cansat 2018 critical design review (cdr) outline version...
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CanSat 2018 CDR: Team #4404 ( APIS AR-GE ) 1
CanSat 2018
Critical Design Review (CDR)Version 3.0
#4404
APIS AR-GE
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Presentation Outline
Presenter: Kemal Barkin BAS
Systems Overview Kemal Barkin BAS
Sensor Subsystem Design Burak Berkay KAYA
Descent Control Design Ismail OZCAN
Mechanical Subsystem Design Oguzhan CAM
CDH Subsystem Design Altug ERTAN
EPS Design Burak Berkay KAYA
FSW Design Furkan CETIN
GCS Design Cansu YIKILMAZ
CanSat Integration and Test Ozen HALIC
Mission Operations & Analysis Aykut UCTEPE
Requirements Compliance Burcu GOCEN
Management Aykut UCTEPE
Section Presenter
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Team Organization
Presenter: Kemal Barkin BAS CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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Acronyms
A Analysis
BR Base Requirement
CanSat Can-sized Satellite
CDH Communication Design and Handling
CONOPS Concept of Operations
CReq Competition Requirement
D Demonstration
DCS Decent Control System
EPS Electric Power System
FSW Flight Software
G G-force
GCS Ground Control Station
HW Hardware
I Inspection
I2C Inter-Integrated Circuit
I/O Input/Output
ID Identity
IDE Integrated Development Environment
LED Light Emitting Diode
MOSFETMetal-Oxide Semiconductor Field-Effect
Transistor
MS Mechanical Subsystem
PCB Printed Circuit Board
RC Radio Controlled
RP SMA Reverse Polarity SMA
RTC Real Time Clock
SMA SubMiniature Version A
SPI Serial Peripheral Interface
T Testing
UARTUniversal Asynchronous
Receiver/Transmitter
USARTUniversal Synchronous/Asynchronous
Receiver/Transmitter
USB Universal Serial Bus
VM Verification Method
Presenter: Kemal Barkin BAS CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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System Overview
Kemal Barkin BAS
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) Mission Summary
Main ObjectivesA payload which simulates space probe
(CanSat) entering a planetary atmosphere shall
sample atmospheric properties, wind velocity,
heading angle and shall send sample data to
ground station via transmitter module.
6
Just after payload is deployed from rocket,
payload shall open the aero-braking heat shield.
The descent rate shall be kept at 10 to 30
meters/sec till 300 meters.
The payload must maintain a stable orientation
while heat shield is limiting CanSat velocity
during descent. For that, external mechanisms
can be used.
At the 300 meters, heat shield shall be released
from probe and parachute shall be opened. After
that, descent rate shall be kept at 5 m/s.
Egg shall remain intact from forces which will
occur during flight.
Stoppage of data transmission and initiation of
audio beacon after landing.
Recovery of probe and heat shield.
External Objectives
Funding for project’s hardware and logistic
needs.
Funding for flight tickets which covers round
trip from Istanbul, Turkey to Texas, USA.
Promoting APIS R&D with CanSat Competition
and scientific developments achieved. The aim
is to gain reputation in our home university and
in Turkey.
Organizing social activities which includes
BBQ parties, musical activities, studio
recording to improve relationship between
team members.
Bonus Objective
Capturing the release of the heat shield and
the ground during the last 300 meters of
descent with a video camera is attempted
due to higher possibility of success and
weight advantage.
Wind sensor bonus objective is not
attemped due complexity and additional
weight.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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Summary of Changes Since PDR
(1/2)
Mechanical Changes
Component Changes Rationale
Egg protection container
Inner container has removed. One
layer of container will protect the
egg.
Pulling down the center of
gravity by reducing weight at
the top of CanSat.
Heat shield covered materialAluminum foil tape has replaced
with parachute fabric.
Heat shield covered aluminum
foil tape did not stow and
deploy smoothly.
Heat shield deployment
mechanism
A cap is added at the top of the
CanSat to keep heat shield rods
closed.
Old servo mechanism was
complex to hold and release
heat shield. Heat shield
operations will be carried out
with two different way.
CanSat dimensionsCansat is now smaller and
narrower.
To increase efficiency of
mounting and reducing total
weight.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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Component Changes & Rationale
ProcessorDue to stability issues caused by low flash and SRAM memory, we decided to use a
Teensy 3.5 processor.
Voltage
Measurement
New proccessor’s ADC port will be used to measure the battery voltage since old
processor is replaced.
SD Card
ReaderSince new processor has an built-in SD card reader, external reader is removed.
PCB Design is updated for the new processor unit.
FSWCode is modified slightly to work with the new
processor. Also, by optimizing the FSW, power consumption is reduced.
Electronic Changes
Summary of Changes Since PDR
(2/2)
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ID Requirement Rationale Parent Children PriorityVM
A I T D
SY-1
Total mass of the CanSat (probe and
heat shield) shall be 500 grams +/-10
grams.
Creq BR-1 MS-1 Very High ✓
SY-2
The aero-braking heat shield shall be
used to protect the probe while in the
rocket only and when deployed from
the rocket.
To simulate to
prevent heating of
probe and
decrease the
descent rate.
BR-2 MS-6 Very High ✓
SY-3The heat shield must not have any
openings.Creq BR-3 MS-7 Very High ✓ ✓
SY-4The probe must maintain its heat shield
orientation in the direction of descent.Creq BR-4 DCS-4 Very High ✓ ✓
SY-5The probe shall not tumble during any
portion of descent.Creq BR-5 Very High ✓ ✓
SY-6
CanSat shall fit in a cylindrical envelope
of 125 mm diameter x 310 mm length,
including tolerances.
Creq BR-6 MS-2 Very High ✓ ✓
System Requirement Summary (1/4)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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ID Requirement Rationale Parent Children PriorityVM
A I T D
SY-7
The probe shall hold a large hen's egg
and protect it from damage from
launch until landing.
To simulate the
delicate vehicle.BR-7 MS-9 Very High ✓
SY-8The heat shield shall not have any sharp
edges.Creq BR-9 Very High ✓ ✓
SY-9The heat shield shall be a florescent
color, pink or orange.
To distinguish the
CanSat clearly
during descent.
BR-10 MS-5 High ✓
SY-10
The rocket airframe shall not be used to
restrain any deployable parts of the
CanSat.
CreqBR-11
BR-13Very High ✓
SY-11The rocket airframe shall not be used as
part of the CanSat operations.Creq BR-12 Very High ✓ ✓
SY-12
The aero-braking heat shield shall be
released from the probe at 300
meters.
Creq BR-14 MS-10 Very High ✓ ✓ ✓
SY-13The probe shall deploy a parachute at
300 meters.Creq BR-15 MS-11 Very High ✓ ✓ ✓
System Requirement Summary (2/4)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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ID Requirement Rationale Parent Children PriorityVM
A I T D
SY-14
All structures and components shall
survive30 Gs of shock and 15 Gs
acceleration.
To secure the
Cansat
operations.
BR-16
BR-17
BR-19
BR-20
MS-12 Very High ✓ ✓
SY-15
All electronic components shall be
enclosed and shielded from the
environment with the exception of
sensors.
To strengthen
CanSat against
external forces
BR-18 DCS-1 High ✓ ✓
SY-16
All mechanisms shall be capable of
maintaining their configuration or states
under all forces.
Creq BR-22 BR-21 High ✓ ✓
SY-17Flammable and explosive substances
should not be used in mechanisms.Creq BR-23 BR-24 Very High ✓
SY-18During descent, the probe shall transmit
all telemetry.Creq BR-26 CDH-1 Very High ✓
SY-19XBEE radios shall be used for telemetry
transmission.Creq BR-28 CDH-4 Very High ✓ ✓
System Requirement Summary (3/4)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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ID Requirement Rationale Parent Children PriorityVM
A I T D
SY-20Cost of the CanSat shall be under
$1000.Creq BR-31 High ✓
SY-21Each team shall develop their own
ground station.Creq BR-32 GCS-1 Very High ✓ ✓
SY-22
The ground station must be portable so
the team can be positioned at the
ground station operation site along the
flight line.
Creq BR-37 GCS-6 High ✓ ✓
SY-23
The probe must include an easily
accessible power switch and a power
indicator.
CreqBR-41
BR-42EPS-2 High ✓
SY-24
The descent rate of the probe with/out
the heat shield shall be kept at the
desired speed range.
CreqBR-43
BR-44High ✓ ✓
SY-25A tilt sensor shall be used to verify the
stability of the probe during descent.Creq BR-49 SS-2 Very High ✓
System Requirement Summary (4/4)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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System Concept of Operations (1/3)
1.Rocket takes off.
2.Rocket
ascends with
Cansat.
3.Rocket reaches
maximum range
and starts to
descend.
300m Altitude
5.Heat shield separation
at 300 meters.
6a.Heat shield
continues descending.
7a. The heat shield
lands.
6b.Probe maintains its
direction while collecting and
transmitting desired data.
7b.The probe lands, stops transmission,
initiates beacon and is ready for recovery.
4.When rocket reaches apogee, payload is released from
rocket and the cap separates from the payload by
parachute. Then,heat shield is deployed.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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• Team briefing.
• Electronic and mechanical
integrity checks.
• Competition area arrival.
• GCS and antenna set up
• Damage control by CanSat Crew.
• Double check for final
CanSat integrity
configuration and release
mechanism by CanSat
Crew.
• Assembly of CanSat and
intertion of hen’s egg.
• Making sure mass is
between 490g and 510g.
Pre-Launch Launch
• Placement of
Cansat into rocket
payload section.
• Launch, and
events of
CONOPS
(previous slide).
• Telemetry data
obtaining and .csv
file creation via
GCS software.
(Steps 4, 5, 6b in
previous slide)
Post-Launch
• Recovery of probe
and heat shield
with indicators
fluorescent color,
GPS telemetry
and audio beacon.
• Recovered
CanSat is brought
to GCS.
• Analysis of
sampled data.
• Preparation of
PFR.
• PFR presentation
to jury.
System Concept of Operations (2/3)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
Mechanics
Oguzhan,Kemal
Electronics
Berkay,Furkan
CanSat Crew
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(If You Want) System Concept of Operations (3/3)
15
• Power on CanSat.
• Placement to rocket payload section.Deployment
• Rocket takes off.
• At apogee, cap frees itself with the help of parachute and separates from theprobe with heat shield.Cansat starts to descent with heat shield until 300m.
Launch
• At 300m, the probe-heat shield separation mechanism is activated and heatshield is released. At same altitude, camera captures separation.
• During decend, CanSat collects: air pressure,temperature,voltage,GPSdata,tilting,software state, altitude for 80 seconds.
Airborne
• The probe and cap lands with parachute.
• The probe finishes descent, stops telemetry and initiates audio beacon.Recovery
• Analyzing the data retrieved from decent control devices.
• Delivering requested data to jury.
