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CanSat 2015 PDR: Team 5251, CosmoKnights 1
CanSat 2015
Preliminary Design Review (PDR)
Team #: 5251
Team: CosmoKnights
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CanSat 2015 PDR: Team 5251, CosmoKnights 2
Presentation Outline
Presenter: Hunter Williams
Introduction/ Outline Hunter Williams
System Overview Clayton Lambert
Sensor Subsystem Design Lietsel Richardson
Descent Control Design Vincent Coment
Mechanical Subsystem Design Jeremy Woodward
Communication and Data Handling (CDH) Subsystem Design Clayton Lambert
Electrical Power Subsystem (EPS) Design Philip Lane
Flight Software (FSW) Design Lietsel Richardson
Ground Control System (GCS) Design Philip Lane
CanSat Integration and Test Kyle Steunenberg
Mission Operations & Analysis Ethan Christian
Requirements Compliance Ethan Christian
Management Hunter Williams
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CanSat 2015 PDR: Team 5251, CosmoKnights 3
Team Organization
Presenter: Hunter Williams
Faculty Advisor:
Jeffrey Kauffman
Team Lead:
Hunter Williams Junior
Structures Lead:
Jeremy Woodward Senior
Structures and Compliance Engineer:
John Christian Senior
Aerodynamic Engineer:
Vince ComentSenior
Structures Engineer:
Kyle Steunenberg Junior
Electronics Lead:
Clayton Lambert Junior
Electrical Engineer:
Phillip Lane
Junior
Technologist:
Lietsel Richardson
Junior
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CanSat 2015 PDR: Team 5251, CosmoKnights 4
Acronyms
Presenter: Hunter Williams
ACRONYMS
A Microamperes CDR Critical Design Review g Gram
A Cross-sectional Area CFD Computational Fluid Dynamics G Gravity
ABS
Acrylonitrile butadiene
styrene cm Centimeters GCS Ground Control System
AIAA
American Institute of
Aeronautics and
Astronautics dbi Decibels GHz Gigahertz
C_d Coefficient of Drag EPS Electronic Power System GUI Graphic User Interface
CAD Computer Assisted Design FSW Flight Software Hz Hertz
CDH
Communication and Data
Handling FTDI
Future Technology Devices
International kB Kilobytes
ACRONYMS CONTINUED
kPa Kilopascals N/A Not Applicable SGA Student Government Association
Li-ion Lithium Ion NetID Network Identification UCF University of Central Florida
m/s Meters per Second PDR Preliminary Design Review USD United States Dollar
m_sv Mass of Science Vehicle rad/s Radians per Second v Velocity
m_t Total Mass Rev Revision V Voltage
Mm Millimeters Rho Density VDC Direct Current Voltage
mWh Miliwatt Hours RT Total Resistance Vout Voltage Out
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CanSat 2015 PDR: Team 5251, CosmoKnights 5
Systems Overview
Clayton Lambert
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(If You Want) Systems Overview
Systems overview explains the requirements of the mission
Discusses preliminary considerations and designs
Presents layout of vehicle
Demonstrates Concepts of CONOPS
6Presenter: Clayton Lambert Cansat 2015 PDR: Team 5251, Cosmoknights
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CanSat 2015 PDR: Team 5251, CosmoKnights 7
Mission Summary
Presenter: Clayton Lambert
External Objectives:
To follow the AIAA UCF mission of addressing the academic needs of the students through introducing new engineering practices and principles.
Selectable Objective:
To use an accelerometer to record external forces, resultant position and orientation.
Rationale: Will serve as an interface with the active stabilization system
The Mission Objective: To successfully design, build,
fly, and recover a science vehicle.
To collect and transmit atmospheric data to the ground
station.
To protect the payload during ascent and descent
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(If You Want) System Requirement Summary
CanSat 2015 PDR: Team 5251, CosmoKnights 8Presenter: Clayton Lambert
ID Requirement Priority Status
SR-01 Weigh 600 grams +/- 10
grams not including the egg.
High Planned design meets
requirements
SR-02 Science Vehicle shall be
completely contained in the
Container
High Planned design meets
requirements
SR-03 Container and Parachute
shall comply with payload
space specifications
Medium Planned design meets
requirements
SR-04 Container shall deploy from
the payload with ease
Medium Planned design meets
requirements
SR-05 Comply with all descent
requirements
Medium Planned design meets
requirements
SR-06 Comply with all
communication
requirements
High Planned design meets
requirements
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(If You Want) System Requirement Summary
CanSat 2015 PDR: Team 5251, CosmoKnights 9Presenter: Clayton Lambert
ID Requirement Priority Status
SR-07 Comply with all recovery
requirements
Medium Planned design meets
requirements
SR-08 Meet all shock requirements High Planned design meets
requirements
SR-09 Meet all Environmental
Safety requirements
High Planned design meets
requirements
SR-10 Collect and transmit all
required data
Medium Planned design meets
requirements
SR-11 Restrict video rotation to
90 degrees
Medium Planned design meets
requirements
SR-12 Budget less than $1000 High Planned design meets
requirements
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CanSat 2015 PDR: Team 5251, CosmoKnights 10
System Level CanSat Configuration
Trade & Selection
Considerations
Lower lift to mass/weight ratio
More compact for limited space
Concerns
Higher risk of creating a moment and torque
Pitch, yaw, and roll stabilization
Generating proper lift for required controlled descent
rate limits
Presenter: Clayton Lambert
Final Design: Single Rotor Configuration
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CanSat 2015 PDR: Team 5251, CosmoKnights 11
System Level CanSat Configuration
Trade & Selection
Considerations
Stacking rotors allows more compact fitment
Gyroscopic properties controls torsion
Concerns
Generating proper lift for required controlled descent
rate limits
Higher mass requirement Requires taller container
More rotors and components
Presenter: Clayton Lambert
Preliminary Design: Counter-spinning Coaxial Rotor
Configuration
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CanSat 2015 PDR: Team 5251, CosmoKnights 12
System Level CanSat Configuration
Trade & Selection
Considerations
Larger rotors for greater lift
Stability control Yaw control
Concerns
Achieve equal lift from all blades
Stabilization
Pitch and roll control
Increase in mass budget More rotors, and rotor
assemblies
Deployment from container
Presenter: Clayton Lambert
Preliminary Concept: Quad-Rotor Configuration
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CanSat 2015 PDR: Team 5251, CosmoKnights 13
System Level CanSat Configuration
Trade & Selection
Single Rotor System was chosen as the best overall vehicle design for the mission requirements and
parameters
Presenter: Clayton Lambert
Design Mass
(1-5)
Internal space
(1-5)
Lift
(1-5)
Stability
(1-5)
Deployment
(1-5)
Quad-Rotor 1 2 5 3 1
Coaxial Rotor 3 3 3 2 2
Single Rotor 5 4 3 2 4
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CanSat 2015 PDR: Team 5251, CosmoKnights 14
Physical Layout- Science Vehicle
Presenter: Clayton Lambert
RotorsEgg
Payload
Electronics
Bay
Camera
Total Vehicle Height: 231.33mm
Wingspan: 525.05mm
Folded Width: 100mm
Height = 231.33mm
Folded Width = 100 mm
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CanSat 2015 PDR: Team 5251, CosmoKnights 15
Physical Layout- Container
Presenter: Clayton Lambert
Dimensions:
Total Container Height: 220mm
Inner Diameter: 118mm
Outer Diameter: 120mm
Composition:
Material: Carbon Fiber Composite
Color: Orange
Parachute attachment ring
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(If You Want) Relevant Configuration
16Presenter: Clayton Lambert CanSat 2015 PDR: Team 5251, CosmoKnights
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CanSat 2015 PDR: Team 5251, CosmoKnights 17
Launch Vehicle Compatibility
Presenter: Clayton Lambert
Pre-Launch Verification
Replica rocket payload will be constructed to specifications prior to launch date
CanSat Integration into Rocket Payload
Container will be positioned upside down in the rocket
payload
Container parachute will rest between container and
payload
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CanSat 2015 PDR: Team 5251, CosmoKnights 18
Launch Vehicle Compatibility and
Container Layout
Presenter: Clayton Lambert
Total Height = 310mm
Total Width = 125mm
Width Clearance: 5mm
Height Clearance: 100mm
Height clearance allows for fitment of the parachute.
