CanSat 2017 Vellore Institute of Technology Preliminary … · CanSat 2017 Vellore Institute of Technology Post Flight Review (PFR) Team # 2617 Team SEDS VIT. Team Logo Here (If You

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CanSat 2017 PFR: Team 2617 (Team SEDS VIT) 1

CanSat 2017

Vellore Institute of Technology

Post Flight Review (PFR)

Team # 2617

Team SEDS VIT

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1. IntroductionI. Presentation Outline………………………………………………………………………….…..............2

II. Team Organization……………………………………………………………………....…………..…...5

2. Systems OverviewI. CanSat Overview.…………………………………………………………………………………….……7

II. CanSat Overall Cost…………...…………………………………………………………………………..9

III. Physical Layout…………………………………………………………………………………..…….....12

3. Concept of Operations and Sequence of EventsI. Comparison of planned and actual Con-Ops ..………………………………………...…………....14

II. Comparison of planned and actual Sequence of Events …………………………....……………..15

2Presenter: Akshay Girish Joshi CanSat 2017 PFR: Team 2617 (Team SEDS VIT)

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4. Flight Data Analysis

I. Payload Separation Altitude ..…………………………………………………………..………..…...20

II. Glide Duration …………………….……………………………………………………………………21

III. Payload sensor data plot ….…………………………………………………….……….…………....22

IV. Payload altitude plot …………………………………..………………………………………….…....23

V. Payload temperature sensor plot…………..........................................................................................24

VI. Pitot Tube data plot ..……………………………………………………………………………..........25

VII. 2 dimensional plot based on speed and heading ..……………………………………………........26

VIII. Payload solar power plot ……….…………..........................................................................................27

IX. Container pressure sensor plot …………………....……………………………………………........28

X. Container altitude plot ……….…………...............................................................................................29

XI. Container temperature plot ……….………….......................................................................................30

XII. Container battery voltage plot ….…………..........................................................................................31

XIII. Camera images ………………….…………..........................................................................................32

5. Failure AnalysisI. Identification of failures, root causes, and corrective actions..………………………………….....34

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Presentation Outline

Presenter: Akshay Girish Joshi CanSat 2017 PFR: Team 2617 (Team SEDS VIT)

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6. Lessons LearnedI. Discussion of what worked and what didn't ………………………………………………………….36

II. Conclusions…….…………………………………………………………………………….……...…..37

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Presentation Outline


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Akshay Girish Joshi (Team Leader)

Systems OverviewAkshay Girish Joshi Ases Akas Mishra

Sensor Subsystem Design

Aman Gupta

Descent Control Design

Roshan Murali Malhar Joshi

Mechanical Subsystem DesignKunal Pandey Ases Akas Mishra

CDH Subsystem Design

Rakshit Vig Kumar Yash

EPS DesignKumar Yash

FSW Design

Pranav NaiduRakshit Vig

GCS Design

Pranav Naidu Devesh Bajaj

CanSat Integration & Test

Roshan Murali Malhar Joshi

Mission Operations & Analysis

Ases Akas Mishra Aman Gupta

Requirements Compliance

Kunal Pandey

ManagementKunal Pandey

Pranav Naidu (Alternate Team

Leader)

Prof. Geetha

Manivasagam

(Faculty Coordinator)

Tony Mai,

Amazon Web

Services

(Team Mentor)

Presenter: Akshay Girish Joshi

Team Organization

CanSat 2017 PFR: Team 2617 (Team SEDS VIT)

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Systems Overview

Akshay Girish Joshi

Ases Akas Mishra

Presenter: Akshay Girish Joshi 6CanSat 2017 PFR: Team 2617 (Team SEDS VIT)

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7Presenter: Akshay Girish Joshi

Mission Summary


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8Presenter: Akshay Girish Joshi

Mission Summary


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Presenter: Akshay Girish Joshi 9

CanSat Overview

110mm

28mm

1. Container descent control

apparatus(parachute)

2. Container with dimesions

3. Launch configuration of glider inside

container and parachute

attachment points

4. Physical layout of container with glider held

inside using rubber bands.

