Cansat2015_3976_PDR_v02

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CanSat 2015 PDR: Team #3976 NEBULA 1

CanSat 2015

Preliminary Design Review (PDR)Version 2.0Team #3976

NEBULA

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Presentation Outline

• Team Organization

• Acronyms

• System Overview - Osman Mirza Demircan

• Sensor Subsystem Design - Firat Dagkiran

• Descent Control Design - Ahmet Serkan Altinok

• Mechanical Subsystem Design - Osman Mirza Demircan

• Communication and Data Handling Design - Firat Dagkiran

• Electrical-Power Subsystem Design - Firat Dagkiran

• Flight Software Design - Ahmet Bayram

• Ground Control System - Muhammed Ali Kul

• CanSat Integration and Test - Gamze Gokmen

• Mission Operations & Analysis - Kutay Cetin

• Requirements Compliance - Gamze Gokmen

• Management - Muhammed Ali Kul

Presenter: Osman Mirza Demircan

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Team Organization

Team Lead

Osman Mirza DEMIRCAN

(Junior Aeronautical Eng)

Mechanical Systems Lead



Ahmet Serkan ALTINOK


Oguzhan DEMIR


Ahmet YILDIZ

(Freshman Astronautical Eng)

Electronics & Flight Software Lead

Fırat DAGKIRAN

(Junior Electrical and Electronics Eng)

Ahmet BAYRAM

(Junior Astronautical Eng)

Rozerin AKTAS

(Sophomore Computer Eng)

Telecommunication &

Ground Station Lead

Muhammed Ali KUL


Ahmet BAYRAM


Kutay CETIN


Mission Operations &

System Testing Lead

Gamze GOKMEN




Kutay CETIN


Faculty Advisor

Assoc. Prof. Nevsan SENGIL

(PhD in Astronautical Eng)

Logistics Management

Muhammed Ali KUL


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Acronyms

• A : Analysis

• ADC : Analog Digital Converter

• ALT : Altitude

• C : Container

• CAM : Video Camera

• CDH : Communication and Data Handling Requirement

• D : Demonstration

• DCR : Descent Control System Requirement

• DCS : Descent Control System

• EEPROM : Electronically Erasable Programmable Read-Only Memory

• EPR : Electrical Power System Requirement

• EPS : Electrical Power System

• FSR : Flight Software Requirement

• FSW : Flight Software

• GCS : Ground Control System Requirement

• GS : Ground Station

• I : Inspection

• I2C : Inter-Integrated Circuit

• MCU : Microcontroller

• MR : Mechanical System Requirement

• P : Payload

• PDR : Preliminary Design Review

• PFR : Preflight Review

• PRM : Payload Release Mechanism

• RTC : Real-Time Clock

• RF : Radio Frequency

• SEN : Sensor Subsystem Requirement

• SPI : Serial Peripheral Interface

• SR : System Requirement

• T : Test

• VM : Verification Method

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Systems Overview


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Mission Summary

• Mission Objectives– Simulating a science vehicle traveling through a planetary atmosphere sampling and

sending telemetry data to the ground during descent.

– Separating the science vehicle from the container at the right moment.

– Recording the descent of the science vehicle in the nadir.

– Preventing the video image from spinning.

– Storing telemetry and video image for recovery and inspection after landing.

– Transporting a load* inside the science vehicle.

– Assuring the safety of the container, the science vehicle and its load from launch tolanding.

• Bonus ObjectiveSelection: Using a three-axis accelerometer to measure the stability and angle of descentof the Science Vehicle during descent. Sampling at appropriate rate and store data forlater retrieval.

Rationale: Providing the information for the best conditions to release the science vehicle.

• External ObjectiveAcquiring the needed experience for future projects as Nebula Space Systems Society.

* «The large raw hen’s egg» is referred to as «the load» throughout this PDR


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(If You Want) System Requirement Summary


ID Requirement Rationale Priority ChildrenVM

A I T D

SR

01

Total mass of the CanSat (Container and Science Vehicle)

shall be 600 grams +/- 10 grams not including the egg.

Competition

RequirementHigh X X

SR

02

The Science Vehicle shall be completely contained in the

Container. No part of the Science Vehicle may extend

beyond the Container.

Competition

RequirementHigh MR01 X

SR

03

The Container shall fit in the envelope of 125 mm x 310

mm including the Container passive descent control

system. Tolerances are to be included to facilitate

Container deployment from the rocket fairing.

Competition


SR

04

The Container shall use a passive descent control system.

It cannot free fall. A parachute is allowed and highly

recommended. Include a spill hole to reduce swaying.

Competition

RequirementHigh DCR01 X

SR

05The Container shall be a florescent color, pink or orange.

Competition

RequirementLow X

SR

06

The rocket air frame shall not be used to restrain any

deployable parts of the CanSat.

Competition

Requirement High X

SR

07

The rocket air frame shall not be used as part of the

CanSat operations.

Competition

RequirementHigh X X

SR

08

The CanSat (Container and Science Vehicle) shall deploy

from the rocket payload section.

Competition

RequirementHigh X


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A I T D

SR

09

The Container or Science Vehicle shall include electronics

and mechanisms to determine the best conditions to

release the Science Vehicle based on stability and

pointing. It is up to the team to determine appropriate

conditions for releasing the Science Vehicle.

Competition

RequirementHigh SEN01 X X X X

SR

10

The Science Vehicle shall use a helicopter recovery

system. The blades must rotate. No fabric or other

materials are allowed between the blades.

Competition

RequirementHigh DCR02 X X

SR

11

All electronic components shall be enclosed and shielded

from the environment with the exception of sensors.

Competition

RequirementLow MR04 X

SR

12

All electronics shall be hard mounted using proper mounts

such as standoffs, screws, or high performance

adhesives.

Competition

RequirementHigh MR07 X X

SR

13

All mechanisms shall be capable of maintaining their

configuration or states under all forces.

Competition


SR

14Mechanisms shall not use pyrotechnics or chemicals.

Competition

RequirementHigh X

SR

15

Mechanisms that use heat (e.g., nichrome wire) shall not

be exposed to the outside environment to reduce potential

risk of setting vegetation on fire.

Competition

RequirementMedium X


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A I T D

SR

16

During descent, the Science Vehicle shall collect and

telemeter air pressure (for altitude determination), outside

and inside air temperature, flight software state, battery

voltage, and bonus objective data (accelerometer data

and/or rotor rate).

Competition

RequirementHigh

SEN02

FSR01X X X X

SR

17

XBEE radios shall be used for telemetry. 2.4 GHz Series 1

and 2 radios are allowed. 900 MHz XBEE Pro radios are

also allowed.

Competition

RequirementHigh X X

SR

18

Cost of the CanSat shall be under $1000. Ground support

and analysis tools are not included in the cost.

Competition

RequirementHigh X

SR

19Each team shall develop their own ground station.

Competition

RequirementMedium GCS01 X X X

SR

20

The Science Vehicle shall hold one large raw hen’s egg

which shall survive launch, deployment and landing.

Competition

RequirementHigh X X X

SR

21

Both the Container and Science Vehicle shall be labeled

with team contact information including email address.

Competition

RequirementLow X X

SR

22No lasers are allowed.

Competition

RequirementHigh X


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System Level CanSat Configuration Trade &

Selection: Container


MissionI. Structural design

II. Container

DCS

III. Container

Color

IV. PRM

PlacementConfiguration

1Thin shell with

horizontal platesParasheet Pink On the container

2Thin Shell with

mountable modulesParachute Orange On the payload

3Body frame with

cover membraneAerobrake

*Selected configurations are shown in red.

I - Body frame with cover membrane is chosen for its lightweight and acceptable structural

properties.