Height = 210mm
Width= 120 mm
Total Container Height: 220mm
Inner Diameter: 118mm
Outer Diameter: 120mm
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CanSat 2015 PDR: Team 5251, CosmoKnights 19
Sensor Subsystem Design
Lietsel Richardson
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Sensor Subsystem Overview and
Requirements
Presenter: Lietsel Richardson
The sensor subsystem overview consists of the requirements
and trade studies for the following sensors:
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Sensor Subsystem Overview and
Requirements
Presenter: Lietsel Richardson
Part Model
Number
Purpose Sub-
system
Requirement Implementation
Inertial
Measurement Unit
Razor component
ITG-3200 3 axis gyroscope
temperature
Vehicle Vehicle must stabilize
itself during fall as well as
record video facing earth
Serves to orientate the vehicle
during decent for nadir facing video,
records inside temperature
Inertial
Measurement Unit
Razor component
ADXL345 3 axis
accelerometer
Vehicle Vehicle must not rotate +/-
90 degrees, measure the
stability and angle of
descent of the Science
Vehicle during descent
Detects liftoff, contributes to
stabilization, senses landing impact
Inertial
Measurement Unit
Razor component
HMC5883L 3 axis
magnetometer
Vehicle Vehicle must not rotate +/-
90 degrees
Orientates vehicle to adjust rotational
procession
Altitude/Pressure
Sensor Breakout
MPL3115A2 Altitude,
pressure,
temperature
Vehicle /
Container
Data needs to be recorded
and transmuted as base
mission requirement
Detects pressure to predict altitude
necessary for stage progression,
Records outside temperature
Wire Connecting all
electronic
components
Vehicle/
Container
Physical connection for
peripheral devices to
microcontroller and power
Bridges i2c connection to relay data
as well as powers sensors
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CanSat 2015 PDR: Team 5251, CosmoKnights 22
Altitude Sensor Trade & Selection
Presenter: Lietsel Richardson
Altitude/Pressure Unit Cost
(USD)
Weight (g) Amperage
(A)
Operating
Voltage
Range (V)
Accuracy
(kPa)
Dimensions
(mm)
Sample
Rate (Hz)
MPL3115A2 $14.95 1 40 1.96 3.60 .05 5.00 x 3.00 x
1.10
1.00
T5403 $14.95 6.50 790 1.70 3.60 0.015 2.78 x 2.23 x
.67
33.00
Sensor Chosen: MPL3115A2
Lowest weight
Reasonable cost
Less Amperage usage, aids in battery
lifetime
Operating voltage coincides with Arduinos
output
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CanSat 2015 PDR: Team 5251, CosmoKnights 23
IMU Trade & Selection
Presenter: Lietsel Richardson
Altitude/Pressure Unit Cost (USD) Weight (g) Operating Voltage
Range (V)
Dimensions (mm) Sample
Rate (Hz)
SEN-10736 $74.95 22 g 3.5-16V 28 x 41mm 50 Hz
SEN-10121 $39.95 10 g 3.3V 15 x 17mm 20 Hz
Sensor Chosen: SEN-10736
Highly accurate
Greater operating voltage range
Other option suffers from drift
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CanSat 2015 PDR: Team 5251, CosmoKnights 24
Air Temperature Sensor
Trade & Selection
Sensor Chosen: TMP36
Lower cost
Wide operating range
Low weight
High sample rate
No external calibration required
Adequate Accuracy
Presenter: Lietsel Richardson
Part Price (USD) Weight (g) Resolution
(Bits)
Connection
Type
Dimmension
s (mm)
Sample rate
(Hz)
TMP102 5.95 9g 12 I2C 1.6 x 1.6 4
TMP36 1.5 5.67 12 Serial 5.08 x 5.08 8.33
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CanSat 2015 PDR: Team 5251, CosmoKnights 25
Camera
Trade & Selection
Camera Chosen: 808 Car Key chain spy Camera
Lowest cost
Adequate video
Most compact dimensions
Weighed the least
Timestamp complies with requirement 28
Presenter: Lietsel Richardson
Part Price(USD) Resolution(p) Dimensions(mm) Weight(g)
808 Car Key
Chain Spy
camera Recorder
7.50 720 32x51x13 19
HackHD 164.95 1080 25.4 x 76.2 28.3
Hidden Spy Ped
HD
35 1280 11.76 x 70mm 136
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CanSat 2015 PDR: Team 5251, CosmoKnights 26
3-Axis Accelerometer Sensor
Trade & Selection
Sensor Chosen: ITG-3200
Sample rate is far superior (overclocking feature)
ITG-3200 is integrated into Inertial measurement unit
Smaller footprint on board
Presenter: Lietsel Richardson
Part Price (USD) Current
Draw (ma)
Resolution
(Bits)
Connection
Type
Dimensions
(mm)
Sample
rate (Hz)
ITG-3200 24.95 6.5 16 I2C 4x4x0.9 400kHz
Adxl335 14.95 0.35 16 I2C 4x4x1.45 50
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CanSat 2015 PDR: Team 5251, CosmoKnights 27
Descent Control Design
Vincent Coment
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CanSat 2015 PDR: Team 5251, CosmoKnights 28
Descent Control Overview
Presenter: Vincent Coment
The descent control overview:
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Decent Control System
Requirements
Presenter: Vincent Coment
Sub-system Requirements Implementation
Spill hole parachute Avoid free fall Reduce oscillation in air
Bottom Geometry Survive 50 Gs of
shock
Impact the ground at a
controlled velocity
Auto gyro blades Descent speed less
than 10 m/s and
greater than 4 m/s
Maximum angular velocity
between 100 105 rad/s, at a 6.4 m/s descent rate.
Auto gyro blades No miscellaneous
materials between
the blades
ABS 3D printed blades will help
to trim out all the blades in twist
and taper
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CanSat 2015 PDR: Team 5251, CosmoKnights 30
Container Descent Control Strategy
Selection and Trade
Parachute chosen: Nylon PAR-30TM
Compact and Light weight
Durable
Shroud is less likely to tangle
Most Affordable
Presenter: Vincent Coment
Parachute Parachute
Size (cm)
Shroud
Lines
Shape Descent
Rate Pre-
Deployment
(m/s)
Descent
Rate Post-
Deployment
(m/s)
Mass (g) Cost
(USD)
Nylon
PAR-
24TM
61 6 Circle 6.72 2.63 17 11.95
Nylon
PAR-
30TM
76 8 Circle 5.37 2.1 28 16.95
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CanSat 2015 PDR: Team 5251, CosmoKnights 31
Descent Rate Estimates
Presenter: Vincent Coment
Container and science vehicle together: Approximately 6 m/s
Pre Separation Descent Rate
Container: 2.4 m/s Science Vehicle: 6.4 m/s
Post Separation Descent Rate
Pre separation Calculations
=2
Does not include spill hole
Post Separation Calculations
=2()
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CanSat 2015 PDR: Team 5251, CosmoKnights 32
Mechanical Subsystem Design
Jeremy Woodward
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Mechanical Subsystem Overview
Presenter: Jeremy Woodward
The Mechanical Subsystem section includes:
Overview of the structural design research and choices
Trade studies and rationale
Overview of requirements
Discussion and trade studies on subsystem components
Mass budget
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CanSat 2015 PDR: Team 5251, CosmoKnights 34
Mechanical Subsystem Overview
Aluminum Hexagonal plate
platform
Carbon Fiber Monocoque
Carbon Fiber Frame
Presenter: Jeremy Woodward
Container to Payload interface
Payload suspended in container with Nichrome wire Nichrome wire to be wrapped to avoid conflagration
Electronics Black Box
Egg Container
Rotor Hub/Blades
Structural Designs Mechanical Components
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CanSat 2015 PDR: Team 5251, CosmoKnights 35
Structural Design Trade Study &
Selection Aluminum Hex Plate
Pros
cheap
easily accessible
good isotropic strength to density ratio
Cons
complex shapes of the hexagonal plates make soldering unreasonable
final weight for 50g shock loading too high
thickness of rods required gave less usable internal space
Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 36
Structural Design Trade Study &
Selection Monocoque
Pros
light
spacious
extremely high strength to weight ratio
Cons
higher cost of materials
cannot easily connect the rotating electronics frame to the outside air for atmospheric readings
too heavy when made to survive 50g
Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 37
Structural Design Trade Study &
Selection Carbon Fiber Frame
Pros
simple construction
easiest to build
lowest final weight of any design, as only electronics shielded
Cons
slightly more expensive
Presenter: Jeremy Woodward
Chosen design, as it meets or
exceeds all design requirements.
