Team Garuda Cansat 2012 CDR

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CanSat 2012 Critical Design Review
Team 7634
Garuda
Indian Institute of Technology, Delhi
CanSat 2012 CDR: Team 7634 (Garuda)
1

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Arpit Goyal
2
Presentation Outline
•Introduction
–Team Garuda...................................................................................................................................................................................6
–Team organization...........................................................................................................................................................................7
–CanSat Crew……………………………………………………………………………………………………………….………………..8
–Acronyms.........................................................................................................................................................................................9
•System Overview -- Mission Summary………………………………………………………………………………………………………………………….13
–System Requirements...................................................................................................................................................................14
–Summary of changes since PDR………………………………………………………………………………………………………...16
–System Concepts of Operations...................................................................................................................................................18
–Context Diagram...........................................................................................................................................................................20
–CanSat Systems…………………………………………………………………………………………………………………………...21
–Physical Layout-CanSat................................................................................................................................................................22
–Physical Layout-Lander.................................................................................................................................................................23
–Launch Vehicle Compatibility........................................................................................................................................................24
•Sensor Subsystem Design
–Carrier Sensor Subsystem overview.............................................................................................................................................26
–Lander Sensor Subsystem overview............................................................................................................................................27
–Sensor Changes since PDR……………………………………………………………………………………………………………...28
–Sensor Subsystem requirements..................................................................................................................................................29
–Carrier GPS Summary..................................................................................................................................................................31
–Carrier non-GPS Altitude and temperature sensor Summary………….......................................................................................34
–Lander altitude sensor Summary..................................................................................................................................................36
–Lander Impact force Sensor Summary…………...........................................................................................................................37

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
3
•Descent control Design
–Descent control overview..............................................................................................................................................................39
–Descent control changes since PDR…………………………………………………………………………………………………….40
–Descent Control requirements......................................................................................................................................................41
–Descent rate hardware Summary…………………........................................................................................................................42
–Descent rates estimates and observations……………………………………………………………………………………………...44
•Mechanical Subsystem Design
–Mechanical Subsystems Overview...............................................................................................................................................51
–Mechanical Subsystem Design changes since PDR…………………………………………………………………………………..52
–Mechanical Subsystems Requirements........................................................................................................................................56
–Lander Egg protection Overview…………....................................................................................................................................58
–Mechanical Layout of Components...............................................................................................................................................59
–Material Selection..........................................................................................................................................................................60
–Carrier-Lander interface................................................................................................................................................................61
–Structure and Survivability Trades................................................................................................................................................62
–Mass Budget..................................................................................................................................................................................63
•Communication and Data Handling Subsystem Design
–CDH overview................................................................................................................................................................................65
–CDH changes since PDR……………………………………………………………………………………………………………....…69
–CDH requirements.........................................................................................................................................................................70
–Processor and memory Selection................................................................................................................................................73
–Carrier Antenna Selection.............................................................................................................................................................76
–Data package definition……………………………………………………………………………………………………………….......77
–Radio Configuration.......................................................................................................................................................................82
Presenter: Arpit Goyal

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 4
–Carrier Telemetry Format..............................................................................................................................................................85
–Activation of Telemetry Transmissions.........................................................................................................................................88
–Locator Device overview...............................................................................................................................................................89
•Electrical Power Subsystem
–EPS overview................................................................................................................................................................................92
–EPS changes since PDR………………………………………………………………………………………………………………....94
–EPS requirements for Carrier........................................................................................................................................................95
–EPS requirements for Lander........................................................................................................................................................96
–Carrier Electrical Block Diagram...................................................................................................................................................98
–Lander Electrical Block Diagram...................................................................................................................................................99
–Power Budget..............................................................................................................................................................................100
–External Power Control Mechanism............................................................................................................................................102
–Power Source Summary.............................................................................................................................................................103
–Battery Voltage Measurement.....................................................................................................................................................104
•Flight Software Design
–FSW overview.............................................................................................................................................................................107
–FSW Requirements.....................................................................................................................................................................108
–Carrier and lander CanSat FSW libraries……………………………………………………………………………………………...110
–Carrier FSW overview.................................................................................................................................................................111
–Lander FSW overview.................................................................................................................................................................113
–Software development plan.........................................................................................................................................................115
•Ground Control System Design
–GCS overview..............................................................................................................................................................................117
–GCS requirements.......................................................................................................................................................................118
–GCS Antenna Overview..............................................................................................................................................................120
–GCS software Description...........................................................................................................................................................124

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•CanSat Integration and Test
–CIT overview................................................................................................................................................................................131
–Sensor subsystems Testing Overview…………………………………………………………………………………………………132
–Lander Impact force sensor Testing……………………………………………………………………………………………………134
–DCS Subsystem Testing Overview………………………………………………………………………………………………….…135
–Mechanical Subsystem Testing Overview…………………………………………………………………………………………..…136
–CDH Subsystem Testing Overview………………………………………………………………………………………………….…138
–EPS Subsystem Testing Overview…………………………………………………………………………………………………..…139
–FSW Subsystem Testing Overview………………………………………………………………………………………………….…140
–GCS Subsystem Testing Overview………………………………………………………………………………………………….…141
•Mission Operation & Analysis
–MOA overview.............................................................................................................................................................................143
–MOA manual development plan..................................................................................................................................................144
•CanSat Integration..................................................................................................................................................................145
•Launch Preparation................................................................................................................................................................146
•Launch Procedure..................................................................................................................................................................147
•Removal Procedure................................................................................................................................................................148
–CanSat Location recovery...........................................................................................................................................................149
–Mission Rehearsal Activities…………………………………………………………………………………………………………….151
•Management
–Status of Procurements………………………………………………………………………………………………………………….154
–CanSat Budget............................................................................................................................................................................155
–Sponsorship Plans......................................................................................................................................................................157
–Program Schedule.......................................................................................................................................................................158
–Conclusions................................................................................................................................................................................ 161

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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
Sudeepto Majumdar
Akash Verma
Mechanical Engineering, Sophomore
Rishi Dua
Electrical Engineering, Sophomore
Harsh Parikh
Computer Science, Freshman
6

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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
7

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(If You Want) CanSat Crew
Contact Details: <firstname>@teamgaruda.in
CanSat 2012 PDR: Team 7634 (Garuda)
Name
Role
Mission Control Officer
Arpit Goyal
Ground Station Crew
Kshiteej Mahajan, Aman Mittal, Rishi Dua
Recovery Crew
Sudeepto Majumdar, Aman Mittal, Sarthak Kalani, Prateek Gupta, Akash Verma, Rishi Dua, Harsh Parikh
CanSat Crew
Sarthak Kalani, Rajat Gupta, Prateek Gupta, Akash Verma
Emergency and Management Crew
Rishi Dua, Harsh Parikh
Safety Crew
Sudeepto Majumdar
8

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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
ERL
Effective Rigging Line Length
Est
Estimated
9