II - Parachute is chosen for its stability and reliability. Air inlets on the cover membrane are

considered for passive activation after rocket deployment. Spill hole is considered.

III - Orange has won the elections among team members. Orange>Pink.

IV - We have chosen to put PRM and all electronics in the payload to decrease the total weight

and increase the volume of the payload at the same time.

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Selection: Payload


MissionI. PRM II. Payload DCS

III. Load

PlacementIV. Power Unit

Configuration

1 ElectromagnetMultiple counter

rotating folding blades

Lower

compartmentAlkaline Battery

2 WirecutterCoaxial folding

blades

Upper

compartmentLi-Po

3Actuator

Configuration

*Selected configurations are shown in red.

I - Electromagnets are not chosen for high complexity and not being reliable enough.

Wirecutter mechanisms are known for being not reliable as well. So an actuator composed of

a torque servomechanism and an output arm is considered for this task. Our final selection

and its alternatives are discussed in the next slide.

II - Coaxial folding blades are chosen for their stability and lightweight.

III - Since a video camera is gto be used and it can only be placed at the lower compartment

of the payload, all electronics are decided to be put in the lower compartment as well. Which

leaves the upper compartment to the load placement.

IV - Finally, an alkaline battery is considered as power supply since Li-Po batteries are not

allowed. It is cheap, simple, reliable and easy to implement.

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Selection: Payload Continued (PRM)


Configuration Concept Pros Cons

I. Arm turns one way to detach

the payload

Easy to design and

build

Risk of break at

launch

II.

Arm turns one way to reduce

the friction force holding the

rope

LightweightComplex to build,

unstable

III.Arm turns one way to free

itself, releasing the payload

Easy to design

and build, reliable

Rope

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Selection: Final Selections


Configuration Selection

Structural design Body frame with cover membrane

Container DCS Parachute with spill hole

Container Color Fluorescent orange

Payload DCS Coaxial folding blades

PRM Electric servomechanism

Load Placement Lower payload compartment

Power Supply Battery

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System Concept of Operations


• Bringing the CanSat and all GS equipments

• Setting up the GS

• Checking all systems

• Finalizingpreparations

Pre-LaunchOperations

• Preflight tests

• Launch Countdown

• CanSat missions (seethe following slide)

LaunchOperations

• Recovery of thecontainer and thepayload

• Data Analysis

• Preparing the PFR

Post-LaunchOperations

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System Concept of Operations


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Physical Layout: Container

• Launch configuration: Upside-down (all dimensions are in millimeters)


Container DCS

Air Inlet

Container Cover Membrane

Payload Compartment

Payload Insert & Deployment

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Physical Layout: Payload

• All dimensions are in millimeters


Deployed Configuration

PRM

Payload DCS

Load Compartment

Electronics Compartment

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Physical Layout: CanSat

• CanSat is shown without the cover membrane. All dimensions are in millimeters.


Container DCS Compartment

Payload Compartment

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Physical Layout: CanSat Integrated


Rocket Nose Cone

CanSat Integrated Configuration (Upside Down)

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Launch Vehicle Compatibility

• The payload and its subsystems are designed to be

placed upside down inside the rocket’s payload

section. The main reason behind this choice was to

ease the deployment of the container’s parachute.

• As can be seen on the visual representation of how

the integration will look like, our design fits inside the

payload section with margins of 4mm and 5mm. We

kept this value a bit small intentionally in order to

prevent the CanSat to move too much during ascent

which could cause damage.

• To verify the rocket payload section compatibility,

the dimensions of both the CanSat and the rocket

are going to be checked for any protrusions and any

necessary action will be made during preflight tests.


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Sensor Subsystem Design

Fırat DAGKIRAN

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Sensor Subsystem Overview

• Pressure Sensor: BMP180

– Measures pressure to determine altitude

– Accuracy 0.02hPa

– Ultra-low power consumption

• Temperature Sensor: BMP180

– Built into pressure sensor

– 0.1 Celcius degree resolution

– I2C communication protocol

• 3-Axis Accelerometer: ADXL345

– Used for monitoring stabilization of the payload

– Selectable sensitivity (±1.5g - ±6g)

– Maximum survival acceleration (all axis) is ±5000g

Presenter: Firat Dagkiran

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Sensor Subsystem Requirements

ID Requirement Rationale Priority Parent ChildrenVM

A I T D

SEN

01

The Container or Science Vehicle shall

include electronics and mechanisms to

determine the best conditions to release

the Science Vehicle based on stability

and pointing. It is up to the team to

determine appropriate conditions for

releasing the Science Vehicle.

Safety of the

MissionHigh SR09 X X X X

SEN

02

During descent, the Science Vehicle shall

collect and telemeter air pressure (for

altitude determination), outside and

inside air temperature, flight software

state, battery voltage, and bonus

objective data (accelerometer data

and/or rotor rate).

Competition

RequirementHigh SR16 FSR01 X X X X

SEN

03

• 1 meter resolution

• Sampling rate greater of than 1Hz

Competition

RequirementMedium X

SEN

04

• 1 Celcius degree resulotion

• Sampling rate of greater then 1Hz

Competition

RequirementMedium X

SEN

05

• 1g/LSB resolution

• Sampling rate of greater than 1 Hz

Competition

RequirementMedium X


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Pressure Sensor Trade & Selection

• Selected sensor: BMP180

Reason Selected:

– Acceptable frequency

– Easy communications

– Suitable range

– Resolution is adequate

Sensor Range Resolution Frequency

Communication

Protocol

BMP180 30 – 110kPa 0.002kPa 225Hz I2C

MPX4115A 15 – 115kPa 0.021kPa 1000Hz Analog

MS5611 45-120kPa 0.001kPa 125Hz SPI


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Air Temperature Sensor

Trade & Selection

• Selected sensor: BMP180

Reason Selected:


– Easy communications

– Suitable range



Sensor Range Resolution Frequency

Communication

Protocol

BMP180 0-65 C 0.1 C 225Hz I2C

MS5611 -40 – 85 C 0.01 C 125Hz SPI

SEN-00250 -40 – 125 C <0.01 C >1000Hz Analog

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CanSat 2015 PDR: Team #3976 NEBULA26

Camera

Trade & Selection

• Selected Camera: OV7670

Selected Reason:

- OV7670 requires much less power supply than CMOS Camera Module.

- More sensitivity.

Type Voltage

Required

Current

Consumption

Power

Supply

Video

Output

Sensitivity

OV7670 3.3 V 12mA 5mW RGB 1.3 Lux

CMOS

Camera

Module

12 V 50mA 72mW Vp-p 0.2 Lux


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3-Axis Accelerometer Sensor

Trade & Selection

• Selected sensor: ADXL345

Reason Selected:


– Easy communication

– Suitable range



Sensor Range Resolution Frequency Communication Protocol

ADXL345 ± 16g 0.03 g/LSB <1MHz SPI or I2C

MMA8653 ± 8g 0.015g/LSB <1MHz I2C

BMA140 ± 4g 0.002g/LSB <1MHz Analog

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Descent Control Design

Ahmet Serkan ALTINOK

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Descent Control Overview

Presenter: Ahmet Serkan Altinok

Descending process1. After CanSat deployed at about 700 meters, the

container’s parachute should deploy with the airflow

coming through to air inlets on the cover membrane.

2. Until the CanSat descends down to 500 meters of

height, the PRM is going to wait for the

accelerometer’s stabilization signal to release the

payload.

3. However, It should definitely activate when the height

is below 500 meters using the altitude data from

FSW.

