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Preliminary Design Review (PDR) of Team Garuda at the International Student CanSat competition. Team Garuda secured International Rank 3 out of 40 Teams at the International Student CanSat Competition 2012 at Abilene, TX, USA. Visit http://www.rishidua.com/cansat/ for more information about the team.
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CanSat 2012
Preliminary Design Report
Team 7634
Garuda
Indian Institute of Technology, Delhi
CanSat 2012 PDR: Team 7634 (Garuda) 1
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(If You Want) Presentation Outline
• Introduction
– Team Garuda...................................................................................................................................................................................6
– Team organization...........................................................................................................................................................................7
– Acronyms.........................................................................................................................................................................................8
• System Overview
– System Requirements...................................................................................................................................................................12
– System level CanSat Configuration Trade & Selection................................................................................................................16
– System Concepts of Operations...................................................................................................................................................17
– Context Diagram...........................................................................................................................................................................19
– Physical Layout-CanSat................................................................................................................................................................20
– Physical Layout-Lander.................................................................................................................................................................21
– Launch Vehicle Compatibility........................................................................................................................................................22
• Sensor Subsystem Design
– Carrier Sensor Subsystem overview.............................................................................................................................................24
– Lander Sensor Subsystem overview............................................................................................................................................25
– Sensor Subsystem requirements..................................................................................................................................................26
– Carrier GPS trade & selection.......................................................................................................................................................28
– Carrier non-GPS Altitude and temperature sensor Trade and Selection.....................................................................................29
– Lander altitude sensor trade & selection.......................................................................................................................................30
– Lander Impact force Sensor Trade & Selection............................................................................................................................31
CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Arpit Goyal 2
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(If You Want) Presentation Outline
• Descent control Design
– Descent control overview..............................................................................................................................................................33
– Descent Control requirements......................................................................................................................................................34
– Descent rate control Strategy Selection and Trade......................................................................................................................35
• Mechanism selection..............................................................................................................................................................35
• Metal selection......................................................................................................................................................................36
• Shape selection.....................................................................................................................................................................37
• Descent Rate calculations..........................................................................................................................................................38
• Assumptions..........................................................................................................................................................................39
• Mechanical Subsystem Design
– Mechanical Subsystems Overview...............................................................................................................................................46
– Mechanical Subsystems Requirements........................................................................................................................................47
– Lander Egg protection Trade and Selection.................................................................................................................................49
– Mechanical Layout of Components...............................................................................................................................................50
– Material Selection..........................................................................................................................................................................51
– Carrier-Lander interface................................................................................................................................................................52
– Structure Survivability Trades.......................................................................................................................................................53
– FEA for Structural Survivability.....................................................................................................................................................54
– Mass Budget..................................................................................................................................................................................55
– Tests Performed............................................................................................................................................................................56
CanSat 2012 PDR: Team 7634 (Garuda) 3 Presenter: Arpit Goyal
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(If You Want) Presentation Outline
• Communication and Data Handling Subsystem Design
– CDH overview................................................................................................................................................................................58
– CDH requirements.........................................................................................................................................................................59
– Processor and memory Trade & Selection..................................................................................................................................62
– Carrier Antenna Trade & Selection...............................................................................................................................................65
– Radio Configuration.......................................................................................................................................................................66
– Carrier Telemetry Format..............................................................................................................................................................67
– Activation of Telemetry Transmissions.........................................................................................................................................71
– Locator Device Trade & Selection................................................................................................................................................72
• Electrical Power Subsystem
– EPS overview................................................................................................................................................................................74
– EPS requirements for Carrier........................................................................................................................................................76
– EPS requirements for Lander........................................................................................................................................................77
– Carrier Electrical Block Diagram...................................................................................................................................................79
– Lander Electrical Block Diagram...................................................................................................................................................80
– Power Budget................................................................................................................................................................................81
– External Power Control Mechanism..............................................................................................................................................83
– Power Source Trade and Selection..............................................................................................................................................84
– Battery Voltage Measurement.......................................................................................................................................................85
• Flight Software Design
– FSW overview...............................................................................................................................................................................87
– FSW Requirements.......................................................................................................................................................................88
– Carrier FSW overview...................................................................................................................................................................90
– Lander FSW overview...................................................................................................................................................................91
– Software development plan...........................................................................................................................................................92
CanSat 2012 PDR: Team 7634 (Garuda) 4 Presenter: Arpit Goyal
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(If You Want) Presentation Outline
• Ground Control System Design
– GCS overview................................................................................................................................................................................94
– GCS requirements.........................................................................................................................................................................95
– GCS Antenna Trade & Selection..................................................................................................................................................97
– GCS software Description.............................................................................................................................................................99
• CanSat Integration and Test
– CIT overview................................................................................................................................................................................102
– CanSat integration.......................................................................................................................................................................103
– Test Performed............................................................................................................................................................................105
– Tests to be performed.................................................................................................................................................................106
• Mission Operation & Analysis
– MOA overview.............................................................................................................................................................................108
– MOA manual development plan..................................................................................................................................................109
• CanSat Integration..................................................................................................................................................................110
• Launch Preparation................................................................................................................................................................111
• Launch Procedure..................................................................................................................................................................112
• Removal Procedure................................................................................................................................................................113
– CanSat Location recovery...........................................................................................................................................................114
• Management
– CanSat Budget............................................................................................................................................................................116
– Sponsorship Plans......................................................................................................................................................................118
– Program Schedule.......................................................................................................................................................................119
– Conclusions................................................................................................................................................................................ 122
CanSat 2012 PDR: Team 7634 (Garuda) 5 Presenter: Arpit Goyal
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(If You Want) Team Garuda
Contact Details: <firstname>@teamgaruda.in
CanSat 2012 PDR: Team 7634 (Garuda)
Name Major with Year
Arpit Goyal Electrical Engineering, Senior
Rajat Gupta Mechanical Engineering, Senior
Kshiteej Mahajan Computer Science, Senior
Aman Mittal Electrical Engineering, Junior
Prateek Gupta Mechanical Engineering, Junior
Sarthak Kalani Electrical Engineering, Junior
Sudeepto Majumdar Electrical Engineering, Junior
Akash Verma Mechanical Engineering, Sophomore
Rishi Dua Electrical Engineering, Sophomore
Harsh Parikh Computer Science, Freshman
6 Presenter: Arpit Goyal
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(If You Want) Team organization
CanSat 2012 PDR: Team 7634 (Garuda)
Team Leader
Faculty Mentor
Mechanical
Designs
Akash Verma
Prateek Gupta
Electrical Systems
Arpit Goyal
Sarthak Kalani
Sudeepto Majumdar
Software Control
Harsh Parikh
Kshiteej Mahajan
Rishi Dua
Team Mentor
Alternate Team Leader
Aman Mittal
Rajat Gupta
7 Presenter: Arpit Goyal
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(If You Want) Acronyms
Abbreviation Meaning
µC Microcontroller
ACK Acknowledgement
ADC Analog to Digital Convertor
CAD Computer-aided design
CDH Communication and Data Handling
CIT CanSat Integration and Test
DC Descent Control
DS Data Sheet
EMRR Essence's Model Rocketry Reviews
EPS Electrical Power Subsystem
EPS Electrical Power Subsystem
CanSat 2012 PDR: Team 7634 (Garuda) 8 Presenter: Arpit Goyal
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(If You Want) Acronyms
Abbreviation Meaning
ERL Effective Rigging Line Length
Est Estimated
FAT File Allocation Table FEA Finite element Analysis FRP Fibre-reinforced plastic FSW Flight Software GCS Ground Control Station GPS Global positioning system GPS Global Positioning System IDE Integrated Development Environment Meas Measured experimentally MOA Mission Operation and Analysis P&T Pressure and Temperature
CanSat 2012 PDR: Team 7634 (Garuda) 9 Presenter: Arpit Goyal
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(If You Want) Acronyms
Abbreviation Meaning
PCB Printed Circuit Board
RF Radio Frequency
SD Secure Digital
SPI Serial Peripheral Interface
SPL Sound Power Level
SSS Sensor Subsystem
UART Universal asynchronous receiver/transmitter
USD United States Dollar
VSWR Voltage Standing Wave Ratio
CanSat 2012 PDR: Team 7634 (Garuda) 10 Presenter: Arpit Goyal
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Systems Overview
Presenters: Harsh Parikh, Rajat Gupta
CanSat 2012 PDR: Team 7634 (Garuda) 11
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(If You Want) Mission Summary
CanSat 2012 PDR: Team 7634 (Garuda)
The Main Objective:
The main purpose of CanSat is to provide egg safety from launch to landing
Auxiliary Objectives:
• launching CanSat
• descent CanSat from 600m to 200m at a constant descent rate of 10 m/s ± 1 m/s
• changing constant descent rate to 5 m/s ± 1m/s at 200m
• releasing the lander with egg at 91 m altitude
• landing lander with descent rate less than 5m/s without damaging egg
• collecting data at ground station from sensors in CanSat through Xbee radio modules
Selectable Mission: Calculating thrust force after lander has landed; data should be collected at rate more than 100Hz and stored on board for post-processing.