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Acronyms
Abbreviation
Meaning
FAT
File Allocation Table
FEA
Finite element Analysis
FRP
Fiber-reinforced plastic
FSW
Flight Software
GCS
Ground Control Station
GPS
Global positioning system
IDE
Integrated Development Environment
Meas
Measured experimentally
MOA
Mission Operation and Analysis
Op-Amp
Operational Amplifier
P&T
Pressure and Temperature
CanSat 2012 CDR: Team 7634 (Garuda) 10

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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

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Systems Overview
Presenters: Harsh Parikh, Rajat Gupta
12

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Mission Summary
The Main Objective:
The main purpose of CanSat is to ensure that the egg remains intact 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
13

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System Requirements
ID
Requirements
Rationale
Priority
Parent
Children
VM
A
I
T
D
SYS-01
CanSat constraints will be:
Diameter: less than 127mm
Total mass 400g - 750g
Justifies concept of CanSat
High
-
-
X
SYS-02
CanSat egg placed inside will be recovered safely
Competition requirement
High
-
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
Easy to leave rocket
High
-
MS-03
X
SYS-04
The descent control system shall not use any flammable or pyrotechnic devices
To comply with field safety
High
SYS-09
-
X
SYS-05
Descent rate should be 10m/s till 200m altitude. descent rate fall to 5m/s at 200m
High
-
DC-01
FSW-03
X
X
X
14

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(If You Want) System Requirements
ID
Requirements
Rationale
Priority
Parent
Children
VM
A
I
T
D
SYS-06
Detachment of lander at 91m and lander velocity will be less than 5m/s
High
-
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
-
SSS-01
SSS-02
SSS-03
GCS-02
FSW-05
CDH-01
CDH-02
CDH-03
CDH-06
X
X
SYS-08
The cost of CanSat flight hardware shall be under1000$ (other costs are excluded)
Feasible to design
High
-
-
X
SYS-09
The CanSat and associated operations shall comply with all field safety regulations.
Medium
-
SYS-04
X
SYS-10
Impact parameter data shall be measured and stored on data card on sensor
Data backup
Medium
-
SSS-04
CDH-04
X
X
15

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Summary of Changes since PDR
CanSat 2012 CDR: Team 7634 (Garuda) 16 Presenter: Harsh Parikh
S.no.
Subsystem
Change
Rationale
1
SSS
GPS sensor is changed from Robokits RKI-1543 to MediaTekMT3329
Easy availability, easy interfacing with Arduino Uno
2
CDH
Telemetry starts before launch
Easy Operation
3
CDH
Data parsing GPS
GPS o/p is a string containing information about multiple aspects
4
CDH
SD card replaced by Micro SD card
Micro SD card is smaller in size
5
MS
Bottom flap opening is now horizontal
Air drag opposing the opening in earlier orientation
6
MS
Linear actuator placement changed form horizontal to vertical
Interference in Lander deployment
5
MS
Structural rods added to provide more stability
One point to be added
To provide alignment to lander inside Carrier
6
DC
Deployment mechanism of 2nd parachute is changed
To avoid entanglement
7
EPS
LCD has been removed from design
Weight constraint

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System Requirements
17
S.no.
Subsystem
Change
Rationale
8
GCS
Implementation of upload of real time data onto Google maps
Can be accessed easily
9
GCS
Google Earth API introduced.
Trajectory can be plotted

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System Concept of Operations
CanSat 2012 CDR: Team 7634 (Garuda) 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
18

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(If You Want) System Concept of Operation
•Safety Inspection
•Briefing
•Last Mechanical control
•Last Electrical control
•Coming at Competition Arena
Pre Flight
•CanSat weight and size check.
•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
Launch and Flight
•Locating CanSat
•Saving Data
•Analyzing Data
•Preparing PFR
•PFR Presentation
Post Flight
CanSat 2012 CDR: Team 7634 (Garuda) 19 Presenter: Harsh Parikh

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(If You Want) Context Diagram
CanSat Processor
Flight Software Power System Mechanical System
Sensor System XBee System
Ground
Antenna
Receiver
Computer Analyser Environment Mechanical System descent Control Lander Release
20

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(If You Want) CanSat Systems CanSat 2012 CDR: Team 7634 (Garuda)
21

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Physical Layout- CanSat
Presenter: Rajat Gupta 126mm
Space for Electronics Parachute on top
Lander detachment from bottom
Lander
Actuator
22

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Physical Layout- Lander 125mm
Space for parachutes
Electronic Components
Egg
Egg protection system
23
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 with sufficient clearance
•Outer diameter of fabricated body is measured to be 126mm giving 1 mm clearance.
•Total height of CanSat system is 151mm which is smaller than the given envelope.
•There are no protrusions from the CanSat which could hamper the smooth deployment from rocket
•The carrier body is tested by passing through a sheet metal envelop of 127mm dia.
•As the rocket compartment opens up, CanSat is deployed by action of gravity.
151mm
94mm
24

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Sensor Subsystem Design
25

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Sensor Subsystem Overview
•Carrier Sensor Sub-system overview
Presenter: Arpit Goyal Micro-controller Arduino Uno
GPS Sensor
MediaTek
(MT3329)
Pressure Sensor
Bosch
(BMP085)
Non-GPS Altitude Calculation
Battery
Voltage Data
Temperature Sensor BMP085
26

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Sensor Subsystem Overview
•Lander Sensor Sub-system overview
Micro-controller
Arduino Uno
Accelerometer Freescale Semiconductors MMA7361
Pressure Sensor
Bosch
(BMP085)
Non-GPS Altitude Calculation
Battery
Voltage Data
Temperature Sensor
BMP085
27

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Sensor Changes since PDR
Component Change
PDR
CDR
Rationale
GPS sensor
RKI-1543
MediaTek MT3329
Easy availability;
simple coding 28

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Sensor Subsystem Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
SSS-01
GPS data shall be measured in carrier (±3m)
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 29

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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
CDH-09
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
30

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Carrier GPS Summary
MT 3329 from MediaTek 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)
MediaTek
MT3329
± 3
16mm x 16mm x 6mm
8
3.2-5
Typically 3.3
40
31
MediaTek MT3329 GPS Sensor

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Carrier GPS Summary 32 Presenter: Arpit Goyal
•GPS accuracy: 3m.
•Typical GPS data format :
GGA protocol header
Latitude
ddmm format
Longitude
ddmm format
Position
Fix
Indicator*
HDOP# Unit of Antenna Altitude Units of Geoidal Separation UTC time hhmmss format
N-North
S-South
E-East
W-West
Satellites
Used
(0-14)
Antenna
Altitude
Geoidal Separation Checksum * 0 = Fix not available 1=GPS fix 2=Differential GPS fix # Horizontal Dilution of precision