4. After the release, the blades of the payload should

open and start rotaing in inverse direction, slowing

down the payload to a constant descent rate before it

reaches 300 meters. While the payload is

descending, the balance rod will keep it stabilized for

better image acquisition.

Container DCS

Elements

Payload DCS

Elements

Parachute with spill hole Blades (2x2)

Air inlets (x8) Hubs (x2)

Stability rod (x1)

Hollow Shaft (x1)

1.

2.

3.

4.

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Descent Control Requirements


A I T D

DCR

01

The Container shall use a passive

descent control system. It cannot free

fall. A parachute is allowed and highly

recommended. Include a spill hole to

reduce swaying.

Competition

RequirementHigh SR04 X

DCR

02

The Science Vehicle shall use a

helicopter recovery system. The blades

must rotate. No fabric or other materials

are allowed between the blades.

Competition

RequirementHigh SR10 X X

DCR

03

All descent control device attachment

components shall survive 50 Gs of

shock.

Safety of the

MissionHigh X X

DCR

04

All descent control devices shall survive

50 Gs of shock.

Safety of the

MissionHigh X X

DCR

05

The descent rate of the Science Vehicle

shall be less than 10 meters/second and

greater than 4 meters/second.

Competition

RequirementHigh X X X

DCR

06

During descent, the video camera must

not rotate. The image of the ground shall

maintain one orientation with no more

than +/- 90 degree rotation.

Competition

RequirementMedium X X X

Presenter: Ahmet Serkan Altinok

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Container Descent Control Strategy

Selection and Trade

Parachute will open shortly after the

container leaves the rocket. This passively

operating mechanism is chosen instead of

electronically controlled parachute because of:

• Lightweight

• Easy to build

• No need for a control system

Container will be painted fluorescent

orange to make it easier to see and find.

Container itself will not contain any

electronical components or battery in order to

reduce the weight and make it easier to build.

31CanSat 2015 PDR: Team #3976 NEBULAPresenter: Ahmet Serkan Altinok

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Payload Descent Control Strategy

Selection and Trade

When the container reaches 500 meters, thepayload will be separated by the PRM. This mechanismprovides the following:

• No need for any batteries or electronics in the container

• Lightweight

• More space for the payload

Trade study for the DCS selection is made insystem overview as Coaxial Folding Blades.

After separation, the blades should open andslow the payload to a constant descent rate between 6-8 m/s. Coaxial blades are used, because:

• Provides more lift

• Prevents torque, thus helping payload to not turn whiledescending

Balance rod will provide better stabilitythroughout the descent.

Payload structure will be made frompolyamide, thus it will be originally white.

CanSat 2015 PDR: Team #3976 NEBULAPresenter: Ahmet Serkan Altinok

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Descent Rate Estimates

• From Nasa, we get the following formula to find the radius of our parachute:

𝑟 =2𝑊𝑇

𝐶𝑑𝜌𝜋𝑉2

• From Richard Nakka’s rocketry site, we get the following formula to find the velocity

of a parachute:

𝑉 =2𝑊𝑇

𝑆𝐶𝑑𝜌S = 2πr2

• If we implement S in the V formula, we obtain the following:

𝑉 =𝑊𝑇

𝐶𝑑𝜌𝜋𝑟2

• Where,

– S is the canopy surface area of a semi hemispherical parachute in m2

– Cd is the coefficient drag which is taken as 1.25 for a semi hemispherical restrained

parachute

– ρ is the air density, taken as 1.225 kgm3

– r is the radius of the parachute

CanSat 2015 PDR: Team #3976 NEBULAPresenter: Ahmet Serkan Altinok

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• As a result, we have found that our parachute should have a radius

of approximately 15 cm for the CanSat to descend with a constant

velocity of approximately 8 m s.

• We are also planning to add a spill hole to reduce swaying.

34CanSat 2015 PDR: Team #3976 NEBULAPresenter: Ahmet Serkan Altinok

Descent Rate Estimates

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Mechanical Subsystem Design

Osman Mirza DEMİRCAN

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Mechanical Subsystem Overview


Container Body Frame Payload Body Frame

Container DCS Compartment

(air inlet on the cover membrane)

PRM Connection

Longitudinal Frames

Formers

Load Compartment

Electronics Compartment

Longitudinal Frames

Opening for the CAM lens

Drive shaft

(Actuator cable goes through here)

PRM Placement

Payload Compartment

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Mechanical Sub-System

Requirements


A I T D

MR

01

The Science Vehicle shall be completely

contained in the Container. No part of the

Science Vehicle may extend beyond the

Container.

Competition

RequirementHigh SR02 X

MR

02

The Container shall fit in the envelope of

125 mm x 310 mm including the Container

passive descent control system.

Tolerances are to be included to facilitate

Container deployment from the rocket

fairing.

Physical

ConstraintsHigh SR03 X

MR

03

The Container shall not have any sharp

edges to cause it to get stuck in the rocket

payload section.

Safety of the

MissionHigh X X

MR

04

All electronic components shall be

enclosed and shielded from the

environment with the exception of

sensors.

Competition

RequirementLow SR11 X

MR

05

All structures shall be built to survive 15

Gs acceleration.

Structural

IntegrityHigh X X

MR

06

All structures shall be built to survive 30

Gs of shock.

Structural

IntegrityHigh X X


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Mechanical Sub-System

Requirements


A I T D

MR

07

All electronics shall be hard mounted

using proper mounts such as standoffs,

screws, or high performance adhesives.

Safety of the

ElectronicsHigh SR12 X X

MR

08

All mechanisms shall be capable of

maintaining their configuration or states

under all forces.

Safety of the

MissionHigh SR13 X


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Egg Protection Trade & Selection


Configuration Concept Pros Cons

I.

Shell covering the load,

attached to the

compartment plates

Keeps the load in

place

Lightweight

Doesn’t provide

protection

II.

Springs holding and

balancing the load in

place

Highly protectiveComplex design

and build

III.

Load covered with

protective material

filled shell

Highly protective

Easy to design and

build

Heavy

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Mechanical Layout of Components

Trade & Selection


Configuration Placement

Container DCS Upper container compartment

Payload Placement Lower container compartment

PRM Top of the payload

Payload DCS Below PRM

Load Placement Upper payload compartment

Payload Electronics Lower payload compartment

Selected Layout:

Configuration Placement

Container DCSUpper container

compartment

Lower container

compartment

Payload

Placement

Upper container

compartment

Lower container

compartment

PRM On the container On the payload

Payload DCSUpper payload

compartment

Lower payload

compartment

Load

Placement

Upper payload

compartment

Lower payload

compartment

Payload

Electronics

Upper payload

compartment

Lower payload

compartment

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(If You Want)Material Selections

• Polyamide (PA 2200) is chosen as material for all structural and

connection elements to be printed.

• Although its density is high, this material has exceptional mechanical,

thermal and chemical resistant properties.

• The cover membrane of the container is to be made using fabric or

some kind of paper(to be decided).

• Other remaining elements are to be made using balsa-like lightweight

materials.

• The filling material for the load protection is to be decided in the CDR.

CanSat 2015 PDR: Team #3976 NEBULA 41Presenter: Osman Mirza Demircan

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Container - Payload Interface


- Firstly, blades are folded and the payload is placed inside the container’s payload

compartment.

- The upper bars of the actuator are placed such that the payload doesn’t rotate about itself

when the actuator is activated. Then the arm is manually turned to fit in the extruded part of

the horizontal plate separating the two compartments of the container.

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Container - Payload Interface


- This way, the payload stays put until the arm is activated. After this process, the cover

membrane is placed on top of the container.

Container Parachute

R

P

M

When the releasing

command is given by the

FSW, the output arm turns,

releasing the payload.

