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CanSat 2018 CDR: Team 5002 1
CanSat 2018
Critical Design Review (CDR)
Outline
Team #5002
Manchester CanSat Project
CanSat 2018 CDR: Team 5002 2
Presentation Outline
Presenter: Iuliu Ardelean
Section Presenter
Presentation Outline Iuliu Ardelean
Systems Overview Lawrence Allegranza France
Sensors Subsystem Overview Iuliu Ardelean
Descent Control Design Iuliu Ardelean
Mechanical Subsystem Design Lawrence Allegranza France
Communications and Data Handling Subsystem Design Lawrence Allegranza France
Electrical Power Subsystem Lawrence Allegranza France
Flight Software Design Lawrence Allegranza France
Ground Control System Design Lawrence Allegranza France
CanSat Integration and Testing Lawrence Allegranza France
Mission Operations and Analysis Iuliu Ardelean
Requirements Compliance Iuliu Ardelean
Management Iuliu Ardelean
This review follows the sub-sections listed below:
CanSat 2018 CDR: Team 5002 3
Team Organization
Team Member Responsibility
Iuliu Ardelean (IA) CE, SE, GCS
Nicole Zieba (NZ) CDH, SE, GCS, PM
Lawrence Allegranza France (LAF) I&T, CDH
Xisco Jover (XJ) EPS, CDH, SE
Robert Stana (RS) FSW, SE
Alex Shelley (AS) ME, DCS
Davis Joseph (DJ) ME, DCS
Julia Stankiewicz (JS) ME, DCS
Zair Chaudhry (ZC) ME, DCS
Nacho Salsas Leon (NSL) ME, DCS
Iuliu Ardelean
Chief Engineer
Mechanical Subsytem
Alex Shelley
3rd Year
Davis Joseph
4th Year
Julia Stankiewicz
2nd Year
Zair Chaudhry
3rd Year
Nacho Salsas
3rd Year
Electronics Subsytem
Iuliu Ardelean
3rd Year
Xisco Jover
3rd Year
Nicole Zieba
4th Year
Lawrence Allegranza France
4th Year
Robert Stana
3rd Year
Integration and testing
Lawrence Allegranza France
Ground Control Station
Iuliu Ardelean
Nicole Zieba
Project Manager
Kate Smith
Faculty Advisor
Matt Hogg
Leadership Mentor
CanSat 2018 CDR: Team 5002 4
Acronyms
HS Heat shield
CDH Communications and Data Handling
EPS Electrical Power Subsystem
FSW Flight Software
GCS Ground Control Station
ME Mechanical Subsystem
SE Sensors Subsystem
DCS Descent Control Subsystem
CE Chief Engineer
PM Project Manager
I&T Integration and Testing
CONOPS Concept of Operations
GUI Graphical User Interface
A Analysis
I Inspection
T Testing
D Demonstration
TBC To be confirmed
TBD To be determined
RE# Top Level Requirement
SL System Level
SSL Subsystem Level
IDE Integrated Development Environment
RTC Real Time Clock
I2C Inter-Integrated Circuit
SPI Serial Peripheral Interface
ADC Analog to Digital Converter
EEPROM Electrically Erasable Programmable Read-
only memory
MCU Microcontroller Unit
CCU Central Control Unit (Mechanical)
CanSat 2018 CDR: Team 5002 5
System Overview
Lawrence Allegranza France
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 6
Mission Summary
Objectives:
1. Build a CanSat with an atmospheric-sampling Probe, a single hen’s Egg, a Heatshield and a Parachute.
2. The CanSat shall be launched in a sounding rocket to an altitude of 675-725 meters.
3. After release from rocket payload bay, the CanSat shall deploy the Heatshield, and descend to an
altitude of 300 meters without tumbling.
4. At 300 meters, the CanSat shall release the Heatshield and deploy a Parachute. The Heatshield will
descend on its own at a rate of 5 m/s.
5. The Probe shall collect and transmit atmospheric data to a Ground Control Station in real-time,
throughout its operation phase.
6. The Proble shall land leaving the egg intact, after which it will continuously operate an audio beacon.
7. The Ground Control Station shall receive and display CanSat data.
Selectable Bonus and Rationale:
• Camera Bonus selected because of abundant team members experience.
External Objectives:
• Continue to deliver Manchester CanSat Project weekly, educational, space-related Workshops towards
University of Manchester STEM Students.
• Develop a UK CanSat Competition.
• Inspire other UK Universities and Academic Institutions to adopt the Manchester CanSat Project model
to create a network of CanSat societies across the UK.
Presenter: Lawrence Allegranza France
Summary of Changes Since PDR
CanSat 2018 CDR: Team 5002 7
There are 4 changes since the PDR that are worth mentioning here.
Most other changes were done to improve weight – which has always been our biggest constraint.
PDR CDR RATIONALE
Multiple
Independent
Mechanisms
Single
Unified
Mechanism
Lighter weight.
Primitive Mounting Plate PCB Improved robustness of the electric circuit and
overall design.
Two MCUs One MCU Lighter Weight.
Adafruit Serial JPEG
Camera
with NTSC Video
Modified
SQ11 Pawaca
Camera
High Definition. Reduced circuit complexity and
overall weight. Possible to make ‘legal’ for the
competition.
Presenter: Lawrence Allegranza France
System Requirement Summary
CanSat 2018 CDR: Team 5002 8
RE# Description A I T DRE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X X
RE2 The aero-braking heat shield shall be used to protect the probe while in the rocket only and when deployed from the rocket.
It shall envelope/shield the whole sides of the probe when in the stowed configuration in the rocket. The rear end of the
probe can be open
X X
RE3 The heat shield must not have any openings. X
RE4 The probe must maintain its heat shield orientation in the direction of descent. X
RE5 The probe shall not tumble during any portion of descent. Tumbling is rotating end-over-end.
RE6 The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125 mm diameter x 310 mm length.
Tolerances are to be included to facilitate container deployment from the rocket fairing.X X
RE7 The probe shall hold a large hen's egg and protect it from damage from launch until landing. X X
RE8 The probe shall accommodate a large hen’s egg with a mass ranging from 54 grams to 68 grams and a diameter of up to
50mm and length up to 70mm.X
RE9 The aero-braking heat shield shall not have any sharp edges to cause it to get stuck in the rocket payload section which is
made of cardboard.X X X
RE10 The aero-braking heat shield shall be a florescent color; pink or orange. X X
RE11 The rocket airframe shall not be used to restrain any deployable parts of the CanSat. X X
RE12 The rocket airframe shall not be used as part of the CanSat operations. X X
RE13 The CanSat, probe with heat shield attached shall deploy from the rocket payload section. X
RE14 The aero-braking heat shield shall be released from the probe at 300 meters. X X X
RE15 The probe shall release a parachute at 300 meters. X X X
RE16 All descent control device attachment components (aero-braking heat shield and parachute) shall survive 30 Gs of shock. X X
RE17 All descent control devices (aero-braking heat shield and parachute) shall survive 30 Gs of shock. X X
RE18 All electronic components shall be enclosed and shielded from the environment with the exception of sensors. X
RE19 All structures shall be built to survive 15 Gs of launch acceleration. X X
RE20 All structures shall be built to survive 30 Gs of shock X X
RE21 All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance adhesives. X
System Requirement Summary
CanSat 2018 CDR: Team 5002 9
RE# Description A I T DRE22 All mechanisms shall be capable of maintaining their configuration or states under all forces X
RE23 Mechanisms shall not use pyrotechnics or chemicals. X
RE24 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.X X X
RE25 During descent, the probe shall collect air pressure, outside air temperature, GPS position and battery voltage once per
second and time tag the data with mission time.X X X X
RE26 During descent, the probe shall transmit all telemetry. Telemetry can be transmitted continuously or in bursts. X X
RE27 Telemetry shall include mission time with one second or better resolution. Mission time shall be maintained in the event
of a processor reset during the launch and mission.X X
RE28 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.X
RE29 XBEE radios shall have their NETID/PANID set to their team number. X X X
RE30 XBEE radios shall not use broadcast mode. X X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X X
RE32 Each team shall develop their own ground station. X
RE33 All telemetry shall be displayed in real time during descent. X X
RE34 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.) X X
RE35 Teams shall plot each telemetry data field in real time during flight X X
RE36 The ground station shall include one laptop computer with a minimum of two hours of battery operation, XBEE radio and
a hand held antenna.X
RE37 The ground station must 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.X
RE38 Both the heat shield and probe shall be labeled with team contact information including email address. X
RE39 The flight software shall maintain a count of packets transmitted, which shall increment with each packet transmission
throughout the mission. The value shall be maintained through processor resets.X X
System Requirement Summary
CanSat 2018 CDR: Team 5002 10
RE# Description A I T DRE40 No lasers allowed. X X
RE41 The probe must include an easily accessible power switch. X X X
RE42 The probe must include a power indicator such as an LED or sound generating device. X X X
RE43 The descent rate of the probe with the heat shield deployed shall be between 10 and 30 meters/second. X X
RE44 The descent rate of the probe with the heat shield released and parachute deployed shall be 5 meters/second. X X
RE45 An audio beacon is required for the probe. It may be powered after landing or operate continuously. X X X
RE46Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed. Lithium cells must be
manufactured with a metal package similar to 18650 cells.X X X
RE47An easily accessible battery compartment must be included allowing batteries to be installed or removed in less than a
minute and not require a total disassembly of the CanSat.X X X
RE48Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause momentary
disconnects.X
RE49A tilt sensor shall be used to verify the stability of the probe during descent with the heat shield deployed and be part of the
telemetry.X X X
Bonus
1
Camera: Add a color video camera to capture the release of the heat shield and the ground during the last 300 meters of
descent. The camera must have a resolution of at least 640x480 and a frame rate of at least 30 frames/sec. The camera
must be activated at 300 meters.
X X X X
Bonus
2
Wind Sensor: A radio transmitter shall be added to transmit the wind speed by changing its 10 frequency. The frequency
change shall be 1 Hz per 0.1 meter/sec. The transmitter must be custom designed and built. It cannot be a commercial
product. The frequency must be in the 433 MHz ISM band or if a team member has an amateur radio license, an amateur
radio band can be used. The transmitter must be able to be set to 8 different frequencies in the 433 MHz ISM band with 25
KHz separation. The transmitter must turn off after the probe lands to minimize interference. The team can use a commercial
receiver.
X X X X
CanSat 2018 CDR: Team 5002 11
System Concept of Operations
0. Pre -Launch
1. Launch
2. HS Deployment
3. CanSatDescent
4.1. HS Release
4.2. Parachute
Deployment
5. Probe Descent
6. Landing 7. Recovery 8. Data Handover
ROLES & RESPONSIBILITIES
Mission Control Officer: NZ.
Ground Station Crew: IA, LAF, NZ, RS.
Recovery Crew: AS, NSL, DJ, ZC, JS, XJ.
CanSat Crew: IA, LAF, RS, AS, NSL, DJ, ZC, JS, XJ.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 12
System Concept of Operations
0. Pre -Launch
• CanSat Switched on
• Telemetry transmitting start
1. Launch
• CanSat insertion in Rocket Payload Bay
• Rocket ignition and ascension
• Apogee Reached
2. HS Deployment
• Rocket and nose cone separation
• CanSat deployed from rocket Payload Bay
• HS deploys
• Rocket and nose cone descent
3. CanSatDescent
• CanSat descent with Heatshield deployed
4.1. HS Release
• 300 m altitude sensed by Probe
• HS released
• Release captured by Camera
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 13
System Concept of Operations
4.2. Parachute
Deployment
• 300 m altitude sensed by Probe
• Parachute deployed
5. Probe Descent
• Probe descent with Parachute
• HS tumble down on its own
• Descent captured by Camera
6. Landing
• Telemetry transmitting Stop
• Audio Beacon Activation
7. Recovery
• Audio Beacon Operational
• All systems recovered (including HS)
• CanSat switched off
8. Data Handover
• Data formatted and saved to USB
• USB handed over to officials
• Data analysis and reduction for PFR
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 14
Payload Physical Layout
248.5 mm
120 mm
409 mm
Deployed Heat Shield PayloadStowed Payload
61.5 mm
2.5
mm
2.5
mm
Stowed Payload inside Rocket
290 mm
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 15
Payload Physical Layout
Heat Shield Release +
Parachute Deployment InitiationParachute Deployed
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 16
Payload Physical Layout
A
B
D
H
F
J
C
E
G
K
12
13
9
14
15
L
M
N
P
12
3
4
5
6
7
8
10
11
A - Parachute Hatch Hinge (Nylon) J – Parachute Hatch Spring 2 – 118 mm 10 – 115 mm
B – Parachute Stowed (RS Nylon) K – GPS & Buzzer 3 – 54 mm 11 – 78 mm
C – Stickers L - Support Column (CF) 4 – 23.5 mm 12 – 190 mm
D – HS Rod (Carbon Fibre) M – 15 mm Rod (Nylon) 5 – 15 mm 13 – 290 mm
E – On/Off Switch N – Pivot Rod (ABS) 6 – 30 mm 14 – 222.1 mm
F – Battery P – Nose Cone Springs 7 – 130 mm 15 – 248.5 mm
G – Camera Q – Egg 8 – 30 mm
H - Servo 1 – 175 mm 9 – 100 mm
Q
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 17
Payload Physical Layout
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 18
Payload Physical Layout
Egg with padding
Heat Shield Assembly
Stowed Parachute
in Parachute Bay
Electronics Board
Central Control Unit
(CCU) in Camera Bay
Camera
Battery
Electronics Cover
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 19
Launch Vehicle Compatibility
DAVIS
Available Volume (as per Competition Requirements):
Diameter : 125 mm
Height : 310 mm
CanSat Volume:
Diameter : 120 mm
Height : 248.5 mm
Clearance : More than 2.5 mm throughout
No sharp protrusions
Dimensions account for ease of fit and deployment.
The heat shield envelopes the sides of the probe to protect it.
A test launch has been performed at the University of Manchester to
verify Launch Vehicle Compatibility. The results confirm that the
CanSat is indeed compatible.
61.5 mm
2.5
mm
2.5
mm
Stowed Payload inside Rocket
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 20
Sensor Subsystem Design
Iuliu Ardelean
CanSat 2018 CDR: Team 5002 21
Sensor Subsystem Overview
Selected Component Function
Adafruit 10 DOF IMU Determine Pressure, Temperature, Altitude and Tilt.
Adafruit Ultimate GPS v3.0 Determine GPS Position
Modified SQ11 Pawaca Camera Modified 720p Video Camera
ADC + Voltage Divider Battery voltage
TEENSY MICROCONTROLLER
ADAFRUIT
10 DOF IMU
ADAFRUIT
ULTIMATE
GPS
MODIFIED
SQ11
CAMERA
I2C SERIAL DIO
VOLTAGE
DIVIDER
FROM
BATTERY
ADC
SD CARD
BREAKOUT
SPI
RTC
NO LASERS.
Presenter: Iuliu Ardelean
Sensor Changes Since PDR
CanSat 2018 CDR: Team 5002 22
PDR CDR RATIONALE
Serial JPEG TTL Camera Modified SQ11 Pawaca Camera - Would have required
additional recorder.
- Better video resolution (from
SD to HD and FHD)
- Lighter
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 23
Sensor Subsystem Requirements
RE# Description VERIFICATION
A I T D
RE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X
RE6 The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125 mm diameter x 310
mm length. Tolerances are to be included to facilitate container deployment from the rocket fairing.
X
RE15 The probe shall release a parachute at 300 meters. X X
RE18 All electronic components shall be enclosed and shielded from the environment with the exception of
sensors.
X
RE21 All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance
adhesives.
X
RE25 During descent, the probe shall collect air pressure, outside air temperature, GPS position and battery
voltage once per second and time tag the data with mission time.
X X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X
RE46 Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed.
Lithium cells must be manufactured with a metal package similar to 18650 cells.
X
RE49 A tilt sensor shall be used to verify the stability of the probe during descent with the heat shield deployed
and be part of the telemetry.