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Carrier GPS Summary
33
•Process Sequence:
–Read and store GPS data in SD card via μC.
–μC transmits data to GCS.
–When Δh < 0.1m send final data twice which will be used :
•As an acknowledgement of carrier‟s arrival on ground.
•To stop transmission.
•Testing Status:
–GPS coding done
–Data format testing done.
–Interfacing with μC done.
–Distance accuracy checking done with two different GPS, the data differed by 0.5m amongst the reading taken at 10 locations.
–The updating speed of GPS was confirmed by taking it in car moving at almost constant speed of 50 kmph for about 10 min

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Carrier Non-GPS Altitude and Temperature Sensor Summary
34
Manufacturer
Model
Accuracy (%)
Dimensions (mm)
Operating Supply Voltage (V)
Data interface
Cost (USD)
Bosch
BMP085
± 1.0
16.5X16.5
1.8-3.3
I2C
20
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
Type
Range
Accuracy
Units
Pressure
300 to 1100
± 0.2
1.68
hPa (1hPa = 100 Pa)
m
Temperature
-20 to +65
± 0.5
°C
Bosch BMP085 Pressure Sensor

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Carrier Non-GPS Altitude and
Temperature Sensor Summary
Presenter: Arpit Goyal 35
• Process Sequence:
• Read temperature and pressure data from the sensor and storing it into array
• Transmit data via Xbee radio
• Calculate the altitude on ground system using pressure obtained form the sensor with
the help of following equation:
 



 



 


 


  
5.255
1
0
44330 1
p
p
H
• Testing Status:
 Sensor‟s coding done
 Data format testing done.
 Interfacing with μC done.
 Height accuracy checking done with a GPS and a pressure sensor, the data differed
by 1m amongst the reading taken at 10 locations.
• Data obtained when sensor was kept stationary was having some noise. We are
planning to implement a Kalman filter at GCS to remove noise component from the data.

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Lander Non-GPS Altitude and Temperature Sensor Summary 36 Presenter: Arpit Goyal
•Process Sequence:
•Read temperature and pressure data from the sensor and storing it into array
•Calculate the altitude on Microcontroller using pressure obtained form the sensor with the help of following equation:
•Transmit data via Xbee radio
•Testing Status:
 Sensor‟s coding done
 Data format testing done.
 Interfacing with μC done.
 Height accuracy checking done with a GPS and a pressure, the data differed by 1m amongst the reading taken at 10 locations.
 



 



 


 


  
5.255
1
0
44330 1
p
p
H

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Lander Impact Force Sensor Summary
Deciding factors:
•Low cost
•ADC as data interface, Micro-controller have limited I2C interface.
•Higher range
Accuracy: ± 0.1 g
Data format: (x,y,z) for acceleration in all 3-axis
Process:
• Read data and store in array.
• Calculate resultant acceleration magnitude: |a|
• Impact force = mass*acceleration. Store it in SD
Manufacturer
Model
Dimensions (mm)
Output
(A/D)
Voltage Range
Range
Cost (USD)
Freescale Semiconductors
MMA7361
23.8X12.6
A
3.3 V
± 6g
12 37 Presenter: Arpit Goyal

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Descent Control Design
Presenter: Prateek Gupta 38

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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 and provide stability.
•2 parachutes of bright red color are chosen for two levels 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 fore body wake effects, the effective rigging line length is calculated.
–Use of bridle to prevent entanglement of shroud lines.
•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
39

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Descent Control Changes since PDR 40 Presenter: Prateek Gupta
•Use of bridle to prevent entangling of shroud lines of two parachutes of carrier.
•Tethered device for deployment of 2nd parachute of carrier.
•Parachute has been tested to verify coefficient of drag.
•Consideration of spill hole size according to vendors available in market and modification of parachute size accordingly.
•Two parachutes have been purchased and tested and appropriate requirement of parachutes have been realized.
•Parachutes have been analyzed from the perspective of oscillations as well.

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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
SYS-05
-
X
X
41

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(If You Want) Descent Rate Hardware Summary
DESCENT RATE CALCULATIONS FOR CanSat
Payload
Diameter
(1st Parachute)
Descent rate (600m)
Diameter
(2nd Parachute)
Descent Rate (200m)
725g
36cm
10m/s
51cm
5.56m/s
42
Tethered device and a deployment bag to be used for deploying 2nd parachute held by the compressed spring which will act as a trigger to throw out lid.
• Passive Descent Control:
• Brighter parachute color to be selected
• Active Descent Control:
We will be calculating decent rate at GCS software from the data.

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(If You Want) Descent Rate Hardware Summary
DESCENT RATE CALCULATIONS FOR LANDER(91m)
•Parachute:
43
• Passive Descent Control:
Payload
Diameter
Descent rate
200g
37cm
5m/s Parachute Testing done from IIT Delhi

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(If You Want) Descent Rate Estimates
Measurements:
• Each parachute weighs 50gm
• All parachutes in a cluster must be identical to prevent unbalancing of drag forces. This
requirement is completely relaxed and will be considered after testing of dual chutes.
• Spill hole of 20% of chute diameter is not going to affect the equivalent diameter and this is
available in the market.
• Spill hole will also help in increasing the stability of chute.
• Equivalent diameter for cluster is calculated using:
• All calculations are based on EMRR‟s Calculator
2 2
Deq  D1  D2
Presenter: Prateek Gupta 44

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Testing of Descent Rate Control Status:
Presenter: Prateek Gupta CanSat 2012 PDR: Team 7634 (Garuda) 45
T
L
v plumbline 
• The parachute was tested by descent from 25m high building and payload of
725gm. Coefficient of drag was calculated from the observations and chute‟s
diameter were accordingly modified.
• The plumb line length were tested of the descent control mechanism. The results
were in consonance with (data table).
• Plumb line length =10m
• The steeper the negative dCm/dv slope, the greater is the stabilizing tendency of
the parachute, and the better is its damping capability against non stabilizing
forces such as sudden gusts of wind.
• Cm is the coefficient of moment acting on chute about payload

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(If You Want) Experimental Observations
Altitude =24m
Area =7*(0.17)2 m2 = 0.2023 m2
Calculated Cd comes out to be 1.30
Parachute sizes have been therefore
Modified and ordered from the same vendor.
MATLAB program has been made and velocity
curve has been plotted against time to verify
time to reach terminal velocity.
S. No.
Mass
Time
Velocity
Drift
1.
0.72gm
1.50 s
6.67m/s
1.5m
2.
0.72gm
1.47s
6.8m/s
1.1m
3.
0.72gm
1.48s
6.76m/s
0.9m
46 17cm

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Formula used for calculating the terminal velocity
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 ((Π*d2)/4)
CanSat 2012 PDR: Team 7634 (Garuda) 47
C A
W
V
d
t 
2


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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.
48

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Descent Rate Estimates
*Use of spill hole deviates the equivalent diameter only by a small amount so these values should hold in actual scenario. Cd taken is 1.30.
Object
Altitude
Weight
Terminal Velocity
Carrier + Lander
600m
725g
10m/s
Carrier + Lander
200m
725
6m/s
Carrier
91m
525g
5.7m/s(Using non identical chutes)
Lander
91m
200g
5m/s
49

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Mechanical Subsystem Design
Presenters: Rajat Gupta, Akash Verma
50

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(If You Want) 51
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 is fabricated with fiber re-enforced plastic which provides good impact resistance
•The bottom of carrier is opens horizontally 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.