5. Stowed configuration dimensions

1 23

4 5


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Presenter: Akshay Girish Joshi 10

CanSat Overview

1. Top View of Deployed Payload(glider)

2. Base Plate (Wing deployment Mechanism)

1

2

All dimensions are in mm


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Part Model Quantity Price($) Total($) Determination

Processor Arduino Pro Mini (5 V model) 2 9.95 19.9 Actual

Magnetometer, Pressure

sensor

10DOF Gyro Accelerometer Compass Altimeter

(L3GD20 LSM303D BMP180)1 9.95 9.95 Actual

Temperature sensor LM 35 2 1.05 2.10 Actual

Pitot tube(air speed sensor) HK pilot air speed sensor 1 26.03 26.03 Actual

Air pressure sensor

(container)BMP 180 1 2.66 2.66 Actual

Camera Adafruit TTL JPEG Camera 1 39.95 39.95 Actual

SD Card along with Shield 16gb SanDisk class 10 with SD Card Shield 2 7.34 14.68 Actual

XBee radios Xbee Pro S2B U.FL Connector 2 44.95 89.9 Actual

CanSat antenna FXP70 Freedom (patch antenna) 2 3.35 6.7 Actual

Audio Beacon Mini piezo buzzer 4 0.73 2.92 Actual

Altimeter( GPS) Adafruit Ultimate GPS 1 39.95 39.95 Actual

Micro DC motor Micro DC motor 1 2.94 2.94 Actual

Solar Panels(1) CIGS Solar Cloth 2 9.90 19.80 Actual

Solar panel(2) 0.6W Hard Solar Panel 1 2.14 2.14 Actual

Voltage regulator S18V20F6 1 14.95 14.95 Actual

Battery Duracell Ultra 223(CR-P2) 1 9.95 9.95 Actual

Total cost of electrical components 304.52

CanSat Overall Cost

CanSat 2017 PFR: Team 2617 (Team SEDS VIT)Presenter: Akshay Girish Joshi

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CanSat Overall Cost

Part Model/material Quantity Source Price($) Total($) Determination

Container (Extrusion

Molding)

Fibre Reinforced

Plastic1 Local Market 40 40 Actual

Fuselage

(Structure Material and

Fabrication via 3D Printing)

PLA 1

REALiz 3D

printers 180 180 Estimated

Parachute TARC-22 1 Fruity Chutes 35 35 Actual

Glider frame Carbon Fibre 2 Local Supplier 3 6 Actual

Sailcloth Dacron type 52 2 Local Supplier 11 22 Actual

Miscellaneous

(Hooks ,adhesives, rubber

band etc )

- - Local Supplier 50 50 Estimated

Total 333

Subsystem Price($)

Electrical 304.52

Mechanical 333

Exact Total 607.52

Margin (15%) 91.13

TOTAL 698.65

Hence the total budget of CanSat is well within the limit of

$1000 which is the competition requirement.


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Part Model Quantity Price ($) Total ($)Determinat

ion

Ground Control Station Costs

Processor Arduino Duo 1 57.90 57.90 Actual

Communication

Module Xbee Pro S2B 1 74.10 74.10 Actual

GCS Antenna HG2409PC 1 42 42 Actual

Laptop Lenovo Z50 1 620 620 Actual

Xbee Shield ModuleSain Smart 101-50-

1051 26 26 Actual

Total GCS Budget 820

Testing and Prototyping Costs

Prototyping - - 200 200 Actual

Testing- - 200 200 Actual

Total testing and prototyping cost 400

CanSat Overall Cost

Testing and

Prototyping cost

includes the

preliminary

mechanical

prototypes which

ever used for flight

test, determining

glider ratios, and

other experimental

data


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Physical Layout


1

2

3

1. Container

Electronics

2. CanSat after

recovery

3. Container

PCB and

base plate

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1. Glider with

panels

2. Glider base plate

3. Glider after

recovery

4. Glider fuselage

showing switch

button and

camera

Physical Layout


1

2

3

4

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Concept of Operations and Sequence of

Events


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• CanSat will be inspected for

any surface abrasions,

scratches and damages.

• The solar panels will be

cleaned.

• All the on-board electrical

circuits will be verified .

• The sail material will be

checked for any rips.

• The GCS will be initiated and

the software will be checked

for proper functioning of each

sub process and the initial

FSW state will be shown on

the GCS .

• Radio communication and

sensors will be tested.

• The glider will be folded and

slid into the container and the

ejection mechanism will be set

in place.

