Team Garuda Cansat 2012 PFR

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CanSat 2012

Post Flight Review

Team 7634

Garuda

Indian Institute of Technology, Delhi

CanSat 2012 PFR: Team 7634 (Garuda) 1

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(If You Want) Presentation Outline

Systems Overview

Mission summary

CanSat overview

Components summary

Physical layout

Concept of Operations and Sequence of Events

Comparison of planned and actual Con-Ops

Comparison of planned and actual SOE

FSW requirements

Flight Data Analysis

Carrier TLM - GPS data

Carrier TLM - Altitude data

Carrier TLM - Air temp data

Carrier TLM - Battery data

Lander TLM - Altitude data

Lander TLM - Battery data

Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 2

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(If You Want) Presentation Outline

Average descent rate – carrier above 200m

Average descent rate – carrier 91m to 200m

Average descent rate – lander after separation

Bonus Data (impact force calculation)

Failure Analysis

Identification of failures, root causes, and corrective actions

Management

CanSat budget - hardware

CanSat budget - other

Lessons Learned

Discussion of what worked and what didn't

Conclusions


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(If You Want) Team Garuda

Contact Details: <firstname>@teamgaruda.in

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


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(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


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(If You Want) Acronyms


DR – Average Descent Rate

CDH – Communication and Data Handling

CONOPS – Concept of Operations

GCS – Ground Control System

GPS – Global Positioning System

SOE – Sequence of Events

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Mission Summary

Pre launch

• Completing Flight Readiness demo - all work was assigned

before reaching the launch site

• CanSat mass - 648g. We used plastic for the carrier body

and drilled holes in body to keep the weight low

• Payload length - 152mm - Placed lander parallel to carrier

electronics within carrier for efficient space utilization

• No protrusions - electronics placed inside the carrier

• Airframe restraints – The CanSat airframe fitted perfectly

into the height and width of the launcher.

• Antenna length –4m, using a PVC mast


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(If You Want) Launch and Descent

• Launch in Assigned window – time slot 11-12, we launched at 11:20 AM

• Launched - The launch was successful

• CanSat deployed - The CanSat deployed successfully from Launcher

• Lander Separation - battery drained so motor did not work. whereas we got GPS, reason - over testing, replacement not easy

• GPS data - Success, using GPS sensor

• Altitude data - Success, Using Pressure Sensor BMP085

• Air temperature data - Success, Using Temperature Sensor BMP085

• Battery voltage data - Success, Using voltage divider circuit

• CanSat TLM started -Success, By giving ST from ground station


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(If You Want) Recovery

• Carrier Recovered – Recovery crew we were able to locate

CanSat. We had GPS data and plots on Google Maps but

they were not used as the parachutes were bright and we

could see the exact location by observing the descent.

• Carrier Locator Operational - The buzzer did not work

because manual command ‘BU’ was forgotten to be sent.

• Lander Recovered – Since lander did not deploy, carrier and

lander were recovered together

• Lander Locator Operational - The lander buzzer too did not

work due to wiring problem.

• Egg intact – The idea to use sponge ball worked well as

expected by the rigorous testing results.


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Systems Overview

Presenter: Rishi Dua


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(If You Want) Mission Overview

The Main Objective:

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

Auxiliary Objectives:

• Launching CanSat.

• Descend 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 descend rate less than 5m/s without damaging egg.

• Collecting data at ground station from sensors in CanSat through x-bee radio

modules.

Selectable (Bonus) Mission:

Calculating thrust force after lander has landed; Data to be collected at rate more

than 100Hz and stored on board for post-processing.