• Getting ready for PFR.Analysis
Mission Control
Officer
Aykut
Ground Control
Station
Cansu
Probe
Oguzhan, Kemal
Cap & Heat Shield
Ismail,Ozen
PFR
Kemal,Furkan
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
Recovery Crew
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Payload Physical Layout (1/5)
OVERVIEW OF PAYLOAD
Stowed configuration
Heat shield
Probe
ParachuteCap for
opening of
heat shield
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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Launch ConfigurationDeployed Configuration
Payload Physical Layout (2/5)
OVERVIEW OF PAYLOAD
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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Payload Physical Layout (3/5)
PROBE
Egg protection container
Parachute
Servo
Battery
CameraServo
PCBMain Frame
Parachute stowed
section
Top View
Bottom View
Switch
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Payload Physical Layout (4/5)
HEAT SHIELD
Little rods
Pole
Outer rods
Ring
LegsSpring
Actual Manufacture
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Payload Physical Layout (5/5)
PROBE HEAT SHIELD
48 mm
107.5 mm
77.5 mm
11 mm
93 mm50 mm
10 mm
51.5 mm
96.5 mm
118.5 mm
120 mm
Thickness
3mm
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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• Rocket payload dimensions based on Creq:
Height: 310 mm
Diameter: 125 mm
• CanSat dimensions:
Height: 297 mm
Diameter: 120 mm
• Heat shield dimensions after deployment:
Height: 287 mm
Diameter: 220 mm
• Parachute dimensions after separation:
Diameter: 455 mm
• CanSat design has selected to be narrower through rocket nose cone to reduce
possibility of deployment failure.
• Margins left for secure deployment are examined in slide 22.
21
Launch Vehicle Compatibility (1/2)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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Launch Vehicle Compatibility (2/2)
120 mm
CanSat
diameter
297 mm Total length of CanSat
Margins:
• Longitudinal(x axis): 13 mm
• Latitudinal(y axis): 5 mm
50 mm
y
x
Dimensions do not extend rocket frame and CanSat has
enough margin ensuring safe fit and deployment.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Kemal Barkin BAS
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Sensor Subsystem Design
Burak Berkay KAYA
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Sensor Subsystem Overview
Sensor Type Model Purpose
Air Pressure BMP 180Altitude calculation and
competition requirement
Air Temperature BMP 180 Air temperature measurement.
GPS Adafruit Ultimate GPS Precise location determination
Power Voltage Arduino Pro Micro
To monitor battery status, and
verify adaquate power to
complete mission
Tilt Sensor MPU 6050Competition requires prevention
of tumbling
Camera Turbowing Cylops dvr 3Capturing video of heat shield
release
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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(If You Want) Sensor Changes Since PDR
• Microprocessor is changed.– Due to stability issues caused by low flash and SRAM memory of
previous Arduino Pro Micro, we decided to use a Teensy 3.5
processor.
• Voltage sensor is replaced with one of the analog pins
of Teensy 3.5.– Since the prossor is changed, new proccessor will be used to
measure voltage.
25CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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Sensor Subsystem Requirements
ID Requirement Rationale Parent Children PriorityVM
A I T D
SS-1
During descent, the probe shall collect air
pressure, outside air temperature, GPS position
and battery voltage once per second and time tag
the data with mission time
Creq BR-25 Very High ✓ ✓
SS-2A tilt sensor shall be used to verify the stability of
the probe during descent with the heat shield
deployed
Creq BR-49 Very High ✓
SS-3The probe shall have a color video camera with a
resolution of at least 640x480 and a frame rate of
at least 30 frames/sec.
Bonus
ObjectiveHigh ✓ ✓
SS-4
The release of the heat shield and the ground
during the last 300 meters of descent must be
captured by the camera and the pictures captured
must be stored on the probe.
Bonus
ObjectiveHigh ✓ ✓
SS-5The ranges of the sensors shall satisfy the
minimum and maximum values during the mission.
Health
MeasuringHigh ✓ ✓
SS-6 Sensors must be calibrated.Health
MeasuringHigh ✓
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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Probe Air Pressure Sensor
Summary
Our Air Pressure sensor selection is Bosch BMP180.
CHARACTERISTICS BOSCH BMP180
Interface TypeI2C
Accuracy -4 +2 hPa
Pressure
Range300-1100 hPa
Operating voltage 1.8V-3.6V
Current
Consumption3 μA
Data Format XXXXXX.XX (Pa)
• We selected Bosch BMP180
since it ensures easy
communication with I2C and it
has low current consumption.
• It was examined with Arduino
data format and calculations
used are given below:
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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Probe Air Temperature Sensor
Summary
CHARACTERISTICS BOSCH BMP180
Interface TypeI2C
Accuracy ±2°C
Temperature
Range
-40°C to
+85 °C
Operating voltage 1.8V-3.6V
Current
Consumption3 μA
Data Format XX.XX (°C)
Our Air Temperature sensor selection is Bosch BMP180.
• Appropriate range and accuracy for
healthy measurement, low operating
voltage why it was selected.
• It has data transfer from I2C port which
is faster.
• The measurements and calculations
obtained are below:
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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GPS Sensor Summary
CHARACTERISTICSAdafruit Ultimate
GPS
Interface TypeI2C/UART
Accuracy 3 m
Operating voltage 3.0-5.5V
Current 20mA
Data FormatLat, Long:
XX.XXXXXXXXXX (°)
Altitude: XX.XX (m)
Our GPS sensor selection is Adafruit Ultimate GPS.
• Reasons for selection are high speed, high
sensitivity logging and tracking.
• It has suitable accuracy for right results.
• The measurements obtained below
demonstrates location of our faculty:
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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Probe Power Voltage Sensor
Trade & Selection
30
CHARACTERISTICS Teensy 3.5 Analog
Interface Type Analog
Accuracy +/- 0.1
Operating voltage 0-5V
Data Format X.XX (V)
PriceIncluded onboard
with Teensy.
Our power voltage sensor selection is one of the analog pins of Teensy 3.5.
• Voltage will be measured using one of
the analog pins of Teensy 3.5 and a
voltage divider.
• Analog is chosen since no external
component is needed.
• Sensitivity is high and cost-free.
• Voltage will be divided with 1:11 ratio
and calculated by following formula:
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
where R2=100K and R1=1M ohm
Presenter: Burak Berkay KAYA
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(If You Want) Tilt Sensor Summary
31
Our Tilt sensor selection is MPU6050.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
CHARACTERISTICS MPU6050
Interface TypeAnalog
Accuracy +/- 0.02
Operating voltage 3-5 V
Data FormatRoll,Pitch,Yaw: XX.XX (°)
Tilt x,y,z: X (1 or 0)
Price $4.22
if( abs(aa.x/8192.0)>0.95) {
tiltroll=1;
}
else if(abs(aa.y/8192.0)>0.95){
tiltpitch=1;
}
else if( abs(aa.z/8192.0)<0.01 || aa.z<0){
tiltyaw=1;
}
• By determining the orientation with
gyroscope, tilt status is determined.
• Measurements are a lot more
accurate and reliable compared to
simple tilt sensors.
• Tilt in 3 axes is determined using
following algorithm by comparing
the direction of measured gravity
vector with the orientation of the
gyroscope :
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Bonus Objective Camera Summary
Our camera selection is Pro Turbowing Cylops dvr3.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
CHARACTERISTICSPro Turbowing
Cylops dvr3
Interface Type Analog
Resolution 720*480p
Operating voltage4.2V
Frame Rate(frame
per second)30
Price $14.55
File Format .avi
• Resolution satisfies the
requirement of the competition.
• Few connection pins.
• Affordable price.
• Saves video directly to its onboard SD
card slot.
• One screenshot from the video taken
by the camera is given below:
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Bonus Objective Wind Sensor
• Wind sensor mission is not attempted.
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Descent Control Design
Ismail OZCAN
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Probe:
CanSat has 120 mm diameter and 297 mm height.It is divided into
segments for parachute, electronics, protection of hen’s egg and heat
shield seperation mechanism.
Parachute:
Parachute has made from 30d Silicon Nylon 66 Cloth.It has 455 mm
diameter.It includes a spill hole radius of 50 mm to stabilize probe
during descent. Small parachute is made from 30d Silicon Nylon 66
Cloth.It has 75 mm diameter which is enough for deployment heat
shield.
Heat Shield:
Cone shaped heat shield has 220 mm diameter and α=45 degree.It
has elevator system for controlling opening and closing.Heat shield
includes 4 rods for adjusting drag force. Cone’s nose is made from
PLA material to resist heat.
Descent Control Overview (1/4)
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Descent Control Overview (2/4)
Spill hole to
reduce rocking
Heat shield rods
Spring areaCopper wire
220 mm
Servo control area
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3737
Deployment of CanSat
from rocket frame at
post-apogee.(670-720
m)
Rocket launch
Motion path
of probe
Landing and
recovery
Terminal velocity with
heat shield which is
16.254 m/s.
Seperation (300 m)
Stable velocity with
parachute for probe
( 5.01 m/s)
• The descent velocity with
heat shield is 16.254 m/s
before separation time due
to terminal velocity.
• The probe descends with
spilled hole parachute from
300 meters to ground after
seperation.
• The descent velocity
without heat shield is
calculated to be 5.01 m/s.
ground
Descent Control Overview (3/4)
Heat shield reduce
it’s velocity to
8.301 m/s
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Descent Control Overview (4/4)
Component Used in
PLA Material Probe main frame
PLA Material Heat shield mechanism
Cotton line rope Parachute connection with main frame
Rip-Stop Nylon Heat shield’s cone
30d Silicon Nylon 66 Cloth Parachute fabric
Shaft(Copper wire) Stowing and deployment mechanism of the heat shield
Servo Motor Separation system
Configuration Selected: Cylindirical Probe with Cone Heat Shield
Components :
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Descent Control Changes Since
PDR (1/2)
Component Changes Rationale
Seperation mechanism Mechanism is simplified To reduce possibility of failure
DimensionsCansat is now smaller and
narrower
For smoother deployment and
reducing total weight.
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Descent Control Changes Since
PDR (2/2)
PROTOTYPE TESTING:
• Drop test for heat shield+probe is made and observations show that heat
shield+probe did not tumble in 50 meter drop tests. (Passed )
• New opening system for heat shield is tested and has no negative effects
experimentally.(Passed )
• Servo motor generates enough torque to carry and release heat shield.
(Passed )
• Fabric used in heat shield is tested, it is found that fabric does not let air
penetrate other side which is required for stable flight.(Passed )
• Fabric is heated and found to be able to withstand high temperatures.(Passed )
• Parachute is tested and desired velocity values are observed.(Passed )
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Descent Control Requirements
ID Requirement Rationale Parent Children PriorityVM
A I T D
DCS-1
All electronic components shall be
enclosed and shielded from the
environment with the exception of sensors.
CReq BR-18Very
High✓ ✓
DCS-2
The CanSat, probe with heat shield
attached shall deploy from the rocket
payload section.
CReq BR-13Very
High✓
DCS-3The aero-braking heat shield shall be
released from the probe at 300 metersCReq BR-14
Very
High✓ ✓
DCS-4The probe must maintain its heat shield
orientation in the direction of descent.CReq
BR-4
BR-5
Very
High✓ ✓
DCS-5The probe shall deploy a parachute at 300
meters.CReq BR-15
Very
High✓ ✓
DCS-6All descent control device attachment
components shall survive 30 Gs of shock.CReq BR-16 High ✓ ✓
DCS-7
The descent rate of the probe with the
heat shield deployed shall be
between 10 and 30 m/s, parachute
deployed velocity shall be 5 m/s.
CReqBR-43
BR-44
Very
High
✓ ✓
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Payload Descent Control Hardware
Summary (1/3)
Deployment Method
• Cap will keep CanSat in stowed condition. After rocket deployment, small cap parachute
system will open and it will create upward force which causes cap to remove completely.
• At the same time, heat shield rods will produce torque and heat shield will be opened.
