Team Garuda Cansat 2012 PDR

Team Logo

Here

CanSat 2012

Preliminary Design Report

Team 7634

Garuda

Indian Institute of Technology, Delhi

CanSat 2012 PDR: Team 7634 (Garuda) 1

Team Logo

Here

(If You Want) Presentation Outline

• Introduction

– Team Garuda...................................................................................................................................................................................6

– Team organization...........................................................................................................................................................................7

– Acronyms.........................................................................................................................................................................................8

• System Overview

– System Requirements...................................................................................................................................................................12

– System level CanSat Configuration Trade & Selection................................................................................................................16

– System Concepts of Operations...................................................................................................................................................17

– Context Diagram...........................................................................................................................................................................19

– Physical Layout-CanSat................................................................................................................................................................20

– Physical Layout-Lander.................................................................................................................................................................21

– Launch Vehicle Compatibility........................................................................................................................................................22

• Sensor Subsystem Design

– Carrier Sensor Subsystem overview.............................................................................................................................................24

– Lander Sensor Subsystem overview............................................................................................................................................25

– Sensor Subsystem requirements..................................................................................................................................................26

– Carrier GPS trade & selection.......................................................................................................................................................28

– Carrier non-GPS Altitude and temperature sensor Trade and Selection.....................................................................................29

– Lander altitude sensor trade & selection.......................................................................................................................................30

– Lander Impact force Sensor Trade & Selection............................................................................................................................31

CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Arpit Goyal 2

Team Logo

Here


• Descent control Design

– Descent control overview..............................................................................................................................................................33

– Descent Control requirements......................................................................................................................................................34

– Descent rate control Strategy Selection and Trade......................................................................................................................35

• Mechanism selection..............................................................................................................................................................35

• Metal selection......................................................................................................................................................................36

• Shape selection.....................................................................................................................................................................37

• Descent Rate calculations..........................................................................................................................................................38

• Assumptions..........................................................................................................................................................................39

• Mechanical Subsystem Design

– Mechanical Subsystems Overview...............................................................................................................................................46

– Mechanical Subsystems Requirements........................................................................................................................................47

– Lander Egg protection Trade and Selection.................................................................................................................................49

– Mechanical Layout of Components...............................................................................................................................................50

– Material Selection..........................................................................................................................................................................51

– Carrier-Lander interface................................................................................................................................................................52

– Structure Survivability Trades.......................................................................................................................................................53

– FEA for Structural Survivability.....................................................................................................................................................54

– Mass Budget..................................................................................................................................................................................55

– Tests Performed............................................................................................................................................................................56

CanSat 2012 PDR: Team 7634 (Garuda) 3 Presenter: Arpit Goyal

Team Logo

Here


• Communication and Data Handling Subsystem Design

– CDH overview................................................................................................................................................................................58

– CDH requirements.........................................................................................................................................................................59

– Processor and memory Trade & Selection..................................................................................................................................62

– Carrier Antenna Trade & Selection...............................................................................................................................................65

– Radio Configuration.......................................................................................................................................................................66

– Carrier Telemetry Format..............................................................................................................................................................67

– Activation of Telemetry Transmissions.........................................................................................................................................71

– Locator Device Trade & Selection................................................................................................................................................72

• Electrical Power Subsystem

– EPS overview................................................................................................................................................................................74

– EPS requirements for Carrier........................................................................................................................................................76

– EPS requirements for Lander........................................................................................................................................................77

– Carrier Electrical Block Diagram...................................................................................................................................................79

– Lander Electrical Block Diagram...................................................................................................................................................80

– Power Budget................................................................................................................................................................................81

– External Power Control Mechanism..............................................................................................................................................83

– Power Source Trade and Selection..............................................................................................................................................84

– Battery Voltage Measurement.......................................................................................................................................................85

• Flight Software Design

– FSW overview...............................................................................................................................................................................87

– FSW Requirements.......................................................................................................................................................................88

– Carrier FSW overview...................................................................................................................................................................90

– Lander FSW overview...................................................................................................................................................................91

– Software development plan...........................................................................................................................................................92


Team Logo

Here


• Ground Control System Design

– GCS overview................................................................................................................................................................................94

– GCS requirements.........................................................................................................................................................................95

– GCS Antenna Trade & Selection..................................................................................................................................................97

– GCS software Description.............................................................................................................................................................99

• CanSat Integration and Test

– CIT overview................................................................................................................................................................................102

– CanSat integration.......................................................................................................................................................................103

– Test Performed............................................................................................................................................................................105

– Tests to be performed.................................................................................................................................................................106

• Mission Operation & Analysis

– MOA overview.............................................................................................................................................................................108

– MOA manual development plan..................................................................................................................................................109

• CanSat Integration..................................................................................................................................................................110

• Launch Preparation................................................................................................................................................................111

• Launch Procedure..................................................................................................................................................................112

• Removal Procedure................................................................................................................................................................113

– CanSat Location recovery...........................................................................................................................................................114

• Management

– CanSat Budget............................................................................................................................................................................116

– Sponsorship Plans......................................................................................................................................................................118

– Program Schedule.......................................................................................................................................................................119

– Conclusions................................................................................................................................................................................ 122


Team Logo

Here

(If You Want) Team Garuda

Contact Details: <firstname>@teamgaruda.in

CanSat 2012 PDR: Team 7634 (Garuda)

Name Major with Year

Arpit Goyal Electrical Engineering, Senior

Rajat Gupta Mechanical Engineering, Senior

Kshiteej Mahajan Computer Science, Senior

Aman Mittal Electrical Engineering, Junior

Prateek Gupta Mechanical Engineering, Junior

Sarthak Kalani Electrical Engineering, Junior

Sudeepto Majumdar Electrical Engineering, Junior

Akash Verma Mechanical Engineering, Sophomore

Rishi Dua Electrical Engineering, Sophomore

Harsh Parikh Computer Science, Freshman

6 Presenter: Arpit Goyal

Team Logo

Here

(If You Want) Team organization


Team Leader

Faculty Mentor

Mechanical

Designs

Akash Verma

Prateek Gupta

Electrical Systems

Arpit Goyal

Sarthak Kalani

Sudeepto Majumdar

Software Control

Harsh Parikh

Kshiteej Mahajan

Rishi Dua

Team Mentor

Alternate Team Leader

Aman Mittal

Rajat Gupta


Team Logo

Here

(If You Want) Acronyms

Abbreviation Meaning

µC Microcontroller

ACK Acknowledgement

ADC Analog to Digital Convertor

CAD Computer-aided design

CDH Communication and Data Handling

CIT CanSat Integration and Test

DC Descent Control

DS Data Sheet

EMRR Essence's Model Rocketry Reviews

EPS Electrical Power Subsystem

EPS Electrical Power Subsystem


Team Logo

Here



ERL Effective Rigging Line Length

Est Estimated

FAT File Allocation Table FEA Finite element Analysis FRP Fibre-reinforced plastic FSW Flight Software GCS Ground Control Station GPS Global positioning system GPS Global Positioning System IDE Integrated Development Environment Meas Measured experimentally MOA Mission Operation and Analysis P&T Pressure and Temperature


Team Logo

Here



PCB Printed Circuit Board

RF Radio Frequency

SD Secure Digital

SPI Serial Peripheral Interface

SPL Sound Power Level

SSS Sensor Subsystem

UART Universal asynchronous receiver/transmitter

USD United States Dollar

VSWR Voltage Standing Wave Ratio


Team Logo

Here

Systems Overview

Presenters: Harsh Parikh, Rajat Gupta


Team Logo

Here

(If You Want) Mission Summary


The Main Objective:

The main purpose of CanSat is to provide egg safety from launch to landing

Auxiliary Objectives:

• launching CanSat

• descent CanSat from 600m to 200m at a constant descent rate of 10 m/s ± 1 m/s

• changing constant descent rate to 5 m/s ± 1m/s at 200m

• releasing the lander with egg at 91 m altitude

• landing lander with descent rate less than 5m/s without damaging egg

• collecting data at ground station from sensors in CanSat through Xbee radio modules

Selectable Mission: Calculating thrust force after lander has landed; data should be collected at rate more than 100Hz and stored on board for post-processing.