The container body frame

is to be designed such that

when the payload is

released, it conducts the

payload directly below

without giving it any

chance to get stuck.

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(If You Want) Structure Survivability Trades

• Placements for connections are going to be determined in the CDR.

• Electronics circuit is planned to be printed onto a PCB which is going to

be hard-mounted onto the horizontal compartment plates using

connectors such as bolts and pins.

• All wires are going to be fixed using fasteners and tape.

• A simple 15G acceleration analysis is conducted to see the response of

the structure to the loading during lauch and ascent. They are shown in

the oncoming slides.


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• 15G Acceleration analysis results from SolidWorks Simulation show that the container

structure survives entirely and max deformation is less than 1mm.

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• 15G Acceleration analysis results from SolidWorks Simulation show that the payload

structure survives entirely and max deformation is less than 1mm.

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Mass Budget


Component (Container) Mass (gr) Margin Source

Container Body Frame 32.65 ±0.01 SolidWorks Mass Properties

Container Parachute 25 - Estimate

Connectors 5 - Estimate

Component (Payload) Mass (gr) Margin Source

Payload Body Frame 33.83 ±0.01 SolidWorks Mass Properties

Payload DCS (blades, shaft, hubs and stabilizer) 50 - Estimate

Actuator (servomechanism and output arm) 10 ±1 Hobbyking.com

Large Raw Hen’s Egg 60 ±5 Wikipedia.com

Egg Container (protective material and shell) 25 - Estimate

Microprocessor 5 ±0.1 Arduino.cc

Sensors 30 - Datasheet + Estimate

Video Camera 13 ±0.1 Dx.com

Printed Circuit Board 10 - Estimate

Batteries 45x2 ±0.1 Duracell.com

Xbee + Antenna 20 - Estimate

Connectors 20 - Estimate

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Mass Budget


Total weight of the container elements = 62.65 ± 0.01 grams

Total weight of the payload elements = 321.83 ± 6.31 grams (including the load)

Total weight of the CanSat = 439.48 ± 6.02 grams (including the load)

As can be seen above, the mass bugdet is below the required value which gives us the abbility

to strenghten the structures and mechanisms for the CDR.

Before launch, the weight of the CanSat is to be between 590 and 600 grams.

During the preflight tests, a precision weighing is going to be brought to check the total weight

to add and mount small weights to the CanSat in the allowed interval.

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Communication and Data Handling

(CDH) Subsystem Design

Fırat DAGKIRAN

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CDH Overview

• Container

– Includes only a passive parachute, no electronics.

• Payload

– Pressure, power source voltage, temprature, accelerometer datas are sent to the

Arduino Nano.

– All datas and camera record are also saved in memory unit

– Electric actuator for seperate payload from container

– Datas sent to an XBEE radio for transmission to ground station.

– DS1307 is for keeping time after CanSat powered on

Presenter: Fırat Dagkiran

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CDH Requirements


A I T D

CDH

01

During descent, the Science Vehicle shall

collect and telemeter air pressure (for

altitude determination), outside and

inside air temperature, flight software

state, battery voltage, and bonus

objective data (accelerometer data).

Competition

RequirementHigh SR16

SEN02

FSR01X X X X

CDH

02

The Science Vehicle shall transmit

telemetry at a 1Hz rate.

Competition

RequirementHigh FSR02 X X

CDH

03

Telemetry shall include mission time with

one second or better resolution,

which begins when the Science Vehicle

is powered on.

For Setting

Mission TimeHigh X X

CDH

04

XBEE radios shall be used for telemetry.

2.4 GHz Series 1 and 2 radios are

allowed. 900 MHz XBEE Pro radios are

also allowed.

Competition

RequirementLow SR17 X X

CDH

05

XBEE radios shall have their

NETID/PANID set to their team number

(decimal).

Distinguish the

team datas

from other

teams’ packets

MediumX X

CDH

06

XBEE radios shall not use broadcast

mode.

Competition

RequirementMedium X X


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CanSat 2015 PDR: Team #3976 NEBULA

52

Processor Trade & Selection

• Selected Processor: Arduino Nano

Selected Reason:

– Minimum weight and area

– Minimum power consumption

– Easy to use and communicate

– Acceptable speed and memory storage

MicrocontrollerProcessor

Speed

Data

Interface

Memory

Storage

Power

Requirements

Input

VoltagePrice

Arduino Nano

(ATmega328)16MHz

UART TTL

SPI and I2C

Digital IO:14

Analog : 8

32KB Flash

1KB

EEPROM

20mA 7-12V $7.98

Atmel Xmega

128A116Mhz

USART-8,

SPI and I2C

Digital I/O = 78

128KB Flash,

2KB

EEPROM

800 mADown to

3.3V$30.73

Arduino Uno

(ATmega328)16MHz

UART TTL

SPI and 12C

Digital I/O: 14

Analog: 5

32KB Flash

1KB

EEPROM

20mA 9V $28.5


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CanSat 2015 PDR: Team #3976 NEBULA53

Memory Trade & Selection

• Selected Memory: SD Card Module

Selected Reason:

- EEPROM uses less power but Memory Capacity is too low for capturing

video. That is why Sd Card Module is selected

Type Voltage

Required

Current

Required

Power

Required

Interfaces Speed Memory

Capacity

EEPROM

(24LC256)

3.3 V 3-5mA 13.2mW Digital(I2C) 300-1000

kHz256kbit

SD Card

Module

3.3 V 100-150mA 500mW Digital(SPI) 200MHz GBs


Team Logo

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(If You Want) Real-Time Clock

• Selected RTC: DS1307

Reason Selected:

– Low power consumption

– Automatically adjusted for minutes

– Easy to use interface type


Real Time Clock Interface Type Operating Voltage Operating CurrentOscillator

Frequency

DS1307 I2C 5V 300nA 32768kHz

MCP79510 SPI 3.3V 700nA 32768kHz

Software(on

Arduino Nano)Internal 9V 20mA 32768kHz


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Antenna Trade & Selection

• Selected Antennat: A24 – HASM – 525

Reason Selected:

– Suitable size for Cansat

– Acceptabe gain

Antenna Type Gain Length Cost Connection

A09-HASM-675DIPOLE

2.1dBi 171.0mm $20 RP-SMA

RN-SMA-S-RPOMNI 0.0dBi 28.4mm $6 RP-SMA

LM Tech.

253-1024DIPOLE 7dBi 295mm $12 RP-SMA


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Radio Configuration

• Radio Requirements

– 2.4 GHz Series 1 and 2 radios are allowed. Also, 900MHz XBEE Pro radios

are also allowed.

– XBEE radios shall have their NETID/PANID set to team number.

– Container and payload shall have the same NETID/PANID

– XBEE radios shall not use broadcast mode.

• Transmission Control

– All radios will be set to API mode

– Ground Station Radio works as a coordinator

– Payload radio programmed as an end device

– Payload radio will be programmed to be in Unicast mode

– Payload radio will have the network ID


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(If You Want) Telemetery Format

• What data is included?

– All data obtained from required sensors (air temperature, air pressure, voltage,

acceleration)

– Packet count

– Time

• Data rate of packets?

–One packet of data at every second

• How is data formatted?

– After receiving data from transmitter, Ground Station will write the data to Excel

formatted file. Then datas will be read by Matlab simultaneously.

– Since only connection between container and science vehicle is servo motor,

there is no packet transfer to ground station from container. Examples are in the

next slide.