Selection Rationale:
• Easy implementation
• Criteria: Cost, weight, reliability, power and space effective.
Presenter: Harsh Parikh 12
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(If You Want) System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID Requirements Priority Rationale Parent Children
VM
A I T D
SYS-01
CanSat constraints will be:
Diameter: less than 127mm
Total mass 400g - 750g
High Justifies concept
of CanSat X
SYS-02 CanSat egg placed inside will
be recovered safely High
Competition
requirement
SSS-05
SSS-06
SSS-08
DC-02
DC-03
GCS-03
X X
SYS-03
The CanSat shall deploy from
the launch vehicle payload
section and no protrusions
High Easy to leave
rocket MS-03 X
SYS-04
The descent control system
shall not use any flammable
or pyrotechnic devices
High To comply with
field safety SYS-09
X
SYS-05
Descent rate should be
10m/s till 200m altitude.
descent rate fall to 5m/s at
200m
High Competition
requirement
DC-01
FSW-03
X X X
13 Presenter: Harsh Parikh
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(If You Want) System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID Requirements Priority Rationale Parent Children
VM
A I T D
SYS-06 Detachment of lander at 91m and
lander velocity will be less than 5m/s High
Competition
requirement
DC-01
FSW-04 X X
SYS-07
During descent the carrier shall
transmit required sensor data
telemetry data once every two
second via XBEE Lander descent
telemetry shall be stored on –board
for post processing following retrieval
of the lander
High Competition
requirement
SSS-01
SSS-02
SSS-03
GCS-02
FSW-05
X X
SYS-08
The cost of CanSat flight hardware
shall be under1000$ (other costs are
excluded)
High Feasible to
design
X
SYS-09
The CanSat and associated
operations shall comply with all field
safety regulations.
Medium Competition
requirement SYS-04
X
SYS-10
Impact parameter data shall be
measured and stored on data card
on sensor
Medium Data
backup SSS-04 X X
14 Presenter: Harsh Parikh
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(If You Want) System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID Requirements Priority Rationale Parent Children
VM
A I T D
SYS-11 Spin of CanSat should be less than
10 revolutions per minute High
Required
for stable
operations
MS-02 X X
15 Presenter: Harsh Parikh
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System Level CanSat Configuration
Trade & Selection
• First Design- NESTED DESIGN
Lander inside the carrier
Electronic components to be fitted at the sides
Parachutes will be collected at the top portion
Easy to fit components in a cylinder of 152mm height
• Second design- One above the Other
Carrier above the lander
Electronic components to be on the discs arranged horizontally or
on vertical plates on the side
Height required is more. Can’t fit inside 152mm.
Chosen Configuration: NESTED DESIGN
CanSat 2012 PDR: Team 7634 (Garuda) 16 Presenter: Harsh Parikh
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(If You Want) System Concept of Operations
CanSat 2012 PDR: Team 7634 (Garuda)
On CanSat
Keep CanSat in
rocket
Launch Rocket
Leaving CanSat
from rocket at 600m
descending Rocket at
constant rate of 10m/s from 600 to 200m
descent Speed
decrease to 5m/s at
200m
Detaching lander at
91m
Collecting data from sensors
Sending Data to ground station
Data Analysis
Calculating collision
force
Detecting CanSat Off
CanSat
17 Presenter: Harsh Parikh
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(If You Want) System Concept of Operation
• Briefing
• Last Mechanical control
• Last Electrical control
• Coming at Competition Arena
Pre Flight
• Pre-Flight operation
• Launch Flight
• Deploy CanSat at 600m
• Opening parachute
• Controlling descent rate to 10m/s +- 1m/s up to 200m
• Data collection and transmission
• Reducing descent rate to 5m/s at 200m
• Detaching Lander at 91m
• Landing and Locating CanSat
Launch and Flight
• Saving Data
• Analyzing Data
• Preparing PFR
• PFR Presentation
Post Flight
CanSat 2012 PDR: Team 7634 (Garuda) 18 Presenter: Harsh Parikh
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(If You Want) Context Diagram
CanSat 2012 PDR: Team 7634 (Garuda)
CanSat Processor
Flight Software
Power System
Mechanical System
Sensor System
XBee System
Ground
Antenna
Receiver
Computer
Analyser
Environment
Mechanical System
descent Control
Lander Release
19 Presenter: Harsh Parikh
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(If You Want) Physical Layout- CanSat
Presenter: Rajat Gupta
15
1m
m
94mm
126mm
Space for Electronics
Parachute on top
Lander detachment from bottom
Lander
Actuator
CanSat 2012 PDR: Team 7634 (Garuda) 20
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(If You Want) Physical Layout- Lander
12
5m
m
Space for
parachutes
Electronic Components
Egg
Egg protection system
CanSat 2012 PDR: Team 7634 (Garuda) 21 Presenter: Rajat Gupta
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(If You Want) Launch Vehicle Compatibility
• The starting point of design of CanSat
body was the inner dimensions of payload
section of rocket.
• Outer diameter of body is 126mm giving 1
mm clearance.
• Total height of CanSat system is 151mm
which is smaller than the given envelop.
• Hence there are no protrusions from the
CanSat which could hamper the smooth
deployment from rocket
• As the rocket compartment opens up,
CanSat is deployed by action of gravity.
