Team Garuda Cansat 2012 PFR

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CanSat2012Post Flight Review
Team 7634
Garuda
Indian Institute of Technology, Delhi
CanSat 2012 PFR: Team 7634 (Garuda) 1

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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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Presentation Outline
Average descent rate –carrier above 200m
Average descent rate –carrier 91m to 200m
Average descent rate –lander after separation
Bonus Data (impact forcecalculation)
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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Team Garuda
Contact Details: <firstname>@teamgaruda.in
Name
Major with Year
Arpit Goyal
ElectricalEngineering, Senior
RajatGupta
Mechanical Engineering, Senior
KshiteejMahajan
Computer Science,Senior
AmanMittal
ElectricalEngineering, Junior
PrateekGupta
MechanicalEngineering, Junior
SarthakKalani
Electrical Engineering, Junior
SudeeptoMajumdar
Electrical Engineering, Junior
AkashVerma
Mechanical Engineering, Sophomore
Rishi Dua
Electrical Engineering,Sophomore
Harsh Parikh
Computer Science, Freshman

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Team organization
Team Leader
Faculty Mentor
Mechanical Designs
AkashVerma
PrateekGupta
Electrical Systems
Arpit Goyal
Sarthak Kalani
Sudeepto Majumdar
Software Control
Harsh Parikh
KshiteejMahajan
RishiDua
Team Mentor
Alternate Team Leader
AmanMittal
RajatGupta

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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 SummaryPre 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 CanSatairframe fitted perfectly into the height and width of the launcher.
•Antenna length –4m, using a PVC mast

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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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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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Mission Overview
The Main Objective:
The main purpose of CanSatis to provide egg safety from launch to landing.
Auxiliary Objectives:
•Launching CanSat.
•Descend CanSatfrom 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 CanSatthrough 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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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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Component Summary

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Electrical Components Summary- Carrier
XBee
GPS
BMP085
Antenna
(RPSMA)
Buzzer
Resistors
ArduinoUno
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
ADC
I2C data
L293D
(buffer for actuator)
Output
PWM

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Electrical Components Summary- Carrier
Component
Use
XBee
Data Communicationfrom Carrier to Ground station.
GPS
Getting the GPSdata to the GCS.
BMP
Pressure and TemperatureData
Antenna Transceiver
For sendingand receiving the XBeedata.
Buzzer
For Locatingthe carrier and lander.
Battery
For powering up thecarrier and lander system.
ArduinoUno
Microcontrollerfor the data processing.
Resistors
For voltagedividing circuit.
SD Card
Forstoring on-flight data
L293D
MotorDriver IC

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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 Uno
Through
ADC
I2C data
MMA 7361 (Accelerometer)
Through
ADC

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Electrical Components Summary - Lander
Components
Use
MMA 7361
Get AccelerometerData
Buzzer
Locatingthe lander
Battery
Poweringup the CanSatsystem.
SD card
For storing on-flight data
ArduinoUno
Forprocessing the data.
Resistors
Voltagedividing circuit.

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Mechanical Components Summary - Carrier
•Frame –
•Bonding -
Components
Use
Motors
For openingand closing of leafs and flaps
Flap
Deployment of lander
Leaf
Secondparachute deployment.
Components
Use
Elfy
To gluetogether acrylic
Electrical Tapes
To hold the components.

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Mechanical Components Summary- Lander
•Frame -
Bonding –
Components
Use
AcrylicRods
Support mechanism with less weight.
Hip Protector
Impact Distribution forEgg Protection
Circular Disk (Plastic)
To hold the electricalComponents
Foam Ball
Shock Absorptionfor Egg Protection
Components
Use
Electrical Tape
To hold the electrical components
Elfy
To glue the electrical components
Epoxy
Toglue the joints together

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Physical Layout-CanSat
126mm
Space for Electronics
Parachute on top
Lander detachment from bottom
Lander
Motor

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Physical Layout-Lander
145mm
Space for parachutes
Electronic Components
Egg
Egg protection system

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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 whichfailed

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Comparison of planned and actualSOE
*The Operation(s) in red is the one whichhad 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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Overview of Con-Op and SOE
Planned
Actual
Reasons
SafetyCheck
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
LoadingCanSatin Launch vehicle
Successful
Sizewas well within limit and there were no protrusions
Following the designed flow of CanSat
Lander didn’t deploy
As the battery drainedout,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 highgain antenna used
Switchingon the Carrier locating device
Failed
Manually command‘BU’ was forgotten to be sent from GCS
Switchingon the Lander locating device
Failed
Wiring problems.
Recovery
Successful
Bright ColoredParachutes with help from organisers

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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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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: ArpitGoyal

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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,2,9,0.94,501.6,M,-22,M,,*75
Following slides will show trajectory of CanSat using Google Earth API.

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Carrier Trajectory Google Earth
Presenter: 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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Carrier TLM -Altitude data
200m height from Ground
Avg. Descent Rate = (735-626)/(120-101) = 5.73 m/s
*535.9 is the altitude of Jim Burkett ranch launch site from sea level.

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Carrier TLM -Air temp data

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Carrier TLM -Battery data

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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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Lander TLM –Battery Voltage data

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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
*535.9 is the altitude of Jim Burkett ranch launch site from sea level.

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Failure Analysis

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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 CanSathad 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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Failure Analysis
•The battery of Cansatdrained 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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CanSat Budget –Hardware
CanSat 2012 PFR: Team 7634 (Garuda)
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
(2to 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
Presenter: Rishi Dua 49

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CanSat Budget –Sponsors
Presenter: Rishi Dua 50

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Lessons Learned/Conclusions
Presenter: Kshiteej S. Mahajan

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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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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.
Presenter: Kshiteej S. Mahajan 53

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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

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