critical design review - umbra · 2019. 10. 25. · critical design review january 26, 2018...
TRANSCRIPT
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Critical Design ReviewJanuary 26, 2018
California State Polytechnic University, Pomona
3801 W. Temple Ave,
Pomona, CA 91768
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Competition Week Attendees
o Major Changes from PDR
Agenda
1.0 Introduction
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Competition Week Attendees2017-2018 Cal Poly Pomona NASA
Student Launch Initiative
Educator Administrators
Advisor
Donald Edberg, PhD
Mentor
Todd Coburn, PhD
L2 TRA Mentor
Rick Maschek
Lead Engineer
Casey
Aerodynamics
Aerodynamics Lead
Daniel R.
Ryan
Andrew
Verenice
Mauricio
Vanessa
Daniel A.
Structures
Structures Lead
Edgar
Kevin
Priya
Cory
Isaac
Jehosafat
Leara
Payload
Payload Lead
Richard
Juan
Ricardo
Praneeth
Courtney
Deputy, Systems Engineer
Megan
Safety Officer
Natalie
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Changes Made Since PDR
Criteria Changes Made
Vehicle SizeOverall length increased from 7 ft-9
in to 8 ft-5 in
Vehicle MassOverall mass decreased from 46 lb
to 43.7 lb
Nose Cone
Material changed from PLA and
fiberglass reinforcement to PLA
only.
Fin
Material changed from PLA and
fiberglass reinforcement to PLA
only.
Criteria Changes Made
Recovery GPS
Redundancy added for GPS;
Trackimo GPS has been added in
addition to the Eggfinder
Drogue Parachute Size changed to 4 ft2
Main ParachuteDeployment altitude changed from
500 ft to 600 ft.
Motor Selection
Motor has changed from a
Cesaroni L1115 to an Aerotech
L1420R
• Vehicle Criteria Changes
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Changes Made Since PDR
Criteria Changes Made
GPS Module
Adafruit module replaced by the Eggfinder
system; Adafruit transceivers replaced by
XBee modules.
Payload Observation Avionics
Live video feed and camera eliminated: The
ground station will now consist of a laptop
with the Eggfinder RX and the ground XBee
both connected independent from one
another via USB.
• Payload Criteria Changes
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Final Launch Vehicle: Dimensions
o Final Launch Vehicle: Full Configuration
o Mass Statement and Mass Margin
o Key Design Features: Hollowed Bulkhead
o Key Design Features: Plug
o Key Design Features: Recovery Avionics Bay
o Key Design Features: Fin Integration
o Final Motor Choice and Justification
Agenda
2.0 Final Launch Vehicle Overview
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Final Launch Vehicle: Dimensions
● 3 Independent sections known as Modules
○ Module 1 : Nose cone, Payload Bay
○ Module 2 : Recovery system
○ Module 3 : Observation Bay and Motor Bay
● Total Length of Launch Vehicle: 101 in. (8 ft-5in)
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Final Launch Vehicle: Full Configuration
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Mass Statement and Mass Margin
● Total Mass of Launch vehicle
○ At Lift off: W = 43.7 lb
○ At Burnout: W = 38.1 lb
● Mass Margin
○ Desirable Altitude
■ Lift off weight between 43 lb and 52 lb
○ Desired Flight Stability
■ Payload must not exceed 5 lb and implement a 10% ballast
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Key Design Features: Hollowed Bulkhead
● Located and epoxied to
the end of the Payload
Bay
● Provides an opening for
DARIC Rover to exit
● Attached to main
parachute shock cord via
Zinc-plated Steel U-bolt
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Key Design Features: Hollowed Bulkhead
● Manufactured using ¾’’
Birch Plywood and
sandwiched between two
0.032’’ 7075-T6 Al sheets
● Al sheets provide greater load
capabilities during main
parachute deployment
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Key Design Features: Plug
● Fitted to cover hollowed
bulkhead opening
○ Creates pressure seal for
main parachute deployment
○ Protects payload from
deployment charge debris
● Gets pulled off with main
parachute deployment by
attaching routing eye-bolt to
shock cord line
● Manufactured by 3-D printer
using PLA material
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Key Design Features: Recovery Avionics Bay
• Made of Blue Tube 2.0 coupler• 12 in. length• OD:5.976in• ID: 5.835in• Enclosed by two ¾’’ Birch plywood
bulkheads• Two ½’’ holes will be created through
the collar to fit exterior controlled switches
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Key Design Features: Recovery Avionics Bay
● Avionics plate
made of thin
plywood will hold
altimeters
● Two threaded rods
will hold avionics
plate in place
during flight
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Key Design Feature: Fin Integration
• Consists of 3 fins, 4 centering rings, and 6 bolts
• Body Tube shrouds and protects Fin Integration System
• Allows for fast and easy replacement of fins
• Broken fins do not ground the launch vehicle
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Key Design Feature: Fin Integration
• Centering rings at the end are fixed with bolts, middle centering rings are friction fit
• Bolts ensure a secure connection
• Fins can be replaced in under 5 minutes
• Less time repairing = More time flying
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Final Motor Selection and Justification
Aerotech L1420 Performance Parameters:
Average Thrust: 319.23 lbfMaximum Thrust: 407.80 lbfTotal Impulse : 1034.80 lbf-sBurn Time: 3.2 secondsISP: 183 seconds
Aerotech L1420 Thrust Curve
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Final Motor Selection and Justification
Aerotech L1420 enabled:• Cost Savings:
• From $458 -> $208• Savings Factor: Aerotech
Casing available on site
• Satisfies Apogee Requirement (5331-5507 ft.)