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Mechanical Subsystem Changes Since PDR
52
Component Changed
PDR
CDR
Rationale
Bottom flap opening
Opened vertically along horizontal axis
Now opens horizontally along vertical axis
To prevent flap opening against air drag.
Linear actuator placement
Placed on the flap
Placed on main body
Space constraints and prevent interference
Structural rods of lander
Solid rods
Hollow rods
For rigid attachment and directed deployment CanSat 2012 CDR: Team 7634 (Garuda)

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Mechanical Subsystem Changes Since PDR-Detailed
1. Bottom flap opening: It was observed that the previous design for opening of bottom flap for lander detachment is working against the drag force of air experienced during descent and a strong springing mechanism would be required to overcome it.
To overcome this an alternate arrangement of the bottom opening horizontally sideways is used. It is loaded on a Torsional spring on the axis and released using a linear actuator.
53
Direction of descent
Air Drag Direction of opening
New direction of opening

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2. Linear actuator placement: Earlier the actuator was placed on the flap according to the original direction of opening. But the new horizontal opening the actuator is placed vertically to avoid interference.
54 CanSat 2012 CDR: Team 7634 (Garuda)

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55
3. Structural rods of lander: Earlier the rods of lander were solid and independent of carrier. Now the rods of lander are hollow and solid rods are added to the carrier. The solid rods of carrier are inserted in the hollow rods of lander, providing it a rigid support and guiding pathway for deployment.
Solid rods inserted in hollow rods

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56
Mechanical System Requirements
ID
Requirement
Rationale
Priority
Parent
Child
VM
A
I
T
D
MS-1
Total mass of CanSat shall be between 400g and 750g.
Specified limits for the base mission requirement.
High
-
-
X
X
MS-2
CanSat shall fit into a cylindrical envelop of 130 mm diameter and 152mm height.
The CanSat dimensions are governed by the payload envelop available inside rocket.
High
-
-
X
MS-3
There shall be no protrusions beyond the payload envelop until CanSat deployment
Protrusions may interfere with smooth deployment.
High
SYS-03
-
X
MS-4
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-5
The egg shall be recovered without breaking
The egg protection system should withstand all impacts and ensure safety of egg
High
-
-
X
X

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Mechanical System Requirements
57
MS-6
The lander shall be released at height of 91m
The lander should be securely attached to carrier and only be deployed at designated altitude.
High
-
-
X
MS-7
All electronics shall be shielded from the environment
Structure must provide protection to the electronics
High
-
-
X
MS-8
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 CanSat 2012 CDR: Team 7634 (Garuda)

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58
Lander Egg Protection Overview
•The selected egg protection system consists of a force distributor at bottom and surrounded by a shock absorbing and dampening material.
–The hip bone protector(used by elderly people) is used as a force distributor to distribute the impact forces sideways and protect the egg from breaking
–The egg is placed in a spherical foam ball with cavity carved inside to provide protection from all sides. It is covered from top by more foam pieces.
•Other alternates: cotton & bubble wrap are also tested for cushioning effect.
•In final configuration, Egg is wrapped with a layer bubble wrap to protect from self crushing force from foam ball
•Polystyrene balls are filled in any space left to provide extra cushion.
•All the materials: foam, bubble wrap, polystyrene balls are easily available lightweight and inexpensive. Hip protector was available in our lab as part of ongoing product developed with patented research. CanSat 2012 CDR: Team 7634 (Garuda)

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59
Mechanical Layout of Components
151mm
94mm
125mm Electronics Space for parachute
Egg Protection system
Actuator
Main Structure

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(If You Want) Material Selections 60 FRP (fiber reinforced plastic)
•Density = 1799.19381 kg / m3
•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 gram
•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.

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(If You Want) Carrier-Lander Interface Release of the lander results in opening of the parachute which is above the lander. 61
•The lander will be placed inside the carrier.
•The bottom part of the carrier is a rotating disc.
•A torsional spring is attached between the disc and the carrier for quick opening.
• A linear actuator is used for holding the bottom disc. At 91m actuator pulls the locking rod and the disc rotates by spring force.
•Lander comes out by gravitational force.
•Hollow rod of the lander will slide through the solid rods attached to the carrier, providing a guided path to lander deployment.
Presenter: Akash Verma

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Structure and Survivability
•The components are securely fastened on the structure of carrier and lander with the help of nut and bolts. Superglue is used wherever there is space or size constraint for bolts.
•The structure is tested for shock force survivability both by numerical simulations(Finite element method) and by actual strength testing under load(explained in testing section).
•The preliminary FEA results of the structure for load due 20gees average deceleration shows resultant displacement and von-mises stress way below limits.
62 *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 Max resultant disp.: .01mm
Max von mises stress= 0.23 Mpa

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(If You Want) Mass Budget 63
Carrier components
Weight (g)
Arduino board
32
LCD
35
Parachutes
60
Structure
250
Battery
24
Other electronics
20
Total carrier mass
421
Carrier 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 CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma

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64
Communication and Data Handling Subsystem Design
Presenter: Aman Mittal Presenter: Aman Mittal

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 65
CDH Overview – Lander
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
Presenter: Aman Mittal

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66
CDH Overview – Carrier
•BMP sensor gives the temperature and pressure data in I2C format, so we use the corresponding pins in the Arduino.
•The Battery Voltage gives Analog data, and hence analog pins in Arduino Uno are used.
•GPS sends data serially to the Arduino and hence we use the Rx pin on Arduino.
•Data is sent to Xbee serially from Arduino using the Tx pin in Arduino.
•Data is stored in SD card through SPI mode, and hence SPI pins on Arduino are used for the same.
•Output is given out to Buzzer to enable auditory location. It is done using Digital pins on Arduino.
•PWM output is given to L293D which drives the actuator.

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67
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
MMA 7361 (Accelerometer) Through ADC

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(If You Want) CanSat 2012 CDR: Team 7634(Garuda)
68
•BMP sensor gives the temperature and pressure data in I2C format, so we use the corresponding pins in the Arduino.
•The Battery Voltage and MMA 7361 gives Analog data, and hence analog pins in Arduino Uno are used.
•GPS sends data serially to the Arduino and hence we use the Rx pin on Arduino.
•Data is sent to Xbee serially from Arduino using the Tx pin in Arduino.
•Data is stored in SD card through SPI mode, and hence SPI pins on Arduino are used for the same.
•Output is given out to Buzzer to enable auditory location. It is done using Digital pins on Arduino.

