Citrus-College-NASA SL Proposal-2014-15

NASA Student Launch Proposal
Mini-MAV Competition
2014-15
1000 W. Foothill Blvd.
Glendora, CA 91741
Project Λscension
October 4, 2014

Table of Contents
General Information..................................................................................................................................5
1. School Information ..........................................................................................................................5
2. Adult Educators.................................................................................................................................5
3. Safety Officer ......................................................................................................................................5
4. Student Team Leader......................................................................................................................5
5. Team Members and Proposed Duties......................................................................................5
6. NAR/TRA Sections...........................................................................................................................6
Facilities / Equipment..............................................................................................................................7
1. Facilities................................................................................................................................................7
2. Computer Equipment ..................................................................................................................11
3. EIT Accessibility Standards.......................................................................................................12
Safety............................................................................................................................................................12
1. Safety Plan........................................................................................................................................12
1.1 NAR/TRA Procedures...............................................................................................................17
1.2 Hazard and Pre-Launch Briefings........................................................................................18
1.3 Caution Statements....................................................................................................................18
1.4 Compliance with State and Local Laws.............................................................................19
1.5 Plan for purchase, storage, transport, and use of rocket motors...........................21
1.6 Safety Contract.............................................................................................................................21
Technical Design......................................................................................................................................22
1. Rocket and Payload Design.......................................................................................................22
a. General Vehicle Specs.............................................................................................................22
b. Projected Altitude....................................................................................................................23
c. Recovery System.......................................................................................................................23
d. Motor Information...................................................................................................................24
e. AGSE...............................................................................................................................................24
f. Requirements..............................................................................................................................30
g. Technical Challenges and Solutions.................................................................................37
Educational Engagement.....................................................................................................................38
Project Plan................................................................................................................................................41
1. Timeline.............................................................................................................................................41
2. Budget ................................................................................................................................................43
3. Funding Plan....................................................................................................................................47
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4. Plans to Solicit Additional Support........................................................................................48
5. Sustainability Plan ........................................................................................................................48
Appendix A: Citrus College Profile..................................................................................................49
Appendix B: Safety Contract..............................................................................................................50
Appendix C: NAR High Power Safety Code .................................................................................51
List of Figures
Figure 1: Organizational Flowchart ...................................................................................................6
Figure 2: Proposed Rocket..................................................................................................................22
Figure 3: Proposed AGSE Body/Chassis Design........................................................................25
Figure 4: Proposed Design of AGSE with Rocker Bogie Suspension.................................26
Figure 5: Range of Robotic-Arm .......................................................................................................28
Figure 6: NASA Student Launch Timeline ....................................................................................41
Figure 7: AGSE and Rocket Construction Timeline..................................................................41
Figure 8: Outreach Timeline...............................................................................................................42
Figure 9: Budget Distribution............................................................................................................46
List of Tables
Table 1: Team Member Duties .............................................................................................................5
Table 2: Risk Matrix ...............................................................................................................................12
Table 3: Severity Definitions..............................................................................................................13
Table 4: Probability Definitions........................................................................................................13
Table 5: Materials Hazards and Mitigations................................................................................14
Table 6: Facilities Hazards and Mitigations.................................................................................15
Table 7: Equipment Hazards and Mitigations ............................................................................17
Table 8: Rocket Materials and Construction Methods............................................................22
Table 9: Recovery System....................................................................................................................23
Table 10: Motor Specifications..........................................................................................................24
Table 11: Navigation Components ..................................................................................................27
Table 12: Payload Containment Components ............................................................................30
Table 13: Launch Vehicle Requirements ......................................................................................30
Table 14: Recovery Requirements ..................................................................................................33
Table 15: Mini-MAV AGSE Requirements.....................................................................................35
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Table 16: Technical Challenges in AGSE Chassis/Suspension Design .............................37
Table 17: Technical Challenges in AGSE Navigation and Hazard Detection..................37
Table 18: Technical Challenges for Payload Containment....................................................37
Table 19: Mini-MAV Budget................................................................................................................43
Table 20: Funding Plan.........................................................................................................................47
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General Information
1. School Information
More information about Citrus College can be found in Appendix A.
