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CanSat 2012 CDR: Team 6112 (Team Uyarı) 1

CanSat 2012 Critical Design Report

TEAM UYARI

6112

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Presentation Outline

Content

1. Introduction

1.1 Team Uyarı – Veysel Yağmur SAKA 6

1.2 Team Organization – Veysel Yağmur SAKA 7

1.3 Acronyms – Veysel Yağmur SAKA 8

2. System Overview

2.1 Mission Summary – Veysel Yağmur SAKA 10

2.2 Summary of Changes Since PDR– Veysel Yağmur SAKA 11

2.3 System Requirement – Veysel Yağmur SAKA 12

2.4 System Concept of Operations – Veysel Yağmur SAKA 15

2.5 Physical Layout – Veysel Yağmur SAKA 19

2.6 Launch Vehicle Compatibility – Veysel Yağmur SAKA 22

3. Sensor Systems Design

3.1 Sensor Subsystem Overview – Onur ŞAHİN 24

3.2 Sensor Subsystem Requirements – Onur ŞAHİN 26

3.3 Sensor Changes Since PDR – Onur ŞAHİN 27

3.4 Carrier GPS Summary – Onur ŞAHİN 28

3.5 Carrier Non-GPS Altitude Sensor Summary – Onur ŞAHİN 31

3.6 Carrier Air Temperature Summary – Onur ŞAHİN 34

3.7 Lander Altitude Sensor Summary – Onur ŞAHİN 37

3.8 Carrier Camera Summary – Onur ŞAHİN 40

CanSat 2012 CDR: Team 6112 (Team Uyarı)

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4. Descent Control Design

4.1 Descent Control Overview – Süleyman SOYER 43

4.2 Descent Control Changes Since PDR – Süleyman SOYER 45

4.3 Descent Control Requirements – Süleyman SOYER 46

4.4 Carrier Descent Control Hardware Summary – Süleyman SOYER 48

4.5 Lander Descent Control Hardware Summary – Süleyman SOYER 53

4.6 Descent Rate Estimates – Süleyman SOYER 56

5. Mechanical Subsystems Design

5.1 Mechanical Subsystems Overview – Murat Can KABAKÇIOĞLU 63

5.2 Mechanical Subsystem Changes Since PDR – Murat Can KABAKÇIOĞLU 64

5.3 Mechanical Systems Requirement – Murat Can KABAKÇIOĞLU 65

5.4 Lander Egg Protection Overview – Murat Can KABAKÇIOĞLU 66

5.5 Mechanical Layout of Components – Murat Can KABAKÇIOĞLU 67

5.6 Material Selections – Murat Can KABAKÇIOĞLU 70

5.7 Structure Survivability Trades – Murat Can KABAKÇIOĞLU 71

5.8 Carrier-Lander Interface – Murat Can KABAKÇIOĞLU 72

5.9 Mass Budget – Murat Can KABAKÇIOĞLU 74

6. Communication and Data Handling Subsystem Design

6.1CDH Overview – Yunus Buğra ÖZER 76

6.2 CDH Changes Since PDR – Yunus Buğra ÖZER 77

6.3 CDH Requirements – Yunus Buğra ÖZER 78

6.4 Processor & Memory Selection – Yunus Buğra ÖZER 80

6.5 Carrier Antenna Selection – Yunus Buğra ÖZER 81

6.6 Data Package Definitions – Yunus Buğra ÖZER 82

6.7 Radio Configuration – Yunus Buğra ÖZER 83

6.8 Carrier Telemetry Format – Yunus Buğra ÖZER 84

6.9 Activation of Telemetry Transmissions – Yunus Buğra ÖZER 86

6.10 Locator Device Selection Overview – Yunus Buğra ÖZER 87


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7. Electrical Power System Design

7.1 EPS Overview – Onur ŞAHİN 90

7.2 EPS Changes Since PDR – Onur ŞAHİN 92

7.3 EPS Requirements – Onur ŞAHİN 94

7.4 Carrier Electrical Block Diagram – Onur ŞAHİN 96

7.5 LanderElectrical Block Diagram – Onur ŞAHİN 97

7.6 Carrier Power Budget – Onur ŞAHİN 98

7.7 Lander Power Budget – Onur ŞAHİN 100

7.8 Power Source Trade & Selection – Onur ŞAHİN 102

7.9 Battery Voltage Measurement – Onur ŞAHİN 103

8. Flight Software Design

8.1 FSW Overview – Yunus Buğra ÖZER 105

8.2 FSW Changes Since PDR – Yunus Buğra ÖZER 107

8.3 FSW Requirements – Yunus Buğra ÖZER 108

8.4 Carrier Cansat FSW Overview – Yunus Buğra ÖZER 109

8.5 Carrier Software Flow Diagram or Pseudocode – Yunus Buğra ÖZER 112

8.6 Lander Cansat FSW Overview – Yunus Buğra ÖZER 114

8.7 Lander Flow Diagram or Psuedocode – Yunus Buğra ÖZER 116

8.5Software Development Plan – Yunus Buğra ÖZER 117

9.Ground Control System Design

9.1 GCS Overview – Onur ŞAHİN 121

9.2 GCS Requirements – Onur ŞAHİN 122

9.3 GCS Antenna Selection – Onur ŞAHİN 124

9.4 GCS Software – Onur ŞAHİN 128


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10. Cansat Integration and Test

10.1 CanSat Integration and Test Overview – Yunus Buğra ÖZER 130

10.2 Sensor Subsystem Testing Overview – Yunus Buğra ÖZER 135

10.3 Imaging / Video Camera Testing Overview – Yunus Buğra ÖZER 140

10.4 DCS Subsystem Testing Overview – Yunus Buğra ÖZER 144

10.5 Mechanical Subsystem Testing Overview – Yunus Buğra ÖZER 150

10.6 CDH Subsystem Testing Overview – Yunus Buğra ÖZER 156

10.7 EPS Testing Overview – Yunus Buğra ÖZER 160

10.8 FSW Testing Overview – Yunus Buğra ÖZER 163

10.9 GCS Testing Overview – Yunus Buğra ÖZER 164

11.Mission Operations & Analysis

11.1 Overview of Mission Sequence of Events – Onur ŞAHİN 168

11.2 Field Safety Rules Compliance – Onur ŞAHİN 172

11.3 CanSat Location and Recovery – Onur ŞAHİN 173

11.4 Mission Rehearsal Activities – Onur ŞAHİN 174

12. Management

12.1 Status of Procurements – Hardware – Veysel Yağmur SAKA 176

12.1 Cansat Budget – Hardware – Veysel Yağmur SAKA 177

12.2 CanSat Budget – Other Costs – Veysel Yağmur SAKA 179

12.3 Program Schedule – Veysel Yağmur SAKA 181

13 .Conclusions 184


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(If You Want) TEAM UYARI

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Name Year(s) Position Authorized Launch Operation

Ali BAHADIR Graduate Mentor

Osman CEYLAN Graduate Mentor

Süleyman SOYER 3rd Team Leader Descent Control System Mission Control Officer

Murat Can

KABAKCIOĞLU 2nd Alternate Team Leader Separating System CanSat Crew

Veysel Yağmur

SAKA 3rd Mechanic & Ground Station

Crew Mechanic Design CanSat Crew

Emre ATAY 3rd Mechanic & Financial Crew Structure Recovery Crew

Muhammed YILMAZ 3rd Financial Crew Financial Recovery Crew

Onur ŞAHİN 4th Electronic & Ground Station

Crew Flight Software Ground Station Crew

Yunus Buğra ÖZER 3rd Electronic Crew & Ground

Station Crew Electronic Design Ground Station Crew

Presenter: Veysel Yağmur SAKA CanSat 2012 CDR: Team 6112 (Team Uyarı)

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Mentor

Ali Bahadır

Advisor

Halit Süleyman Türkmen

Mentor

Osman Ceylan

Team Leader

Süleyman Soyer

Flight Software

Onur Şahin

Altenate Team Leader

Murat Can Kabakcıoğlu

Electronic Design

Yunus Buğra Özer

Muhammed Yılmaz

Emre Atay

Mechanic Design

Veysel Yağmur Saka

Separating System

Murat Can Kabakcıoğlu

Descent Control System

Süleyman Soyer

Electronic Crew Financial Crew Mechanic Crew

Presenter: Veysel Yağmur SAKA

Analysis data

Onur Şahin

Save data

Yunus Buğra Özer

Ground Station Crew

Identify the area

CanSat landed

Veysel Yağmur Saka


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Acronyms

• A : Analysis

• ADC : Analog digital converter

• API : Application programming interface

• CDH : Communication and Data Handling

• D : Demonstration

• DCS : Descent Control System Requirements

• EEPROM: Electrically Erasable Programmable Read-Only Memory

• EPS : Electric Power System

• FSW : Flight Software

• GPS : Global Positioning System

• GCS : Ground Control System

• GUI : Graphical User Interface

• I : Inspection

• MSR : Mechanical System Requirements

• PFR : Post Flight Review

• RF : Radio Frequency

• SEN : Sensor Subsystem Requirement

• SFR :Shock Force Requirement

• SPI : Serial Peripheral Interface

• SR : System Requirements

• T : Test

• UART : Universal synchronous asynchronous receiver/transmitter

• VM : Verification Method


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Systems Overview

Veysel Yağmur SAKA


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Mission Summary

Main objectives

Design of the CanSat to protect egg located on Lander

Other objectives

Launch CanSat

Provide CanSat descent rate10m/s

Reduce CanSat descent rate to 5m/s at an altitude 200m.

Separate CanSat into Lander and Carrier at an altitude 91m

Provide Lander descent rate of 5m/s

Collect data by using sensors

Transmit data to ground station and also store data on board

Calculate the location where CanSat lands

Optional objectives

To obtain images in the nadir direction after separation and store the image

― Use camera module and its own microprocessor


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(If You Want) Summary of Changes Since PDR

Carrier

Mechanic Changes

Motor which executes separation is moved to center of loophole

Since total mass has been changed, parachutes space also changed to provide descent

rate of 5 m/s

Electronic Changes

Camera is moved to one of loopholes’ corner to take a photo of separation clearly

Buzzer batteries changed

Lander

Mechanic Changes

Carbon tube that enclose polythene foam and egg removed.

