Preliminary Design Review (PDR) of Team Garuda at the International Student CanSat competition. Team Garuda secured International Rank 3 out of 40 Teams at the International Student CanSat Competition 2012 at Abilene, TX, USA. Visit http://www.rishidua.com/cansat/ for more information about the team.

1. Team Logo
Here CanSat 2012 Preliminary Design Report
Team 7634
Garuda
Indian Institute of Technology, Delhi
CanSat 2012 PDR: Team 7634 (Garuda) 1

2. Team Logo
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(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
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(If You Want) Presentation Outline
•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

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(If You Want) Presentation Outline
•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
CanSat 2012 PDR: Team 7634 (Garuda) 4 Presenter: Arpit Goyal

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(If You Want) Presentation Outline
•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
CanSat 2012 PDR: Team 7634 (Garuda) 5 Presenter: Arpit Goyal

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(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

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(If You Want) Team organization CanSat 2012 PDR: Team 7634 (Garuda) 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
7 Presenter: Arpit Goyal

8. Team Logo
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(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
CanSat 2012 PDR: Team 7634 (Garuda) 8 Presenter: Arpit Goyal

9. Team Logo
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(If You Want) Acronyms
Abbreviation
Meaning
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
CanSat 2012 PDR: Team 7634 (Garuda) 9 Presenter: Arpit Goyal

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Acronyms
Abbreviation
Meaning
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
CanSat 2012 PDR: Team 7634 (Garuda) 10 Presenter: Arpit Goyal

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Systems Overview
Presenters: Harsh Parikh, Rajat Gupta
CanSat 2012 PDR: Team 7634 (Garuda)
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(If You Want) Mission Summary CanSat 2012 PDR: Team 7634 (Garuda)
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
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(If You Want) System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
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

14. Team Logo
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(If You Want) System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID
Requirements
Priority
Rationale
Parent
Children
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
14
Presenter: Harsh Parikh

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System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID
Requirements
Priority
Rationale
Parent
Children
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 15 Presenter: Harsh Parikh

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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)
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Presenter: Harsh Parikh

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(If You Want) System Concept of Operations CanSat 2012 PDR: Team 7634 (Garuda)
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
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Presenter: Harsh Parikh

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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)
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Presenter: Harsh Parikh

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(If You Want) Context Diagram CanSat 2012 PDR: Team 7634 (Garuda)
CanSat Processor
Flight Software
Power System Mechanical System
Sensor System XBee System Ground
Antenna Receiver
Computer
Analyser Environment Mechanical System descent Control Lander Release
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Presenter: Harsh Parikh

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Physical Layout- CanSat
Presenter: Rajat Gupta
151mm 94mm 126mm
Space for Electronics Parachute on top
Lander detachment from bottom
Lander Actuator
CanSat 2012 PDR: Team 7634 (Garuda)
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Physical Layout- Lander 125mm
Space for parachutes
Electronic Components Egg
Egg protection system
CanSat 2012 PDR: Team 7634 (Garuda)
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Presenter: Rajat Gupta

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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.
Presenter: Rajat Gupta
151mm
94mm
CanSat 2012 PDR: Team 7634 (Garuda)
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CanSat 2012 PDR: Team 7634 (Garuda)
Sensor Subsystem Design
Presenter: Arpit Goyal
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(If You Want) CanSat 2012 PDR: Team 7634 (Garuda)
Sensor Subsystem Overview
•Carrier Sensor Sub-system overview
Presenter: Arpit Goyal Micro-controller
GPS Sensor
Robokits India
(RKI-1543)
Pressure Sensor
Bosch
(BMP085)
Non-GPS Altitude Calculation
Battery Voltage Data Temperature Sensor BMP085
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Sensor Subsystem Overview CanSat 2012 PDR: Team 7634 (Garuda)
•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 Presenter: Arpit Goyal

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(If You Want) CanSat 2012 PDR: Team 7634 (Garuda)
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
26
Presenter: Arpit Goyal

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(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) Sensor Subsystem Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
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
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Presenter: Arpit Goyal