• In 300 meters altitude,servo motor releases heat shield, then main parachute will slow
down the CanSat.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
Stowed Configuration Deployed Configuration After seperation
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Payload Descent Control Hardware
Summary(2/3)
• Color Selections :
• Component Sizing:
• Key Design Considerations:
Heat shield rods: blue;
Parachute: orange;
Ropes: white;
Heat shield cover: orange
Spill hole to reduce rocking
30d Silicon Nylon 66 Cloth for stopping air flow onto pressure probe
Easy opening system for heat shield to get efficient descending
Easy releasing system to be stable at beginning position
Considered velocities found for requirements
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
Mechanical components and dimensions are shown with details in System Overview
section
Parachute : 455 mm diameter
Parachute of the cap: 75 mm diameter
Heat shield : 220 mm diameter
Heat shield rods : 1.6 mm
Parachute ropes : 500 mm
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Payload Descent Control Hardware
Summary(3/3)
Sensors Accuracy
Air pressure sensor ±1 hPa
GPS sensor 3 m
Rocket launch
ground
Air pressure sensor
and GPS sensor are
used for seperation
system to determine
altitude (300 m)
670-720m altitude are
read by Air pressure and
GPS sensors
Last data is taken
when landing is
succeeded
DATA FORMAT:
Lat, Long: XX.XXXXXXXXXX (°)
Altitude: XX.XX (m)
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Descent Stability Control Design
(1/2)
45
• Nadir direction will be maintained since the center of mass will be positioned below pressure
center and aerodynamic center. Vector passing through these points will be parallel to the
descent direction. Relatively heavier electronic components are placed at lower section,
moreover the main frame of probe has a decreasing density through the top in order to lower
the position of center of mass.
Center of mass
Aerodynamic center
Passive nadir direction controlPressure center
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Descent Stability Control Design
(2/2)
• In order to avoid tumbling at last 300 meters after heat shield and parachute are released,
a hole with 5 cm diameter will be positioned at the top of the parachute. This spill hole will
help CanSat to have much more stable flight and reduce the possibility of tumbling.
• CFD analysis confirmed that in different initial configurations, CanSat tends to return and
maintain stable nadir orientation as discussed in the previous slide. This prevents
tumbling.
46CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Descent Rate Estimates (1/4)
Descent with Heat shield + Probe after deployment from rocket :
V =2 x m x g
A x ρ x Cd
2 x (0.475 kg) x (9.81 m/s^2)
𝜋x (0.11 m) x (0.11 m) x (1.16 kg/m^3) x (0.8)
V = terminal velocity (Final velocity) ρ = 1.16 kg/m^3 (air pressure for Texas)
M = mass (Probe + Heat shield) g = 9.81 ^m/s^2 (acceleration of gravity)
A = area (Circular area of cone) C = drag coefficient (0.8 for cone)
16.254 m/s
Terminal velocity for probe with heat shield is
16.254m/s, which is appropriate for competition
scale 10-30 m/s.In addition, 16.254 m/s close to
terminal velocity of probe with parachute, 5 m/s
which means CanSat can withstand the force
due to quick deceleration.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Descent Rate Estimates (2/4)
V =2 x m x g
A x ρ x Cd
2 x (0.027 kg) x (9.81 m/s^2)
𝜋
4x (0.075 m) x (0.075 m) x (1.16 kg/m^3) x (0.8)
Descent of cap’s parachute after seperation from probe :
8.301 m/s
V = terminal velocity ρ = 1.16 kg/m^3 (air pressure for Texas)
M = mass (little part and parachute) g = 9.81 ^m/s^2 (acceleration of gravity)
A = area (Circular area of parachute) C = drag coefficient ( 1.5 for Dome type)
After the heat shield is released, parachute of cap opens and
decreases the velocity of cap to terminal velocity calculated
above. Equation states us that parachute with 7.5 cm diameter
has 8.301 m/s final velocity.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Descent Rate Estimates (3/4)
V =2 x m x g
A x ρ x Cd
2 x (0.116 kg) x (9.81 m/s^2)
𝜋x (0.11 m) x (0.11 m) x (1.16 kg/m^3) x (0.8)
V = terminal velocity (Competition requires 5 m/s ) ρ = 1.16 kg/m^3 (air pressure for Texas)
M = mass (Probe only) g = 9.81 ^m/s^2 (acceleration of gravity)
A = area (Circular area of parachute) C = drag coefficient ( 1.5 for Dome type)
8.032m/s
This equation concludes that terminal velocity for heat
shield is 8.032 m/s, meaning that heat shield will fall after
separation at this speed rate and land to area.
Descent of heat shield after seperation from probe :
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
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Descent Rate Estimates (4/4)
x (0.455 m)x(0.455 m)x(1.16 kg/m^3)x 1.5V =
2 x m x g
A x ρ x Cd
2 x (0.386 kg) x (9.81 m/s^2) 5.01 m/s
V = terminal velocity (Final velocity) ρ = 1.16 kg/m^3 (air pressure for Texas)
M = mass (Heat shield) g = 9.81 ^m/s^2 (acceleration of gravity)
A = area (Circular area of cone) C = drag coefficient (0.8 for cone)
Descent of probe after seperation from heat shield :
After the heat shield is released, velocity of probe is 16.254 m/s.
At the same time ,parachute opens and decrease the velocity of
CanSat to terminal velocity calculated above. Equation states us
that parachute with 455 cm diameter has 5.01 m/s final velocity.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ismail OZCAN
𝜋
4
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Mechanical Subsystem Design
Oguzhan CAM
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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Mechanical Subsystem Overview
Major Structural Elements• Probe
• Parachute deployment module
• Heat shield releasing mechanism
• A cap for heat shield opening
mechanism
Heat shield
outer rods
CanSat Main
Frame
Egg protection
container
Servo motor
Battery
Switch
Camera
Servo Motor
Ring
Pole
Parachute
PCB
Material Selection
• 3D printed PLA for Probe Main Frame
and egg protection
• 3D printed PLA for heat shield’s rods
and pole.
• Parachute fabric will be used to cover
the heat shield.
• Copper pipe will be used as shaft for
axial movements
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Summary of Changes Since PDR
ID Component Changes Rationale
1 Egg protection container
Inner container is removed. Outer
container will protect the egg covered
with bubble wrap.
Pulling down the center of gravity by
removing the inner container from the
system and minimise the weight.
2 Heat shield covered materialAluminum foil tape is replaced with
parachute fabric.
Heat shield covered aluminum foil
tape did not stow and deploy softly.
3 Heat shield deployment mechanismAdded a cap at the top of the CanSat to
keep heat shield rods closed.
Old servo mechanism was too
complex to hold and release heat
shield. Heat shield operations will be
carried out with two different ways.
4 Cansat dimensions Height and width is reduced.To increase efficiency of mounting
and reducing weight.
1 2 3
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ID Requirement Rationale Parent Children PriorityVM
A I T D
MS-1Total mass of the CanSat should be
500gram(±10gram)Creq BR-1
Very
High✓ ✓
MS-2
CanSat shall fit in a cylindrical
envelope of 125 mm diameter x 310
mm length including the heat shield.
Creq BR-6Very
High✓
MS-3
The CanSat shall not have any
sharp edges to cause it to get stuck
in the rocket payload section.
Creq BR-9Very
High✓
MS-4
All electronic components shall be
enclosed and shielded from the
environment with the exception of
sensors and all electronics shall be
hard mounted using proper mounts.
To strengthen
CanSat against
external forces
BR-18
BR-21High ✓ ✓
MS-5
The aero-braking heat shield shall
be a fluorescent color; pink or
orange
To distinguish the
CanSat clearly
during descent.
BR-10 High ✓
Mechanical Sub-System
Requirements (1/3)
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ID Requirement Rationale Parent Children PriorityVM
A I T D
MS-6
The aero-braking heat shield shall be
used to protect the probe while in the
rocket and the rocket airframe shall not
be used as part of the CanSat
operations.
Creq
BR-2
BR-11
BR-12
Very
High✓ ✓
MS-7The heat shield must not have any
openingsCreq BR-3
Very
High✓
MS-8The probe must maintain its heat shield
orientation in the direction of descent. Creq BR-4 BR-5
Very
High✓ ✓
MS-9
The probe shall hold a large hen's egg
that its measures are between 54-68
gram and 50-70 mm diameter.
CreqBR-7
BR-8
Very
High✓ ✓
MS-10
The aero-braking heat shield shall be
released from the probe at 300
meters.
Creq BR-14Very
High✓ ✓
MS-11The probe shall deploy a parachute at
300 meters.Creq BR-15
Very
High✓ ✓
Mechanical Sub-System
Requirements (2/3)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Oguzhan CAM
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ID Requirement Rationale Parent Children PriorityVM
A I T D
MS-12
All structures and components
shall survive30 Gs of shock and
15 Gs acceleration
To secure the
Cansat
operations.
BR-16
BR-17
BR-19
BR-20
Very
High✓ ✓
MS-13
All mechanisms shall be
capable of maintaining their
configuration or states under all
forces.
Creq BR-22 BR-21Very
High✓ ✓
MS-14
Flammable and explosive
substances should not be used
in mechanisms.
Creq BR-23 BR-24Very
High✓
Mechanical Sub-System
Requirements (3/3)
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Payload Mechanical Layout of
Components(1/9)
Structure on different phases of flight
Just after payload is
separated from rocket
At 300
meters.
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PROBE (with cap) HEAT SHIELD
48 mm
107.5 mm
77.5 mm
11 mm
93 mm50 mm
10 mm
51.5 mm
96.5 mm
118.5 mm
120 mm
Payload Mechanical Layout of
Components(2/9)
Cap
Layer
thickness
3mm
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Structure on prototype
Payload Mechanical Layout of
Components(3/9)
PROBE HEAT SHIELD PAYLOAD
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Payload Mechanical Layout of
Components(4/9)
Location of electrical components and mechanical parts
Egg protection
container
Parachute
Bottom
ServoBattery CameraUpper
ServoPCB
Main FrameParachute stowed
section
Little rods
Pole
Outer rod
Ring
Leg
Spring
Parachute
ropes
Shafts
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Payload Mechanical Layout of
Components(5/9)
• Heat shield mechanism contains a spring to open heat shield.
• Shafts keep the components of the heat shield together and
allow them to rotate on its axis.
• Cap will be used for deployment of heat shield when payload is
separated from rocket. Just after separation, cap’s parachute
opens and separates cap from payload. Now, heat shield is free
to open, the force produced by the spring will allow heat shield to
deploy at 700 meters.(SY-11)
Mechanical parts
Spring
Cap
CapShafts
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Mechanical parts on prototype
Payload Mechanical Layout of
Components(6/9)
ShaftsSpring
Cap
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Electrical Components
• The PCB will be located in the center of probe
and attached to corner of structure.
• The battery will be located between the PCB
and egg protection section.
• The servo motor will be placed to last layer of
main frame to carry out the heat shield’s
releasing.
• The camera will be positioned properly to
show all the operations of the heat shield.
• Sensors will be mounted on PCB.
• Switch will be fixed anywhere of electronic
section.
Upper
Servo
SwitchBattery
PCB
Camera
Bottom
Servo
Payload Mechanical Layout of
Components(7/9)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Oguzhan CAM
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Payload Mechanical Layout of
Components(8/9)
Attachment points to probe Heat shield's own attachment points
1) Yellow sticks which are attached stopping
points on last layer of probe keep the heat
shield stationary.
2) Main holder of heat shield is servo arm
and servo holds heat shield till release it
from probe at 300 meters.
Stoppers
Shaft
1) Shafts keep the components of the
heat shield together and allow them to
rotate on its axis.
Servo arm
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Payload Mechanical Layout of
Components(9/9)
Structural material selection
Material Use Area Rationales
3D printed PLA
Main frame of probe
Heat shield components
Egg protection container
Cap
Optimal melting temperature
High density.