X X
B1 Video Camera X X
B2 Wind sensor X X
SE1 Pressure Sensor should be accurate. X
CanSat 2018 CDR: Team 5002 24
Probe Air Pressure Sensor
Summary
Name Weight/
Size
Cost Power Operational
Environment
Accuracy
/Error
Resolution Drift Interface Other
Adafruit 10
DOF IMU
2.8 g 40 GBP 1 mA x 3.6 V 30 – 110 kPa 12 Pa 2-6 Pa 100 Pa/yr I2C All in
one38x23x3
mm
3-32 uA x 3.6 V 9000 to – 500 m 1 m 0.17-0.5 m
Pressure data will be collected and processed with the help of the Adafruit BMP180 Library.
In order to calculate altitude, the altitude standard equation can be used as follows:
CanSat 2018 CDR: Team 5002 25
Probe Air Temperature Sensor
Summary
Name Weight/Size Cost Power Operational
Environment
Accuracy
/Error
Interface Other
Adafruit 10 DOF
IMU
2.8 g 40 GBP 1 mA x 3.6 V -40 to +85 degC
(0 to +65 full
accuracy)
2ºC I2C All in one
38x23x3 mm 3 – 32 uA x 3.6 V
Temperature data will be collected and processed with the help of the Adafruit BMP180 Library.
CanSat 2018 CDR: Team 5002 26
GPS Sensor Summary
Component Weight/Size Cost Power Operational
Environment
Accuracy/
Error
Interface Other
Adafruit Ultimate
GPS Breakout
8.5g 40 GBP 20mA x 3.3V 515 m/s 3 meters Serial Warm/cold start:
34 seconds25.5mm x 35mm x
6.5mm
GPS data will be collected and processed with the help of the Adafruit GPS Library.
CanSat 2018 CDR: Team 5002 27
Probe Voltage Sensor Summary
A simple Voltage Divider and the inbuilt Teensy ADC
can be used to measure the voltage of the battery.
The Teensy ADC can only measure values of up to 3.3 V,
therefore the need for a Voltage Divider. The resistances
values will be so that 𝑅1 = 2 ∗ 𝑅2 . Preliminary testing
suggests 𝑅1 = 2 ∗ 𝑅2 = 24 𝑘𝑂ℎ𝑚 are suitable values.
The Teensy’s ADC is 10-bit, hence the
resolution/accuracy that we get is of the order of 9 mV.
In code, the system is easy to implement:
𝑉𝑖𝑛 = 𝑎𝑛𝑎𝑙𝑜𝑔𝑅𝑒𝑎𝑑 𝑎𝑛𝑎𝑙𝑜𝑔𝑃𝑖𝑛 ∗3.3
1023∗𝑅2 + 𝑅1𝑅2
CanSat 2018 CDR: Team 5002 28
Tilt Sensor Summary
Name Weight/Size Cost Power Operational
Environment
Accuracy/
Error
Interface Other
Adafruit 10 DOF
IMU
2.8 g 40 GBP 1 mA x 3.6 V 0-360 3º I2C All in One
38x23x3 mm 3-32 uA x 3.6 V
Data will be collected and processed with the help of the Adafruit LSM303 Library.
CanSat 2018 CDR: Team 5002 29
Bonus Objective Camera Summary
The SQ11 Pawaca Camera offers HD and FHD
(greater than 640 x 480) @ 30fps color video camera
functionality.
This camera has an inbuilt SD Card slot on which the
video can be stored. This means there will no longer be
necessary to add a video recorder or and SD Card
Breakout Board.
The camera will be disassembled, to save weight (from
40 to 5 grams) and to replace the mechanical switch
with an electrical one. Hence it will be possible to
activate the camera at 300 meters, by operating the
electrical switch, right after the HS release, etc.
The camera’s battery will be removed, and the camera
will be powered from the voltage regulator.
The main challenge associated with this modified
camera is the really delicate soldering job required.
Selection Rationale: Previous Experience.
Presenter: Iuliu Ardelean
Receiver• Frequency down conversion
CanSat 2018 CDR: Team 5002 30
Bonus Objective Wind Sensor
Presenter: Iuliu Ardelean
Radio• Teensy uses GPS data to calculate wind speed, outputting digital
voltage signal according to speed.
• Through serial-to-parallel and DAC, variable capacitor is controlled,
changing the frequency 1 Hz for every 0.1 m/s change.
• C4, C3, and L2 makeup the Colpitts Oscillator tank.
• C3 is set on the ground to set to one of 8 channels.
• C4 is controlled by the voltage from the DAC.
• Frequency mixer used to get frequency in 433 MHz range ISM band
Counter-rationale
(Rationale for not choosing this bonus):
The team has more experience working with
video cameras, making this bonus less attractive.
CanSat 2018 CDR: Team 5002 31
Descent Control Design
Iuliu Ardelean
CanSat 2018 CDR: Team 5002 32
Descent Control Overview
Descent Control System
•This will include 2 main subsystems – a heat shield (already set to
a predetermined deployment angle) and a parachute.
•The heat shield envelopes the sides of the probe to protect it.
Deployment and release order
• Probe is released at an altitude of 675-725 meters and the aero breaking
heat shield, covering the whole probe, opens which results in descent rate
being kept between 10-30 m/s.
• At 300 meters heat shield is dropped and the parachute is deployed almost
simultaneously.
•The descent rate is decreased to 5 m/s which is slow enough for the egg to
remain intact after landing.
The next slide shows required diagrams.
Heat shield projected surface
area0.084 𝑚2
Parachute projected surface
area0.243 𝑚2
Fabric for the Parachute (rip stop nylon)
6 strings for the Parachute
Fabric for the Heat Shield (rip stop nylon)
4 carbon fibre rods
4 zip ties
4 rod pivots
1 3D printed Nose Cone
4 springs
Necessary components
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 33
Descent Control Overview
1st stage – Apogee to 300 m
1st event – deployment of the
heat shield
2nd stage – 300 m to Landing
(events take place simultaneously)
2nd event – parachute
deployment
3rd event – heat
shield separation
4th event – heat
shield free flight
0th stage – Undeployed configuration
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 34
Descent Control Changes Since
PDR
PDR CDR Rationale
Torsion springs hold the carbon fibre
rods in place for the HS.
3D printed pivots hold the carbon
fibre rods in place for the HS. They
pivot about some arms on the nose
cone.
The torsion springs attachment method to the CF rods
was weak and had to be improved. ABS rod holders
were designed and held in place to act as a pivot. They
were attached to the nose cone with extensions
springs to maintain tension so the natural position was
in the deployed position.
Circular shape of the Nose Cone Squared shape of the Nose Cone
Upon realisation the shape of the Nose Cone has been
changed from circular to square as it is easier to attach
a squared HS fabric compared to a circular geometry.
Lower attachment of Heat Shield
fabric – Circular shape
Lower attachment of Heat Shield
fabric – Square shape
Upon realisation the shape of the HS fabric has been
changed from circular to square as it is easier to stitch
and attach a squared HS fabric compared to a circular
geometry
A solenoid retracts from inside the
HS attachment point to release the
HS. Springs push the nose cone
away once released.
A servo with a length of metal rod
retracts to release the HS. The
springs have been removed.
It was decided that one dedicated mechanism for HS
deployment, HS release and parachute release was
preferable to multiple mechanisms. This was decided
as it reduces weight, reduced the complexity of
electronics and the flight software and is easier to
implement. Springs were removed upon realisation
during testing, as separation took place regardless of
their existence.
Presenter: Iuliu Ardelean
The following 3 slides describe changes since PDR and prototype testing.
CanSat 2018 CDR: Team 5002 35
Descent Control Changes Since
PDR
PDR CDR Rationale
The HS is deployed through an
independent bay that has an ‘X’
shaped device which deploys the HS
when activated with a solenoid.
A central system that uses a servo
with a metal rod also controls the
deployment of the HS, as well as the
release of the HS and parachute.
The rotating gate which unhooked the rods to deploy
the heat shield has been replaced with a much simpler
string system. Upon testing the rotating gate
mechanism was deemed unreliable. PLA and ABS
both are not stiff enough to rotate fully if a force is
applied on one side of the gate, the gate flexed and
deformed unhooking only three out of four rods. The
actuator was too large and heavy to fit in the
deployment bay
The nose cone has four hollow pillars
to hold four springs to aid release.
There are four points for attaching
torsion springs. A central pillar is
used for release.
The hollow pillars have been
dismissed as the springs aren’t
necessary. They are now just pillars.
The torsion springs have been
replaced by 3D printed rod pivots that
pivot about arms on the nose cone.
The overall shape of the nose cone
has changed as the circular edges
have been removed for straight lines.
The pillars remain to provide a stable base for the rest
of the CanSat and it also stops additional stresses on
the servo rod against the nose cone attachment point.
The torsion spring idea proved to be completely
unreliable and unrealistic. It has been replaced by a
more reliable and smoother method. There have been
many changes to the nose cone to further reduce the
weight of the CanSat. The circular edges were
removed to save weight and to ease the difficulty of HS
manufacture.
A servo opens the parachute bay
hatch to release the parachute.
A spring has been used so that the
natural position is open. A string
holds it closed. Therefore, when the
string is released, the parachute bay
hatch will open. Height of the bay has
also increased.
The use of a servo for only parachute bay hatch
opening was undesirable due to weight, centre of mass
and electronics issues. By using a spring, it reduces
weight and reduces the strain on the electronics
systems.
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 36
Descent Control Changes Since
PDR
Date Test Outcome
08/03 Parachute Descent Rate Parachute surface area proven to be correct as
descent rate average at 5 m/s.
11/03 Whole probe test
Heat Shield proven to be released successfully.
Heat Shield descent rate proven to be 5 m/s post
separation.
Parachute structural strength proven to be insufficient.
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 37
Descent Control Requirements
•
•
•
•
•
RE# Description VERIFICATION
A I T D
RE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X
RE2The aero-braking heat shield shall be used to protect the probe while in the rocket only and when deployed
from the rocket. It shall envelope/shield the whole sides of the probe when in the stowed configuration in the
rocket. The rear end of the probe can be open
X X
RE3 The heat shield must not have any openings. X
RE4 The probe must maintain its heat shield orientation in the direction of descent. X
RE5 The probe shall not tumble during any portion of descent. Tumbling is rotating end-over-end. X X
RE6The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125mm diameter x 310mm
length. Tolerances are included to facilitate container deployment from the rocket fairing.x
RE9The aero-braking heat shield shall not have any sharp edges to cause it to get stuck in the rocket payload
section which is made of cardboard.X
RE10 The aero-braking heat shield shall be a florescent color; pink or orange. X X
RE11 The rocket airframe shall not be used to restrain any deployable parts of the CanSat. X X
RE12 The rocket airframe shall not be used as part of the CanSat operations. X X
RE13 The CanSat, probe with heat shield attached shall deploy from the rocket payload section. X
RE14 The aero-braking heat shield shall be released from the probe at 300m. X X
RE15 The probe shall release a parachute at 300m. X X
RE16All descent control device attachment components (aero-braking heat shield and parachute) shall survive
30Gs of shock. X X
CanSat 2018 CDR: Team 5002 38
Descent Control Requirements
•
•
•
•
•
RE# Description VERIFICATION
A I T D
RE17 All descent control devices (aero-braking heat shield and parachute) shall survive 30Gs of shock. X X
RE18All electronic components shall be enclosed and shielded from the environment with the exception of
sensors.X
RE19 All structures shall be built to survive 15Gs of launch acceleration. X X
RE20 All structures shall be built to survive 30Gs of shock. X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X
RE38 Both the heat shield and probe shall be labelled with team contact information including email address. X
RE43 The descent rate of the probe with the heat shield deployed shall be between 10 and 30 meters/second. X X
RE44 The descent rate of the probe with the heat shield released and parachute deployed shall be 5 meters/second. X X
RE44The descent rate of the probe with the heat shield released and parachute deployed shall be 5
meters/second.X X
CanSat 2018 CDR: Team 5002 39
Payload Descent Control Hardware
Summary
Stowed Configuration (Heatshield)
• All subsystems (heat shield and parachute) will be controlled by a main servo, situated in the lower bay of the main
probe.
• The servo will be placed in a casing containing already set indents where each of the subsystem’s deployment
mechanisms will be introduced.
• The servo will be connected to a prolongation (metal rod) of its mechanical arm. This arm will be responsible for
holding the subsystems from separating.
• Component sizing was given in DCS Overview. The CanSat in stowed configuration is sized to fit inside the Rocket
Payload Bay.
Servo
Casing
Heat shield release
Heat shield deployment
Parachute deploymentMetal rod
Stowed Configuration Section View
Presenter: Iuliu Ardelean
The following 6 slides describe DCS Hardware summary.
CanSat 2018 CDR: Team 5002 40
Payload Descent Control Hardware
Summary
Deployment Method (Heat Shield)
Spring
3D printed parts
• Aforementioned servo will rotate the arm at a calculated angle of 10 deg.
• This will cause the fist of the indents to be free of the arm extension causing the string to be released. The string
goes around all four rods and then hooks back on to itself to maintain stowed position.
• For simplicity, the string is hooked to itself in the stowed position, before attaching the HS fabric over the rods.
• The springs found at the base of the heat shield will exert a rotating motion on the carbon fibre rods, causing the
full deployment of the heat shield
• The heat shield has been designed to have a maximum opening projected surface area of 0.084 m^2
Servo armHeat shield deployment
mechanism cavity (CCU)
Presenter: Iuliu Ardelean
HS ring secured in
the cavity (CCU)
String
Hook
CanSat 2018 CDR: Team 5002 41
Payload Descent Control Hardware
Summary
Deployed Configuration (Heat Shield)
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 42
Payload Descent Control Hardware
Summary
Stowed and Deployed Configuration (Parachute)
Stowed Deployed
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 43
Payload Descent Control Hardware
Summary
Deployment Method (Parachute)
• Again, on receiving a PWM signal from the MCU (triggered by altitude), the servo will rotate the arm another 85
degrees. This will simultaneously release the parachute’s deployment mechanism and the heat shield.
• On loosing its tension, the string attached to the parachute’s payload bay cover will not have sufficient force to
resist the moment created by the tension spring.
• The spring will open the bay’s cover, where the parachute will be ejected through a separate spring mechanism
system.
Spring
String Spring
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 44
Payload Descent Control Hardware
Summary
• The Descent Control hardware only uses a passive system.
• The heat shield will have a sufficient projected area to achieve a descending rate of 13 m/s with the probe
mounted, and 5 m/s on free flight. The projected areas for HS and Parachute are in the table below. Full
details on slides: 16 and 59.
• The squared shape of the heat shield will aid in keeping static stability and the nadir motion.
• The location of the C.G., being below the C.P., will prevent tumbling and help recover the nadir direction.
• The springs located in the base of the heat shield and attached to the 3D printed parts (rod pivots) will apply
sufficient moment force to maintain the heat shield deployed throughout all its descent stages.
• Heat shield selected to be orange for ease of retrieval
• Zip ties will be used to attach HS fabric (rip stop nylon) to the carbon fibre structural rods
Component Sizing & Key Considerations
Top View Side View Rod pivot + Spring
Presenter: Iuliu Ardelean
Heat shield projected surface area 0.084 𝑚2 Parachute projected surface area 0.243 𝑚2
Descent Stability Control Design
45CanSat 2018 CDR: Team 5002
The heat shield uses a passive design, as it saves weight and simplifies the system.
The shape is simplified from a truncated cone to a truncated pyramid for ease of
stitching and attachment to nose cone and rods. It allows aerodynamic stability by
passing the flow around to the payload smoothly and behaves like a finned design.
The centre of gravity (cg) is placed lower than the centre of pressure (cp) of the heat
shield to maintain the nadir direction.
In order to prevent tumbling there is a considerable difference between cg and cp
improved by removing the deployment gate and parachute release servo replaced by a
single servo and battery both placed at the bottom of the payload.