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

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CanSat 2012 PDR: Team 7634 (Garuda)
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
Manufacturer
Model
Accuracy (%)
Dimensions (mm)
Operating Supply Voltage (V)
Output Type
(A/D)
Cost (USD)
Bosch
BMP085
± 1.0
16.5X16.5
5
D
20
Honeywell
SSCDRNN015PAAA5
± 0.25
18X12.5
5
A
30
29
Presenter: Arpit Goyal

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(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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.
Manufacturer
Model
Accuracy (%)
Dimensions (mm)
Operating Supply Voltage (V)
Output Type
(A/D)
Cost (USD)
Bosch
BMP085
± 1.0
16.5X16.5
5
D
20
Honeywell
SSCDRNN015PAAA5
± 0.25
18X12.5
5
A
30 30 Presenter: Arpit Goyal

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CanSat 2012 PDR: Team 7634 (Garuda)
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 31
Presenter: Arpit Goyal

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Here Descent Control Design
Presenter: Prateek Gupta
CanSat 2012 PDR: Team 7634 (Garuda) 32

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(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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
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CanSat 2012 PDR: Team 7634 (Garuda)
Descent Control Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
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

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Descent Rate Control Strategy Selection and Trade
MECHANISM SELECTION
Presenter: Prateek Gupta
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
CanSat 2012 PDR: Team 7634 (Garuda) 35

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(If You Want) Descent Rate Control Strategy 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)
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Presenter: Prateek Gupta

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Descent Rate Control Strategy Selection and Trade
MATERIAL SHAPE SELECTION
Presenter: Prateek Gupta
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
CanSat 2012 PDR: Team 7634 (Garuda)
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Descent Rate Control Strategy 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
CanSat 2012 PDR: Team 7634 (Garuda)
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Presenter: Prateek Gupta

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Descent Rate Control Strategy
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
CanSat 2012 PDR: Team 7634 (Garuda)
2 2
Deq  D1  D2
Presenter: Prateek Gupta 39

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Descent Rate Control Strategy Selection and Trade
EFFECTIVE RIGGING LINE LENGTH(ERL)
To avoid effects of ‘forebody wake effects’ which reduces
25% of drag in parachute
ERL =풏D
ERL= 63 cm (approx.)
Deployment of 2nd parachute :
Deployment mechanism to be decided
CanSat 2012 PDR: Team 7634 (Garuda) 40
Presenter: Prateek Gupta

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•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 LengthTime
Descent Rate Control Strategy Selection and Trade
TESTING OF DESCENT RATE (LANDER): STRATEGY
CanSat 2012 PDR: Team 7634 (Garuda) 41 Presenter: Prateek Gupta

42. 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)
CanSat 2012 PDR: Team 7634 (Garuda) 42
C A
W
V
d
t 
2

Presenter: Prateek Gupta

43. 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.
CanSat 2012 PDR: Team 7634 (Garuda)
43
Presenter: Prateek Gupta

44. 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
CanSat 2012 PDR: Team 7634 (Garuda)
44
Presenter: Prateek Gupta

45. Team Logo
Here
CanSat 2012 PDR: Team 7634 (Garuda)
Mechanical Subsystem Design
Presenters: Rajat Gupta, Akash Verma
45

46. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda)
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

47. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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

48. Team Logo
Here
(If You Want) Mechanical System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
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
48
Presenter: Rajat Gupta

49. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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.
Presenter: Rajat Gupta
•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

50. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Mechanical Layout of Components Trade & Selection 151mm
94mm 125mm Electronics
Space for parachute
Egg Protection system
Actuator
Main Structure 50
Presenter: Rajat Gupta

51. Team Logo
Here
(If You Want) Material Selections
CanSat 2012 PDR: Team 7634 (Garuda)
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.
51
Presenter: Rajat Gupta

52. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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

53. Team Logo
Here
(If You Want)
Structure Survivability Trades
CanSat 2012 PDR: Team 7634 (Garuda)
•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

54. Team Logo
Here
(If You Want) Finite Element Analysis for Structural Survivability
CanSat 2012 PDR: Team 7634 (Garuda)
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 54
Presenter: Akash Verma