Presenter: Rajat Gupta
15
1m
m
94mm
CanSat 2012 PDR: Team 7634 (Garuda) 22
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CanSat 2012 PDR: Team 7634 (Garuda)
Sensor Subsystem Design
Presenter: Arpit Goyal
23
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CanSat 2012 PDR: Team 7634 (Garuda)
Sensor Subsystem Overview
• Carrier Sensor Sub-system overview
Presenter: Arpit Goyal
Micro-controller
GPS Sensor
Robokits India
(RKI-1543)
Pressure Sensor
Bosch
(BMP085)
Non-GPS Altitude
Calculation
Battery Voltage Data
Temperature Sensor
BMP085
24
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(If You Want) Sensor Subsystem Overview
CanSat 2012 PDR: Team 7634 (Garuda)
• Lander Sensor Sub-system overview
25
Micro-controller
GPS Sensor
Robokits India
(RKI-1543)
Pressure Sensor +
Temperature Sensor
Bosch
(BMP085)
Non-GPS Altitude
Calculation
Battery Voltage Data
Accelerometer
MMA7361L
25 Presenter: Arpit Goyal
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CanSat 2012 PDR: Team 7634 (Garuda)
Sensor Subsystem Requirements
ID Requirement Rationale Priority Parent Children VM
A I T D
SSS-01 GPS data shall be
measured in carrier
(±1.5m)
Required as main objective
and for locating carrier after
it has landed. GPS data will
be telemetered to the
ground
HIGH SYS-07 SSS-07
X X
SSS-02 Altitude shall be
measured without
using a non-GPS
sensor in carrier and
lander both (±1.0m)
Required as main objective
and to calculate height
from ground. This will be
telemetered to ground and
will be used to calculate
descent rate
HIGH SYS-07 SSS-07
X X X
SSS-03 Air Temperature
shall be measured in
carrier
(±2°C)
Required as base objective
and for descent telemetry
HIGH SYS-07 SSS-07
SSS-09
X X X
SSS-04 Impact Force shall
be measured in
lander after it has
landed (at rate of at
least 100 Hz)
(6g)
Required as part of
selectable objective
HIGH SYS-10 SSS-07
X X X
26 Presenter: Arpit Goyal
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CanSat 2012 PDR: Team 7634 (Garuda)
Sensor Subsystem Requirements
ID Requirement Rationale Priority Parent Children VM
A I T D
SSS-05 Data Interfaces from
sensors, like SPI or
UART should be
limited
Limited UART and SPI
interface in µC
MEDIUM CDH
SYS-02
X
SSS-06 Both lander and
carrier will have an
audio beacon of SPL
at least 80 dB
Required to retrieve lander
and carrier after they have
landed
HIGH SYS-02 X X X
SSS-07 Sensors should
have high
resolutions and high
range
For accurate data LOW SSS-01
SSS-02
SSS-03
SSS-04
X
SSS-08 GPS sensor will be
used in lander
It will be used to locate
lander after it has landed
apart from audio buzzer
MEDIUM SYS-02 X X
SSS-09 Temperature will be
measured in lander
For data matching with of
carrier
LOW SSS-03 X
27 Presenter: Arpit Goyal
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CanSat 2012 PDR: Team 7634 (Garuda)
Carrier GPS Trade & Selection
RKI-1543 from Robokits India is chosen as GPS
sensor due to:
• Small size
• Low weight
• Low cost
• Easily available in India
Manufacturer Model Accuracy
(m)
Dimensions
(mm)
Mass (g) Voltage (V) Cost
(USD)
Wi2Wi W2SG0006 3 15.5X15.5X2.5 8 3.6 42.5
USGlobalSat GPS_EM-
406A
5 30X30X10.5 7.6 5 40
Robokits India RKI-1543 3 16X16X6 6 5 40
28 Presenter: Arpit Goyal
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CanSat 2012 PDR: Team 7634 (Garuda)
Carrier Non-GPS Altitude and
Temperature Sensor Trade &
Selection
Bosch BMP085 is chosen as Non-GPS altitude
sensor and temperature sensor due to:
• Small Size
• Integrated Temperature Sensor
• Low cost
• Can be easily integrated with I2C bus
Manufacturer Model Accuracy
(%)
Dimensions
(mm)
Operating
Supply
Voltage
(V)
Output Type
(A/D)
Cost
(USD)
Bosch BMP085 ± 1.0 16.5X16.5 5 D 20
Honeywell SSCDRNN
015PAAA5 ± 0.25 18X12.5 5 A 30
29 Presenter: Arpit Goyal
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CanSat 2012 PDR: Team 7634 (Garuda)
Lander Altitude Sensor Trade &
Selection
Bosch BMP085 is chosen as lander altitude
sensor due to:
• Small Size
• Integrated Temperature Sensor
• Low cost
Though we don’t need temp. measurement but
still this sensor is cheaper than other sensors and
is easily compatible with Arduino board. Having
another temp sensor will be useful as it can be
used to match data from carrier temp sensor.
Manufacturer Model Accuracy
(%)
Dimensions
(mm)
Operating
Supply
Voltage
(V)
Output Type
(A/D)
Cost
(USD)
Bosch BMP085 ± 1.0 16.5X16.5 5 D 20
Honeywell SSCDRNN
015PAAA5 ± 0.25 18X12.5 5 A 30
30 Presenter: Arpit Goyal
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CanSat 2012 PDR: Team 7634 (Garuda)
Lander Impact Force Sensor
Trade & Selection
MMA7361L from Freescale Semiconductors is chosen due to:
• Low cost
• ADC as data interface, Micro-controller have limited I2C
interface.
• Higher range
Manufacturer Model Dimensions (mm) Output
(A/D)
Range Cost
(USD)
Analog Devices ADXL335 17.8X17.8 D ± 3g 25
ST
Microelectronics LIS331 21.9X13.5 D ± 6g 28
Freescale
Semiconductors
MMA7361L 23.8X12.6 A ± 6g 12
31 Presenter: Arpit Goyal
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Descent Control Design
Presenter: Prateek Gupta
CanSat 2012 PDR: Team 7634 (Garuda) 32
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CanSat 2012 PDR: Team 7634 (Garuda)
Descent Control Overview
The descent mechanism selected is parachutes with thorough
calculation of the drag area.
The material selected after careful consideration is ripstop nylon and
it will be provided with spill holes to reduce drift.
2 parachutes are chosen for each level of descent for carrier.
1st parachute will bring down the velocity of CanSat to 10m/s.
2nd parachute will be deployed in addition to 1st, at 200m altitude to
bring down the velocity to 5m/s
To avoid the free body wake effects, the effective rigging line length is
calculated.
Proper orientation of both parachutes will avoid entanglement.
The parachute in the lander directly brings it descent rate to below
5m/s
Before deployment the parachutes are folded to occupy the allotted
minimum space
Presenter: Prateek Gupta 33
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CanSat 2012 PDR: Team 7634 (Garuda)
Descent Control Requirements
ID Requirement Rationale Priority Parent Children VM
A I T D
DC-1 Use of two
parachutes in
Carrier and one in
lander
To attain required
descent rates
HIGH SYS-05
SYS-06
X X X X
DC-2 Parachute should
have a shiny
colour
To locate carrier and
lander easily
HIGH SYS-02 X
DC-3 Spill holes should
be used in
parachutes
To reduce drift MEDIUM SYS-02 X X X
DC-4 At 200 m the 2nd
parachute shall not
entangle with the
1st one
Proper orientation
and deployment
mechanism is
required for 2nd
parachute
HIGH X X
34 Presenter: Prateek Gupta
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Descent Rate Control Strategy
Selection and Trade
MECHANISM SELECTION
Presenter: Prateek Gupta
Drag Mechanism Benefits Problems Decision
Parachute(without
spill hole)
Large coefficient of
drag,
Drifting, Oscillations Not to be used
Parachute(with spill
hole)
Reduced drifting and
oscillations, Lesser
material and weight
Descent rate has
increased,
Selected
Streamers Faster recovery,
Reduced Drifting,
Lesser drag,
Heavier, Occupies
larger volume,
Not to be used
Paraglide Descent control
methods include
drag and lift
Drift need to be
there to enable it to
control descent via
lift
Not to be used
CanSat 2012 PDR: Team 7634 (Garuda) 35
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Descent Rate Control Strategy
Selection and Trade
Material Benefits Problems Decision
Ripstop nylon Lower porosity, Dyed
in many colours,
Easily available
Slightly expensive To be used
Mylar Thin, Light,
Cd=0.14(approx.)
Not easily available Can’t be used
Flex Alternative to Mylar Heavy and more
porous
Not to be used
Retired Hot air balloon Alternative to ripstop
nylon as it will be less
expensive
Fewer colour options,
Need to be washed
several times to get
the smell of the gas
out, need to be
replaced after certain
time of usage
Can’t be used
MATERIAL SELECTION
CanSat 2012 PDR: Team 7634 (Garuda) 36 Presenter: Prateek Gupta
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Descent Rate Control Strategy
Selection and Trade
MATERIAL SHAPE SELECTION
Presenter: Prateek Gupta
Shape Payload Diameter Descent rate Decision
Round 750g 10cm 44m/s Selected
Square 750g 10cm 55m/s Not to be
selected
Hexagon 750g 10cm 48m/s Can be
considered
CanSat 2012 PDR: Team 7634 (Garuda) 37
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Descent Rate Control Strategy
Selection and Trade
DESCENT RATE CALCULATIONS FOR CanSat
DESCENT RATE CALCULATIONS FOR LANDER(91m)
Payload Diameter
(1st Parachute)
Descent
rate (600m)
Payload Diameter
(2nd Parachute)
Descent Rate
(200m)
725g 40cm 10.82m/s 700g 40cm 7.51m/s
725g 44cm 9.83m/s 700g 44cm 6.83m/s
725g 48cm 9.01m/s 700g 48cm 6.26m/s
725g 48cm 9.01m/s 700g 52cm 6m/s
Payload Diameter Descent rate
200g 40cm 5.68m/s
200g 50cm 4.54m/s
200g 60cm 3.78m/s
200g 55cm 4.13m/s
CanSat 2012 PDR: Team 7634 (Garuda) 38 Presenter: Prateek Gupta
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Descent Rate Control Strategy
Selection and Trade
ASSUMPTIONS:
• Each parachute weighs 25gm
• All parachutes in a cluster must be identical to prevent
unbalancing of drag forces. This requirement is relaxed by
having slightly different diameters of 2 parachutes
• Spill hole of 5cm diameter is not going to affect the
equivalent diameter.