Selection Rationale:

• Easy implementation

• Criteria: Cost, weight, reliability, power and space effective.

Presenter: Harsh Parikh 12

Team Logo

Here

(If You Want) System Requirements


ID Requirements Priority Rationale Parent Children

VM

A I T D

SYS-01

CanSat constraints will be:

Diameter: less than 127mm

Total mass 400g - 750g

High Justifies concept

of CanSat X

SYS-02 CanSat egg placed inside will

be recovered safely High

Competition

requirement

SSS-05

SSS-06

SSS-08

DC-02

DC-03

GCS-03

X X

SYS-03

The CanSat shall deploy from

the launch vehicle payload

section and no protrusions

High Easy to leave

rocket MS-03 X

SYS-04

The descent control system

shall not use any flammable

or pyrotechnic devices

High To comply with

field safety SYS-09

X

SYS-05

Descent rate should be

10m/s till 200m altitude.

descent rate fall to 5m/s at

200m

High Competition

requirement

DC-01

FSW-03

X X X

13 Presenter: Harsh Parikh

Team Logo

Here




VM

A I T D

SYS-06 Detachment of lander at 91m and

lander velocity will be less than 5m/s High

Competition

requirement

DC-01

FSW-04 X X

SYS-07

During descent the carrier shall

transmit required sensor data

telemetry data once every two

second via XBEE Lander descent

telemetry shall be stored on –board

for post processing following retrieval

of the lander

High Competition

requirement

SSS-01

SSS-02

SSS-03

GCS-02

FSW-05

X X

SYS-08

The cost of CanSat flight hardware

shall be under1000$ (other costs are

excluded)

High Feasible to

design

X

SYS-09

The CanSat and associated

operations shall comply with all field

safety regulations.

Medium Competition

requirement SYS-04

X

SYS-10

Impact parameter data shall be

measured and stored on data card

on sensor

Medium Data

backup SSS-04 X X


Team Logo

Here




VM

A I T D

SYS-11 Spin of CanSat should be less than

10 revolutions per minute High

Required

for stable

operations

MS-02 X X


Team Logo

Here

(If You Want)

System Level CanSat Configuration

Trade & Selection

• First Design- NESTED DESIGN

Lander inside the carrier

Electronic components to be fitted at the sides

Parachutes will be collected at the top portion

Easy to fit components in a cylinder of 152mm height

• Second design- One above the Other

Carrier above the lander

Electronic components to be on the discs arranged horizontally or

on vertical plates on the side

Height required is more. Can’t fit inside 152mm.

Chosen Configuration: NESTED DESIGN

CanSat 2012 PDR: Team 7634 (Garuda) 16 Presenter: Harsh Parikh

Team Logo

Here

(If You Want) System Concept of Operations


On CanSat

Keep CanSat in

rocket

Launch Rocket

Leaving CanSat

from rocket at 600m

descending Rocket at

constant rate of 10m/s from 600 to 200m

descent Speed

decrease to 5m/s at

200m

Detaching lander at

91m

Collecting data from sensors

Sending Data to ground station

Data Analysis

Calculating collision

force

Detecting CanSat Off

CanSat


Team Logo

Here

(If You Want) System Concept of Operation

• Briefing

• Last Mechanical control

• Last Electrical control

• Coming at Competition Arena

Pre Flight

• Pre-Flight operation

• Launch Flight

• Deploy CanSat at 600m

• Opening parachute

• Controlling descent rate to 10m/s +- 1m/s up to 200m

• Data collection and transmission

• Reducing descent rate to 5m/s at 200m

• Detaching Lander at 91m

• Landing and Locating CanSat

Launch and Flight

• Saving Data

• Analyzing Data

• Preparing PFR

• PFR Presentation

Post Flight

CanSat 2012 PDR: Team 7634 (Garuda) 18 Presenter: Harsh Parikh

Team Logo

Here

(If You Want) Context Diagram


CanSat Processor

Flight Software

Power System

Mechanical System

Sensor System

XBee System

Ground

Antenna

Receiver

Computer

Analyser

Environment

Mechanical System

descent Control

Lander Release


Team Logo

Here

(If You Want) Physical Layout- CanSat

Presenter: Rajat Gupta

15

1m

m

94mm

126mm

Space for Electronics

Parachute on top

Lander detachment from bottom

Lander

Actuator


Team Logo

Here

(If You Want) Physical Layout- Lander

12

5m

m

Space for

parachutes

Electronic Components

Egg

Egg protection system

CanSat 2012 PDR: Team 7634 (Garuda) 21 Presenter: Rajat Gupta

Team Logo

Here

(If You Want) Launch Vehicle Compatibility

• The starting point of design of CanSat

body was the inner dimensions of payload

section of rocket.

• Outer diameter of body is 126mm giving 1

mm clearance.

• Total height of CanSat system is 151mm

which is smaller than the given envelop.

• Hence there are no protrusions from the

CanSat which could hamper the smooth

deployment from rocket

• As the rocket compartment opens up,

CanSat is deployed by action of gravity.


15

1m

m

94mm


Team Logo

Here


Sensor Subsystem Design

Presenter: Arpit Goyal

23

Team Logo

Here

(If You Want)


Sensor Subsystem Overview

• Carrier Sensor Sub-system overview


Micro-controller

GPS Sensor

Robokits India

(RKI-1543)

Pressure Sensor

Bosch

(BMP085)

Non-GPS Altitude

Calculation

Battery Voltage Data

Temperature Sensor

BMP085

24

Team Logo

Here

(If You Want) Sensor Subsystem Overview


• Lander Sensor Sub-system overview

25

Micro-controller

GPS Sensor

Robokits India

(RKI-1543)

Pressure Sensor +

Temperature Sensor

Bosch

(BMP085)

Non-GPS Altitude

Calculation

Battery Voltage Data

Accelerometer

MMA7361L


Team Logo

Here

(If You Want)


Sensor Subsystem Requirements

ID Requirement Rationale Priority Parent Children VM

A I T D

SSS-01 GPS data shall be

measured in carrier

(±1.5m)

Required as main objective

and for locating carrier after

it has landed. GPS data will

be telemetered to the

ground

HIGH SYS-07 SSS-07

X X

SSS-02 Altitude shall be

measured without

using a non-GPS

sensor in carrier and

lander both (±1.0m)

Required as main objective

and to calculate height

from ground. This will be

telemetered to ground and

will be used to calculate

descent rate

HIGH SYS-07 SSS-07

X X X

SSS-03 Air Temperature

shall be measured in

carrier

(±2°C)

Required as base objective

and for descent telemetry

HIGH SYS-07 SSS-07

SSS-09

X X X

SSS-04 Impact Force shall

be measured in

lander after it has

landed (at rate of at

least 100 Hz)

(6g)

Required as part of

selectable objective

HIGH SYS-10 SSS-07

X X X


Team Logo

Here

(If You Want)