Battery Servo
Truncated
pyramid
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 46
Descent Rate Estimates•
•
•
1. 𝑾 = 𝑫 =𝟏
𝟐𝝆𝒗𝟐𝑪𝑫𝑺 𝑫 – drag force acting on the probe
𝑾 – weight of CanSat/Probe
𝝆 – air density
𝒗 – terminal velocity
𝑪𝑫 – drag coefficient
𝑺 – projected surface area of descending object
2. 𝑺 = 𝝅𝒓𝟐 ⟶ 𝒓 =𝟐𝑫
𝝆𝑪𝑫𝝅𝒗𝟐𝒓 – radius of projected surface area
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 47
Descent Rate Estimates•
•
•
Assumptions:• Weight of the falling object is equal to drag when it travels with constant velocity (terminal velocity),
• Density of air is assumed to be 𝟏. 𝟐𝟐𝟓𝒌𝒈
𝒎𝟑,
• No wind or air currents (depending on weather conditions the heat shield size can be adjusted).
the heat shield envelopes
the probe completely to protect it
1. 𝒎𝟏 = 𝟎. 𝟓 𝒌𝒈
2. 𝒎𝟐 = 𝟎. 𝟒𝟏𝟕 𝒌𝒈
3. 𝒎𝟑 = 𝟎. 𝟎𝟖𝟑 𝒌𝒈
4. 𝝅 = 𝟑. 𝟏𝟒𝟏𝟓
5. 𝒈 = 𝟗. 𝟖𝟏𝒎
𝒔𝟐
𝑪𝑫𝒑- drag coefficient of parachute
𝑪𝑫𝒉𝒔- drag coefficient of heat shield
Outputs:
𝑺𝒑- projected area of the parachute
𝑺𝒉𝒔 - projected area of Heat Shield
𝒎𝟏- mass of CanSat (prior to separation of the Payload)
𝒎𝟐- mass of Probe following separation from the Heat Shield
𝒎𝟑- mass of Heat Shield following release from the Payload
𝒈- gravitational acceleration
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 48
Descent Rate Estimates•
•
•
Heat Shield
(before separation)
• Estimated drag coefficient (𝑪𝑫𝒉𝒔)*: 0.55
𝟏𝟎𝒎
𝒔< 𝒗 < 𝟑𝟎
𝒎
𝒔
𝟐𝒎𝟏𝒈
𝟑𝟎𝟐 × 𝝆𝑪𝑫𝒑< 𝑺𝒉𝒔 <
𝟐𝒎𝟏𝒈
𝟏𝟎𝟐 × 𝝆𝑪𝑫𝒑
𝟎. 𝟎𝟏𝟔𝒎𝟐 < 𝑺𝒉𝒔 < 𝟎. 𝟏𝟒𝟔 𝒎𝟐
• Chosen surface projected area of HS is
𝟎. 𝟎𝟖𝟒𝒎𝟐
* Estimate based on drag coefficients of the hemisphere and cone
** Estimate based on HS falling down without turning upside down
Parachute• Estimated drag coefficient (𝑪𝑫𝒑): 1.1
• Required velocity (𝒗𝟐): 5 𝒎
𝒔
𝑺𝒑 =𝟐𝒎𝟐𝒈
𝝆𝒗𝟐𝑪𝑫𝒑= 𝟎. 𝟐𝟒𝟑𝒎𝟐
• Area of the spill hole is chosen to be 3%
of the total parachute projected area
Heat Shield
(after separation)
• Estimated drag coefficient (𝑪𝑫𝒉𝒔′)**: 0.55
𝒗 =𝟐𝒎𝟑𝒈
𝝆𝑪𝑫𝑺ℎ𝑠= 𝟓. 𝟑𝟔𝟏
𝒎
𝒔
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 49
Descent Rate Estimates•
•
•
Velocity of CanSat before separation
𝑣1 =2 · 𝑚1 · 𝑔
𝜌 · 𝐶𝐷ℎ𝑠 · 𝜋 · 𝑆ℎ𝑠= 13.2
𝑚
𝑠
Velocity of Probe with deployed
parachute
𝑣2 =2 · 𝑚2 · 𝑔
𝜌 · 𝐶𝐷𝑝 · 𝑆𝑝= 5
𝑚
𝑠
Velocity of Heat Shield after separation
𝑣3 =2 · 𝑚3 · 𝑔
𝜌 · 𝐶𝐷ℎ𝑠′ · 𝜋 · 𝑆ℎ𝑠= 5.3
𝑚
𝑠
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 50
Mechanical Subsystem Design
Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 51
Mechanical Subsystem Overview
Key Aspects & Materials Heat ShieldKey Aspects & Materials
Nylon Heat
Shield
Egg Container
(ABS)
Parachute Bay
(ABS)Nylon Rods
Camera Bay (ABS)
Carbon Fibre
Rods
Nose Cone
(ABS)
248.5 mm
120 mm
Heat Shield
Heat Shield is attached via a solenoid
rod extending through a hole at the top
of the nose cone. Once the solenoid
retracts it’s rod, the heat shield
releases from the probe.
ProbeOnce the heat shield
is released, the
parachute deploys
from its bay. The
parachute is held to
the probe via two
holes in the
parachute bay plate.
Presenter: Lawrence Allegranza France
Mechanical Subsystem
Changes Since PDR
CanSat 2018 CDR: Team 5002 52
PDR CDR Rationale Prototype Testing
3D printed material uses
PLA.
3D printed material uses
ABS.
This was due to problems encountered
involving warping and poor strength.
Sparse setting is still used.
PLA wasn’t strong enough and
parts kept snapping on the
prototype.
Diameter of CanSat is 90
mm (excl. nose cone &
heat shield)
Diameter of CanSat is 100
mm (excl. nose cone & heat
shield)
It was realised that more room was
required and there was enough space to
implement it.
N/A
A 3D printed part is used
to cover the egg and it’s
protection material
(sponge).
The dimensions have been
changed by increasing the
height and width to provide
extra room for padding.
There have been reinforcing
struts placed on the interior
surfaces. Holes have been
placed on multiple faces
across the egg cover. They
will be covered with stickers.
Reinforcing struts used to reduce the
effects of warping. Holes have been used
to reduce the weight of the egg cover as it
was the heaviest part. They will be
covered with stickers. This change saved
20 g of weight.
Environmental testing during
the test launch proved the egg
protection system did not work
but this was under extreme
circumstances. Drop tests will
confirm whether the method
works.
120 mm nylon spacers
used for structural
integrity in the main bay.
100 mm carbon fibre rods
and 15 mm spacers at each
end.
This change was implemented to both
reduce weight and increase the structural
integrity of the system. This change saved
20 g of weight. It also increased height.
The spacers survived the
environmental testing during a
prototype launch.
There have been a significant number of changes to the CanSat design. The majority of them have been to reinforce the
structural integrity and to reduce the overall weight. There are only a few design changes - such as the removal of the
solenoid and allowing one servo to complete HS deployment, HS release and parachute release - that have been done to
have smoother operation.
Presenter: Lawrence Allegranza France
Mechanical Subsystem
Changes Since PDR
CanSat 2018 CDR: Team 5002 53
PDR CDR Rationale Prototype Testing
Parachute hatch is flat.
15 mm laser cut ‘feet’ have
been placed at the top of the
CanSat at the parachute
end.
This was implemented so that the
CanSat was not lying on the
bulkhead bolt inside the rocket.
The feet survived the
environmental testing during a
prototype launch.
Torsion springs hold the
carbon fibre rods in place
for the HS.
3D printed pivots hold the
carbon fibre rods in place for
the HS. They pivot about
some arms on the nose
cone.
The torsion springs attachment
method to the CF rods was weak and
had to be improved. ABS rod holders
were designed and held in place to
act as a pivot. They were attached to
the nose cone with extensions
springs to maintain tension so the
natural position was in the deployed
position.
When building the prototype, it
became apparent that the torsion
springs wouldn’t work. The rod
pivots have been tested
independently and during a test
launch and worked effectively.
A servo opens the
parachute bay hatch to
release the parachute.
A spring has been used so
that the natural position is
open. A string holds it
closed. Therefore, when the
string is released, the
parachute bay hatch will
open. Height of the bay has
also increased.
The use of a servo for only parachute
bay hatch opening was undesirable
due to weight and electronics issues.
By using a spring, it reduces weight
and reduces the strain on the
electronics systems.
The Central Control Unit (CCU)
has been tested independently and
during a test launch and worked
effectively.
A 3D printed mounting
plate is used to place the
electronics onto.
A PCB holds all of the
electronics.
This change was employed for
multiple reasons. It not only reduced
the weight of the CanSat, but it also
made it easier to directly mount
electronics.
The PCB has yet to be tested. It
will be tested independently and
during a test launch.
Presenter: Lawrence Allegranza France
Mechanical Subsystem
Changes Since PDR
CanSat 2018 CDR: Team 5002 54
PDR CDR Rationale Prototype Testing
Camera is located in
camera bay but
attached to the
underside of the
payload bay plate.
Camera is located in
camera bay but attached
to the top of the camera
bay plate.
As the choice of camera changed, it was
easier to mount it on the bottom plate rather
than the location seen on the PDR.
The camera has been tested
independently and has worked
effectively. It will have an
environmental test during the next
prototype launch.
A solenoid retracts
from inside the HS
attachment point to
release the HS.
Springs push the nose
cone away once
released.
A servo with a length of
metal rod retracts to
release the HS. The
springs have been
removed.
It was decided that one dedicated mechanism
for HS deployment, HS release and
parachute release was preferable to multiple
mechanisms. This reduced weight, reduced
the complexity of electronics and the flight
software and is easier to implement.
The CCU has been tested
independently and during a test
launch and worked effectively.
The HS is deployed
through an
independent bay that
has an ‘X’ shaped
device which deploys
the HS when activated
with a solenoid.
A central system that
uses a servo with a
metal rod also controls
the deployment of the
HS, as well as the
release of the HS and
parachute.
It was decided that one dedicated mechanism
for HS deployment, HS release and
parachute release was preferable to multiple
mechanisms. This was decided as it reduces
weight, reduced the complexity of electronics
and the flight software and is easier to
implement.
The CCU has been tested
independently and during a test
launch and worked effectively.
Sponge is used to
protect the egg
against shock and
vibrations.
A combination of
sponge, cotton balls and
a bag are used to
protect the egg.
During the prototype launch, the egg was
placed inside a bag filled with cotton balls to
provide better padding and to protect the
electronics if the egg is to break.
Environmental testing during the
test launch proved the egg
protection system did not work
but this was under extreme
circumstances. Drop tests will
confirm whether the method
works.
Presenter: Lawrence Allegranza France
Mechanical Subsystem
Changes Since PDR
CanSat 2018 CDR: Team 5002 55
PDR CDR Rationale Prototype Testing
The nose cone has four
hollow pillars to hold four
springs to aid release.
There are four points for
attaching torsion springs.
A central pillar is used for
release.
The hollow pillars have been
dismissed as the springs aren’t
necessary. They are now just
pillars. The torsion springs
have been replaced by 3D
printed rod pivots that pivot
about arms on the nose cone.
The overall shape of the nose
cone has changed as the
circular edges have been
removed for straight lines.
The pillars remain to provide a stable
base for the rest of the CanSat and it also
stops additional stresses on the servo rod
against the nose cone attachment point.
The torsion spring idea proved to be
completely unreliable and unrealistic. It
has been replaced by a more reliable and
smoother method. There have been many
changes to the nose cone to further
reduce the weight of the CanSat. The
circular edges were removed to save
weight and to ease the difficulty of HS
manufacture.
The nose cone has been
tested independently and
during a test launch and
worked effectively.
GPS and buzzer located
on PLA mounting plate.
The GPS and buzzer have
been moved into the parachute
bay and are covered with a
laser cut plywood sheet.
It was realised that the GPS may struggle
to find signal on the side of the CanSat so
it was moved to the parachute bay so it
faces upwards. The buzzer joined as it too
big to be mounted on the PCB due to
space constraints.
The GPS wasn’t available
for the environmental test
but has worked sufficiently
during independent tests.
The buzzer has worked for
both situations.
1 mm carbon fibre plates
used to separate bays.
3 mm plywood is used to
separate the bays.
The plywood is easier to manufacture and
is still relatively lightweight.
The plywood plates have
been tested independently
and during a test launch
and worked effectively.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 56
Mechanical Sub-System
Requirements
RE# Description VERIFICATION
A I T D
RE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X
RE2The aero-braking heat shield shall be used to protect the probe while in the rocket only and when deployed
from the rocket. It shall envelope/shield the whole sides of the probe when in the stowed configuration in the
rocket. The rear end of the probe can be open
X X
RE3 The heat shield must not have any openings. X
RE6The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125mm diameter x
310mm length. Tolerances are included to facilitate container deployment from the rocket fairing.x
RE7 The probe shall hold a large hen’s egg and protect it from damage from launch until landing. X X
RE8The probe shall accommodate a large hen’s egg with a mass ranging from 54 grams to 68 grams and a
diameter of up to 50mm and a length of up to 70mm. X
RE9The aero-braking heat shield shall not have any sharp edges to cause it to get stuck in the rocket payload
section which is made of cardboard.X
RE10 The aero-braking heat shield shall be a florescent color; pink or orange. X X
RE11 The rocket airframe shall not be used to restrain any deployable parts of the CanSat. X X
RE12 The rocket airframe shall not be used as part of the CanSat operations. X X
RE13 The CanSat, probe with heat shield attached shall deploy from the rocket payload section. X
RE14 The aero-braking heat shield shall be released from the probe at 300m. X X
RE15 The probe shall release a parachute at 300m. X X
RE16All descent control device attachment components (aero-braking heat shield and parachute) shall survive
30Gs of shock. X X
RE17 All descent control devices (aero-braking heat shield and parachute) shall survive 30Gs of shock. X X
CanSat 2018 CDR: Team 5002 57
Mechanical Sub-System
Requirements
RE# Description VERIFICATION
A I T D
RE18 All electronic components shall be enclosed and shielded from the environment with the exception of sensors. X
RE19 All structures shall be built to survive 15Gs of launch acceleration. X X
RE20 All structures shall be built to survive 30Gs of shock. X X
RE21All electronics shall be hard-mounted using proper mounts such as standoffs, screws, or high performance
adhesives.X
RE22 All mechanisms shall be capable of maintaining their configuration or states under all forces. X
RE23 Mechanisms shall not use pyrotechnics or chemicals. X
RE24Mechanisms that use heat (e.g. nichrome wire) shall not be exposed to the outside environment to reduce
potential risk of setting vegetation on fire.X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X
RE38 Both the heat shield and probe shall be labelled with team contact information including email address. X
RE40 No lasers allowed. X X
RE41 The probe must include an easily accessible power switch. X X
RE42 The probe must include a power indicator such as an LED or sound generating device. X X
RE47An easily accessible battery compartment must be included allowing batteries to be installed or removed in less
than a minute and not require a total disassembly of the CanSat.X X
B1
Camera: Add a colour video camera to capture the release of the heat shield and the ground during the last 300
meters of descent; the camera must have a resolution of at least 640x480 and a frame rate of at least 30
frames/sec
X X
Payload Mechanical Layout of
Components
CanSat 2018 CDR: Team 5002 58
1) Launch configuration
2) Deployed configuration
3) Parachute is released
4) Released configuration of probe and heat shield
Red – Parachute Bay
Yellow – Electronics Bay
Light Blue – Egg Container Bay
Dark Blue – Camera/Release/Deployment Bay
1
2
3
4
Presenter: Lawrence Allegranza France
Payload Mechanical Layout of
Components
CanSat 2018 CDR: Team 5002 59
A
B
D
H
F
J
C
E
G
K
12
13
9
14
15
L
M
N
P
12
3
4
5
6
7
8
10
11
A - Parachute Hatch Hinge (Nylon) J – Parachute Hatch Spring 2 – 118 mm 10 – 115 mm
B – Parachute Stowed (RS Nylon) K – GPS & Buzzer 3 – 54 mm 11 – 78 mm
C – Stickers L - Support Column (CF) 4 – 23.5 mm 12 – 190 mm
D – HS Rod (Carbon Fibre) M – 15 mm Rod (Nylon) 5 – 15 mm 13 – 290 mm
E – On/Off Switch N – Pivot Rod (ABS) 6 – 30 mm 14 – 222.1 mm
F – Battery P – Nose Cone Springs 7 – 130 mm 15 – 248.5 mm
G – Camera Q – Egg 8 – 30 mm
H - Servo 1 – 174 mm 9 – 100 mm
Q
Presenter: Lawrence Allegranza France
Payload Mechanical Layout of
Components
CanSat 2018 CDR: Team 5002 60
Rocket Body
Tube
Heat Shield
(Ripstop Nylon)
Stowed
Parachute Stowed
(Ripstop Nylon)Parachute
Bay Feet
(Plywood)
Nose Cone
(ABS)
Rod
Pivots
(ABS)
CCU (ABS)
Servo Head Extension (ABS)
Cotton Balls
Egg
Sponge
Presenter: Lawrence Allegranza France
HS Attachment
(Details Slide 63)
Egg Protection Mechanical Layout
of Components
CanSat 2018 CDR: Team 5002 61
The egg protection structure design has not changed much from the PDR. However, in order to save
weight, material has been removed at some points. The method for mounting the egg cover onto the egg
protection base has remained the same. The dimensions have also changed, as seen below, to provide
more cushioning for the egg during descent.