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CanSat 2015 PDR: Team 5251, CosmoKnights 38
Design Choice Rationale
RationaleDifferent format from trade studies
Multiplicity of related factors
Variability in strengths and weaknesses
Numerical model adopted to assist in selection
CriteriaCriteria used: cost, strength, weight, cost to build, safety, and internal space
Weighted evenly
Dramatic differences expressed through higher score
DefinitionsCost: cost of materials
Strength: buckling strength, elasticity, rigidity, fire resistance, etc.
Weight: weight of total design, not including electronics box
Cost to build: cost of either shop fees or equipment needed for building
Safety: as all designs safe for CanSat participants, this mostly detailed safety in manufacturing
Internal space: volume and shape allotted for electronics package
Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 39
Structural Design Choice Chart
Presenter: Jeremy Woodward
As simple and lightweight as possible, while being able to shield the egg from the impact shock.
3D printed from ABS for both lower weight and the complexity of the fillets in the design.
Fillets important to reduce stress concentration.
Design Cost Strength Weight Ease to build Safety Internal
Space
Hex Plate
Platform
5 5 2 1 5 1
Carbon Fiber
Monocoque
3 4 3 3 4 5
Carbon Fiber
Frame
2 5 4 5 4 3
*Note: 5 is best, 1 is worst
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CanSat 2015 PDR: Team 5251, CosmoKnights 40
Mechanical Sub-System
Requirements
Presenter: Jeremy Woodward
# Requirement Description Sub-system Rationale
1 All Every system is designed
with weight saving in mind.
2 The Science Vehicle will fit inside a container
that must fit into a 125mmX310mm envelope.
Rotor Hub Rotor blades fold along
body to fit in container.
3 All structures shall be built to survive 30 Gs of
shock and 15Gs of acceleration.
Carbon Fiber
Frame
Frame designed to absorb
impact shock
4 During descent, the video camera must not
rotate.
Electronic Black
Box
Servo/Ring Gear allows
camera to counter rotate
5 The vehicle must stabilize and collect data at an
altitude of 300m
Nichrome wire SV will release at 600m to
allow the blades to get to
top speed
6 Vehicle will descend between 4 and 10 m/s. Rotor Hub/Blades Sufficient lifting surface and
geometry to achieve this
terminal velocity
7 Egg will survive impact at maximum of 10 m/s. Egg
Container/Sabot
Memory foam sabot will
protect the egg from shock
Total weight must be under 600 grams.
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CanSat 2015 PDR: Team 5251, CosmoKnights 41
Rotor Hub / Rotor Blades
Presenter: Jeremy Woodward
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Structural Design Trade Study &
Selection
Presenter: Jeremy Woodward
Egg Container
As simple and lightweight as possible, while being able to
shield the egg from the impact
shock.
3D printed from ABS for strength to weight ratio and
complexity of the fillets in the
design.
Fillets important to reduce stress concentration.
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CanSat 2015 PDR: Team 5251, CosmoKnights 43
Egg Protection Trade & Selection
Presenter: Jeremy Woodward
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(If You Want) Egg Protection Trade & Selection
Final Configuration Selection
Cylindrical container
Composed of ABS.
Memory foam chosen as cushioning due to a greater success rate during testing.
CanSat 2015 PDR: Team 5251, CosmoKnights 44Presenter: Jeremy Woodward
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(If You Want) Egg Protection Trade & Selection
Material Composition Cost Weight Pros Cons
Memory
Foam
Sponge like
absorbing
material.
$2.00 per
pound
11.8
grams
Great Protection
Weight Price
Availability
Packing
Peanuts
Styrofoam
Material
$9.00 for
1.5 Cubic
Feet
0.57
Grams
Light Cheap
Weaker than other
options
Polystyrene
Balls
Polystyrene $16.00 for
3 Cubic
Feet
2.95
grams
Light Cheap Packs
Well
Not as protective
as memory
foam.
CanSat 2015 PDR: Team 5251, CosmoKnights 45Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 46
Electronics Black Box Subsystem
Plastic container meant to hold the electronics
Spins on an axle using a servo and ring gear
Small to allow atmospheric readings from outside and inside the box
Emergency off switch included
Actively complies with requirements 17, 21, 30, 42, 43
Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 47
Electronics Black Box Subsystem
Ring Gear/ Motor view
Bottom View
Top
view
Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 48
Mechanical Layout of Components
Trade & Selection
RotorsEgg
Payload
Electronics
Bay
Camera
Total Vehicle Height: 231.33mm
Wingspan: 525.05mm
Folded Width: 100mm
Height = 231.33mm
Folded Width = 100 mm
Presenter: Jeremy Woodward
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(If You Want)Material Selections
CanSat 2015 PDR: Team 5251, CosmoKnights 49
ABS (Acrylonitrile Butadiene Styrene) Designer friendly Cheap Good strength to weight ratio
Egg Container Rotor Assembly
Black Box
Light weight Strong material Easy to form into shape of container
Carbon Fiber Plates
Container
Aluminum Light weight Sufficient strength Readily available for reasonable price
Fasteners
Steel Readily available Greater torque to weight ratio
Torsion Spring
Presenter: Jeremy Woodward
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Container - Payload Interface
Mechanical Method
CanSat 2015 PDR: Team 5251, CosmoKnights 50
A servo motor will turn the connecting rod and threaded rod
The container rod will remain stationary, causing the nut to unscrew
A compressed spring will assist final separation
The Container bolt will remain attached to the container removing interference with descent control apparatus
Science Vehicle Separation
Little operational uncertainty Adds structural support Will utilize a switch or command to
insert and remove payload from container via threading
Benefits
Mass addition
Concerns
Container
bolt
Threaded
nut
Connecting
rod
Servo
motor
Container
bolt
Presenter: Jeremy Woodward
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(If You Want)Container - Payload Interface
CanSat 2015 PDR: Team 5251, CosmoKnights 51
Nichrome wire wrapped around nylon twine
Science vehicle frame secured with nylon twine
Small current separates Nichrome and twine
Science Vehicle Separation
Small amount of nylon melted Electrical wire hole well sealed Nichrome never reaches
environment
3mm clearance between rotor blades and container
Safety
Container
(inside view)
Anchor for wire
Nylon cord
Nichrome wire for
separating nylon
cord
Electronics box
Presenter: Jeremy Woodward
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(If You Want) Structure Survivability Trades
Option Cost Weight Effectiveness Ease to build
Monocoque 1 2 2 3
Black Box 3 4 4 5
CanSat 2015 PDR: Team 5251, CosmoKnights 52
Electronics Enclosure
Option Cost Weight Effectiveness Reusable
Aluminum Screws 2 2 3 5
Epoxy 3 4 3 1
Electronics Fastening Method
Epoxy strongpermanent
Fasteners convenient less fixative
Monocoque more material to absorb the impactmore susceptible to vibrations
Black Box isolates electronics from forceneeds testing to ensure survivability requirements
Presenter: Jeremy Woodward
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CanSat 2015 PDR: Team 5251, CosmoKnights 53
Mass Budget
Presenter: Jeremy Woodward
Components Material Weight Quantity Source
Egg Container ABS 14 grams 1 Measured
Egg sabot Memory Foam 11.8 grams 1 Calculated
Rotor Hub ABS 11.1 grams 1 Measured
Rotor Blades ABS 9.5 grams 6 Measured
Screw Aluminum .2 grams 15 Data Sheet
Nut Aluminum .1 grams 10 Data Sheet
Torsion Spring Music Wire .4 grams 6 Data Sheet
Screw and Post Aluminum 1.3 grams 2 Data Sheet
Black Box ABS 56.7 grams 1 Calculated
Electronics Plate Carbon Fiber 16.7 grams 2 Calculated
Container Carbon Fiber 149 grams 1 Calculated
Support Tubes Carbon Fiber 2.16 grams 4 Calculated
Parachute Nylon 30 grams 1 Data Sheet
Mass Total: 380.64 grams*
*washers will be used to achieve exact desired weight
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CanSat 2015 PDR: Team 5251, CosmoKnights 54
Communication and Data Handling
(CDH) Subsystem Design
Clayton Lambert
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CDH Overview
Presenter: Clayton Lambert
Demonstrates data handling and formatting
Outlines radio configuration
Provides trade study of processor, clock, and antenna
Explains requirements for Communications and Data Handling
The communication and data handling subsystem overview:
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CanSat 2015 PDR: Team 5251, CosmoKnights 56
CDH Overview
Sensor data sent over I2C to Arduino.