Sensor Subsystem Requirements


A I T D

SSS-05 Data Interfaces from

sensors, like SPI or

UART should be

limited

Limited UART and SPI

interface in µC

MEDIUM CDH

SYS-02

X

SSS-06 Both lander and

carrier will have an

audio beacon of SPL

at least 80 dB

Required to retrieve lander

and carrier after they have

landed

HIGH SYS-02 X X X

SSS-07 Sensors should

have high

resolutions and high

range

For accurate data LOW SSS-01

SSS-02

SSS-03

SSS-04

X

SSS-08 GPS sensor will be

used in lander

It will be used to locate

lander after it has landed

apart from audio buzzer

MEDIUM SYS-02 X X

SSS-09 Temperature will be

measured in lander

For data matching with of

carrier

LOW SSS-03 X


Team Logo

Here

(If You Want)


Carrier GPS Trade & Selection

RKI-1543 from Robokits India is chosen as GPS

sensor due to:

• Small size

• Low weight

• Low cost

• Easily available in India

Manufacturer Model Accuracy

(m)

Dimensions

(mm)

Mass (g) Voltage (V) Cost

(USD)

Wi2Wi W2SG0006 3 15.5X15.5X2.5 8 3.6 42.5

USGlobalSat GPS_EM-

406A

5 30X30X10.5 7.6 5 40

Robokits India RKI-1543 3 16X16X6 6 5 40


Team Logo

Here

(If You Want)


Carrier Non-GPS Altitude and

Temperature Sensor Trade &

Selection

Bosch BMP085 is chosen as Non-GPS altitude

sensor and temperature sensor due to:

• Small Size

• Integrated Temperature Sensor

• Low cost

• Can be easily integrated with I2C bus


(%)

Dimensions

(mm)

Operating

Supply

Voltage

(V)

Output Type

(A/D)

Cost

(USD)

Bosch BMP085 ± 1.0 16.5X16.5 5 D 20

Honeywell SSCDRNN

015PAAA5 ± 0.25 18X12.5 5 A 30


Team Logo

Here

(If You Want)


Lander Altitude Sensor Trade &

Selection

Bosch BMP085 is chosen as lander altitude

sensor due to:

• Small Size

• Integrated Temperature Sensor

• Low cost

Though we don’t need temp. measurement but

still this sensor is cheaper than other sensors and

is easily compatible with Arduino board. Having

another temp sensor will be useful as it can be

used to match data from carrier temp sensor.


(%)

Dimensions

(mm)

Operating

Supply

Voltage

(V)

Output Type

(A/D)

Cost

(USD)

Bosch BMP085 ± 1.0 16.5X16.5 5 D 20

Honeywell SSCDRNN

015PAAA5 ± 0.25 18X12.5 5 A 30


Team Logo

Here

(If You Want)


Lander Impact Force Sensor

Trade & Selection

MMA7361L from Freescale Semiconductors is chosen due to:

• Low cost

• ADC as data interface, Micro-controller have limited I2C

interface.

• Higher range

Manufacturer Model Dimensions (mm) Output

(A/D)

Range Cost

(USD)

Analog Devices ADXL335 17.8X17.8 D ± 3g 25

ST

Microelectronics LIS331 21.9X13.5 D ± 6g 28

Freescale

Semiconductors

MMA7361L 23.8X12.6 A ± 6g 12


Team Logo

Here

Descent Control Design

Presenter: Prateek Gupta


Team Logo

Here

(If You Want)


Descent Control Overview

The descent mechanism selected is parachutes with thorough

calculation of the drag area.

The material selected after careful consideration is ripstop nylon and

it will be provided with spill holes to reduce drift.

2 parachutes are chosen for each level of descent for carrier.

1st parachute will bring down the velocity of CanSat to 10m/s.

2nd parachute will be deployed in addition to 1st, at 200m altitude to

bring down the velocity to 5m/s

To avoid the free body wake effects, the effective rigging line length is

calculated.

Proper orientation of both parachutes will avoid entanglement.

The parachute in the lander directly brings it descent rate to below

5m/s

Before deployment the parachutes are folded to occupy the allotted

minimum space

Presenter: Prateek Gupta 33

Team Logo

Here

(If You Want)


Descent Control Requirements


A I T D

DC-1 Use of two

parachutes in

Carrier and one in

lander

To attain required

descent rates

HIGH SYS-05

SYS-06

X X X X

DC-2 Parachute should

have a shiny

colour

To locate carrier and

lander easily

HIGH SYS-02 X

DC-3 Spill holes should

be used in

parachutes

To reduce drift MEDIUM SYS-02 X X X

DC-4 At 200 m the 2nd

parachute shall not

entangle with the

1st one

Proper orientation

and deployment

mechanism is

required for 2nd

parachute

HIGH X X

34 Presenter: Prateek Gupta

Team Logo

Here

(If You Want)

Descent Rate Control Strategy

Selection and Trade

MECHANISM SELECTION


Drag Mechanism Benefits Problems Decision

Parachute(without

spill hole)

Large coefficient of

drag,

Drifting, Oscillations Not to be used

Parachute(with spill

hole)

Reduced drifting and

oscillations, Lesser

material and weight

Descent rate has

increased,

Selected

Streamers Faster recovery,

Reduced Drifting,

Lesser drag,

Heavier, Occupies

larger volume,

Not to be used

Paraglide Descent control

methods include

drag and lift

Drift need to be

there to enable it to

control descent via

lift

Not to be used


Team Logo

Here

(If You Want)


Selection and Trade

Material Benefits Problems Decision

Ripstop nylon Lower porosity, Dyed

in many colours,

Easily available

Slightly expensive To be used

Mylar Thin, Light,

Cd=0.14(approx.)

Not easily available Can’t be used

Flex Alternative to Mylar Heavy and more

porous

Not to be used

Retired Hot air balloon Alternative to ripstop

nylon as it will be less

expensive

Fewer colour options,

Need to be washed

several times to get

the smell of the gas

out, need to be

replaced after certain

time of usage

Can’t be used

MATERIAL SELECTION

CanSat 2012 PDR: Team 7634 (Garuda) 36 Presenter: Prateek Gupta

Team Logo

Here

(If You Want)


Selection and Trade

MATERIAL SHAPE SELECTION


Shape Payload Diameter Descent rate Decision

Round 750g 10cm 44m/s Selected

Square 750g 10cm 55m/s Not to be

selected

Hexagon 750g 10cm 48m/s Can be

considered


Team Logo

Here

(If You Want)


Selection and Trade

DESCENT RATE CALCULATIONS FOR CanSat

DESCENT RATE CALCULATIONS FOR LANDER(91m)

Payload Diameter

(1st Parachute)

Descent

rate (600m)

Payload Diameter

(2nd Parachute)

Descent Rate

(200m)

725g 40cm 10.82m/s 700g 40cm 7.51m/s

725g 44cm 9.83m/s 700g 44cm 6.83m/s

725g 48cm 9.01m/s 700g 48cm 6.26m/s

725g 48cm 9.01m/s 700g 52cm 6m/s

Payload Diameter Descent rate

200g 40cm 5.68m/s

200g 50cm 4.54m/s

200g 60cm 3.78m/s

200g 55cm 4.13m/s


Team Logo

Here

(If You Want)


Selection and Trade

ASSUMPTIONS:

• Each parachute weighs 25gm

• All parachutes in a cluster must be identical to prevent

unbalancing of drag forces. This requirement is relaxed by

having slightly different diameters of 2 parachutes

• Spill hole of 5cm diameter is not going to affect the

equivalent diameter.

• Equivalent diameter for cluster is calculated using:

• All calculations are based on EMRR’s Calculator


2221 DDDeq

39 Presenter: Prateek Gupta

Team Logo

Here

(If You Want)


Selection and Trade

EFFECTIVE RIGGING LINE LENGTH(ERL)

To avoid effects of ‘forebody wake effects’ which reduces

25% of drag in parachute

ERL = 𝒏D

ERL= 63 cm (approx.)

