oscar final presentation
TRANSCRIPT
Jake Adzema - AERO/MECH (2016) Alex Austin - AERO/MECH (2016) Austin Kubiniec - AERO/MECH (2016) Colin Lenhoff - AERO/MECH (2015)
Alexander Malin - MECH (2016) Ryan Moriarty - AERO (2016)
Jesse Pelletier - AERO/MECH (2016)
Rensselaer Polytechnic Institute
10 December 2015
BackgroundPresenter: Jesse Pelletier
O.S.C.A.R.
10 December 2015
Source: http://www.scientificamerican.com/article/how-space-debris-spinning-out-of-control/
PurposePresenter: Jesse Pelletier
● Active solution to space debris de-orbit● Use COTS hardware● Combined de-orbit in 5 years● Extension to future missions
O.S.C.A.R.
10 December 2015
Design Ideas/PhilosophyPresenter: Jake Adzema
● Use proven/tested technologies● Reliable, relatively inexpensive, easy to manufacture● High degree of autonomy throughout mission● Future goals: fleet of CubeSats ready to be launched at anytime● Work in tandem with larger systems to make a real impact on cleaning space
O.S.C.A.R.
10 December 2015
System OverviewPresenter: Jake Adzema
● Size choice - Satellite and debris
● Capture method
● Layout
O.S.C.A.R.
10 December 2015
MissionPresenter: Alex Malin
O.S.C.A.R.
10 December 2015
● Secondary payload in a P-POD● Sun-synchronous orbit
○ 95° to 105° inclination○ 600 km to 800 km
● Launch with most observation satellites
LaunchPresenter: Alex Malin
Launch ➨ Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: http://ccar.colorado.edu/asen5050/projects/projects_2011/leppek/
StructurePresenter: Alex Malin
● Meets CubeSat Design Specification R13○ Aluminum only○ No large gaps in rails○ Standard 3U size
● Flight proven, made by Innovative Solutions In Space● Accommodates antenna in middle of structure● Ready to go, no modifications
Launch ➨ Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
DeploymentPresenter: Ryan Moriarty
Tumble Initialize Confirm Status
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
PowerPresenter: Ryan Moriarty
● Optimized for worst case scenario ○ β=0
● Factor of Safety 1.5● Power budget
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: https://upload.wikimedia.org/wikipedia/commons/thumb/a/af/Beta_angle_sun.svg/2000px-Beta_angle_sun.svg.png
PowerPresenter: Ryan Moriarty
BatteryClyde Space10 Wh CapacityThermal control
Solar PanelsClyde Space7.29 WMagnetorquers
Electrical Power SystemClyde Space10 OutputsRadiation Tolerant
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: http://www.clyde-space.com/3g_eps_range/422_3g-flex-eps
Source:http://www.clyde-space.com/cubesat_shop/batteries/279_cubesat-standalone-battery Source:http://www.clyde-space.com/cubesat_shop/solar_panels
Power Analysis
10 December 2015
InitializationPresenter: Jesse Pelletier
Receive directive, either rendezvous or immediate de-orbit (Mission failure)
Activate ADCS
● Detumble● Find sun● Orient for power● Spin up for stability
Send status and callsign once per minute
Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
ADCSPresenter: Jesse Pelletier
iADCS-100 (Berlin Space Tech.)
● Reaction wheels, magnetorquers, star tracker, nadir tracking, target pointing
Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: https://directory.eoportal.org/web/eoportal/satellite-missions/a/aalto-1
ADCS ModelingPresenter: Jesse Pelletier
O.S.C.A.R.
10 December 2015
ADCS ModelingPresenter: Jesse Pelletier
● Sensor dynamics
O.S.C.A.R.
10 December 2015
ADCS Modeling Presenter: Jesse Pelletier
● State estimator (Kalman filter)
O.S.C.A.R.