Electronic Changes

Using MBED instead of MSP 430

SD card removed

Acceleration sensor removed

Buzzer batteries changed

11 Presenter: Veysel Yağmur SAKA CanSat 2012 CDR: Team 6112 (Team Uyarı)

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(If You Want) System Requirements

ID Requirements Rationale Priority Parent(s) Child(ren) VM

A I T D

SR-01 Total mass of the CanSat system shall not

exceed 750 grams or be less than 400 grams

(excluding the egg system)

It is supposed to be a

limited mass for flying

objects

High None MSR-01 X X

SR-02 Cansat will fit in a cylindrical envelope of 130mm

diameter and 152 mm in length

Rocket payload

dimensions High None MSR-02 X X X

SR-03 There will be no protrusions and CanSat shall

deploy from the launch vehicle payload section

Rocket payload

dimensions High None MSR-03 X

X

SR-04 The descent control system shall not use any

flammable or pyrotechnic devices

For the safety of

CanSat’s equipment Medium None

DCS-06

X

SR-05 The average descent rate of CanSat after

deployment shall be 10 m/s

Base Mission

Requirement High None

DCS-01

X X X

SR-06 The CanSat descent rate shall be reduced 5 m/s

after 200m below

Impact force reduced

so simple to protect

egg

High None DCS-02 X X

SR-07 At 91meters Lander must be deployed

Base Mission

Requirement High None MSR-04 X X X

SR- 08 After separation, the descent rate for the lander

should be less than 5 m/s

Base Mission

Requirement High None DCS-04 X


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ID Requirements Rationale Priority Parent

(s) Child(ren)

VM

A I T D

SR-09 After separation, the descent rate for Carrier

shodul be less than 5m/s

Base Mission

Requirement High None DCS-03 X

SR-10 Lander should drift less than 500 m Less drift would simplify

finding CanSat High None DCS-11

X

SR-11 All CanSat carriers and landers shall include an

audible locating device rated at 80 dB or higher

and operate for at least three hours

Simplify to find Carrier

and Lander High None None X X X X

SR-12 All descent control system must be support 10

Gees acceleration and survive 30 Gees shock

force

For CanSat’s

requirements safe Medium None DCS-07 X

SR-13 The CanSat and associated operations shall

comply with all field safety regulations

For CanSat’s

requirements safe High None MSR-06 X

SR-14 Altitute must be determined using a sensor

other than GPS

Increasing accuracy of

altitude measurement High None None X X

SR- 15 The CanSat communications radio shall be the

XBEE radio model number XBP24BZ7SIT-004

or XBP24BZ7UIT-004

Competition

requirements High None CDH-01 X

SR-16 The CanSat radio shall not use the broadcast

mode

Competition

requirements Medium None CDH-04 X

SR-17 Develop our own GUI and ground station

Competition

requirements High None GCS-02 X


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A I T D

SR-18 The ground control station antenna shall be

elevated a minimum of 3.5 meters from ground

level to ensure adequate coverage and range

To simplfy receiveing

data clearly High None GCS-03 X X

SR-19 Cost of the CanSat flight hardware shall be

under $1000 (Ground support and analysis are

excluded)

Management of such

project is so

important

High None None X

SR- 20 The carrier and lander shall have an external

power control Due to separation High None None X X

SR-21 The CanSat shall not utilize lithium polymer

batteries

For CanSat’s

requirements safe High None

None X X

SR-22 Data shall be plot in real-time

To observe time

variation of telemetry

data

High SR-20 GCS-01 X X

SR-23 A command shall be sent from GSC to start

telemery.

Competition

Requirement High None GCS-09 X

SR-24 Egg located on lander should be protected from

impact force of ground

Less drift would

simplify finding

CanSat

High None MSR – 05 X X X

SR-25 CanSat should resistance to any internal force

For CanSat’s

requirements safe High None MSR-07 X


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(If You Want) System Concept of Operations

Pre - Launch

Mechanic control – Mechanic crew

Electronic control – Electronic crew

Launch ground station – Ground station crew

To put egg into CanSat

Control CanSat (no protrusions, mass, length, height)

Demonstrate proper operation of GCS and CanSat

To put CanSat into rocket

Launch

Power on CanSat – Electronic crew

Collect data – Ground station team

Open parachute

Open second parachute to reduce descent speed 5m/s

Separating Lander and Carrier

Carrier keep transmitting data

Post - launch

Analyzing data – Ground station crew

Extract data with Chauvenet Criterion – Ground station crew

Find where CanSat land – Ground station crew

Prepare PFR

PFR Prensentation


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To put

CanSat

into

rocket.

Transmit

data to

ground

station

Average

descent

speed

10m/s

Launch

ground

station

At an

altitude of

450 to 600

meters

System Concept of Operations


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Deploy the second

parachute and

reduce the speed

5m/s

Separating

into two

part

Carrier

Lander

Receiving

data

To obtain

and store

image


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System Concept of Operations


Communicate

with ground

station

Analysis

data

Determine

Carrier and

Lander location


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(If You Want) Physical Layout - CanSat

125 mm

Carrier 80mm

Lander 70mm

Parachute 30mm

Parachute 45mm


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Aluminum

Rod

GPS

Carbon

Plate

Camera

Module

Temperature and

Pressure Sensor

Camera

Battery

Buzzer

Buzzer

Battery

DC Motor

Carrier

Servo Motor


MBED

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Egg Protection

MBED

Battery

Buzzer

Battery

Circuit

Board

Lander


Buzzer

Egg Protection

MBED

Battery

Buzzer

Battery

Circuit

Board

Buzzer

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CanSat’s dimensions

150 mm CanSat envelope

75 mm recovery envelope

125 mm diameter

Rocket payloads dimensions

152 mm CanSat envelope

76 mm recovery envelope

127 mm diameter

Neither mechanic nor electronic

protrusion

Payload section compatibility will be

verified during pre-launch control


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Sensor Subsystem Design

Onur ŞAHİN


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Sensor Type Selected Model Purpose

Pressure BMP085

1)Air pressure will be measured and transmitted to

ground station for real time plotting

2) Pressure data will also be used to calculate altitude

3) Pressure data will be used to calculate descent rate

Temperature BMP085

Air temperature will be measured and transmitted to

ground station for real time ploting

Camera C6820 Obtain images in the nadir direction during seperation

GPS LS20031 Obtain real time position of Cansat and transmit GPS

*data to the ground station

Carrier Sensor Subsystem

* Gps data includes UTC time, latitude, longitude, sea level altitude and number of satellites tracked

CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Onur ŞAHİN

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CanSat 2012 CDR: Team 6112 (Team Uyarı) 25

Lander Sensor Subsystem

Sensor Type Selected Model Purpose

Pressure BMP085

1) Pressure data will be measured and stored on a on-

board memory

2) Pressure data will also be used to obtain altitude

3) Pressure data will be used to calculate descent rate

Temperature BMP085

Air temperature will be measured and stored on a on-

board memory for later retrieval

Presenter: Onur ŞAHİN

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Sensor Subsystem Requirements


ID Requirement Rationale Priority Parent(s) Child(ren) VM

A I T D

SEN-01 Operating voltage range for all

sensors must be between 3.3V

and 5V

Batteries and voltage

regulators enable

operation in that range

Medium EPS - 07

EPS - 08 None X X

SEN-02 Not all of the sensors shall have

analog output.

Microcontroller has limited

analog interface pins. High CDH - 10 None X

SEN-03 All sensors should provide

sampling rate of at least 1Hz. To obtain high precision Medium CDH - 02 None X X

SEN-04 Temperature sensor should be

able to operate between 20°C and

60°C.

Expected air temperature

at launch day. High None None X

SEN-05 The image obtained by the

camera shall be stored on extra

storage

Limited on board storage

size High CDH - 08 None

X

X

SEN-06 Pressure sensor (Non-GPS

altitude sensor) shall have high

accuracy (at least 1.4kPa).

Altitude change of at least

2 meters must be

detected using the

pressure data.

High None None X X

SEN-07 Resolution of camera shall be at

least 640x480.

Obtained image should be

clear High None None X X


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27 CanSat 2012 CDR: Team 6112 (Team Uyarı)

Carrier:

Both camera and accelerometer is tested and worked correctly but we decided to

select camera as bonus mission.

Lander:

Change Rationale

We decided to use

camera on the carrier

as bonus mission.

Considering that most of today’s satellites are used for exploration, taking

images is an significiant task to be performed. Thus, we thought taking

images would be more interesing mission.

Camera commands

will be supplied from

an extra small kit that

will be controlled by

main processor.

Mbed microcontroller has limited UART interface pins and one more UART

port is required to control camera.

Change Rationale

Accelerometer is

eliminated.

Camera is chosen as the bonus mission.


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Carrier GPS Summary


GPS Selection Summary:

GPS Unit Electrical

Characteristics Accuracy

Start

(Cold / Hot)

Dimension

& Weight

Update

Rate Interface Price

LS20031 41mA @ 3.3V 3 m 36s / 2s 30 mm x 30 mm

14 gr < 10 Hz UART $59.95

Main Reasons for Selecting LS20031

High position accuracy

Less dependency to environmental effects

Suitable sampling rate

After testing this GPS module in open space at different locations, we are ensured that it

gives accuracy of 3 meters and it is suitable for us to use.


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Carrier GPS Summary


Data Format: • GPS module sends NMEA data messages as strings that start with different

descriptions such as $GPGGA, $GPGLL, $GPGSA, $GPGSV.

• We will parse the string that starts wih $GPGGA in order to extract the data we

need.

An example of NMEA data coming from GPS is shown below. This data will be

received by Mbed microcontroller over serial interface.

String that starts with $GPGGA definition is indicated in circle.


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Carrier GPS Summary


Data Processing: • Mbed microcontroller has powerful C/C++ library that support lots of string operations.

• String that starts with $GPGGA definition will be tracked and parsed using Mbed’s

string functions.

• An example of $GPGGA message we obtained is shown below with explanation of

each part of the message

GGA UTC Time Latitude Longitiude Num. of Altitude

Protocol (hhmmss.sss ) (ddmm.mmmm ) (ddmm.mmmm) Satellites (Meters)

Function given below is the «sscanf» function that mbed’s C++ library offers. By this function,

we are able to parse UTC time, latitude, longitude, number of satellites and sea level altitude

from the string starting with GPGGA.

sscanf(msg, "GPGGA,%f,%f,%c,%f,%c,%d,%d,%f,%f", &time, &latitude, &ns, &longitude, &ew, &lock, &sat,

&hdop, &altitude)


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Carrier Non-GPS Altitude Sensor

Summary


Model Electrical

Characteristics Accuracy Range Dimension Interface Price

BMP085 5uA @ 3.3V 0.02 kPa 30 kPa – 110 kPa 16.5 x 16.5 mm I²C $19.95

Main reasons for selecting BMP085

Includes an integrated temperature sensor

which can be used to measure air temperature

High accuracy of 0.02 kPa enables better

altitude measurement


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Summary


Data Format :

• BMP085 pressure sensor has integrated ADC with 17 bits resolution.

• The pressure data is adjusted by calibration data stored on E2PROM within the sensor. We have used

default calibration data stored.

• After microcontroller sends a start sequence to start pressure measurement, ADC conversion starts.

After conversion, the digital result value is read via I2C interface.

• BMP085 sensor return the pressure data in Pascal unit using «long integer» data type which is a well

known C data type.

• Using the data obtained from sensor, we divide it by 1000 and convert the data type to «float» to

represent the pressure in kPa unit with its fractions.

• BMP085 measures the pressure and stores it on one of its special register called UP register (stored

on addresses 0xF6 and 0xF7). (Same register for storing temperature data)

NOTE: A more detailed explanation on obtaining pressure data from BMP085 is explained in temperature sensor section

(page 36 ) as both data is obtained using the same method.


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Summary


Data Processing:

• We will use this pressure data to measure the altitude by considering the variation of pressure with

altitude.

• We have used the formula given below to calculate altitude from pressure value at our tests and we got

satisfactory results. Information about test results and error rates are given in integration and test section.

P : Measured Pressure (Pa)

Po: Reference Pressure (Sea level, Pa)

A : Coefficient (avg. 0,0342)

Z : Altitude (in meters)

T : Temperature (in Kelvin)

By arranging of variables, we get:


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Carrier Air Temperature Summary


Model Electrical


BMP085

5uA @ 3.3V

0.5°C

-40°C to +80°C

16.5 x 16.5 mm

I²C

$19.95

Main Reasons for Selecting BMP085:

Integrated with pressure sensor

Appropriate measuring range

0.5°C accuracy is suitable for this project


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Data Format & Data Processing:

• Since the temperature sensor is integrated with pressure sensor in BMP085, it uses the same I2C

interface.

• Return data is in celsius (°C) unit.