2. Adult Educators
Lucia Riderer Rick Maschek
Physics Faculty/Team Advisor Director, Sugar Shot to Space/Team Mentor
lriderer@citruscollege.edu rickmaschek@rocketmail.com
(626) 914-8763 (760) 953-0011
3. Safety Officer
Alex
Kemnitz714@gmail.com
(626) 643-0014
4. Student Team Leader
Aaron
aaronbunch713@gmail.com
(509) 592-3328
5. Team Members and Proposed Duties
The 2014-15 Citrus College NASA Student Launch team, the ‘Rocket Owls’, consists
of five students, one faculty team advisor, and a team mentor. The student members’
proposed duties are listed in Table 1 below.
Table 1: Team Member Duties
Team Member Title Proposed Duties
Aaron Team Leader
Oversight, coordination, and planning
Assistance with all team member duties
Lead rocket design and construction
Alex Safety Officer Implementation of Safety Plan
Brian Robotics Specialist Lead AGSE design and construction
John Payload Specialist
Oversight and coordination of payload
acquisition, retention, and ejection
systems
Joseph Outreach Officer
Educational Engagement
Social Media, Website maintenance
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Figure 1: Organizational Flowchart
6. NAR/TRA Sections
For launch assistance, mentoring, and review, the Rocket Owls will associate with
the Rocketry Organization of California (ROC) (NAR Section #538, Tripoli Prefecture
#48) and the Mojave Desert Advanced Rocket Society (MDARS) (Tripoli Prefecture
#37).
6

Facilities/Equipment
1. Facilities
Wind Tunnel
The Citrus College Rocket Owls have access to a subsonic wind tunnel at the
California Polytechnic State University, Pomona’s (Cal Poly Pomona) School of
Aeronautical Engineering. The subsonic wind tunnel is located in the Supersonic
Wind Tunnel Laboratory in Building 13 with ancillary equipment located in a
separate utility room. It is approximately 53’ x 22’ in overall size, with a test section
of 28’ x 40’. Its capabilities include airfoil testing, data acquisition software, and the
ability to simulate speeds up to 190 mph.
Cal Poly Pomona Supersonic Wind Tunnel
Laboratory Building 13
Room 1229
Staff Contact: Dr. Don Edberg
Available: by appointment
7

Citrus College Machine Shop
The team has access to a supervised student engine shop that will serve for the
machining of parts on campus. The Campus Machine Shop has one lathe that can
facilitate any material, a Bridgeport vertical mill, and other equipment for the
machining of engine components. Only students who are safety certified by the
school will be allowed to use any of the heavy machinery. The team will also have
access to the Technology Engineering (TE) building as the primary location for the
construction of the rocket.
Citrus College Machine Shop
TE Room 121
Staff Contact: Professor Dennis Korn
Available 8:00am-10:00pm Monday-Thursday
8

Pasadena City College Engineering Lab
The team has access to an engineering lab on the Pasadena City College (PCC)
campus. This lab is supervised by PCC faculty and has equipment such as laser
cutters, 3D printers, table saws, mills, and CNC machines. As with the Citrus machine
shop, only members with safety training will be allowed to use them. Staff will
always be present to ensure that members are following all safety precautions. All
necessary safety equipment is kept on site.
Pasadena City College Engineering Lab
Room IT200
Staff Contact: Anne Ostrander
Available: 8:00am – 5:30pm Monday – Thursday
9

Friends of Amateur Rocketry Site
The Friends of Amateur Rocketry (FAR) site is a ten-acre static test and launch
facility in the Mojave Desert. According to the FAR home page (see contact
information below), the site is located under the R2508 controlled air space
umbrella of Edwards Air Force Base, at the edge of a military supersonic corridor.