Deployment of 2nd parachute :

Deployment mechanism to be decided


Team Logo

Here

(If You Want)

• Plumb line with very low weight as compared to payload

• Length of string to be very long

• Calculate the descent rate by simple formula –

Velocity = Plumb Line Length

Time


Selection and Trade

TESTING OF DESCENT RATE (LANDER): STRATEGY


Team Logo

Here

(If You Want) Descent Rate Calculations

Formula used for calculating the terminal velocity

Where

Vt= Terminal Velocity

W= Payload

Cd= Coefficient of Drag (1.5 for round and hemisphere)

ρ =Density of Air (It varies from 600m to ground level)

A= Equivalent area of Parachute or cluster of them

((pi*d2)/4)


AC

WV

d

t

2


Team Logo

Here

(If You Want) Descent Rate Calculations

Density of air is not

constant.

@ 600m

density=1.13 kg/m3

@Sea level

Density= 1.2 kg/m3

Terminal velocity will decrease as it approaches ground.

There is not much variation in density and hence we can assume it to be constant and

calculate for the worst case i.e. 1.13 kg/m3.


Team Logo

Here

(If You Want) Descent Rate Estimates

*Use of spill hole deviates the equivalent diameter only by a small amount so these values should hole in

actual scenario. Cd will be slightly less than 1.5.

Object Altitude Weight Terminal Velocity

Carrier + Lander 600m 725g 9.01m/s

Carrier + Lander 200m 700g 6m/s(to be

improved)

Carrier 91m 500g 5.7m/s(Using non

identical chutes)

Lander 91m 200g 4.54m/s


Team Logo

Here


Mechanical Subsystem Design

Presenters: Rajat Gupta, Akash Verma

45

Team Logo

Here

(If You Want)


Mechanical Subsystem Overview

• The design of the structure was governed by the

designated payload envelop. For the given dimensions

of payload, concentric arrangement of carrier and

lander one-inside-the-other was perceived to be best

suited.

• The body will be fabricated with fiber re-enforced

plastic which provides good impact resistance

• The bottom of carrier opens up on initialization of

lander deployment with help of linear actuator and the

lander falls due to gravity.

• The structural rods are made of aluminum and provide

structural integrity.

• All electrical components are placed strategically to

bring the centre of gravity as close to the centre as

possible for balance of the system

• The egg protection system uses a combination of

impact force distributor and shock absorbing material.

Presenter: Rajat Gupta 46

Team Logo

Here

(If You Want)


Mechanical System Requirements

ID Requirement Rationale Priority Parent Child VM

A I T D

MS-01 There shall be no

protrusions beyond the

payload envelop until

CanSat deployment

Protrusions may interfere

with smooth deployment.

High SYS-03

X

MS-02 The various components

shall be located

strategically so as to bring

the CG near the centre

line.

The mass distribution of

the rocket should be fairly

uniform for stable

operations

Medium SYS-11

X

MS-03 The electronics shall be

bolted inside the structure

To ensure protection of

electronics

High

X

MS-04 All electronics should be

shielded from environment

To ensure protection High

X

47 Presenter: Rajat Gupta

Team Logo

Here

(If You Want) Mechanical System Requirements


ID Requirement Rationale Priority Parent Child VM

MS-05 The structure must

support 30gees of

shock force and 10

gees of acceleration

The structure has to

withstand various forces

during takeoff and landing

High

X X


Team Logo

Here

(If You Want)


Lander Egg Protection Trade &

Selection

• The selected egg protection system consists of a force distributor at bottom and

surrounded by a shock absorbing and dampening material.

– The hip bone protector(used by elderly people) is used as a force distributor to

distribute the impact forces sideways and protect the egg from breaking

– The egg is placed in a spherical foam ball with cavity carved inside to provide

protection from all sides. It is covered from top by more foam pieces.


• Other alternates: cotton & bubble wrap are also tested for cushioning effect.

• In final configuration, Egg is wrapped with a layer bubble wrap to protect from self

crushing force from foam ball

• Polystyrene balls are filled in any space left to provide extra cushion.

• All the materials: foam, bubble wrap, polystyrene balls are easily available lightweight

and inexpensive. Hip protector was available in our lab as part of ongoing product

developed with patented research.

49

Team Logo

Here

(If You Want)


Mechanical Layout of Components

Trade & Selection

15

1m

m

94mm

12

5m

m

Electronics

Space for parachute

Egg Protection system

Actuator

Main Structure


Team Logo

Here

(If You Want) Material Selections


FRP (fiber reinforced plastic) • Density = 1799.19381 kg / m^3

• chemical, moisture, and temperature resistance

• superior tensile, flexural and impact strength behaviour

• High Strength to Weight Ratio

• Easy to mold and cast in our lab

• Cheap and easily available

Aluminum rods • Density 2.63 g/cc

• Ultimate strength 248 MPa

• Light weight and strong enough for the CanSat

• Easily available in various diameters

Torsional spring For quick opening of bottom flap of the carrier

The material chosen for structure is FRP body with aluminum support rods due

their superior qualities at affordable price as shown below.


Team Logo

Here

(If You Want)


Carrier-Lander Interface

Presenter: Akash Verma

•The lander will be placed inside the carrier.

•The bottom part of the carrier is a spring loaded flap.

• A linear actuator is used for holding the bottom flap. At 91m

actuator pulls the locking rod and flap opens by gravity and spring

force.

•Lander comes out by gravitational force.

Release of the lander results in opening of the parachute which is above the lander.

52

Team Logo

Here

(If You Want) Structure Survivability Trades


• The electronic components will be soldered on a PCB which will be

bolted to the structure for robust mountings.

• Holes can be easily drilled in the plastic structure wherever required

accordingly.

• The components which can’t be bolted will be secured using superior

glue adhesive.

• The structure is designed with suitable material thickness to withstand

the requisite shock forces.

• The fibers in the structure will provide strength and resistance from

impacts in the longitudinal direction of fibers. A preliminary Finite

element analysis was carried out to ensure that the structure is robust

enough (Results shown in next slide)

• Physical testing to be done later when structure is fabricated.

53 Presenter: Akash Verma

Team Logo

Here

(If You Want)

Finite Element Analysis for

Structural Survivability


The preliminary FEA results of the structure for load due 20gees average

deceleration shows resultant displacement and von-mises stress way below limits.

Max resultant disp.: .01mm Max von-mises stress= 0.23 Mpa

*The analysis is for static forces equivalent to 20g impact for fixed end boundary conditions with material properties assumed to be

uniform. In real case the properties are different in direction of fibers for FRP


Team Logo

Here

(If You Want) Mass Budget


Carrier components Weight (g)

Arduino board 32

LCD 35

Parachutes 60

Structure 250

Battery 24

Other electronics 20

Total carrier mass 421

Lander components Weight (g)

Arduino board 32

LCD 35

Parachutes 30

Structure 100

Battery 24

Other electronics 20

Egg protection(without egg) ~60

Total carrier mass(without

egg)

241

The initial estimates with mass are from component specifications and CAD model

with expected errors.


Team Logo

Here

(If You Want) Tests Performed

• The egg protection system was system was tested by dropping under free fall from various

heights to choose the cushion material.

• In all tests, the hip protector is placed in the bottom.

• From these tests, the foam ball + bubble wrap with egg in vertical orientation was finalized.