Arduino processes data and sends to XBEE 1 via serial
communication
XBEE 1 sends packaged data via a 2.4 GHz radio connection to XBEE 2
XBEE 2 communicates with computer via FDTI cable
Data parsed and graphed by MatLab
Presenter: Clayton Lambert
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CanSat 2015 PDR: Team 5251, CosmoKnights 57
CDH Requirements
Part Requirement Implementation
Arduino micro Vehicle must record data
onboard to be export to a
ground station
Vehicle must also
interpret and change
direction based on
sensor data in real time
Interprets and processes
data incoming from
sensors as well as export
data to be sent to a
peripheral wireless
linkage
XBEE Pro Series 2 Vehicle must transmit
data down to a ground
station to be recorded to
a second XBEE Pro
Series 2
Receives data from the
microcontroller and then
exports data via a
wireless link to another
XBEE on the ground
relaying data to a
computer
Presenter: Clayton Lambert
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58
Processor & Memory
Trade & Selection
Micro-
controll
er
Input
Voltage
(V)
Current
(mA)
Clock
Freq
# Digital
Pins
# Analog
Pins
Flash
Memory
(kB)
EEPR
OM
(kB)
Weight Dimensions Price
Arduino
Micro6-20 40 36 7 12 32 1 13 48 x 18 21.45
Arduino
Pro Mini9 40 8/16 14 6 16 0.512 1 17.8 x
33.02
18.95
Arduino
Uno9 40 16 14 6 32 1.024 32 85.58 x
53.34
29.95
Presenter: Clayton Lambert
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(If You Want) Real-Time Clock
Arduino
Has an onboard clock
Capable of time keeping from initial boot
Time.h library
Calls for the current time easily
Calculates elapsed time based on millis() function
Clock speed
16mHz
Accuracy calibratable to 1 nano second
CanSat 2015 PDR: Team 5251, CosmoKnights 59Presenter: Clayton Lambert
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CanSat 2015 PDR: Team 5251, CosmoKnights 60
Antenna Trade & Selection
Antenna Selected: GigaAnt Integrated Antenna
Integrated into transceiver to reduce space
Small overall footprint
Capable of covering required range
Antenna Price(USD) Length(mm) Gain (dbi) Type
2.4GHz dipole Swivel
Antenna
6.95 100 2 2.4GHz
GigaAnt Integrated Antenna 1.35 30 -.5 2.4Ghz
2.4Ghz Circular Polarized
Antenna
14.40 65 2 2.4Ghz
Presenter: Clayton Lambert
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CanSat 2015 PDR: Team 5251, CosmoKnights 61
Radio Configuration
XBee radios
in constant communication
configured in AT mode
may only communicate in a point to point connection
NETID
synchronized over XCTU software
forces Xbees to recognize each other
tested to show correct passing of data
Point to point connection
eliminates static from other Xbees
ensures no malicious connections through optional encryption selection .
Transmission control
done by the Arduino
packages information at 1Hz rate
sends package from the vehicles Xbee to the ground station
Presenter: Clayton Lambert
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CanSat 2015 PDR: Team 5251, CosmoKnights 62
Telemetry Format
Data included
Temperature sensors: internal and external temperatures
Accelerometer: angle of descent
Altimeter: atmospheric pressure
Voltage divider: battery voltage
Internal Arduino clock: overall mission time
Arduino program: constitutes flight software state
Data format
teamID, missionTime, altSensor, outsideTemp, insideTemp, voltage, fswState, descentAngle
Example: 5251, 207.56, 350, 23, 20,5.4, 5, 40
Presenter: Clayton Lambert
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CanSat 2015 PDR: Team 5251, CosmoKnights 63
Electrical Power Subsystem (EPS)
Design
Philip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 64
EPS Overview
The Electrical Power Subsystem overview covers the organization of the subsystem and the electrical
requirements:
The EPS section includes:
trade studies power usage
block diagram and voltage measurement diagram
The battery provides energy to:
Arduino sensors
Xbee
The electrical requirements include:
kill switch sensor requirements
environmental requirements
Presenter: Phillip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 65
EPS Requirements
Presenter: Phillip Lane
ID Requirement Rationale Priority VM
A I T D
EPS-01 All electronic devices shall
draw power from a single
unique battery.
There is only one external
power supply, a battery.
HIGH X
EPS-02 The battery shall be
capable of providing at
least 3.3 volts for the
duration of the flight.
The largest voltage output
required for any
component is 3.3 volts.
HIGH X X X
EPS-03 Voltage divider shall draw
1.00 micro-Amp
maximum.
Power preservation is
critical for mission
duration.
HIGH X X
EPS-04 Voltage divider output
shall not exceed 5 volts.
Maximum input voltage
to Arduino analog pin is 5
volts.
MEDIUM X X
EPS-05 Safety cutoff switch
directly connected to
battery power.
To cut off power to the
vehicle if needed (mission
requirement).
LOW X X
EPS-06 3.3 volts consistently
applied to power
accelerometer.
Mission bonus objective:
measuring stability angle
of descent.
LOW X X
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EPS Requirements
Presenter: Phillip Lane
Component Current (mA) Voltage (V) Power
(mW)
Estimated
Time in use
(hours)
Total energy
consumed (mWh)
Arduino UNO 40 9 360 1 360
Arduino Micro 40 9 360 1 360
Temperature
sensor (external)
0.05 2.7 0.135 0.25 0.03375
Temperature
sensor (internal)
0.05 2.7 0.135 0.25 0.03375
XBEE radio 295 3.3 973.5 1 973.5
Sen-10736 (accel.,
gyro, mag.)
0.14 3.3 0.46 0.25 0.12
Buzzer (Beacon) 35 3.3 115.5 0.083 9.59
Altimeter 0.04 3.3 .132 0.25 0.033
TOTAL 1708.52
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CanSat 2015 PDR: Team 5251, CosmoKnights 67
Lander: Electrical Block Diagram
Presenter: Phillip Lane
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Payload Power Source
Trade Study
CanSat 2015 PDR: Team 5251, CosmoKnights 68
Pros
safe
reliable
Cons
must be properly charged and discharged.
Li-ion 14500 selected
low weight
sufficient capacity
reliable built in charger
Li-ion battery
Presenter: Phillip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 69
Power Budget
Battery chosen: Li-ion 14500
Weighs less
Inexpensive
Meets capacity requirements
Already wired to protection circuit
Presenter: Phillip Lane
Battery Type Voltage (V) Capacity
(mAh)
Size (mm) Weight (g) Price (USD)
Custom NiMH
Battery Pack
NiMH 3.6 800 32x48x12 63 12.95
18650 Li-ion
Rechargeable
(2pc)
Li-ion 3.7-4.2V 5000 67x18 47 6.99
Li-ion 14500
Battery
Li-ion 3.7V 750 54x18 20 9.95
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CanSat 2015 PDR: Team 5251, CosmoKnights 70
Power Bus Voltage Measurement
Trade and Selection
Battery measurements
uses voltage divider circuit
two resistors in series combination
configured to pull a max of 100 micro amps
based on the 3.7V nominal voltage of Li-ion 14500
minimizes electrical noise and power draw
total combined resistance ~ 37 kOhms.
outputs max voltage of 3.0 V
prevents damage to the controller.