Its FAA Waiver allows rockets up to 9,208 lbf-s total impulse. Launch altitudes are
up to 18,000 ft Monday through Friday, and 50,000 ft on Saturday and Sunday.
In addition, the FAR site has pyrotechnic operators licensed by the California State
Fire Marshal and the ATF to help safely manufacture, store, set up, test, and launch
rockets. The facility has a blockhouse, viewing bunkers, explosive magazines, fire
fighting equipment, propellant storage, static test stands, and launch rails. Other
facilities include: an assembly building, work shops, storage, sun shade, weather
station, internet, electrical power, street lights (for night operations), non-potable
water, restrooms, and camping.
The site has an assortment of heavy equipment such as: all-terrain-forklift, skip
loader, and boom crane to help with loading, unloading, and setup. For fabrication
and assembly there is a lathe, mill, drill press, chop saw, grinder, and welder. For
safety, the site has first aid, automatic defibrillator, oxygen, and a helipad for
emergency evacuations.
Friends of Amateur Rocketry Site
Location: Mojave Desert
Contact: http://friendsofamateurrocketry.org/
Availability: 1st and 3rd Saturdays of every month
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2. Computer Equipment
Computer Lab
The team will have access to the Physical Science (PS)
building conference room, equipped with computers
dedicated to science and engineering projects. This room
is available during school days, 7:00 am to 10:00 pm.
The computers’ hardware and software include:
• 8 Dell OptiPlex i5-3570 CPU (3.40 GHz Processor
and 4.00 GB RAM)
• 1 Dell OptiPlex 760 Intel Core 2 Duo (2.93GHz
Processor and 3.25 GB RAM)
• RockSim Pro 2
• Microsoft Office 2010
The team will also have access to the Career Technology (CT) Computer Lab for the
use of Autodesk AutoCAD 2013.
Teleconferencing Equipment
Teleconferencing will occur in the PS building
conference room at Citrus College. The team has all of
the equipment needed to perform video
teleconferencing with the NASA Student Launch
Project Office:
• Broadband internet connection
• Dell OptiPlex 760 computer (Windows XP)
• Panasonic PT-FW300 projector
• Logitech Webcam Pro 900 USB camera
• ShoreTel 230 speakerphone
Required documentation and project updates will be posted to the team’s website.
Website maintenance will be performed in the college’s computer lab and on
students’ personal computers.
Contact information for connectivity issues
Dr. Eric Rabitoy
erabitoy@citruscollege.edu
(626)914-8789
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3. EIT Accessibility Standards
All facilities abide by the Architectural and Transportation Barriers Compliance
Board’s Electronic and Information Technology (EIT) Accessibility Standards (36
CFR Part 1194) and in particular the following Subpart B-Technical Standards
(http://www.section508.gov/index.cfm?FuseAction=Content&ID=12)
1194.21 Software applications and operating systems. (a-1)
1194.22 Web-based intranet and Internet information applications. 16 rules (a-p)
1194.26 Desktop and portable computers. (a-d)
Safety
1. Safety Plan
Returning for a third year of building rockets, Citrus College and the Rocket Owls
will continue to make safety the top priority during the year’s activities. To ensure
the safety of those participating in this year’s competition, the team has formulated
a safety plan. Material Safety Data Sheets (MSDS’s) will always be available as a
reference, so the team will know how to handle all materials safely. The safety
officer, Alex, will be First Aid Certified and responsible for the safety plan being on
hand at all times, as well as personal protective equipment (PPE) and first aid kits.
The safety plan corresponds with federal, state, and local laws. All team members
understand and have signed a team safety contract (Appendix B). The safety
contract lists procedures to keep the team’s project safe and accident free.
All risk assessment refers to the following NASA hazard analysis (Table 2).
Table 2: Risk Matrix
PROBABILITY SEVERITY
1
Catastrophic
2
Critical
3
Marginal
4
Negligible
A- Frequent 1A 2A 3A 4A
B- Probable 1B 2B 3B 4B
C- Occasional 1C 2C 3C 4C
D- Remote 1D 2D 3D 4D
E- Improbable 1E 2E 3E 4E
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The risk matrix uses the following definitions of severity and probability (Tables 3
and 4).