Trial Material Drop height

(ft)

Impact

velocity

(m/s)

Orientation Result

1. Bubble wrap 4 4.9 horizontal Fail

Bubble wrap 4 4.9 vertical Fail

Cotton 4 4.9 horizontal Fail

Cotton 4 4.9 vertical Pass

Cotton 10 7.7 vertical Fail

Foam ball + bubble wrap 10 7.7 vertical Pass

Foam ball +bubble wrap 20 11 vertical Pass

Foam ball +bubble wrap 40 15 vertical Fail


Team Logo

Here


Communication and Data Handling

Subsystem Design

Presenter: Aman Mittal

57

Team Logo

Here

(If You Want)


CDH Overview

• Carrier

– All data will be transmitted from the sensors to the

microcontroller on board via serial interface.

– The data will be stored on an SD card for later retrieval.

– Transmission of data to take place from X-Bee Pro

module XBP24BZ7SIT-004J with in built antenna.

• Lander

– The data from the sensors to be collected from serial

communication and sent to the microcontroller.

– The data will be processed on Arduino and stored in an

SD card.

Presenter: Aman Mittal 58

Team Logo

Here

(If You Want)


CDH Requirements

ID Requirement Rationale Priority Pare

nt(s)

Childr

en

VM

A I T D

CDH -01 Sensor data will

be sent

Base mission

requirements

HIGH X X

CDH-02 Carrier data will

be stored

Store all data to be

transmitted as

backup

MEDIUM X

CDH-03 Store lander

data

Base mission

requirement for

velocity data

HIGH X X

CDH-04 Accelerometer

data

ADC data for force

calculation

HIGH X

CDH-05 Micro-controller

speed>1MHz

To process all data

and send telemetry

MEDIUM X

CDH-06 Telemetry from

Xbee will be

used

Base Station

Requirements

HIGH X

59 Presenter: Aman Mittal

Team Logo

Here

(If You Want) CDH Requirements

ID Requirement Rationale Priority Parents Children VM

A I T D

CDH-07 AT Mode for Xbee

will be used

Base Mission

Requirement

HIGH X X

CDH-08 Locating device

active on landing

Base mission

requirements and

to save power

HIGH X X

CDH-09 SPL for Buzzer

shall be greater

than 80dB

For location HIGH X

CDH-10 Handheld locator

will trigger buzzer

To provide ease in

locating

MEDIUM X X

CDH-11 Buzzer will be off

before landing

Base mission

requirements and

to save power

HIGH X

CDH-12 CanSat will stop

transmitting when

triggered off

Saving power MEDIUM X X

CanSat 2012 PDR: Team 7634 (Garuda) 60 Presenter: Aman Mittal

Team Logo

Here

(If You Want) CDH Requirements


A I T D

CDH-13 The Pan ID of

Xbee module

should be set as

Team Number

To avoid

interference

HIGH X


Team Logo

Here

(If You Want)

Processor and Memory Trade

Selection

Arduino Uno Arduino Mega 2560 Custom ATMega 32

Board

Processor Speed(MHz) 16 16 16

Operating Voltage 5 5 5

Data Interface (D/A) 14/6 54/16 Configurable

Size(cm x cm) 6.5x5.2 10.1x5.2 ~5x6

Flash Memory(kB) 32 128 32

Price(in USD) 25 65 30


Team Logo

Here

(If You Want)

Processor and Memory Trade

Selection

• Carrier

– Arduino Uno is chosen for the microcontroller.

– Easy interfacing, sufficient digital outputs for data

handling.

– Low price and size.

• Lander

– Arduino Uno is chosen for the microcontroller.

– Same design for the carrier and Lander.


Team Logo

Here

(If You Want) Memory Selection

• SD card is used for external memory

– Standard FAT 32 file system.

– Large amounts of data can be stored.

– Non-volatile.

– Easy to retrieve data on laptop.


Team Logo

Here

(If You Want) Carrier Antenna Trade and Selection

A24 HASM450 A24 HABUF-P51

Gain(dB) 2.1 2.1

Frequency(GHz) 2.4 2.4

Application Fixed/Mobile Fixed

Price (in USD) 6 5

• Carrier Antenna –

– Here we are using XBP24BZ7SIT-004J with RPSMA

connector module due to –

• Ability to tilt the antenna in multiple ways .

• Robustness of design and high gain.

• Frequency – 2.4 GHz

• VSWR<2

• Standard interface.

CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Aman Mittal 65

Team Logo

Here

(If You Want)


Radio Configuration

• The X-bee radios are to be used that will be set in the unicast

mode.

• Both the modules will be configured in AT mode. This makes the

programming easy and allows transparent communication.

• The Ground Station

– The module will be configured as COORDINATOR AT.

– This module will be communicating data with CanSat module which

will be indicated in the destination address in SH and SL parameters

– The PANID will be set as team no.

• The CanSat Xbee Module

– The CanSat module will be configured as ENDPOINT AT.

– This module will have the destination address set as the ground

station radio.

– The PANID will be set as the team number.


Team Logo

Here

(If You Want) RADIO CONFIGURATION


• Both xbees connect to each other.

• Ground station sends start command to CanSat and receives an ACK.

Before Launch

• Send packets of altitude and position to the ground.

• At reaching the top, ground station sends command to send all sensor data.

During Rise

• The sensor data will be sent to the ground station. During Fall

• The GPS position will be transmitted to the ground station.

After Landing


Team Logo

Here

(If You Want)


Carrier Telemetry Format-1

• Data to be transmitted-

– From Carrier

• GPS data

• Pressure and Temperature Sensor data

• Battery Voltage data.

• Velocity data.

– From Lander

• GPS data to the handheld device.

• Data rate

– The data will be sent once every 2 seconds.


Team Logo

Here

(If You Want) Carrier Telemetry Format-2

• The data from GPS will be first processed by the

microcontroller before sending.

• The table shows the data that will be sent.

• Typical GPS data –

– $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.

4,M,46.9,M,,*47


Where: GGA Global Positioning System Fix Data

• 123519 Fix taken at 12:35:19 UTC

• 4807.038,N Latitude 48 deg 07.038' N

• 01131.000,E Longitude 11 deg 31.000' E

• 1 Fix quality

• 08 Number of satellites being tracked

• 0.9 Horizontal dilution of position

• 545.4,M Altitude, Meters, above mean sea level

• 46.9,M Height of geoid (mean sea level) above WGS84 ellipsoid

• (empty field) time in seconds since last DGPS update

• (empty field) DGPS station ID number

• *47 the checksum data, always begins with *


Team Logo

Here

(If You Want) Carrier Telemetry Format-3


Characters Sent Definition

Hhmmss UTC Time

LLLL.LLL Latitude

LLLLL.LLL Longitude

AAA.A Altitude

TT No. of satellites tracked

AAA.A Pressure Sensor – Altitude

TT.T Air Temperature


Team Logo

Here

(If You Want)


Activation of Telemetry

Transmissions

• The telemetry will be enabled by sending a start

command from the Ground station radio.

• The CanSat radio will send an ACK, which will mark the

start of telemetry.

• The Ground Station will resend a START command in

case the ACK is not received in a fixed timeframe.

Presenter: Aman Mittal 71

Team Logo

Here

(If You Want)


Locator Device Trade & Selection

• The locator device will include a buzzer and a handheld

device with GPS and Xbee.

• The lander and carrier will both have a buzzer on them.

• The buzzer will be activated by 2 means –

– The data for GPS altitude is constant for 5 sec.

– The ground station/handheld sends an ON command.

• The deactivation will be through a switch on-board the

buzzer PCB.

• The handheld will get the GPS location of the carrier

and lander, and with the help of its own GPS data, it can

track the carrier and lander.