• Satisfies Rail Exit Velocity Requirement (60.5 ft/s)
Aerotech L1420 Thrust Curve
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Final Motor Selection and Justification
• Apogee Simulations:
• OpenRocket: (5331-5507 ft.) from 0 to 20 mph winds
• MATLAB: 5745 ft.
• Difference (%): 2.38%
• Allows 0-10% ballast to further refine the altitude
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Rocket Flight Stability in Stability Margin Diagram
o Thrust-to-Weight Ratio and Rail Exit Velocity
Agenda
3.0 Launch Vehicle Performance
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Center of Gravity
Center of Gravity
(OpenRocket)
62.695 in.
Center of Gravity
(Hand Calculations)
63.520 in.
Percent Difference 1.31%
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Center of Pressure
Center of Pressure
(OpenRocket)
78.014 in.
Center of Pressure
(Hand Calculation)
77.320 in.
Percent Difference .89%
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Stability Margin
Stability Margin
(OpenRocket)
2.62 Caliber
Stability Margin
(Hand Calculation)
2.24 Caliber
Percent Difference 14.5 %
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Launch Vehicle Performance
● Thrust-to-Weight ratio
○ T / W = 7.3
● Rail Exit Velocity based on MGLOW = 43.7 lb
○ Using the 8 ft. 1515 rail: V = 60.7 ft/s
○ Using the 12 ft. 1515 rail: V = 75.1 ft/s
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Parachute Overview
o Parachute Sizes
o Recovery Harness
o Recovery Avionics: Altimeters
o Recovery Avionics: Ejection Charge
o Recovery Avionics: GPS
Agenda
4.0 Recovery Subsystem
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Parachute Overview
Main Drogue
• Toroidal design• Manufactured by Fruity Chutes• Packing Volume: 199.9 ft3
• Weight: 3 lbs.• 400 lb. paraline
• Cruciform design• Manufactured in-house• 10 inches of tube allocated for stowage• Weight: 1 lb.• 400 lb. paraline
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Parachute Sizes
Main Drogue
• Diameter: 10 ft.
• Spill Hole Diameter: 1.77 ft.
• Aeff = ~80 ft2
• Cd of 2.2
• Gores: 34 in. x 10 in
• Aeff = 4 ft2
• Cd of 0.6
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Recovery Harness
• ¼ in. Kevlar shock cord rated at 2200 lbs
• Measuring 30 ft each for both parachutes
• Attached using ⅜ in. steel quick links for main and ¼ in. steel quick links for the drogue
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Recovery Avionics: Altimeters
● Two (2) PerfectFlite Stratologger CF altimeters will be
used for Drogue and Main parachute deployment
● Redundancy established using two separate altimeters
● Each will run on 9V batteries
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Altimeter Specifications
StratologgerCF● Main chute deployment range from 100 to 9,999 feet in 1 foot demarcations
● Drogue Chute Deployment at Apogee
● Stores 16 eighteen minute flights
● 5 Amp output current
● Altitude, Temperature, Power Supply voltage data collection
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Parachute Deployment Figures
Stratologger 1 Stratologger 2
Drogue Deployment At Apogee (5,280 ft) 2 seconds after Apogee
Main Deployment 600 ft 500 ft
● Each altimeter will be programmed with different main chute
deployment values
● In the case of main altimeter failure, the redundant altimeter
will deploy the drogue/main chute(s)
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Recovery Avionics: Ejection Charge
• There are a total of 4 charges located on rocket• 2 for the Drogue Parachute• 2 for the Main Parachute
• 4F Black Powder will be used• Charge sized calculated taking into account changes
in bay size• Calculations will be verified using ground tests.