• The parachute will be folded

and placed in the closed end of

the container opening for easy

release.

• The CanSat will be switched

ON and will start transmitting

telemetry data.

• The CanSat will be placed into

the payload section of the

rocket.

• A final system check will be

conducted through telemetry.

• The FSW state will be updated

on GCS.

• FSW will initiate its next state

and the same will be updated

on the GCS.

• CanSat will be deployed from

the rocket at 1000m and the

parachute will be inflated to

aid its descent.

Pre-Launch Activities Loading of CanSat Rocket Deployment



Events(Planned)

Launch Operations


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• As the CanSat attains an

altitude of 400m+/- 10m , the

FSW will go into detachment

state.

• At 400m+/- 10m the ejection

mechanism will be activated

and the glider will eject from

the container.

• If the automatic ejection

mechanism is not activated

until the glider reaches

400m+/- 10m , ejection

mechanism will be forced by

the GCS.

• The container will continue to

transmit the telemetry data for

2 seconds after the release of

the glider.

Glider Descent LandingDetachment

• Glider descent state will be

initialized on the FSW and

updated on the GCS.

• The glider wings will be fully

deployed.

• The solar panels will start

supplying sufficient power to

the system.

• The glider will start

descending in a helical path of

diameter 96.46 m.

• The FSW state will be updated

to landing. Buzzer will be

turned ON.

• Telemetry will be stopped



Events(Planned)

Descent Operations

Post launch recovery

• Glider and container will be

tracked using GPS, buzzer and

fluorescent colour.

• Power will be turned off

Post flight data analysis

• Data will be retrieved from the

glider and checked for

correctness

• Corrections are made if

required

• Report is made for judges


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Loading of CanSat



Events(Actual)


Pre Launch Activities

• All operations were completed as planned.

• We forgot to switch on the glider before placing it into the rocket payload section. Hence we had to

open the rocket payload again to switch the glider on(with the judge’s permission).

• The container telemetry was switched on 45min prior to the launch. Hence we received large number

of telemetry packets before launch

Launch

• The solar panels were fixed on the sail cloth using adhesive because of which the surface of the

sailcloth got hardened and it’s folding became a little difficult than how it was planned.

• All other launch operations worked as planned

Descent

• Glider wings did not fully unfold due to deformation of the spring because of its constant compression

• The helical path of the Glider couldn’t be observed due to low visibility. We couldn’t verify it using

sensor data

• Glider ejected at an altitude of 404m

• Glider telemetry stopped after 81.69sec

• Glider flight time was 81.69sec until the last telemetry data was received

• 5 images were captured but none of the images are clear. We couldn't keep a count of the images

• Telemetry packets were not received at a frequency of 1 hertz

• Apart from the specified telemetry packet, we also obtained latitude and longitude of the container

• All other operations worked as planned

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Landing

• Because of no telemetry after 81.69sec we couldn’t track where the glider landed(although the

recovery crew recovered it afterwards).

• Received telemetry data indicate that other functions worked as planned

Post Launch Recovery

• The recovery site was deemed a dangerous zone because of the presence of poisonous snakes

hence the organizers didn’t allow us to recover the CanSat.

• We do not know if the audio beacon was activated because recovery was done by the CanSat

organisers and not our recovery crew.

• When we received the CanSat, the electronics was switched off. When we switched it on all the

electronics were working fine

Post flight data analysis

• 661 packets of container telemetry data and 35 packets of glider telemetry data were received

• Telemetry data(in csv file) and all the images were submitted to the judges in a pendrive.


Events(Actual)


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CanSat 2017 PFR: Team 2617 (Team SEDS VIT) 21

Mission Sequence of Events(Planned)

• Ground station is set up.

• Communication devices are

connected.

• Assign different roles to the

team members.

• Final inspection of all the sub

systems of CanSat.

• Measure solar intensity for

power estimates.

• Measure wind speed and

direction for landing

estimates.

• Go through pre-flight checklist

and make sure every pre-

launch requirement is met.

• Ensure that the ground station

is operational and check its

functioning.

• Check orientation of antenna

and check telemetry

transmission.

• Estimate the CanSat landing

zone.

• Seal all the electronic payload

of the glider inside the

fuselage.

• The hang glider is folded and

placed inside the container and

the ejection. mechanism is

initiated

• The CanSat is powered on.