Team Logo

Here

Electrical Power Subsystem

Presenter: Sarthak Kalani


Team Logo

Here

(If You Want) EPS Schematic Overview

CanSat

Power

System

Carrier

battery

source

Lander

battery

source

Sensors +

Xbee

Arduino Board

Buzzer and

actuator

Sensors +

Xbee

Arduino Board

Buzzer

74 CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Sarthak Kalani

Team Logo

Here

(If You Want) EPS Overview

• 2 supplies: Carrier + Lander

• Most power consumers: GPS sensor and buzzer.

• Power supply:

– Main supply used : 9V.

– Supply to components via 3.3V and 5V regulator ICs.

– Rationale: Constant voltage to components.

• Use of GPS and radio on Lander:

– Rationale: Easy retrieval.

– Cost, space, power and weight: not a limiting factor.

• Power saving:

– High power components switched on only in case of flight time.

– Sleep mode used during 1hour wait time and before retrieval (except

buzzer) via communication.

CanSat 2012 PDR: Team 7634 (Garuda) 75 Presenter: Sarthak Kalani

Team Logo

Here

(If You Want) EPS Requirements-Carrier


A I T D

EPS-01

All electronic

components of carrier

will be powered.

Necessary for the

working of CanSat.

High X

EPS-02 Power shall be supplied

by 3.3V and 5V

regulator ICs (LM7833

and LM7805 used)

Components require

3.3V and 5V regulated

power supplies

High X

EPS-03 Voltage should

displayed on LCD

Efficient monitoring of

battery voltage

Low X X

EPS-04 External switch and

LED shall be used for

initial and final on/off

Easy power turn on/off

mechanism

High X

EPS-05 Actuator should have

an external switch for

manual override.

Easy process of

testing

Medium X X X


Team Logo

Here

(If You Want) EPS Requirements-Lander


A I T D

EPS-06

All electronic

components of lander

will be powered.

Necessary for the

working of CanSat.

High X

EPS-07 Power shall be supplied

by 3.3V and 5V

regulator ICs (LM7833

and LM7805 used)

Components require

3.3V and 5V regulated

power supplies

High X

EPS-08 Voltage should

displayed on LCD

Efficient monitoring of

battery voltage

Low X X

EPS-09 External switch and

LED shall be used for

initial and final on/off

Easy power turn on/off

mechanism

High X


Team Logo

Here

(If You Want) EPS Requirements-Lander


A I T D

EPS-15 Power to extra

hardware to

measure battery

voltage

Voltage level to

be transmitted

and so its

hardware needs

power.

High

EPS-16 External switch to

turn lander on/off

Easy mechanism

for turning lander

on/off

High

EPS-17 LED Display on/off

power of lander

High

EPS-18 Power to

accelerometer

Need to measure

external force

with the same

High


Team Logo

Here

(If You Want) Carrier Electrical Block Diagram


Arduino (9V)

GPS(5V)

P&T Sensor(3.3V)

Actuator(3.3V)

SD card(3.3V)

Buzzer(9V)

LCD(5V)

Voltage Measurement Hardware(9V)

Radio Transceiver(3.3V

Power Source

3.3V regulator

5V regulator

9V supply

79 Presenter: Sarthak Kalani

Team Logo

Here

(If You Want) Lander Electrical Block Diagram


Arduino (9V)

GPS(5V)

P&T Sensor(3.3V)

Accelerometer(3.3V)

SD card(3.3V)

Buzzer(9V)

LCD(5V)

Voltage Measurement Hardware(9V)

Radio Transceiver(3.3V

Power Source

3.3V regulator

5V regulato

r

9V supply


Team Logo

Here

(If You Want) Power Budget - Carrier


S.

No. Component Voltage

(V)

Current

drawn

(mA)

Power

(mW)

Duty

Cycle/

Time of

operation

Uncert

ainty

(%)

Capacity

required

(mAh)*

Total

Power

Consumed

(mW)*

Source

1 Arduino (Board only) 9 0.02 18 100% 20 0.03 22 Meas

2 P&T Sensor 3.3 0.1 0.33 100% 10 0.15 0.4 DS

3 GPS Module 3.3 45 200 100% 10 50.0 160 DS

4 Transceiver Module 3.3 65 330 10% 10 7.50 33 DS

5 Actuator 3.3 30 99 1% 15 0.40 2 Est

6 Buzzer 9 15 135 3hrs 20 20.0 165 Est

7 SD card 3.3 50 165 5% 10 3.0 10 Est

8 Extra h/w (regulator ICs

+ voltage measurement

h/w)**

9 0.1 0.9 100% 20 0.2 1 Meas

9 LCD 5 40 200 5% 10% 0.4 10 DS

Total 81.28 403.4

* All values are assumed to be on higher side. ** Peak values attained.


Team Logo

Here

(If You Want) Power Budget - Lander


S.

No. Component Voltage

(V)

Current

drawn

(mA)

Power

(mW)

Duty

Cycle/

Time of

operation

Uncert

ainty

(%)

Capacity

required

(mAh)*

Total

Power

Consumed

(mW)*

Source

1 Arduino (Board only) 9 0.02 18 100% 20 0.03 22 Meas

2 P&T Sensor 3.3 0.1 0.33 100% 10 0.15 0.4 DS

3 GPS Module 3.3 45 200 100% 10 50.0 160 DS

4 Transceiver Module 3.3 65 330 10% 10 7.50 33 DS

5 Accelerometer 3.3 0.4 1.32 5% 10 0.02 0.1 DS

6 Buzzer 9 15 135 3hrs 20 20.0 165 Est

7 SD card 3.3 50 165 5% 10 3.0 10 Est

8 Extra h/w (regulator ICs

+ voltage measurement

h/w)**

9 0.1 0.9 100% 20 0.2 1 Meas

9 LCD 5 40 200 5% 10% 0.4 10 DS

Total 80.9 401.5

* All values are assumed to be on higher side. ** Peak values attained.


Team Logo

Here

(If You Want)


External Power Control Mechanism

• Separate on off switch both for carrier and lander

• 2 level Power monitoring system:

– LED shows whether 9V battery is switched on/off

– LCD screen displays the battery voltage level, thus displaying

whether microcontroller is working properly or not.

• All components put to sleep mode during 1hour prelaunch time

and in the post flight period with the use of radio communication

with CanSat. This prevents faster battery drain.


Team Logo

Here

(If You Want) Power Source Trade and Selection


S.

No.

Battery Name Battery

Type

Weight

(gm.)

Typical

Voltage

(V)

Capacity

(mAh)

Energy

(Wh)

Cost

(USD)

Decision

1 Duracell ultra Alkaline 45 8.4 550 4.5 2.40 S

2 GP20R8H NiMH 42.5 7.9 210 1.8 2.96 NS

3 Li-9V500 Li-ion 48 8.2 500 4.5 3.88 NS

4 Energizer EN22 Alkaline 45.6 8.4 500 4.4 3.05 NS

• Finally selected battery: Duracell Ultra.

• Power available is 550mAh and 4.5Wh.

• Power consumed (3hrs of working) is 250mAh and 0.5Wh

• Available margin assuming 3 hours of working: 300mAh (55%)

• Minimum time of operation assuming full operation of all components :

5hour.

• Selection criteria:

• Reliability

• Cost

• Easy availability

• Service hours provided


Team Logo

Here

(If You Want)

Battery Voltage Measurement

Trade And Selection


Additional hardware is comprised of voltage follower by inverting amplifier (used

for attenuator here)

Voltage follower helps in isolation of output and input. Inverting amplifier corrects

sign and provides given output as . Taking Rf as 10kΩ, Ri as 20kΩ,we get Vmax

up to 5V.