Battery output measured as the voltage drop across Resistor 2: Vout
Ratio multiplied by Vout used to calculate battery's remaining supply.
For analog to digital conversion, the remaining supply value is multiplied by 0.00488
Presenter: Phillip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 71
Power Bus Voltage Measurement
Diagram
Presenter: Phillip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 72
Flight Software (FSW) Design
Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 73
FSW Overview
Flight Software Design includes:
Mechanical and derived requirements
State diagram
Software development plan
Presenter: Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 74
FSW Introduction
Basic Flight Software Architecture
In a runtime loop and at a rate of 1 Hz, the software will enable
communication between ground station and CanSat by
requesting data updates whilst monitoring time during the
mission.
Data measured by pressure sensors will be used to monitor
altitude which determines when commands will be sent, such
as separation.
Programming Language
-Arduino programming language (C)
Development Environment
-Arduino Integrated Development Environment
Presenter: Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 75
FSW Requirements
Mechanical sub-system requirements
Maintain video recording in the nadir facing direction
Vehicle may not rotate +/- 90 degrees during descent
Vehicle must release from container
Derived requirements
Must have mechanism to rotate craft about z axis to provide stability
Vehicles mechanism must be able to withstand stabilization during freefall
Presenter: Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 76
CanSat FSW State Diagram
Mission State: PreFlightTest
Sample Rate (Hz):
Altimeter 4
TemperatureIN 4
TemperatureOUT 4
Accelormeter 4
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sdcard, send to GCS
Transition if data is correctly transmitted for 10 iterations and
flag received by GCS
Mission State: LaunchWait
Sample Rate (Hz):
Altimeter 4
TemperatureIN 4
TemperatureOUT 4
Accelormeter 4
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sdcard, send to GCS
Transition if altimeter reading is above launch threshold
Mission State: Ascent
Sample Rate (Hz):
Altimeter 20
TemperatureIN 4
TemperatureOUT 4
Accelormeter 4
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sdcard, send to GCS
Transition if altimeter's rate of ascent has
reached zero indicaing apogee and
trigger Camera to record
Presenter: Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 77
CanSat FSW State Diagram
Presenter: Lietsel Richardson
Mission State: Rocket Deployment
Sample Rate (Hz):
Altimeter 20
TemperatureIN 4
TemperatureOUT 4
Accelormeter 20
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sd card, send to GCS
Transition if data accelorameter's values exceed threshold shock
from ejection
Mission State: Seperation
Sample Rate (Hz):
Altimeter 4
TemperatureIN 4
TemperatureOUT 4
Accelormeter 4
Magnatometer 2000
Gyroscope 50
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sd card, send to GCS
Signal servo to detach lander from canister
Transition if temp out registers a significant change showing
detachment of vehicle
Mission State: Stabilization
Sample Rate (Hz):
Altimeter 4
TemperatureIN 4
TemperatureOUT 4
Accelormeter 4
Magnatometer 2000
Gyroscope 50
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sd card, send to GCS
Signal servo to spin rapidly to stabilize cansat, then gradually slow down to
single bearing guided by magnetometer
Transition if magnatometer stays in value range and gyroscope shows
realtivly vertical postion of vechicle for more then 2 seconds
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CanSat 2015 PDR: Team 5251, CosmoKnights 78
CanSat FSW State Diagram
Mission State: Descent
Sample Rate (Hz):
Altimeter 20
TemperatureIN 4
TemperatureOUT 4
Accelormeter 20
Voltage meter 4
Communications
1Hz telemetry
Logic
Record data to sd card, send to GCS
Transition if data accelorameter's values exceed threshold shock from landing
Mission State: Landed
Sample Rate (Hz):
Altimeter 4
TemperatureIN 4
TemperatureOUT 4
Accelormeter 20
Voltage meter 4
Communications
1Hz telemetryAudio Alert
Logic
Record data to sd card, send to GCS
Turn off camera record, turn on audioSignal, send landed message in
telemetry
Presenter: Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 79
Software Development Plan
Date Software Development Stage Description
August 24, 2014
December 31, 2014Overview and initial testing
Outlined foundation stages of flight
software Defined processes in each
stage
Tested each sensors data with
Arduino
Confirmed communication
with XBee
January 1, 2015
February 28, 2015Systems Design - Alpha
Prototyped electronics system
Integrated all peripherals
Tested each stages triggers and
actions Demonstrated full process
precession
March 1, 2015
June 12System Design - Beta
Design, create, and test electronics
board with integrated sensors
Test board in lab using fabricated
values Install board into vehicle
Test in real world environment
Program will be ready to test almost 5 months prior to competition deadline.
Presenter: Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 80
Ground Control System (GCS) Design
Philip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 81
GCS Overview
Presenter: Phillip Lane
CanSat data stream
Xbee / breakout board
Arduino
Computer
GUI
An overview of the ground control system includes:
requirements trade selection for the antenna ground control software
The flow of information is unidirectional in the following pattern:
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CanSat 2015 PDR: Team 5251, CosmoKnights 82
GCS Requirements
Presenter: Phillip Lane
GCS-01
GCS is to be portable. (Base Requirement)
GCS-02
GCS needs to be capable of receiving and plotting data from Science Vehicle in real time. (Base Requirement)
GCS-03
Team must have its own ground station. (Base Requirement)
GCS-04
Screen must be properly shielded.
GCS-05
There must be zero interference. (In order to prevent loss of signal/communication, antenna needs to be free of interference.)
GCS-06
GCS must include a laptop computer with no less than two hours of battery life, XBEE radio, and an antenna (either handheld or tabletop). (Base Requirement)
GCS-07
Flight software must telemeter a variable that will indicate the operating state at each given time. The software must analyze sensor data in order to initialize states. The states should include:
PreFlightTest(0), LaunchWait(1), Ascent(2), RocketDeployment(3), Stabilization(4), Separation(5),
Descent(6), and Landed(7). (Base Requirement)
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GCS Antenna Trade & Selection
Antenna chosen: 2.4GHz dipole Swivel Antenna
Wide coverage is necessary
Suitable gain
Presenter: Phillip Lane
Antenna Price(USD) Length(mm) Gain (dbi) Type
2.4GHz dipole
Swivel
Antenna
6.95 100 2 2.4GHz
GigaAnt
Integrated
Antenna
1.35 30 -.5 2.4Ghz
2.4Ghz
Circular
Polarized
Antenna
14.40 65 2 2.4Ghz
CanSat 2015 PDR: Team 5251, CosmoKnights
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(If You Want) GCS Software
Raw telemetry display
Real-time plotting
Data archiving and retrieval
Command software and
interface
Data recording and media
presentation
.csv file creation
CanSat 2015 PDR: Team 5251, CosmoKnights 84Presenter: Phillip Lane
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CanSat 2015 PDR: Team 5251, CosmoKnights 85
CanSat Integration and Test
Kyle Steunenberg
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CanSat 2015 PDR: Team 5251, CosmoKnights 86
CanSat Integration and Test
Overview
Presenter: Kyle Steunenberg
Integration Mechanical Systems
Aluminum fasteners Egg container, rotor
Ring gear Black box
Epoxy Nichrome wire (possibly)
Electronics Systems
Printed board Sensors
Epoxy(Electronics restraint) Printed board, wire, camera
Descent System
Auto gyro Fastener system
Parachute Chords
Testing Mechanical Systems
Egg container Drop tests
Main structure FEM/CFD, drop tests
Nichrome wire Safety tests, separation tests
Electronics System
Sensor package Accuracy test, transmission tests
Servo Speed test, spin response test
Camera Drop test
Descent System
Auto gyro Low drop test
Balloon drop test
Parachute Low drop test
Balloon drop test
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CanSat 2015 PDR: Team 5251, CosmoKnights 87
CanSat Integration and Test
Overview - Mechanical System
Egg Container
Drop eggs on material from heights of 1m, 3m, then 15m
Main Structure
FEM Analysis
High altitude test
Use weather balloon
Achieve height necessary for terminal v
Test container and frame separately
Conduct final test using separation mechanism and dummy black box
Nichrome Wire Separation
Ground test for fire safety, convenience, and effectiveness
Weather balloon test for effectiveness
Presenter: Kyle Steunenberg
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CanSat 2015 PDR: Team 5251, CosmoKnights 88
CanSat Integration and Test
Overview Electronics System
Accelerometer
Single Sensor -> Arduino-> computer display in lab:
Shake test to show working conditions and correct output values
Integrated into prototype test:
Drop from 20m drop, and vertical launch test to be recorded and displayed
Altitude Sensor
Single Sensor -> Arduino-> computer display in lab:
Show correct pressure output, show correct altitude output
Integrated into prototype test:
Record reading continuously while walking up 4 flights of outside stairs and drop test
Temperature Sensor
Single Sensor -> Arduino-> computer display in lab:
Show correct temperature readout in Celsius and Fahrenheit
Integrated into prototype test:
Record internal and external readings from test drop
Magnetometer
Single Sensor -> Arduino-> computer display in lab:
Demonstrate sensor accuracy and bearing hold mapped to servo output
Integrated into prototype test:
Find maximum speed of servo reaction to spinning in outdoor test
Presenter: Kyle Steunenberg
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CanSat 2015 PDR: Team 5251, CosmoKnights 89
CanSat Integration and Test
Overview Electronics System Ctd.