• BMP085 measures the temperature and stores it on one of its special register called UT register

(register address of UT is 0xF6 (MSB) and 0xF7 (LSB)) . We read this register over I2C interface

using the command given below. (This command simply reads the data stored at 0xF6 over I2C)

ut = twi_readshort(WEATHER_BMP085, 0xf6);

• This data is calibrated according to instructions given in datasheet and is not given here to avoid

confusion.

• However, calibrated data read from is in long integer format and is 10 times multiplied to represent

fractional part in long integer. (i.e 1.5°C is stored as 15°C ).Therefore, we apply:

Temperature (°C) = (Calibrated Pressure Data) / 10


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Data Format & Data Processing:

• Pressure data and temperature data share the same register location (addresses 0xF6 (MSB)

and 0xF7 (LSB)) on sensor

• Pressure are temperature measurements are initialized with different commands sent to BMP085

over I2C. Therefore, we first initialize pressure mesurement and save return value, then we

follow the same procedure for temperature mesurement.

• A sample data we have obtained by applying these data processing information is given below.

NOTE: This data is obtained by sending sensor data over Xbee radio and monitoring telemetry on our computer.

(p – pressure, t - temperature)

(pressure is represented in kPascal (kPa) unit for the rest of this presentation )


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Lander Altitude Sensor Summary


Model Electrical


BMP085 5uA @ 3.3V 0.02 kPa 30 kPa – 110 kPa 16.5 x 16.5 mm I²C $19.95

Main reasons for selecting BMP085

Includes an integrated temperature sensor

which can be used to measure air temperature

High accuracy of 0.02 kPa enables better

altitude measurement

NOTE: BMP085 sensor explained in this section is the same sensor we have explained in carrier

pressure sensor section.


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Data Format :


• The pressure data is adjusted by calibration data stored on E2PROM within the sensor. We have used

default calibration data stored.

• After microcontroller sends a start sequence to start pressure measurement. After conversion, the

digital result value is read via I2C interface.

• BMP085 sensor return the pressure data in Pascal unit using «long integer» data type which is a well

known C data type.

• Using the data obtained from sensor, we divide it by 1000 and convert the data type to «float» to

represent the pressure in kPa unit with its fractions.

• BMP085 measures the pressure and stores it on one of its special register called UP register (stored

on addresses 0xF6 and 0xF7). (Same register for storing temperature data)


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Data Processing:

• We will use this pressure data to measure the altitude by considering the variation of pressure with

altitude.

• We have used the formula given below to calculate altitude from pressure value at our tests and we got

satisfactory results. Information about test results and error rates are given in integration and test section.






By arranging of variables, we get:


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Carrier Camera Summary


Model Operating

Voltage On Board Storage Interface Resolution Dimension Price

C6820 EV

Camera Kit 5 V Available UART

1280 x 960 JPEG

Format 27.28 x 27.28mm $79.94

Main reasons for selecting C6820 EV Camera Kit

Easy interface with UART for camera control

On board SD card connector makes handling of images eaiser

for storage


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Carrier Camera Summary

Timing is very important for this task so with the using extra kit we aimed to gain two profits;

oThe first of these lighten of task redundancy on the main processor

oThe second profit of these capture timing can be controlled more accurately

Camera commands will be supplied from an extra small kit that will be controlled by main

processor

Presenter: Onur ŞAHİN CanSat 2012 CDR: Team 6112 (Team Uyarı)

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42

Descent Control Design

Süleyman SOYER


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Descent Control Overview

Presenter: Süleyman SOYER

Parachute-1 will be deployed immediately

after coming out of rocket.

When the CanSat descent to 200 meters,

Parachute-2 will be deployed

Our descent control system includes three hemisphere

parachutes and one micro servo.


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Descent Control Overview


All parachutes’ color is orange

In 91 meters, Parachute-3 will be deployed automatically

after the separation of lander and carrier

Carrier will go down with Parachute-1 and Parachute-2

Lander will go down with Parachute-3

In order to control the drift, Parachute-1 will be controlled by a

servo motor


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Descent Control Changes Since

PDR

• Has been some changes to the calculation of

parachutes, due to the change in weight of our CanSat,

• We added our parachutes pictures

CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Süleyman SOYER

Note:This parachutes for

testing that is not real CanSat

Parachute

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Descent Control Requirements


A I T D

DCS-

01

The CanSat‘s descent rate must be

10±1 m/s before the altitude of 200

meters

In order to safely

descent High SR-05 None X X X

DCS-

02

The Cansat’s descent rate should be

reduced from 10±1 m/s to 5±1 m/s at

an altitude of 200 meters

In order to safely

descent and

protect the egg

High SR-06 None X X X

DCS-

03

After the release at an altitude of 91

meters the carrier’s average descent

rate should be less than 5m/s

In order to safely

and controlled

landing

High None None X X X

DCS-

04

After the release at an altitude of 91

meters the lander’s average descent

rate should be less than 5m/s

In order to safely

and controlled

landing

High SR-08 None X X X

DCS-

05

The total volume of Descent Control

Systems should be less than 920,3

cm2

Competition

Requirement High None None X

DCS-

06

All descent systems shouldn’t be

flammable and pyrotechnic devices. Safety obligation High SR-04 None X X

DCS-

07

All descent control systems must be

capable of handling 30 G shock force Safety obligation High SR-10 None

X

Presenter: Süleyman SOYER CanSat 2012 CDR: Team 6112 (Team Uyarı)

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Descent Control Requirements


A I T D

DCS-08 All descent control systems must be

capable of handling 10 G acceleration Safety obligation High SR-10 None

X

DCS-09 Microservo shall be used to direct

CanSat

To keep the

CanSat drift less

than 500 meters

Medium SR-09 None X X

DCS-10 All parachutes color should be

fluorescent pink or florescent orange

Helping to find

carrier and lander Medium None None

X

Presenter: Süleyman SOYER CanSat 2012 CDR: Team 6112 (Team Uyarı)

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Carrier Descent Control Hardware

Summary


We use small ring for connecting parachutes with CanSat.

By this way, it becomes easier to (un)connect parachute.

Some holes will have on Parachute-1 for increasing to go forward.

Parachute-1 looks like T-10B parachute

To absorb the shock force, our cord connections is reinforced with

special sewing.

Note:We didn’t open the holes now, the holes will be

opened before the drift control test

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Summary

• Seperation of Cansat from rocket Parachute-1 will be deployed without any triggered

• Up to 200 meters CanSat will go down with Parachute-1 (descent rate 10 m/s)

• Microservo which is used with Parachute-1, will supply the drift control of CanSat.

• At 200 meters, Parachute-2 will be deployed with electronic trigger.(des.rate 5m/s)

Parachute-1 area is 7,55 cm²

Parachute-1 diameter is 31.1 cm

Parachute-2 area is 22,63 cm²

Parachute-2 diameter is 53,67 cm

CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Süleyman SOYER 49

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Summary


Parachute-1 and Parachute-2 colors are orange.

Dimensions of the servo is 20.8 x 11.0 x 20.0 mm

Weight is 7,8 gr

We use one servo to control drift less than 500 mt

Torque is 1,8 kg.cm

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Summary


Our passive components;

• We used the altitude information, obtained from the pressure sensor,

to calculate descent rates of carrier

• Descent rates will be calculate real time on ground station and

• We will store altitude information in the processor’s memory

for using after the flight

• When the data arrives in the ground station we will have calculated with Matlab

Our active components;

• Bmp085 Pressure Sensor

Model

Electrical


BMP085 5uA @ 3.3V 0.02 kPa 30 kPa – 110

kPa 16.5 x 16.5 mm I²C $19.95

• Servo Motor

Dimensions of the servo is 20.8 x 11.0 x 20.0 mm

Weight is 7,8 gr

Torque is 1,8 kg.cm

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Summary



Data Format :


• The pressure data is adjusted by calibration data stored on E2PROM within the sensor. We have used default calibration data stored.

• After microcontroller sends a start sequence to start pressure measurement. After conversion, the digital result value is read via I2C interface.

• BMP085 sensor return the pressure data in Pascal unit using «long integer» data type which is a well known C data type.

• Using the data obtained from sensor, we divide it by 1000 and convert the data type to «float» to represent the pressure in kPa unit with its

fractions.

• BMP085 measures the pressure and stores it on one of its special register called UP register (stored on addresses 0xF6 and 0xF7). (Same

register for storing temperature data)

Data Processing:

• We will use this pressure data to measure the altitude by considering the variation of pressure with altitude.

• We have used the formula given below to calculate altitude from pressure value at our tests and we got satisfactory results. Information about test

results and error rates are given in integration and test section.






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Lander Descent Control Hardware

Summary


• Lander will go down with Parachute-3

• After the seperation,

Parachute-3 will be deployed with the help of loading spring

Descent rate 5 m/s

Parachute-3 area is < 13,42 cm²

Parachute-3 diameter is < 41,34 cm

We don’t use any actuator on the lander

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Summary


Our passive components;

• We used the altitude information, obtained from the pressure sensor,

to calculate descent rates of carrier

• Altitude information which is used for calculating the descent rates of lander

store in the Lander processor’s memory

• Parachute-3 color is orange

Model Electrical


BMP085 5uA @ 3.3V 0.02 kPa 30 kPa – 110

kPa 16.5 x 16.5 mm I²C $19.95


• Bmp085 Pressure Sensor

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Summary



Data Format :


• The pressure data is adjusted by calibration data stored on E2PROM within the sensor. We have used default calibration data stored.

• After microcontroller sends a start sequence to start pressure measurement. After conversion, the digital result value is read via I2C interface.

• BMP085 sensor return the pressure data in Pascal unit using «long integer» data type which is a well known C data type.

• Using the data obtained from sensor, we divide it by 1000 and convert the data type to «float» to represent the pressure in kPa unit with its

fractions.

• BMP085 measures the pressure and stores it on one of its special register called UP register (stored on addresses 0xF6 and 0xF7). (Same

register for storing temperature data)

Data Processing:

• We will use this pressure data to measure the altitude by considering the variation of pressure with altitude.

• We have used the formula given below to calculate altitude from pressure value at our tests and we got satisfactory results. Information about test

results and error rates are given in integration and test section.






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Descent Rate Estimates


ρ

ρ

Where

FD is the drag force

ρ (Greek letter "rho") is the density of air

Cd is the drag coefficient

A is the area of the chute

V is the velocity through the air

Where

m is the mass of the CanSat

g is the acceleration of gravity = 9.81 m/s2


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Chute area is;

ρ

And the chute area is;

πSo the chute diameter is,

πρ

Where; D is the chute diameter in meters

m is the rocket mass in kilograms

g is the acceleration of gravity = 9.8 m/s2

π is 3.14159265359

ρ is the density of air

Cd is the drag coefficient of the chute

V is the speed


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*The air forecast of the Abilenne, Texas in June 9, 2011:

- Average temperature is 31°C

- Average humidity is %43

- CanSat’s deployment from rocket is at altitude 600 m

**Air density in Abilenne is 1.069 kg/m³

Hemisphere parachute drag coefficient is 1.5 (Dc=1.5)

*http://www.wunderground.com/history/airport/KABI/2011/6/9/DailyHistory.html?req_city=NA&req_stat

e=NA&req_statename=NA&MR=1

**http://www.denysschen.com/catalogue/density.aspx


http://www.wunderground.com/history/airport/KABI/2011/6/9/DailyHistory.html?req_city=NA&req_state=NA&req_statename=NA&MR=1

http://www.wunderground.com/history/airport/KABI/2011/6/9/DailyHistory.html?req_city=NA&req_state=NA&req_statename=NA&MR=1

http://www.denysschen.com/catalogue/density.aspx

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ρ

ρ

• 0.659kg*9.18m/s²=1/2*1.069*1.5*A*(10m/s)

²

• A=0,0755 m²

π • D = sqrt(4 A / π)

• D = sqrt(4*0.0755/ 3.14159265359)

• D = 0.311 m = 31,1 cm

• Parachute-1 area is 7,55 cm²

• Parachute-1 diameter is 31,1 cm

For CanSat down to 200 meters;


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ρ

ρ

• 0.659kg*9.18m/s²=1/2*1.069*1.5*A*(5m/s)²

• A=0,3018 m²(total area of Parachute-1 and Parachute-2)

Parachute-1 area is 0, 0,0755 m²

Calculate area of Parachute-2

0,3018 - 0,0755 = 0,2263 m²

π D = sqrt(4 A / π)

D = sqrt(4*0.2263/ 3.14159265359)

D = 5367m = 53,67 cm

Between the 200 meters to 91 meters;

• Parachute-2 area is 22,63 cm²

• Parachute-2 diameter is 53,67 cm


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Carrier weight 366 g;

ρ

A=0,3018 m²(total area of Parachute-1 and Parachute-2)

V=?