A
B
D
C
Figure 3 shows the change in dimensions of
the egg cover, such that (A) = 106 mm, (B) =
70 mm, (C) = 70 mm, (D) = 50 mm. This has
assumed that the maximum egg side will be
used. This gives padding of 10 mm either size
of the egg and 18 mm above and below it. It
was decided more cushioning was required.
Figure 2 shows the weight reductions made to the egg cover. They saved a
mass of 20 g. In order to adhere to the requirements, the exposed areas will
be covered with stickers, which can be seen in Figure 1.
The diagonal trusses are included to maintain structural integrity of the
structure. This is completed to ensure that the egg protection structure will
not fail under extreme conditions.
Figure 1 Figure 2
Figure 3
Presenter: Lawrence Allegranza France
Egg Protection Mechanical Layout
of Components
CanSat 2018 CDR: Team 5002 62
Figure 1 Figure 2Figure 3
Figure 4 Figure 5
1) Nut and bolts are undone to allow free movement of the cover hatch. A lip is
used to secure the hatch at the bottom, as depicted in Figure 4.
2) The cover hatch is removed by pulling out and lifting up at the same time. The
egg is now exposed. The white bit simulates the cotton surrounding the egg
inside the bag.
3) It is now possible to remove the egg from its bed.
Figure 4 is included in to show the lip method used to restrict the bottom of the hatch.
Figure 5 is included to show how the egg is fully restricted to avoid damage.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 63
Heat shield Release Mechanism
• The Heat Shield is locked in position by a metal rod that
passes through HS attachment point; the position of the
rod is controlled by a servo; the rod and servo are part
of the Probe.
• At 300 m, the servo receives a signal to fully retract the
rod which results in Heat Shield being released
• One servo controls three processes: Heat Shield
deployment, parachute deployment and Heat Shield
release; this design is simple and saves weight.
• After prototype testing it was decided that compression
springs are no longer needed for the Heat Shield to
release promptly; the drag created by parachute
deployment will be sufficient.
Figure 1: Shows the Central Control Unit (CCU) is located in
the camera bay. This figure is shown for context for location.
Figure 2: The camera and a nylon spacer have been made
transparent to show the metal rod holding the HS attachment
point in place. The HS attachment point has been circled in
red.
Figure 3: As the servo rotates about its axis, it drives the rod
through one degree of freedom. It then release the HS which
can be seen at the bottom of Figure 3.
Figure 1
Figure 2
Figure 3
Presenter: Lawrence Allegranza France
Probe Parachute Release
Mechanism
64CanSat 2018 CDR: Team 5002
• The Parachute is being stowed in a parachute bay
which is kept closed by a string until the CanSat
reaches 300 m.
• A plate in the parachute bay has two designated
holes used to attach the Parachute to the Probe.
• The string is attached to a washer through which
passes servo-rod mechanism mentioned in the
previous slide.
• At 300m servo receives the signal to retract the rod
and the string is released. This results in the
parachute bay being opened and the Parachute
deploys.
Figure 1
Figure 2
Figure 3
Figure 1: The CCU holds the parachute bay line with a
washer.
Figure 2: As the servo rotates and retracts the metal rod,
the washer is released and tension is lost.
Figure 3: The other end of the line hold the parachute bay
hatch closed when the line is in tension. The natural position
for the hatch is open due to the tension on the hinge from
the spring.
Probe Parachute Release
Mechanism
65CanSat 2018 CDR: Team 5002
Figure 4
Figure 6
Figure 5
Figure 4: The parachute is pushed down onto a piece of
cardboard that covers a spring that is glued to the probe.
This figure shows the parachute stowed. It is attached to the
bulkhead of the parachute bay. The parachute has been
folded so that it can unravel successfully.
Figure 5: As the door is opened, the cardboard is free to
push the parachute out. This is done to ensure release.
Figure 6: The parachute then releases and slows the
descent rate of the CanSat.
Structure Survivability
CanSat 2018 CDR: Team 5002 66
Criteria PDR CDR Rationale
Electronics
component
mounting
methods
The electronics are screwed or
glued onto the 3D printed PLA
mounting plate.
The electronics will now be
mounted onto a PCB that has
replaced the mounting plate.
However, the GPS and the
buzzer are now located in the
parachute bay and will be
secured with strong double sided
tape.
The PCB will provide a solid method for
mounting the electronics and also
reduces the likelihood of short circuits. It
is also quicker to mount the electronics
onto. In our test launch, the double sided
tape survived very well so it was
considered adequately reliable.
Electronic
component
enclosures
The main electronics bay is
covered using a thin sheet of
hard plastic. The camera, servo
and two solenoids are covered
within a 3D printed bay.
The main electronics bay is
covered using a thin sheet of
hard plastic. The camera, servo,
GPS, buzzer and switch are all
covered within a 3D printed bay.
Some of the parts were moved for other
reasons and some parts have been
dismissed/replaced. It is regarded as
adequate by the team.
Accelerations and
shock force
requirements and
testing
N/A
Most of the parts being used
have been tested during a
prototype launch and have
survived a fall from ~200 m
without parachute due to a
failure.
The remaining components that haven’t
been tested for shock force requirements
and testing will be tested over the next
two prototype launches and dedicated
systems tests.
Structure Survivability
CanSat 2018 CDR: Team 5002 67
Criteria PDR CDR Rationale
Securing electrical
connections
Electrical connections will be
secured through tape and
soldering.
As a PCB is now being used,
most of the components won’t
need electrical connections
being secured. The servo
used for the CCU is being
screwed into a bulkhead.
Where necessary, connections
will be secured further with
epoxy.
As the majority of components are
mounted onto a PCB, there is no worry
about components becoming
disconnected. For parts that are liable to
it, epoxy will be more than sufficient as it
is a very strong bond.
Descent control
attachments
A servo and a solenoid were
the only methods for fastening
descent control attachments.
Only a servo is the electronical
components that is used to
connect attachments.
Tensioned string is used to
hold some parts in place.
Springs hold the rod pivots on
the HS and a spring pulls the
parachute bay hatch open.
The servo mechanism (CCU) has been
tested numerous times and has proved to
be reliable. However, on some occasions
it has proven to struggle with the various
loads placed upon it. To improve it, the
team will grease the rod and look at
alternative methods to ease the forces
placed upon the servo. The string
methods for HS deployment and
parachute release have been tested
numerous times also. These tests have
been proven the method to be reliable. As
long as the springs don’t yield, they can
be considered a sound method.
CanSat 2018 CDR: Team 5002 68
Mass Budget
Mass of all Electronic Components
Subsystem Component Mass (g) Justification
CDH/SE/FSW Teensy 3.2 5.4 Measured
CDH RTC 3 Measured
CDH Xbee 6.6 Measured
CDH Buzzer 3.3 Measured
SE 10DOF IMU 3.3 Measured
CDH SD Card & Breakout 2.6 Measured
SE Camera 5 Measured
EPS Battery 33 Measured
SE Adafruit Ultimate GPS 9.1 Measured
ALL PCB 30 Estimated
DCS/ME Servo 9 Measured
EPS On/Off Switch 5 Measured
Total 115.3 g
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 69
Mass Budget
Mass of Structural Elements (Probe 1/3)
Subsystem Component Mass (g) Justification
M/DC
Egg Containment
Egg 68 Datasheet
Sponge 5.8 Measured
Cotton Balls 2 Measured
Egg Bag 4 Measured
15 mm Spacers (x6) 11.2 Measured
30 mm Spacers (x3) 9 Measured
100 mm Carbon Fibre Spacers (x3) 8 Measured
Parachute Bay Door
Release
Parachute 10 Datasheet
Spring 0.7 Measured
String 0.5 Measured
Hinge 1.8 Measured
Electronics Cover 8 Measured
SG90 Servo Head Extension 0.6 Measured
Stickers (x7) 4 Estimated
Washer 0.2 Measured
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 70
Mass Budget
Mass of Structural Elements (Probe 2/3)
Subsystem Component Mass (g) Justification
M/DC
3 mm Plywood Plates
Payload Bay Plate 8.1 Measured
Camera Bay 9 Measured
Parachute Bay 7.5 Measured
Parachute Bay Hatch 6.1 Measured
Parachute Bay
Electronics Cover4 Measured
Parachute Pusher 3.6 Measured
Parachute Bay Feet (x4) 1.9 Measured
3D Printed Parts (ABS
on ‘sparse’ setting of
70%)
Parachute Bay 24.64 Measured
Egg Container Cover 28.14 Measured
Egg Container Base 7.98 Measured
Camera Bay pt. 1 6.93 Measured
Camera Bay pt. 2 8.68 Measured
CCU Base 9.24 Measured
CCU Pin Head 0.42 Measured
CCU Servo Head
Extension0.35 Measured
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 71
Mass Budget
Mass of Structural Elements (Probe 3/3)
Subsystem Component Mass (g) Justification
M/DC
M3 Bolts (x15) 8.4 Measured
M3 Nuts (x6) 1.8 Measured
M1.6 Bolts (x7) 1.8 Measured
M1.6 Nuts (x4) 0.4 Measured
Glue 3 Estimated
Total 275.8 g
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 72
Mass Budget
Mass of Structural Elements (Heat Shield)
Subsystem Component Mass (g) Justification
ME/DCS
Nose Cone (ABS - 100% Fill) 49.9 Measured
Rip stock Nylon 12.1 Measured
Rod Pivots (x4) 9 Measured
Carbon Fibre Rods (x4) 8.4 Measured
M3 Bolts (x4) 3.0 Measured
Springs (x4) 2.8 Measured
Pivot M3 Bolts (x4) 4.9 Measured
Zip Ties (x4) 2 Measured
Glue 3 Measured
Cotton (for sewing) 1 Measured
Total 96.1 g
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 73
Mass Budget
Mass Margins
Heat Shield 5% 4.8 g
Probe – Structure 5% 13.8 g
Probe – Electronics 5% 5.8 g
Total Margin 15% 24.4 g
System Total
Margins 24.4 g
Probe (Structure + Electronics) 391.1 g
Heat Shield 88.9 g
Total Inc. Margins 504.4 g
Total Exc. Margins 480 g
Currently, the mass is within/under the mass budget
requirement. Once a second prototype has been fully
assembled after recent changes made, the team will asses
if more weight needs to be added.
More weight can be added in many forms. One key
method is increasing the size of the egg cover and giving
the egg more padding. Not only will this provide better
protection, but the egg cover is the second heaviest part
on the CanSat.
Another method for adding weight is to change the 3D
printed parts to 100% infill rather than 70%. This is a
simple, yet effective method.
In case the egg is smaller than expected (as the largest
egg has been assumed), then ballast will have to be
added. Ballast can be added underneath the protection
sponge for the egg. This will be planar in nature to reduce
the effect of reducing the amount of protection for the egg.
The table to the left shows the overall mass margins for
the entire system.
When considering requirement 1, the prototype satisfies it
when margins are included. However, when excluded, the
CanSat is underweight but this can be resolved as
mentioned above.
Presenter: Lawrence Allegranza France
TOTAL BUDGET
CanSat 2018 CDR: Team 5002 74
Communication and Data Handling
(CDH) Subsystem Design
Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 75
CDH Overview
Probe System Overview
Teensy
3.2 A
Temp.
Tilt
GPS
Air
Pressure
Camera
SD Card A
XBee Pro
S2C
SD Card B
Taoglas
Patch
Antenna
GCS
BAT+
SPI
3.3 V
Digital
Pin
SPI
Serial Serial
3.3V
3.3VI2C
I2C
I2C
CDH Component Overview
Component Function
Teensy 3.2 Probe Microprocessor
XBee Pro S2C Probe Radio
DS1338 RTC RTC for the system
BAT+
Presenter: Lawrence Allegranza France
CDH Changes Since PDR
•
CanSat 2018 CDR: Team 5002 76
PDR CDR RATIONALE
Using two microcontrollers:
Teensy 3.2 and Arduino Nano
Using only single
microcontroller
(Teensy 3.2)
• Selected Camera has onboard SD card
interface hence Arduino Nano not
required
• Camera and Servo can be powered by
5V from voltage regulator
• Camera and Servo can be controlled
using Teensy 3.3V digital pin and PWM
pin respectively
RTC: Adafruit DS1307 RTC: Adafruit DS1338 • 3.3V compliant
SD Card breakout: 2x 5V SD
breakout
SD Card breakout: 1x
3.3V SD breakout
• 3.3V compliance
• Change from two microcontrollers to
one and new camera has in-built SD
card storage
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 77
CDH Requirements
RE# Description VERIFICATION
A I T D
RE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X X
RE6 The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125 mm diameter x 310 mm
length. Tolerances are to be included to facilitate container deployment from the rocket fairing.X X
RE18 All electronic components shall be enclosed and shielded from the environment with the exception of sensors. X
RE21 All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance
adhesives.X
RE25 During descent, the probe shall collect air pressure, outside air temperature, GPS position and battery voltage
once per second and time tag the data with mission time.X X
RE26 During descent, the probe shall transmit all telemetry. Telemetry can be transmitted continuously or in bursts. X
RE27 Telemetry shall include mission time with one second or better resolution. Mission time shall be maintained in
the event of a processor reset during the launch and mission.X
RE28 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.X
RE29 XBEE radios shall have their NETID/PANID set to their team number. X X
RE30 XBEE radios shall not use broadcast mode. X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X
RE42 The probe must include a power indicator such as an LED or sound generating device. X X
RE45 An audio beacon is required for the probe. It may be powered after landing or operate continuously. X X
RE46 Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed. Lithium
cells must be manufactured with a metal package similar to 18650 cells.X
RE49 A tilt sensor shall be used to verify the stability of the probe during descent with the heat shield deployed and
be part of the telemetry.X
B2 A radio transmitter shall be added to transmit the wind speed by changing its frequency. The frequency change
shall be 1 Hz per 0.1 meter/sec. The transmitter must be custom designed and built. It cannot be a commercial
product. The frequency must be in the 433 MHz ISM band, or if a team member has an amateur radio license,
an amateur radio band can be used. The transmitter must be able to set to 8 different frequencies in the 433
MHz ISM band with 25 kHz separation. The transmitter must turn off after the probe lands to minimize
interference.