55. Team Logo
Here
(If You Want)
Mass Budget
CanSat 2012 PDR: Team 7634 (Garuda)
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.
55 Presenter: Akash Verma

56. 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.
CanSat 2012 PDR: Team 7634 (Garuda)
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
56
Presenter: Akash Verma

57. Team Logo
Here CanSat 2012 PDR: Team 7634 (Garuda) Communication and Data Handling Subsystem Design
Presenter: Aman Mittal 57

58. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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

59. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
CDH Requirements
ID
Requirement
Rationale
Priority
Parent(s)
Children
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

60. 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

61. Team Logo
Here
(If You Want) CDH Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
A
I
T
D
CDH-13
The Pan ID of Xbee module should be set as Team Number
To avoid interference
HIGH
X
CanSat 2012 PDR: Team 7634 (Garuda)
61
Presenter: Aman Mittal

62. 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
CanSat 2012 PDR: Team 7634 (Garuda)
62
Presenter: Aman Mittal

63. 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.
CanSat 2012 PDR: Team 7634 (Garuda) 63
Presenter: Aman Mittal

64. 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.
CanSat 2012 PDR: Team 7634 (Garuda) 64 Presenter: Aman Mittal

65. 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

66. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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. 66 Presenter: Aman Mittal

67. Team Logo
Here
(If You Want) RADIO CONFIGURATION CanSat 2012 PDR: Team 7634 (Garuda) •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 67 Presenter: Aman Mittal

68. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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. 68 Presenter: Aman Mittal

69. 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
CanSat 2012 PDR: Team 7634 (Garuda)
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 * 69 Presenter: Aman Mittal

70. Team Logo
Here
(If You Want) Carrier Telemetry Format-3 CanSat 2012 PDR: Team 7634 (Garuda)
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 70 Presenter: Aman Mittal

71. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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

72. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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. 72 Presenter: Aman Mittal

73. Team Logo
Here Electrical Power Subsystem
Presenter: Sarthak Kalani
CanSat 2012 PDR: Team 7634 (Garuda) 73

74. 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

75. 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

76. Team Logo
Here
(If You Want) EPS Requirements-Carrier
ID
Requirement
Rationale
Priority
Parent
Children
VM
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
CanSat 2012 PDR: Team 7634 (Garuda) 76 Presenter: Sarthak Kalani

77. Team Logo
Here
(If You Want) EPS Requirements-Lander
ID
Requirement
Rationale
Priority
Parent
Children
VM
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
CanSat 2012 PDR: Team 7634 (Garuda) 77 Presenter: Sarthak Kalani

78. Team Logo
Here
(If You Want)
EPS Requirements-Lander
ID
Requirement
Rationale
Priority
Parent
Children
VM
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
CanSat 2012 PDR: Team 7634 (Garuda) 78 Presenter: Sarthak Kalani

79. Team Logo
Here
(If You Want) Carrier Electrical Block Diagram CanSat 2012 PDR: Team 7634 (Garuda) 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

80. Team Logo
Here
(If You Want) Lander Electrical Block Diagram
CanSat 2012 PDR: Team 7634 (Garuda) 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 regulator 9V supply
80 Presenter: Sarthak Kalani

81. Team Logo
Here
(If You Want) Power Budget - Carrier CanSat 2012 PDR: Team 7634 (Garuda)
S. No.
Component
Voltage (V)
Current drawn (mA)
Power (mW)
Duty Cycle/ Time of operation
Uncertainty (%)
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.
81
Presenter: Sarthak Kalani

82. Team Logo
Here
(If You Want)
Power Budget - Lander
CanSat 2012 PDR: Team 7634 (Garuda)
S. No.
Component
Voltage (V)
Current drawn (mA)
Power (mW)
Duty Cycle/ Time of operation
Uncertainty (%)
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. 82 Presenter: Sarthak Kalani

83. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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. 83 Presenter: Sarthak Kalani

84. Team Logo
Here
(If You Want) Power Source Trade and Selection CanSat 2012 PDR: Team 7634 (Garuda)
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 84 Presenter: Sarthak Kalani

85. Team Logo
Here
(If You Want)
Battery Voltage Measurement
Trade And Selection
CanSat 2012 PDR: Team 7634 (Garuda)
 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
Presenter: Sarthak Kalani 85