• Equivalent diameter for cluster is calculated using:
• All calculations are based on EMRR’s Calculator
CanSat 2012 PDR: Team 7634 (Garuda)
2221 DDDeq
39 Presenter: Prateek Gupta
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Descent Rate Control Strategy
Selection and Trade
EFFECTIVE RIGGING LINE LENGTH(ERL)
To avoid effects of ‘forebody wake effects’ which reduces
25% of drag in parachute
ERL = 𝒏D
ERL= 63 cm (approx.)
Deployment of 2nd parachute :
Deployment mechanism to be decided
CanSat 2012 PDR: Team 7634 (Garuda) 40 Presenter: Prateek Gupta
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• Plumb line with very low weight as compared to payload
• Length of string to be very long
• Calculate the descent rate by simple formula –
Velocity = Plumb Line Length
Time
Descent Rate Control Strategy
Selection and Trade
TESTING OF DESCENT RATE (LANDER): STRATEGY
CanSat 2012 PDR: Team 7634 (Garuda) 41 Presenter: Prateek Gupta
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(If You Want) Descent Rate Calculations
Formula used for calculating the terminal velocity
Where
Vt= Terminal Velocity
W= Payload
Cd= Coefficient of Drag (1.5 for round and hemisphere)
ρ =Density of Air (It varies from 600m to ground level)
A= Equivalent area of Parachute or cluster of them
((pi*d2)/4)
CanSat 2012 PDR: Team 7634 (Garuda) 42
AC
WV
d
t
2
Presenter: Prateek Gupta
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(If You Want) Descent Rate Calculations
Density of air is not
constant.
@ 600m
density=1.13 kg/m3
@Sea level
Density= 1.2 kg/m3
Terminal velocity will decrease as it approaches ground.
There is not much variation in density and hence we can assume it to be constant and
calculate for the worst case i.e. 1.13 kg/m3.
CanSat 2012 PDR: Team 7634 (Garuda) 43 Presenter: Prateek Gupta
Team Logo
Here
(If You Want) Descent Rate Estimates
*Use of spill hole deviates the equivalent diameter only by a small amount so these values should hole in
actual scenario. Cd will be slightly less than 1.5.
Object Altitude Weight Terminal Velocity
Carrier + Lander 600m 725g 9.01m/s
Carrier + Lander 200m 700g 6m/s(to be
improved)
Carrier 91m 500g 5.7m/s(Using non
identical chutes)
Lander 91m 200g 4.54m/s
CanSat 2012 PDR: Team 7634 (Garuda) 44 Presenter: Prateek Gupta
Team Logo
Here
CanSat 2012 PDR: Team 7634 (Garuda)
Mechanical Subsystem Design
Presenters: Rajat Gupta, Akash Verma
45
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Mechanical Subsystem Overview
• The design of the structure was governed by the
designated payload envelop. For the given dimensions
of payload, concentric arrangement of carrier and
lander one-inside-the-other was perceived to be best
suited.
• The body will be fabricated with fiber re-enforced
plastic which provides good impact resistance
• The bottom of carrier opens up on initialization of
lander deployment with help of linear actuator and the
lander falls due to gravity.
• The structural rods are made of aluminum and provide
structural integrity.
• All electrical components are placed strategically to
bring the centre of gravity as close to the centre as
possible for balance of the system
• The egg protection system uses a combination of
impact force distributor and shock absorbing material.
Presenter: Rajat Gupta 46
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Mechanical System Requirements
ID Requirement Rationale Priority Parent Child VM
A I T D
MS-01 There shall be no
protrusions beyond the
payload envelop until
CanSat deployment
Protrusions may interfere
with smooth deployment.
High SYS-03
X
MS-02 The various components
shall be located
strategically so as to bring
the CG near the centre
line.
The mass distribution of
the rocket should be fairly
uniform for stable
operations
Medium SYS-11
X
MS-03 The electronics shall be
bolted inside the structure
To ensure protection of
electronics
High
X
MS-04 All electronics should be
shielded from environment
To ensure protection High
X
47 Presenter: Rajat Gupta
Team Logo
Here
(If You Want) Mechanical System Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID Requirement Rationale Priority Parent Child VM
MS-05 The structure must
support 30gees of
shock force and 10
gees of acceleration
The structure has to
withstand various forces
during takeoff and landing
High
X X
48 Presenter: Rajat Gupta
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Lander Egg Protection Trade &
Selection
• The selected egg protection system consists of a force distributor at bottom and
surrounded by a shock absorbing and dampening material.
– The hip bone protector(used by elderly people) is used as a force distributor to
distribute the impact forces sideways and protect the egg from breaking
– The egg is placed in a spherical foam ball with cavity carved inside to provide
protection from all sides. It is covered from top by more foam pieces.
Presenter: Rajat Gupta
• Other alternates: cotton & bubble wrap are also tested for cushioning effect.
• In final configuration, Egg is wrapped with a layer bubble wrap to protect from self
crushing force from foam ball
• Polystyrene balls are filled in any space left to provide extra cushion.
• All the materials: foam, bubble wrap, polystyrene balls are easily available lightweight
and inexpensive. Hip protector was available in our lab as part of ongoing product
developed with patented research.
49
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Mechanical Layout of Components
Trade & Selection
15
1m
m
94mm
12
5m
m
Electronics
Space for parachute
Egg Protection system
Actuator
Main Structure
50 Presenter: Rajat Gupta
Team Logo
Here
(If You Want) Material Selections
CanSat 2012 PDR: Team 7634 (Garuda)
FRP (fiber reinforced plastic) • Density = 1799.19381 kg / m^3
• chemical, moisture, and temperature resistance
• superior tensile, flexural and impact strength behaviour
• High Strength to Weight Ratio
• Easy to mold and cast in our lab
• Cheap and easily available
Aluminum rods • Density 2.63 g/cc
• Ultimate strength 248 MPa
• Light weight and strong enough for the CanSat
• Easily available in various diameters
Torsional spring For quick opening of bottom flap of the carrier
The material chosen for structure is FRP body with aluminum support rods due
their superior qualities at affordable price as shown below.
51 Presenter: Rajat Gupta
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Carrier-Lander Interface
Presenter: Akash Verma
•The lander will be placed inside the carrier.
•The bottom part of the carrier is a spring loaded flap.
• A linear actuator is used for holding the bottom flap. At 91m
actuator pulls the locking rod and flap opens by gravity and spring
force.
•Lander comes out by gravitational force.
Release of the lander results in opening of the parachute which is above the lander.
52
Team Logo
Here
(If You Want) Structure Survivability Trades
CanSat 2012 PDR: Team 7634 (Garuda)
• The electronic components will be soldered on a PCB which will be
bolted to the structure for robust mountings.
• Holes can be easily drilled in the plastic structure wherever required
accordingly.
• The components which can’t be bolted will be secured using superior
glue adhesive.
• The structure is designed with suitable material thickness to withstand
the requisite shock forces.
• The fibers in the structure will provide strength and resistance from
impacts in the longitudinal direction of fibers. A preliminary Finite
element analysis was carried out to ensure that the structure is robust
enough (Results shown in next slide)
• Physical testing to be done later when structure is fabricated.
53 Presenter: Akash Verma
Team Logo
Here
(If You Want)
Finite Element Analysis for
Structural Survivability
CanSat 2012 PDR: Team 7634 (Garuda)
The preliminary FEA results of the structure for load due 20gees average
deceleration shows resultant displacement and von-mises stress way below limits.
Max resultant disp.: .01mm Max von-mises stress= 0.23 Mpa
*The analysis is for static forces equivalent to 20g impact for fixed end boundary conditions with material properties assumed to be
uniform. In real case the properties are different in direction of fibers for FRP
54 Presenter: Akash Verma
Team Logo
Here
(If You Want) Mass Budget
CanSat 2012 PDR: Team 7634 (Garuda)
Carrier components Weight (g)
Arduino board 32
LCD 35
Parachutes 60
Structure 250
Battery 24
Other electronics 20
Total carrier mass 421
Lander components Weight (g)
Arduino board 32
LCD 35
Parachutes 30
Structure 100
Battery 24
Other electronics 20
Egg protection(without egg) ~60
Total carrier mass(without
egg)
241
The initial estimates with mass are from component specifications and CAD model
with expected errors.
55 Presenter: Akash Verma
Team Logo
Here
(If You Want) Tests Performed
• The egg protection system was system was tested by dropping under free fall from various
heights to choose the cushion material.
• In all tests, the hip protector is placed in the bottom.
• From these tests, the foam ball + bubble wrap with egg in vertical orientation was finalized.