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(If You Want) CanSat overview

• Used unidirectional antenna

• Parachutes for decent control

• Plastic body made to keep CanSat low weight

• Placed lander parallel to carrier electronics within carrier for

efficient space utilization

• Egg compartment located at the bottom of the lander

packed using sponge

• DC Motor actuated flap separation mechanism


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(If You Want) Component Summary


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Electrical Components Summary-

Carrier


XBee GPS BMP085 Antenna

(RPSMA)

Buzzer Resistors Arduino Uno SD card

L293D

Battery


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Electrical Components Summary –

Carrier

GPS Data

SD Card

BMP 085

(T&P sensor)

Xbee Pro

Battery Voltage

Buzzer

Arduino Uno

Serial Data Serial for Tx

Through

ADCI2

C

data

L293D

(buffer for

actuator) Output

PWM


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Electrical Components Summary-

Carrier

Component Use

XBee Data Communication from Carrier to Ground

station.

GPS Getting the GPS data to the GCS.

BMP Pressure and Temperature Data

Antenna Transceiver For sending and receiving the XBee data.

Buzzer For Locating the carrier and lander.

Battery For powering up the carrier and lander system.

Arduino Uno Microcontroller for the data processing.

Resistors For voltage dividing circuit.

SD Card For storing on-flight data

L293D Motor Driver IC

CanSat 2012 PFR: Team 7634 (Garuda) 16Presenter: Rishi Dua

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Electrical Components Summary -

Lander


MMA 7361 BMP085 Resistors

Buzzer SD Card Battery


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Electrical Components Summary–

Lander

SD Card

BMP 085

(T&P sensor)

Battery Voltage

Buzzer

Arduino UnoThrough

ADC

I2C

data

MMA 7361 (Accelerometer) Through

ADC


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Electrical Components Summary -

Lander

Components Use

MMA 7361 Get Accelerometer Data

Buzzer Locating the lander

Battery Powering up the CanSat system.

SD card For storing on-flight data

Arduino Uno For processing the data.

Resistors Voltage dividing circuit.

CanSat 2012 PFR: Team 7634 (Garuda) 19Presenter: Rishi Dua

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Mechanical Components Summary -

Carrier

• Frame –

• Bonding -


Components Use

Motors For opening and closing of

leafs and flaps

Flap Deployment of lander

Leaf Second parachute

deployment.

Components Use

Elfy To glue together acrylic

Electrical Tapes To hold the components.


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Mechanical Components Summary-

Lander

• Frame -

Bonding –


Components Use

Acrylic Rods Support mechanism with less weight.

Hip Protector Impact Distribution for Egg Protection

Circular Disk (Plastic) To hold the electrical Components

Foam Ball Shock Absorption for Egg Protection

Components Use

Electrical Tape To hold the electrical components

Elfy To glue the electrical components

Epoxy To glue the joints together


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(If You Want) Physical Layout- CanSat


126mm

Space for Electronics

Parachute on top

Lander detachment from bottom

Lander

Motor


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(If You Want) Physical Layout- Lander

145m

m

Space for

parachutes

Electronic Components

Egg

Egg protection system


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(If You Want) Physical Layout


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Concept of Operations and Sequence

of Events

Presenter: Harsh Parikh


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Comparison of planned and actual

Con-Ops

• Safety Inspection

• Briefing

• Last Mechanical control

• Last Electrical control

• Coming at Competition Arena

• Checking weight of Cansat

Pre Flight

• Power-on the Cansat

• Placing the Cansat in Rocket.

• Place the Rocket on launch pad

• Launch

• Recover the Cansat after flight

Launch and Flight

• Locating CanSat

• Saving Data

• Analyzing Data

• Preparing PFR

• PFR Presentation

Post Flight

*The Operation(s) in red is the one which failed

CanSat 2012 PFR: Team 7634 (Garuda) 26Presenter: Harsh Parikh

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Comparison of planned and actual

SOE

*The Operation(s) in red is the one which had problems.