Good durability.
Synthetic rope Parachute rope Cheap
Durable
Easy to find
Parachute fabricParachute
Heat shield cover material
Lightweight
Hand made is easier
Copper pipe Heat shield Durable
Suitable shape for shaft
Duct Tape Probe electrical section
To protect the electrical
components by wrapping
with duct tape the electric
section
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Egg Protection Mechanical Layout
of Components(1/2)
66
95 m
m*
67.5 mm*
*The dimensions are demonstrated from outer diameters of the egg protector.
• Competition will provide the egg which will have
maximum diameter of 50 mm and maximum height of
70 mm.
• The egg protection has 2.5 mm thickness.
• Egg will be covered with bubble wrap.
• PLA is chosen due to high endurability.
Bubble Wrap
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Egg Protection Mechanical Layout
of Components(2/2)
• Firstly, egg protector can be removed from probe
easily owing to the gap located under the egg
protector.
• After that, the lid of the protector is turned
counter-clockwise and is pulled from the top will
provide a direct access to the egg.
• Then, we will wrap the egg with bubble wrap and
put it into the protector.
• After the lid is closed, we will attach the hook
with parachute and the protector, so with the
help of the forces, egg protector will maintain its
steady position on the air.
• When we want to remove the egg, we will follow
the same path as we insert the egg.
67
Bulge
Hook
Lid
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Oguzhan CAM
Insertion and Removal Method
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Heat shield Release Mechanism
(1/2)
Pole
• The servo arm holds the heat shield
up to second 300 meters from the
launch. (First 300 meters will be
measured by pressure sensor when
rocket is rising)
• When the payload comes to
second 300 meters servo arm
rotates 90 degrees and the servo
arm leaves the pole hole.
• Simultaneously, parachute is
opened and heat shield begins to
free fall in its direction.
Hole
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Heat shield Release Mechanism
(2/2)
Release mechanism of prototype
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Oguzhan CAM
Heat shield
Before release
Heat shield
Post release
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Probe Parachute Release
Mechanism(1/2)
70
• Parachute ropes are attached to main frame with knots behind the holes on probe and
strong adhesives.
• Parachute section is placed at the top of CanSat. Folded parachute will remain folded with
fishing line.
• The fishing line wraps the parachute by passing through the holes placed at the top layer.
• Servo motor is placed close to fishing line, hence servo arm is able to reach the wire and
cut it at 300 meters.
Parachute
section
Holes
Fishing line
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Probe Parachute Release
Mechanism(2/2)
71
Servo motor will wait motionless until 300m. Fishing line
that holds parachute in folded position is slim to cut easy
with servo's blade arm.
Besides, there will be a ni-chrome wire wrapped to fishing
line. Ni-chrome wire system will be used in case servo
mechanism fails.
When the altitude is measured 300m by pressure sensor,
servo motor will start rotate to cut the rope. After that the
parachute will be released.
Inside of the released parachute will be filled with air and it
will open. After that, probe will be slowed down to 5.01
m/s.
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Mounting methods
• PCB is planned to have 4 holes at 4 corners of it.
• PCB is to be mounted with M.3.5*9mm screws.
• PCB will also be sealed with epoxy to bottom surface.
• A hole is opened in the layer for the camera in a way that camera records the releasing of heat
shield.
• Camera is mounted with M.3.5*9mm screw.
• Pin connections are sealed with polyolefin tubing.
• Battery holder with 2.5cm diameters inner pitch is specially designed for battery.
• Servo’s are mounted with epoxy.
Enclosures
• Electronic section and egg protection section in probe will be enclosed with duct-tape. Duct tape
will be wrapped throughout the structure.
• Ni chrome mechanism will be totally isolated from outside effects due to safety procedures.
Structure Survivability(1/2)
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Acceleration and shock force requirements and testing
• Acceleration and shock force tests were evaluated with drop test. The probe structure epoxy-
reinforced payload was released in 3 meter. The results showed that the electronic components
remained stationary and did not disperse.
Electrical Connections• Depending on the connection components, proper method for securing will be used.
• Electrical connection methods are:
Soldering
Specific adhesives for electronic
Electric tape
Descent control attachments• Heat shield will be attached to probe with servo arm.
• Parachute will be attached to probe using nylon chords.
• Parachute connections will be secured with knots behind the holes on probe.
• Parachute will have direct connection to egg protection shell.
Structure Survivability(2/2)
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PROBE Weight(g) Data Type Margin(g)
Main Frame 112 M -
Parachute 24 M -
Protection Container + Egg 28+50 M+E ±4
Cap(with little parachute) 27 M -
Battery 18.5 D -
Camera 7.2 D -
Electronic Components 68.3 D -
PCB 23 M -
Servo x2 18 D -
M.3.5*9 Screw x4 & Adhesives 10 E ±1
Source:
E:Estimated
D:Data Sheet
M:Measured
Total Mass of Probe(g)
386±5
Mass Budget(1/3)
▪ The margin is 10% for estimated data.
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HEAT SHIELD Weight(g) Data Type Margin(g)
Outer Rod x4 48 M -
Pole(with ring) 15 M -
Spring 8 M -
Copper pipe(shafts) 10 M -
Leg x4 10 M -
Heat shield surface cover material 15 E ±1.7
Adhesives 10 E ±1
Source:
E:Estimated
D:Data Sheet
M:Measured
Total Mass of Heat
Shield (g)
116±2.7
Mass Budget(2/3)
▪ The margin is 10% for estimated data.
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Mass Budget(3/3)
Total Mass of Payload(g)Mass with minimum
margin (g)
Mass with Maximum
margin(g)
502 494.3 509.7
Total expected mass of CanSat = 502 grams with a ± 7.7 grams of
margin.
• Competition rules indicate that total mass must be 500 +/- 10 grams.(MS-1)
• In the worst case scenario, we are 0.3 grams below the limit.
Correction Methods
In case total mass measured at the launch site is different than expected, following
processes planned to be done.
If mass of CanSat <490g, probe frame or cap will be changed with higher density 3D
printed materials which are previously printed as spare parts.
If mass of CanSat >510g, probe frame or cap will be changed with lower density 3D printed
materials which are previously printed as spare parts.
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Communication and Data Handling
(CDH) Subsystem Design
Altug ERTAN
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78
Component Type Purpose
Teensy 3.5 Microprocessor To obtain and process the sensor data.
Sandisk SD Card Storage Device To store the sensor data and video.
Teensy 3.5’s Oscillator Real Time ClockTo measure mission duration with the
real time.
TL-ANT2405CL Probe AntennaTo strengthen the transmitted signals
from probe to ground station.
XBee Pro S2B TransceiverTo transmit and receive data between
the probe and ground station.
ANT-2415D GCS AntennaTo strengthen ground stations signal
capture capability.
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79Presenter: Altug ERTAN
Teensy 3.5
Sensor Subsytem
XBEE S2B
Ground Station
Antenna
ANT-2415D
Probe
Antenna
TL-ANT2405CL
RTC SD Card
Mis
ssio
n T
ime
Telemetry Data Amplify Signal
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(If You Want) CDH Changes Since PDR
80
• Due to insufficient flash memory of Arduino Pro Micro,
we decided to use Teensy 3.5 as a microprocessor.
• Since the microprocessor is revised, RTC is also
changed. We decided to use microprocessor’s built-in
RTC.
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CDH Requirements (1/2)
ID Requirement Rationale Parent Children PriorityVM
A I T D
CDH-1
During descent, the probe shall collect air
pressure, outside air temperature, GPS
position and battery voltage once per second
and time tag the data with mission time.
CReq BR-25 Very High ✓ ✓ ✓
CDH-2
During descent, the probe shall transmit all
telemetry. Telemetry can be transmitted
continuously or in bursts.
CReq BR-26 Very High ✓ ✓ ✓ ✓
CDH-3
Telemetry shall include mission time with one
second or better resolution. Mission time
shall be maintained in the event of a
processor reset during the launch and
mission.
CReq BR-27 Very High ✓ ✓
CDH-4
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.
CReq BR-28 Very High ✓ ✓
CDH-5XBEE radios shall have their NETID/PANID
set to their team number.CReq BR-29 Very High ✓ ✓
CDH-6 XBEE radios shall not use broadcast mode. CReq Very High ✓ ✓
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82
ID Requirement Rationale Parent Children PriorityVM
A I T D
CDH-7All telemetry shall be displayed in real time
during descent. CReq BR-33
Very High✓
✓
CDH-8
All telemetry shall be displayed in
engineering units .(meters, meters/sec,
Celsius, etc.)
CReq BR-34 Very High ✓
CDH-9Teams shall plot each telemetry data field
in real time during flight.Creq BR-35 Very High ✓ ✓ ✓
CDH-10
A tilt sensor shall be used to verify the
stability of the probe during descent with
the heat shield deployed and be part of the
telemetry.
CReq BR-49 Very High ✓ ✓ ✓
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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Probe Processor & Memory
Selection (1/3)
ModelClock
Speed
Operating
Voltage I/O Pins Memory Price
Data
Interfaces
Teensy 3.5120
MHz5V 62 512 KB 24.95$
I²C
SPI
Serial TX
and RX
Selected Processor : Teensy 3.5
• Easy to program as it is compatible with Arduino IDE.
• Large memory to keep flight sofware and operate stably.
• High processor speed to process data.
• Satisfying power, memory and data interface that the system
uses.
• I²C is required to connect BMP180 and MPU 6050.
• Serial connection is required for XBee module and Adafruit
Ultimate GPS.
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Probe Processor & Memory
Selection (2/3)
84
Operating Voltage (logic level) 5V Analog Input 25
Input Voltage (limits) 3.6V-6.0V I²C 3
I/O Pins 62 SPI pin 3
PWM 20 Uart 6
Flash Memory 512 KB Price 24.95$
Dimensions62.3 mm x 18.0
mm x 4.2 mmWeight 4.8g
The properties of Teensy 3.5 are given below:
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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Probe Processor & Memory
Selection (3/3)
85
Model Memory Interface Price
SanDisk 16 GB SD Card 16 GB SPI $6
Selected Memory: SanDisk 16 GB SD Card:
• Low cost.
• Better reading/writing rate.
• Easy to use thanks to pluggable and removable
structure
• According to data interface analysis, SPI is easy to
setup and more stable than I²C.
• SD Card capacity is selected to be 16GB since heat
shield separation will captured in video format.
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(If You Want) Probe Real-Time Clock
86
ModelVoltage
(V)
Power
Consumption Accuracy Reset Tolerance Price
Hardware /
Software
Teensy 3.5
Oscillator- - +/-500ppm
Using its own 3V button
battery, RTC will give
time even if the CanSat
is completely turned off.
Free of
chargeHardware
Selected RTC : Teensy 3.5 Oscillator
•No power consumption.
•Easy to program.
•Not to add external weight and not to occupy more
space since it is integrated in Teensy 3.5.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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87
Probe Antenna Selection (1/2)
ModelConnection
TypeFrequency Direction Gain Impedance VSWR(Max) Mass
TL-
ANT2405CLSMA 2.4Ghz Omni-directional 5 dBi 50 Ohms 1.92:1 20g
Mass & Size
• 20 g is lightweight when the performance is
considered.
• Dimensions: 160 mm x 12 mm x 12 mm.
• Compact design to fit in the probe.
Selected Antenna : TL-ANT2405CL
• TL-ANT2405CL is used with XBee to increase
communication range.