57Presenter: Fırat Dagkiran CanSat 2015 PDR: Team #3976 NEBULA

Team Logo

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(If You Want) Telemetery Format

Format:

– Science Vehicle:<TEAM_ID(3976)>,<PACKET_COUNT>,<MISSION_TIME>,

<ALT_SENSOR>,<TEMP>,<VOLTAGE>,[<BONUS_ACCELERAMETER>]

Example:

– Science Vehicle : 3976, 48, 48, 500, 33.5, 3.3, 0.2, 10, 0.7.

3976: Team ID

48: Packet Count

48: Mission Time n Seconds

500: Altitude

33.5: Temperature in Celcius

3.3: Voltage

0.2, 10, 07 : Acceleration in x, y, z directions m/𝑠2

58Presenter: Fırat Dagkiran CanSat 2015 PDR: Team #3976 NEBULA

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Electrical Power Subsystem (EPS)

Design

Firat DAGKIRAN

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EPS Overview

• Power Source:

– 9V Alkaline battery will be used to rpvide power to devices

• Power Switch

– A switch is used to enable power flow to the entire EPS system.

• DC – DC Converters

– Regulate the voltage to 3.3 and 5.0 without sacrificing power.

DIAGRAM:

9V Alkaline

BatterySwitch

3.3V

DC to DC

Converter

5.0V

DC to DC

Converter


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EPS Requirements

ID Requirement Rationale Priority Parent ChidrenVM

A I T D

EPR

01

The Science Vehicle shall include

an easily accessible power switch

which does not require removal

from the Container for access. An

access hole or panel in the

Container is allowed.

Competition

RequirementMedium X

EPR

02

The Science Vehicle must include a

battery that is well secured. (Note: a

common cause of failure is

disconnection of batteries and/or

wiring during launch.)

Safety of the

MissionHigh X X

EPR

03

Lithium polymer cells are not

allowed due to being a fire hazard.Competition

RequirementHigh X

EPR

04

Alkaline, Ni-MH, lithium ion built with

a metal case, and Ni-Cad cells are

allowed. Other types must be

approved before use.

Competition

RequirementMedium X


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Electrical Block Diagram

• Payload:

9V Alkaline

BatterySwitch

5.0V

DC to DC

Converter

RTCRelease

Mechanism

3.3V

DC to DC

Converter

CDH

System

Sensor

Subsystem

3.3V

DC to DC

Converter

Voltage Sensor

Data/Control

Power


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Payload Power Source

Trade Study

• Payload Energy Source: 9V Alkaline Battery

Reason Selected: 9V Battery

– Acceptable capacity

– Suitable weight

– Acceptable area for cansat


Source mA Hours Weight(g) Voltage

AAA x6 2000 70 4.5

AA Batteries x3 5250 70 4.5

9V Batteries x2 1200 90.0 9


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Power Budget

Component Current(mA) Voltage(V) Power(mW)Expected Duty

Cycle (min)

Total Energy

Consumed(mWh)Source

BMP180 1.0 3.3 3.3 5 0.27 Datasheet

XBEE 210 3.3 693.0 5 57,75Datasheet

ADXL345 0.14 3.3 0.5 5 0.04Datasheet

5.0V DC to DC

Converter0.2 9.0 1.8 5 0.15 Estimate

3.3V DC to DC

converter0.2 9.0 1.8 5 0.15 Estimate

OV7670

Camera3.3 5 Datasheet

Arduino Nano 20.0 9.0 180 5 15 Datasheet

Precision

PH – 1135 3.6mA 5.0V 18 5 15 Datasheet

• Total Power Consumption: 88.36 mWh for 5 minutes (worst case)

• Battery Capacity: 7200mWh

• Minimum Lifetime: 8,01 Hours


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Power Bus Voltage Measurement

Trade & Selection

• Selected Sensor: Phidgets 1135

– Measures voltage from -30V to +30V

– Supply Voltage: 5.0V

– Current Consumption: 3.6mA

– Typical Error: ±0.7%

– RoHS compliant


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Flight Software (FSW) Design

Ahmet BAYRAM

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67

FSW Overview

• Basic FSW architecture

• Programming languages

- C/C++

• Development environments

- Arduino IDE

Presenter: Ahmet Bayram

FSW

ACTUATOR

STORAGE

GCS

SENSORS


Team Logo

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(If You Want) FSW Overview

• FSW tasks

- Communication between Container(Servo motor) and

Payload; sensors, mechanisms and Ground Control Station via

transmiting telemetery data at 1 Hz rate. Since there is no

electronics in the container the only connection between

container and science vehicle is servo motor.

- During flight; capturing video, calculating altitude,

controlling descent, seperating Container and Payload and

storing all the data taken from sensors and camera.

68Presenter: Ahmet Bayram CanSat 2015 PDR: Team #3976 NEBULA

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69

FSW Requirements


A I T D

FSR

01

During descent, the Science Vehicle

shall collect and telemeter air

pressure (for altitude determination),

outside and inside air temperature,

flight software state, battery voltage,

and bonus objective data

(accelerometer data and/or rotor

rate).

Competition

RequirementHigh SR16

SEN02

CDH01X X X X

FSR

02

The Science Vehicle shall transmit

telemetry at a 1 Hz rate.Competition

RequirementHigh CDH02 X X

FSR

03

Telemetry shall include mission time

with one second or better resolution,

which begins when the Science

Vehicle is powered on.

Competition

RequirementHigh CDH03 X X

FSR

04

XBEE radios shall have their

NETID/PANID set to their team

number (decimal).

Competition

RequirementMedium CDH05 X X

FSR

05

XBEE radios shall not use

broadcast mode.Competition

RequirementMedium CDH06 X X

Presenter: Ahmet Bayram CanSat 2015 PDR: Team #3976 NEBULA

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70

FSW Requirements


A I T D

FSR

06

The Science Vehicle shall have a video

camera installed and recording the

complete descent from deployment to

landing. The video recording can start at

any time and must support up to one hour

of recording.

Competition


FSR

07

The video camera shall include a time

stamp on the video. The time stamp must

work from the time of deployment to the

time of landing.

Competition


FSR

08

The CanSat flight software shall maintain

and telemeter a variable indicating its

operating state. In the case of processor

reset, the flight software shall re-initialize

to the correct state either by analyzing

sensor data and/or reading stored state

data from non-volatile memory. The states

are to be defined by each team. Example

states include: PreFlightTest(0),

LaunchWait(1), Ascent(2),

RocketDeployment(3), Stabilization(4),

Separation(5), Descent(6), and Landed(7).

Competition

RequirementMedium X X X X


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71

FSW Requirements


A I T D

FSR

09

Data will be stored using an external

memory module through SPI protocol

Additional

Memory Unit In

Case of Need

Medium X X

FSR

10

All telemetry data will be displayed and

plotted in real-time during launch and

descent.

Competition

RequirementMedium X X X X


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CanSat 2014 PDR: Team #3976 NEBULA 72Presenter: Ahmet Bayram

Power on Start Reading Sensors and Set Initial Altitude

Is the altitude => 100 m ? Are the

last 2 altitude

measurements decreasing?

Start Recovery Mode and

Exit Code

Is the altitude greater than 500 m

?

Is the Cansat stabilized in x and z

direction ?

Release Container and Science

Vehicle

Continue reading sensors and

store

Yes

No

CanSat FSW State Diagram

No

Yes

No Yes

Sample, Store and Transmit

Telemetery Data

Are the past 3 altitude measurements

within our altitude resolution

No

Yes

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PROCESS DETAIL DATE CHECK

Desinging an algorithm Most important part 08.28.2014 DONE

Arduino Uno Test Led using breath effect 09.15.2014 DONE

SD Card Module Test 1 Reading and writing data(only

text) and a video data to test gb

limit.