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CDH Changes Since PDR
•The START signal for Xbee communication was sent after take off in PDR. Now it is being sent before take off in CDR because the modification in this rule was discussed in the Yahoo Group of CanSat.
•In PDR we used SD card adaptor. This is replaced with mini SD card in CDR because it is less preserves space.
•In PDR, we had missed the data parsing of GPS output. This has been corrected in CDR.
69 Presenter: Aman Mittal

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CDH Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
CDH -01
Sensor data will be sent
Base mission requirements
HIGH
SYS-07
-
X
X
CDH-02
Carrier data will be stored
Store all data to be transmitted as backup
MEDIUM
SYS-07
-
X
CDH-03
Store lander data
Base mission requirement for velocity data
HIGH
SYS-07
-
X
X
CDH-04
Accelerometer data
ADC data for force calculation
HIGH
SYS-10
-
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
SYS-07
FSW-02
X
70

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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
SSS-06
-
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
-
FSW-07
X
X

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(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

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Processor and Memory Selection
Parameter
Arduino Uno
Processor Speed(MHz)
16
Operating Voltage
5
Data Interface (D/A)
14/6
Size(cm x cm)
6.5x5.2
Flash Memory(kB)
32
Price(in USD)
25
Modes Available(SPI/I2C/Serial)
1/1/1
73
Micro SD card
ATmega 128

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Processor and Memory Selection
•Carrier
– Arduino Uno is chosen for the microcontroller.
–Easy interfacing, sufficient digital outputs for data handling.
–Low price and size.
–Sufficient modes of communication available.
•Lander
–Arduino Uno is chosen for the microcontroller.
–Same design for the carrier and Lander.
Arduino Uno

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Memory Selection
•Micro-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.
75
Micro-SD card

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76
Carrier Antenna Selection
•Antenna used is - A24HASM 450 – an RPSMA antenna to be used with XBP24BZ7SIT-004J
S. No.
Performance Measure
Specifications
1
Frequency (in MHz)
2400-2500
2
Gain (in dB)
2.5
3
VSWR
<1.6:1
4
Impedance
50 Ώ
5
Height (in mm)
109
6
Weight (in g)
14

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(If You Want) Data Package Definitions - Radio
The Xbee communicate in AT mode (transparent mode).
Xbee uses USART communication at baud rate 57600.
The communication protocol in AT mode is simple serial communication with any device.
Point to point communication is established in Xbee.
The coordinator ID is set at 0 while the other Xbee(in the modules) have a unique PanID.
We are using 64-bit addressing (transparent) for Xbee.
The network address will be stored in the table

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(If You Want) Data Package Definitions - GPS
•GPS transmits data serially using UART at baud rate of 57600 (configurable).
•It uses NMEA for data transmission.
•The data starts with a „$‟ and ends with the <cl><rf> in this format and output format is comma separated. This is used to parse the data to get the required data.
•The GPS automatically sends the data at 1Hz when powered on, and we take this data from UART.
•The GPS data format has been mentioned in the GPS subsection in the Sensor Subsystem Design.

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Data Package Definitions- T&P sensor
•Uses I2C format for the transmission of data to the Arduino.
•In this protocol, SDA line sends the data while SCL is the clock.
•Start – SDA pulled low while SCL is high.
•Stop – SDA pulled high while SCL is high.
•We are using it in ultra low power mode, putting the oversampling setting (osrs) to 0.
•I2C Address of the sensor – 0x77 for start of transmission.
CanSat 2012 CDR: Team 7634 (Garuda) 79 Presenter: Aman Mittal

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Data Package Definitions - Accelerometer
•Analog data output to the microcontroller.
•We use the g select as 0.
•10 bit ADC mode is used at sampling rate 50KHz.
80 Presenter: Aman Mittal Accelerometer

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(If You Want) Data Package Definitions – SD Card and Battery Voltage
•Battery Voltage Sensor –
–Uses 2 amplifiers for the sensing of battery voltage.
–Gives an analog data which is fed to the analog pin of arduino.
•SD Card –
–Uses SPI mode for transfer of data.
–Uses the SPI bus on the Arduino.
81

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 82 Radio Configuration
•The radio module XBP24BZ7SIT-004J is configured to be used in AT mode.
•AT mode supports any device with serial communication, so we use serial pins in Arduino.
•As AT Mode is being used, we will mainly be talking to one Xbee at a time, as talking to multiple Xbee requires changes destination address from command mode. We will be using point to point network. Selects channel and PAN ID
Set the Xbee to join a specific PAN ID(7639)
Security key to be obtained in preinstall
Send data to the specific 16 bit addresses. Presenter: Aman Mittal

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 83 Radio Configuration
Pre-Flight
•Establish connection by sending START from GCS and receiving ACK from Xbee Module(PAN on same ID, transmission to specific addresses.)
Ascent
•Send data from Carrier Xbee to GCS
•One way communication in this phase.
Descent
•Send data packets from Carrier Xbee to GCS
•One way communication in this phase. Post Flight
•Carrier Xbee stops transmission and its location is stored.
•Lander Xbee starts transmission to GCS.
•GCS can send activate buzzer commands to Lander and Carrier.

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84
Radio Configuration
•We have been successful in establishing communication between the Xbee modules in AT mode.
•We have tested the transmission of data between Xbee in when kept in separate rooms.
•We have successfully been able to test the Xbee over the range of 300m in open.
•We need to further test its complete range.
•We need to test for the launch and drop cases for the communication to be robust. Presenter: Aman Mittal

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85
Carrier Telemetry Format
•The data sent in the telemetry includes –
–GPS data
Height ( altitude)
No. of satellites tracked
Longitude
Latitude
UTC Time
–Altitude and temperature data from BMP085
–Battery Voltage
•Data rate: 0.5 Hz.
•The format is explained in the next slide.
Start of Transmission ($) Data Checksum

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86
–The data format is –
‟$,55,22,101.9,6.60,161441,4106.041N,02901.369E,03,39.5,M,167” (to be sent via Xbee)
•$ is Start Byte
•55 is Seconds since launch
•22 is temperature in Celsius
•101.9 is pressure in kPa
•6.60 is battery voltage in V
•161441 is 16:14:41 UTC time
•4106.0410 is latitude, N indicates North
•02901.3697 is longitude, E indicates East
•03 is the number of satellites tracked
•39.5 is Mean Sea Level Altitude, M indicates meters.
•167 is the checksum, calculated by adding all bytes in the frame modulus 255.

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87
Characters Sent
Definition
HHmmss
UTC Time
LLLL.LLLL
Longitude
LLLL.LLLL
Latitude
AAA.A
Altitude (GPS)
NN
No. of satellites
AAA.A
Altitude (BMP085)
TT.T
Air Temperature
VV.V
Battery Voltage

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 88 Activation of Telemetry Transmissions
•Telemetry activation done just before launch by sending a START command from the GCS Xbee(Coordinator node)
•The end device(Carrier and Lander) joins the network formed by the coordinator Xbee.