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(If You Want) Probe Antenna Selection (2/2)
88
Performance
• Voltage Standing Wave Ratio (VSWR) value for the antenna is 1.92:1 keeping
signal reflection at low level and increase the performance importantly.
• Appropriate polarization rates:
Horizontal Polorization (Azimuth) : 360°
Vertical Polarization (Elevation) : 32°
Radiation patterns of selected antenna
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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Probe Radio Configuration (1/2)
•XBee Pro series 2B is used as transreceiver for probe and ground station.
•NETID/PANID numbers of XBees are adjusted as 4404, which is our assigned team number.
•Configuration of both XBees is established with X-CTU software.
•1 Hz is adjusted as transmission rate of XBee in probe.
•Communication between probe and ground station is provided by using two same model
XBees which are set to unicast mode.
•The XBee in the probe is adjusted as an endpoint ,and the XBee at the ground station is
adjusted as a coordinator.
•The XBee used as a endpoint transmits the telemetry data to coordinator XBee.
•The XBee used as a coordinator receives the telemetry data from endpoint XBee.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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(If You Want) Probe Radio Configuration (2/2)
90
Demonstration of our endpoint XBee's NETID/PANID which is adjusted as 4404.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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Probe Telemetry Format (1/2)
<TEAM ID> is the assigned team identification.
<MISSION TIME> is the time since initial power up in seconds.
<PACKET COUNT> is the count of transmitted packets, which is to be maintained through processor reset.
<ALTITUDE> is the altitude with one meter resolution.
<PRESSURE> is the measurement of atmospheric pressure.
<TEMP> is the sensed temperature in degrees C with one degree resolution.
<VOLTAGE> is the voltage of the CanSat power bus.
<GPS TIME> is the time generated by the GPS receiver.
<GPS LATITUDE> is the latitude generated by the GPS receiver.
<GPS LONGITUDE> is the longitude generated by the GPS receiver.
<GPS ALTITUDE> is the altitude generated by the GPS receiver.
<GPS SATS> is the number of GPS satellites being tracked by the GPS receiver.
<TILT X> Tilt sensor X axis value.
<TILT Y> Tilt sensor Y axis value.
<TILT Z> Tilt sensor Z axis value.
<SOFTWARE STATE> is the operating state of the software. (boot, idle, launch detect, deploy, etc.)
<ROLL> is degree of rotation around the front-to-back axis of probe.
<PITCH> is degree of rotation around the side-to-side axis of probe.
<YAW> is degree of rotation around the vertical axis of probe.
<CAMERA STATE> is the situation of the camera whether it records or not after the second 300 meter.If it
record state is ‘ON’, if it is not record state is ‘OFF’.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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•Data Rate of Packets
- Burst transmission is used to transmit data.
- Data is transmitted with 1 Hz to the ground station.
•Data Format
<TEAM ID>,<MISSION TIME>,<PACKET COUNT>,<ALTITUDE>, <PRESSURE>,
<TEMP>,<VOLTAGE>,<GPS TIME>,<GPS LATITUDE><GPS LONGITUDE><GPS
ALTITUDE>,<GPS SATS>,<TILT X>,<TILT Y>,<TILT Z>,<SOFTWARE STATE>,
<ROLL>,<PITCH>,<YAW>,<CAMERA STATE>
Example Telemetry: <4404>,<00050>,<50>,<62>,<2133.145>,<35.7>,<17>,
<17:47:36.0>,<4059.5676N>,<2850.7741E><65.60>,<4>,<1.00>,<0.00>,<0.00>,<1>, <93.81>,
<-8.38>,<10.86>,<OFF>
• Example telemetry given above is provided with system prototype.
• Example telemetry matches with competition guide requirements.
• Telemetry is saved on the ground station computer as
CANSAT2018_TLM_4404_APISARGE.csv .
•Note:
We calculate <ROLL>,<PITCH> and <YAW> telemetries by using MPU6050 gyroscope. Thus, we created
an algorithm that checking tilt condition according to these telemetry values.
Probe Telemetry Format (2/2)
92CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Altug ERTAN
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Electrical Power Subsystem Design
Burak Berkay KAYA
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EPS Overview(1/2)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
Component Purpose of the Component
Battery In order to provide the required electricity to operate electronic system.
SwitchMakes the connection between battery and electronic system to supply or interrupt
the power.
Voltage RegulatorTo step up or down the voltage to supply appropriate voltages to sensors and
processor.
Voltage Divider To measure the voltage level from one of the processor’s analog pins.
Buzzer Makes noise after landing and helps recovery team to find easily.
MOSFET To use hotwire system for backup separation system.
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EPS Overview(2/2)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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(If You Want) EPS Changes Since PDR(1/2)
96CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
• We have decided to change the microprocessor as Teensy 3.5.
Therefore, in power budget and diagrams, microprocessor is changed.
• The new microprocessor Teensy 3.5 has its own SD card reader. So we
do not need an external SD card reader anymore. Consequenly, SD
card reader is removed from power budget and diagrams.
• MOSFET is added to make a backup seperation system with hotwire, in
the case of Servo seperation is failed.
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(If You Want) EPS Changes Since PDR(2/2)
97
Our first PCB is designed,
printed and tested.
It worked successfully.
Then it is redesigned after
the microprocessor change.
Final PCB design is ready.
It will be tested after
printing.
1
2
3
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98
EPS Requirements(1/2)
ID Requirement Rationale Parent Children PriorityVM
A I T D
EPS-1
During descent, the probe shall collect
air pressure, outside air temperature,
GPS position and battery voltage once
per second and time tag the data
with mission time.
CReq BR-25 SS-1Very
High✓ ✓
EPS-2The probe must include an easily
accessible switch.CReq BR-41 Sy-23
Very
High✓
EPS-3
The probe must include a power
indicator such as an LED or sound
generating device.
CReq BR-42 High ✓ ✓
EPS-4
An audio beacon is required for the
probe. It may be powered after landing
or operate continuously.
CReq Br-45 FSW-5 High ✓ ✓
EPS-5
Battery source may be alkaline, Ni-Cad,
Ni-MH or Lithium. Lithium polymer
batteries are not allowed. Lithium cells
must be manufactured with a metal
package similar to 18650 cells.
CReq BR-46Very
High✓
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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ID Requirement Rationale Parent Children PriorityVM
A I T D
EPS-6
An easily accessible battery
compartment must be included allowing
batteries to be installed or removed in
less than a minute and not require a
total disassembly of the CanSat.
CReq BR-47Very
High✓ ✓
EPS-7
Spring contacts shall not be used for
making electrical connections to
batteries. Shock forces can cause
momentary disconnects.
CReq BR-48Very
High✓
EPS Requirements(2/2)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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100
Probe Electrical Block Diagram
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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Probe Power Source
• Our final selection is OEM 16340 Li-Ion Battery.
• This battery is selected due to enough capacity, reliability
and rechargeability.
• Since lithium-polymer batteries are not allowed by BR-46,
we have chosen a lithium battery.
• It’s weight and dimensions are small enough.
• Properties of OEM 16340 Battery:
-Voltage: 3.7 V
-Current capacity: 1400 mAh
-How much current can battery generate: 3A
-Weight: 18.5 g
-Dimensions: 16mmx34.5mm
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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102
Component Current(mA) Voltage(V) Power (mW)Duty
Cycle(%)
Source/Unce
rtainity
BMP180 0.65 3.3 2.1 100 Datasheet
Teensy 3.5 45 5 156.5 100Datasheet/
Estimate
Buzzer 25 5 125 100 Datasheet
Xbee
S2B(Transmit)205 3.3 676.5 95 Datasheet
Xbee
S2B(Receive)47 3.3 155.1 5 Datasheet
Mini Servo 100 5 500 5 Datasheet
Turbowing
700 TVL Camera180 5 25 20 Datasheet
Adafruit Ultimate
GPS25 5 125 100 Datasheet
Probe Power Budget(1/2)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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103
Component Current(mA) Voltage(V) Power (mW)Duty
Cycle(%)
Source/Uncer
tainity
MPU6050
Gyroscope3.9 5 19.5 100 Datasheet
Total Power
Consumed
Total Current
Consumed
Available Current
CapacityMargin
1784.7 mWh 631.55 mAh 1400 mAh 768.45 mAh
Probe Power Budget(2/2)
TOTAL 631.55mA 1784.7 mW
Total current and power consumptions for 1 hour full operation are given
in the below table:
There is enough margin; therefore, the system can operate more than 2
hours.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burak Berkay KAYA
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Flight Software (FSW) Design
Furkan CETIN
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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FSW Overview (1/2)
• Programming Language
– C/C++
• Development Environments
– Arduino IDE
• FSW Tasks Summary
– Read raw data from sensors and convert them to physical values.
– Create telemetry according to required format, store it in the SD card
and sent to the ground station.
– Release the heat shield and deploy the parachute at an altitude of
300 meters.
– If the initial release attempt fails, initiate backup release mechanism.
– As bonus objective, capture the release of the heat shield.
– In case of a reboot, recover the last known state, and verify the state
with sensor data.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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106
FSW Overview (2/2)
FSW
Release
Mechanism
Sensor
Subsystem
Transmitter
Xbee
Receiver
Xbee
SD Card
Camera
Telemetry
Ra
wd
ata
Te
lem
etr
y
At 300m altitude
Backup Release
Mechanism
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
SD Card-2
Basic FSW Architecture
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(If You Want) FSW Changes Since PDR
107
• FSW code is modified slightly to work with the new
proccessor.
• FSW now transmits any errors during initialization to the
ground station. This allows locating any problem faster.
• By optimizing the FSW, power consumption is reduced.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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108
FSW Requirements (1/2)
ID Requirement Rationale Parent Children PriorityVM
A I T D
FSW-1The CanSat, probe with heat shield attached
shall deploy from the rocket payload section. CReq BR-13Very
High✓ ✓
FSW-2The aero-braking heat shield shall be released
from the probe at 300 meters. CReq BR-14Very
High✓ ✓ ✓
FSW-3
During descent, the probe shall collect air
pressure, outside air temperature, GPS position
and battery voltage once per second and time tag
the data with mission time.
CReq BR-25Very
High✓ ✓ ✓
FSW-4
The flight software shall maintain a count of
packets transmitted, which shall increment with
each packet transmission throughout the mission.
The value shall be maintained through processor
resets.
CReq BR-39Very
High✓ ✓ ✓
FSW-5An audio beacon is required for the probe. It may
be powered after landing or operate continuously. CReq BR-45Very
High✓ ✓
FSW-6
A tilt sensor shall be used to verify the stability of
the probe during descent with the heat shield
deployed and be part of the telemetry.CReq BR-49
Very
High✓ ✓
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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109
FSW Requirements (2/2)
ID Requirement Rationale Parent Children PriorityVM
A I T D
FSW-7
During descent, the probe shall transmit all
telemetry. Telemetry can be transmitted
continuously or in bursts.
CReq BR-26 Very High ✓ ✓ ✓
FSW-8
Telemetry shall include mission time with
one second or better resolution. Mission
time shall be maintained in the event of a
processor reset during the launch and
mission.
CReq BR-27 Very High ✓ ✓ ✓
FSW-9Store the telemetry data in an external SD
Card.
Data
ReliabilityVery High ✓ ✓ ✓
FSW-10
Capture the release of the heat shield and
the ground during the last 300 meters of
descent.
Bonus
ObjectiveHigh ✓ ✓
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Probe CanSat FSW State Diagram
(1/2)
Power On
Initialize system,
send any errors to
ground station
State =1?
Start sampling
sensors(1Hz)
State 1 – Pre-Launch
Launch?