Vcarrier = 3,75 m/s

The competition rule is <5m/sn

Lander weight 293g;

ρ

0.293kg*9.18m/s²=1/2*1.069*1.5*A*(5m/s)²

A<0,1342 m² (Parachute-3 area)

A = p D2 / 4

D = sqrt(4 A / pi)

D = sqrt(4*0.1342/ 3.14159265359)

D < 0.4134 m < 41.34 cm

• Parachute-3 area is < 13,42 cm²

• Parachute-3 diameter is < 41,34 cm

After 91 meters;


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Mechanical Subsystem Design

Murat Can KABAKCIOĞLU


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Mechanical Subsystem Overview

Presenter: Murat Can KABAKCIOĞLU

Carrier

• Structure

• Sensors (temperature, pressure, GPS, camera module)

• MBED Microcontroller

• Parachute system

• Communication module

• 2 Batteries

• Buzzer

• 2 Loopholes

• Servo Motor

• Separating system

Lander

•Structure

•Egg protection system

•Parachute system

•Sensor (pressure)

• MBED Microcontroller

•2 Batteries

•Buzzer

•2 Loopholes

Column and loopholes are used to fix hexagon’s side

surface. These enable to high strength and absorb impact

forces. Also they help to protect egg. Carbon robs located

between two loopholes are used to stabilize electronic

printed circuit boards.


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Mechanical Subsystem

Changes Since PDR

Carrier

Battery’s weight increased 28grams.

Lander

Acceleration sensor removed

Carbon tube that enclose polythene foam and egg is removed so CanSat

become 15 grams lighter

Battery’s weight increased 28grams

MBED will used instead of msp 430 so CanSat become 34 grams heavier

64 Presenter: Murat Can KABAKCIOĞLU CanSat 2012 CDR: Team 6112 (Team Uyarı)

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(If You Want) Mechanical System Requirements

ID Requirements Rationale Priority Parant(s) Child(ren) VM

A I T D

MSR-01 Total mass of the CanSat system shall not

exceed 750 grams or be less than 400 grams

(excluding the egg system)

It is supposed to be a

limited mass for

flying objects

High SR-01 None X X

MSR-02 Cansat will fit in a cylindrical envelope of

130mm diameter and 152 mm in length

Rocket payload

dimensions High SR-02 None X X X X

MSR-03 There will be no protrusions and CanSat shall

deploy from the launch vehicle payload section

Rocket payload

dimensions High SR-03 None X X

MSR-04 At 91meters Lander must be deployed Base Mission

Requirement High SR-07 None X

MSR-05 Egg located on lander should be protected

from impact force of ground

Less drift would

simplify finding

CanSat

High SR-22 None X X

MSR-06 The CanSat and associated operations shall

comply with all field safety regulations

For CanSat’s

requirements safe High None None X

MSR-07 CanSat should resistance to any internal force For CanSat’s

requirements safe High SR-25 None X


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Lander Egg Protection Overview

Application

Prepare 125 mm diameter hexagon Polythene foam

Extract the molds of egg from Polythene foam

Put the egg inside Polythene foam and test

Advantages of Polythene foam

Well impact absorption

Low cost and easy processing

Egg protection on all sides

Light

Presenter: Murat Can KABAKCIOĞLU CanSat 2012 CDR: Team 6112 (Team Uyarı)

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(If You Want) Mechanical Layout of Components

66 CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Murat Can KABAKCIOĞLU

125 mm

Carrier 80mm

Lander 70mm

Parachute 30mm

Parachute 45mm

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Aluminum

Rod

GPS

Carbon

Plate

Camera

Module

Temperature and

Pressure Sensor

Camera

Battery

Buzzer

Buzzer

Battery

DC Motor

Carrier

Servo Motor

MBED

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Egg Protection

MBED

Battery

Buzzer

Battery

Circuit

Board

Lander

Buzzer

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Aluminum 7075

For structure

High resistance

Easy processing

Carbon plate

Stabilization of electronic printed circuit boards

Aluminum rot

Stabilization of carbon plates

Polythene foam

Egg protection of all side

Succesful at 2011 competition


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Carrier-Lander Interface

There is a nut on Lander located below upper loophole. Carrier has a DC motor which is located below lower

loophole. DC motor’s shaft fix the motor. When CanSat reaches to altitude of 91 meters, DC motor becomes

active and pushes the bolt nut down and separates carrier and Lander.

Incase of any problem with determination on separating time according to pressure sensor, GPS altitude data

will be used as a backup plan.

Using the same method, separating was done successfully at last year’s competition.

DC MOTOR

SHAFT

NUT


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(If You Want) Structure Survivability Trades

72

Carrier

Electronic equipments which are on circuit are stabilized using aluminum rods and located between lower

and upper loopholes on Carrier.

Electronic equipment which are not on circuit are stabilized using screws to loopholes.

There is no protrusions and move for electronic equipment

Lander

Using same methods, electronic equipment stabilized with loopholes on Lander.

No protrusions and move.


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73

ID Requirements Rationale Priorit

y Parant(s) Child(ren)

VM

A I T D

ACR-01 The Cansat’s descent rate should be reduced

from 10±1 m/s to 5±1 m/s at an altitude of 200

meters

In order to safely

descent and protect

the egg

High SR-06,

DCS-02 None X X X

ACR-02 All descent control systems must be capable

of handling 10 G acceleration Safety obligation High SR-10 None

X

ACR-03 Our parachutes have a spill hole to reduce

oscillation when the flight

Reduce the

accelaration force High None None X

Accelaration requirements

Shock force requirements

ID Requirements Rationale Priority Parant(s) Child(ren) VM

A I T D

SFR-01 All descent control systems must be capable

of handling 30 G shock force Safety obligation High

SR-10,

DCS-07 None

X

SFR-02 Egg located on lander should be protected

from impact force of ground

Less drift would

simplify finding

CanSat

High SR-22

None X X X


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Mass Budget

Component Mass (g)

Skleton 110

Electronic equipment 88

Parachute 42

Battery 76

Separation system 50

Total Carrier mass 366

Margin 10%

Carrier

Component Mass (g)

Skleton 96

Electronic equipment 60

Parachute 30

Battery 76

Egg and egg

protection system

31 (egg)

7 (protection

system)

Total Lander mass 293

Margin 10%

Total Mass 659 gr

Total Mass (without egg) 635 gr

Lander


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Communication and Data Handling

Subsystem Design

Yunus Buğra ÖZER


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76

CDH Overview

76

Carrier

– mbed NXP LPC1768 is the microcontroller board that

will handle all communication and data.

– XBEE XB24-Z7UIT-004 is the radio module that will

transmit and receive messages to/from ground station.

–On board memory is used for storing a detailed flight log

to be able to see where system fails on tests and providing

backup for telemetry in case of a communication failure.

– BMP085 is used as both temperature and pressure (to

calculate altitude) sensor. It is interfaced via I2C.

– LS20031 is used as GPS, it is interfaced via

Serial UART interface by Mbed.

Lander

– mbed NXP LPC1768 is the microcontroller board that

will handle all communication and data.

– BMP085 is used as both temperature and pressure (for

calculate altitude) sensor. It is interfaced via I2C.

Mbed

Microcontroler

Xbee

Sensors Camera

GP

S

Memory

Batt

ery

Descent

System Deployment

System

Sensors

Batt

eri

es

Memory

Msp430

Microcontroler

Buzzer

CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Yunus Buğra ÖZER

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(If You Want) CDH Changes Since PDR

77

Change Rationale

We decided to use mbed NXP

LPC1768 instead of Msp430

microcontroller for lander

• Building applications on msp430 microcontroller is more

complicated comparing to mbed

• Source code developed for carrier would also be used for

lander when we choose mbed.

• Mbed microcontroller has more helpful example documants.

• We are able to obtain five mbed microcontrollers thanks to

our electronics component supplier ( sponsor )

We have eleminated the sd card

on lander.

• Mbed has sufficient on board memory. Therefore , we

decided to use on board memory for stroing data.

• It is easier to use on board memory than sd card.


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CDH Requirements

ID Requirement Rationale Priority Parent(s) Child(ren)

VM

A I T D

CDH-01 Communication shall use XBEE

XB24-Z7UIT-004 radio with API

packet format.

Competition Requirement

High

None

FS-01

X

CDH-02 Transmit telemetry data every

two seconds

More precise real time

plotting High

None

SEN-04,

FS-05 X X

CDH-03 Transmit GPS Data

Stream

Required to know real time

position High None None X

CDH-04 Radio must not use the

broadcast mode Competition Requirement High None None X

CDH-05 GPS data including utc

time,latitude in degrees,sea

level altitude,number of satellites

tracked

Required to determine

current altitude High None None X X

CDH-06 Communications shall be

terminate after landing.

No need to transmit data

after landing High None None X


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ID Requirement Rationale Priority Parent(s) Child(ren)

VM

A I T D

CDH-07

Storing of Image data Captured Image should be

stored for later retrival. Medium FS-07 SEN-06

X X X

CDH-08 Telemeter will start when

receive command by graund

station

Competition Requirement High None FS-08

X X

CDH-9 Microcontrollers shall supports

I2C,SPİ and analog

interfaceses.

Required to communication

with sensors and memory. High

None

SEN-03

X X

CDH Requirements


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Processor & Memory Selection

Microcontroller Processor

Speed

Flash

Memory Voltage Ram

Communication

Interface Pins Price

mbed NXP LPC1768 96 MHz 512 KB 4.5V - 9V 32 KB SPI, I2C, UART,

CAN 40 $52.31

For Carrier and Lander - mbed NXP LPC1768

- High performance ARM® Cortex™-M3 Core with 96 MHz clock speed

- Ability to write high level code using C/C++

- Enough sample code in the online archive

- Availability of helpful documents

- 3.3v regulated output on VOUT to power peripherals


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Carrier Antenna Selection

• Requirements of Antenna on the Satellite

– Low Weight, easy assembly, strong

– High Gain

– Omni-directional (less polarization loss during flight)

– Low Cost

• Selection

– A monopole antenna

– Parallel radiation

– Low cost, light, easy assembly (SMA connector)

• Localization of Antenna

– Parallel to ground (vertical to nadir)


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(If You Want) Data Package Definitions

82

• Radio - Xbee : Xbee communicates with a TTL UART interface. More details

can be found on next slide.

