115 Sponsorship Updates 16.12.2019 16.12.2019 Admin May Ling Har

119 Concept 2 Mechanical parent of 120 Container 04.11.2019 23.11.2019 Mechanical May Ling Har

119 Concept 2 Mechanical parent of 121 Payload 28.11.2019 20.12.2019 Mechanical Richard Ryu

121 Payload Mechanical parent of 211 Camera Mechanism 18.12.2019 18.12.2019 Mechanical May Ling Har

121 Payload Mechanical parent of 199 Elevator Design 28.11.2019 07.12.2019 Decent Control Tim Chronis

121 Payload Mechanical parent of 196 Fuselage Structure 28.11.2019 04.12.2019 Mechanical Gaurav Jalan

121 Payload Mechanical parent of 198 Integration 08.12.2019 08.12.2019 Mechanical Richard Ryu

121 Payload Mechanical parent of 197 Parachute Bay 05.12.2019 07.12.2019 Mechanical Gaurav Jalan

121 Payload Mechanical parent of 200 Parachute Size 28.11.2019 07.12.2019 Decent Control Tim Chronis

121 Payload Mechanical parent of 195 Payload Deployment Mech 28.11.2019 07.12.2019 Mechanical Richard Ryu

121 Payload Mechanical parent of 201 Rudder Design 28.11.2019 07.12.2019 Decent Control Tim Chronis

121 Payload Mechanical parent of 212 Tail 20.12.2019 20.12.2019 Mechanical May Ling Har

121 Payload Mechanical parent of 194 Wing Structure 28.11.2019 07.12.2019 Mechanical Gaurav Jalan

90 CAD for Concept 1 and Concept 2 Mechanical parent of 187 Auxiliary Electronics 13.11.2019 23.11.2019 Mechanical May Ling Har

