AGH University of Science and Technology PFR

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CanSat 2016 CDR: Team 8008 AGH Skydivers 1

CanSat 2016

Post Flight Review (PFR)Version 1.0

Team 8008

AGH Skydivers

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Presentation Outline

Presenter: Weronika Mrozińska CanSat 2016 CDR: Team 8008 AGH Skydivers

Page no. Contents Presenter

3 Introduction Weronika Mrozińska

5 Systems Overview Weronika Mrozińska

18 Concept of Operations and Sequence of Events Weronika Mrozińska

23 Flight data analysis Jakub Rachucki

39 Failure alalysis Jakub Rachucki

44 Lessons Learned Jakub Rachucki

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3

Team Organization


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Team Organization


From left: Bartosz Moczała (Ground Station Crew), Jakub Rachucki (Ground Station Crew),

Weronika Mrozińska (Mission Control Officer), Zbigniew Kostka (Recovery Crew), Tomasz Strzałka (Recovery Crew).

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5

Systems Overview

Weronika Mrozińska

CanSat 2016 CDR: Team 8008 AGH Skydivers

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(If You Want) Mission Summary

6Presenter: Weronika Mrozińska

Mission Objectives

Safely release the glider (SV) from the re – entry Container

Descent gliding in circular pattern of no more than 1000m in diameter and as closely to the 3.3m/s rate as possible

Collect telemetry data during flight and transmit them to the Ground Station in real time

Take pictures while requested

Land and process to the recovery mode

Bonus Objectives

Transmit image to ground station after each picture is taken.

Telemetry must still be sent during image transmission at the

1 Hz rate using the same XBee radio.

Rationale: comparing to the second possible bonus

objective, this selectable objective does not require any

additional mechanical components, therefore it does not

increase the mass of the CanSat, which is limited.

External Objectives

Our personal objective is to measure acceleration, rotational speed and magnetic field to simulate trajectory and orientation of

the glider.


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(If You Want) CanSat overview - container

7Presenter: Weronika Mrozińska CanSat 2016 CDR: Team 8008 AGH Skydivers

Container – made of GFRP ( Glass Fiber ReinforcedPolymer with Balsa wood)

Parachute.

Dummy mass.

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(If You Want) CanSat overview - payload


Camera coverPitot tube module cover On-board computer cover

Buzzer Antenna

Carbon telescopic rods3d printed plane of attack

Carbon CanSat ribbing.

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(If You Want) CanSat overview - payload


Slider

Rubber band

Camera Module3d printed structure parts

Nylon kite

Pitot tube

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Components Summary & CanSat

Overall Cost – Hardware

Presenter: Weronika Mrozińska

Part Description Quantity Price[$] Total[$]

Sensors Subsystem

ORG1218 GPS receiver 1 35.07 35.07

BMP180 Pressure sensor 1 4.95 4.95

Eagle Tree Airspeed Micro SensorPitot tube+ pitot tube

sensor1 42.99 42.99

DS18B20 Temperature Sensor 1 3.09 3.09

LIS331 Accelerometer 1 5.65 5.65

HMC5883LSMD Magnetometer 1 5.98 5.98

LSM9DS0 IMU 1 7.89 7.89

TEPT4400 Light Sensor 3 0.58 1.74

uCamII Camera module 1 49.00 49.00


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Structure

PLA 3D printing material 80g 0,035[$/g] 2.8

Carbon rods Rotation shafts. 0.9m 1,97[$/m] 1.77

CanSAT container SV is stored in container 1 20 20

Weights Container load N/A 2 2

Carbon tubes Kite holder 1.2m 4,7[$/m] 5.64

Ripstop Nylon Kite Material 0,126m2 25,91 [$/m2] 3.26

Rubber Wings opening mechanism 1 packet 1 1

Parachute Container recovery system 1 14,53 14.53

Swivel Container recovery system 1 3 3

Other PartsScrews for mounting

components, kite strings etc.N/A 10 10


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CDH subsystem

ATXMEGA256A3BU CPU 1 8.47 8.47

Swissbit SFSD2048NgBW1MT-t-ME-1x1-STD

MicroSD card for industry 1 32.7 32.7

XBee Pro 50mW U.FL - Series 2B Radio module 1 38.77 38.77

2.4GHz Antenna Radio antenna 1 4.95 4.95

Buzzers Payload recovery - indicator 2 1 2

Other Parts Resistors, capacitors etc. 1 5 5

Electrical Power Subsystem

TrustFire Rechargeable Li-Ion 10440 AAA 3.7V 600mAh Battery

Main power source 1 8 8

FC0V474ZFTBR24 SUPERcapacitor

Backup source of power 1 2.72 2.72

317EMP Voltage regulator 1 0.48 0.48

LTC4065 Battery charger 1 1.31 1.31

Other Parts Resistors, capacitors etc. 1 5 5

Total cost of hardware $298.37


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CanSat Overall Cost – Hardware