• GPS : Operates over serial TTL connection, outputs different data sets at

different speeds depending on commands given to it. We set the baudrate to

57600 for our configuration.

• Bmp085 : Operates over I2C, which means we have to start a transmission to

its address, send a request for data, and then tell it what data we want and wait

for it to be available

• Camera - C6820 EV : Commands are sent via serial interface to camera.

These commands are used to adjust camera settings, capture an image and

storage image on sd card which is on mbed.

• On Board Memory: Onboard memory is interfaced using local file system with

file operation functions defined in mbed’s C++ library at every one second.

Using these functions are able to write data to text files stored onboard disk.


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- API Mode is used to initialize and utilize the XBEE radio module. In API Mode (Application

Programming Interface), the data between the XBee and the microcontroller is framed with

essential information to allow communications, configuration changes, and special XBee

functions.

- The XBee manual illustrates how frames are constructed for transmission to and from the

XBee. Each frame type has a unique identifier called the API Identifier. For example, to

transmit data to another XBee by its 16-bit address (the DL address we normally use), the

API identifier is: 0x01. The frame format is shown below.

83

Radio Configuration


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Carrier Telemetry Format

Start Byte Gps Data Sensor

Data Checksum

Example Frame

#,41.035580,N, 29.032743,E,42.799999,8, 92126.398438,100.96,19.8

* # is start byte

* 41.035580 (degree ) is Latitude, N indicates North

* 29.032743 (degree is Longitude,E indicates East

* 42.799999 (meters) is barometric Altitude

* 8 is Number of satellites

* 92126.398438 is Utc time

* 100.96 is pressure in kPa

* 19.8 is Temperature in Celcius


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(If You Want) Carrier Telemetry Format

85

Data included ;

– From GPS: UTC time, latitude, longitude, altitude, and number of

satellites tracked

– From sensors: pressure, temperature, voltage

Data rate of packet ;

– Data sent every two seconds with baud rate of 57600 bps.

Number of bytes per packet ;

• 62 charachters in one packet,

• One charachter is 1 byte of length.

• So that ;

62 x1 = 62 Byte (telemetry packet size )


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Activation of Telemetry

Transmissions

- We are planning to use two XBEE

(receiver & transmitter) in GCS and one

XBEE in CanSat (transmitter).

- Data transmission will be started by a

command(a special data) from GCS

transmitter. Amplifier is used for better

transmission.

- While the CanSat is on the launchpad,

the activation command will be

transmitted via GCS software

- The command transmitted by GCS is

received by the Xbee on CanSat and

flight software uses this data to enable

telemetry transmission.


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87

Locator Device Selection Overview

Part dB Voltage Current Size Price

KSSGJ4B20 97 dB 5 V 80mA 8,5 mm x 8,5 mm €1.54

Features

- Low power consumption

- Loud enough (97 db)

- Optimum size and price

Power consumption :

80mA x 5V = 0.4 W


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(If You Want) Locator Device Selection Overview

Activation and Deactivation:

- Buzzers will be activated when Cansat lands. (Landing

information is obtained by measuring altitude via pressure

sensors)

- Buzzers will be stoped by the switches on carrier/lander.

Facilitating Return

- We will use hand-gps to track our cansat

- We will stick a label to both carier and lander

that will consist team logo ,number and team

name.

CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Yunus Buğra ÖZER 88

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Electrical Power Subsystem Design

Onur ŞAHİN


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EPS Overview

Note: This overview is valid for both Carrier and Lander


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EPS Overview


Main Supply:

• Varta CR-P2 battery is used to supply buzzers and other electronic components both

on carrier and lander. It supplies 6V output voltage and has 9600mWh power capacity.

Voltage Regulators:

• LM7805 voltage regulator is used to obtain 5V regulated output

• UA78M33 voltage regulator is used to obtain 3.3V regulated output

Voltage Measurements:

• Voltage measurement is accomplised by using simple voltage divider and ADC pins of

microcontroller as explained in the last part of this section.

Electronic Components:

• Carrier:

Camera (5V), BMP085 pressure and temperature sensor(3.3V), Xbee Radio (3.3V), GPS

(3.3V), Motor (5V), Buzzer (5V), Mbed Microcontroller (5V)

• Lander:

BMP085 pressure and temperature sensor(3.3V), Mbed Microcontroller (5V), Buzzer (5V)


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(If You Want) EPS Changes Since PDR

92 Presenter: Onur ŞAHİN

Carrier :

Change Rationale

GPS (operates at 3.3V) will not be supplied from 3.3V pin

of microcontroller. It will be supplied from battery via a

regulator.

After the tests, we noticed that mbed

microcontroller is unable to supply

sufficient current required for GPS.

(Mbed’s maximum output current is

40mA. However, GPS requires at least

41mA)

Battery chosen to supply carrier buzzer is changed to

Varta CR-P2. Initially considered battery was CR2450

Lithium Coin.

Lithium coin battery is unable supply

current drawn by the buzzer.


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Lander :

Change Rationale

Battery chosen to supply lander buzzer is changed to

Varta CR-P2. Initially considered battery was CR2450

Lithium Coin. (Detailed in power source summary section )

Lithium coin battery is unable supply

current drawn by the buzzer.

Accelerometer is removed from lander power system.

(Shown in lander EPS diagram)

Camera is selected as bonus mission

instead of accelerometer.

6V to 3.3V regulator is replaced by a 6V to 5V regulator.

(Shown in lander EPS diagram)

• MSP430 (operates @ 3.3V) is

replaced by Mbed (operates @ 5V)

microcontroller.

• 6V to 3.3V regulator is not needed

as Mbed microcontroller has 3.3V

regulated output pin.


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EPS Requirements


A I T D

EPS - 01 Battery output should be at least 5V.

(Carrier & Lander)

Buzzers and

microcontrollers

requires 5V

High

None None

X

X

EPS - 02 Voltage divider is required for battery voltage

measurement

(Carrier & Lander)

Battery voltage level

exceeds maximum

input voltage of ADC

pins

High

None None X

EPS - 03 Lithium polymer (LiPo) batteries shall not be

used

(Carrier & Lander)

Competition

Requirement

High

SR - 19 None X

EPS - 04 Battery must supply energy for at least 3

hours

(Carrier & Lander)

Cansat should stay

active during the

flight and pre-launch

operations

High

None None

X

X

EPS - 05 Power control switches shall be used

(Carrier & Lander)

To power on/off Medium None None X

X

EPS - 06 Locator devices shall have independent

battery sources

(Carrier & Lander)

Competition

Requirement

High

None None X


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EPS Requirements


A I T D

EPS - 07 Two regulators are needed to obtain 5V

(Lander)

Buzzer and

microcontroller

requires 5V supply

voltage

High None None X X

EPS - 08 Regulators are needed to obtain 3.3V and 5V

(Carrier)

There are

components which

require 3.3V and 5V

supply.

High None None X

EPS - 09 Batteries shall enable audible locating

devices to operate for at least 3 hours

CanSat recovery

might take as much

as 3 hours High SR - 09 None X

EPS - 10 Led indicators should indicate whether the

power is on or off

Easily tracking of

whether the system

is active or not Medium None None X X


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Carrier Electrical Block Diagram


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Lander Electrical Block Diagram


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Carrier Power Budget

Component Current

(mA)

Voltage

(V)

Power

(mW)

Expected Duty

Cycle (Time on In

min.)

Uncertainity

(+%)

Total Energy

Consumed

(mWh)

Source

Mbed 100 5.00 500 60.00 10 500 Datasheet

Mbed I/O Pins 200 5.00 2000 5.00 15 90 Datasheet

Barometer

(Pressure +

Temperature)

0.007 3.3 0.023 30.00 10 0.01 Datasheet

Camera 500 5.00 2500 0.01 5 25 Datasheet

Xbee (Radio) 205 3.3 670.00 30.00 10 335 Datasheet

GPS 29 3.3 100.00 30.00 10 50 Datasheet

Motor 66 5 330 0.02 20 8 Datasheet

Servo Motor

(HS55) 150 5 750 2 20 30 Datasheet

TOTAL 1038

Buzzer 80 5 400.00 25 25 200 Datasheet


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Total Power

Consumption

(Except buzzers)

(mWh) (mAh)

1038 215

Available Power 9600 1600

Margin 8562 1385

Required Voltage

Supply: 3.3V - 5V

Available Voltage

Supply: 6V

Total Power

Consumption

(Buzzers)

(mWh) (mAh)

200 50


Margin 9400 9550

Carrier Power Budget


Considering one hour potential hour wait on launch pad:

• Components indicated in green color in previous slide are the components that will be active during the

wait on launchpad.

Total Power

Consumption

(Except buzzers)

(mWh)

2013

Available Power 9600

Margin 7587 (We still have very good margin)

(2013 mWh= 1038 + 975) (975mWh is due to wait on launchpad)


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Lander Power Budget

Component Current

(mA)

Voltage

(V)

Power

(mW)

Expected Duty

Cycle (Time on In

min.)

Uncertainity

(+%)

Total Energy

Consumed

(mWh)

Source

Mbed 100 5.00 500 60.00 10 500 Datasheet

Mbed I/O Pins 200 5.00 2000 5.00 15 90 Datasheet

Barometer

(Altitude +

Temperature) 0.007 3.3 0.023 30.00 10 0.01 Datasheet

TOTAL 590

Buzzer 80 5 400.00 25 25 200 Datasheet

Total Power

Consumption

(Except buzzers)

(mWh) (mAh)

590 1480


Margin 8427 1362

Total Power

Consumption

(Buzzers)

(mWh) (mAh)

200 50


Margin 9400 1550

Required Voltage

Supply: 3.3V - 5V

Available Voltage

Supply: 6V


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Lander Power Budget


Considering one hour potential hour wait on launch pad:

One hour potential power consumption is 590mWh

(We still have very good margin!)

(1180 mWh= 590 + 590) (590mWh is due to wait on launchpad)

Total Power

Consumption

(Except buzzers)

(mWh)

1180

Available Power 9600

Margin 8427


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Power Source Summary

Battery Model Electrical Characteristics Mechanical Characteristics

Price Output Voltage

(V)

Capacity

(mAh*)

Dimensions

(mm)

Weight

(gr)

Varta CR-P2

(LI/CR) 6 1600 45 x 34 x 17 38.0 $7.2

(Varta CR-P2):

Used to supply all electronic components including

buzzers (Carrier & Lander)

Light and small in size

Easy supply from distributors

* (mWh) = (mAh)x(output voltage)


Eventhough we add potential one hour wait on launchpad, capacity of 1600mAh supplies

far more power than our electronic components would consume It can be clearly seen

from the power budget calculations for carrier and lander given in previous slides that we

obtain good power margin with this battery.


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Battery Voltage Measurement

• Mbed microcontroller has ADC pins and these pins will be used to measure battery voltage.

• Since battery voltage level exceeds maximum input voltage of ADC pins, we needed to scale this

voltage down to a appropriate level. This is accomplished by using a simle voltage divider for carrier

and lander.

• Mbed’s ADC interface has 12 bits resolution and typically measures the voltage between 0 – 3.3V

• 3 V is appropriate as maximum level for both carrier and lander ADC pins.

So that, in order to scale 6V battery voltage

down to 3V, we will choose R1 = R2

Easy to apply

Requires very low power for high resistor

values


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Flight Software Design

Yunus Buğra ÖZER


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FSW Overview

Basic Structure for Carrier Basic Structure for Lander

FSW

Sensors

Camera

GPS Xbee

Memory

FSW

On Board

Memory

Sensors

Ground Station Parachute system


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106

Carrier

• The software of carrier will send data coming from sensor,gps and battery voltage

to ground station via Xbee.

