3. Purpose
Presenter: 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
4. Design Ideas/Philosophy
Presenter: 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
5. System Overview
Presenter: Jake Adzema
● Size choice - Satellite and debris
● Capture method
● Layout
O.S.C.A.R.
10 December 2015
7. ● Secondary payload in a P-POD
● Sun-synchronous orbit
○ 95° to 105° inclination
○ 600 km to 800 km
● Launch with most observation satellites
Launch
Presenter: 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/
8. Structure
Presenter: 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
9. Deployment
Presenter: Ryan Moriarty
Tumble Initialize Confirm Status
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
10. Power
Presenter: 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
11. Power
Presenter: Ryan Moriarty
Battery
Clyde Space
10 Wh Capacity
Thermal control
Solar Panels
Clyde Space
7.29 W
Magnetorquers
Electrical Power System
Clyde Space
10 Outputs
Radiation 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_cubesa
t-standalone-battery Source:http://www.clyde-space.com/cubesat_shop/solar_panels
13. Initialization
Presenter: 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
14. ADCS
Presenter: 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
18. ADCS Summary
Presenter: 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
19. Rendezvous
Presenter: 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 2015
Hohmann Transfer
Nodal Precession Close Up
20. Propulsion
Presenter: 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
21. Thermals
Presenter: 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
22. Radiation Protection
Presenter: 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
23. 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
24. Sensing
Presenter: 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
25. 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 MIPS
Memory: 8GB flash, 512MB RAM
Radiation-Hardened
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
26. Processing Power Allocation
Presenter: 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
27. Capture
Presenter: 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
28. Net Launch Device
Presenter: 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
29. Net Launch Device Future Plans
Presenter: 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
30. Telecommunications
Presenter: 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.pdf
Source:
http://www.gomspace.com/index.php?p=products-ant430
31. Telecommunications
Presenter: 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
32. 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
33. Additional Applications
Presenter: 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
34. Known Cost
Presenter: 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
35. Risks
Presenter: 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
36. Final Remarks
Presenter: 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
40. Initial Design Model
Presenter: 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
43. 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