On CanSat

Keep CanSat in

rocket

Launch Rocket

Leaving CanSat

from rocket at

600m

Descent rate should be 10m/s when CanSat is at height more

than 200m

Descent rate should be 5m/s when CanSat is at height more than

91m

Detaching lander at

91m

Collecting data from sensors

Sending Data to ground station

Data Analysis

Calculating collision

force

Detecting CanSat Off

CanSat


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(If You Want) Overview of Con-Op and SOE

Planned Actual Reasons

Safety Check Successful Provided checklist was checked more than twice

GCS connection Successful Rigorous testing was done before

Placing Egg Payload on the

CanSat

Successful Easy Design of Lander Egg Placement

Loading CanSat in Launch

vehicle

Successful Size was well within limit and there were no

protrusions

Following the designed flow

of CanSat

Lander didn’t

deploy

As the battery drained out, the flap motor couldn’t

get enough power to rotate. Failure of Separation

mechanism.

Telemetry processing,

archiving and analysis

Successful Testing already done many times and high gain

antenna used

Switching on the Carrier

locating device

Failed Manually command ‘BU’ was forgotten to be sent

from GCS

Switching on the Lander

locating device

Failed Wiring problems.

Recovery Successful Bright Colored Parachutes with help from

organisers


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(If You Want) Con-Op and SOE

• The Cansat was almost ready and tested before coming to

arena but there were minor changes at last moment on the

module

• The spherical casing along with bubble wrap was prepared

on field.

• There was need of battery change in Lander and Carrier but

only Lander’s battery was changed due to lack of time and

complicated battery fixture

• Everything else went according to plan, also the Cansat was

completely recovered.


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(If You Want) FSW Requirements

• FSW required sea-level pressure and elevation of the

launch place (Jim Burkett Ranch, Texas) to calculate exact

altitude of CanSat.

• This was done using a meteorological website and then

making elevation at ground to zero.


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Flight Data Analysis

Presenter: Arpit Goyal


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(If You Want) Carrier TLM: GPS data

Presenter: Arpit Goyal CanSat 2012 PFR: Team 7634 (Garuda) 32

TLM from Carrier was started by sending a ‘ST’ command

from GCS.

Telemetry of GPS data is displayed below:

$GPGGA,162631.000,3157.8494,N,09916.9001,W,2,9,0.9

4,501.6,M,-22,M,,*75

Following slides will show trajectory of CanSat using

Google Earth API.

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(If You Want) Carrier Trajectory Google Earth

CanSat 2012 PFR: Team 7634 (Garuda) 33Presenter: Arpit Goyal

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Carrier Trajectory Google Earth: Side

View


Launch

Pad, Jim

Burkett

Ranch

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Carrier Trajectory Google Earth: Top

View


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Carrier TLM: GPS data,

No of Satellites


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(If You Want) Carrier TLM - Altitude data


200m

height

from

Ground

Avg. Descent Rate =

(735-626)/(120-101)

= 5.73 m/s

Avg. Descent Rate =

(1182-735)/(84-36) =

9.3125 m/s

*535.9 is the altitude of Jim

Burkett ranch launch site from

sea level.

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(If You Want) Carrier TLM - Air temp data


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(If You Want) Carrier TLM - Battery data


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(If You Want) Lander TLM – Altitude data


Since, lander was not

separated from

Carrier, the altitude

plot will be almost

same as that of carrier

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(If You Want) Lander TLM – Battery Voltage data


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(If You Want) Impact Force Calculation


Impact Force

1.63g – 0.72g

= 0.91g

So, Impact

Force =

Mass*0.91g/0.

3 = 0.648*3 =

1.944g

Sampling

Frequency: 100Hz

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Carrier TLM – Descent Rate

Calculations


200m

height

from

Ground

Avg. Descent Rate =

(735-626)/(120-101)

= 5.73 m/s

Avg. Descent Rate =

(1182-735)/(84-36) =

9.3125 m/s

*535.9 is the altitude of Jim

Burkett ranch launch site from

sea level.