• Moreover; it will store data coming from camera, gps and sensors.

Lander

• The software of lander will read pressure sensor and using that calculate the

altitude of cansat.

• Altitude, pressure and temparature data will also be stored on onboard memory.

The FSW will use C/C++ with the mbed online compiler for software

development for carrier and lander.


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Change Rationale

Flight software overview section

is more detailed.

We realized that some significant information is missing on the

slide.

* No more change is applied as we did not encounter any problem during

software development.


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108

FSW Requirements


A I T D

FS-01 Control

RF communication

Required for air/ground

real time communication High

CDH-01

None

X

FS-02 Controling of reducing

cansat descent rate to 5m/s Competition requirement High

None

None

X X X

FS-03 Control the Lander

deployment

The lander shall be

released at

height of 91 meters

High None

None

X X X

FS-04 Storing all data on memory Required for later analysis High CDH-10 None

X X

FS-05 Transmitting data packet at

a rate of 0.5 Hz

Transmission should be

done every two seconds High CDH-02

None

X X

FS-06 Capturing a picture of

Landers deployment

Captured Image should be

stored for later retrival Medium None CDH-08

X X

FS-07

Telemeter will be started by

a command from ground

station

Competition requirement High CDH-09 None

X X


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109

Carrier CanSat FSW Overview

Start

Initialize System

Read Sensors

Transmit data GCS and

store onboard memory

Command

executed ?

Height

200m ? Descent

controller

Height

91m ?

Deployed lander and

capture camera

Landed?

Active Buzzer

Press

Button ? Stop system

No

Yes

No

No

No

Yes

Yes

Yes

Yes

No

Read Sensors,

Transmit data GCS

and store onboard

memory

Read Sensors,

Transmit data

GCS and

storeonboard

memory


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- Temperature & Pressure : Temperature and Pressure sensors are integrated in one

device, communicates with I2C protocol, sampled at 5Hz.

- GPS: Interfaced via Serial UART protocol at the Baud Rate of 57600 bps.

- Voltage divider: Interfaced via adc at 1 Hz.

- Memory : Onboard memory is interfaced using local file system with file operation functions

defined in mbed’s C++ library at every one second.

- Communication with GCS : Communication with GCS is made by the Rf link between

Xbee and GCS. Xbee is interfaced by serial UART protocol, connected to microcontroller’s

UART port at the baudrate of 9600 bps.

- Camera : Camera is interfaced via serial port. Baudrate is 9600 bps.


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Libraries

‘BMP085.h’ : Pressure and temperature sensor mbed library.

’GPS.h’ : Library that include the functions require to track and parse in coming gps data.

‘MBED.h’ : This library includes basic functions required for handling interfaces (adc, uart,

i2c, spi) and I/O .

Handling of Gps Data

Reading Gps data is different from reading sensor data. Because, gps data is send in regular

intervals and sending time is determined by gps, so that we can not exactly know when gps

data is available. Therefore, we used serial interrupt routines to handle gps data. So that we

update gps data only when a new data is available to read .

Adjusting Telemetry Timing

In order to achieve two seconds of telemetry transmission period we will use built-in timer

interrupt functions of mbed. Telemetry data will be transmitted on the timer interrupt service

routine. Since timer interrupt routine will be executed every two seconds (we will adjust is by

initializing timer counters correctly) we would achieve two seconds of telemetry transmission

period .


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Carrier Software Flow Diagram or

Pseudocode

112

Main_program{

InitializeSystems();

While(telemetry_start_command_not_executed)

wait;

while(1){

press = read_pressure();

temp = read_temparature();

volt = read_battery_voltage();

altitude = calculate_altitude (press) ;

if (altitude==200 meters) { descent_controller_on}

if(altitude ==91 meters) { activate_motor_to_deploy_lander,

capture_image}

if(altitude==0 meters){ break;}

}

active_buzzer(); // active buzzer after landing

return 0 ;// end of main program

}


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Carrier Software Flow Diagram or

Pseudocode

113

Gps_serial_intterupt_service_routine() { // executed only when gps data avaliable

gps=read_gps();

return_from_interrupt; //back to main program

}

timer_serial_interrupt_service_routine(){ //executed at every two second for telemetry

send_xbee(gps,voltage,press,temp); //send to ground station

record_on_text_file(gps,voltage,press,temp); // write telemetry data a text file strored onboard

}


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Lander CanSat FSW Overview

Start

Read Sensors

Height

<91m?

Write data

memory

Landed?

Active Buzzer

Press

Button ?

Stop system

No

No

No

Yes

Yes

Yes

- Pressure Sensor;

Interfaced via I2C at 100KHz.

- Memory ; Onboard memory is interfaced

using local file system with file operation

functions defined in mbed’s C++ library

at every one second.

-Voltage divider: Interfaced via ADC at 1 Hz.


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Lander CanSat FSW Overview

Libraries

‘BMP085.h’ : Pressure and temperature sensor mbed library.

’GPS.h’ : Library that include the functions require to track and parse in

coming gps data.

‘MBED.h’ :This library includes basic functions required for handling

interfaces (adc, uart, i2c, spi) and I/O

Adjusting Timing

In order to adjust sampling rate of 100 kHz for pressure and temparature

data we will use timer interrupt functions. We will obtain 200 kHz by

adjusting timer counter registers.


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Lander Flow Diagram or

Psuedocode

116

MainProgram(){

InitializeSystems();

while(1){

press = read_pressure();

temp = read_temparature();

volt = read_battery_voltage();

altitude = calculate_altitude (press) ;

if(altitude = 91 meters){

data_storage_enable_flag = ON; // this flag is used to determine whether

// storage on text file shall start

}

if(altitude = 0 meters){

break;

}

Activate_buzzer(); // activate buzzer after landing

}

timer_interrupt_service_routine(){

if(data_storage_enable_flag = ON;){ // record only after seperation (91 meters)

record_on_text_file(press, temp, altitude);

}

}


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(If You Want) Software Development Plan

117

Development Team:Yunus Buğra Özer, Onur Şahin

Software Development Environment: - Mbed Online Compiler (For Carrier, Mbed microcontroller)

* Numbers represent both development order and unit number


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Software Development Plan

Testing Strategy: Seperately developed software units will be tested independently both from functionality

and peformance perspective.

Independently developed and tested units will also go under integration testing process

where any error caused by faulty interaction between units will be detected

Both in unit development or integration level, software will be checked it meets

requirements

On system level testing, fully prototyped CanSat will be tested if it can succesfully perform

mission operations of competition.

Risk Reduction: RMMM (Risk Mitigation, Monitoring, Management) procedures will be followed

Testing time will be as much time as development time.

Realistic deadlines and schedule shall be established and followed by developers.

Most significant parts of CanSat, such as radio and seperating system, will have higher

priority and will be prototyped earlier


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Progress since PDR:

• We have completed unit software development.

Pressure and temperature data reading software for BMP085 sensor is developed

and tested.

GPS data reading and parsing code is developed and tested at different locations for

verification.

Software needed to send required commands for capturing image using camera is

completed successfully. We are able to capture multiple images and store them on sd

card.

Configuring Xbee radio is completed successfully.

We can successfully record telemetry data on text file stored onboard.

• We started integrating other components with Xbee radios

In this concept, we developed source codes for sending separately pressure-

temperature, GPS and battery voltage data over rf radios.

X We have not yet fully integrated the software required send and store all the telemetry

and other data together.

119 CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Yunus Buğra ÖZER

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120

Ground Control System Design

Onur ŞAHİN


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CanSat 2012 CDR: Team 6112(Team Uyarı) 121

GCS Overview


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122

GCS Requirements

CanSat 2012 CDR: Team 6112(Team Uyarı) Presenter: Onur ŞAHİN


A I T D

GCS-01 Data shall be plot in real-

time

To observe time variation

of telemetry data High SR-20 None X X

GCS-02 Develop our own GUI and

ground station

Data should be resented

in a organized way High SR-15 None X

GCS-03 Receiver antenna shall be

placed minimum 3 m from

the ground for better

communication

To ensure adequate

coverage and range High SR-16 None

X X

GCS-04 GUI should be able to

interface using RS232

protocol

Interfacing between GUI

and receiver will be

accomplished with RS232

Medium None None X X

GCS-05 Receiver antenna shall be

directed to flight area

Better communication can

be achieved when Cansat

and antenna stand face to

face

Medium None None X X

GCS-06 Receiver antenna should

have 1.5 km range. Distance between Cansat

and receiver is expected

to be max 1.5 km.

High None None

X

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GCS Requirements



A I T D

GCS-07 Software shall be able to

process telemetry data

Altitude will be calculated

using software on GCS High None None X X

GCS-08 GCS software shall be able

calculate expected landing

area using interpolation of

GPS data points

In case of any

disconnection, estimating

possible landing are would

be helpful for recovery

Medium None None X

GCS-09 GCS software shall send

command to cansat to start

telemetry

Competition base

requirement

High

SR-21

None

X

X

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GCS Antenna Selection


• Requirements of Antenna on the Satellite

– High Gain

– Directional

– Low Cost

• Selection

– A microstrip antenna array

– Designed in RF Electronics Laboratory

• 6dBi gain, 36º 3dB radiation angle

– Low cost, light, easy assembly (SMA connector)

• Antenna tracks the satellite by hand

• No external construction unit (plug and use)

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• Link Budged and Link Margin

Frequency: 2.4 GHz

Output Power: 18 dBm (63mW)

Data Rate: Up to 250 kbps

Receive Sensitivitiy: -102 dBm (%1 PER)

Output Type: RP-SMA

Transmiter Antenna Gain 1 dBi

Receiver Antenna Gain (Ground Station) 6 dBi

Operating Temperature: -40 to +85 °C

Module: XBP24BZ7SIT-004

500 meters 1000 meters Unit

Transmit Power 18 18 dBm

Transmit Antenna Gain 1 1 dB

Path Loss 94 100 dB

Receiver Antenna Gain 6 6 dB

Receive Sensitivity -102 -102 dBm

Link Margin 33 28 dB

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126



• Link Budged and Link Margin

10 km is the maximum data receiving

range under the best antenna directivity

and polarization condition.

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127

GUI Prototype

CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Onur ŞAHİN

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128 CanSat 2012 CDR: Team 6112(Team Uyarı) Presenter: Onur ŞAHİN

MATLAB® graphical user interface development environment

(GUIDE) is going to be used to design GUI

Design Criterias:

GUI should be user-friendly and easy to control and follow.

User interface shloud clearly indicate telemetry data with appropriate units.

GCS software will simultaneously write telemetry data to a output text file.

• This text file will be used to plot each sensor data throughout the file and

draw route on GoogleMap for PFR.

• Data will also be plotted in real-time and shown on GUI.

Important actions (seperation, landing vs.) will be shown as a message on GUI.

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CanSat Integration and Test

Yunus Buğra ÖZER

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130


Overview


Electronic Subsystems

Presenter: Yunus Buğra ÖZER

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131


Overview

Electronic Subsystems


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132


Overview

Sensor Subsystems (given in priority order):

- Pressure sensor: Measuring pressure correctly is the most significant part of sensor

subsystem development as it is used to calculate altitude. So that, we will first build

and test pressure measuring system.