X X X X
CanSat 2018 CDR: Team 5002 78
Probe Processor & Memory
Selection
DEVICE CHOSEN RATIONALE
Teensy 3.2 • Low mass
• Exceptional memory capability
• Easy to programme with Arduino IDE
Processor
SpeedCost Weight Data Interfaces
Non-volatile Memory
Options
Volatile Memory
Options
72 MHz £19.80 4.8 g
USB 1
EEPROM
(2KB)
Flash
(256 KB)SRAM (64 KB)
Serial 3
SPI 1
I2C 2
Memory storage requirements:
• RTC value and packets transmitted will be saved in microcontroller non-volatile EEPROM so that in the
event of processor reset, mission time will still be known and telemetry can resume coherently
• Store telemetry data in non-volatile memory (SD Card A – 32GB sufficient for maximum expected data
volume)
• Videos taken during descent are stored in SD Card B (on-board camera SD Card B – 32GB sufficient for
maximum expected data volume)
Arduino Nano is no longer needed because new camera selected has on-board SD card and can be
powered by a single 3.3 V digital output pin from the Teensy.
Presenter: Lawrence Allegranza France
Probe Real-Time Clock
CanSat 2018 CDR: Team 5002 79
DEVICE CHOSEN RATIONALE
DS1307 • Light weight
• Affordable
• 2 sec/day drift is reasonable
Weight Size Cost Power Accuracy/Error @ 25 °C Interface
2.3 g 26x22x5 mm ~₤2Coin Cell Battery ~23 ppm
2 sec/dayI2C
Duracell LR44
Duracell LR44 specifications: 9g, 1.5 V, 105 mA-hr
Payload Real-Time Clock: DS1307
• Hardware clock
• On-board microcontroller time will be synced with the RTC readings to give an accurate <Mission
Time> value for telemetry
• 2 sec/day accuracy
• Reset tolerance:
▪ RTC readings will be saved in microcontroller EEPROM so that in the event of processor
reset, mission time will still be known and telemetry can resume accurately
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 80
Probe Antenna Selection
DEVICE CHOSEN RATIONALE
FXP70 Freedom Multi
Standard Antenna
• Higher gain
• Low profile
Gain VSWR Mass Size Polarization
5 dBi ≤ 1.5:1 1.2 g 27 x 25 x 0.8 mm Horizontal, vertical
Antenna Considerations
Antenna is 2. 4 GHz because this is the XBee Pro S2C’s frequency.
Antenna’s “face” will be mounted flush to “bottom” (downward facing during flight) of CanSat.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 81
Probe Radio Configuration
XBee Considerations
• NETID will be team No. 5002
• Broadcasting mode will not be used to transmit data
• Transmission will be handled by code in the µ-Controller
• No transmissions during launch.
• Transmissions are made at a rate of 1Hz during the descent phase of the mission.
• Transmissions cease after CanSat has landed.
DEVICE CHOSEN RATIONALE
XBee Pro S2C • High sensitivity
• Team member experience with device
• Tx supply current is manageable by Teensy 3.2
Gain VSWR Mass Size Polarization
5 dBi ≤ 1.5:1 1.2 g 27 x 25 x 0.8 mm Horizontal, vertical
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 82
Probe Telemetry Format
Data will be transmitted at a rate of 1 Hz in bursts.
The telemetry data file will be named:
CANSAT2018_TLM_<TEAM ID>_<TEAM_NAME>.csv
Telemetry data shall be transmitted with ASCII comma delimited fields followed by a carriage
return in the following format:
<TEAM ID>,<MISSION TIME>,<PACKET COUNT>,<ALTITUDE>, <PRESSURE>,
<TEMP>,<VOLTAGE>,<GPS TIME>,<GPS LATITUDE>,<GPS LONGITUDE>,<GPS
ALTITUDE>,<GPS SATS>,<TILT X>,<TILT Y>,<TILT Z>,<SOFTWARE STATE>,<BONUS>
Example toy packet:5002,100,100,600.0,101000.0,20.0,8.7,100,32.2,-43.2,600.0,7,45.0,45.0,45.0,DEPLOYED
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 83
Probe Telemetry Format
Quantity Description Variable Type Maximum Size in Bytes
<TEAM ID> Four digit team identification number Integer 2
<MISSION TIME> The time since glider power up [sec] Integer 2
<PACKET COUNT> Count of transmitted packets Integer 2
<ALT SENSOR> Altitude with one meter resolution [m] Float 4
<PRESSURE> Measurement of atmospheric pressure [Pa] Float 4
<TEMP> Sensed temperature with one degree resolution [°C] Float 4
<VOLTAGE> Voltage of the CanSat power bus [V] Float 4
<GPS TIME> Time generated by the GPS receiver Integer 2
<GPS LATITUDE> Latitude generated by GPS receiver Float 4
<GPS LONGITUDE> Longitude generated by GPS receiver Float 4
<GPS ALTITUDE> Altitude generated by GPS receiver Float 4
<GPS SATS> # of GPS satellites being tracked by GPS receiver Integer 2
<TILT X> Tilt sensor X axis value. Float 4
<TILT Y> Tilt sensor Y axis value. Float 4
<TILT Z> Tilt sensor Z axis value. Float 4
<SOFTWARE STATE> Current operating state of the software String 18
<BONUS> N/A (Videos stored on camera SD card) N/A N/A
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 84
Electrical Power Subsystem Design
Presenter Name(s) Go Here
CanSat 2018 CDR: Team 5002 85
EPS Overview
Component Function
Switch Manual Power On/Off
RTC Battery CR 1225 Battery for time keeping
GPS Battery CR 1220 Battery for time and location
Energize L522 Ultimate Lithium Main Battery
LM7805 Voltage Regulator
Teensy 3.2 MCU
Adafruit 10 DOF IMU Press, Temp, Alt, Tilt
Modified SQ11 Camera Video Bonus
Servo 9g Release Mechanisms
XBEE S2C Pro Transceiver
SD Card Breakout Board Data Logging Onboard
Adafruit Ultimate GPS v3.0 GPS
Audio Beacon Audio Beacon
EPS Overview:
The CanSat probe is now powered by a single 9V
Energizer L522 Ultimate Lithium Battery.
The probe now contains only one Microcontroller, the
Teensy 3.2.
The Teensy is powered from a 5V regulator along with
all other electronics, except the SD Card and the
XBee, which are powered from a 3V3 output pin of the
Teensy.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 86
EPS Overview
VOLTAGE REGULATOR
AUDIO BEACON
SD CARD
SERVO
TEENSY 3.2.
10 DOF IMU
GPS
CAMERA
XBEE
RTC
SWITCHVOLTAGE
DIVIDER
Presenter: Lawrence Allegranza France
EPS Changes Since PDR
CanSat 2018 CDR: Team 5002 87
PDR CDR RATIONALE
2 MCUs 1 Teensy 3.2. Less weight
2 SD Card Breakout as standalones 1 SD Card Breakout as standalone
1 SD Card Breakout inbuilt on the
Camera
Camera comes with inbuilt SD
Card Slot
3 Release Mechanisms 1 Release Mechanism Significantly less weight
Adafruit Serial JPEG Camera Modified SQ11 Pawaca Camera Better quality video
Better weight
Components attached by various
methods onto PLA plate
PCB Reliability
Ease of removal of components
(modularity)
Duracell 9V Alkaline Energizer 9V Ultimate Lithium Improved power capacity.
Less weight.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 88
EPS Requirements
RE# Description Verification
A I T D
RE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X
RE6 The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125 mm diameter x 310
mm length. Tolerances are to be included to facilitate container deployment from the rocket fairing.X
RE18 All electronic components shall be enclosed and shielded from the environment with the exception of
sensors.X
RE21 All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance
adhesives.X
RE25 During descent, the probe shall collect air pressure, outside air temperature, GPS position and battery
voltage once per second and time tag the data with mission time.X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. X
RE41 The probe must include an easily accessible power switch. X
RE45 An audio beacon is required for the probe. It may be powered after landing or operate continuously. X X X
RE46 Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed.
Lithium cells must be manufactured with a metal package similar to 18650 cells.X X X
RE47 An easily accessible battery compartment must be included allowing batteries to be installed or removed in
less than a minute and not require a total disassembly of the CanSat.X X X
RE48 Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause
momentary disconnects.X
Bonus Camera: Add a colour video camera to capture the release of the heat shield and the ground during the
last 300 meters of descent. The camera must have a resolution of at least 640x480 and a frame rate of at
least 30 frames/sec.
X X X X
Bonus Wind Sensor and Radio Transmitter X X X X
CanSat 2018 CDR: Team 5002 89
Probe Electrical Block Diagram
NOTES
The GPS, Adafruit and RTC
are 5V compatible. The Servo
requires 5V power supply. The
SD card and XBee are powered
by the Teensy as they need
3.3V.
The audio beacon will be used
to indicate that the CanSat is
powered and operational.
The switch is an easily
accessible external switch. The
Teensy 3.2 can be accessed
through an umbilical cord
without disassembling the
CanSat.
No spring contacts will be
used for making electrical
contacts to batteries. A PCB will
be used for the circuit
connection.
Presenter: Lawrence Allegranza France
Probe Power Source
CanSat 2018 CDR: Team 5002 90
Battery selection: Energizer L522 Ultimate Lithium
• This battery was chosen as it has a higher mAh rating than the previous one (Duracell 9V
Alkaline)
NOTE: The chosen battery source is Lithium. The cell is indeed manufactured with a metal package
similar to 18650 cells. The chosen battery is not easy to damage and does not represent a fire hazard.
Voltages: 9V power supply, and using a voltage regulator to get 5V for the circuit. A 3.3V is
supplied to specific components through the Teensy
Current capacity (Tested in Real Life):
• 230 mA without camera.
• 363 mA with camera (just last one minute of the flight).
How much current battery can generate: 1000 mA (Datasheet)
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 91
Probe Power Budget
Presenter: Lawrence Allegranza France
Component NameCurrent
[Amp]
Voltage
[Volt]
Operational
Power [W]
Duty Cycle
[%]
Duty Cycle
[Hrs]
Duty hour
[sec]
Required
Capacity
[W-hr]
Required
[A-hr]
Adafruit 10DOF IMU 0.001 5 0.005 12% 00:14:24 864 0.0012 0.00024
Adafruit Ultimate GPS
Breakout 0.02 5 0.1 12% 00:14:24 864 0.024 0.0048
Zigbee/802.15.4
Modules 0.12 3.3 0.396 12% 00:14:24 864 0.09504 0.0288
Modified SQ11
Pawaca Camera 0.075 5 0.375 1% 00:01:00 60 0.00625 0.00125
Teensy 3.2 USB 0.0003 5 0.0015 100% 02:00:00 7200 0.003 0.0006
Servo 9g 0.25 5 1.25 100% 02:00:00 7200 2.5 0.5
SD Breakout 0.1 5 0.5 12% 00:14:24 864 0.12 0.024
Audio Beacon 0.035 3.3 0.1155 12% 00:14:24 864 0.02772 0.0084
TOTAL 0.56809
All data is from component data sheet.
Power source (Energizer 9V Ultimate Lithium) offers at least 0.75 A-hr (Datasheet). (Margin of 40%)
In practice, the true Duty Cycle will not be this long.
CanSat 2018 CDR: Team 5002 92
Flight Software (FSW) Design
Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 93
FSW Overview
•
•The architecture of the program relies on Teensy 3.2.
C programming language is used as it
offers more in depth programming flexibility compare to
higher level languages (e.g. C#)
C is the most common language among
team’s programmers so it makes sense to use
the existing skillset available
The IDE used is ‘Arduino’- a very simple and easy to
understand IDE which should provide all the functionality that
we need (simpler to get everyone involved in the development)
Tasks of the software:
• Calibrate
• Ensure everything runs smoothly (running checks)
• Power
• Sensor failures
• Critical mission points
• Handle (process) data
• Store system data to EEPROM – ensures state recovery in
caseof sudden power loss
Altitude = 300m (On descent)
Heat Shield Released
Parachute Deploys
Ground
Impact
Audio
Beacon
Activates
Launch
C/C Sensing and Transmitting
Apogee reached
Payload detached
HS engaged
Presenter: Lawrence Allegranza France
FSW Changes Since PDR
CanSat 2018 CDR: Team 5002 94
PDR CDR Rationale
Arduino Nano
&
Teensy 3.2
Teensy 3.2 Weight savings
Camera has built-in SD card
New features
• EEPROM backup
• Force Sampling
New way of testing
• Simulation
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 95
FSW Requirements
•
•
•
•
•
ID RequirementVerification
A I T D
RE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. X
RE14 The aero-braking heat shield shall be released from the probe at 300 meters X
RE15 The probe shall deploy a parachute at 300 meters. X
RE25During descent, the probe shall collect air pressure, outside air temperature, GPS position and battery
voltage once per second and time tag the data with mission time. X X
RE27Telemetry shall include mission time with one second or better resolution. Mission time shall be
maintained in the event of a processor reset during the launch and mission.X X
RE31Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the
cost. X
RE39The flight software shall maintain a count of packets transmitted, which shall increment with each
packet transmission throughout the mission. The value shall be maintained through processor resets. X X
RE42 The probe must include a power indicator such as an LED or sound generating device. X X X
RE45 An audio beacon is required for the probe. It may be powered after landing or operate continuously. X X
RE49A tilt sensor shall be used to verify the stability of the probe during descent with the heat shield
deployed and be part of the telemetry. X X
BONUS
Add a color video camera to capture the release of the heat shield and the ground during the last 300
meters of descent. The camera must have a resolution of at least 640x480 and a frame rate of at least
30 frames/sec. The camera must be activated at 300 meters.
X X X
BONUS
A radio transmitter shall be added to transmit the wind speed by changing its 10 frequency. The
frequency change shall be 1 Hz per 0.1 meter/sec. The transmitter must turn off after the probe lands
to minimize interference.
X X X
CanSat 2018 CDR: Team 5002 96
Probe CanSat FSW State Diagram
Info:
Mission State:
• Not Deployed
• Deployed
• HS Released
• Landed
[C]
represents the limit of
possible retries in case of
negative results for a check
System Recovery:
EEPROM memory will be
read in order to recover
the state(settings) of the
software in case of
sudden processor
resets.
Payload
Switched On
Turn on all systems
All systems operational?
(sensor & radio) [C]
No
Yes
Calibrate Functional Sensors
Take Sensor Measurements
Is altitude > 350m?
Yes
No
Take Sensor Measurements
Is altitude <= 350m?
No
[C=0]
Take Sensor Measurements
[C]
Is altitude <= 301m?
No
No [C=0]
Deploy
Heat Shield
+
Store exact
deployment
data
Take Sensor
Measurements
Is altitude <
10m?
Activate Audio
Beacon
& Stop
measurements Yes
No
Yes
Yes
Handle Packet
(ensure 1s interval)
Handle Packet
(1s intervals)
Is time since the last
transmission < 1s
Yes
Kill Time (1-time since last
transmission)
Transmit and
store data
NoIn Out
Is payload released
[C]
No
[C=0]
Handle Packet
(ensure 1s interval)
No
Engage shield
(Power Actuator)
Yes
Take Sensor Measurements
Handle Packet
(ensure 1s interval)
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 97
Software Development Plan
Development sequence (chart given below):
1. Test each component to identify and address any challenges with thatcomponent
2. Integration testing to identify and address any challenges which may occur in regards tocomponents
compatibility with othercomponents
3. Weekly development sessions of the FSW
The development sequence is a part of the project plan. It will be finished as and when manufactureand build finishes in
order to permit system level testing(simulation).
FSW Development Iteration: (Plan > Implement > Test)
Component
Testing
Integration
Testing
FSW
Development: Iterations
Simulation
DONE
ONGOING
We’ve already started an exhaustive system testing in a simulative environment (created by the system itself using dummy
variables), which we will continue until the beginning of the mission.
The results are looking great at the moment. However, we will keep a defensive programming style if any uncovered cases
are to be found.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 98
Software Development Plan
Software development team (RS, IA, LAF, NZ)
We are using GitHub (web-based Git repository manager) to store and manage our source-code.
Every FS team-member was instructed on how to use Git commands. This allowed us to keep track of all the changes
made in the code and of course we have the possibility to return to previous versions of it if something goes wrong.