10 December 2015
ADCS SummaryPresenter: Jesse Pelletier
Simulation of real system
● 5Hz discrete sample time● Quaternion-based● Sensor and Kalman filter● Performance can only improve
Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: iADCS-100 Interface Control Document
RendezvousPresenter: Colin Lenhoff
● Calculate orbital maneuvers, despin● 800 km circular orbit● 37 m/s ∆V Precession Change of 7 deg/yr● 76 m/s ∆V 0.3 Inclination Angle Change● 137 m/s ∆V for 800 km to 300 km Perigee Half Year Nodal Precession Change
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015Hohmann Transfer
Nodal Precession Close Up
PropulsionPresenter: Colin Lenhoff
● Aerojet Rocketdyne MPS-130● AF-M315E Propellent ● 340 m/s ∆V for 4 kg● 5℃ - 50℃
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: Test Results of for MPS-120 and MPS-130 CubeSat Propulsion Systems
Source: Test Results of for MPS-120 and MPS-130 CubeSat Propulsion Systems
Source: Test Results of for MPS-120 and MPS-130 CubeSat Propulsion Systems
ThermalsPresenter: Jake Adzema
● Two cases to consider○ Direct view of sun○ Sun completely blocked by Earth
● Operational range: 5 to 50 °C● Propulsion system defines the temperature
range● One heater provides extra heat to propulsion● Calculated to stay between 10 and 40 °C
Heat emitted via radiation Heat absorbed from sun
AlbedoInfrared
Heat emitted via radiation
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Radiation ProtectionPresenter: Jake Adzema
● Radiation tolerant components● Short mission life span● Chassis made of aluminum and solar panels should deflect most radiation
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: https://upload.wikimedia.org/wikipedia/commons/thumb/6/61/Alfa_beta_gamma_radiation_penetration.svg/2000px-Alfa_beta_gamma_radiation_penetration.svg.png
Localization Presenter: Alex Malin
● Now within ~10 meters of target● Stereo vision sensing system will locate target● Slowly move toward target and stop● Evaluate target
○ ~10x10x10 cm○ 2.5 kg○ Limited or no tumbling○ Solid○ Sharp edges
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
SensingPresenter: Alex Malin
● Two cameras for stereo vision○ Consumer camera sensors○ Deployed for extra distance between sensors○ Can create disparity to just over 10 m
● Determines relative location● Can evaluate target for...
○ Volume○ Total size○ Tumbling○ Jaggedness
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
What does the computer do?Presenter: Austin Kubiniec
Orders for all subsystems
Calculate maneuvers
Talk to Telecom
Image processing
Operate sensors, and the capture
Source: www.spacemicro.com
Processing Power: 1200 MIPSMemory: 8GB flash, 512MB RAM
Radiation-Hardened
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Processing Power AllocationPresenter: Austin Kubiniec
● Most of the processing goes to sensing● Identification of debris object will require
in-depth image processing capabilities● The computer contains a Field
Programmable Gate Array (FPGA) which can be used to render point clouds at high frames per second
● Given a resolution of 2592x1944, we expect a maximum frame rate of 0.212 fps
Localization ➨ Capture ➨ De-orbit
Source: http://robotica.unileon.es/mediawiki/index.php
O.S.C.A.R.