90 CAD for Concept 1 and Concept 2 Mechanical parent of 116 Concept 1 04.11.2019 22.12.2019 Mechanical Gaurav Jalan

90 CAD for Concept 1 and Concept 2 Mechanical parent of 119 Concept 2 04.11.2019 20.12.2019 Mechanical Richard Ryu





90 CAD for Concept 1 and Concept 2 Mechanical parent of 166 PCB 04.11.2019 24.11.2019 Mechanical May Ling Har

116 Concept 1 Mechanical parent of 117 Container 04.11.2019 23.11.2019 Mechanical May Ling Har

116 Concept 1 Mechanical parent of 118 Payload 13.11.2019 22.12.2019 Mechanical Gaurav Jalan

118 Payload Mechanical parent of 189 Camera Mechanism 13.11.2019 17.11.2019 Mechanical Richard Ryu

118 Payload Mechanical parent of 188 CCU 13.11.2019 14.11.2019 Mechanical Richard Ryu

118 Payload Mechanical parent of 205 Elevator Design 13.11.2019 23.11.2019 Decent Control Tim Chronis

118 Payload Mechanical parent of 191 Fuselage Structure 13.11.2019 24.11.2019 Mechanical Richard Ryu

118 Payload Mechanical parent of 193 Integration 26.11.2019 27.11.2019 Mechanical Gaurav Jalan

118 Payload Mechanical parent of 206 Parachute 13.11.2019 17.11.2019 Decent Control Tim Chronis

118 Payload Mechanical parent of 190 Parachute Bay 25.11.2019 25.11.2019 Mechanical Richard Ryu

118 Payload Mechanical parent of 204 Rudder Design 13.11.2019 23.11.2019 Decent Control Tim Chronis

118 Payload Mechanical parent of 213 Tail 20.12.2019 22.12.2019 Mechanical Gaurav Jalan

118 Payload Mechanical parent of 207 Winglet 24.11.2019 25.11.2019 Decent Control Tim Chronis

118 Payload Mechanical parent of 192 Wing Structure 13.11.2019 24.11.2019 Mechanical Gaurav Jalan

228 Christmas Break 13.12.2019 13.01.2020 Admin

229 Semester 1 Exams 13.01.2020 24.01.2020 Admin

132 First Draft Admin parent of 134 CDH 27.10.2019 26.01.2020 Electrical Conor Shore

132 First Draft Admin parent of 140 DC 23.12.2019 29.01.2020 Decent Control Tim Chronis

132 First Draft Admin parent of 137 EPS 27.10.2019 26.01.2020 Electrical Marin Dimitrov

132 First Draft Admin parent of 135 FSW 17.10.2019 26.01.2020 Electrical Mihnea Romanovschi

132 First Draft Admin parent of 136 GCS 17.10.2019 26.01.2020 Electrical Teja Potocnik

132 First Draft Admin parent of 141 I&T 17.10.2019 26.01.2020 Admin Teja Potocnik

132 First Draft Admin parent of 139 Mech 23.12.2019 29.01.2020 Mechanical Gaurav Jalan

132 First Draft Admin parent of 142 PM 17.10.2019 26.01.2020 Admin Conor Shore

132 First Draft Admin parent of 138 Sensor 27.10.2019 26.01.2020 Electrical Khalid Ibrahim





132 First Draft Admin parent of 214 Systems 26.12.2019 27.01.2020 Mechanical May Ling Har

131 PDR Admin parent of 132 First Draft 17.10.2019 29.01.2020 Admin May Ling Har

131 PDR Admin parent of 133 First Review 30.01.2020 30.01.2020 Admin May Ling Har

82 PDR Submission 31.01.2020 31.01.2020 Admin May Ling Har

123 Prototype 1 Manufacture 07.12.2019 01.02.2020 Mechanical Richard Ryu

111 Modular Code Framework Electrical parent of 149 Create all sensor class for FSW 26.10.2019 02.11.2019 Electrical Mihnea Romanovschi

111 Modular Code Framework Electrical parent of 153 Flowchart for FSW operation 26.10.2019 13.11.2019 Electrical Mihnea Romanovschi

111 Modular Code Framework Electrical parent of 155 FSW logic state machine 14.11.2019 21.11.2019 Electrical Mihnea Romanovschi

111 Modular Code Framework Electrical parent of 154 PID functionality 26.10.2019 23.11.2019 Electrical Khalid Ibrahim

111 Modular Code Framework Electrical parent of 156 Software intergration and test 02.12.2019 02.02.2020 Electrical Mihnea Romanovschi

111 Modular Code Framework Electrical parent of 150 Template for iteration framework 26.10.2019 16.11.2019 Electrical Mihnea Romanovschi

111 Modular Code Framework Electrical parent of 152 Unit test for iteration framework and sensor 17.11.2019 01.12.2019 Electrical Mihnea Romanovschi

85 Test Launch 2 08.03.2020 08.03.2020 Admin May Ling Har

210 Component Level Testing 30.11.2019 08.03.2020 Admin Teja Potocnik

215 Overall Design Revision 2 Admin parent of 219 Descent Control 10.02.2020 09.03.2020 Decent Control Tim Chronis

215 Overall Design Revision 2 Admin parent of 217 Electrical 10.02.2020 09.03.2020 Electrical Marin Dimitrov

215 Overall Design Revision 2 Admin parent of 218 Mechanical 10.02.2020 09.03.2020 Mechanical May Ling Har

86 University CanSat Competition 01.04.2020 01.04.2020 Admin May Ling Har

88 Test Launch 3 01.04.2020 01.04.2020 Admin May Ling Har

87 CDR Submission 03.04.2020 03.04.2020 Admin May Ling Har

216 Overall Design Revision 3 Admin parent of 222 Descent Control 10.03.2020 03.04.2020 Decent Control Tim Chronis

216 Overall Design Revision 3 Admin parent of 220 Electrical 10.03.2020 03.04.2020 Electrical Marin Dimitrov

216 Overall Design Revision 3 Admin parent of 221 Mechanical 10.03.2020 03.04.2020 Mechanical May Ling Har

230 Easter Break 27.03.2020 20.04.2020 Admin

231 Semester 2 Exams 13.05.2020 03.06.2020 Admin





223 Design/Manufacturing Buffer Admin parent of 226 Descent Control 04.04.2020 10.06.2020 Decent Control Tim Chronis

223 Design/Manufacturing Buffer Admin parent of 224 Electrical 04.04.2020 10.06.2020 Electrical Marin Dimitrov

223 Design/Manufacturing Buffer Admin parent of 225 Mechanical 04.04.2020 10.06.2020 Mechanical May Ling Har

227 AAS CanSat Competition 11.06.2020 11.06.2020 Admin May Ling Har


181

Conclusions

•

•


Major Accomplishments

• Significant funding secured for this year of the project, with the addition of four new sponsors

• First revision on standardised PCB design manufactured and assembled• Majority of components obtained• Design of Container and Payload finished, prototyping work started

Major Unfinished Work

• First full prototype of CanSat• Testing of new electronic components for this year• Full systems test launch, scheduled for early February

Justification for Progress to the Next Stage

• Significant funding for project obtained• At present, all major goals have been completed on time (on track)


CanSat 2020 Preliminary Design Review (PDR) Outline Version 1

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Transcript of CanSat 2020 Preliminary Design Review (PDR) Outline Version 1