Yes
No
Yes
Set State 2
Telemetry (1hz)
Begin telemetry
(1Hz)
Sensor
sampling(1Hz)
Descent?No
Yes
Set State 3
Telemetry (1hz)
Sensor
sampling(1Hz)
Altitude
300m ?
State 3 – Descent
Battery
sufficient
?
Telemetry (1hz)
Sensor
sampling(10Hz)
No
Yes
Begin capturing
video
Release heat
shield and
parachute
Release
OK?
Backup release
mechanism
No
Landed?No
Stop telemetryYes Buzzer on
State 2 – Ascent
No
NoYes
Yes
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Probe CanSat FSW State Diagram
(2/2)
• Data Storage:
– All sampled sensor readings will be written to SD card.
– Video will be saved to another SD card by camera module.
• Power Management
– While in descent state, if battery voltage is sufficient, sampling rate
of sensors will be increased to 10 Hz. Main goal of this adjustment is
to minimize errors.
– Telemetry frequency will remain as 1 Hz during whole flight.
• State Recovery in case of Restart
– Flight state values will be saved to EEPROM. Therefore, if a restart
occurs, last state will be recovered by the processor.
– Additionally, values for packet count and mission time will be stored
in EEPROM in order to maintain them in case of a processor reset.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Software Development Plan (1/4)
Prototyping and prototyping environments
-Power, communication and sensor subsystems are designed in accordance with the
competition and system requirements.
-A new electronic system prototype is created for the new processor on a breadboard. It
includes all sensors and we ensured that all sensors and new proccessor are working in
accordance with each other.
-A new PCB is designed with the results obtained from the prototype. The system is
continuously being tested and working as intended.
Software Subsystem Development
-Available libraries for sensors are analyzed and modified to work with the new processor
and satisfy competition requirements.
-Arduino serial monitor and MATLAB are used to debug the code and visualize sensor
outputs.
-A code utilizing all the sensors and flight tasks is written, and being tested with drone
flights.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Software Development Plan (2/4)
Software Development Schedule
Task StatusPlanned
Completion
Selection of sensors Completed -
Individual sensor tests Completed -
Library tests and modification Completed -
Test of prototype with all sensors active Completed -
Sensor output analysis using MATLAB Completed -
Wired serial communication with ground station prototype Completed -
PCB design and tests Completed -
EEPROM reboot tests for packet count and flight state Completed -
Wireless communication tests and verification of data health Completed -
Ensure camera recording does not interrupt other processes. Completed -
Calibrate the release command altitude for heat shield to be released
exactly at 300 meters.Completed -
Testing and improvement of power consumption Completed -
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Software Development Plan (3/4)
• Test methodology
– Software development and component assemblies were conducted in faculty
laboratories.
– Temperature sensor calibrated by using external hardware from faculty.
– Pressure sensor is calibrated and verified at sea level and a location close to
the airport. Therefore from METAR (Meteorological Terminal Air Report), we
knew the exact sea level pressure.
– Wireless communication is tested between two coasts of Bosphorus with a
distance approximately 1 km.
– Free fall tests and flight tests with a drone have been conducted.
• Development team
– Furkan Çetin
– Burak Berkay Kaya
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Software Development Plan (4/4)
FSW Progress since PDR
Initial PCB design is completed. Upon deciding changing the
processor unit, PCB design is updated.
EEPROM read/write operations and flight state recovery with forced
reboots are tested.
Camera is integrated to flight software.
To release the heat shield at exactly 300m, altitude calibration for
release mechanism is made.
Power consumption is tested, flight software is updated to increase
the power efficiency of the system.
After a fully-working serial communication with complete FSW,
wireless communication is implemented and tested.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Furkan CETIN
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Ground Control System (GCS) Design
Cansu Yıkılmaz
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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GCS Overview
USART RPSMA
Data transmit to
and receive from
ground station
N Type to
RPSMA
converter
Xbee connected
to GCS via Xbee
explorer
Connected
to serial port
via USB
PROBE
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) GCS Changes Since PDR
• There is no change in Ground Control Station since
PDR.
118Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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119
GCS Requirements
ID Requirement Rationale Parent PriorityVM
A I T D
GCS-1Each team shall develop their own
ground station.CReq BR-32
Very
High✓ ✓
GCS-2All telemetry shall be displayed in real
time during descent.
CReqBR-33
Very
High✓ ✓ ✓ ✓
GCS-3
All telemetry shall be displayed in
engineering units.(meters, meters/sec,
Celsius, etc.)
CReq. BR-34Very
High✓ ✓ ✓ ✓
GCS-4Teams shall plot data in real time
during flight.CReq BR-35
Very
High✓ ✓ ✓ ✓
GCS-5
The ground station shall include one
laptop computer with a minimum of two
hours of battery operation, XBEE radio
and a hand held antenna.
CReq BR-36Very
High ✓
✓
GCS-6
The ground station must be portable so
the team can be positioned at the 9
ground station operation site along the
flight line. AC power will not be available
at the ground station operation site.
Creq BR-37Very
High✓ ✓
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) GCS Design
120
▪ The GCS Laptop can
operate 2.5 hours with
battery.
▪ On the field, there will be an
external laptop cooling fan
to prevent overheating and
the cooler has its own
battery.
▪ On Windows OS, the auto
update function will be
disabled on the windows
update center before the
launch.
Antenna
connected to
Xbee with N- type
to RPSMA
connector
Xbee module
will be
connected to the
explorer with
2mm header
Explorer will be
connected Laptop
via USB cable
and communicate
with serial
connection
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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GCS Antenna(1/4)
Selected Antenna : 2415D
• Omni – Directional
• Better radiation patter.
• Better gain
• Cost effective
• Light
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
ModelConnection
TypeFrequency Direction Gain Price Weight
2415D N-Type 2.4 GhzOmni -
Directional15 dBi $53 0.6kg
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GCS Antenna (2/4)
Presenter: Cansu YIKILMAZ
Link Budget
CanSat 2017 CDR:Team #4404 (APIS AR-GE)
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GCS Antenna (3/4)
Presenter: Cansu YIKILMAZ
Link Budget Calculation
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
● Transmitter Output Power: 15 dBi
● Receiver Output Power: 5 dBi
● Miscellaneous Power Loss: 5 dB(estimated)
● Xbee Transmit Power: 17 dBm
● Xbee receiver sensitivity: -102 dBm
● Maximum predicted link distance: 3 km
● FSPL(Free Space Path Loss) is calculated as 89.45 dB for d = 3000
meters and f = 2.4GHz
● Pout is calculated as -78.45 dBm > -102 dBm, so our margin is
approximately -23.55 dBm which is very sufficient.
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GCS Antenna(4/4)
Model Type Weight Material Price
Hand Held Hand Held ~1 kg 3D Printed ABS $6
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
Advantages of using Hand Held
Design:
• Cost effective.
• Easy to use.
• Lightweight.
• Very small.
• Control and stabilization of the
antenna with hand held design is a lot
easier.
• Manufacturing of hand held design
will be made by 3D printer.
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(If You Want) GCS Software(1/4)
125
Telemetry Prototype
• <TEAM ID>,<MISSION TIME>,<PACKET COUNT>,<ALTITUDE>,
<PRESSURE>,<TEMP>, <VOLTAGE>,<GPS TIME>,<GPS LATITUDE>,<GPS
LONGITUDE>,<GPS ALTITUDE>,<GPS SATS>,<TILT X>,<TILT Y>,<TILT
Z>,<SOFTWARE STATE>,<ROLL>,<PITCH>,<YAW>,<CAMERA STATE>
Commercial Software Used
• Visual Studio 2015 Community
• XCTU (Xbee Program Software)
• MATLAB 2016a Student Version
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) GCS Software(2/4)
126
Commanding and Plotting Software Design
• Received data will be displayed and plotted in real time by Visual Studio.
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) GCS Software(3/4)
127
• Orientation of the probe will be shown in the MATLAB.
GYROSCOPE ORIENTATION (MATLAB)
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) GCS Software(4/4)
128
• Data is saved as .CSV format. In CSV format, data is separated by comma.
• Command software and interface and plotting software are programmed with
Visual Studio using C# program language.
• Data is saved by the GCS program created by Visual Studio C#, after serial
connection is established, each data from serial port should be saved.
• All received data is recorded in real time and plotted by GCS software.
• Telemetry data and plots will be displayed in engineering units (meters,
meters/sec, Celsius, etc.).
• CSV File name should be “Flight_4404.csv”.
• All data is delivered to jury via Flash Memory Stick.
Progress Since PDR
● Command and plotting interfaces are programmed in visual studio by
using C# programming language.
● Orientation of probe is shown in MATLAB successfully.
Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) GCS Bonus Wind Sensor
• Camera task is chosen as bonus mission.
129Presenter: Cansu YIKILMAZ CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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130
CanSat Integration and Test
Ozen HALIC
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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CanSat Integration and Test
Overview(1/6)
131
Test Overview
Subsystem Level Testing
Sensors
CDH
EPS
Communication
Mechanism
Integrated Functional Level Testing
Release Mechanism
Trigger release
Mechanisms
Probe parachute release
Communications
Ground Station
Telemetry
Antennas
Environmental Testing
Vibration
Thermal
Drop
Dimension Verification
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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CanSat Integration and Test
Overview(2/6)
132
Sensors
• It is verified all of the sensors are functioning correctly, we first triedthem with breadboard, then checked the system all together.
CDH
• Transmission of telemetry via Xbee module is verified.
• Communication is checked.
EPS
• Current leakages is found and PCB redesigned accordingly.
• Battery is found to provide sufficient voltage.
Comm.
• Xbee and Antenna are tested for healthy data transfer in maximum range.
Mech.
• Deployment servo is calibrated and ensured to be working.
• Spring is tested whether it is producing enough force for deployment.
Subsystem Level Testing
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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CanSat Integration and Test
Overview(3/6)
Release Trigger
Altitude sensor is working in cooperation with servo motor.
Force release command sent from GCS is working.
MechanismsIt is confirmed the servo and moving parts of
deployment, opening mechanism is working properly.
Probe Parachute Release
Altitude sensor is working in cooperation with servo motor.
133
Integrated Functional Level Testing
1.Release heat-shield from probe
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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Integrated Functional Level Testing
CanSat Integration and Test
Overview(4/6)
Ground Station
Software
It is tested that the software is plotting the telemetries second by second.
TelemetryData transmissions from the sensors are transmitted
to the GCS via XBee module.
AntennasAntenna is tested within the different ranges to make
sure data transfer is smooth.
134
2.Communications
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
Communication Tests Methodology
Laboratory conditions and two coasts of Bosphorus are chosen to do
communication test.
Payload and GCS are placed on different sides of Bosphorus.
Xbee is tested whether the range is enough for the mission or not.
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CanSat Integration and Test
Overview(5/6)
135
Drop Test
Attach the payload to the quadcopter.
Quadcopter rises until the altitude reach 700
meter.
Drop the payload and see if probe and heat
shield separate from each other.
Check out both probe and heat shield if they
survive after free-fall.
Check out the egg whether is broken or not.
Fall test is done on the roof of our faculty.
Thermal Test
Thermal tests are done at university laboratory
to see whether mechanical and electronic
components can withstand at extreme
temperatures.
Set timing equal to time that payload’s stay in
the air.
Check out that heat shield can endure specific
temperatures.
Environmental Testing
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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Overview(6/6)
136
Vibration Test
Structural integrity, probe strength and
fatigue will be determined with vibration
test.
Mount the payload to the machine.
The sander adjusted to its max. power.
After the power up, sander is turned off
during 2 seconds of periods.