• The CanSat is installed in the

designated payload section of

the launching rocket.

Arrival at Launch Site Pre-launch ChecksIntegration into

Rocket

Launch Day sequence of events


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Landing

- The telemetry is stopped after the landing of the glider

- The audio beacon is activated for detection.

- FSW state updated to Landed.

Separation & Descent

- At a height of 400m, the glider is ejected from the container and glide

within a diameter of 1000m.

- Telemetry is started and Data is received at GCS.

- The camera starts capturing images. The images are stored on the SD card

- FSW State updated to descent.

Deployment

- With the deployment of the CanSat, parachute is deployed.

- At deployment, the FSW State is updated.

Rocket Launch

- According to the information given by the sensors, the flight software state is updated when each action takes place.


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Recovery Post Flight Reporting

• Recovery of the Glider and the Container done with the help of buzzers and fluorescent colour.

• Both of them are examined for any possible damage during flight or landing.

• The SD card is retrieved from the electronic section.

• The telemetry data and images are analyzed.

• The data obtained is utilized for making a presentation.

• A presentation is given on the following day to the judges

• Telemetry data file is delivered to field judge for review

DataAnalysis

Post Launch Sequence of Events:


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24

Arrival at launch site

• Modifications were made to the container so that edges were round and smooth and also to reduce

the weight further to stay within the safe weight limit.

• Telemetry was rechecked and it was made sure that electronics was working fine

• Weight check verified that the weight of our CanSat was 502g. The CanSat passed the fit test. The

tests were done in time.

• The power bus of the solar panels were tested and verified

Pre launch checks

• All crews successfully proceeded with the sequences

• The GPS got fix after 23 sec

Integration into rockets

• CanSat was powered on and placed into the rocket payload section.

• FSW 0 state was initiated

Rocket launch

• The launch took place approximately 45min after placing the CanSat into the rocket payload section

Deployment

CanSat separation was successful from the rocket and the parachute was successfully deployed

FSW state was updated


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Separation and descent

• GCS crew was able to collect telemetry

• Telemetry plotting was shown to the judges

• FSW state was updated

Landing

• Telemetry stopped before landing because of which we couldn’t track the location of the CanSat

Post Launch

---Recovery

Recovered by CanSat organizers

---Data Analysis

SD card was retrieved from the fuselage and the telemetry data was submitted to the judges in a pen

drive

---Post flight reporting

The data obtained is used to analyse the failures and prepare the PFR.


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Events


Sr.

NoName Position/Role(on launch day)

1 Akshay Girish Joshi Allocating tasks to the crew members and overseeing all operations

2 Pranav Naidu GCS Setup. Post flight recovery and analysis of flight data

3 Ases Akas MishraFinal mechanical systems check before loading the CanSat in the

rocket payload section

4 Roshan Murali Descent Control Module inspection

5 Kumar Yash Antenna construction on the launch day

6 Aman GuptaTelemetry data transmission check. Electrical systems check before

launch

7 Malhar JoshiCanSat recovery and extraction of SD card and submission to the

ground control

Team Members roles and responsibilities on launch day


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Flight Data Analysis

27CanSat 2017 PFR: Team 2617 (Team SEDS VIT)Presenter: G Pranav Naidu

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Payload Separation Altitude

Presenter: G Pranav Naidu CanSat 2017 PFR: Team 2617 (Team SEDS VIT)

The ejection took place at 404m. The microcontroller on the container was coded in such a way

that the container telemetry stops as soon as ejection takes place

Hence we can assume that last telemetry value of the container is where the ejection took place,

i.e. 404m

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Glide Duration


Although we were able to get the glider telemetry successfully at first, however as the glider

descended, a gradual decrease in the solar intensities were observed. Hence as result at the

height of 281.3m the glider could not transmit anymore telemetry data due lack of power.

Therefore only 81.692 seconds of glide time could be observed.

Presenter: G Pranav Naidu

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Payload Sensor Data Plot


The Pressure observed was almost

constant at 235 Pascal

Hence very less increase with

respect to height was observed


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Payload Altitude Plot


A clear decrease in the height is evident as the glider descends.


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Payload Temperature Sensor Plot


The Temperature observed was

between 26-28 Celsius.

A clear increase in the

temperature was observed as

the glider descended.