Budget summary

CanSat $298.37

Shipping $50.00

SUM: $348.37

Exchange rates used

£1,0000 $1.4200

€ 1,0000 $1.0800

CHF 1,0000 $0.9800

PLN 1,00 $0.2400


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CanSat Overall Cost – Other Costs



Ground Control System

XBee Pro 63mW RPSMA - Series 2B Radio module 1 42,55 42,55

Panel antenna IP-G14-F2425-HV Antenna for radio module 1 24,5 24,5

RP-SMA male to N male antenna cable.

Radio module 1,5 m 6 6

USB XBee Adapter Radio adapter 1 24,95 24,95

Testing & prototyping

PrototypingPrinting of components, making prototypes, etc.

N/A 300 300

TestingRenovating of old rocket, conducting rocket tests

N/A 3000 3000

Spare partsReplacing malfunctioning

partsN/A 200 200


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CanSat Overall Cost – Other Costs



Competition

Competition Fee N/A 1 100 100

Flights N/A 5 1029,08 5145.4

Meals N/A 72 12 864

Accommodation N/A 5 125 625

Renting a car N/A 1 520 520

Total $9284

Budget summary

Income (external sponsors)

+$11100

Own funds +$500

CanSat Budget – Hardware -$348.37

CanSat Budget – Other Costs

-$ 10852.40

Balance +$399.33


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(If You Want) Componets Summary

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Electronics Mechanics GS

GPS receiver Main power source 3D printed Parts Radio module

Pressure sensor Backup source of power Rotation shafts.Antenna for

radio module

Pitot tube+ pitot tube sensor Voltage regulator Container Radio module

Temperature Sensor Battery charger Container load Radio adapter

Accelerometer Resistors, capacitors etc. CanSat Carbon ribbing

Magnetometer Radio antenna Kite Material

IMU Buzzer Wings opening mechanism

Light Sensor Container recovery system

Camera module Rubber bands

CPU Environmental protection elements

MicroSD card Nylon strings

Radio module Screws

Telecopic carbon tubes

Neodymium magnets


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(If You Want) Physical layout


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18

Concept of Operations and Sequence

of Events

Weronika Mrozińska


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(If You Want) Comparison of planned and actual Con-Ops


Activitiy Execution

Launch Pass

Deploy CanSat from the rocket Pass

Collecting and sending data Pass

Open Parachute Pass

Separation Pass

Separate SV from the container Failed

Acquire picture Pass

Landing Pass/Failed

Data post-processing in GS Pass

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(If You Want) Release Logic


Ligth sensors detect deployment from rocket

Altitude less then 450m

Nichrome wire for cutting string switched on for 14s

Redundancy:Possible to release the glider from container by using remote command

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(If You Want) Comparison of planned and actual SOE


Stage Responsibilities Assigned person

Ca

nS

at

Pre

pa

rati

on

an

d

as

se

mb

ly

Arrive at launch site.

Whole Team

Preparation of the CanSat for turning in.

Checklist

• Communication test

• Structure check.

• Check battery level and on-board computer state.

• Check recovery system (unfolding of the kite)

CanSat assembly.

Final Check (checklist once again)

Turn in CanSat at the check-in table by noon.

Pre

flig

ht

Collect CanSat CanSat Crew

Load CanSat to rocket CanSat Crew

Verify the communication Ground station Crew

Take a rocket and the ground station to the launch pad GS Crew + CanSat Crew

Setting up the ground station GS Crew

Executing of launch procedures Mission control officer

Ground station Crew performing all required flight operation. (sending remote

commands etcGS crew

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(If You Want) Comparison of planned and actual SOE


Stage Responsibilities Assigned person

Mis

sio

n

CanSat is launched

Mission control officer

CanSat deployment from the rocket.