Table 3: Severity Definitions
Description
Personal
Safety and
Health
Facility/Equipment Environmental
1- Catastrophic
Loss of life, or
permanent
injury.
Loss of facility,
systems, or
associated
hardware.
Irreversible
severe
environmental
damage that
violates law and
regulation.
2- Critical
Sever injury or
occupational
related illness.
Major damages to
facilities, systems or
equipment.
Reversible
environmental
damage causing
a violation of law
and regulation.
3- Marginal
Minor injury or
occupational
illness.
Minor damage to
facilities, systems, or
equipment.
Mitigatible
environmental
damage without
violation of law
or regulation
where
restoration can
be accomplished.
4- Negligible
First-Aid injury
or
occupational
illness.
Minimal damage to
facilities, systems or
equipment.
Minimal
environmental
damage not
violating law or
regulation.
Table 4: Probability Definitions
Description Qualitative Definition
A- Frequent
High likelihood to occur immediately or expected to be
continuously experienced.
B- Probable
Likely to occur or expected to occur frequently within
time.
C- Occasional
Expected to occur several times or occasionally within
time.
D- Remote
Unlikely to occur, but can be reasonably expected to
occur at some point within time.
E- Improbable
Very unlikely to occur and an occurrence is not
expected to be experienced within time.
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While the majority of the materials used in the construction and testing of the rocket
and the AGSE are non-hazardous, some will require extra safety measures as shown
in Table 5.
Table 5: Materials Hazards and Mitigations
Material Hazard
Pre-
RAC
Mitigation
Post-
RAC
Ammonium
Perchlorate
Composite
Propellant (APCP)
Fires,
burns and
destruction
of property.
1D
Special care will be taken to
keep this material away
from heat sources and
gloves will be worn to
prevent contact with skin.
The materials will be stored
in a sealed, secure, and non-
residential location.
2E
Black Powder
Burns,
severe
physical
injury,
and skin
irritation.
1E
Per NASA regulations, only
the Team Mentor will
handle black powder.
2E
Epoxy
Skin
irritation,
allergy,
rashes.
4C
All team members are
required to use nitrile
gloves, and solvent is kept
on hand to clean up spills.
4D
Fiberglass
Eye
irritation,
skin
irritation,
and
inhalation
risk.
4D
Gloves, goggles, and masks
must be worn when cutting
this material to prevent
irritation of eyes, skin,
mouth, throat, or nose.
4E
Paint/Primer
Respiratory
irritation.
4D
All painting must be done in
well-ventilated areas to
reduce inhalation of vapors.
4E
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Solder
Burns and
respiratory
Irritation.
2B
Extreme caution will be
taken to keep solder and
iron away from contact with
skin. Solder must be used in
ventilated areas to prevent
inhalation of fumes.
3C
Wood and Metal
Splinters,
cuts.
4B
Use gloves and caution
when working with these
materials.
4C
Table 6 lists facilities hazards present in the construction of the rocket and AGSE
that pose risks sufficient to require mitigation procedures.
Table 6: Facilities Hazards and Mitigations
Facility Hazard
Pre-
RAC
Mitigation
Post-
RAC
Citrus
College
Machine
Shop
Physical
injury
by machine,
skin
or eye
irritation
due to
debris.
2D
Mandatory safety training is
required for use of the
machine shop. Appropriate
safety gear will be worn:
close toed shoes, facemask,
gloves, etc.
2E
Citrus
College
Physics
Departments
Computer
Lab
Data loss,
damage to
facilities.
4E
Only project-related work
will be done in the computer
lab. No food or drink is
allowed in the lab.
No construction of the rocket
is allowed in the computer
lab.
4E
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Cal Poly
Pomona
Wind Tunnel
Physical
injury,
damage to
rocket.