Camera
Single Sensor -> Arduino-> computer display in lab:
Demonstrate control of camera with Arduino by recording and stopping video
Integrated into prototype test:
Shock test outside to show non corrupted video via a 20m drop
Servo
Single Output -> Arduino-> computer display in lab:
Demonstrate control of sensor with magnetometer values in lab
Integrated into prototype test
Outdoor test to find max rotational speed of servo being controlled by magnetometer
Xbee Radios
Arduino -> Radio1 -> Radio 2-> computer display in lab:
Demonstrate transmission of data from sensors at 1hz rate
Integrated into prototype test
During drop test, show live telemetry from ground station during test
Presenter: Kyle Steunenberg
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CanSat 2015 PDR: Team 5251, CosmoKnights 90
CanSat Integration and Test
Overview - Descent Systems
Auto Gyro
Analyzed using CFD
Tested in wind tunnel to determine actual lift generated versus calculated.
Integrated into vehicle for weather balloon drop test
Parachute
Drop tested at low altitude
Drop tested at high altitude with weather balloon
Presenter: Kyle Steunenberg
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CanSat Integration and Test
Overview
91CanSat 2015 PDR: Team 5251, CosmoKnights
Selection of devices and electronics.
Programming of devices completed.
Successful test of battery strength and
devices.
Size and specifications of electronics bay
determined.
Egg drop testing.
Size and specifications of egg
container determined.
Design and development of
vehicle.
Design and development of auto
gyro.
Integration of electronics bay, egg container, and auto
gyro onto the vehicle.
Design and integration of
parachute and container.
Test of auto gyro without electronics
Test of all parts integrated
Sequence of Integration
Presenter: Kyle Steunenberg
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CanSat 2015 PDR: Team 5251, CosmoKnights 92
Mission Operations & Analysis
Ethan Christian
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CanSat 2015 PDR: Team 5251, CosmoKnights 93
Mission Operations and Analysis
Overview
Presenter: Ethan Christian
The missions operations and analysis section includes:
CanSat location and discovery strategy
Mission ops development plan
Concept of operations
Sequence of events
Team roles and responsibilities
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CanSat 2015 PDR: Team 5251, CosmoKnights 94
System Concept of Operations
Presenter: Ethan Christian
Launch wait: vehicle will constantly stream environment data to be
shown in real time, in engineering units, on ground station and wait for
altimeter to detect liftoff
Ascent: Vehicle will transmit data and calculate rate of ascent as well as use accelerometer data to detect separation from rocket and trigger
camera to record
Rocket Deployment: Canister will automatically deploy parachute upon separation from rocket and
wait for either stabilized gyroscopes, altitude, or set time to eject lander
Stabilization: lander will continue to transmit telemetry and begin
spinning internal camera housing to always face a single direction. Will determine best conditions for
separation.
Descent: Lander will continue to transmit data, self correct spin, and wait for accelerometers to detect
landed
Landed: Lander will transmit a "landed" signal via telemetry, turn
off stabilization routine, turn off camera record and signal an
audio tone for the lander to be physically found
Post landed: Lander's camera data will be retrieved and displayed on computer
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CanSat 2015 PDR: Team 5251, CosmoKnights 95
Overview of Mission Sequence of
Events
Presenter: Ethan Christian
Team Launch Roles and Responsibilities:
Mission Control Officer:Hunter Williams
Ground Station Crew:Clayton Lambert
Phillip Lane
CanSat Crew: Jeremy Woodward
John Christian
Kyle Steunenberg
Recovery Crew:Vincent Coment
Lietsel Richardson
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CanSat 2015 PDR: Team 5251, CosmoKnights 96
Overview of Mission Sequence of
Events
Presenter: Ethan Christian
Arrival at Launch
Site
Set up ground control station
Connect and
position antenna
Final vehicle
and container assemblie
s
Pre-Flight Inspection
Go through pre-flight checklist
Power on CanSat
Check CanSat &
station communic
ation
Rocket Integration
Fold Parachute
Ensure CanSat
power on
Integrate into rocket
payload
Pre Flight Sequence
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CanSat 2015 PDR: Team 5251, CosmoKnights 97
Overview of Mission Sequence of
Events
Presenter: Ethan Christian
Rocket Launch
Maintain rocket visual
Monitor ground station
communications
Monitor vehicle state
Deployment
Observe for Container parachute
deployment
Monitor communicat
ions
Monitor separation conditions
Separation
Observe Science Vehicle
Separation
Monitor and graph
incoming telemetry
data
Visually track both
descents for recovery
Landing
Follow audible beacon which
activated on impact
Launch Sequence
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CanSat 2015 PDR: Team 5251, CosmoKnights 98
Overview of Mission Sequence of
Events
Presenter: Ethan Christian
RecoveryRecover Science
Vehicle and Container
Check payload condition
Data AnalysisRetrieve video
data from Science Vehicle
Consolidate transmitted
telemetry data
Review Present data
Post-Flight Sequence
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CanSat 2015 PDR: Team 5251, CosmoKnights 99
Mission Operations Manual
Development Plan
Operations Manual Development
Once final designs and components are chosen, the final sequence of procedures for initialization can be
composed.
Will contain a checklist for: Ground station configuration and initialization
CanSat preparation and initialization
CanSat Integration into the rocket
Will also contain: Launch sequence
Recovery sequence
Presenter: Ethan Christian
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CanSat 2015 PDR: Team 5251, CosmoKnights 100
CanSat Location and Recovery
Container
Will be painted an orange color and have a orange colored parachute to remain easily visible as it descends
to the surface.
This will also provide a contrasting color for location on most terrains for surface location.
Will contain a label with contact information for return.
Payload
Will use an audible alert to broadcast location.
Will contain a label with contact information for return.
Presenter: Ethan Christian
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CanSat 2015 PDR: Team 5251, CosmoKnights 101
Requirements Compliance
Ethan Christian
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(If You Want) Requirements Compliance Overview
CanSat 2015 PDR: Team 5251, CosmoKnights 102
Container
Complies will all competition requirements
Protection of the science vehicle until deployment
Stabilize vehicle and slow descent before deployment
Return to surface passively
Science Vehicle
Complies with all competition requirements
Eject from container at optimal conditions
Return to surface at controlled descent
Transmit flight data and record flight video
Protect Egg
Compliance Challenges
Total mass of vehicle and Container
Presenter: Ethan Christian
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Requirements Compliance
(multiple slides, as needed)
CanSat 2015 PDR: Team 5251, CosmoKnights 103
Rqmt
NumRequirement
Comply / No
Comply /
Partial
X-Ref Slide(s)
Demonstrating
Compliance
Team Comments
or Notes
1
Total mass of CanSat, container, and all descent control
devices shall be 600 grams. Mass shall not vary more than +/-
10 grams.