- GPS: GPS is the second most important part of sensor subsystems as it will be used

to track CanSat and will be helpful for recovery. We tested GPS in different places

and different altitudes for verification as staded on pages 128-129. The altitude

obtained by GPS was be compared with the altitude calculated by pressure after

integrating these two subsystems

- Temperature: Temperature reading system will be added to primarily integrated

system. Since we use the only one sensor for pressure and temperature

measurement, it is important to verify if we can read temperature and pressure

correctly from the same interface with this sensor


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133


Overview

• Ground Control

- All received data will be written to output text file in a organized way for later

analysis in GSC.

- Transmitting ‘start telemeter command’ is most important task in the system.

- Testing: - Calculating altitude from pressure data test on GSC.

- Real time ploting test.

• Power System:

- While building each subsystem, we tested if it meets requirements defined in

power subsystem requirements

- Voltage dividers and regulators will be developed for components with different

operating voltages


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134


Overview

• Communication

- Communication subsystem is primary importance.

- This subsystem, provides coordination between all structures.

- A problem in this subsystem affects the whole system is terminally.

- In the long-distance test,will be checking communication between the GCS and

CanSat.

• Flight Software

- Flight software provides to read data from sensors and the necessary commands

to work RF communication.


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Sensor Subsystem Testing

Overview

135

1) GPS Test:

Mission:

• GPS data is mainly significant for tracking CanSat. It provides very useful information to

facilitate recovery. Therefore, in this test, verifying the accuracy of GPS is the main issue.

• Second issue is to verify that GPS data (UTC time, longitude, latitude, sea level altitude,

number of tracked satellite) is parsed correctly and can be sent to ground station.

Pass/Fail Criteria:

• Obtained data shall have acceptable accuracy. Accuracy is measured by comparing the

GPS data with real location data obtained from Google Maps and Google Earth.

Constraints:

• Testing environment is fairly not wide open space like competition area. Surroundings

around the GPS would effect data obtained.

Testing strategy:

• Testing strategy we have followed is to test GPS at different locations and compare GPS

data with real data


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Overview

136

GPS Test cont’d:

Real data stated in the table below represents data obtained from Google Earth or Google Map

Location Latitude Longitude Altitude (m) Num. Of

Satellites

GPS Data

Real Data GPS Data Real Data GPS

Data

Real

Data

1 40.997608 40.997664 28.846066 28.846192 22.2 25 6

2 41.104542 41.104731 29.024529 29.024569 98.5 102 5

3 41.028515 41.028592 29.067619 29.067528 217.2 215 6

Conclusion:

After the GPS test, we are ensured that GPS data is sufficiently accurate

Note:- Video link for egg protection system test :- http://www.uyari.itu.edu.tr/gps.php


http://www.uyari.itu.edu.tr/gps.php

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Overview

137

2) Pressure & Temperature Test (BMP085 sensor):

Mission:

• Accurately measuring pressure is one of the most important task in this project. Because,

pressure data is used to calculate altitude and this altitude data affects descent operations

and deployment operations.

• Therefore, in this test, our aim is to verify that pressure data has very good accuracy and

temperature data is also fairly accurate.

Pass/Fail Criteria:

• Pressure data shall have at least 1 kPa accuracy and temperature data shall be of at least

1 celcius accuracy

Constraints:

• Meausurement range is not very wide as environment conditions change relatively slow.

Testing strategy:

• Testing strategy we have followed is to test BMP085 at different locations. We will use this

data to calculate altitude and compare the barometric altitude with altitude we obtain from

GPS.


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Overview

138

Pressure & Temperature Test cont’d:

Temperature read from sensor Real temperature

24.5 C 24 C

13.5 C 13.1 C

Measured Pressure Barometric Altitude GPS Altitude

99.97 kPa 120.9 m 117.37 m

100.22 kPa 104 m 95.6 m

100.46 kPa 78.5 m 74.74 m

Temperature data has acceptable error rate. So that, we think it would be suitable for this

project.

Barometric altitude and GPS altitude is seen to be nearly equal after this test. Sample data

from our test is given above.


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Overview

139

Pressure & Temperature Test cont’d:

We have integrated BMP085 sensor with Xbee radio and sent pressure and temperature to

our computer over the radio. Using a serial monitoring program we displayed the telemetry

data on screen as it can be seen from the image below.

After CDR, we are planning to test our pressure sensor at higher altitude to get more closer to

competition conditions. Moreover, in order catch competition conditions we will drop our

CanSat from a flying airplane at Hezarfen airport after we fully combine mechanical and

electronic subsystems. We are now working on last arrangements.


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Imaging / Video Camera Testing

Overview

Timing is very important for this task so with the using extra kit we aimed to gain two profits;

oThe first of these lighten of task redundancy on the main processor

oThe second profit of these capture timing can be controlled more accurately

Camera commands will be supplied from an extra small kit that will be controlled by main

processor


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Overview

Restore factory configuration

Request the revision

identification

Set the system clock

Request the system time

Select the operation mode

Request the current

operation mode

Set the picture resolution

Sequence capture

Communication screen with the camera module


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Overview

Using this code diagram to sequence capture


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Overview

Test Results


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(If You Want) DCS Subsystem Testing Overview

144

The following tests will be done for the accuracy of Descent Control System

• Wind Tunnel Test

• Drift Control Test

• Parachute-2 Deployment Test

• Parachute-3 Deployment Test

with Carrier/Lander Separation test


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145

Wind Tunnel Test:

The aim of wind tunnel tests is simulating area for parachutes in the land. With

the wind tunnel test we will be measuring coefficients of lift, drag force, normal

force, tangential force, as well as for determining the load coefficient for infinite

load. We expected more accurately data after this tests.


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146

Test room dimensions : 80cm*80cm*200cm

Velocity range : 0m/s < V < 25 m/s

Specifications : Open circuit, closed test section

Wind tunnel testing tools


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147

Furthermore our other important aim to calculate parachute opening force with

the come from wind tunnel tests results.

To calculate this we will use W/(CDS)p method. This method should be supply

us preliminary calculations.

For the W/(CDS)p method, we will use following equation.

Fx = (CDS)p * q * Cx * X1

• Fx is the parachute opening force

• (CD*S)p is the drag area of the full open (ft2)

• q is the dynamic pressure at line stretch

• Cx is the opening force coefficient at infinite mass

• X1 is the force-reduction factor

Opening Shock Force Test:


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148

Opening Shock Force Test:

After that with this calculations, we will be sure the protection of our CanSat from

opening shock. We will be test CanSat and all subsystem components.

Parachute-2 Deployment Test:

In 200 meters, we will deploy second parachute to reduce descent rate from

10m/s to 5m/s. Our parachute is in the special pocket. In 200 meters, processor

triggered the system and parachute-2 will be opened with the help of loading

spring. We will do this test at the aircraft deployment tests. We agree one flight

trainer company and we will be doing this tests at 350 meters.

Parachute-3 Deployment Test

With the separation Parachute-3 will be opened with the help of loaded spring.

We will do this test at aircraft deployment tests


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149

Drift Control Test

We done servo test with successfully. We sent the command to drive the servo

and we provided to make 90 degrees turns

Landing in nearly target is our first priority

To do this we use a micro-servo for controlling Parachute-1

Parachute-1, routed to the micro-servo, aiming closer to target

Therefore, we use software that prepared according to a certain

pattern

CanSat will turn 90 degrees to the right at each point with the

helping of micro-servo

So, by the controlling of the CanSat drift we hopes the our CanSat closer to land.

On the other hand we will calculate and process the data of coming from CanSat to the

ground station and the helping of the GPS data we will be find our CanSat.

Comparing the data of recent data of GPS and drift we will find it.

Our Drift Control Strategy


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150

Mechanical Subsystem Testing

Overview

Method Drop

height

Using

Parachute Mass (gr)

Impact Velocity

(m/s) Survival

Polyurethane foam 1 meters No 300 4.42 Yes

Polyurethane foam 20 meters Yes 300 5 No

Polythene foam 3 meters No 300 7.67 Yes


Polythene foam 40 meters Yes 300 5 Yes

Test result - Vertical

Egg was placed vertically inside polythene foam


Egg protection test


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Overview

Method Drop

height

Using

Parachute Mass (gr)

Impact Velocity

(m/s) Survival

Polyurethane foam 2 meters No 300 6.26 Yes

Polyurethane foam 3 meters No 300 7.67 No


Polythene foam 8 meters No 300 5 Yes

Polythene foam 90 meters Yes 300 5 Yes

Test result - Horizontal

Egg was placed horizantally inside polythene foam


Egg protection test


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Overview

152

The result of tests;

• Egg placed horizontally was better protected than vertically

• Using polyurethane foam has risk

*Using polythene foam at test condition which has much impact force than competition condition egg did not broken

Note:- Video link for egg protection system test :- http://www.uyari.itu.edu.tr/eggandparachute.php

Mass (g) Impact Velocity (m/s)

Competition Condition 286 5

Test Condition 300 7.67


Egg protection test


http://www.uyari.itu.edu.tr/eggandparachute.php

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Overview

Separating test

The result of tests;

• There is no problem to achieve separation because of compatibility between motor’s gear and nut

• One of the risk for this mission is that, what if there is a problem with determination on separation time according to data

coming from pressure sensor. To avoid this problem, separation time will also be determined by GPS data

• After we finish mounting all electronic equipment, CanSat’s separation system will be tested as a unit.

Note:- Video link for Separation test : http://www.uyari.itu.edu.tr/separation.php

153 Presenter: Yunus Buğra ÖZER CanSat 2012 CDR: Team 6112 (Team Uyarı)

http://www.uyari.itu.edu.tr/separation.php

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Overview

154

Acceleration and Shock Force Tests

CanSat tested with 690 grams and 108 m/s velocity (if parachutes will not deployed-free-fall) test condition to determine if

it will survive or not against to acceleration force (10 G) and shock force (30 G)

There is negligible deformation on CanSat structure.


According to test results, CanSat’s structure will survive even if more force than competition condition.


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Overview

155

Acceleration and Shock Force Tests

CanSat tested with 690 grams and 108 m/s velocity (if parachutes will not deployed-free-fall) test condition to determine if

it will survive or not against to acceleration force (10 G) and shock force (30 G)

There is negligible stresses on CanSat structure.


According to test results, CanSat’s structure will survive even if more force than competition condition.


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156

Testing communication between the subsystems and microcontroller

- This test is primary importance because correctly interfacing between the

component is required to obtain accurate data.

- For this test pass/fail criteria is that providing continuous information flow

between subsystems ( gps, sensor, camera ) and CanSat.

- This test included taking gps, sensor and camera data test.

- As a result of this test , we have obtained gps, sensor and camera data is

clearly.

Sensor test results

Gps test result


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Testing communication between the GCS and CanSat

- This test is extremely important in terms of observation telemetry data.

- In this test, we want to check Xbees which are in cansat and ground station.

- This test includes Xbee’s configuration and testing communication.

- Passing criteria is correct communication.

- Configuration and success in the test are seen on the next slides .

CDH Subsystem Testing Overview


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For the Xbee’s configuration,we use X-

CTU software.

- Pan Id is set to 1111 for both Xbees.

- For Xbee1, destination adress set to 1

and source adress set to 0. For Xbee2,

destination adress set to 0 and source

adress set to 0.


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- The blue text is sent by xbee1 and it successfully read by xbee2.

- Similarly, the red text is sent by xbee2 and it successfully read by xbee1.

- Successfully completed the test that way.

CDH Subsystem Testing Overview


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(If You Want) EPS Testing Overview

160

1) Buzzer Test:

Mission:

Buzzers are important part of CanSat system as they can play significient role in recovery. It would be helpful

for finding CanSat if then are kept active for longer time.Therefore, in this test, our aim is to see that buzzer’s

are kept active with the chosen battery for more than 3 hours.