Container parachute flight

Separation at 400m +/- 10m

Deplyment from container

Glider flight

Touchdown

• Buzzer on

• Telemetry off.

Ground station Crew performing all required flight operation. (sending

remote commands etc.GS crew

Re

co

ve

ry

After all CanSat launched recovery crew head out for CanSat recovery. Recovery Crew

Clearing out the ground station to make it available for the rest of the tames. GS Crew

Turning in the thumb drive with saved telemetry in CSV format. GSCrew

Recovery crew comeback with the CanSat for PFR analysis. Recovery Crew

An

aly

sis

Collecting data obtain from sensors.

Whole TeamIn case of telemetry fail recover data from the on-board computer.

Analysis of obtained data.

Mission assessment and preparation for the presentation.

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23

Flight Data Analysis

Jakub Rachucki


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(If You Want) Payload Separation Altitude

24Presenter: Jakub Rachucki CanSat 2016 CDR: Team 8008 AGH Skydivers

407,6m

There is signal lag in

the GPS signal-

which is normal for

high velocities.

Altitude which is

coming form

pressure sensor is

relative to the

ground.

GPS altitude is

relative to sea level.

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407,6m

There was no

deplyment due to the

structure faliure.

Separation module

started working when

altitude dropped below

450m

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After separation, SV was stuck in the container. Nevertheless separation was conducted.

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Separation was conducted on altitude 407,6 m.

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(If You Want) CanSat Altitude


Altitude based on GPS data, ploted on the map.

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(If You Want) Descent Rate Before Separation


Descent rate before separation was equal to the one calculated and tested – approx. 8m/s

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(If You Want) Payload descent rate below separation


Time elapsed from the moment of separation until touchdown was approx. 50sThe calculated and tested descent time was 125 +/- 15s

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(If You Want) Images


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(If You Want) Images


Part of the field was localized using „googlemaps”.

Photo confirms that there was no deployment. Part of the container can be seen in the picture.

Picture shows part of the field.

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Payload Telemetry – SV Pressure

Sensor Data


Not even single frame was lost during mission

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Payload Telemetry – SV Temperature

Data


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Payload Telemetry – SV Battery

Voltage Data


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(If You Want) Selectable Objective Data


Acquiring photo via Xbee

Photo shows part of the field.

The same Xbee was used to send telemetry data and picture.

Picture transmission didn’t disturb telemetry

Picture transmission was 17 s long.

Photo command was send when CanSat was on the 218m. Due to very late time of the photo command a part of the photo was not received, CanSat was stillsending photo after touchdown.

Full Xbee frequency transmission possibilities were used in order to send this photo

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(If You Want) Personal Objective


Measure acceleration, rotational speed and magnetic field to simulate trajectory and orientation of the glider

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(If You Want) Personal Objective


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39

Failure Analysis

Jakub Rachucki


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Identification of failures, root causes,

and corrective actions


Failures:

Gliders stuck in the container

Root causes

Spare container was used as we forgot dedicated one

Glider stuck due to the fact that the foil got sticky under high temperature

Investigation:

Altitude and velocity plot shows movement

String was cut

Voltage plot shows drop of the voltage value after crossing 450 meters, which was defined altitude for separation.

Reason of the failure visible after recovery

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Altitude plot shows drop of altitude after separation time

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Vertical velocity plot show „velocity value pick” during separation which indicates glider movement

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Corrective actions:

Use dedicated container

Perform whole mission once again in Poland using„Beta” Rocket, made by AGH Space Systems

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44

Lessons Learned

Jakub Rachucki


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Discussion of what worked and

what didn't


ID Requirement

1 Total mass of the CanSat (container and payload) shall be 500 grams +/- 10 grams.

2 The glider shall be completely contained in the container. No part of the glider may extend beyond the container.

3Container shall fit in a cylindrical envelope of 125 mm diameter x 310 mm length including the container passive descent control system.

Tolerances are to be included to facilitate container deployment from the rocket fairing.

4The container shall use a passive descent control system. It cannot free fall. A parachute is allowed and highly recommended. Include a spill

hole to reduce swaying.

5 The container shall not have any sharp edges to cause it to get stuck in the rocket payload section.

6 The container shall be a florescent color, pink or orange.

7 The rocket airframe shall not be used to restrain any deployable parts of the CanSat.

8 The rocket airframe shall not be used as part of the CanSat operations.

9 The CanSat (container and glider) shall deploy from the rocket payload section.

10 The glider must be released from the container at 400 meters +/- 10 m.

11The glider shall not be remotely steered or autonomously steered. It must be fixed to glide in a preset circular pattern of no greater than

1000 meter diameter. No active control surfaces are allowed.