09.15.2014 DONE

APC220 Radio Transmission tests 09.16.2014 DONE

Telemetery Data Data Packet Formation 09.16.2014 DONE

LM35DZ Tests Temperature tests and selection

of the correct sensor

10.05.2014 DONE

MPX4115A Tests Pressure tests and selection of

the correct sensor

10.05.2014 DONE

MMA7361L Tests Accelerometer tests and

selection of the correct sensor

for bonus.

10.05.2014 DONE

Altitude Data Tests For testing resolution 10.05.2014 DONE


Software Development Plan

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PROCESS DETAIL DATE CHECK

Pdr Preparation 02.10.2015 DONE

CDR Preparation 03.20.2015 -

Arduino Nano Test 1 Pin Check 03.25.2015 -

Real Time Clock Tests Comparison with satellite datas 03.25.2015 -

Arduino Nano Test 2 Led using breath effect 03.26.2015 -

Camera Test Capturing video 03.29.2015 -

XBEE Radio Test Data transmission 04.05.2015 -

SD Card Module Test 2 Capturing video and writing to

sd card.

04.10.2015 -

Servo Motor Test Checking the response 04.12.2015 -

Arduino Nano Test 3 Reset 04.25.2015 -

Buzzer Tests Landing check 05.05.2015 -



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75


• Software development will begin early on in development of

the CanSat; software tests will be done at lab when a

sensor or a part of system is ready. Software planning will

be developed in order of: Altitude sensing, radio

transmitting, seperation commands and then the bonus

objective.

• Development Team: Ahmet BAYRAM, Rozerin AKTAŞ


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Ground Control System (GCS) Design

Muhammed Ali KUL

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GCS Overview

• The antenna is connected to the XBEE Pro 900 RPSMA

• XBEE connected to the computer via a serial port

• A MATLAB script will read the data, save it to a CSV file, and then

plot it in real time.

Presenter: Muhammed Ali Kul

Payload Antenna RadioComputerSerial Port

MATLAB Script

(Computer)

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GCS Requirements


A I T D

GCS

01

Each team shall develop their own ground

station.

Competition

RequirementMedium SR19 X X X

GCS

02

All telemetry shall be displayed in real

time during descent.

Competition

RequirementHigh X X

GCS

03

All telemetry shall be displayed in

engineering units (meters, meters/sec,

Celsius, etc.)

Competition

RequirementMedium X

GCS

04

Teams shall plot data in real time during

flight on the ground station computer.

Competition

RequirementMedium X X

GCS

05

The ground station shall include one

laptop computer with a minimum of two

hours of battery operation, XBEE radio

and a hand held or table top antenna.

Competition

RequirementMedium X

GCS

06

The ground station shall be portable so

the team can be positioned at the ground

station operation site along the flight line.

AC power will not be available at the

ground station operation site.

Competition

RequirementHigh X


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GCS Antenna Trade & Selection

• Hyper Link Wireless HG-8909P Panel antenna is selected for the

reasons:

– Greater range than the Omni-Directional antennas.

– Wider beam angle then Yagi antennas.

– Mounting the antenna so that it will have a 60 degrees of elevation

approximately, and ease of control with the legs paralel to the ground

when handled.

– Ease of buying and finding in where we live.


Antenna Type Gain Range

A09-P19NF Panel 19.0 dBi 8900 meters

A09-Y16RM Yagi 13.5 dBi 4700 meters

A09-F8NF Omni-Directional 8.0 dBi 2500 meters

HG-8909P Panel 9.0 dBi 3500 meters

Team Logo

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(If You Want) GCS Software

Antenna receives data (signal)

Data transferred to computer via serial

port

Save to a matrixwith MATLAB

Matlab code willread the matrix andmake calculation if

any

The matrix is updated in every

one second

MATLAB GUI interface module will plot data and Show them with a graphical format

80

• We plan to create a MATLAB GUI interface with a normal

MATLAB script to read, plot, save and show data from the

telemetry packets in a graphical way.

• The antenna will be connected to the computer via a serial

port.

• A button assigned for running the code will firstly use fscanf

function to read the data, which will be saved in a matrix.

• The interface will automatically plot with plot command and

with some different versions of it for a better understanding

of the displayed data.

CanSat 2015 PDR: Team #3976 NEBULAPresenter: Muhammed Ali Kul

Team Logo

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(If You Want) GCS Software

• Data will be updated and stored in matrix which a text file

(.txt) consist of it. Fopen command will be used

• Created CSV file (.csv) will be submitted to judges. Csvwrite

command will be used.

81CanSat 2015 PDR: Team #3976 NEBULA

Above the planned MATLAB GUI Interface


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CanSat Integration and Test

Gamze GOKMEN

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Overview

• Integration of the CanSat carries importance because CanSat will

be under high g’s and integrated CanSat must withstand these high

forces. All flight hardware (including electronics, egg protection,

and descent control devices) will be assembled with the frames

into a flight prototype.

• We designed our CanSat to print it out from a Laser Synthering

Machine which is provided by our university. This way our CanSat

will have less weak points as connection and will have less weight

without screws and other connecters.

• The Cansat Tests includes two phases:

– Part Tests: CanSat electronics and other systems will be tested

individually.

– Integrated Tests: Tests will be carried out with an integrated CanSat.

• All the test results will be recorded to submit to the judges.

Presenter: Gamze Gokmen

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Overview

• Sensor tests will be done by bread boarding the sensors to ensureproper working. The created test beds will be put into different readingpoints. Reference datas will be collected from trusted sources andboth readings will be compared.

– For pressure, temperature and altitude sensors; the tests will be done toensure the measurements are correct with the least error. And comparethe readings with reference data taken from reliable sources.

– Accelerometer tests will be conducted to ensure its proper working andgetting the correct data during the entire flight state.

– If data read and stored successfully then the sensors can pass the test.

• Descent control system tests will be done with drop tests fromdifferent (low to high) altitudes using tethered balloons.

– Tests will be done repeatedly to decide the final shape and dimensions.Also to ensure correct deployment and resistance to high G’s. Ifdeployment is correct and CanSat can reach the appropriate speed forlanding and does a delicate landing to protect the load from crackingthen it can pass the test.

84Presenter: Gamze Gokmen CanSat 2015 PDR: Team #3976 NEBULA

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Overview

• Mechanical system tests will be done with drop tests using the labequipments in our university. A prototype will be prepared to carrythe tests.

– Egg protection, survivability, separation mechanism for the Cansatwill be checked by drop tests. And with the results of these tests finalmaterials and design will be decided.

– All of the structures should resist the high shocks and the CanSatshouldn’t crack or break.

– If CanSat can comply all the requirements under simulated highforces then it can pass the tests.

• CDH tests will be done by a CanSat prototype that containssensors (including accelerometer), SD card, logger. Also there is aneed for GS software, receiver and antenna.

– Tests will be carried out with different distances to check if the datacan be received without a problem.

– Tests will be done to ensure all the subsystems can work welltogether.

– All data's will be compared with the trusted readings. If system worksand can transmit data correctly, it passes the tests.


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Overview

• Electrical system tests will be done with preparing a prototype forthe electrical elements. And will be run through a full mission cyclewith full batteries.

– The circuits must not fail during the test period due to low voltage.And the battery must provide enough voltage to the system.

– Also system must not fail because of open/short circuits so we mustensure that there won’t be any disconnection.

• Flight software will be tested with simulation of the whole flight.First the system will be tested with sending basic messagesbetween microcontroller and ground station. And secondly thesystem will run for a long time and see if it works without anyproblem. Last step will be sending telemetry packets to groundstation.

– If every subsystem including communication routines works properlythen the CanSat can pass the test.

– Also the recovery mechanism should be activated when the payloadlands the ground from a test height.