Partial Comply 53Planned mass < 600 grams, no vehicle to weigh built
2
The Science Vehicle shall be completely contained in the
Container. No part of the Science Vehicle may extend beyond
the Container
Comply 14-15
3
The Container shall fit in the envelope of 125 mm x 310 mm
including the Container passive descent control system.
Tolerances are to be included to facilitate Container
deployment from the rocket fairing
Comply
14-15
4
The Container shall use a passive control system. It cannot free
fall. A parachute is allowed and highly recommended. Include a
spill hole to reduce swaying.
Comply29-30
5The Container shall not have any sharp edges to cause it to get
stuck in the payload section.Comply 15
6 The container must be a florescent color, pink or orange. Comply 15,98
7The rocket air frame shall not be used to restrain any
deployable parts of the CanSat. Comply 16
8The rocket air frame shall not be used as part of the CanSat
operations. Comply 16
9The CanSat (Container and Science Vehicle) Shall deploy from
the rocket payload section. Comply 16
Presenter: Ethan Christian
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Requirements Compliance
(multiple slides, as needed)
CanSat 2015 PDR: Team 5251, CosmoKnights 104
Rqmt
NumRequirement
Comply / No
Comply /
Partial
X-Ref Slide(s)
Demonstrating
Compliance
Team Comments
or Notes
10
The Container or Science Vehicle shall include electronics and
mechanisms to determine the best conditions to release the
Science Vehicle based on stability and pointing. It is up to the
team to determine appropriate conditions for releasing the
Science Vehicle.
Comply 95
11The Science Vehicle shall use a helicopter recovery system. No
fabric or other material are allowed between the blades.Comply 29,31
12All descent control device attachment components shall survive
50 Gs of shock.Partial comply
52
Complies through calculations. Have not
tested vehicle.
13 All descent control devices shall survive 50 Gs of shock. Partial Comply52
Complies through calculations. Have not
tested vehicle.
14All electronic components shall be enclosed and shielded from
the environment with the exception of sensors. Comply 46-47
15 All structures shall be built to survive 15 Gs of acceleration.Partial Comply 52
Complies through calculations. Have not
tested vehicle.
16 All structures shall be built to survive 30 Gs of shock.Partial Comply 52
Complies through calculations. Have not
tested vehicle.
17All electronics shall be hard mounted using proper mounts such
as standoffs, screws, or high performance adhesives. Comply 52
18All mechanisms shall be capable of maintaining their
configuration or states under all forces.Partial Comply 52
Complies through calculations. Have not
tested vehicle.
Presenter: Ethan Christian
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Team Logo
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Requirements Compliance
(multiple slides, as needed)
CanSat 2015 PDR: Team 5251, CosmoKnights 105
Rqmt
NumRequirement
Comply / No
Comply /
Partial
X-Ref Slide(s)
Demonstrating
Compliance
Team Comments
or Notes
19 Mechanisms shall not use pyrotechnics or chemicals Comply 50-51
20
Mechanisms that heat (e.g. nichrome wire) shall not be
exposed to the outside environment to reduce potential risk of
setting vegetation on fire.
Comply51
21
During descent, the Science Vehicle shall collect and telemeter
air pressure (for altitude determination), outside and inside air
temperature, flight software state, battery voltage, and bonus
objective data (accelerometer data and/or rotor rate)
Comply
62
22 The Science Vehicle shall transmit telemetry at a 1 Hz rate.Comply
74
23
Telemetry shall include mission time with one second or better
resolutions, which begins when the science vehicle is powered
on.
Comply62
24
XBEE radios shall be used for telemetry. 2.4 GHz series 1 and
2 radios are allowed. 900 MHz XBEE Pro radios are also
allowed.
Comply56,60,63
25XBEE radios shall have their NETID/PANID set to their team
number (decimal).
Comply61
26 XBEE shall not use broadcast modeComply
61
27
The science vehicle shall have a video camera installed and
recording the complete descent from deployment to landing.
The video recording can start at any time and must support up
to one hour of recording.
Comply25,75
Presenter: Ethan Christian
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Requirements Compliance
(multiple slides, as needed)
CanSat 2015 PDR: Team 5251, CosmoKnights 106
Rqmt
NumRequirement
Comply / No
Comply /
Partial
X-Ref Slide(s)
Demonstrating
Compliance
Team Comments
or Notes
28
The video camera shall include a time stamp on the video. The
time stamp must for from the time of deployment to the time of
landing.
Comply25
29The descent rate of the Science Vehicle shall be less that 10
meters/second and greater than 4 meters/second.
Partial Comply30-31
Complies through calculations. Have not
tested vehicle.
30
During descent, the video camera must not rotate. The image
of the ground shall maintain one orientation with no more than
+/- 90 degree rotation.
Partial Comply
46-47
Complies through calculations. Have not
tested vehicle.
31Cost of the CanSat shall be under $1000. Ground support and
analysis tolls are not included in the cost.
Comply
111-114
32 Each team shall develop their own ground station.Comply
83-84
33 All telemetry shall be displayed in real time during descent.Comply
95
34All telemetry shall be displayed in engineering units ( meters,
meters/second, Celsius, ect.).Comply
95
35Teams shall plot data in real time during flight on the ground
station computer.Comply
61,74,76-78
36
The ground station shall include one laptop with a minimum of
two hours of batter operations, XBEE radio and a hand held or
table top antenna.Comply
81,82
Presenter: Ethan Christian
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Requirements Compliance
(multiple slides, as needed)
CanSat 2015 PDR: Team 5251, CosmoKnights 107
Rqmt
NumRequirement
Comply / No
Comply /
Partial
X-Ref Slide(s)
Demonstrating
Compliance
Team Comments
or Notes
37
The ground station shall be portable so the team can be
positioned at the ground station operation site along the flight
line. AC power will not be available at the ground station
operation site.
Comply 81, 82
38The Science Vehicle shall hold one large raw hens egg which shall survive launch, deployment, and landing.
Comply14,42-45
39Both the Container and Science Vehicle Shall be labeled with
team contact information included email address.
Comply
100
40
The CanSat flight software shall maintain and telemeter a
variable indicating its operating state. In case of processor
reset, the flight software shall re-initialize to the correct state
either by analyzing sensor data and/or reading stored state
data from non-volatile memory. The states are to be defined by
each team. Example states include: PreFlightTest(0),
LaunchWait(1), Ascend(2), RocketDeployment(3),
Stabilazation(4), Separation(5), Descend(6), Landed(7).
Comply
76-78
41 No lasers are allowed.Comply
No lasers in design
42
The Science Vehicle shall include an easily accessible power
switch which does not require removal from the Container for
access. An access hole or panel in the container is allowed.Comply
46,64
Presenter: Ethan Christian
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Requirements Compliance
(multiple slides, as needed)
CanSat 2015 PDR: Team 5251, CosmoKnights 108
Rqmt
NumRequirement
Comply / No
Comply /
Partial
X-Ref Slide(s)
Demonstrating
Compliance
Team Comments
or Notes
43
The Science Vehicle Shall must include a battery that is well
secured. (Note: a common cause of failure is disconnections of
batteries and/or wiring during launch).
Comply68-70
44Lithium polymer cells are not allowed due to being a fire
hazard.
Comply68-70
45
Alkaline, Ni-MH, lithium ion built with a metal cause, and Ni-
Cad cells are allowed. Other types must be approved before
use.
Comply
68-70
46
The Science Vehicle and Container must be subjected to the
drop test as described in the Environmental Testing
Requirements document.
Partial ComplyComponents not built for testing required. Testing planned for future dates.
47
The Science Vehicle and Container must be subjected to the
vibration test as described in the Environmental Testing
Requirements document. Partial Comply
Components not built for testing required. Testing planned for future dates.