CanSat 2012 PDR: Team 7634 (Garuda)
Trial Material Drop height
(ft)
Impact
velocity
(m/s)
Orientation Result
1. Bubble wrap 4 4.9 horizontal Fail
Bubble wrap 4 4.9 vertical Fail
Cotton 4 4.9 horizontal Fail
Cotton 4 4.9 vertical Pass
Cotton 10 7.7 vertical Fail
Foam ball + bubble wrap 10 7.7 vertical Pass
Foam ball +bubble wrap 20 11 vertical Pass
Foam ball +bubble wrap 40 15 vertical Fail
56 Presenter: Akash Verma
Team Logo
Here
CanSat 2012 PDR: Team 7634 (Garuda)
Communication and Data Handling
Subsystem Design
Presenter: Aman Mittal
57
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
CDH Overview
• Carrier
– All data will be transmitted from the sensors to the
microcontroller on board via serial interface.
– The data will be stored on an SD card for later retrieval.
– Transmission of data to take place from X-Bee Pro
module XBP24BZ7SIT-004J with in built antenna.
• Lander
– The data from the sensors to be collected from serial
communication and sent to the microcontroller.
– The data will be processed on Arduino and stored in an
SD card.
Presenter: Aman Mittal 58
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
CDH Requirements
ID Requirement Rationale Priority Pare
nt(s)
Childr
en
VM
A I T D
CDH -01 Sensor data will
be sent
Base mission
requirements
HIGH X X
CDH-02 Carrier data will
be stored
Store all data to be
transmitted as
backup
MEDIUM X
CDH-03 Store lander
data
Base mission
requirement for
velocity data
HIGH X X
CDH-04 Accelerometer
data
ADC data for force
calculation
HIGH X
CDH-05 Micro-controller
speed>1MHz
To process all data
and send telemetry
MEDIUM X
CDH-06 Telemetry from
Xbee will be
used
Base Station
Requirements
HIGH X
59 Presenter: Aman Mittal
Team Logo
Here
(If You Want) CDH Requirements
ID Requirement Rationale Priority Parents Children VM
A I T D
CDH-07 AT Mode for Xbee
will be used
Base Mission
Requirement
HIGH X X
CDH-08 Locating device
active on landing
Base mission
requirements and
to save power
HIGH X X
CDH-09 SPL for Buzzer
shall be greater
than 80dB
For location HIGH X
CDH-10 Handheld locator
will trigger buzzer
To provide ease in
locating
MEDIUM X X
CDH-11 Buzzer will be off
before landing
Base mission
requirements and
to save power
HIGH X
CDH-12 CanSat will stop
transmitting when
triggered off
Saving power MEDIUM X X
CanSat 2012 PDR: Team 7634 (Garuda) 60 Presenter: Aman Mittal
Team Logo
Here
(If You Want) CDH Requirements
ID Requirement Rationale Priority Parents Children VM
A I T D
CDH-13 The Pan ID of
Xbee module
should be set as
Team Number
To avoid
interference
HIGH X
CanSat 2012 PDR: Team 7634 (Garuda) 61 Presenter: Aman Mittal
Team Logo
Here
(If You Want)
Processor and Memory Trade
Selection
Arduino Uno Arduino Mega 2560 Custom ATMega 32
Board
Processor Speed(MHz) 16 16 16
Operating Voltage 5 5 5
Data Interface (D/A) 14/6 54/16 Configurable
Size(cm x cm) 6.5x5.2 10.1x5.2 ~5x6
Flash Memory(kB) 32 128 32
Price(in USD) 25 65 30
CanSat 2012 PDR: Team 7634 (Garuda) 62 Presenter: Aman Mittal
Team Logo
Here
(If You Want)
Processor and Memory Trade
Selection
• Carrier
– Arduino Uno is chosen for the microcontroller.
– Easy interfacing, sufficient digital outputs for data
handling.
– Low price and size.
• Lander
– Arduino Uno is chosen for the microcontroller.
– Same design for the carrier and Lander.
CanSat 2012 PDR: Team 7634 (Garuda) 63 Presenter: Aman Mittal
Team Logo
Here
(If You Want) Memory Selection
• SD card is used for external memory
– Standard FAT 32 file system.
– Large amounts of data can be stored.
– Non-volatile.
– Easy to retrieve data on laptop.
CanSat 2012 PDR: Team 7634 (Garuda) 64 Presenter: Aman Mittal
Team Logo
Here
(If You Want) Carrier Antenna Trade and Selection
A24 HASM450 A24 HABUF-P51
Gain(dB) 2.1 2.1
Frequency(GHz) 2.4 2.4
Application Fixed/Mobile Fixed
Price (in USD) 6 5
• Carrier Antenna –
– Here we are using XBP24BZ7SIT-004J with RPSMA
connector module due to –
• Ability to tilt the antenna in multiple ways .
• Robustness of design and high gain.
• Frequency – 2.4 GHz
• VSWR<2
• Standard interface.
CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Aman Mittal 65
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Radio Configuration
• The X-bee radios are to be used that will be set in the unicast
mode.
• Both the modules will be configured in AT mode. This makes the
programming easy and allows transparent communication.
• The Ground Station
– The module will be configured as COORDINATOR AT.
– This module will be communicating data with CanSat module which
will be indicated in the destination address in SH and SL parameters
– The PANID will be set as team no.
• The CanSat Xbee Module
– The CanSat module will be configured as ENDPOINT AT.
– This module will have the destination address set as the ground
station radio.
– The PANID will be set as the team number.
66 Presenter: Aman Mittal
Team Logo
Here
(If You Want) RADIO CONFIGURATION
CanSat 2012 PDR: Team 7634 (Garuda)
• Both xbees connect to each other.
• Ground station sends start command to CanSat and receives an ACK.
Before Launch
• Send packets of altitude and position to the ground.
• At reaching the top, ground station sends command to send all sensor data.
During Rise
• The sensor data will be sent to the ground station. During Fall
• The GPS position will be transmitted to the ground station.
After Landing
67 Presenter: Aman Mittal
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Carrier Telemetry Format-1
• Data to be transmitted-
– From Carrier
• GPS data
• Pressure and Temperature Sensor data
• Battery Voltage data.
• Velocity data.
– From Lander
• GPS data to the handheld device.
• Data rate
– The data will be sent once every 2 seconds.
68 Presenter: Aman Mittal
Team Logo
Here
(If You Want) Carrier Telemetry Format-2
• The data from GPS will be first processed by the
microcontroller before sending.
• The table shows the data that will be sent.
• Typical GPS data –
– $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.
4,M,46.9,M,,*47
CanSat 2012 PDR: Team 7634 (Garuda)
Where: GGA Global Positioning System Fix Data
• 123519 Fix taken at 12:35:19 UTC
• 4807.038,N Latitude 48 deg 07.038' N
• 01131.000,E Longitude 11 deg 31.000' E
• 1 Fix quality
• 08 Number of satellites being tracked
• 0.9 Horizontal dilution of position
• 545.4,M Altitude, Meters, above mean sea level
• 46.9,M Height of geoid (mean sea level) above WGS84 ellipsoid
• (empty field) time in seconds since last DGPS update
• (empty field) DGPS station ID number
• *47 the checksum data, always begins with *
69 Presenter: Aman Mittal
Team Logo
Here
(If You Want) Carrier Telemetry Format-3
CanSat 2012 PDR: Team 7634 (Garuda)
Characters Sent Definition
Hhmmss UTC Time
LLLL.LLL Latitude
LLLLL.LLL Longitude
AAA.A Altitude
TT No. of satellites tracked
AAA.A Pressure Sensor – Altitude
TT.T Air Temperature
70 Presenter: Aman Mittal
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Activation of Telemetry
Transmissions
• The telemetry will be enabled by sending a start
command from the Ground station radio.
• The CanSat radio will send an ACK, which will mark the
start of telemetry.
• The Ground Station will resend a START command in
case the ACK is not received in a fixed timeframe.
Presenter: Aman Mittal 71
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Locator Device Trade & Selection
• The locator device will include a buzzer and a handheld
device with GPS and Xbee.
• The lander and carrier will both have a buzzer on them.
• The buzzer will be activated by 2 means –
– The data for GPS altitude is constant for 5 sec.
– The ground station/handheld sends an ON command.
• The deactivation will be through a switch on-board the
buzzer PCB.
• The handheld will get the GPS location of the carrier
and lander, and with the help of its own GPS data, it can
track the carrier and lander.