86. Team Logo
Here CanSat 2012 PDR: Team 7634 (Garuda) Flight Software Design
Presenter: Sudeepto Majumdar 86

87. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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

88. Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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

89. Team Logo
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(If You Want)
FSW Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
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 89
Presenter: Sudeepto Majumdar

90. Team Logo
Here
(If You Want) Carrier CanSat FSW Overview CanSat 2012 PDR: Team 7634 (Garuda) 90
Presenter: Sudeepto Majumdar

91. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) Lander CanSat FSW Overview
Presenter: Sudeepto Majumdar 91

92. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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. 92 Presenter: Sudeepto Majumdar

93. Team Logo
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda) Ground Control System Design
Presenters: Kshiteej Mahajan, Rishi Dua 93

94. Team Logo
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
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

95. Team Logo
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
GCS Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
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

96. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda)
GCS Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
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 96
Presenter: Rishi Dua

97. Team Logo
Here
(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) 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

98. 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

99. 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

100. Team Logo
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(If You Want)
GCS Software Description
CanSat 2012 PDR: Team 7634 (Garuda)
Data file Settings Graph Settings Graph Data Series Settings Presenter: Kshiteej Mahajan
100

101. Team Logo
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CanSat Integration and Test
Presenter: Akash Verma
CanSat 2012 PDR: Team 7634 (Garuda) 101

102. 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

103. Team Logo
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(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

104. Team Logo
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(If You Want)
CanSat Integration
•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.
CanSat 2012 PDR: Team 7634 (Garuda) 104 Presenter: Akash Verma

105. Team Logo
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(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
CanSat 2012 PDR: Team 7634 (Garuda) 105 Presenter: Akash Verma

106. 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
CanSat 2012 PDR: Team 7634 (Garuda) 106
Presenter: Akash Verma

107. Team Logo
Here Mission Operations & Analysis
Presenter: Arpit Goyal
CanSat 2012 PDR: Team 7634 (Garuda) 107

108. Team Logo
Here
(If You Want)
Overview of Mission Sequence of Events
CanSat 2012 PDR: Team 7634 (Garuda)
•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
108
Presenter: Arpit Goyal

109. 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
CanSat 2012 PDR: Team 7634 (Garuda) 109
Presenter: Arpit Goyal

110. Team Logo
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(If You Want)
CanSat Integration
•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.
CanSat 2012 PDR: Team 7634 (Garuda) 110 Presenter: Arpit Goyal

111. 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
CanSat 2012 PDR: Team 7634 (Garuda) 111 Presenter: Arpit Goyal

112. 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.
CanSat 2012 PDR: Team 7634 (Garuda) 112
Presenter: Arpit Goyal

113. 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.
CanSat 2012 PDR: Team 7634 (Garuda) 113 Presenter: Arpit Goyal

114. 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
CanSat 2012 PDR: Team 7634 (Garuda) 114 Presenter: Arpit Goyal

115. Team Logo
Here Management
Presenter: Rishi Dua
CanSat 2012 PDR: Team 7634 (Garuda) 115

116. 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
CanSat 2012 PDR: Team 7634 (Garuda) 116 Presenter: Rishi Dua

117. Team Logo
Here
(If You Want)
Components
Cost (USD)
Laptop for GCS
None
Travel
12000
Rental
2000
Test facilities
100
Total
14100
CanSat 2012 PDR: Team 7634 (Garuda)
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. 117 Presenter: Rishi Dua

118. 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

119. Team Logo
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(If You Want)
Program Schedule
CanSat 2012 PDR: Team 7634 (Garuda) 119
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
Presenter: Rishi Dua

120. Team Logo
Here
(If You Want) Program Schedule
CanSat 2012 PDR: Team 7634 (Garuda) 120
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
Presenter: Rishi Dua

121. Team Logo
Here
(If You Want) Program Schedule CanSat 2012 PDR: Team 7634 (Garuda) 121
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
Presenter: Rishi Dua

122. Team Logo
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(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.
CanSat 2012 PDR: Team 7634 (Garuda) 122 Presenter: Rishi Dua