Repeat the process for 1 minute.
Check out if there is any damage on
payload.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
Dimension Verification
Dimensions are verified by sensitive
equipment.
Diameter of CanSat is verified using a laser-
cutted hoop with hole diameter equal to
competion requirement (125mm).
Height is verified using a digital caliper.
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(If You Want) Test Procedures Descriptions
137
Test Procedures Test Description Requirements Pass/Fail Criteria Pass/Fail
Sensors
Subsystem Test
Sensors are tested at
different temperatures
for long time periods to
see how accurate
sensors are.
SS-1, SS-5
SS-6
Incoming data must be
accurate, continuous
and stable.
(CDH)
Serial
Communication
Test
Microcontrollers baud
rate is to be fixed at
9600 and all data is to
sent in string format.
CDH-2
CDH-7
If string formatted data
is sent without
interruption and in the
desired order, test is
successful.
(CDH)
RTC Time Keeping
Test
RTC is started-
stopped continuously
and RTC data is
recorded.
CDH-2
Despite the forced
resets RTC must keep
the time and continue
from where it reset.
(FSW)
Release
Mechanism
Algorithm Test
CanSat with heat
shield is thrown from
rooftop of 18 meters.
FSW-1, FSW-4
Servo motor must be
triggered to release the
heat shield.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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138
Test Procedures Test Description Requirements Pass/Fail Criteria Pass/Fail
(EPS)
Battery Test
Battery is connected to
PCB and voltmeter is
connected in parallel.
EPS-1, EPS-5
Read voltage must be
3.7 Volts as
calculated.
(EPS)
Voltage and
Current Leakage
Test
Voltmeter is connected
at the not power
connected points.
-
Read voltage must be
zero at these neutral
points.
Wireless
Communication
Test
Flight controller is
connected to Xbee and
data transfer is started.
CDH-4
Despite the forced
resets RTC must
keep the time and
continue from where
it reset.
Servo Motor
Calibration Test
Servo motor rotation is
calibrated with flight
algorithm code.
FSW-2
Motor must rotate
90deg. as the
command turn(90)
sent.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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139
Test Procedures Test Description Requirements Pass/Fail Criteria Pass/Fail
Heat shield
Deployment Test
CanSat will be
dropped several times
to make sure cap is
safely removing.
DCS-2
Cap holding the rods
must be freed, letting
heat shield open.
Heat shield
Release Test
Servo motor will be
tested with a special
circuit.
FSW-1,DCS-3
If servo motor turns
about 90deg. Heat
shield will be
separated.
Spring Test
Spring is exposed to
varying forces for 10
minutes.
DCS-2
Spring must not show
deformation and
produce enough force
for heat shield
deployment.
Parachute Release
Test
Servo motor will be
tested with a special
circuit.
DCS-5, MS-3Parachute must be
released smoothly.Not tested yet.
Tumble TestCanSat will simulate
flight.DCS-4
CanSat must not
tumble.
Partially passed
tests will
continue.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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140
Test Procedures Test Description Requirements Pass/Fail Criteria Pass/Fail
BMP 180 Test
Pressure sensor is
kept working at
different temperatures
and incoming data is
recorded.
SS-1, SS-5
Recorded pressure
and temperature data
must be stable and
must not have
oscillation.
MPU 6050 Test
Gyroscope is kept
working for 1 hour and
data is recorded both
as the sensor is being
moved and kept
steady.
SS-1, SS-2
If data is stable as the
sensor is steady and
data is changing
accordingly with the
actual movement,
test is successful.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
Altitude sensor data plotted
on ground station.
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(If You Want) Test Procedures Descriptions
141
Test Procedures Test Description RequirementsPass/Fail Criteria
Pass/Fail
Deformation and
Stress Test of
CanSat parts
Total deformation of
main frame and heat
shield is analyzed by
ANSYS 16.0.
SY-14, MS-12,
MS-13
Result of analysis
must show that main
frame and heat shield
will withstand landing
impact.
Total Flight
Duration Test
CanSat is released
from drone and flight
time is recorded.
CDH-3
Total flight duration
must be close to 80
seconds as
calculated.
Not tested yet.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
A screenshot captured from
main frame stress and
deformation test results
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(If You Want) Test Procedures Descriptions
142
Test
ProceduresTest Description Requirements Pass/Fail Criteria Pass/Fail
Vibration Test
Probe is placed on vibration
test machine and vibration
machine is operated at high
frequencies.
SY-16
CanSat must survive
one piece,
undamaged.
Not tested yet.
Thermal Test
Thermal tests are made at
hand made furnace
temperatures up to 80
Celcius.
-
All components must
withstand
undamaged.
Drop TestFree fall test with
quadcopter is planned.
SY-12, SY-13,
SY-16
After CanSat lands
components and
hen’s egg must be
intact.
Mass TestTotal mass of the CanSat is
measured.SY-1, MS-1
Total mass must be
500g.
Dimensions
Test
Stowed CanSat and
deployed heat shield
dimensions are measured
with calipers.
SY-3,MS-2
CanSat dimensions
must be less than
requirements.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Ozen HALIC
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143
Mission Operations & Analysis
Aykut UCTEPE
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144
Arrival
• Team will arrive to launch site.
• Integrity of CanSat will be checked for damage.
• GCS and antenna will be prepared.
Pre-launch
• Assembly of CanSat.
• Insertion of Hen’s egg.
• Final corrections will be done for probe including separation mechanism and sensor subsystem test.
• Making sure that total mass is between 490g and 510g.
• Check whether the probe fits rocket smoothly.
Deployment
• CanSat will be taken and switched on before installing to rocket.
• Data transfer with GCS will be confirmed.
• Rocket will be delivered to staff member.
Damage control:
Ozen-Altug
Mission Control
Officer:
AykutMechanics:
Oguzhan-Kemal
Electronics:
Berkay-Furkan
Overview of Mission Sequence of
Events(1/2)
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
CanSat Crew
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145
Overview of Mission Sequence of
Events(2/2)
Launch
• Rocket will launch after Mission Control Officer completes flight procedures.
• Probe will free itself at apogee and start descent with heat shield until 300m.
Airborne
• At 300 meters, heat shield separation mechanism will be activated and parachute will be decelerate probe to 4.98 m/s.
• Probe will collect telemetry data and transfer to the GCS during descent.
Recovery
• Probe lands with parachute while protecting hen’s egg.
• With GPS telemetry and initialized audio beacon recovery team locate the CanSat.
• Recovery team will start searching when all launches are completed and area is safe.
Analysis
• Transmitted data will be analyzed.
• Telemetry data file will delivered to field judge for review.
• Moving on to PFR.
Data Analysis
Burak-Altug
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
Ground Control
Station
Cansu
Probe
Oguzhan,Kemal
Cap&Heat shield
Ismail,Ozen
PFR
Kemal,Furkan
Recovery Crew
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(If You Want) Field Safety Rules Compliance
Mission operations manual will consist
of 6 sub-topics as indicated in mission
guide. Preparing mission guide will help
team members to understand safety
procedures.
Indicated manual will also be used in
launch rehearsals before competition
day.
Two copies of the Manual in three ring
binders will be present at Flight
Readiness Review the day before
launch.
The draft of the document is created. It
is updated as we progress towards the
launch day. The document will be
finalised in April.
146CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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147
CanSat Location and Recovery
Heat shield Recovery CanSat Recovery
The heat shield will have bright color.
Heat shield will free fall after separation,
GPS data at 300 meters will provide
approximate location to recovery crew.
Recovery crew will find heat shield with
the help of bright color and GPS data.
The CanSat will be painted bright and
visible color.
The CanSat will initialize audio beacon
after landing.
GPS sensor will provide information
about landing location.
Recovery team will detect CanSat by
observing its color, hearing buzzer
and analyzing last GPS coordinates.
CanSat Competition 2018
#4404 APIS
If found, please contact:
apisarge@gmail.com
+90-534-395-2519
Figure:
Address labelling on
CanSat and heat
shield
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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148
Mission Rehearsal Activities(1/2)
Ground Control System Radio Link Check
• Ground Station and Xbee are communicating as required.
• Communication between Ground Station and Xbee are strong and efficient.
• Telemetry data is taken for controlling accurate data.
Powering on/off CanSat
Rehearsed at 03.18.2018
Rehearsed at 03.18.2018
• CanSat gets powered on by an external switch.
• System can be rebooted by wireless GCS command.
Launch Configuration Preparations
• Final integration and component placing tests will be done.
• Ground Station will be ready to take data.
Will be rehearsed on May
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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149
Mission Rehearsal Activities(2/2)
Rocket-Payload Assemble
• Final integrated CanSat will be loaded into a imitation rocket frame to detect any possible
problems.
Will be rehearsed at May
Telemetry Processesing
• The final version of the software will be used.
• Telemetry data will be collected,stored in SD card and GCS
• Data will be analyzed at ground Control Station.
Will be rehearsed at May
Recovery
• Recovery team will get ready.
• Heat shield,probe and little parachute were tracked.
• Landing locations will be found with GPS data.
• Main components will be recovered.
Will be rehearsed at May
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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150
Requirements Compliance
Burcu GOCEN
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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Requirements Compliance
Overview
151
Improvements since PDR
The table filled according to requirement based compliance help us to see which
subsystem is needed to be developed.
Most of the tests are done after PDR is delivered, and requirement table is redesigned
accordingly.
Theoretical results are verified with actual tests.
Partially complied requirements will be complied after remaining tests and rehearsals are
done.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
The majority of the requirements are currently complied.
There is not any requirement that does not complied with our integrated system.
Presenter: Burcu GOCEN
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(If You Want) Requirements Compliance(1/8)
152
ID Requirement Compliance Demonstrator Comments & Notes
01Total mass of the CanSat (probe) shall be 500 grams
+/- 10 grams. Comply p.76
02
The aero-braking heat shield shall be used to protect
the probe while in the rocket only and when deployed
from the rocket. It shall envelope/shield the whole
sides of the probe when in the stowed configuration
in the rocket. The rear end of the probe can be open.
Comply p.16
03 The heat shield must not have any openings. Comply p.59
Heat shield is
manufactured as one
piece.
04The probe must maintain its heat shield orientation in
the direction of descent. Comply p.45-46
05The probe shall not tumble during any portion of
descent. Tumbling is rotating end-over-end.Partial p.45-46
Theoretically passed.
Complied in initial test.
Inspections will continue.
06
The probe with the aero-braking heat shield shall fit
in a cylindrical envelope of 125 mm diameter x 310
mm length. Tolerances are to be included to facilitate
container deployment from the rocket fairing.
Comply p.21-22
07The probe shall hold a large hen's egg and protect it
from damage from launch until landing.Comply p.66-67
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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ID Requirement Compliance Demonstrator Comments & Notes
08
The probe shall accommodate a large hen’s egg with
a mass ranging from 54 grams to 68 grams and a
diameter of up to 50mm and length up to 70mm.
Comply p.66-67
09
The aero-braking heat shield shall not have any
sharp edges to cause it to get stuck in the rocket
payload section which is made of cardboard.
Comply p.21Heat shield is designed
accordingly.
10The aero-braking heat shield shall be a florescent
color; pink or orange.Comply
Material is chosen
accordingly.
11The rocket airframe shall not be used to restrain any
deployable parts of the CanSat. Comply p.57
CanSat is designed
accordingly.
12The rocket airframe shall not be used as part of the
CanSat operations.Comply
CanSat is designed
accordingly.