12 All descent control device attachment components shall survive 30 Gs of shock.

13 All descent control devices shall survive 30 Gs of shock.

CanSat 2016 PDR: Team 8008 AGH Skydivers

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what didn't


ID Requirement

14 All electronic components shall be enclosed and shielded from the environment with the exception of sensors.

15 All structures shall be built to survive 15 Gs acceleration.

16 All structures shall be built to survive 30 Gs of shock.

17 All electronics shall be hard mounted using proper mounts such as standoffs, screws, or high performance adhesives.

18 All mechanisms shall be capable of maintaining their configuration or states under all forces.

19 Mechanisms shall not use pyrotechnics or chemicals.

20Mechanisms that use heat (e.g., nichrome wire) shall not be exposed to the outside environment to reduce potential risk of setting vegetation

on fire.

21 During descent, the glider shall collect air pressure, outside air temperature, and battery voltage once per second.

22 During descent, the glider shall transmit all telemetry at a 1 Hz rate.

23Telemetry shall include mission time with one second or better resolution, which begins when the glider is powered on. Mission time shall be

maintained in the event of a processor reset during the launch and mission.

24 XBEE radios shall be used for telemetry. 2.4 GHz Series 1 and 2 radios are allowed. 900 MHz XBEE Pro radios are also allowed.

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

26 XBEE radios shall not use broadcast mode.


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what didn't


ID Requirement

27 The glider shall have an imaging camera installed and pointing toward the ground.

28 The resolution of the camera shall be a minimum of 640x480 pixels in color.

29 Cost of the CanSat shall be under $1000. Ground support and analysis tools are not included in the cost.

30 Each team shall develop their own ground station.

31 All telemetry shall be displayed in real time during descent.

32 All telemetry shall be displayed in engineering units (meters, meters/sec, Celsius, etc.)

33 Teams shall plot data in real time during flight.

34 The ground station shall include one laptop computer with a minimum of two hours of battery operation, xbee radio and a hand held antenna.

35The 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.

36 Both the container and glider shall be labeled with team contact information including email address.

37The 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.

38 No lasers allowed.

39The glider must include an easily accessible power switch which does not require removal from the container for access. Access hole or

panel in the container is allowed.


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what didn't


ID Requirement

40 The glider must include a battery that is well secured to power the glider.

41 Lithium polymer cells are not allowed due to being a fire hazard.

42 Alkaline, Ni-MH, lithium ion built with a metal case, and Ni-Cad cells are allowed. Other types must be approved before use.

43 The glider shall receive a command to capture an image of the ground and store the image on board for later retrieval.

44 The telemetry shall indicate the time the last imaging command was received and the number of commands received.

45The glider vehicle shall incorporate a pitot tube and measure the speed independent of GPS. The speed shall be compared with GPS

speed.

46 The glide duration shall be as close to 2 minutes as possible.

47 The CanSat shall have a payload release override command to force the release of the payload in case the autonomous release fails.

48 A buzzer must be included that turns on after landing to aid in location.

49 Glider shall be a fixed wing glider. No parachutes, no parasails, no autogyro, no propellers.


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Discussion of what worked and what

didn't


Container descent control system worked. Descent was stable and within assumed speed limit

CanSat structure survived touchdown without any damage

System of wings unfolding worked- telescopic carbon rods were extended

Buzzer worked and helped to easily recover the CanSat

Autonomous fly state detection worked. Fly software was able to detect: rocket fly, descent, deployment from the rocket, touchdown, separation and camera state

Sensor worked perfectly

Sending of photo didn’t disturbed telemetry transmission

Photo was sent using same Xbee as for telemetry

Separation mechanism worked - string was cut on altitude of 407,6m

GS application worked perfectly. Data was plotted in real time and fly software states were displayed on the front panel

Telemetry worked flawlessly, not even single package was lost

Antenna gun-like holder help to maintain successful communication

Professional short coaxial antenna cable ensure small power loss during communication

None of the environmental protection elements was damaged

SV release from the container

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(If You Want) Conclusions


All of the subsystems and mechanisms worked

Dedicated container should be used

The CanSat is able to be launched agained

Thank you for the great competition!

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