4D
Only trained personnel will
operate the wind tunnel and
will be supervised by Cal
Poly personnel. Pre-test
checks of the rocket and
tunnel will be done prior to
powering the wind tunnel.
4E
Launch Sites:
1) Rocketry
Organization
of
California
(ROC)
#538
2) Friends of
Amateur
Rocketry
(FAR)
3) Mojave
Desert
Advanced
Rocket
Society
(MDARS)
Burns,
Severe
bodily harm,
and
shock.
2D
NAR High Powered Rocket
Safety Code will be observed
at every launch. Before every
launch a certified team
member will go through a
checklist to assure the rocket
is safe. The rocket will be
armed only on the launch
pad, when it is pointed in a
safe direction. The RSO has
the final say and the team
will follow his or her
instructions.
2E
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Table 7 lists equipment required in the construction of the rocket and AGSE that
poses risks sufficient to require mitigation procedures.
Table 7: Equipment Hazards and Mitigations
Equipment Hazard
Pre-
RAC
Mitigation
Post-
RAC
Power tools
(Band
Saw, Drill
Press, etc.)
Physical
injury
3B
Team members will be
properly trained in the usage
of all power tools before
using them for production.
3D
Rocket Motor
Test
Stand
Burns,
bodily
harm,
property
damage.
2D
All personnel will clear the
minimum required distance
from the motor being tested
before ignition.
3E
Extraordinary risks to the completion of the project include the inability of any
member to attend the competition in Huntsville. If a team member is unable to
attend the NASA Student Launch competition, his or her responsibilities will be
distributed among the remaining team members. The team will conduct early test
flights, so that any unforeseen natural occurrences (e.g. bad weather, earthquake,
fire) will have minimal effect on the outcome of the project. During project
construction, all team members will be prepared to assist each other in the event of
an accident. If a team member should be injured, the safety plan will be re-evaluated
to ensure prevention of any future occurrence.
1.1 NAR/TRA Procedures
All team members are required to know and follow the NAR High Power Rocketry
Safety Code. The team mentor, Rick Maschek, has many years of experience in
handling and building rockets, and will alert team members to the hazards and risks
involved. The mentor, along with the Safety Officer, will enforce the required safety
procedures. Part of the mentor’s role will be to do the following:
• Ensure compliance with the NAR High Power Rocketry Safety Code
• Assist in the purchasing, transporting, and handling of motors
17

• Oversee handling of hazardous materials and operations during
flights
• Make sure the payload and recovery system are properly installed
• Accompany the team to Huntsville, Alabama on April 7, 2015
See Appendix C for the NAR High Power Safety Code.
1.2 Briefing, Hazard Recognition, and Accident Avoidance
To make sure that all team members know how to recognize hazards and avoid
accidents, the Safety Officer will conduct a mandatory safety briefing before new
material and/or new equipment is used. The briefing will consist of an MSDS safety
section overview. All team members will receive training from qualified experts
prior to using all new equipment. The team mentor will provide information on how
to proceed safely in the rocket fabrication process.
Similar precautions will be taken during pre-launch. To avoid accidents, each team
member will understand and follow the rules of being on a launch field, as provided
in Appendix C. In order to ensure the proper assembly and engagement of all rocket
components, a checklist will be created to cover each step necessary to prepare the
rocket for flight. By following the checklist, the team will reduce the possibility of
any malfunction due to oversight. One of the four TRA certified team members will
inspect the rocket and check off the list before presenting the rocket to the Range
Safety Officer (RSO).
1.3 Caution Statements
The Rocket Owls will include caution statements in any plan, procedure, or other
working document. These documents concerning hazards will always be kept on
hand during the construction of the rocket so that potential risks will be reduced as
much as possible. The Safety Officer will be aware of potential hazards in the
building process and provide the necessary briefing on such hazards. Each team
member will read, understand, follow, and enforce the precautions that the MSDS
reports suggest for each material. Prior to construction the Safety Officer will
demonstrate the proper use of Personal Protective Equipment (PPE).