48
The Science Vehicle and Container must be subjected to the
thermal test as described in the Environmental Testing
Requirements document. Partial Comply
Components not built for testing required. Testing planned for future dates.
49Environmental test results must be documented and submitted
to the judges at the flight readiness review. Partial Comply
Components not built for testing required. Testing planned for future dates.
Presenter: Ethan Christian
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CanSat 2015 PDR: Team 5251, CosmoKnights 109
Management
Hunter Williams
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CanSat Management Overview
Presenter: Hunter Williams
The Management section contains:
Gantt chart
Timeline
Final total budget
Detailed budgets on electronics, structural components, and other costs
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CanSat Budget Electronics
Presenter: Hunter Williams
Electronics BudgetItem Description Cost # Total Cost Actual Estimated Budgeted
Arduino Micro Microcontroller $21.45 1 $21.45 Actual
WRL-10419 Xbee Transmitter $44.95 2 $89.90 Actual
WRL-11373 Xbee Boad $9.95 2 $19.90 Actual
MPL3115A2 Pressure Sensor $14.95 1 $14.95 Actual
TMP36 Temp Sensor 1.5 2 $3.00 Budgeted
SEN-10736 IMU $74.95 1 $74.95 Budgeted
808 Car Key Chain Camera 7.5 1 $7.50 Budgeted
PRT-12002 Breadboard $4.95 1 $4.95 Budgeted
RTL-11242 Jumper Wires $5.95 1 $5.95 Budgeted
ROB-10333 Servo $10.95 1 $10.95 Budgeted
GigaAnt Antenna Antenna $1.35 2 $2.70 Budgeted
PCB Board $100 1 $100.00 Estimated
Total $356.20
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CanSat 2015 PDR: Team 5251, CosmoKnights 112
CanSat Budget Structural
Structures Budget
Item Description Cost # Total Cost
Actual, estimated,
Budgeted
Carbon Fiber Sheet 9.5ozX50X3 $ 25.50 1 $ 25.50 Estimated
Carbon Fiber Epoxy3 to 1 Epoxy/Hardener $ 39.75 1 $ 39.75 Estimated
Measuring Pump $ 6.95 2 $ 13.90 Estimated
Molding Wax 24 oz $ 10.50 1 $ 10.50 Estimated
Torsion Spring 180 Deg $ 6.89 1 $ 6.89 EstimatedAluminum Screw and Post $ 0.80 4 $ 3.20 Estimated
Aluminum screw 6-32 X $ 7.06 1 $ 7.06 Estimated
Aluminum nut 6-32 $ 3.94 1 $ 3.94 Estimated
Nylon Eye bolt 10-24 $ 6.15 1 $ 6.15 Estimated
Respirator $ 29.87 2 $ 59.74 Estimated
2 Gallon Bucket $ 3.42 1 $ 3.42 Estimated
Brushes $ 14.99 1 $ 14.99 Estimated
Presenter: Hunter Williams
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CanSat 2015 PDR: Team 5251, CosmoKnights 113
CanSat Budget Structural Contd. Structural Cont.
Other Costs and Total
Item Description Cost # Total Cost Actual, estimated, Budgeted
Putty Knives $ 3.11 1 $ 3.11 Estimated
Wood Planks 2X6X8 $ 5.42 1 $ 5.42 Estimated
Nitrile Gloves 12 Pack $ 4.98 1 $ 4.98 Estimated
Loctite Blue threadlocker $ 6.48 1 $ 6.48 Estimated
Carbon Fiber
Tubes
750mm Long
5mm OD $ 2.01 2 $ 4.02 Estimated
Carbon Fiber
Plates 300X100X2mm $ 20.30 3 $ 60.90 Estimated
Wood Glue $ 3.98 1 $ 3.98 Estimated
Total $283.93
Presenter: Hunter Williams
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CanSat 2015 PDR: Team 5251, CosmoKnights 114
CanSat Budget Other Costs
Other Costs and Total
Type Item Description Cost
Prototype N/A
Prototyping budget was included in the original budgets N/A
Test Equipment Eggs
Eggs used for egg drop materials selection $4
Test Equipment Weather Balloon $15 $15
Test Equipment Helium $3.03 per cubic meter $3.03
Ground Station Computer Laptop $650
Travel Gas
Calculated at $2.5 per gallon from Orlando to Burkett and back $320+
Travel Hotel At $75 per night, 3 rooms, 4 nights $900
Travel Food $25 per day, 4 days, 8 people $800
Total Electronics and Structural
(Not Including Other Costs) $640.13
Grand Total $3332.16
Presenter: Hunter Williams
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CanSat Budget Funding Sources
Funding Sources
Source Type Name Description Amount
Government Grant Florida Space Grant
Covered cost of CanSat application fee and project materials $250
University Grant SGA Project Funding
$1000 for project materials, electronic and structural $1000
University Grant SGA Competition Travel Funding
$200 per person, 8 people, covers hotels and transportation $1600
Previous Projects AIAA UCF Project Materials
Previous projects used Arduino and breakout boards. These were used for introductions to programming,
but not used for prototyping. $800+
Since the SGA grant and Florida Space Grant cover the cost of the CanSat and its
testing materials, there is no danger of running out of funds before project
completion.
Since team members will be driving instead of flying, covering their own food costs,
and sleeping 3 to a room in inexpensive hotels, the SGA Travel Funding will
adequately cover the costs of going to the competition.
Presenter: Hunter Williams
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CanSat Timeline Description
Phase 1:
Design: CAD design in Solidworks High level design
Build: Find materials for egg drop
testing
Buy breakout board sensors for use with Arduino to get initial idea on code
Test: Conduct egg drop test Do CFD analysis and FEM
buckling analysis
Learn all sensors and integrate into GUI
Phase 2:
Design: Finish budget Purchase materials for initial
prototype
Build: Construct first prototype Finish organizing code
architecture
Test: Integrate code into single
autonomous code
Drop test prototype
Phase 3:
Design: Analyze results from drop
test
Make minor changes to design as appropriate
Finish GUI for ground control Build:
Implement structural changes
Integrate sensor package into structure
Test: Do final drop test using
weather balloon and full sensor package
Presenter: Hunter Williams
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CanSat 2015 PDR: Team 5251, CosmoKnights 117
3/9/2015 Spring Break Begins
3/13/2015 Begin Design Phase 3
3/15/2015 Spring Break Ends
4/10/2015 Begin Build Phase 3
29/04/2015 CDR/ End of Spring Semester
5/8/2015 Begin Test Phase 3
6/12/2015 Competition
11/27/2014 Thanksgiving
12/12/2014 Winter Break Starts
12/19/2014 Begin Design Phase 2
1/2/2015 Spring Semester Starts
1/16/2015 Begin Build Phase 2
2/1/2015 PDR
2/13/2015 Begin Test Phase 2
8/25/2014 Post Fliers
9/1/2014 Labor Day
9/5/2014 First Meeting
9/12/2014 Assign Teams
9/26/2014 Begin Design Phase 1
10/17/2014 Begin Build Phase 1
11/14/2014 Begin Test Phase 1
PROJECT TIMELINE
Presenter: Hunter Williams
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(If You Want) Gantt Chart Pt. 1 and 2
118Presenter: Hunter Williams CanSat 2015 PDR: Team 5251, CosmoKnights
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CanSat 2015 PDR: Team 5251, CosmoKnights 119
Conclusions
Major Accomplishments
Completed CAD and CFD of initial structural design, revised to optimize strength, weight, and speed
Successfully transmitted sensor data between CanSat and Ground Station, wired all sensors with Arduino
Conducted trade studies and budgeted accordingly
Major Unfinished Work
Finish manufacturing primary prototype
Finish integrating code into single, automated package
Print circuit, integrate servo and ring gear
Readiness
As all computational analysis is finished and budgeting shows financial viability, primary prototype construction is ready
Presenter: Hunter Williams
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CanSat 2015 PDR: Team 5251, CosmoKnights 120Presenter: Hunter Williams