ADC output multiplied by 2 gives exact Voltage value.

This is better than potential divider because

• Consumes almost no current.

• Has much better stabilization characteristics

i

f

R

R


Team Logo

Here


Flight Software Design

Presenter: Sudeepto Majumdar

86

Team Logo

Here

(If You Want)


FSW Overview

• Programming Language : .NET/JAVA

• Developing Environment : Arduino IDE (processing language)

• Flight software is responsible for ensuring that:

–Carrier releases the Lander at the right time.

–Lander is aware when its released.

–All sensors and GPS data are read and the data packet for RF

Transmission is prepared.

–All read data and detailed flight log are stored on SD-Card.

–Communication with ground station is maintained.

–Speed of descent is controlled.

Presenter: Sudeepto Majumdar 87

Team Logo

Here

(If You Want)


FSW Requirements

ID Requirement Rationale Priority Parent(s) Child(ren) VM

A I T D

FSW-01 FSW shall initialize

the sleep mode

To save

power

MEDIUM X X

FSW-02 FSW shall start

telecommunication

To avoid

transmission

of data while

not in flight

mode

HIGH X X X

FSW-03 FSW will be

responsible for

opening of

parachute at 200m

Base Mission

Requirement

HIGH SYS-05 X X X X

FSW-04 FSW shall be

responsible for

releasing the

lander at 91m

Mission

Requirement

HIGH SYS-06 X X X X

FSW-05 FSW shall collect

data from sensors

and then store and

telemeter to the

ground

Base Mission

Requirement

HIGH SYS-07 X X X

88 Presenter: Sudeepto Majumdar

Team Logo

Here

(If You Want) FSW Requirements


ID Requirement Rationale Priority Parent(s) Child(ren) VM

A I T D

FSW-06 FSW shall activate

impact sensor after

the lander is

released

To avoid

sensor

operations

when not

required

MEDIUM X X X

FSW-07 FSW shall stop

telemetry of data

after CanSat has

landed

To avoid

transmission

when not

required

MEDIUM X X


Team Logo

Here

(If You Want) Carrier CanSat FSW Overview

CanSat 2012 PDR: Team 7634 (Garuda) 90 Presenter: Sudeepto Majumdar

Team Logo

Here

(If You Want)


Lander CanSat FSW Overview

Presenter: Sudeepto Majumdar 91

Team Logo

Here

(If You Want)


Software Development Plan

• The GCS software is ready for use.

• Development team: Kshiteej Mahajan, Rishi Dua

• Testing: Initially testing done by taking Data manually

generated from CSV file so as not to wait for Electrical

Team. Later on, the input can be changed to serial input.

• The FSW remains to be developed

• Since the components are finalized and procurement is

in process, Flight software design will be ready soon.

• We need Arduino for lander and carrier, coding for which

can be easily done in Arduino IDE.


Team Logo

Here

(If You Want)

Team Logo

Here


Ground Control System Design

Presenters: Kshiteej Mahajan, Rishi Dua

93

Team Logo

Here

(If You Want)


GCS Overview

Presenter: Rishi Dua

Antenna receives Signal

from Carrier

Microcontroller provides serial

input to the computer

Computer processes, stores and

displays the data

94

Team Logo

Here

(If You Want)


GCS Requirements


A I T D

GCS-01 Antenna shall point

upwards and be at

least 1m above the

ground

To prevent

interference

High X

GCS-02 Data will be

processed and

stored

To meet base

mission

requirements

High SYS-07 X X

GCS-03 Recovery of CanSat To avoid loss of

carrier, lander and

egg

Medium SYS-02 X X

GCS-04 Mission operations:

Includes the

detection of various

phases by the GCS

To ensure base

mission

requirements are

met

Medium X X X

GCS-05 Real-time online

uploading of data on

a remote server

For Remote Access Medium X X

95 Presenter: Rishi Dua

Team Logo

Here

(If You Want)


GCS Requirements


A I T D

GCS-06 Software made

using JAVA and

PHP

Cross platform

support and faster

High X

GCS-07 Power Backup for 4

hours

Should not fail in

case of power

outage

Low X


Team Logo

Here

(If You Want)


GCS Antenna Trade & Selection

• The antenna to be used is A24HASM-450 – ½ wave

dipole antenna.

• The coverage of the antenna module is about the range

of 2 km.

• This antenna has omni-directional pattern when places

in vertical direction.

• The antenna should be able to cover a drift of up to

1km, so we have a margin of 500m from our design.

• The antenna will be facing at an angle to the launch site

to increase coverage.

Presenter: Rishi Dua 97

Team Logo

Here

(If You Want) GCS Antenna Trade and Selection

>3.5 m

Via UART through

FTDI connected to

Xbee.

Via level

shifter At an

angle to

the launch

site, to be

decided

based on

testing and

further

reading.

CanSat 2012 PDR: Team 7634 (Garuda) 98 Presenter: Rishi Dua

Team Logo

Here

(If You Want) GCS Software

• Data taken currently from CSV file (which is updated every 2

seconds), later on plan to use serial input.

• Data plotted and also uploaded simultaneously on the

internet so that it can be remotely accessed.

• Data plotted using Java library (Live-Graph).

• Data can be exported into Excel file, XML, SQL and the

Graph can be exported into JPEG image.

• Since it is based on JAVA, PHP and SQL, it will be faster

and more reliable than third party tools like Matlab.

Moreover, all tools used are open source.

• GPS data to be embedded in Google Maps, to possibly help

recover location of the CanSat.

CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Kshiteej Mahajan 99

Team Logo

Here

(If You Want) GCS Software Description


Data file

Settings

Graph

Settings

Graph

Data Series

Settings

Presenter: Kshiteej Mahajan 100

Team Logo

Here

CanSat Integration and Test

Presenter: Akash Verma


Team Logo

Here

(If You Want)

CanSat Integration and Test

Overview

• With a project with large number of subsystems it becomes important to

coordinate the multi disciplinary subsystems effectively keeping in mind

that:

– No team member is unutilized in wait of inputs from other subsystem

– Each subsystem is working in the correct direction ensuring smooth

integration in the fist go with minimum iterations.

Hence in initial phase of execution, each subsystem is worked upon in

parallel and merged on step-by-step catering to the needs and

objectives as and when required.

Tests would be performed for each subsystem in isolation and in

integration with other systems in phased manner as explained in

following slides.

Presenter: Akash Verma CanSat 2012 PDR: Team 7634 (Garuda) 102

Team Logo

Here

(If You Want) CanSat Integration

Phase One: Procurement and isolated Testing

• In this phase all the components already decided will be procured like

sensors, Xbee module, microcontrollers, parachutes, etc.

• Based on the size inputs of various components, structural design will

be finalized with any modifications if necessary. Fabrication of structure

to be completed henceforth.

• Each subsystem would be tested in isolation:

– Data transfer through Xbee module

– Operational testing of sensors

– Testing parachutes for descent rates

– Testing for structural integrity of body for impact forces

– Verification of power specification for various components for any

deviations.

– Testing of flight software with dummy data

CanSat 2012 PDR: Team 7634 (Garuda) 103 Presenter: Akash Verma

Team Logo

Here


• Phase two: Subsystem Integration

– Ensuring proper deployment of descent control

mechanism and detachment of lander.

– Integrating sensors and Flight software with the CDH

– Physical integration of the electronics system into the

mechanical structure

• Phase three: Final Integration

– Final integration of the systems and testing of whole

system as a unit in a scenario as close to mission

scenario as possible.


Team Logo

Here

(If You Want) Tests Performed

Mechanical testing of egg protection system:

• The egg protection system was system was tested by dropping under free fall from various

heights to choose the cushion material.