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Overview

• Ground station system will be tested by setting

communication between CanSat radio module and

ground station adapter. And a few data will be send by

radio module.

– GS system can be tested alongside with CDH system.

– Tests will be done to ensure that all data sent can be

received, stored and displayed on GS computer.

– Also some tests will be done by putting some distance

between the GS and CanSat and any network trouble for

communication will be investigated.

– Cansat can pass the test if full mission simulation is

achieved properly.

87CanSat 2015 PDR: Team #3976 NEBULAPresenter: Gamze Gokmen

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Mission Operations & Analysis

Gamze GOKMEN

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Overview of Mission Sequence of

Events

• Arriving to the launch site.

• All teams shall demonstrate proper operations of their

CanSat and ground control station to judge.

• CanSat will be inspected for safety. Safety conditions

includes:

– Structure reviews

– The mounting of the electronics, sensors and wiring

– Determining the risks (e.g. Overheating, elements that

are exposed to outside)

• Any troubles occurring in these inspections should be

fixed immediately.


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Overview of Mission Sequence of

Events


ArrivingSetting up theground station

Setting up theantenna

Perform functiontest of CanSat

Weight check of the CanSat

Obtain sciencevehicle egg

Fit checksAssembleCanSat

Perform anotherfunction test

Loading theCanSat to the

roketMission start

Communicationwith GS.

LandingScoringDeliveringtelemetry

Recovery of theCanSat

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Mission Operations Manual

Development Plan

• All member arriving to the launch site will be prepared

for troubles that may occur from arriving to finishing of

the mission.

• A checklist will be prepared for

– All the hardware and ground station preperations

– Integration

– Function tests

– Communication checks

– Safety checks

• And the checklist will be controlled throughly.

• Members will be assigned with their roles and

responsibilities.


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CanSat Location and Recovery

• After CanSat landed on the ground, transmission of the

telemetry will stop and the buzzer will activated

automatically.

• For ease of detection, container will be painted with

fluorescent orange.

• We will assign one or two members to the recovery

crew.


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Requirements Compliance

Gamze GOKMEN

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(If You Want) Requirements Compliance Overview


Rqmt

Num.Requirement

Comply/

No

Comply/

Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

01Total mass of the CanSat (Container and Science Vehicle) shall

be 600 grams +/- 10 grams not including the egg.Comply 47, 48

02

The Science Vehicle shall be completely contained in the

Container. No part of the Science Vehicle may extend beyond

the Container.

Comply 18, 19,20

03

The Container shall fit in the envelope of 125 mm x 310 mm

including the Container passive descent control system.

Tolerances are to be included to facilitate Container deployment

from the rocket fairing.

Comply 16,18

04

The Container shall use a passive descent control system. It

cannot free fall. A parachute is allowed and highly

recommended. Include a spill hole to reduce swaying.

Comply 10, 13

05The Container shall not have any sharp edges to cause it to get

stuck in the rocket payload section.Comply 17

06 The Container shall be a florescent color, pink or orange. Comply 10,13

07The rocket air frame shall not be used to restrain any deployable

parts of the CanSat.Comply 14, 15, 20

08The rocket air frame shall not be used as part of the CanSat

operations.Comply 14, 15

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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

09The CanSat (Container and Science Vehicle) shall deploy from

the rocket payload section.Comply 15

10

The Container or Science Vehicle shall include electronics and

mechanisms to determine the best conditions to release the

Science Vehicle based on stability and pointing. It is up to the

team to determine appropriate conditions for releasing the

Science Vehicle.

Partial 12, 20Release

mechanismwill be tested

11

The Science Vehicle shall use a helicopter recovery system.

The blades must rotate. No fabric or other materials are allowed

between the blades.

Partial 11, 13Rotation will

be tested.

12All descent control device attachment components shall survive

50 Gs of shock.Partial 81

Will be testedand analyzed.

13 All descent control devices shall survive 50 Gs of shock. Partial 81, 82Will be

testedandanalyzed.

14All electronic components shall be enclosed and shielded from

the environment with the exception of sensors.Partial 18

The CanSatdidn’t

integrated.

15 All structures shall be built to survive 15 Gs acceleration. Partial 44,45,46,82Will be testedand analyzed.

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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team Comments

and notes

16 All structures shall be built to survive 30 Gs of shock. Partial 82Will be analyzed

and tested.

17

All electronics shall be hard mounted using proper

mounts such as standoffs, screws, or high performance

adhesives.

Partial 82CanSat didn’t

integrated.

18All mechanisms shall be capable of maintaining their

configuration or states under all forces.Partial 82

Will be analyzedand tested.

19 Mechanisms shall not use pyrotechnics or chemicals. Comply

20

Mechanisms that use heat (e.g., nichrome wire) shall

not be exposed to the outside environment to reduce

potential risk of setting vegetation on fire.

Comply 18

21

During descent, the Science Vehicle shall collect and

telemeter air pressure (for altitude determination),

outside and inside air temperature, flight software state,

battery voltage, and bonus objective data

(accelerometer data and/or rotor rate).

Partial 6, 22Component are

chosen but will be tested.

22The Science Vehicle shall transmit telemetry at a 1 Hz

rate.Comply 67

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Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

23

Telemetry shall include mission time with one second or

better resolution, which begins when the Science Vehicle is

powered on.

Partial 50 Will be tested

24

XBEE radios shall be used for telemetry. 2.4 GHz Series 1

and 2 radios are allowed. 900 MHz XBEE Pro radios are

also allowed.

Comply 56

25XBEE radios shall have their NETID/PANID set to their team

number (decimal).Comply 56

26 XBEE radios shall not use broadcast mode. Comply 56

27

The Science Vehicle shall have a video camera installed and

recording the complete descent from deployment to landing.

The video recording can start at any time and must support

up to one hour of recording.

Comply 26, 67

28

The video camera shall include a time stamp on the video.

The time stamp must work from the time of deployment to

the time of landing.

Comply 54

29The descent rate of the Science Vehicle shall be less than

10 meters/second and greater than 4 meters/second.Partial 34 Will be tested

30

During descent, the video camera must not rotate. The

image of the ground shall maintain one orientation with no

more than +/- 90 degree rotation.


Team Logo

Here



Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

31Cost of the CanSat shall be under $1000. Ground

support and analysis tools are not included in the cost.Comply 99, 100

32 Each team shall develop their own ground station. Comply 76, 77, 78

33All telemetry shall be displayed in real time during

descent.Partial 77 Will be tested.

34All telemetry shall be displayed in engineering units

(meters, meters/sec, Celsius, etc.)Comply 78

35Teams shall plot data in real time during flight on the

ground station computer.Partial 74, 77 Will be tested

36

The ground station shall include one laptop computer

with a minimum of two hours of battery operation, XBEE

radio and a hand held or table top antenna.

Comply 74

37

The ground station shall be portable so the team can be

positioned at the ground station operation site along the

flight line. AC power will not be available at the ground

station operation site.

Comply 87

Team Logo

Here



Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

38The Science Vehicle shall hold one large raw hen’s egg

which shall survive launch, deployment and landing.Partial 6, 11, 13, 39 Will be tested

39Both the Container and Science Vehicle shall be labeled

with team contact information including email address.Comply

40

The CanSat flight software shall maintain and telemeter a

variable indicating its operating state. In the case of

processor reset, the flight software shall re-initialize to the

correct state either by analyzing sensor data and/or

reading stored state data from non-volatile memory. The

states are to be defined by each team. Example states

include: PreFlightTest(0), LaunchWait(1), Ascent(2),

RocketDeployment(3), Stabilization(4), Separation(5),

Descent(6), and Landed(7).