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89
Locator Device Selection Overview
•The locator devices will be a combination of GPS, Xbee and Buzzer.
•To activate telemetry from the Xbee and GPS, 2 flags will be set –
–After switching on, when height>300m, the first flag goes high, to ensure that they don‟t send data before flight.
–The second flag goes high only when flag 1 is true, when the altitude data is constant for 10 seconds.
•The buzzer can be activated by sending an ACTIVATE signal through the GCS.
•If connection between Xbee fails, the Buzzer is switched on automatically.
•On recovery, buzzer, Xbee and GPS are switched off through a manual power switch. Presenter: Aman Mittal

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90
Locator Device Selection Overview
•There will be separate transmission ID for the carrier and the Lander.
•The Coordinates of the Carrier Xbee are located and stored in the GCS. The Carrier Xbee stops transmitting after altitude data is constant for 10 sec post flight.
•In case of non recovery, on the launch day, the carrier and the lander will be having Labels :
• “Carrier, CanSat 2012 Team 7639, Garuda, IIT Delhi”
“Lander, CanSat 2012 Team 7639, Garuda, IIT Delhi”
Performance Measure
Specifications
Operating Voltage (V)
5
Current Consumption (mA)
35
Sound Output (dB)
95
Power Consumption (mW)

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91

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EPS Schematic Overview
CanSat Power System Carrier battery source Lander battery source Sensors + Xbee
Arduino Board
Buzzer and actuator
Sensors + Xbee
Arduino Board
Buzzer 92 CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Harsh Parikh

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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 during flight.
–Sleep mode used during 1hour wait time and before retrieval (except buzzer) via communication.
93 Presenter: Harsh Parikh

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(If You Want) EPS Changes since PDR
1. LCD has been removed as it was consuming lot of space, weight and power.

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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
External switch and LED shall be used for initial and final on/off
Easy power turn on/off mechanism
High
-
-
X
EPS-04
Actuator should have an external switch for manual override.
Easy process of testing
Medium
-
-
X
X
X

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EPS Requirements-Lander
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
EPS-05
All electronic components of lander will be powered.
Necessary for the working of CanSat.
High
-
-
X
EPS-06
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-07
Voltage should be displayed on LCD
Efficient monitoring of battery voltage
Low
-
-
X
X
EPS-08
External switch and LED shall be used for initial and final on/off
Easy power turn on/off mechanism
High
-
-
X
96

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(If You Want) EPS Requirements-Lander
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
EPS-09
Power to extra hardware to measure battery voltage
Voltage level to be transmitted and so its hardware needs power.
High
-
-
x
x
EPS-10
External switch to turn lander on/off
Easy mechanism for turning lander on/off
High
-
-
x
x
EPS-11
LED
Display on/off power of lander
High
-
-
x
EPS-12
Power to accelerometer
Need to measure external force with the same
High
SYS-10
-
x
x
97

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(If You Want) Carrier Electrical Block Diagram
Arduino (9V) GPS(5V) P&T Sensor (3.3V)
Actuator
(3.3V)
SD card
(3.3V)
Buzzer(9V) LCD(5V)
Voltage Measurement Hardware(9V)
Radio Transceiver
(3.3V) Power Source 3.3V regulator
5V regulator
9V supply
98 Presenter: Harsh Parikh

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Lander Electrical Block Diagram
CanSat 2012 CDR: 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
99

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(If You Want) Power Budget - Carrier
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.
100

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Power Budget - Lander
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.
101

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External Power Control Mechanism
•Separate on off switch both for carrier and lander
•Power monitoring system:
–LED shows whether 9V battery is switched on/off
•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.
102

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Power Source Summary
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
•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 103 Presenter: Harsh Parikh

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(If You Want) Battery Voltage Measurement
 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: Harsh Parikh 104

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(If You Want) Battery Voltage Measurement Testing CanSat 2012 CDR: Team 7634 (Garuda)
105
•Testing Status:
•The component and the circuitry of electrical power subsystem is tested.
•The op-amp follower circuit along with regulator was checked
•Testing Result:
•When the circuit was tested with LED for the output, the LED went „on‟ on attaching battery. This confirmed the proper circuitry
•The output of the circuit was measured:
•Rf=170Ω, 330Ω; Ri=1k Ω,
•Vo=1.68V, 3.29V
•It was inferred that the voltage regulation is effective
Circuit used for testing Battery Voltage Measurement

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Presenter: Sudeepto Majumdar 106

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(If You Want) CanSat 2012 CDR: 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 107

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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
CDH-06
-
X
X
X
FSW-03
FSW will be responsible for opening of parachute at 200m
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
HIGH
SYS-07
-
X
X
X 108 Presenter: Sudeepto Majumdar

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(If You Want) FSW Requirements CanSat 2012 CDR: 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
SYS-10
-
X
X
X
FSW-07
FSW shall stop telemetry of data after CanSat has landed
To avoid transmission when not required
MEDIUM
CDH-12
-
X
X 109
Presenter: Sudeepto Majumdar

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Carrier and Lander CanSat FSW Libraries Presenter: Sudeepto Majumdar 110
S.No.
Sensor
Model No.
Library
1
Temperature and Pressure
BMP085
Bmp085.h from adafruit*
2
GPS
Mediatek MT 3329
Arduino.h
SoftwareSerial.h
3
SD card
Kingston
sd.h from Arduino
4
Xbee radio
Digi International
SoftwareSerial.h
*- Open Source Library

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(If You Want) Carrier CanSat FSW Overview
CanSat 2012 CDR: Team 7634 (Garuda) 111 Presenter: Sudeepto Majumdar
• The Data will be transmitted at the rate of 0.5 Hz and Throughput value will be 25 bytes per second

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(If You Want) Carrier CanSat FSW Pseudo Code CanSat 2012 CDR: Team 7634 (Garuda) 112
Presenter: Sudeepto Majumdar
System Start Read Sensor: While(altitude>200) if (descent rate>10) Command DCS descent rate=10m/s Write to SD card Transmit to GCS While(200>=altitude>91) if(descent rate>5) Command DCS descent rate=5m/s Write to SD card Transmit to GCS while(91>=altitude) if(Lander deployed=false) Signal Deployment Write to SD card Transmit to GCS If(landed=true) Buzzer status->on on Button press Stop else Repeat

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Lander CanSat FSW Overview Presenter: Sudeepto Majumdar 113
• The Data will be stored at the rate of 0.5 Hz and Throughput value will be 25 bytes per second

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Lander CanSat FSW Pseudo Code Presenter: Sudeepto Majumdar 114 System Start Read Sensor Write to SD card if(landed=true) Buzzer->on On button press Stop else Repeat

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Software Development Plan
•FSW testing:
•The code has been written and the interface is established.
•The response of GPS sensor, Temperature and Pressure sensor and the Buzzer was tested when the acknowledgement was received .
•The system is ready to use.
•Development Team:
•Sudeepto Majumdar, Rishi Dua 115 Presenter: Sudeepto Majumdar

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Here CanSat 2012 CDR: Team 7634 (Garuda) Ground Control System Design
Presenters: Kshiteej Mahajan, Rishi Dua 116

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(If You Want) CanSat 2012 CDR: 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 117

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(If You Want) CanSat 2012 CDR: 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 118 Presenter: Rishi Dua

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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 119 Presenter: Rishi Dua

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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) GCS Antenna Overview
•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
120

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(If You Want) GCS Antenna Selection CanSat 2012 CDR: Team 7634 (Garuda) 121
•Assuming the wind speed of 25kph in Abilene, Texas in June.
Time of descent at 5m/s for 600m.
Time = 120sec.
So, d = 833m.
•So, we need to have an antenna that can expect a drift of at least 833m.