Charges will be optimized to ensure proper ejection• Ignition method : E match
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Recovery Avionics: GPS
● Two GPS systems (Eggfinder and Trackimo) will be utilized
● Varying frequencies allow for additional redundancies in rocket
recovery
● Immediate uplink of data to ground command module with
integrated hardware
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GPS Specifications
Eggfinder● 9 Volt power supply
● 8.2 ft accuracy
● 900 Mhz transmitting
● Range of 8000 ft
Trackimo● Rechargeable LiPo Battery
● 50 ft accuracy
● 850/900/1800/1900 MHz transmitting
● Unlimited Range with cell service
permitting
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GPS Data Pathways
Eggfinder Trackimo
● Two separate location data pathways ensure higher success rate in recovery
as a failure of one system will not affect the alternative
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Descent Rates
o Kinetic Energy at Key Phases
o Drift Predictions from Launch Pad
Agenda
5.0 Mission Performance Predictions
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Descent Rates
• Descent Rate From Apogee to Main Deployment (when drogue is deployed) = 120 ft/s
• Descent Rate from Main Deployment to Touch Down = 14 ft/s
• Total time spent in air = 81.9 seconds
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Kinetic Energy at Key Phases
• Max Kinetic Energy and Kinetic Energy at touchdown identified• Requirement 3.3 satisfied
Phase
KE of Nose Cone +
Payload Fairing
(0.247 slugs)
(ft-lbs)
KE of Main/Drogue
Bay + Recovery Bay
(0.291 slugs)
(ft-lbs)
KE of Observation
Bay + Motor Bay
(0.508 slugs+0.314
slugs for prop mass)
(ft-lbs)
Total Kinetic Energy
(ft-lbs)
Rail Exit (60.7 ft/s) 455.2 536.5 1515 2506.7
Apogee (0 ft/s) 0 0 0 0
Drogue Deployment
(120 ft/s)1779 2097 3661 7370
Main Deployment &
Touchdown (14 ft/s)24.2 28.5 49.8 102.5
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Drift Calculations
• To address concerns and meet the drift radius requirement, the main will now deploy at 600 ft (with backup charge at 500 ft).
• New descent rates = 120 ft/s with drogue deployed & 14 ft/s with main deployed
• Drift distance can be minimized further because main deployment velocity is conservative
Wind Velocity (mph) Drift Distance (ft)
0 0
5 624
10 1248
15 1873
20 2497
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Test Plan Matrix
o Safety Plan
Agenda
6.0 Test Plans and Procedures
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Test Plan Matrix
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Test Plan Matrix
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Test Plan Matrix
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Camera must be capable to
record for a minimum of 1
hour.
Controlled:
-Raspberry Pi Zero
computer and camera
Measured:
-Battery compability
Completed:
1/15/18
Parachute
Drop Test
Verify Req. 3.1 and 3.3 to ensure that the
provided kinetic energy during drogue-stage
descent is reasonable.
Verify Req. 3.3 to ensure the kinetic energy does
not exceed 75 ft-lb by determining the
parachutes' velocity.
Predicted parameters are
verified. The drogue and main
parachutes completely inflate.
Controlled:
-5 lb. weight
-Parachute size
-Drop distance height
Measured:
-Descent time
-Parachute inflation
Scheduled:
1/28/18
Observation
System Test
Raspberry Pi Zero with camera will provide
flight profile verification.
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Test Plan Matrix
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Test Plan Matrix
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Test Plan Matrix
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Safety Plan
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Safety PlanSafety Plan
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Safety PlanSafety Plan
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Subscale Vehicle Overview
o Subscale Launch Vehicle Scaling
o Subscale Flight Results
o Predicted vs True
o Subscale Lessons Learned
Agenda
7.0 Subscale Vehicle Overview
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Recovery
BayMain Parachute
Drogue
Parachute
Observation
Bay
Subscale Vehicle Overview
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Launch Vehicle
CharacteristicsSub-Scale
Body Tube Diameter (in.) 3.0
Overall Length (in.) 58
Overall Mass (lbs.) 7.84
Static Margin (Caliber) 2.59
Motor Bay with
Removable Fin Integration
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Subscale: Scaling and Layout
Geometric Scaling Factor - 1:2 Scale (B.T. Diameter)
Launch Vehicle
CharacteristicsFull-Scale Sub-Scale
Scaling Factor (Sub-
scale/Full-Scale)
Body Tube Diameter
(in.)