72 Presenter: Aman Mittal
Team Logo
Here
Electrical Power Subsystem
Presenter: Sarthak Kalani
CanSat 2012 PDR: Team 7634 (Garuda) 73
Team Logo
Here
(If You Want) EPS Schematic Overview
CanSat
Power
System
Carrier
battery
source
Lander
battery
source
Sensors +
Xbee
Arduino Board
Buzzer and
actuator
Sensors +
Xbee
Arduino Board
Buzzer
74 CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) EPS Overview
• 2 supplies: Carrier + Lander
• Most power consumers: GPS sensor and buzzer.
• Power supply:
– Main supply used : 9V.
– Supply to components via 3.3V and 5V regulator ICs.
– Rationale: Constant voltage to components.
• Use of GPS and radio on Lander:
– Rationale: Easy retrieval.
– Cost, space, power and weight: not a limiting factor.
• Power saving:
– High power components switched on only in case of flight time.
– Sleep mode used during 1hour wait time and before retrieval (except
buzzer) via communication.
CanSat 2012 PDR: Team 7634 (Garuda) 75 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) EPS Requirements-Carrier
ID Requirement Rationale Priority Parent Children VM
A I T D
EPS-01
All electronic
components of carrier
will be powered.
Necessary for the
working of CanSat.
High X
EPS-02 Power shall be supplied
by 3.3V and 5V
regulator ICs (LM7833
and LM7805 used)
Components require
3.3V and 5V regulated
power supplies
High X
EPS-03 Voltage should
displayed on LCD
Efficient monitoring of
battery voltage
Low X X
EPS-04 External switch and
LED shall be used for
initial and final on/off
Easy power turn on/off
mechanism
High X
EPS-05 Actuator should have
an external switch for
manual override.
Easy process of
testing
Medium X X X
CanSat 2012 PDR: Team 7634 (Garuda) 76 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) EPS Requirements-Lander
ID Requirement Rationale Priority Parent Children VM
A I T D
EPS-06
All electronic
components of lander
will be powered.
Necessary for the
working of CanSat.
High X
EPS-07 Power shall be supplied
by 3.3V and 5V
regulator ICs (LM7833
and LM7805 used)
Components require
3.3V and 5V regulated
power supplies
High X
EPS-08 Voltage should
displayed on LCD
Efficient monitoring of
battery voltage
Low X X
EPS-09 External switch and
LED shall be used for
initial and final on/off
Easy power turn on/off
mechanism
High X
CanSat 2012 PDR: Team 7634 (Garuda) 77 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) EPS Requirements-Lander
ID Requirement Rationale Priority Parent Children VM
A I T D
EPS-15 Power to extra
hardware to
measure battery
voltage
Voltage level to
be transmitted
and so its
hardware needs
power.
High
EPS-16 External switch to
turn lander on/off
Easy mechanism
for turning lander
on/off
High
EPS-17 LED Display on/off
power of lander
High
EPS-18 Power to
accelerometer
Need to measure
external force
with the same
High
CanSat 2012 PDR: Team 7634 (Garuda) 78 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) Carrier Electrical Block Diagram
CanSat 2012 PDR: Team 7634 (Garuda)
Arduino (9V)
GPS(5V)
P&T Sensor(3.3V)
Actuator(3.3V)
SD card(3.3V)
Buzzer(9V)
LCD(5V)
Voltage Measurement Hardware(9V)
Radio Transceiver(3.3V
Power Source
3.3V regulator
5V regulator
9V supply
79 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) Lander Electrical Block Diagram
CanSat 2012 PDR: Team 7634 (Garuda)
Arduino (9V)
GPS(5V)
P&T Sensor(3.3V)
Accelerometer(3.3V)
SD card(3.3V)
Buzzer(9V)
LCD(5V)
Voltage Measurement Hardware(9V)
Radio Transceiver(3.3V
Power Source
3.3V regulator
5V regulato
r
9V supply
80 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) Power Budget - Carrier
CanSat 2012 PDR: Team 7634 (Garuda)
S.
No. Component Voltage
(V)
Current
drawn
(mA)
Power
(mW)
Duty
Cycle/
Time of
operation
Uncert
ainty
(%)
Capacity
required
(mAh)*
Total
Power
Consumed
(mW)*
Source
1 Arduino (Board only) 9 0.02 18 100% 20 0.03 22 Meas
2 P&T Sensor 3.3 0.1 0.33 100% 10 0.15 0.4 DS
3 GPS Module 3.3 45 200 100% 10 50.0 160 DS
4 Transceiver Module 3.3 65 330 10% 10 7.50 33 DS
5 Actuator 3.3 30 99 1% 15 0.40 2 Est
6 Buzzer 9 15 135 3hrs 20 20.0 165 Est
7 SD card 3.3 50 165 5% 10 3.0 10 Est
8 Extra h/w (regulator ICs
+ voltage measurement
h/w)**
9 0.1 0.9 100% 20 0.2 1 Meas
9 LCD 5 40 200 5% 10% 0.4 10 DS
Total 81.28 403.4
* All values are assumed to be on higher side. ** Peak values attained.
81 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) Power Budget - Lander
CanSat 2012 PDR: Team 7634 (Garuda)
S.
No. Component Voltage
(V)
Current
drawn
(mA)
Power
(mW)
Duty
Cycle/
Time of
operation
Uncert
ainty
(%)
Capacity
required
(mAh)*
Total
Power
Consumed
(mW)*
Source
1 Arduino (Board only) 9 0.02 18 100% 20 0.03 22 Meas
2 P&T Sensor 3.3 0.1 0.33 100% 10 0.15 0.4 DS
3 GPS Module 3.3 45 200 100% 10 50.0 160 DS
4 Transceiver Module 3.3 65 330 10% 10 7.50 33 DS
5 Accelerometer 3.3 0.4 1.32 5% 10 0.02 0.1 DS
6 Buzzer 9 15 135 3hrs 20 20.0 165 Est
7 SD card 3.3 50 165 5% 10 3.0 10 Est
8 Extra h/w (regulator ICs
+ voltage measurement
h/w)**
9 0.1 0.9 100% 20 0.2 1 Meas
9 LCD 5 40 200 5% 10% 0.4 10 DS
Total 80.9 401.5
* All values are assumed to be on higher side. ** Peak values attained.
82 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
External Power Control Mechanism
• Separate on off switch both for carrier and lander
• 2 level Power monitoring system:
– LED shows whether 9V battery is switched on/off
– LCD screen displays the battery voltage level, thus displaying
whether microcontroller is working properly or not.
• All components put to sleep mode during 1hour prelaunch time
and in the post flight period with the use of radio communication
with CanSat. This prevents faster battery drain.
83 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want) Power Source Trade and Selection
CanSat 2012 PDR: Team 7634 (Garuda)
S.
No.
Battery Name Battery
Type
Weight
(gm.)
Typical
Voltage
(V)
Capacity
(mAh)
Energy
(Wh)
Cost
(USD)
Decision
1 Duracell ultra Alkaline 45 8.4 550 4.5 2.40 S
2 GP20R8H NiMH 42.5 7.9 210 1.8 2.96 NS
3 Li-9V500 Li-ion 48 8.2 500 4.5 3.88 NS
4 Energizer EN22 Alkaline 45.6 8.4 500 4.4 3.05 NS
• Finally selected battery: Duracell Ultra.
• Power available is 550mAh and 4.5Wh.
• Power consumed (3hrs of working) is 250mAh and 0.5Wh
• Available margin assuming 3 hours of working: 300mAh (55%)
• Minimum time of operation assuming full operation of all components :
5hour.
• Selection criteria:
• Reliability
• Cost
• Easy availability
• Service hours provided
84 Presenter: Sarthak Kalani
Team Logo
Here
(If You Want)
Battery Voltage Measurement
Trade And Selection
CanSat 2012 PDR: Team 7634 (Garuda)
Additional hardware is comprised of voltage follower by inverting amplifier (used
for attenuator here)
Voltage follower helps in isolation of output and input. Inverting amplifier corrects
sign and provides given output as . Taking Rf as 10kΩ, Ri as 20kΩ,we get Vmax
up to 5V.
ADC output multiplied by 2 gives exact Voltage value.
This is better than potential divider because
• Consumes almost no current.