41 No lasers are allowed. Comply

42

The Science Vehicle shall include an easily accessible

power switch which does not require removal from the

Container for access. An access hole or panel in the

Container is allowed.

Partial 59

Power switchwill be

inclueded oncethe integration

is done

43

The Science Vehicle must include a battery that is well

secured.. (Note: a common cause of failure is

disconnection of batteries and/or wiring during launch.)

Comply11, 13, 59, 61,

62, 82

Team Logo

Here



Rqmt

Num.Requirement

Comply/ No

Comply/ Partial

X-Ref Slide(s)

Demonstrating

Compliance

Team

Comments

and notes

44Lithium polymer cells are not allowed due to being a fire

hazard.Comply 11

45

Alkaline, Ni-MH, lithium ion built with a metal case, and Ni-

Cad cells are allowed. Other types must be approved

before use.

Comply 59, 61, 62

46

The Science Vehicle and Container must be subjected to

the drop test as described in the Environmental Testing

Requirements document.

Partial 82

47

The Science Vehicle must be subjected to the vibration

testing as described in the Environmental Testing

Requirements document.

Partial 82

48

CanSat Science Vehicle and Container must be subjected

to the thermal test as described in the Environmental

Testing Requirements document.

Partial 81

49Environmental test results must be documented and

submitted to the judges at the flight readiness review.No comply 80

Results will be documented

once the testsare done and

will be submitted tothe judges.

Team Logo

Here


Management

Muhammed Ali KUL

Team Logo

Here

(If You Want) CanSat Budget - Hardware

Component Part Number Quantity Cost Cost FieldNew / Re-use

Hardware

Pressure and

Temperature SensorBMP 180 1 12.29 $ *

Cansat

HardwareNew

3-Axis Accelerometer ADXL 345 1 4.92 $*Cansat

HardwareNew

ActuatorBMS-

306DMAX1 12.80 $ *

Cansat

HardwareNew

Micro Processor Arduino Nano 1 13.52 $*Cansat

HardwareNew

Real-Time Clock DS 1307 1 5.32 $*Cansat

HardwareNew

AntennaA09-HASM-

6751

45.00 $

**

Cansat

HardwareNew

Batteries 9V Alkaline 2 5.78 $*Cansat

HardwareNew

102Presenter: Muhammed Ali KUL CanSat 2015 PDR: Team #3976 NEBULA

Team Logo

Here

(If You Want) CanSat Budget - Hardware

103

Component Part Number Quantity CostCost

Field

New / Re-use

Hardware

Voltage MeasurePhidgets

11351 20 $*

Cansat

HardwareNew

Camera OV7670 1 22.87 $*Cansat

HardwareNew

Processor & Memory SD Card

Module1 5.74 $*

Cansat

HardwareNew

TransmitterXBee Pro 900

RPSMA1

110.00

$*

Cansat

HardwareNew

Mechanical Hardware

Total (Components,

parachute, blades,

manufacture, etc.)

- -150.00

$**

Cansat

HardwareNew

Subtotal Cansat

Hardware408.24 $

*: Actual cost **: Estimated cost ***: Budgeted cost

CanSat 2015 PDR: Team #3976 NEBULAPresenter: Muhammed Ali KUL

Team Logo

Here

(If You Want)

Category Quantity Unit Cost Total Cost Determination

Travel 10 1,447$ 14,500$ Actual

Hotel (2 Room) 10 250$ 2,500$ Estimate

Meals ( 3 Times

a Day)150 20$ 3,000$ Estimate

Car Rental (1

Car for 5 person)10 (2 car) 50$ 500$ Estimate

Prototyping 2 - - UTAA*

Computers 2 - - UTAA*

Test Facilities

and Equipement- - - UTAA*

Sub Total Other

Costs20,500$

104Presenter: Muhammed Ali KUL

* Provided from the University of Turkish Aeronautical Association

Other Costs


Team Logo

Here

(If You Want) Ground Station

105

Category Quantity Unit Cost Total Cost Determination

XBee Pro 900

RPSMA1 110$ 110$ Actual

4 Meter Shielded

Cable1 5$ (per meter) 20 $ Estimate

Hyper Link

Wireless HG-

8909P

1 80 $ 80 $

Ground Control

System Antenna

(Estimate)

Subtotal Ground

Station210 $


Team Logo

Here

(If You Want) CanSat Budget

Category of Cost Subtotal

Cansat Electronics Hardware 258.24 $

Cansat Mechanical Hardware 150 $

Ground Station 210 $

Other Costs 20,500 $

Total Costs 21,118.24 $

Total Costs with 10 % Overall Error Margin 23,230.06 $

106CanSat 2015 PDR: Team #3976 NEBULAPresenter: Muhammed Ali KUL

Other Costs; 20500; 97%

Ground Station; 210; 1%

Cansat Electronics Hardware; 258,24; 1%

Cansat Mechanical Hardware; 150; 1%

Cansat Hardware; 408,24; 2%

Other Costs Ground Station Cansat Hardware Cansat Electronics Hardware Cansat Mechanical Hardware

Team Logo

Here

(If You Want) Program Schedule

Date DevelopmentComponent/

Hardware deliveries

Academic

and holidays

Achievements and

Major integrations

1 November 2014

-

1 February 2015

• Team Formation

• Mission Definition

• Preliminary Design

• Requirements

• Hardware

Comparaison

• Sponsorship

• Hardware

Feasibility

Midterm and

finals (8

weeks)

Preliminary Design

and Reports

1 February 2015

-

19 March 2015

• Subsystem

Design, Analysis,

and Interfaces

• Software,

Operational Modes

• Hardware

Producement

• Sposorship

Agreements

• Tests

• Environmental

Tests

Identification

Quizes,

Homeworks,

and Midterms

(2 weeks)

Cansat, Software

Prototype

Test Reports

19 March 2015

-

29 March 2015

• Design verification

• Documentation

Travel Planning

(Booking ticet, hotels,

car, etc.)

Quizes,

Homeworks,

and Midterms

(5 days)

• Critical Design

Review and

Reports

• Fixed Budget

• Cansat

Engineering

Model

107CanSat 2015 PDR: Team #3976 NEBULAPresenter: Muhammed Ali KUL

Team Logo

Here

(If You Want) Program Schedule

108

Date DevelopmentComponent/

Hardware deliveries

Academic and

holydays

Achievements and

Major integrations

29 March 2015

-

15 May 2015

• System Test,

design verification

and corrections

• Software fixes and

improvements

• System checks

• Accomodation

and Flight

Reservation

• Visa Application

Quizes,

Homeworks, and

Midterms (2

weeks)

National Holiday

(2 days)

Team D-Day

Readiness Review

Final Software

Cansat Flight

Model

15 May 2015

-

10 June 2015

• System checks

• Launch Campaign

• Competition

PreparationFinals (3 weeks)

- Flight Readiness

Review &

Launch

- Post Mission

Report


Team Logo

Here

(If You Want) Gantt Summary Chart

109Presenter: Muhammed Ali KUL CanSat 2015 PDR: Team #3976 NEBULA

Team Logo

Here

(If You Want)

110

Conclusions

• Major accomplishments

– Team is established

– Preliminary design is completed

– Manufacturing processes are decided

• Major unfinished work

– Critical design is to be considered

– Flight software is to be completed

– System and subsystem tests are to be completed

• Additional work

– Necessary authorizations are to be discussed with the university

– Sponsors for all kinds of expenses are to be found

• We are eager to go on to the next phase as we have established

our team and set our goal.


Cansat2015_3976_PDR_v02

Documents

team logo

system requirement t

descent control system

payload pdr

electrical power system

preliminary design review

data handling requirement

flight software gcs