10 December 2015
CapturePresenter: Austin Kubiniec
● Computer initiates capture● Ship repositions and reorients● Net is fired● Net entangles debris object● Pull back to cubesat
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Net Launch DevicePresenter: Alex Austin
● Custom designed part○ Housed in top unit of CubeSat○ Center section holds an 18 in. x 18in. net
○ Four perimeter barrels hold weights to be launched and pull net out of structure
● Compressed gas reservoir with solenoid valve for release
● Small servo motor to pull debris object back to CubeSat after net entanglement
● Full-scale 3D printed ABS design model created to perform system validation
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Net Launch Device Future PlansPresenter: Alex Austin
● Determine an ideal net material● Manufacture a working prototype to perform net launch microgravity testing
and further refine design● Develop a cover to contain net before debris capture● Final flight model will likely be made of aluminum through a CNC milling or 3D
printing process● Explore additional uses of this device to capture objects other than debris
The initial steps have been laid to bring this design to production
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
TelecommunicationsPresenter: Alex Austin
ISIS VHF downlink/UHF uplink Full Duplex Transceiver
GOMspace NanoCom ANT430 UHF Turnstile Antenna
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
● Full duplex transceiver● 1.2 kbps uplink/9.6 kbps
downlink
● Omni-directional antenna● Mountable within center of
structure
Source: http://www.isispace.nl/brochures/ISIS_TRXUV_Transceiver_Brochure_v.12.5.pdfSource: http://www.gomspace.com/index.php?p=products-ant430
TelecommunicationsPresenter: Alex Austin
● At maximum altitude of 800 km and minimum elevation angle of 10 degrees:
○ Minimum CubeSat receiver sensitivity = -84.55 dBm > -104 dBm (sensitivity of CubeSat transceiver)
○ Minimum ground station sensitivity = -88.01 dBm
● Utilizing STK analysis with the Wallops, VA ground station:
○ Average communication time is 500 - 700 seconds per pass
○ Uplink: 75 - 105 kilobytes○ Downlink: 600 - 840 kilobytes
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
De-orbit Presenter: Alex Austin
● Perform a retrograde burn to reach lower altitude● With maximum sized debris object captured, burn will bring the system to a
minimum 300 km altitude○ Deorbit in less than a year
● Any excess propulsion will be used to shorten this time● Both the CubeSat and captured debris object will burn up on re-entry
De-orbit
O.S.C.A.R.
10 December 2015
Additional ApplicationsPresenter: Ryan Moriarty
● Object retrieval mission○ Launch from ISS○ Capture and return to ISS
● Object investigation mission○ Launch to unknown NEO○ Inspect with stereo vision
● Adaptable Payload
O.S.C.A.R.
10 December 2015
Known CostPresenter: Ryan Moriarty
O.S.C.A.R.
10 December 2015
Component Cost
CPU $100,000
ACS $154,000
Transceiver $9,500
Antenna $6,000
Propulsion TBA
Solar Panel $26,000
Battery $2,000
EPS $13,500
Structure $4000
Payload TBA
Total $315,000 + Propulsion/Payload
RisksPresenter: Ryan Moriarty
O.S.C.A.R.
10 December 2015
Risk Mitigation
Hardware Failure Flight tested hardware
Propulsion might not be produced MPS-120
Obsolete hardware Update CubeSat
Net Device not COTS Ground/ESA testing
Final RemarksPresenter: Alex Austin
● Highly reliable system based on flight tested hardware
● Payload device is ready for second stage design work and testing
● Foresee a future with a fleet of these units ready to be launched at anytime
● As a supplement to larger debris de-orbiting devices, this will make a significant contribution to cleaning space over time
O.S.C.A.R.
10 December 2015
Questions
O.S.C.A.R.
10 December 2015
Backup Slides
O.S.C.A.R.
10 December 2015
Detumble● Same initial Euler angles
O.S.C.A.R.
10 December 2015
Initial Design ModelPresenter: Alex Austin
● Full-scale 3D printed ABS model of Net Launch Device within CubeSat unit
○ Sample servo motor, air reservoir,
solenoid valve, and pneumatic tubing lines
● Provides validation of initial system layout and opportunity to identify future improvements before a flight prototype
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Initial Design ModelPresenter: Alex Austin
O.S.C.A.R.
10 December 2015
Initial Design ModelPresenter: Alex Austin
O.S.C.A.R.
10 December 2015
Works Cited● http://robotica.unileon.es/mediawiki/index.php/PCL/OpenNI_tutorial_2:_Cloud
_processing_(basic)● http://www.scientificamerican.com/media/multimedia/0212-spacejunk/img/cha
rt-historical-debris-growth.jpg● http://ccar.colorado.edu/asen5050/projects/projects_2003/wilson/index_files/i
mage017.gif● Carpenter, C., Schmuland, D., Overly, J., and Dr. Masse, R. Test Results for the MPS-120 and MPS-130 CubeSat Propulsion
Systems. Aerojet Rocketdyne. Web. 3 Dec 2015.
O.S.C.A.R.
10 December 2015