6.0 3.0 0.500
Overall Length (in.)101 58 0.574
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Subscale: Scaling and Layout
Goals for the Subscale
• Test all flight electronics to be used in full-scale
• Test scaled down recovery system layout
• Test launch vehicle geometry and stability to prove full-scale integrity
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Subscale: Scaling and Layout
Electronic
Component
Full-Scale
Usage
Sub-Scale
Usage
Raspberry Pi w/
Camera moduleYes Yes
EGGFINDER GPS Yes Yes
Trackimo GPS Yes No
Stratologger CF
AltimeterYes (2) Yes (2)
Flight Electronics
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Subscale: Scaling and Layout
Recovery System
F.S.
S.S.
Main Altimeter
Drogue
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Subscale: Scaling and Layout
Characteristic Full-Scale Sub-Scale
Stability 2.62 Caliber 2.59 Caliber
FinsNACA 0008 Clipped
Delta (Removable)
NACA 0008 Clipped
Delta (Removable)
Nose Cone Von-Karman Von-Karman
Geometry and Stability
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Subscale Flight Results
● Flight data provided by two altimeters
● Apogee = 4313 feet
● Launch Conditions: cloudy skies, 59 degrees Fahrenheit, average wind speed of 16 mph
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Predicted and Actual Flight Data
● Initial drag coefficient for subscale was 0.49
● Obtained from OpenRocket simulations using launch day conditions
● Altitude predicted with MATLAB
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Predicted and Actual Fight Data
● Drag coefficient of 0.64 obtained from flight data using MATLAB
● Altitude predicted with MATLAB
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Calculated Drag Coefficients
Subscale Model Full Scale Model
OpenRocket 0.49 0.45
MATLAB 0.64 0.59
Error 30.6% 30.6%
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Subscale Model: Lessons Learned
● MATLAB program assumes vertical flight and does not
simulate launch day conditions
● OpenRocket and MATLAB program can predict rocket
altitude accurately
● Flight test data needed to determine drag coefficient
● Ensure that all checklists for full scale model are
followed
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Final Payload Design Overview
o Payload Dimensions
o Key Design Features
o Payload Electronics Overview
o Payload Integration
Agenda
8.0 Payload Overview
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DARIC - Assembly
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DARIC - Payload Dimensions
Note: dimensions are in inches
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DARIC - Key Design Features
• Compact design
• Easy Assembly
• Lightweight
• Simple Manufacturing Method -3D printed PLA
• Solar deployment system can be easily integrated to the top of the rover.
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Key Design Features: SPOC System
• Pendulum system allows for orientation correction upon landing
• Pin restricts movement during flight• Carriage system securely holds
rover during descent
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Key Design Features: SPD System
• Rotary servo holds down foldable solar panels
• Uses torsion springs to open up the solar panels
• Easily mounts on top of the rover allowing for easy access
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Payload Electronics Overview
On the rover:
• Electrical• Raspberry Pi Zero• Sixfab shield• Xbee Transceiver (900 MHz; 250 mW)• Eggfinder GPS module
• Motorized• 2 Micro servos• 1 main motor
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Payload Electronics Overview
A depiction of the schematic design
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Payload Integration
• Raspberry Pi, Sixfab Shield, and Xbee transceiver unit will be used to make coding easier
• The coding system will be autonomous and run on a series of infinite loops
• Coding will be broken up into two sections• Code for electronic components• Code for motorized components
• When both sections have been tested enough, they will be merged together into a master program
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Payload Integration
Data transmission
• GPS data• Sent directly to ground
dongle. • Data log
• Transceiver data • Xbees linked in a mesh
network• Ground station will be
mesh coordinator
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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Internal Interfaces Within Launch Vehicle
• 12 bolts hold SPOC
system to Launch
Vehicle
• Rotation Lock Pin is
tethered to the Main
Parachute via a steel
cable
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7.0 Subscale Vehicle Overview
6.0 Test Plans and Procedures
5.0 Mission Performance Predictions
4.0 Recovery Subsystem
Agenda
1.0 Introduction
2.0 Final Launch Vehicle Overview
3.0 Launch Vehicle Performance
8.0 Payload Overview
9.0 Launch Vehicle Interfaces
10.0 Project Plan
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o Status of Requirements Verification
o Timeline
Agenda
10.0 Project Plan
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Verification Methods
Nomenclature -
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Launch Vehicle Compliance Matrix
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Recovery System Compliance Matrix
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Payload Compliance Matrix
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 86
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Safety Compliance Matrix
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 87
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General Compliance Matrix
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 88
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Derived Requirements Matrix
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 89
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Gantt Chart
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 90
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Gantt Chart
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 91
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Gantt Chart
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 92
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Important Milestones
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 93
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Important Milestones
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 94
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Important Milestones
01/26/2018 California State Polytechnic University, Pomona | CDR 2017-2018 95
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Thank you, 2017-2018 CPP NSL Team
Questions or Comments?