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(If You Want) GCS Antenna Selection CanSat 2012 CDR: Team 7634 (Garuda) 122
•The Antenna selection is done on the basis on Link Budget.
•The Xbee sensitivity is -102dBm, so assuming -90dBm to account for the uncalculated losses, using the Link Budget equation –
PRX = PTX + GTX + GRX – LTX – LRX – 20log(4πd/λ)
PTX = 17dBm
GTX = GRX = 2.5dBi
LTX = LRX = 1 dB
Calculating the above, we get d = 3.145 km, which is well above the calculated maximum drift.

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(If You Want) GCS Antenna Selection CanSat 2012 CDR: Team 7634 (Garuda) 123 Carrier Antenna Module
Ground Antenna Module
UART data to Xbee The communication is established between X-Bees (in API mode)
•The carrier module above transmits the sensor data back to the ground module.
•The ground station module receives data from the carrier module and transmits the data to the laptop.
• We are planning to make portable mast with PVC pipes for mounting antenna.
• Antenna will be inclined at an angle for max coverage.

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(If You Want) GCS Software
•Data taken currently from CSV file (which is updated every 2 seconds), later on preferred mode of input would be 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 to Excel file, XML, SQL and the Graph can be exported as 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 with good cross platform support.
•GPS data is also embedded in Google Maps, to possibly help recover location of the CanSat.
Presenter: Kshiteej Mahajan 124

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(If You Want) GCS Software Description CanSat 2012 CDR: Team 7634 (Garuda) Data file Settings Graph Settings
Graph
Data Series Settings
Presenter: Kshiteej Mahajan
125

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(If You Want) GCS Software Description CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Kshiteej Mahajan
126
•GPS data is also embedded in Google Earth. This can help recover location of the CanSat.
•Longitude, Latitude, Altitude data of the CanSat with time is taken from a CSV file and converted to KML file using self-written adapter and convertor to generate a flight path on Google Earth.
•We currently have two types of visualizations: Extruded and Linear.
•The following slides give snapshots of Extruded & Linear path of our CanSat (Garuda) for fictitious data, respectively.

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(If You Want) GCS Software Description

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CanSat Integration and Test

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CanSat Integration and Test Overview
Stage I: CanSat has following subsystems, that are built up in parallel:
Mechanical Subsystem
Descent Control Subsystem
Sensor and Communication Subsystem
Electrical Subsystem
Software Subsystems
Stage II: Mechanical Subsystem and DCS are integrated first and ECS, SSS, CDH are integrated in parallel.
Stage III: Merging of the two subsystems of Stage II to make final CanSat.
Test equipments and conditions are specified in respective tables/sections. in following slides.
All test data is uploaded real-time and available on www.teamgaruda.in/testdata
130

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(If You Want) Clearance test (Mechanical) Weight Test (Mechanical)
Body strength test
(Mechanical) Shock Absorption Test (Mechanical) Descent Rate Control (Mechanical)
EPS testing along with robustness
(Electrical)
Sensor testing
(Electrical)
FSW response
(Software Control) Detachment of Lander (Mechanical) Deployment of parachute (Mechanical)
Communication linking
(Electrical) GCS testing (Software Control) Data handling and mathematic modelling
Testing the Integrated Model
CanSat Testing as a Unit
Testing Sequence:
CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma
131

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(If You Want) Sensor Subsystem Testing Overview
S.No
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
GPS
Interfacing with Microcontroller
GPS availability in breakout board
Reception of data in the proper format
Pass
2
GPS
Measurements tested against Google Earth API
jqPlot Charts required for jQuery for plotting variations
The measurement difference plot should lie within 2.5m
Pass.
Accuracy achieved: 1m
3
GPS
Tested by taking data from GPS placed in car moving with constant speed of 50kmph
Arduino interfacing
Hyperterminal Interfacing
Data variation should be continuous
Pass
132 Presenter: Akash Verma

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(If You Want) Sensor Subsystem Testing Overview
S. No.
Test Description
Test Constraints
Result Criteria
Result
4
Non GPS Altitude sensor
Sensor availability in breakout board
Pass
5
Non GPS Altitude sensor
Variation of altitude tested by going to highest floor (7th) in lift and compare results with that of GPS
Carrying the whole setup as a handheld one. GPS should be already tested.
Variation in GPS and non-GPS altitude measurer should not differ by more than 2m.
Pass.
Accuracy achieved: 1.2m
6
Temperature sensor
Tested with cold water with ice to hot water till luke warm and cross checked variation using Laboratory Thermometer
Preventing the sensor from getting wet.
Difference in readings should be less than 0.8°C
Pass. Max. difference 0.5°C when properly calibrated
7
Temperature Sensor
Below 0°C up to -10°C checked using refrigerator.
Variation in temperature at different points of fridge gave abnormal readings
Variation should be visible for below 0°C temperatures.
Pass

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Lander Impact Force Sensor Testing
S. No.
Test Description
Test Constraints
Result Criteria
Result
1
Accelerometer/ Impact Force Sensor
-
Pass
2
Accelerometer/ Impact Force Sensor
Checking for acceleration values in 10 places e.g.. Lift, car.
Movement of Arduino board and the source with accelerometer.
Comparison with any other possible source of acceleration (where possible) and estimated calculations otherwise.
Pass

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(If You Want) DCS Subsystem Testing Overview
S.No.
Test Description
Test Constraints
Result Criteria
Result
1.
Parachutes along with mass
•Experimental throws of 700gm object from 15m height.
•Terminal velocity found out using speed time formula
•Length of plumbline takes is 10m
•Reaction time of an observer
•Attainable height for parachute releasing
•Terminal velocity within the range
•Drift- not too large
Pass
2.
Parachute‟s shroud lines
Experimental throws of 700gm object from 15m height.
Attainable height for parachute releasing
Shroud lines should not entangle
Fail
3.
Parachute packing
Experimental throws of 700gm object from 15m height.
Attainable height for parachute releasing
Parachute should unfold itself
Pass
135