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Failure Analysis

Presenter: Harsh Parikh


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(If You Want) Failure Analysis

• The Lander didn’t deploy from Carrier

– The lander was to be supposed to deployed at 91m by opening of the flap at the bottom of Carrier. The flap would rotate with the help of geared motor. As the battery drained of in mid of flight the power was not enough for the motor to make it rotate.

– Tools not compatible with USA power standard

– Corrective Measures: • Will make battery holder more easily replaceable next time

• Will arrange tools on time according to US and will try to come to US a day earlier.

• The buzzer was not on while the CanSat had landed

– The drained off battery turned the tables.

– Corrective Measures: Will make battery holder more easily replaceable next time

Presenter: Harsh Parikh CanSat 2012 PFR: Team 7634 (Garuda) 45

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(If You Want) Failure Analysis

• The battery of Cansat drained off in between the flight

– It was noticed that battery had low life left before the flight, but we were unable to replace it because, replacement of battery was complicated due to clustered design.

– The battery already installed drained off due to excessive testing

– Corrective Measures: Will make battery holder more easily replaceable next time. Ensure to place new battery at the time of launch.

• Entanglement of circuit wires and uncertainty of connection

– It was presumed that it would be convenient to make circuit by hand and that no PCB was needed, this made the circuitry lot more wired and clustered

– Due to so many wires, they use to entangle and also it was not convenient to change any component.

– Corrective Measures: Will use printed boards next time. They are easy to make and more reliable.

Presenter: Harsh Parikh CanSat 2012 PFR: Team 7634 (Garuda) 46

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Management



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(If You Want) CanSat Budget – Hardware

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

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 1 50.0 50.0

4 Accelerometer 1 12.0 12.0

5 Xbee Radios 1 pair 50.6 50.6

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 DC Motors 2 5.0 10.0

TOTAL 381.8

48

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Components Cost (USD)

Laptop for GCS None

Travel 9000

Rental 700

Test facilities 100

Total 9800

CanSat Budget – Other Costs

CanSat 2012 PFR: Team 7634 (Garuda)Presenter: Rishi Dua 49

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(If You Want) CanSat Budget – Sponsors

CanSat 2012 PFR: Team 7634 (Garuda)Presenter: Rishi Dua 50

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Lessons Learned/Conclusions

Presenter: Kshiteej S. Mahajan


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(If You Want) Worked/ Didn’t Work

Worked• The bi-hemispherical sponge

egg casing along with bubble wrap and hip impact distributor.

• Parachutes with proper spill holes were able to control descend rate and drift

• Telemetry data was successfully received

• GPS sensor gave accurate data

• Pressure sensor, used to get altitude worked accurately

• Temperature sensor gave accurate data

Didn’t Work

• The lander deployment

system failed due to

battery drain

• The buzzer used to locate

carrier and lander didn’t

went ON due to wiring

problems.

• Battery could not provide

sufficient power for

motor.

Presenter: Kshiteej S. Mahajan CanSat 2012 PFR: Team 7634 (Garuda) 52

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(If You Want) Lessons Learned (1)

• The prime most lesson learned was that if PCB was

used instead loose circuit, the circuitry would have

been less complex, less clustered and more organized.

• This may help us to easily change components or

battery, also there will be no entanglement in wirings.

• Secondly, it was concluded that over testing of leaf and

flap motors resulted in drain off of battery.

• We should use the new batteries just before the flight

so that it may sustain for long time.

CanSat 2012 PFR: Team 7634 (Garuda)Presenter: Kshiteej S. Mahajan 53

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(If You Want) Lessons Learned (2)

• We were unable to test the complete integration of

Cansat due to lack of local facilities. Thus we were not

able to check the deployment of lander.

• If Cansat was completely integrated much before, we

would have been able to test if from different site

instead of using local facility.

• We must try different designs physically so as to assure

its working in different scenario which will be the result

of continuous testing.


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Thank You


Team Garuda Cansat 2012 PFR

Technology

Transcript of Team Garuda Cansat 2012 PFR