• Has much better stabilization characteristics
i
f
R
R
85 Presenter: Sarthak Kalani
Team Logo
Here
CanSat 2012 PDR: Team 7634 (Garuda)
Flight Software Design
Presenter: Sudeepto Majumdar
86
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
FSW Overview
• Programming Language : .NET/JAVA
• Developing Environment : Arduino IDE (processing language)
• Flight software is responsible for ensuring that:
–Carrier releases the Lander at the right time.
–Lander is aware when its released.
–All sensors and GPS data are read and the data packet for RF
Transmission is prepared.
–All read data and detailed flight log are stored on SD-Card.
–Communication with ground station is maintained.
–Speed of descent is controlled.
Presenter: Sudeepto Majumdar 87
Team Logo
Here
(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
FSW Requirements
ID Requirement Rationale Priority Parent(s) Child(ren) VM
A I T D
FSW-01 FSW shall initialize
the sleep mode
To save
power
MEDIUM X X
FSW-02 FSW shall start
telecommunication
To avoid
transmission
of data while
not in flight
mode
HIGH X X X
FSW-03 FSW will be
responsible for
opening of
parachute at 200m
Base Mission
Requirement
HIGH SYS-05 X X X X
FSW-04 FSW shall be
responsible for
releasing the
lander at 91m
Mission
Requirement
HIGH SYS-06 X X X X
FSW-05 FSW shall collect
data from sensors
and then store and
telemeter to the
ground
Base Mission
Requirement
HIGH SYS-07 X X X
88 Presenter: Sudeepto Majumdar
Team Logo
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(If You Want) FSW Requirements
CanSat 2012 PDR: Team 7634 (Garuda)
ID Requirement Rationale Priority Parent(s) Child(ren) VM
A I T D
FSW-06 FSW shall activate
impact sensor after
the lander is
released
To avoid
sensor
operations
when not
required
MEDIUM X X X
FSW-07 FSW shall stop
telemetry of data
after CanSat has
landed
To avoid
transmission
when not
required
MEDIUM X X
89 Presenter: Sudeepto Majumdar
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(If You Want) Carrier CanSat FSW Overview
CanSat 2012 PDR: Team 7634 (Garuda) 90 Presenter: Sudeepto Majumdar
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Lander CanSat FSW Overview
Presenter: Sudeepto Majumdar 91
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
Software Development Plan
• The GCS software is ready for use.
• Development team: Kshiteej Mahajan, Rishi Dua
• Testing: Initially testing done by taking Data manually
generated from CSV file so as not to wait for Electrical
Team. Later on, the input can be changed to serial input.
• The FSW remains to be developed
• Since the components are finalized and procurement is
in process, Flight software design will be ready soon.
• We need Arduino for lander and carrier, coding for which
can be easily done in Arduino IDE.
92 Presenter: Sudeepto Majumdar
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(If You Want)
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CanSat 2012 PDR: Team 7634 (Garuda)
Ground Control System Design
Presenters: Kshiteej Mahajan, Rishi Dua
93
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
GCS Overview
Presenter: Rishi Dua
Antenna receives Signal
from Carrier
Microcontroller provides serial
input to the computer
Computer processes, stores and
displays the data
94
Team Logo
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CanSat 2012 PDR: Team 7634 (Garuda)
GCS Requirements
ID Requirement Rationale Priority Parents Children VM
A I T D
GCS-01 Antenna shall point
upwards and be at
least 1m above the
ground
To prevent
interference
High X
GCS-02 Data will be
processed and
stored
To meet base
mission
requirements
High SYS-07 X X
GCS-03 Recovery of CanSat To avoid loss of
carrier, lander and
egg
Medium SYS-02 X X
GCS-04 Mission operations:
Includes the
detection of various
phases by the GCS
To ensure base
mission
requirements are
met
Medium X X X
GCS-05 Real-time online
uploading of data on
a remote server
For Remote Access Medium X X
95 Presenter: Rishi Dua
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CanSat 2012 PDR: Team 7634 (Garuda)
GCS Requirements
ID Requirement Rationale Priority Parents Children VM
A I T D
GCS-06 Software made
using JAVA and
PHP
Cross platform
support and faster
High X
GCS-07 Power Backup for 4
hours
Should not fail in
case of power
outage
Low X
96 Presenter: Rishi Dua
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(If You Want)
CanSat 2012 PDR: Team 7634 (Garuda)
GCS Antenna Trade & Selection
• The antenna to be used is A24HASM-450 – ½ wave
dipole antenna.
• The coverage of the antenna module is about the range
of 2 km.
• This antenna has omni-directional pattern when places
in vertical direction.
• The antenna should be able to cover a drift of up to
1km, so we have a margin of 500m from our design.
• The antenna will be facing at an angle to the launch site
to increase coverage.
Presenter: Rishi Dua 97
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(If You Want) GCS Antenna Trade and Selection
>3.5 m
Via UART through
FTDI connected to
Xbee.
Via level
shifter At an
angle to
the launch
site, to be
decided
based on
testing and
further
reading.
CanSat 2012 PDR: Team 7634 (Garuda) 98 Presenter: Rishi Dua
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(If You Want) GCS Software
• Data taken currently from CSV file (which is updated every 2
seconds), later on plan to use serial input.
• Data plotted and also uploaded simultaneously on the
internet so that it can be remotely accessed.
• Data plotted using Java library (Live-Graph).
• Data can be exported into Excel file, XML, SQL and the
Graph can be exported into JPEG image.
• Since it is based on JAVA, PHP and SQL, it will be faster
and more reliable than third party tools like Matlab.
Moreover, all tools used are open source.
• GPS data to be embedded in Google Maps, to possibly help
recover location of the CanSat.
CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Kshiteej Mahajan 99
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(If You Want) GCS Software Description
CanSat 2012 PDR: Team 7634 (Garuda)
Data file
Settings
Graph
Settings
Graph
Data Series
Settings
Presenter: Kshiteej Mahajan 100
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CanSat Integration and Test
Presenter: Akash Verma
CanSat 2012 PDR: Team 7634 (Garuda) 101
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(If You Want)
CanSat Integration and Test
Overview
• With a project with large number of subsystems it becomes important to
coordinate the multi disciplinary subsystems effectively keeping in mind
that:
– No team member is unutilized in wait of inputs from other subsystem
– Each subsystem is working in the correct direction ensuring smooth
integration in the fist go with minimum iterations.
Hence in initial phase of execution, each subsystem is worked upon in
parallel and merged on step-by-step catering to the needs and
objectives as and when required.
Tests would be performed for each subsystem in isolation and in
integration with other systems in phased manner as explained in
following slides.
Presenter: Akash Verma CanSat 2012 PDR: Team 7634 (Garuda) 102
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(If You Want) CanSat Integration
Phase One: Procurement and isolated Testing
• In this phase all the components already decided will be procured like
sensors, Xbee module, microcontrollers, parachutes, etc.
• Based on the size inputs of various components, structural design will
be finalized with any modifications if necessary. Fabrication of structure
to be completed henceforth.
• Each subsystem would be tested in isolation:
– Data transfer through Xbee module
– Operational testing of sensors
– Testing parachutes for descent rates
– Testing for structural integrity of body for impact forces
– Verification of power specification for various components for any
deviations.
– Testing of flight software with dummy data
CanSat 2012 PDR: Team 7634 (Garuda) 103 Presenter: Akash Verma
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(If You Want) CanSat Integration
• Phase two: Subsystem Integration
– Ensuring proper deployment of descent control
mechanism and detachment of lander.
– Integrating sensors and Flight software with the CDH
– Physical integration of the electronics system into the
mechanical structure
• Phase three: Final Integration
– Final integration of the systems and testing of whole
system as a unit in a scenario as close to mission
scenario as possible.
CanSat 2012 PDR: Team 7634 (Garuda) 104 Presenter: Akash Verma
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(If You Want) Tests Performed
Mechanical testing of egg protection system:
• The egg protection system was system was tested by dropping under free fall from various
heights to choose the cushion material.
• In all tests, the hip protector is placed in the bottom.
• From these tests, the foam ball + bubble wrap with egg in vertical orientation was finalized.