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Mechanical subsystem testing overview
136
S.No.
Component/ Subsystem tested
Objectives
Test description
Constraints
Pass Criteria
Results
1
Deployment/ Separation Testing for load
Smooth release of lander.
It should be able to uphold the load of lander
Actuator is connected to the
Battery and the linear movement of the plunger tested for various loads
Test conditions may not be able to simulate the actual friction characteristics of the interface.
Capacity to hold the maximum load of 750g
To be performed once actuator is delivered
2
Deployment/ Separation testing for response time
Quick release of lander.
response time of the plunger for
Error in time measurement due to human response time
Allowable error of 1% in lander deployment target altitude
To be performed once actuator is delivered
3
Shock survivability
Structure should survive 30gees of shock force
30g equivalent of force is applied through static weights (30x 720g~210Kg)
The strength is only tested in longitudinal direction which is only relevant.
Structure should be able to withstand the load without failure and low distortions.
Pass

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(If You Want)
S.No.
Component/ Subsystem tested
Objectives
Test description
Constraints
Pass Criteria
Results
4
Clearance for Launch vehicle Compatibility
To check if the structure is able to slide through rocket payload section
A sheet metal envelope of 127mm is made and the carrier is slid through it at various orientations.
Errors in the cylindricity of the fabricated sheet metal envelop may be preset and the surface characteristics may be different for actual rocket.
Smooth passage of the carrier structure.
Pass
5
Egg protection system
To ensure protection of egg for impact force experienced during landing
Drop the finally selected egg protection system from various heights of 10, 20 , 30 , 40ft. for maximum impact velocity of 11m/s
Impact depends on the softness of the ground which maybe different from launch location
Safe recovery of the egg
Pass
137
Mechanical subsystem testing overview

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(If You Want) CDH Subsystem Testing Overview
S. No.
Test Description
Test Constraints
Result Criteria
Result
1
Xbee radio receiver testing
The communication link was checked using a test data signal from computer
Xbee module, computer and GCS software
The data should be received without any error
Pass
2
Xbee radio transmitter testing
The communication link was checked using a test data signal to computer
Xbee module, computer and GCS software
The data should be received without any error
Pass
3
Buzzer testing
The buzzer range was tested by supplying power to it
Buzzer, battery
The buzzer‟s buzz was audible to a range of 100m
Pass
Range:100m
4
SD card testing
SD card was tested using arduino board
SD card, arduino board, SD card reader
The data stored should be not be corrupted and should be accessible
Pass
138

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(If You Want) EPS Subsystem Testing Overview
S. No.
Test Description
Test Constraints
Result Criteria
Result
1
Battery Voltage measuring circuit
External voltage of 9V was applied and regulated output was checked using potentiometer
Op-Amp, Resistors, 9V battery and potentiometer
For input voltage of 9V regulated voltage should be 5V
Pass
2
Battery Life
A battery of 9V was drained using a buzzer
Buzzer, battery and Stop watch
The buzzer should buzz for atleast 5 hours
Pass
Life: 6 hours
3
External Switch
LED was used to check switching
LED, battery, Switch
LED should glow for on and off when the switch is off
Pass
4
Components power specification
Potentiometer was used to check the power specifications
Potentiometer, electrical components
Power output should be within specified range
Pass

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FSW Subsystem Testing Overview
S. No.
Test Description
Test Constraints
Result Criteria
Result
1
Xbee
check RSSI and connectivity in case of relative motion and across multiple barriers.
Simulated environment does not cover all possibilities.
RSSI should be more than 20%
Pass
2
Pressure Sensor
check pressure in room conditions and in blowing wind at various heights.
pressure actually varies very rapidly while falling down at 10m/s
pressure values should match barometer values
Pass
3
GPS
data checked in various locations separated by 5kms and in moving vehicles
output accuracy +/- 3m
Pass
4
Accelerometer
magnitudes and directions of acceleration while moving and while impact
accuracy +/- 0.5 m/s2
Unconfirmed
5
Temperature
check temperature at various locations, heights and time intervals.
-
accuracy +/- 1C
Pass
6
Software
Interfacing with individual sensors and above tests conducted. Collected data stored onto the SD card.
Integration not done, only individual sensors tested at a time.
Successful running of the code and proper data acquisition from the sensors.
Partially pass. Accelerometer interfacing failed

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GCS Subsystem Testing Overview
S. No.
Test Description
Test Constraints
Result Criteria
Result
1
Antenna
Send known data from carrier radio module to ground station
running on simulated data, not on actual data
Result should match with the sent data
Pass
2
Data plotting library
Plotting a sample data
the library livegraph should work correctly
The graph should match with standard software like MATLAB
Pass
3
Google earth API integration
Input CSV position data to generate a KML file
running on simulated data, not on actual data
Visualization should be successful
Pass
4
Real time data update
Input data to GCS
Internet connectivity and server uptime
The database on server should get updated
Pass
141

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142

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Overview of Mission Sequence of Events
•Briefing
•Last Mechanical control
•Last Electrical control
•Coming at Competition Arena Pre Flight
•Pre-Flight operation
•Integration of CanSat
•Setup of GCS
•Placement of Egg
•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
•Recover egg and data from Lander Launch and Flight
•Saving Data
•Analyzing Data
•Preparing PFR
•PFR Presentation
•Pack up and leave for New Delhi
Post Flight
143
Presenter: Arpit Goyal Please see Team Members Role on slide 8

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(If You Want) Mission Operations Manual Development Plan
•Mission Operation consist of 4 steps:
–CanSat Integration
–Launch Preparation and GCS setup
–Launch Operation
–Removal Operation
144

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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.
145

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Launch Preparation and GCS setup
•GCS will be setup by GCS crew after reaching competition arena.
•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 CDR: Team 7634 (Garuda) 146 Presenter: Arpit Goyal

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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.

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(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 then can remove the CanSat.

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(If You Want) CanSat Location and Recovery
1.Carrier Recovery
–Carrier will have buzzer inside it which will be only be activated when carrier has landed. This buzzer has SPL>80 dB and will aid us to recover carrier.
–We will use shiny and bright colored parachutes so that we can spot it from some distance.
–GPS sensor on carrier will transmit exact coordinates after landing. This data will help us to reach there.
–We will be using trajectory (obtained after getting data of position from GPS sensor) to estimate landing coordinates for carrier. This will be done automatically using a script (in GCS software only) performing data analysis.
–Besides, all team members will be keeping eyes on carrier as it descends down from sky.

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(If You Want) CanSat Location and Recovery
2. Lander Recovery
–Lander will have buzzer inside it which will be only be activated when lander has landed. This buzzer has SPL>80 dB and will aid us to recover carrier.
–We will use shiny and bright colored parachutes so that we can spot it from some distance.
–We will be using a additional GPS sensor on lander that will transmit exact coordinates after it has landed (also using extra x- bee modules for that).
–Wind data and trajectory of carrier after it has got separated from lander will be useful for us to implement a script to generate estimated coordinates of lander.
–Besides, all team members will be keeping eyes on lander as it descends down from sky.

Team Garuda Cansat 2012 CDR

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Team Garuda Cansat 2012 CDR