Pass/fail criteria:

If the buzzers are kept active for less than 3 hours, we will consider this as a failure.

Test Methodology:

We simply connected the battery to buzzer via regulators. We also set timer to measure the time that buzzers

are kept active.

Results:

Buzzer is kept active for (more than) 4 hours. We switched the power off after nearly 4 hours. This validates

our calculations on power budgets section and shows that this battery is suitable for us to use.

Presenter: Yunus Buğra ÖZER CanSat 2012 CDR: Team 6112 (Team Uyarı)

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161

2) Testing Regulation Units:

Mission:

Different components may require different supply voltages. In order for the voltages supplied to components

to be stabe operation of voltage regulators becomes significient issue. Therefore, in this test, our aim is to

verify that regulator outputs are stable when input changes.

Pass/fail criteria:

Regulated outputs shall be stable at a specified value.

Test Methodology:

We set up the regulation circuits for 3.3V and 5V regulators we have used and measure output voltage for

different input voltages.

Results:

- For 3.3V regulator, we changed input voltage value from

6V to 4.5V and saw that output is approximately 3.3V.

- For 5V regulator, we changed input voltage value from 6V to

5V and saw that output is approximately 5V.

Circuit diagram of 5V regulator


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162

3) Testing Voltage Measurement:

Mission:

In this test, our aim is to verify measure battery voltage. This would enable us to monitor battery power on the

ground station.

Pass/fail criteria:

Measured voltage shall have at least 0.5V of accuracy.

Test Methodology:

Battery voltage is measured via ADC interface and result is sent to our computer over serial interface for

monitoring. Voltage divider circuit is used.

Results:

Battery voltage is measured at very high accuracy of about 0.2V.


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(If You Want) FSW Testing Overview

Software Test

- Software development is crucial part of cansat design, so that software

testing is made with great care.

- This test includes that the work of each system software separately.

- These tests included that data is reading or not from sensor, gps and camera

correctly. And the necessary commands can sending or not to work RF

communication.

- Passing criteria is that each subsystem software work individually correctly.

- As a result of the test, all sub-systems were separately worked properly.

- After this point forward, our main issue is to integrated unit codes and test

cansat as a unit.


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Data Transmission and Storage Test

- Our aim is to receive data from cansat via RF link and store incoming to on a text

file.

- Transmission required to update the data on GCS and storage is needed for later

analysis.

Passing criteria:

- Data received over telemetry shall be properly recorded on the text file.

Presenter: Yunus Buğra ÖZER CanSat 2012 CDR: Team 6112 (Team Uyarı) 164

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Data Transmission and Storage Test

A sample text file we have recorded during one of our tests given below.

Operations are handled by Matlab functions.


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Future Plans for GCS Development and Testing

- We have developed a prototype for GUI but we have not yet been able to plot

incoming data in real-time.

- Plotting issue will be handled after we successively show received data on

screen with proper engineering units.

- Telemetry starting command is successively sent from microcontroller to start

transmission. We apply the same concept to start telemetry from ground station.

- Testing and development of ground control station will be progressed in parallel.


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Mission Operations & Analysis

Onur ŞAHİN


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Overview of Mission Sequence of

Events


Name Launch Operation

Süleyman SOYER Mission Control Officer

Murat Can KABAKCIOĞLU CanSat Crew

Veysel Yağmur SAKA CanSat Crew

Emre ATAY Recovery Crew

Muhammed YILMAZ Recovery Crew

Onur ŞAHİN Ground Station Crew

Yunus Buğra ÖZER Ground Station Crew


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Events

Pre-launch Sequence of Events


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Launch Sequence of Events


Events


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After-launch Sequence of Events


Events


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172

Field Safety Rules Compliance

Configuring Ground Station

Place antenna in proper direction and 3.5 meters elevated from the ground

Start ground control station software

Connect antenna with ground control station

Check radio connection

Preparing CanSat

Electronic controls

Make sure that temperature of the circuit boards suitable for flying

Mechanic controls

Make sure that parachute has a distance between circuit boards to avoid any dangerous situation

Check protrusions and rocket compatibility

Make sure that there is no protruding sharp

Check-in (no protrusions, mass, length, height)

Place egg in Lander

Power on CanSat

Integrating the CanSat into the rocket

Verifying CanSat’s compatibility with rocket


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173

CanSat Location and Recovery

Parachute controlled by micro servo will be used to determine landing

location

GPS data coming from CanSat provides to know falling speed. Thanks

to MATLAB program, landing location will be determined

Buzzers located on both Carrier and Lander will be activated after

landing. Theirs loud voice will be helpful to determine location of landing


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• Radio Link Check Procedure

To set up the link by connecting one XBEE to the computer and one XBEE to microcontroller, we will

use start telemetry command. This command initializes the transmission between ground control station

and XBEE on the Carrier.

• Loading the egg payload

Egg placed horizontally was better protected than vertically

• Powering on/off CanSat:

We will have separate switches for both Carrier and Lander to power on/off CanSat.

• Telemetry processing, archiving, and analysis:

We created a test bed for reading all telemetry data and storing them on in forms of flight logs with

extra data. We will use MATLAB to do the processing on the data and check if they are correct. We are

archiving all test results on our computer.

• Recovery

Thanks to parachute algorithm and buzzer. More over we will also use GPS data to calculate expected

landing area in case of any disconnection with GPS.

174

Mission Rehearsal Activities


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Management

Veysel Yağmur SAKA


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Status of Procurements


Flight Hardware Ground Control Harware

Components Model

Name

Quanti

ty Order Date Status

Pressure and

temperature

sensor

BMP085

2 27.02.2012 Received

GPS LS20031 2 27.02.2012 Received

Camera C6820

EV 2 27.02.2012 Received

MBED LPC176

8 3 27.02.2012 Received

Parachute 4 05.01.2012 Received

Servo motor HS-

65HB 1 01.03.2012 Received

Motor DC

motor 1 01.03.2012 Received

Battery CR-P2 2 01.03.2012 Received

Buzzer KSSGJ4

B20 2 01.03.2012 Received

Components Model

Name Quantity Order Date Status

Zigbee XBP24BZ

7SIT-004 2 27.02.2012 Received

Antenna None 2 27.02.2012 Received

Zigbee XBP24BZ

7SIT-004 4 27.02.2012 Received

USB cable 2 01.03.2012 Received


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CanSat Budget – Hardware

Components Model Name Quantity Unit price Price Definition Status

ELE

CT

RO

NİC

Pressure and

temperature sensor BMP085 2 $19.95 Actual Ordered

GPS LS20031 2 59.95 Actual Ordered

Camera C6820 EV 2 79.94 Actual Ordered

MBED LPC1768 3 52.31 Actual Ordered

Zigbee XBP24BZ7SIT-004 2 48.63$ Actual Ordered

Battery CR-P2 2 32 Actual Ordered

Buzzer KSSGJ4B20 2 1$ Definition Ordered

Antenna None 2 1.5$ Definition Re-use

Servo motor HS-65HB 1 9.83$ Actual Re-use

Motor DC motor 1 5.64$ Definition Re-use

SUBTOTAL 658.34$

Hardware Costs


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CanSat Budget – Hardware


ME

CH

AN

İC

Skelator 1 56$ Actual Produced

Parachute 3 14$ Definition Re-use

Foam Polythene 1m2 2.7$ Actual Ordered

Aluminyum 7075 39.54$ Actual Ordered

Nut 60 1.9$ Actual Re-use

Carbon Plate 4 4$ Actual Re-use

Aluminum rot 3 2.87$ Actual Re-use

SUBTOTAL 121.01$

Hardware Costs


Antenna None 1 1.5$ Actual Re-use

Zigbee XBP24BZ7SIT-004 2 48.63$ Definition Ordered

USB cable 1 5$ Definition Re-use

Laptop 1 1000$ Definition Re-use

SUBTOTAL 1103.76$

Ground control station costs


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CanSat Budget – Other Costs


Prototipe 1 56$ Actual

Rent 350$ Definition

Accommodation 1500$ Definition

Travel 7 8400$ Definition

SUBTOTAL 10306$

Total 12189.11$

Other Costs

Other

Hardware

Ground control station


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CanSat Budget – Other Costs

Sources Income

Mechanic hardware 5000$

Electronic hardware 7000$

Travel 1000$

Total 13000$

Income

Total expense

Income


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Program Schedule

Date Mechanics Electronics Fin.& Log. Academic Schedule High Level Task

Au

gu

st

1.Week

_______ _______

Participated in

CanSat Competition

at France

Holiday Getting Information

about competition

2.Week

3.Week

4.Week

Se

pte

mb

er 1.Week

_______ _______

Team members got

together 2.Week

3.Week

Annual plan and

Team Strategy has

planned

4.Week Starting first

term

Octo

ber 1.Week

_______ _______

Quizes

Homeworks

Team annual plan 2.Week

3.Week

4.Week

No

ve

mb

er

1.Week

_______ _______

Applied for

competition to

CanSat Competition

at America Competition

Application

2.Week

3.Week Recognation and

inquire the tasks of

competition

Recognation and


competition

Recognation and


competition 4.Week


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Program Schedule


De

ce

mb

er 1.Week Ordered major

materials

Ordered major

materials The search for

financial sources Quizes Homeworks

Creating Subsystem

Designs of CanSat

2.Week

3.Week

Designed of

mechanic systems

Designed of

electronic systems

4.Week

Ja

nua

ry

1.Week

Preparing PDR

Preparing PDR &

Recent Materials

Selection

2.Week Midterm Final Exams

Midterm

3.Week

Testing

Mechanichal

Materials

Testing

Electronical

Materials

4.Week Holiday

Fe

bru

ary

1.Week

Searcing for the

Test Area

Started second

term

Input and Process

Test Data

2.Week

3.Week

4.Week

Ma

rch

1.Week

Put together

subsystems

Put together

subsystems

Preparing CDR Quizes Homeworks

Creating a prototype

of CanSat

2.Week

3.Week

4.Week Ground system &

software will be

created


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Program Schedule


Ap

ril

1.Week

Testing CanSat Testing CanSat Buying fly tickets

Quizes Homeworks

System Integration

Control Operations

2.Week

3.Week

4.Week

Ma

y

1.Week

Last controls and

evaluating of cansat

mechanic systems

Last controls and

evaluating of cansat

mechanic systems

Hotel reservations &

Obtain a visa

Full Control CanSat

and Evaluating

2.Week

3.Week

4.Week End year Final

Exams

Ju

ne

1.Week Getting prepared for

trip

Participating

CanSat Competition

2.Week

3.Week

Cansat competition 4.Week


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Major accomplishments

Separation test

Egg protection test

Descent control system test

Radio configuration and prototyping

Embedded software required to read pressure, temperature data and use camera module

We have supplied all electronic components we need.

Major unfinished work

Ground station software

Testing to complete

Ground control station software test

Separation test with CanSat as a unit

Flight software status

Until now, flight software is mainly developed for individual components. We are able collect GPS,

sensor data, capture an image using camera and transmit data over Xbee radios separately. We have

also integrated GPS, sensor (pressure and temperature sensor ) and Xbee. Therefore, we are able

transmit GPS and sensor data to our computers(ground station).

184 CanSat 2012 CDR: Team 6112 (Team Uyarı) Presenter: Veysel Yağmur SAKA

uyari team cdr

Documents

pdr onur ahn

pdr yunus bura zer

eps overview onur ahn

cdh overview yunus bura

pseudocode yunus bura

carrier gps summary

carrier power budget

eps requirements onur