Trial Material Drop
height(ft)
Impact
velocity
(m/s)
Orientation Result
1. Bubble wrap 4 4.9 horizontal Fail
Bubble wrap 4 4.9 vertical Fail
Cotton 4 4.9 horizontal Fail
Cotton 4 4.9 vertical Pass
Cotton 10 7.7 vertical Fail
Foam ball + bubble wrap 10 7.7 vertical Pass
Foam ball +bubble wrap 20 11 vertical Pass
Foam ball +bubble wrap 40 15 vertical Fail
CanSat 2012 PDR: Team 7634 (Garuda) 105 Presenter: Akash Verma
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(If You Want) Tests to be performed
• Sensors testing
• Communication testing
• Detachment of lander testing
• Deployment of descent control system
• Final Integrated testing of unit
CanSat 2012 PDR: Team 7634 (Garuda) 106 Presenter: Akash Verma
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Mission Operations & Analysis
Presenter: Arpit Goyal
CanSat 2012 PDR: Team 7634 (Garuda) 107
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(If You Want)
Overview of Mission Sequence of
Events
CanSat 2012 PDR: Team 7634 (Garuda)
• Briefing
• Last Mechanical control
• Last Electrical control
• Coming at Competition Arena
Pre Flight
• Pre-Flight operation
• Launch Flight
• Deploy CanSat at 600m
• Opening parachute
• Controlling descent rate to 10m/s +- 1m/s up to 200m
• Data collection and transmission
• Reducing descent rate to 5m/s at 200m
• Detaching Lander at 91m
• Landing and Locating CanSat
Launch and Flight
• Saving Data
• Analyzing Data
• Preparing PFR
• PFR Presentation
Post Flight
108 Presenter: Arpit Goyal
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Mission Operations Manual
Development Plan
• Mission Operation consist of 4 steps:
– CanSat Integration
– Launch Preparation
– Launch Operation
– Removal Operation
CanSat 2012 PDR: Team 7634 (Garuda) 109 Presenter: Arpit Goyal
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(If You Want) CanSat Integration
• The CanSat system is basically divided into three parts:
– The Lander
– The Carrier
– Electrical and Electronic System
• The integrated parts are to be assembled to make
CanSat.
• The Electrical System is first integrated with Lander and
Carrier
• The Carrier and Lander will be integrated and CanSat is
ready for Launch.
CanSat 2012 PDR: Team 7634 (Garuda) 110 Presenter: Arpit Goyal
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(If You Want) Launch Preparation
• Take rocket to flight line and get launch pad assignment
• Walk out with the pad manager and have rocket
installed on rail.
• Pad manager installs igniter.
• Pad manager verifies igniter continuity if launcher has
continuity tester.
• Team’s picture next to Rocket
• Team goes back to flight line and assigned crew
position
CanSat 2012 PDR: Team 7634 (Garuda) 111 Presenter: Arpit Goyal
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(If You Want) Launch Procedure
• Request a GO/NO GO from GS
• Verify recovery crew is in place and ready
• Verify launch control officer is ready
• Verify flight coordinator is ready.
• Command ground station crew to activate the CanSat
telemetry.
• Verify with ground station crew that telemetry is being
received.
• Request GO/NO GO from ground station crew, recovery
crew and flight coordinator.
• Command launch control officer to proceed countdown and
launch.
CanSat 2012 PDR: Team 7634 (Garuda) 112 Presenter: Arpit Goyal
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(If You Want) Removal Procedure
• Command ground station crew to disable telemetry from
CanSat.
• Team wait until all other launches are completed.
• Command launch control officer to disarm the launch pads.
• Launch control officer removes the arming key to the launch
controller.
• Pads are declared safe.
• Team can go with the pad manager and removed the
CanSat.
CanSat 2012 PDR: Team 7634 (Garuda) 113 Presenter: Arpit Goyal
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(If You Want) CanSat Location and Recovery
• The CanSat is integrated with GPS sensor and buzzer.
• The GPS latitude will give data of co-ordinates with 1.5m
uncertainty, this will give tentative position of CanSat
• The buzzer will start beeping as soon as it will touch the
ground
• The buzzer beep will eventually help in locating and
Recovering CanSat.
• Also the physical appearance of parachute will help in
detecting it
CanSat 2012 PDR: Team 7634 (Garuda) 114 Presenter: Arpit Goyal
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Management
Presenter: Rishi Dua
CanSat 2012 PDR: Team 7634 (Garuda) 115
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(If You Want) CanSat Budget – Hardware
S.No. Component Quantity Rate (USD) Cost (USD)
1 Arduino Board Uno 2 27.6 55.2
2 Pressure Sensor Bosch 2 20.0 40.0
3 GPS sensor 2 40.0 80.0
4 Accelerometer 1 12.0 12.0
5 Xbee Radios 2 pairs 50.6 101.2
6 Battery Duracell 10
(2 to be used, 8 spare)
2.4 24.0
7 Audio Buzzer 2 1.5 3.0
8 Antenna A24HSM450 2 6.0 12.0
9 Parachutes 3 25.0 75.0
10 Material for structure and
fabrication
N.A 50.0 50.0
11 Linear actuator 1 5.0 5.0
TOTAL 457.4
CanSat 2012 PDR: Team 7634 (Garuda) 116 Presenter: Rishi Dua
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Components Cost (USD)
Laptop for GCS None
Travel 12000
Rental 2000
Test facilities 100
Total 14100
CanSat 2012 PDR: Team 7634 (Garuda)
CanSat Budget – Other Costs
Any external financial help is not received yet. But plans have been made to avail external sponsorship. Next slide will show some of the strategies.
117 Presenter: Rishi Dua
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(If You Want) Sponsorship Plans
• Website made: www.teamgaruda.in
• Sponsorship brochure ready for distribution.
• Online publicity Partner: Teknovates
• Currently in talk with companies for title sponsor and co-title
sponsor.
• Publicity of Project through social marketing: Facebook and
Twitter.
CanSat 2012 PDR: Team 7634 (Garuda) Presenter: Rishi Dua
Team Logo
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(If You Want) Program Schedule
CanSat 2012 PDR: Team 7634 (Garuda) 119
NOV
20-30 DEC
1-31 JAN
1-15 JAN
16-31 FEB
1-15 FEB
16-29 MAR
1-15 MAR
16-31 APR
1-15 APR
16-30 MAY
1-31 JUN
1-10
ELECTRICAL SYSTEMS
IDENTIFYING SYSTEM REQUIREMENTS
SELECTION OF COMPONENTS
REQUIRED
PROCUREMENT OF COMPONENTS AND
TESTING
IMPLEMENTATION OF ELECTRICAL
SYSTEM DESIGN
OVERALL TESTING OF ELECTRICAL
SYSTEM
Presenter: Rishi Dua
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(If You Want) Program Schedule
CanSat 2012 PDR: Team 7634 (Garuda) 120
NOV
20-30
DEC
1-31
JAN
1-15
JAN
15-31
FEB
1-15
FEB
16-29
MAR
1-15
MAR
16-31
APR
1-15
APR
16-30
MAY
1-31
JUN
1-10
MECHANICAL DESIGN
IDENTIFYING DESIGN REQUIREMENTS
DESIGN OF DESCENT CONTROL
SYSTEM
CAD MODELLING
TESTING THROUGH SIMULATIONS
SELECTION OF MATERIALS
PROCUREMENT OF MATERIALS
IMPLEMENTATION OF MECHANICAL
DESIGN
TESTING OF MECHANICAL DESIGN
Presenter: Rishi Dua
Team Logo
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(If You Want) Program Schedule
CanSat 2012 PDR: Team 7634 (Garuda) 121
NOV
20-30
DEC
1-31
JAN
1-15
JAN
15-31
FEB
1-15
FEB
16-29
MAR
1-15
MAR
16-31
APR
1-15
APR
16-30
MAY
1-31
JUN
1-10
SOFTWARE CONTROLS
IDENTIFYING SOFTWARE REQUIREMENTS
DECISION ON SOFTWARE PLATFORM FOR
GCS
ALGORITHM DESIGN FOR FSW
IMPLEMENTATION AND TESTING OF GCS
SOFTWARE
IMPLEMENTATION OF FSW
FSW SYNC WITH ELECTRICAL SYSTEM
COMPLETE SYSTEM TESTING
Presenter: Rishi Dua
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(If You Want) Conclusions
• Major accomplishments
1. The ground station software is ready
2. Website (http://www.teamgaruda.in) ready for sponsors
3. Subsystems are designed including material selection
4. Cost and income are balanced
• Major unfinished work
1. We will produce CanSat prototype for testing
2. Looking for title sponsor
We have been successful in all the duties until now.
We will go on according to schedule until competition.
CanSat 2012 PDR: Team 7634 (Garuda) 122 Presenter: Rishi Dua
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