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Pitot Tube Data Plot


The pitot tube value was

consistently between 4-5 m/sec


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2 Dimensional Plot Based On Speed And

Heading

CanSat 2017 PFR: Team 2617 (Team SEDS VIT)Presenter: G Pranav Naidu

The heading data was inaccurate

because of which we couldn’t properly

locate the position of the glider on the

field.

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Payload Solar Power Plot


The voltage reading was

almost consistent at 5V

with minimum variation in

the voltage reading


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Container Pressure Sensor Plot


The Pressure observed was

almost constant at 235 Pascal

Hence very less increase with

respect to height was observed


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Container Altitude Plot


The clear and sharp

increase in the height of

the altitude can be

observed as the rocket

ascends upwards.


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Container Temperature Plot


The Temperature

observed was between

26-28 Celsius.

A clear decrease in the

temperature was

observed as the rocket

ascended.


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Container Battery Voltage Plot


The voltage reading

was almost consistent

at 4-5V with minimum

variation in the voltage

reading


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Camera Images


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Failure Analysis


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Identification Of Failures, Root Causes,

And Corrective Actions

42

Failures Root Cause Corrective Actions

The folding of the glider was

difficult.

The solar panels were fixed on the

sail cloth using adhesive because

of which the surface of the

sailcloth got hardened

The flexible solar panels should

have been stitched

Glider wings did not fully unfold The spring used for folding got

deformed because of its constant

compression

A coil spring with greater angle

should have been used to

accommodate the compression.

The helical path of the Glider

couldn’t be observed

Due to low visibility. We couldn’t

verify it using sensor data

The sensor(magnetometer) should

have been properly calibrated

Glider telemetry stopped after

81.69 seconds

The glider didn’t fully unfold

because of the compression of the

spring and the hardening of the

sailcloth. Hence the flexible solar

panels couldn’t fully unfold and

perform to its full capacity

Proper unfolding should have

been ensured


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Identification Of Failures, Root Causes,

And Corrective Actions

43

Failures Root Cause Corrective Actions

Telemetry packets were not

received at a frequency of 1

hertz

Due to difference in sampling

rate of sensors we couldn’t give

a proper delay interval in our

code

A sensor specific delay should

have been implemented instead

of a fixed delay

We couldn’t track where the

glider landed

Because of no telemetry after

81.69sec

Proper unfolding should have

been ensured to receive

telemetry till the end

We do not know if the audio

beacon was activated

Because recovery was done by

the CanSat organisers and not

our recovery crew.

We should have enquired if the

buzzer was working

5 images were captured but

none of the images are clear.

We couldn't keep a count of the

images

Fluctuation of voltage and

improper serial communication

between the primary and the

secondary arduinos(Arduino for

camera)

Proper unfolding of the glider

should have been ensured for

maximum solar power output.


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Lessons Learned


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Discussion Of What Worked And What

Didn't


What worked

All components were properly sized for release and operations.

• Glider was deployed properly

Ejection of glider took place within the specified altitude

• Glider had a controlled descent; it did not lose its stability and maintained a

steady descent till 81.69 sec(observed)

• Sensors mostly worked as planned with data logged and telemetry transmitted

successfully.

• CanSat was recovered

What didn’t work

Optimum solar power output was not obtained because of improper unfolding

Telemetry of the glider wasn’t obtained till the end

Camera count wasn’t updated

Helical path couldn’t be observed

Glide duration couldn’t be calculated

Heading data was not updated

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Conclusions


Launch was a success. The CanSat worked almost as expected. The team could reason out the

problems faced and understood what went wrong and how to correct them.

More thorough testing is required to ensure reliable operation. Since some testing

may be difficult or expensive to perform, more detailed mathematical analysis

could be done.

Manufacturing processes must be repeatable and fast enough to allow for thorough,

frequent, and possible destructive testing.

Greater effort spent in the initial design phase contributed to good performance of

the CanSat system despite less than optimal testing.

Because of early research all the work was completed in proper deadline. Though availability of

some parts posed a great challenge in our country, we somehow managed to arrange for all the

parts in the required time.

CanSat 2017 Vellore Institute of Technology Preliminary … · CanSat 2017 Vellore Institute of Technology Post Flight Review (PFR) Team # 2617 Team SEDS VIT. Team Logo Here (If You

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