13The CanSat, probe with heat shield attached shall
deploy from the rocket payload section. Comply p.15-22
14The aero-braking heat shield shall be released from
the probe at 300 meters. Comply p.68-69
15 The probe shall deploy a parachute at 300 meters. Comply p.70-71
Requirements Compliance(2/8)
153CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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ID Requirement Compliance Demonstrator Comments & Notes
16
All descent control device attachment components
(aero-braking heat shield and parachute) shall
survive 30 Gs of shock.
Partial p.141-142Theoretically complies but
not yet tested.
17All descent control devices (aero-braking heat shield
and parachute) shall survive 30 Gs of shock.Partial p.141-142
Theoretically complies but
not yet tested.
18
All electronic components shall be enclosed and
shielded from the environment with the exception of
sensors.
Comply p.72
19All structures shall be built to survive 15 Gs of launch
acceleration.Partial p.141-142
Theoretically complies but
not yet tested.
20 All structures shall be built to survive 30 Gs of shock. Partial p.141-142Theoretically complies but
not yet tested.
21
All electronics shall be hard mounted using proper
mounts such as standoffs, screws, or high
performance adhesives.
Comply p.72
22All mechanisms shall be capable of maintaining their
configuration or states under all forces. Comply p.142
Requirements Compliance(3/8)
154CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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ID Requirement Compliance Demonstrator Comments & Notes
23Mechanisms shall not use pyrotechnics or
chemicals.Comply
There is no mechanism
using these technics.
24
Mechanisms that use heat (e.g., nichrome wire)
shall not be exposed to the outside environment to
reduce potential risk of setting vegetation on fire.
Comply p.72
25
During descent, the probe shall collect air pressure,
outside air temperature, GPS position and battery
voltage once per second and time tag the data with
mission time.
Comply p.91
26
During descent, the probe shall transmit all
telemetry. Telemetry can be transmitted
continuously or in bursts.
Comply p.92
27
Telemetry shall include mission time with one
second or better resolution. Mission time shall be
maintained in the event of a processor reset during
the launch and mission.
Comply p.86
28
XBEE radios shall be used for telemetry. 2.4 GHz
Series 1 and 2 radios are allowed. 900 MHz XBEE
Pro radios are also allowed.
Comply p.87-122
29XBEE radios shall have their NETID/PANID set to
their team number.Comply p.89-90
30 XBEE radios shall not use broadcast mode. Comply p.89
Requirements Compliance(4/8)
155CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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ID Requirement Compliance Demonstrator Comments & Notes
31
Cost of the CanSat shall be under $1000. Ground
support and analysis tools are not included in the
cost.
Comply p.163
32 Each team shall develop their own ground station. Comply p.117-129
33All telemetry shall be displayed in real time during
descent.Comply p.86
34All telemetry shall be displayed in engineering units
(meters, meters/sec, Celsius, etc.).Comply p.128
35Teams shall plot each telemetry data field in real
time during flight.Comply p.126
Requirements Compliance(5/8)
156CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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(If You Want) Requirements Compliance(6/8)
157
ID Requirement Compliance Demonstrator Comments & Notes
36
The ground station shall include one laptop
computer with a minimum of two hours of battery
operation, XBEE radio and a hand held antenna.
Comply p.120
37
The ground station must be portable so the team
can be positioned at the ground station operation
site along the flight line. AC power will not be
available at the ground station operation site.
Comply p.120
38Both the heat shield and probe shall be labeled with
team contact information including email address.Comply p.147
39
The flight software shall maintain a count of packets
transmitted, which shall increment with each packet
transmission throughout the mission. The value
shall be maintained through processor resets.
Comply p.111
40 No lasers allowed. ComplyThere is no laser in any
subsystem.
41The probe must include an easily accessible power
switch. Comply p.100
42The probe must include a power indicator such as
an LED or sound generating device.Comply p.100
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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ID Requirement Compliance Demonstrator Comments & Notes
43
The descent rate of the probe with the heat shield
deployed shall be between 10 and 30
meters/second.
Comply p.47
44
The descent rate of the probe with the heat shield
released and parachute deployed shall be 5
meters/second.
Comply p.51
45An audio beacon is required for the probe. It may be
powered after landing or operate continuously. Comply p.100
46
Battery source may be alkaline, Ni-Cad, Ni-MH or
Lithium. Lithium polymer batteries are not allowed.
Lithium cells must be manufactured with a metal
package similar to 18650 cells.
Comply p.101 .
47
An easily accessible battery compartment must be
included allowing batteries to be installed or
removed in less than a minute and not require a
total disassembly of the CanSat.
Comply p.63
48
Spring contacts shall not be used for making
electrical connections to batteries. Shock forces can
cause momentary disconnects.
Comply p.73
49
A tilt sensor shall be used to verify the stability of
the probe during descent with the heat shield
deployed and be part of the telemetry.
Comply p.31
Requirements Compliance(7/8)
158CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
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(If You Want) Requirements Compliance(8/8)
159
Bonus
Add a color video camera to capture the
release of the heat shield and the ground
during the last 300 meters of descent. The
camera must have a resolution of at least
640x480 and a frame rate of at least 30
frames/sec. The camera must be activated
at 300 meters.
Comply p. 32
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Burcu GOCEN
ID Requirement Compliance Demonstrator Comments & Notes
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160
Management
Aykut UCTEPE
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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(If You Want) Status of Procurements(1/2)
161
Mechanical
Component Model Quantity Order Date Status
Probe Main Frame 3D Print PLA 200 gr 10.15.2017 ~ 3.22.2018 Received
Heat shield Frame 3D Print PLA 50 gr 10.15.2017 ~ 3.22.2018 Received
Heat shield Fabric 30d silicone nylon 66cloth 1 m2 10.15.2017 ~ 3.22.2018 Received
Bubble Wrap - 2 m2 10.15.2017 ~ 3.22.2018 Received
Mechanism Spring 1 m 10.15.2017 ~ 3.22.2018 Received
Parachute 30d silicone nylon 66cloth 1 m2 10.15.2017 ~ 3.22.2018 Received
Release Mechanism Servo 9gr 2 10.15.2017 ~ 3.22.2018 Received
Egg Protection
Mechanism3D Print PLA 24 gr 10.15.2017 ~ 3.22.2018 Received
Other tools Adhesive,hinge, etc - 10.15.2017 ~ 3.22.2018 Received
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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162
Electronics
Component Model Quantity Order Date Status
Barometer BMP180 2 12.01.2017 Received
Voltage Regulator Pololu 5V 1 12.01.2017 Received
Camera Turbowing DVR 700TVL 1 12.01.2017 Received
SD Card SANDISK 16 GB 2 12.01.2017 Received
XBEE XBEES2B 3 12.01.2017 Received
XBEE’s Adapter XBEE Explorer Dongle 1 12.01.2017 Received
Antenna (Probe) 2405CL 1 12.01.2017 Received
Microcontroller Teensy 3.5 1 02.25.2018 Received
GPS Adafruit Ultimate GPS 1 02.25.2018 Received
Gyroscope MPU6050 1 02.25.2018 Received
BUZZER BUZZER 1 02.25.2018 Received
MOSFET - 1 02.25.2018 Received
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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Electronics
Component Model Quantity Unit Price[$] Total[$]
Gyroscope MPU6050 1 8.25 (Actual) 8.25
Barometer BMP180 2 10.00 (Actual) 20.00
GPS Adafruit Ultimate GPS 1 39.95 (Actual) 39.95
Camera Turbowing DVR 700TVL 1 16.81 (Actual) 14.99
SD Card SANDISK 16 GB 2 6.00(Actual) 12.00
XBEE XBEES2B 2 55.00 (Actual) 110.00
Antenna (Probe) 2405CL 1 5.00 (Actual) 5.00
Microcontroller Teensy 3.5 1 24.95 (Actual) 24.95
SD Card Reader SD Card Reader 1 1.20 (Actual) 1.20
Voltage Regulator Pololu 5V 1 7.00(Actual) 7.00
MOSFET - 1 0.7(Actual) 0.7
BUZZER BUZZER 1 1.00(Actual) 1.00
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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Mechanical
Component Model Quantity Unit Price[$] Total[$]
Probe&Heat shield
Components3D Print ABS 250 gr 0.40 per gr 100.00 (Actual)
Bubble Wrap - 2 m2 0.5 per m2 1.00 (Actual)
Parachute&
Heat shield
Fabric
30d silicone nylon
66 cloth2 m2 5.00 per m2 5.00 (Actual)
Mechanism Spring 1 m 5.00 per m 5.00 (Actual)
Release
MechanismServo 9gr 2 5.00 10.00 (Actual)
Other tools Adhesive,hinge, etc - 25.00 30.00 (Estimate)
OVERALL TOTAL
(Mechanical+Electronics):$ 374.09
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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Ground Station
Component Model Quantity Unit Price[$] Total[$]
XBEE XBEES2B 1 55.00 (Actual) 55.00
XBEE’s Adapter XBEE Explorer
Dongle
1 24.95 (Actual) 24.95
Antenna(Ground) 2415D 1 Re-Used 53.00 (Actual) 53.00
Computer Dell-inspiron 3542 1 Re-Used Private Private
TOTAL (Ground Station): $ 154.9
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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Other Costs Quantity Unit Price[$] Total[$]
Travel 10 500 (Estimate) 5000
Hotel 2x5 Days 100 (Estimate) 1000
Car Rental 2x6 Days 80 (Estimate) 960
Prototyping 3 30 (Estimate) 90
Test facilities and
equipment
University Provided University Provided University Provided
Fee 1 100 (Actually) 100
TOTAL $ 7150
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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Categories Cost [$]
Electronics and Mechanical 374.09
Ground Station 154.9
Other Costs 7150
TOTAL $ 7678.99
INCOME $ 10000
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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PROGRAM SUMMARY
Presenter: Aykut UCTEPE CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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DETAILED PROGRAM
Presenter: Aykut UCTEPE CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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170Presenter: Aykut UCTEPE CanSat 2018 CDR: Team #4404 ( APIS AR-GE )
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Flight
CanSat
Hardware
Tools and
Equipment
• Chosen airline: Turkish Airlines
• Planned arrival to Houston: 06.07.2018
• We have covenanted a cargo company to carry
our CanSat from Istanbul to Houston.
• It will be transported inside safe containers.
• The contracted cargo company will carry our
Antenna mast and assembly, spare part and other
materials.
• They will be transported inside safe bags.
Shipping and Transportation
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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Administration & Finance
Electronics & Programming
Mechanics & Aerodynamics
172
ConclusionsConclusions
Major Accomplishments:
1. Schedule was created.
2. Financial income was secured.
3. Airline tickets sponsors were found.
4. PDR was completed.
Major Unfinished Work:
1. Visas of 5 team members are not
approved yet.
Major Accomplishments:
1. Electronic component choosing is
almost fully completed.
2. Electronic design progress is almost
done.
Major Unfinished Work:
1. The fully integrated electronic systems
will be tested in order to have perfect
functionality.
Major Accomplishments:
1. Probe, parachute and heat shield
trades were elaborately discussed and
a choice that seemed the best for every
branch was made.
Major Unfinished Work:
1. The fully finished CanSat needs to be
tested with drone.
Conclusion: The schedules and deadlines have been met.
Team APIS ARGE is ready to move on to Launch Day and PFR.
5. CDR was completed.
6. We have covenanted
a cargo company to carry
our CanSat from Istanbul
to Houston.
2. Majority of tests are
done.
3. Flight Software
design progress is
almost finalised.
CanSat 2018 CDR: Team #4404 ( APIS AR-GE )Presenter: Aykut UCTEPE
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