• In all tests, the hip protector is placed in the bottom.

• From these tests, the foam ball + bubble wrap with egg in vertical orientation was finalized.

Trial Material Drop

height(ft)

Impact

velocity

(m/s)

Orientation Result

1. Bubble wrap 4 4.9 horizontal Fail

Bubble wrap 4 4.9 vertical Fail

Cotton 4 4.9 horizontal Fail

Cotton 4 4.9 vertical Pass

Cotton 10 7.7 vertical Fail

Foam ball + bubble wrap 10 7.7 vertical Pass

Foam ball +bubble wrap 20 11 vertical Pass

Foam ball +bubble wrap 40 15 vertical Fail


Team Logo

Here

(If You Want) Tests to be performed

• Sensors testing

• Communication testing

• Detachment of lander testing

• Deployment of descent control system

• Final Integrated testing of unit


Team Logo

Here

Mission Operations & Analysis



Team Logo

Here

(If You Want)

Overview of Mission Sequence of

Events


• Briefing

• Last Mechanical control

• Last Electrical control

• Coming at Competition Arena

Pre Flight

• Pre-Flight operation

• Launch Flight

• Deploy CanSat at 600m

• Opening parachute

• Controlling descent rate to 10m/s +- 1m/s up to 200m

• Data collection and transmission

• Reducing descent rate to 5m/s at 200m

• Detaching Lander at 91m

• Landing and Locating CanSat

Launch and Flight

• Saving Data

• Analyzing Data

• Preparing PFR

• PFR Presentation

Post Flight


Team Logo

Here

(If You Want)

Mission Operations Manual

Development Plan

• Mission Operation consist of 4 steps:

– CanSat Integration

– Launch Preparation

– Launch Operation

– Removal Operation


Team Logo

Here


• The CanSat system is basically divided into three parts:

– The Lander

– The Carrier

– Electrical and Electronic System

• The integrated parts are to be assembled to make

CanSat.

• The Electrical System is first integrated with Lander and

Carrier

• The Carrier and Lander will be integrated and CanSat is

ready for Launch.


Team Logo

Here

(If You Want) Launch Preparation

• Take rocket to flight line and get launch pad assignment

• Walk out with the pad manager and have rocket

installed on rail.

• Pad manager installs igniter.

• Pad manager verifies igniter continuity if launcher has

continuity tester.

• Team’s picture next to Rocket

• Team goes back to flight line and assigned crew

position


Team Logo

Here

(If You Want) Launch Procedure

• Request a GO/NO GO from GS

• Verify recovery crew is in place and ready

• Verify launch control officer is ready

• Verify flight coordinator is ready.

• Command ground station crew to activate the CanSat

telemetry.

• Verify with ground station crew that telemetry is being

received.

• Request GO/NO GO from ground station crew, recovery

crew and flight coordinator.

• Command launch control officer to proceed countdown and

launch.


Team Logo

Here

(If You Want) Removal Procedure

• Command ground station crew to disable telemetry from

CanSat.

• Team wait until all other launches are completed.

• Command launch control officer to disarm the launch pads.

• Launch control officer removes the arming key to the launch

controller.

• Pads are declared safe.

• Team can go with the pad manager and removed the

CanSat.


Team Logo

Here

(If You Want) CanSat Location and Recovery

• The CanSat is integrated with GPS sensor and buzzer.

• The GPS latitude will give data of co-ordinates with 1.5m

uncertainty, this will give tentative position of CanSat

• The buzzer will start beeping as soon as it will touch the

ground

• The buzzer beep will eventually help in locating and

Recovering CanSat.

• Also the physical appearance of parachute will help in

detecting it


Team Logo

Here

Management



Team Logo

Here

(If You Want) CanSat Budget – Hardware

S.No. Component Quantity Rate (USD) Cost (USD)

1 Arduino Board Uno 2 27.6 55.2

2 Pressure Sensor Bosch 2 20.0 40.0

3 GPS sensor 2 40.0 80.0

4 Accelerometer 1 12.0 12.0

5 Xbee Radios 2 pairs 50.6 101.2

6 Battery Duracell 10

(2 to be used, 8 spare)

2.4 24.0

7 Audio Buzzer 2 1.5 3.0

8 Antenna A24HSM450 2 6.0 12.0

9 Parachutes 3 25.0 75.0

10 Material for structure and

fabrication

N.A 50.0 50.0

11 Linear actuator 1 5.0 5.0

TOTAL 457.4


Team Logo

Here

(If You Want)

Components Cost (USD)

Laptop for GCS None

Travel 12000

Rental 2000

Test facilities 100

Total 14100


CanSat Budget – Other Costs

Any external financial help is not received yet. But plans have been made to avail external sponsorship. Next slide will show some of the strategies.


Team Logo

Here

(If You Want) Sponsorship Plans

• Website made: www.teamgaruda.in

• Sponsorship brochure ready for distribution.

• Online publicity Partner: Teknovates

• Currently in talk with companies for title sponsor and co-title

sponsor.

• Publicity of Project through social marketing: Facebook and

Twitter.

CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Rishi Dua

http://www.teamgaruda.in/


Team Logo

Here

(If You Want) Program Schedule


NOV

20-30 DEC

1-31 JAN

1-15 JAN

16-31 FEB

1-15 FEB

16-29 MAR

1-15 MAR

16-31 APR

1-15 APR

16-30 MAY

1-31 JUN

1-10

ELECTRICAL SYSTEMS

IDENTIFYING SYSTEM REQUIREMENTS

SELECTION OF COMPONENTS

REQUIRED

PROCUREMENT OF COMPONENTS AND

TESTING

IMPLEMENTATION OF ELECTRICAL

SYSTEM DESIGN

OVERALL TESTING OF ELECTRICAL

SYSTEM


Team Logo

Here



NOV

20-30

DEC

1-31

JAN

1-15

JAN

15-31

FEB

1-15

FEB

16-29

MAR

1-15

MAR

16-31

APR

1-15

APR

16-30

MAY

1-31

JUN

1-10

MECHANICAL DESIGN

IDENTIFYING DESIGN REQUIREMENTS

DESIGN OF DESCENT CONTROL

SYSTEM

CAD MODELLING

TESTING THROUGH SIMULATIONS

SELECTION OF MATERIALS

PROCUREMENT OF MATERIALS

IMPLEMENTATION OF MECHANICAL

DESIGN

TESTING OF MECHANICAL DESIGN


Team Logo

Here



NOV

20-30

DEC

1-31

JAN

1-15

JAN

15-31

FEB

1-15

FEB

16-29

MAR

1-15

MAR

16-31

APR

1-15

APR

16-30

MAY

1-31

JUN

1-10

SOFTWARE CONTROLS

IDENTIFYING SOFTWARE REQUIREMENTS

DECISION ON SOFTWARE PLATFORM FOR

GCS

ALGORITHM DESIGN FOR FSW

IMPLEMENTATION AND TESTING OF GCS

SOFTWARE

IMPLEMENTATION OF FSW

FSW SYNC WITH ELECTRICAL SYSTEM

COMPLETE SYSTEM TESTING


Team Logo

Here

(If You Want) Conclusions

• Major accomplishments

1. The ground station software is ready

2. Website (http://www.teamgaruda.in) ready for sponsors

3. Subsystems are designed including material selection

4. Cost and income are balanced

• Major unfinished work

1. We will produce CanSat prototype for testing

2. Looking for title sponsor

We have been successful in all the duties until now.

We will go on according to schedule until competition.



Team Garuda Cansat 2012 PDR

Technology

Transcript of Team Garuda Cansat 2012 PDR