Benefits:
▪ Keep track of all the code changes (recover previous versions if needed)
▪ “Issue Tracker” - a tool to create and track issues/development steps, which has useful functionalities like: developer
assignation, deadlines
The team conducts weekly meetings to discuss planning(creating new issues and setting new deadlines), rather than
presenting individual progress which is already done in GitHub by giving commits(modifications) descriptions and by
commenting/closing issues.
This allows us to focus more on planning, by saving a lot of time with the functionality provided by GitHub.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 99
Software Development Plan
FS Strategy and Progress (Keyword: FAILPROOF)
We planned on creating a software (completely free of bugs) with a low dependency between components, such that at the
end of the mission we will be able to tell exactly which components failed physically.
And we are confident to say that we did it!
Key Features:
• Force Sampling (we are able to collect at least ten altitude samples per second, hence we should be able to release the
heat shield and deploy the parachute at an altitude very close to 300 meters )
• Every component is independent of all the other components, besides the processor (enhances analysis)
• Retrieving data:
➢ Main: radio transmission
➢ First backup: SD card
➢ Second backup: EEPROM (at state change packets will be stored in the microcontroller’s non-volatile memory)
This approach (reduced component dependency & multiple backups) will help us a great deal with the mission analysis by
ensuring a continuous flow of information (as long as the microcontroller works) in order to answer a lot of the ”WHY?”
questions which will be raised at the end of the mission
A well structured, abstract documentation(explanation with references to the actual code) will be written in order to
demonstrate that the software is fail-proof. This information will be used for proving our mission analysis.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 100
Ground Control System (GCS) Design
Lawrence Allegranza France
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 101
GCS Overview
Probe XBee
GCS XBee
SMA to RP-SMA Adapter
Laptop (GUI)
2.4 GHz Yagi
Presenter: Lawrence Allegranza France
GCS Changes Since PDR
CanSat 2018 CDR: Team 5002 102
NO CHANGES MADE TO GCS GROUND STATION
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 103
GCS Requirements
ID RequirementVerification
A I T D
RE26 During descent, the probe shall transmit all telemetry. Telemetry can be transmitted continuously or
in bursts. X X
RE28 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. X
RE30 XBEE radios shall not use broadcast mode. X X X
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the
cost. X X
RE32 Each team shall develop their own ground station. X
RE33 All telemetry shall be displayed in real time during descent. X X
RE34 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.) X X
RE35 Teams shall plot each telemetry data field in real time during flight X X
RE36 The ground station shall include one laptop computer with a minimum of two hours of battery
operation, XBEE radio and a hand held antenna. X
RE37 The ground station must 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. X
GCS Design
104
2.4 GHz Handheld Yagi
XBee S2C
GCS LaptopParallax XBee USB Adapter
Board
Mini USB to
USB 2 CableSMA to RP-
SMA Adapter
Specifications
Battery 4 hours (from fully charged)
Overheating MitigationLaptop Cooling Pad
Sun-shielding umbrella
Auto-update MitigationDisable auto update feature
Disable Internet connection
CanSat 2018 CDR: Team 5002Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 105
GCS Antenna
DEVICE CHOSEN RATIONALE
Yagi Antenna
Model: TY-24-17-20
• Higher dBi than other Yagi with comparable beam width
• Larger beam width than grid antenna
Gain Horizontal/Vertical Beamwidth Connector Polarization
17 dBi 25° / 24° N Female Horizontal, vertical
Distance Link Prediction and Margins
Range will need to be tested further under more controlled
conditions.
Most recent test resulted in a consistent signal received at
approximately 500 m. Link was tested in a metropolitan
area and through a window pane, which are two factors
that need to be eliminated/made negligible in the next test.
Margins must still be tested.
Predicted Range (under ideal conditions): 1 km
Predicted Margin: Yagi pointing can be off by
approximately 10° from the ideal pointing orientation in
either horizontal or vertical direction.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 106
GCS Antenna
Antenna PortabilityAntenna will be handheld.
It will be mounted on lightweight PVC
pipe
Antenna Construction (Assembly)To ensure that connection between Yagi
and GCS XBee is as short as possible (to
reduce effect of noise), the XBee will be
mounted on the Yagi/boom, and
connected to the GCS Laptop by a long
USB cable.
Presenter: Lawrence Allegranza France
GCS Software
CanSat 2018 CDR: Team 5002 107
The team has developed their own Ground Control Station.
The GCS code was finished at the PDR – no progress.
COTS Software packages:
Python 2.7 – Computational Environment of choice.
Anaconda Python Package– encompasses real time plotting and data manipulation utilities for Python.
XBEE Python Library – encompasses real time access to XBEE through USB interface.
SKLearn Python Library – simple data filtering and data post-processing utilities
Command Software and interface:
No commands are planned to be incorporated, as the whole operation will be automated.
However, commands can be sent from the Ground Control Station to the CanSat at the push of a button.
The GCS Script makes use of the XBEE Python Library to access the XBEE receiver through its USB interface, in order to collect
data in real time.
Telemetry Data Recording:
Data (temperature, pressure, etc.) will be recorded in a .csv file right after being read through the USB interface,
without any processing.
Data from this .csv file will later be processed in Python or MS Excel to show at the PFR.
During flight, the data (temperature, pressure, etc.) is then processed, checked and plotted in their respective plot windows.
.csv file creation:
.csv file creation is a relatively simple and straight forward task. The .csv file is created during the setup of
the GCS Python script, and data is continuously appended to the file, as it arrives in packets to the GCS.
Presenter: Lawrence Allegranza France
GCS Software
CanSat 2018 CDR: Team 5002 108
GCS Code Architecture.
Top is flowchart.
Right is implementation.
Presenter: Lawrence Allegranza France
GCS Software
CanSat 2018 CDR: Team 5002 109
LEFT:
GCS tested in real life with Yagi antenna.
RIGHT:
GCS with random data coming through USB cable.
Screenshots of GUI as seen on Laptop GCS screen.
Presenter: Lawrence Allegranza France
GCS Bonus Wind Sensor
110CanSat 2018 CDR: Team 5002Presenter: Lawrence Allegranza France
ISM Band
Receiver
ISM Band Yagi Antenna
USBMicro
processor
• ISM Band Yagi Antenna (additional to 2.4 GHz Yagi)
• Designed ISM receiver connected to Yagi to pick up ISM Band signal
• Frequency down conversion
• Tone (frequency) is decoded.
• Data is received and processed the same way as other telemetry, with
no difference except the USB Port address.
• Wind speed will be plotted (magnitude only, as direction not required)
• Frequency down conversion done within ISM Band receiver
Tone
Decoder
CanSat 2018 CDR: Team 5002 111
CanSat Integration and Test
Lawrence Allegranza France
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 112
CanSat Integration and Test
Overview
Legend
Subsystem level testing plan
Integrated level functional testing plan
Environmental testing plan
Systems Level
Subsystems Level
Mission
Launch VehicleGround Control Station
Sounding Rocket
CanSat
▪ Sensors
▪ CDH
▪ EPS
▪ FSW
▪ Mechanical
▪ Descent Control
▪ Antenna and XBee
▪ GUI/Display
Mission
Test Procedure
Experimental E
Simulation S
Verification V
Mission integration and testing overview:
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 113
CanSat Integration and Test
Overview
Probe
DCS
FSW
CDH
EPS
SE
Grouped
Electronic
Subsystems
Mech
Probe
Subsystem integration plan:
Antenna
+
Xbee
GCS
Software
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 114
CanSat Integration and Test
Overview
Subsystem tests identified:
These correspond to the test procedures on “Test procedures description” slides.
Test description
SENSORS
Verify all sensors are correctly calibrated and configured for their respective functions
Verify each sensor's range, resolution, sampling rate is as required to provide valid data at a
rate of at least 1Hz
Verify collected data is in suitable format for FSW
Verify tilt sensor readings can be used to exhibit probe stability during descent with
heatshield deployed
BONUS – Verify camera can produce colour footage at 640x480 at least 30fps
EPS
Verify power source provides required power level (current and voltage)
Verify voltage divider provides required voltage to all components
COMMUNICATIONS: CDH
Verify radio can be configured to transmit as required: burst or continuous transmission, API
mode (NOT broadcast mode), correct PAN ID, correct team ID, correct packet
Verify real time clock can retain data following system power loss
Verify SD card can store the maximum expected volume of data (maximum telemetry
packet size multiplied by maximum number of seconds)
Verify full telemetry packet is transmitted correctly by the radio module at a rate of 1Hz
Verify microcontroller regains correct function and retains mission data (correct mission
time using RTC) following power loss
COMMUNICATIONS: GCS
Verify GCS computer is suitable for competition final: portable, battery life is suitable for
maximum expected mission time (>2 hours), with Xbee radio and antenna assembly
Verify GCS software is compatible with GCS computer
Verify serial communication can be established between antenna and GCS computer
Verify GCS can plot/present live data in real time during descent in SI units
COMMUNICATIONS: FSW
Verify with each software design iteration that programming language, functions,
libraries are compatible with chosen microcontroller
Verify software state is valid well defined at every conceivable point in mission
sequence, including environmental variations
Verify FSW successfully counts the number of packets transmitted, including following
power loss
MECHANISMS: Mechanical
Verify that in the event of component design iteration that resulting change in system
specifications (e.g. dimensions, weight) is compliant with requirements
MECHANISMS: DCS
Verify that in the event of component design iteration that resulting change in system
specifications (e.g. dimensions, weight) is compliant with requirements
Verify heatshield (all comprising materials, the interfaces between them, their
interface with the nose cone, and probe attachment components) can withstand
forces required to provide required descent rate
Verify parachute (all comprising materials, the interfaces between them and the
probe attachment components) can withstand forces required to provide required
descent rate
Verify that when assembled the heatshield has no openings or sharp edges
Verify heatshield, with clearances, complies with rocket body dimensions
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 115
CanSat Integration and Test
Overview
Integrated functional level tests identified:
These correspond to the test procedures on “Test procedures description” slides.
Test Description
PROBE: ENTIRE MISSION
Verify buzzer is of sufficient volume to help indicate the location of the probe
following landing
Verify battery compartment can be removed in less than 1 minute without total
CanSat disassembly
Verify full set of sensor data can be acquired at the required sampling rate
simultaneously
Verify power requirements are satisfied for the full mission sequence and
maximum predicted mission time
Verify that when code from Sensors, CDH and GCS subsystems are integrated
that microcontroller has sufficient memory for sketch, global variables and
EEPROM (non-volatile) memory
Verify fully assembled CanSat system weighs within 10g of 500g
Verify heatshield release mechanism is activated by the FSW at 300 metres
Verify parachute deployment mechanism is activated by the FSW at 300 metres
Verify that when assembled all electronic components except sensors are
enclosed
Verify power switch is easily accessible and reliably activates the system
PROBE: PRE-HEATSHIELD RELEASE + HEATSHIELD RELEASE TRIGGER
Verify that when probe is assembled the heatshield envelops the whole sides of
the probe
Verify heatshield deployment trigger performs as expected as part of the
constructed CanSat structure
Verify that with heatshield deployed the CanSat descends at the required
descent rate
Verify heatshield release trigger perform as expected as part of the constructed
CanSat structure
Verify centre of pressure of dummy probe is well below centre of gravity to
ensure stable descent (i.e. no end-over-end tumbling) and square heatshield
design assists stable descent (i.e. minimal rotation around descent axis)
BONUS – Verify camera can be activated by the FSW
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 116
CanSat Integration and Test
Overview
Integrated functional level tests identified:
These correspond to the test procedures on “Test procedures description” slides.
Test description
PROBE: POST-HEATSHIELD RELEASE
Verify parachute deployment mechanism performs as expected as part of
the constructed CanSat structure and parachute is released without
snagging
Verify that with parachute deployed the probe descends at the required
descent rate
COMMUNICATIONS: GCS
Verify GCS software handles live data from antenna+Xbee and plots it in real
time in SI units
Verify antenna receives data from assembled CanSat at and above the
required range
COMMUNICATIONS: CDH
Verify full live telemetry transmission is of the correct form for reception at
the GCS
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 117
CanSat Integration and Test
Overview
Environmental tests identified:
These correspond to the test procedures on “Test procedures description” slides.
Test Description
VIBRATION TEST - CANSAT
CanSat is fixed to an orbit sander to provide up to 14,000 rpm of rotation
equivalent to 233 Hz of vibration, to expose failure of CanSat
structures/components if they vibrate at resonance
THERMAL – CANSAT
Fully assembled CanSat is placed in controlled thermal chamber and heated
to ~80ºC while systems are active
15G LAUNCH ACCELERATION TEST - CANSAT
Fully assembled CanSat is placed in a sounding rocket for a test launch to
simulate launch conditions. This means the integrity of the heatshield, its
deployment mechanism, and probe attachment subsequent to launch can
be verified. This acceleration can be verified with the accelerometer within
the Sensors subsystem.
>30G DROP TEST – PROBE
Probe with heatshield released and parachute deployed is subjected to a
drop from 80cm with a cord attachment to result in a 48G shock
acceleration, to simulate rocket body separation forces. This acceleration
can be verified with accelerometer within the Sensors subsystem.
DIMENSIONS VERIFICATION - CANSAT
Fully assembled CanSat is subject to a fit check using a sheet of plywood
with a hole of diameter 125.5mm, to ensure clearances are sufficient to
ensure CanSat does not snag on rocket body.
Presenter: Lawrence Allegranza France
CanSat 2018 CDR: Team 5002 118
CanSat Integration and Test
Overview
System-level environmental testing: Test launches
• On 11/03/18 MCP performed a test launch using a Loc Precision Minie-Magg sounding
rocket, with a 20 inch payload bay, provided by MACE Space Research Group
• These allow the team to test the integrated system under launch conditions, verifying
compliance of both integrated functional tests and environmental tests.
• The crucial advantage of a test launch is to carry out all environmental tests
simultaneously, to ensure the payload, electronics, structures and mechanisms can perform
on launch day.
• MCP plans to carry out two further test launches, on 22/04/18 and 15/05/18.
No
se C
on
eP
aylo
ad
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Ro
cket M
oto
r
Presenter: Lawrence Allegranza France
CanSat 2017 CDR: Team ### (Team Number and Name) 119
Subsystem level testing– In this section “Communications” is taken to be the CDH, GCS and FSW
subsystems. “Mechanisms” is taken to be the Mechanical and DCS
subsystems.
Test no. Test type Test description Req No. Pass/Fail Criteria
SENSORS
1 EVerify all sensors are correctly calibrated and configured
for their respective functions25
Sensors can provide correctly calibrated measurements of
known values
2 EVerify each sensor's range, resolution, sampling rate is as
required to provide valid data at a rate of at least 1Hz25 Sensors can provide valid data at 1HZ
3 V Verify collected data is in suitable format for FSW 25 Data should be in a format compatible with FSW
4 EVerify tilt sensor readings can be used to exhibit probe
stability during descent with heatshield deployed49
Check tilt sensor produces orientation data that can clearly
represent an object as stable (sufficiently small drift, noise)
5 EBONUS – Verify camera can produce colour footage at at
least 640x480 at least 30fpsR-Bonus
Camera produces at least 640x480 footage at 30fps when
supplied with voltage/current equivalent to that of the final
system
EPS
6 VVerify power source provides required power level
(current and voltage)-
Measured values of voltage and current are >= 9V and 1A
respectively
7 S,VVerify voltage divider provides required voltage to all
components-
Voltage divider works in theory, and provides 5V supplies a 5V
line
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
Subsystem level testing
CanSat 2017 CDR: Team ### (Team Number and Name) 120
Test no. Test type Test description Req No. Pass/Fail Criteria
COMMUNICATIONS: CDH
8 V
Verify radio can be configured to transmit as required: burst
or continuous transmission, API mode (NOT broadcast
mode), correct PAN ID, correct team ID, correct packet
29, 30 Test packets with these parameters are sent from Xbee to Xbee
9 EVerify real time clock can retain data following system
power loss27
After removing DC power to RTC time information is retained
when DC power is regained
10 S,V
Verify SD card can store the maximum expected volume of
data (maximum telemetry packet size multiplied by
maximum number of seconds)
25 SD card stores data successfully
11 VVerify full telemetry packet is transmitted correctly by the
radio module at a rate of 1Hz26 Xbee can send a test packet at 1Hz
12 E
Verify microcontroller regains correct function and retains
mission data (correct mission time using RTC) following
power loss
27 Mission data is stored throughout power loss
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
CanSat 2017 CDR: Team ### (Team Number and Name) 121
Subsystem level testing
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
Test no. Test proc Test description Req No. Pass/Fail Criteria
COMMUNICATIONS: GCS
13 V
Verify GCS computer is suitable for competition final:
portable, battery life is suitable for maximum expected
mission time (>2 hours), with Xbee radio and antenna
assembly
36, 37 GCS computer qualifies for use on launch day
14 V Verify GCS software is compatible with GCS computer 33, 34, 35 GCS software runs as required when used on GCS computer
15 EVerify serial communication can be established between
antenna and GCS computer33, 34, 35
Dummy telemetry is received by the GCS software via antenna
and xbee
16 EVerify GCS can plot/present dummy data in real time in SI
units33, 34, 35 Dummy telemetry is plotted live
COMMUNICATIONS: FSW
17 V
Verify with each software design iteration that programming
language, functions, libraries are compatible with chosen
microcontroller
- FSW uploads correctly to microcontroller
18 E
Verify software state is valid and well defined at every
conceivable point in mission sequence, including
environmental variations
- FSW stays in a valid state at all times
19 EVerify FSW successfully counts the number of packets
transmitted, including following power loss39 Mission data is stored throughout power loss
Subsystem level testing
CanSat 2017 CDR: Team ### (Team Number and Name) 122Presenter: Name goes here
Test no. Test proc Test description Req No. Pass/Fail Criteria
MECHANISMS: Mechanical
20 V
Verify that in the event of component design iteration that
resulting change in system specifications (e.g. dimensions,
weight) is compliant with requirements
- New design retains compliance
21 S, EVerify all materials, structures and mechanisms can
withstand forces on the constructed CanSat-
CanSat structure and materials are can withstand forces in
theory, and are intact after physical testing
MECHANISMS: DCS
22 S,V
Verify that in the event of component design iteration that
resulting change in system specifications (e.g. dimensions,
weight) is compliant with requirements
- New design retains compliance
23 E
Verify heatshield (all comprising materials, the interfaces
between them, their interface with the nose cone, and
probe attachment components) can withstand forces
required to provide required descent rate
- Heatshield remains intact during simulated descent
24 E
Verify parachute (all comprising materials, the interfaces
between them and the probe attachment components) can
withstand forces required to provide required descent rate
- Parachute remains intact during simulated descent
25 S,VVerify that when assembled the heatshield has no openings
or sharp edges3, 9 No openings or sharp edges present
26 S,VVerify heatshield, with clearances, complies with rocket
body dimensions6 Heatshield dimensions are compliant
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
Integrated Functional Level Testing– In this section the integrated system are split into:
• Probe: Entire mission
• Probe: Pre-heatshield release
• Probe: Post-heatshield release
• Communications: GCS
CanSat 2017 CDR: Team ### (Team Number and Name) 123
Test no. Test proc Test description Req No. Pass/Fail Criteria
PROBE: ENTIRE MISSION
27 VVerify buzzer is of sufficient volume to help indicate the
location of the probe following landing41 Buzzer can be heard from a good distance
28 EVerify battery compartment can be removed in less than 1
minute without total CanSat disassembly42, 45 Battery compartment is easily removed
29 EVerify full set of sensor data can be acquired at the
required sampling rate simultaneously47 Sensor data are collected correctly
30 EVerify power requirements are satisfied for the full mission
sequence and maximum predicted mission time25 CanSat remains powered throughout with power to spare
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
CanSat 2017 CDR: Team ### (Team Number and Name) 124
Integrated Functional Level Testing
Test no. Test proc Test description Req No. Pass/Fail Criteria
PROBE: ENTIRE MISSION (continued)
31 S, E
Verify that when code from Sensors, CDH and GCS
subsystems are integrated that microcontroller has
sufficient memory for sketch, global variables and
EEPROM (non-volatile) memory
-Microcontroller has memory to spare after maximum
expected mission time
32 S, VVerify fully assembled CanSat system weighs within 10g
of 500g1 CanSat is within 10g of 500g
33 S, EVerify heatshield release mechanism is activated by the
FSW at 300 metres14
Heatshield releases at 300 metres, and/or activated by an
equivalent simulated trigger
34 S, EVerify parachute deployment mechanism is activated by
the FSW at 300 metres15
Parachute deploys at 300 metres, and/or activated by an
equivalent simulated trigger
35 S, VVerify that when assembled all electronic components
except sensors are enclosed18 Electronics excluding sensors are enclosed
36 VVerify power switch is easily accessible and reliably
activates the system21 Power switch is compliant
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
CanSat 2017 CDR: Team ### (Team Number and Name) 125
Integrated Functional Level Testing
Test no. Test proc Test description Req No. Pass/Fail Criteria
PROBE: PRE-HEATSHIELD RELEASE + HEATSHIELD RELEASE TRIGGER
37 S, VVerify that when probe is assembled the heatshield
envelops the whole sides of the probe2 Probe is fully enveloped
38 EVerify heatshield deployment trigger performs as
expected as part of the constructed CanSat structure- Heatshield is deployed
39 EVerify that with heatshield deployed the CanSat descends
at the required descent rate43 Dummy probe descends at between 10 to 30 m/s
40 EVerify heatshield release trigger perform as expected as
part of the constructed CanSat structure- Heatshield is released
41 E, S, V
Verify centre of pressure of dummy probe is well below
centre of gravity to ensure stable descent (i.e. no end-
over-end tumbling) and square heatshield design assists
stable descent (i.e. minimal rotation around descent axis)
4, 5CanSat descends in a stable fashion both in theory and in
practice
42 V BONUS – Verify camera can be activated by the FSW R-Bonus Camera operation is controlled by FSW
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
CanSat 2017 CDR: Team ### (Team Number and Name) 126
Integrated Functional Level Testing
Test no. Test proc Test description Req No. Pass/Fail Criteria
PROBE: POST-HEATSHIELD RELEASE
43 E
Verify parachute deployment mechanism performs as
expected as part of the constructed CanSat structure and
parachute is released without snagging
- Parachute is deployed without snagging
44 EVerify that with parachute deployed the probe descends
at the required descent rate44 Dummy probe descends at 5 m/s
COMMUNICATIONS: GCS
45 EVerify GCS software handles live data from antenna+Xbee
and plots it in real time in SI units33,34 GCS software plots live data in real time
46 EVerify antenna receives data from assembled CanSat at
and above the required range- Telemetry is received at test GCS
COMMUNICATIONS: CDH
47 EVerify full live telemetry transmission is of the correct
form for reception at the GCS26,27 Telemetry is valid and transmission successful
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
CanSat 2017 CDR: Team ### (Team Number and Name) 127
Environmental Testing
Test no. Test Proc Test Description Test subject Rqmts Pass/Fail Criteria
VIBRATION TEST - CANSAT
48 E
CanSat is fixed to an orbit
sander to provide up to 14,000
rpm of rotation equivalent to
233 Hz of vibration, to expose
failure of CanSat components at
if they vibrate with resonance
Structures 16,17
CanSat structures comply with all expected tensile/compressive/torsional
loads during and following test period, including performance of heatshield,
parachute, and their respective attachment components
Mechanisms 22 CanSat mechanisms perform as required following test period
Egg state - Egg is intact after test period
Electronics -Electronics perform at a constant level (excluding the accelerometer) during
and following test period
THERMAL – CANSAT
49 E
Fully assembled CanSat is
placed in controlled thermal
chamber and heated to ~80ºC
while systems are active
Structures -
CanSat structures comply with all expected tensile/compressive/torsional
loads during and following test period, including performance of heatshield,
parachute, and their respective attachment components
Mechanisms - CanSat mechanisms function as required during and following test period
Egg state - Egg is intact after test period
Electronics - Electronics perform at a constant level during and following the test period
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
CanSat 2017 CDR: Team ### (Team Number and Name) 128
Environmental Testing
Test no. Test Proc Test Description Test subject Rqmts Pass/Fail Criteria
15G LAUNCH TEST - CANSAT
50 E
Fully assembled CanSat is placed in a
sounding rocket for a test launch to simulate
launch conditions. This acceleration can be
verified with the accelerometer within the
Sensors subsystem.
Structures 19,20
CanSat structures comply with all expected dimensional,
tensile/compressive/torsional loads during and following shock
period, including performance of heatshield and parachute
and their respective attachment points
Mechanisms 22 CanSat mechanisms perform as required following test period
Egg state 7, 8 Egg is intact after shock test
Electronics 21Electronics perform as required during and following test
period
>30G DROP TEST – PROBE
51 E
Probe with heatshield released and
parachute deployed is subjected to a drop
from 80cm with a cord attachment to result
in a 48G shock acceleration. This
acceleration can be verified with
accelerometer within the Sensors
subsystem.
Structures 19,20
Probe structures comply with all expected dimensional,
tensile/compressive/torsional loads during and following drop,
including performance of parachute and its attachment point
Mechanisms 22 CanSat mechanisms perform as required following drop test
Egg state 7,8 Egg is intact after drop test
Electronics 21Electronics perform as required during and following test
period
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
Environmental Testing
• After subsystem, integrated functional level, and environmental testing, 40 of 50 requirements are
mapped to a test.
• The remaining 10 requirements primarily require initial verification of designs and ongoing any
subsequent design iterations.
• Responsibility for compliance of the system to these requirements falls to the Integration & Testing
leader (LAF), who will frequently confirm compliance.
Test no. Test Proc Test Description Test subject Rqmts Pass/Fail Criteria
DIMENSIONS VERIFICATION - CANSAT
52 S, V
Fully assembled CanSat is subject to a fit
check using a sheet of plywood with a hole
of diameter 125.5mm, to ensure clearances
are sufficient to ensure CanSat does not
snag on rocket body..
Structures 11, 12, 13 CanSat can slide through hole in sheet
CanSat 2017 CDR: Team ### (Team Number and Name) 129
Test Procedure Experimental E Simulation S Verification V
TEST
PASSED
TEST NOT
ATTEMPTED
ATTEMPTED,
NOT PASSED
Test Procedures Descriptions
Remaining Requirements
• So 50 (49 + bonus) requirements are mapped to tests.
CanSat 2017 CDR: Team ### (Team Number and Name) 130
Rqmt No. Requirement descriptionRelevant subsystem/mission section
Evidence of compliance
10 The aero-braking heat shield shall be a florescent color; pink or orange. DCSSee DCS “Descent Control Overview” slide
23 Mechanisms shall not use pyrotechnics or chemicals. Mech + DCSMech “Physical Layout” and DCS “Payload Descent Control Hardware Summary” slides
24Mechanisms that use heat (e.g., nichrome wire) shall not be exposed to the outside environment to reduce potential risk of setting vegetation on fire.
Mech + DCS Mech “Physical Layout” and DCS “Payload Descent Control Hardware Summary” slides
28XBEE radios shall be used for telemetry. 2.4 GHz Series 1 and 2 radios are allowed. 900 MHz XBEE Pro radios are also allowed.
CDHCDH SLIDE “Probe Radio Configuration” slide
31Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost.
PROJECT MANAGEMENTSee Management “CanSat Budget –Hardware” slide
32 Each team shall develop their own ground station. GCS See GCS “GCS Software” slide
38Both the heat shield and probe shall be labelled with team contact information including email address
MISSION OPERATIONSSee Mission Operations & Analysis “CanSat Location and Recovery” slide
40 No lasers allowed. SensorsSee “Sensor Subsystem Overview” slide
46Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed. Lithium cells must be manufactured with a metal package similar to 18650 cells.
EPS EPS “Probe Power Source” slide
48Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause momentary disconnects.
EPS MECH SLIDES
Test Procedures Descriptions
CanSat 2018 CDR: Team 5002 131
Mission Operations & Analysis
Iuliu Ardelean
CanSat 2018 CDR: Team 5002 132
Overview of Mission Sequence of
Events
ROLES & RESPONSIBILITIES
Mission Control Officer: NZ.
Ground Station Crew: IA, LAF, NZ, RS.
Recovery Crew: AS, NSL, DJ, ZC, JS, XJ.
CanSat Crew: IA, LAF, RS, AS, NSL, DJ, ZC, JS, XJ.
FINAL INTEGRATION AND TESTING:
• Between 0800 and 1200.
• Full team involved, except NZ.
• Multiple CanSat I&T procedures will be done before the competition to
ensure everything runs smoothly. Performed by CanSat Crew.
• Antenna and GCS setup will be performed by GCS Crew. Simple plug-and-
play philosophy stands behind the design of the GCS and Antenna systems.
• A detailed I&T Plan will be created to aid this process – see Mission
Operations Manual.
• Telemetry Data File handed to Competition Officials after termination of GCS
Operation.
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 133
Overview of Mission Sequence of
Events
Arrival – 0800 –Full Team
Final Integration and Testing –CanSat Crew
Official Inspection –
1200 – NZ
Collect CanSat –NZ
CanSatintegration with
rocket – AS
Check Communications
- IA
GCS & Rocket with CanSat
transportation to Launchpad – NZ,
AS, IA
Rocket Installation –
Officials
GCS operational – GCS Crew
Launch Procedures
Execution – NZ
Flight + GCS Operational –
GCS Crew
All CanSatLaunched
Recovery –Recovery Team
Handout CanSatfor Final Judging
– NZ
Terminate GCS Operation – IA
Submit USB with collected and
received data –NZ
Begin PFR work
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 134
Field Safety Rules Compliance
The Mission Operations Manual will be compiled at individual- and team-level to ensure suitable accuracy and
detail of tests and procedures. The Mission Operation Manual will contain instructions to the following:
1. CanSat Integration and Testing Responsible: LAF, RS, IA, NZ
1.1. Integration Procedure (can be skipped)
1.2. Testing Procedure
1.3. Operational Checks
2. GCS Setup and Operation Responsible: IA, NZ, LAF
2.1. Setup Procedure
2.2. Operational Checks
3. CanSat-Rocket Integration Responsible: LAF, AS
4. Launch Responsible: Competition Staff
4.1. Preparation Procedure
4.2. Launch Procedure
5. Other Procedures Responsible: Full team
The Mission Operations Manual work will begin after the 22nd of April Test Launch.
The Mission Operations Manual will be printed (and suitably bound) in multiple copies and distributed across team
members.
One copy will be handed to the Launch day Flight Coordinator.
Presenter: Iuliu Ardelean
CanSat 2018 CDR: Team 5002 135
CanSat Location and Recovery
BUZZER
Continuous beeping on Probe
COLOR
Bright Orange
GPS LOCATION
Using Acquired Telemetry data
TEAM MEMBERSWill track down the
CanSat as it descends
The following measures will ensure that the CanSat including Probe and Heatshield will be recovered.
Moreover, in case the CanSat is not recovered, both the Probe and the Heatshield will be labeled with the
Manchester CanSat Project’s address (including email) and all other relevant contact details.
Manchester CanSat Project, University of Manchester
Team 5002, cansat.manchester@gmail.com
George Begg Bulding, University of Manchester, M1 7DN
Manchester, United Kingdom
Mission Rehearsal Activities
CanSat 2018 CDR: Team 5002 136
Activities
When it will be rehearsed
Weekly Lab
Session
Full System
Test Launch
11th of March
Full System
Test Launch
22nd of April
Ground system radio link check procedures X X X
Powering on/off the CanSat X X X
Launch configuration preparations (e.g., final
assembly and stowing appendages)X X X
Loading the CanSat in the launch vehicle X X
Telemetry processing, archiving, and analysis X X X
Recovery X X
The team already had a full system test. Some results were unsatisfactory. We identified the issues were related
to stripboard short-circuiting. The team plans to order a PCB to solve this.
Mission Rehearsal Activities
CanSat 2018 CDR: Team 5002 137
The Mission Operations Manual will be created to guide the following parties during mission day.
The Mission Operations Manual work will begin after the 22nd of April Full System Test.
Mission Control Officer: NZ.
Ground Station Crew: IA, LAF, NZ, RS.
Recovery Crew: AS, NSL, DJ, ZC, JS, XJ.
CanSat Crew: IA, LAF, RS, AS, NSL, DJ, ZC, JS, XJ.
The Chief Engineer (IA) will ensure the coordination of all parties.
CanSat 2018 CDR: Team 5002 138
Requirements Compliance
Iuliu Ardelean
Requirements Compliance
Overview
CanSat 2018 CDR: Team 5002 139
Current design complies with all requirements, except Bonus 2, which is not being attempted.
Design shall be tested to ensure Requirement Compliance, following the procedure explained in the
Integration and Test section of this document.
The Design has been altered since the PDR, because the PDR weight estimates were too high. The most
important constraint on the design is the 500g weight requirement. The current design has been built and it
DOES satisfy this requirement, along with all other ones.
At the moment, the team’s main focus is building and manufacturing an all round sturdy CanSat.
The following 3 slides trace and demonstrate compliance with all Requirements. Comments have been
added where necessary.
The legend gives color coding to indicate if a Requirement is met.
Comply
Partial
No Comply
Presenter: Iuliu Ardelean
Requirements Compliance
(multiple slides, as needed)
CanSat 2018 CDR: Team 5002 140
RE# Description Compliance
Reference
Slides CommentsRE1 Total mass of the CanSat (probe) shall be 500 grams +/- 10 grams. 68
RE2
The aero-braking heat shield shall be used to protect the probe while in the rocket only and when deployed
from the rocket. It shall envelope/shield the whole sides of the probe when in the stowed configuration in the
rocket. The rear end of the probe can be open 19, 32RE3 The heat shield must not have any openings. 32, 39 – 45 RE4 The probe must maintain its heat shield orientation in the direction of descent. 45RE5 The probe shall not tumble during any portion of descent. Tumbling is rotating end-over-end. 45
RE6
The probe with the aero-braking heat shield shall fit in a cylindrical envelope of 125 mm diameter x 310 mm
length. Tolerances are to be included to facilitate container deployment from the rocket fairing. 19RE7 The probe shall hold a large hen's egg and protect it from damage from launch until landing. 61 – 62
RE8
The probe shall accommodate a large hen’s egg with a mass ranging from 54 grams to 68 grams and a
diameter of up to 50mm and length up to 70mm. 61 – 62
RE9
The aero-braking heat shield shall not have any sharp edges to cause it to get stuck in the rocket payload
section which is made of cardboard. 19RE10 The aero-braking heat shield shall be a florescent color; pink or orange. 44, 135RE11 The rocket airframe shall not be used to restrain any deployable parts of the CanSat. 19RE12 The rocket airframe shall not be used as part of the CanSat operations. 11 – 13 19
RE13 The CanSat, probe with heat shield attached shall deploy from the rocket payload section. 11 – 13RE14 The aero-braking heat shield shall be released from the probe at 300 meters. 24, 96RE15 The probe shall release a parachute at 300 meters. 24, 96
RE16
All descent control device attachment components (aero-braking heat shield and parachute) shall survive 30
Gs of shock. 66 – 67RE17 All descent control devices (aero-braking heat shield and parachute) shall survive 30 Gs of shock. 66 – 67
RE18
All electronic components shall be enclosed and shielded from the environment with the exception of
sensors. 66 – 67 RE19 All structures shall be built to survive 15 Gs of launch acceleration. 66 – 67RE20 All structures shall be built to survive 30 Gs of shock 66 – 67
RE21
All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance
adhesives. 66 – 67 RE22 All mechanisms shall be capable of maintaining their configuration or states under all forces 51 – 73 RE23 Mechanisms shall not use pyrotechnics or chemicals. 51 – 73
Requirements Compliance
(multiple slides, as needed)
CanSat 2018 CDR: Team 5002 141
RE# Description Compliance Reference Slides Comments
RE24
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. 51 – 73
RE25
During descent, the probe shall collect air pressure, outside air temperature, GPS position and battery
voltage once per second and time tag the data with mission time. 21 – 30, 79, 96
RE26
During descent, the probe shall transmit all telemetry. Telemetry can be transmitted continuously or in
bursts. 80 – 83, 96
RE27
Telemetry shall include mission time with one second or better resolution. Mission time shall be maintained
in the event of a processor reset during the launch and mission. 79, 96
RE28
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. 80 – 83
RE29 XBEE radios shall have their NETID/PANID set to their team number. 80 – 83
RE30 XBEE radios shall not use broadcast mode. 80 – 83
RE31 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost. 145 – 149
RE32 Each team shall develop their own ground station. 107 – 109
RE33 All telemetry shall be displayed in real time during descent. 107 – 109
RE34 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.) 107 – 109
RE35 Teams shall plot each telemetry data field in real time during flight 107 – 109
RE36
The ground station shall include one laptop computer with a minimum of two hours of battery operation,
XBEE radio and a hand held antenna. 104 – 106
RE37
The ground station must 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. 104 – 106
RE38 Both the heat shield and probe shall be labeled with team contact information including email address. 135
RE39
The flight software shall maintain a count of packets transmitted, which shall increment with each packet
transmission throughout the mission. The value shall be maintained through processor resets. 96
RE40 No lasers allowed. 21
RE41 The probe must include an easily accessible power switch. 85 – 86, 89
RE42 The probe must include a power indicator such as an LED or sound generating device. 85 – 86, 89, 96
Requirements Compliance
(multiple slides, as needed)
CanSat 2018 CDR: Team 5002 142
RE# Description Compliance
Reference
Slides Comments
RE43 The descent rate of the probe with the heat shield deployed shall be between 10 and 30 meters/second. 47 – 49
RE44
The descent rate of the probe with the heat shield released and parachute deployed shall be 5
meters/second. 47 – 49
RE45 An audio beacon is required for the probe. It may be powered after landing or operate continuously.
85 – 86, 89, 96
RE46
Battery source may be alkaline, Ni-Cad, Ni-MH or Lithium. Lithium polymer batteries are not allowed.
Lithium cells must be manufactured with a metal package similar to 18650 cells. 85 – 86, 90
RE47
An easily accessible battery compartment must be included allowing batteries to be installed or removed in
less than a minute and not require a total disassembly of the CanSat. 58 – 60
RE48
Spring contacts shall not be used for making electrical connections to batteries. Shock forces can cause
momentary disconnects. 89
RE49
A tilt sensor shall be used to verify the stability of the probe during descent with the heat shield deployed
and be part of the telemetry. 28
Bonus
1
Camera: Add a color video camera to capture the release of the heat shield and the ground during the last
300 meters of descent. The camera must have a resolution of at least 640x480 and a frame rate of at least
30 frames/sec. The camera must be activated at 300 meters. 29
Bonus
2
Wind Sensor: A radio transmitter shall be added to transmit the wind speed by changing its 10 frequency.
The frequency change shall be 1 Hz per 0.1 meter/sec. The transmitter must be custom designed and built.
It cannot be a commercial product. The frequency must be in the 433 MHz ISM band or if a team member
has an amateur radio license, an amateur radio band can be used. The transmitter must be able to be set to
8 different frequencies in the 433 MHz ISM band with 25 KHz separation. The transmitter must turn off after
the probe lands to minimize interference. The team can use a commercial receiver. 30, 110
Not an Issue, as this bonus is not
being attempted.
CanSat 2018 CDR: Team 5002 143
Management
Iuliu Ardelean
CanSat 2018 CDR: Team 5002 144
Status of Procurements
•
•
Status of Procurement
Absolutely all components necessary
have arrived.
We have enough spares
for building two CanSats now.
We intend to purchase two more sets of components – to support testing and
manufacturing.
Philosophy No. 1 – “practice makes perfect”
Philosophy No. 2 – “throw in money until it starts working”
Procurement is not exactly a concern for the team, as most components tend to arrive
within one-two working day.
A full list of components can be found in the following slides.
CanSat 2018 CDR: Team 5002 145
CanSat Budget – Hardware
•
•Subsystem Estimated Cost
Structures ₤72.83
Electronics ₤174.06
Tools ₤0
Total ₤246.89
The following table shows the estimated budget for hardware in subsystems of the CanSat:
Legend
Estimated XX Actual XX
CanSat 2018 CDR: Team 5002 146
CanSat Budget – Hardware
Electronic components
Part Name Function Reuse Quantity Total Cost (₤) Total Cost ($)
Adafruit 10-DOF IMU Temp., Press., Alt, Tilt No 1 21.11** 29.95**
Adafruit Ultimate GPS
Breakout
GPS No 1 40* 56.75*
Modified SQ11 Pawaca
Camera
Camera No 1 14.99* 20.90*
Teensy 3.2 USB
Microcontroller
Microcontroller No 1 19.80* 28.08*
Breakout for SD Card On board data storage No 1 4.20* 5.86*
16 GB SD Card SD Card No 1 6.80* 9.48*
DS1338 RTC No 1 3.08* 2.84*
XBee Pro S2C Transceiver No 2 52.42* 74.37*
Energizer Lithium Battery No 1 7.05* 9.83*
Servo Mechanisms No 1 4* 5.67*
Switch On/Off Switch No 1 0.61* 0.85*
Total 174.06 242.69
Legend
Estimated XX Actual XX
*Current Market Value
**Market Value of Discontinued Item
CanSat 2018 CDR: Team 5002 147
CanSat Budget – Hardware
Legend
Estimated XX Actual XX
3D printed components
Equipment Part Name/Specifications Reuse Quantity Total Cost (₤) Total Cost ($)
Holder Egg Containment
No
1kg
(including
failures/pro
totyping)
@22 per kg of
spool = 22
31.22
Cover Egg Containment
Nose Cone HS
Deployment Bay HS
HS Attachment -
Plates (Floors) HS Release Mechanism Bay,
Camera Bay, Parachute Bay
Camera Bay -
Electronics Cover -
Parachute Bay -
Total 22.00 31.22
CanSat 2018 CDR: Team 5002 148
CanSat Budget – Hardware
Off the shelf components
Equipment Part Name/Specifications Reuse Quantity Total Cost (₤) Total Cost ($)
Sponge Egg Containment No - 1 1.42
Nuts and Bolts M3 and M1.6 No 20 11 15.61
Carbon Fiber Rods HS structure No 4 7 9.93
Springs HS deployment No 10 13 18.45
Nylon HS material No - 4.99 7.08
Bearings HS deployment No 2 1.96 2.78
Wire HS and Parachute No - 1.95 2.77
Carbon FiberSpacers 120 mm and 30 mm No 6 2.95 4.19
Horn Parachute Release Mechanism No 1 2.69 3.82
Rod Parachute Release Mechanism No 1 3.25 4.61
Hinge Parachute Release Mechanism No 1 1.03 1.46
Total 50.83 72.14
CanSat 2018 CDR: Team 5002 149
CanSat Budget – Other Costs
Source Amount (₤) Additional Information
School of MACE 5,000 Possibility of increasing to 10,000
School of Physics 3,000 -
BAE Systems 2,000 -
Aerospace Research Institute 500 -
Fund IT Students Union 500 -
Airbus 5,000 -
Income
Total Income Confirmed (₤) 16,000
Legend
Estimated XX Actual XX
CanSat 2018 CDR: Team 5002 150
CanSat Budget – Other Costs
Detail Description Unit Cost Quantity Total Cost
Travel,
Accommodation
and Sustenance
Costs
Travel Flights, rental car, train ₤780 10 People ₤7800
Visas Student/Tourist Visa ₤113.12 6 People ₤678.72
Housing Based on a stay from
07/06/2018 to 10/06/2018
₤100 10 People ₤1000
Food Assuming ₤15/person/day ₤60 10 People ₤600
GCS Hardware
Cost
Display Laptop (provided by team
member)
N/A 1 N/A
Emergency Can
Sat
All Can Sat
parts
- £303.49 1 £303.49
Competition
Entry Fee
- - ₤70.72 1 ₤70.72
UK CanSat
Competition
Costs
Organization
and
Participation
- ₤3000 1 ₤3000
Legend
Estimated XX Actual XX
151
Program Schedule
These Gantt Charts were developed using Microsoft Project.
1. Academic Gantt Chart is displayed above
2. Project Gantt Chart is split across the next 2 slides
a) Chart is made using summary tasks from the detailed task list
shown on slide after Gantt Chart
b) Chart uses linkages (i.e., FF, FS, SS, SF) and lag periods to
show dependence on other tasks
c) Deliverables used to set internal deadlines and milestones; seen
in more detail in task list
Gantt Chart Colour Coding Legend
Time Period: Normal
Time Period: Potential Hindrance to work done
Time Period: No work done
Tasks
Deadline
Milestone
Microsoft Project File
https://1drv.ms/u/s!AnWXOhepIwD_hJ4gomFC9U2PbAIVjw
Presenter: Iuliu Ardelean CanSat 2018 CDR: Team 5002
152
Program Schedule
GANTT Chart Overview
Includes: Competition Milestones, Major Development Activities, Component/Hardware deliveries AND Major
I&T activities and milestones.
Presenter: Iuliu Ardelean CanSat 2018 CDR: Team 5002
153
Program Schedule
GANTT Chart Overview (continued)
Includes: Competition Milestones, Major Development Activities, Component/Hardware deliveries AND Major
I&T activities and milestones.
Presenter: Iuliu Ardelean CanSat 2018 CDR: Team 5002
154
Program Schedule
Project Task List
Presenter: Iuliu Ardelean CanSat 2018 CDR: Team 5002
155
Program Schedule
Changes since PDR:
• Updated to include PDR Results (Invitation
to Final) on 13/03/18 and associated
marksheet analysis task
• Updated to include dates on past and future
test launches – for environmental testing
• Test Launch 1: 11/03/18 (occurred)
• Test Launch 2: 22/04/18
• Test Launch 3: 13/05/18
Project Task List (continued)
Presenter: Iuliu Ardelean CanSat 2018 CDR: Team 5002
156
Program Schedule
CRITERIA
PERCENTAGE
DONE
Project Analysis 100%
Mission Analysis 100%
System Concept 100%
Subsystem Design 100%
Procurement + Manufacturing 100%
Subsystem Testing 92%
System Integration 60%
Integrated Functional Level Testing 75%
PDR 100%
Environmental Testing
Test launches 33%
Drop, vibe, therm, dim 76%
Design Iterations 95%
CDR 100%
Requirements compliance (49/49) 100%
Prototype cloning (aim to have 4 clones) 25%
Destructive environmental testing 10%
OVERALL 79%
Presenter: Iuliu Ardelean CanSat 2018 CDR: Team 5002
Shipping and Transportation
CanSat 2018 CDR: Team 5002 157
The team plans to build two fully functional CanSats, which will be shipped to Stephenville, Texas using an
express courier service that can guarantee the delivery before the arrival of the full team in Stephenville.
The team will liaise with the competition officials to sort this matter out.
The team also plans to carry the exact same equipment for another two CanSat with them to ensure enough
spares are available in case of a contingency.
From an initial analysis, sending a 5kg package worth 2000 GBP, the cost is 100-150 GBP.
Presenter: Iuliu Ardelean
Conclusions
CanSat 2018 CDR: Team 5002 158
Major accomplishments
The design is now well within the weight limit.
Coding is 100% finalized.
A very generous budget has been achieved.
We are now more than two month ahead of our real schedule from last year.
We have actually built and almost completed testing of our design.
We are confident to say we know what can fail and what will not.
We have inspired a handful of UK Universities to join the UK Competition.
Major unfinished work
Some testing (please see below)
Travel Arrangements including plane tickets and VISAs.
Operations Manual
Testing to complete
Major Packages associated to
Radio Communication
Parachute Mechanical Strength
Egg Protection Structure
Bonus 2 Video Camera
Flight software status
100% Finalized
Presenter: Iuliu Ardelean
Recommended