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1.4 State and Local Laws
The Rocket Owls will perform all of their launches leading up to the NASA Student
Launch competition with one of the following: the Rocketry Organization of
California (ROC), Friends of Amateur Rocketry Inc. (FAR), or Mojave Desert
Advanced Rocket Society (MDARS), all of which are state approved launch sites.
These facilities work with the FAA to meet the following guidelines listed in the
Federal Aviation Regulations 14 CFR, Subchapter F, Part 101, Subpart C:
No person may operate an unmanned rocket
• In a manner that creates a collision hazard with other aircraft
• In controlled airspace
• Within five miles of the boundary of any airport
• At an altitude where clouds or obscuring phenomena of more than five-
tenths coverage
• At any altitude where the horizontal visibility is less than five miles
prevails
• Into any cloud
• Within 1,500 feet of any person or property that is not associated with
the operations
• Between sunset and sunrise (Sec. 6(c), Department of Transportation Act
(49 U.S.C. 1655(c)))
[Doc. No. 1580, 28 FR 6722, June 29, 1963, as amended by Amdt. 101-4, 39 FR
22252, June 21, 1974]
Any time an unmanned rocket is launched, the person operating it is required to
contact the nearest FAA ATC facility 24-48 hours prior to the beginning of the
operation to give them critical information. The launch facilities utilized by the team
will provide the following information to the FAA ATC facility in compliance with
this act:
• The name and address of the person designated as the event launch
coordinator
• The estimated number of rockets to be operated
• The largest size rocket planned to be launched
• A maximum altitude which none of the rockets can surpass
• The location, date, time, and duration of the operation
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• Any other pertinent information requested by the ATC facility
[Doc. No. 1580, 28 FR 6722, June 29, 1963, as amended by Amdt. 101-6, 59 FR
50393, Oct. 3, 1994]
Per NASA regulations, only Rick Maschek, the team mentor, will be handling the
low-explosives used by the team, and he will closely follow the Code of Federal
Regulation 27 Part 55: Commerce in Explosives as summarized below:
• Unless exempted by law, federal permits are required of those who
transport, ship, cause to be transported, or receive explosive
materials. Among other things, the permittee must keep complete and
accurate records of the acquisitions and dispositions of explosive
materials.
• A Federal license or permit does not confer any right or privilege to
violate any state law or local ordinance.
• No person shall store any explosive material in a matter not in
conformity with applicable regulations.
The Rocket Owls see the importance in fire prevention and will do the following in
accordance with the NFPA 1127 “Code for High Power Rocket Motors”:
• All explosives and flammable material will be stored in a detached
garage or outside. They will not ever be found inside a residence.
• All explosives will be stored in a sealed, noncombustible container.
• All explosives will be stored in accordance with the federal, state, and
local laws.
• The explosives will not be stored with an ignition installed.
Title 19, California Code of Regulations, Chapter 6, Article 3, §981.5(b)(6) defines
the Pyrotechnic Operator -- Rockets Third Class license, which is relevant for the
launching of high-power rockets in California. The California State Fire Marshall has
established regulations that identify at least one pyrotechnic operator license at
each launch event. This license permits the licensee to handle, supervise, or
discharge rockets which produce an audible or visual effect in connection with
group entertainment.
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1.5 Purchasing, Handling, and Transportation of Rocket Motors
The team mentor, Rick Maschek, and the student team leader, Aaron, both TRA
certified level 2, will purchase, store, transport and handle the rocket motors. All
motors used in the NASA Student Launch will be shipped to the launch site in
Huntsville, Alabama.
1.6 Safety Contract
All team members understand and will abide by the safety regulations as stated in
the NASA Student Launch Handbook:
1.6.1 Range safety inspections of each rocket before it is flown. Each team
shall comply with the determination of the safety inspection.
1.6.2 The Range Safety Officer has the final say on all rocket safety issues.
Therefore, the Range Safety Officer has the right to deny the launch of
any rocket for safety reasons.
1.6.3 Any team that does not comply with the safety requirements will not
be allowed to launch their rocket.
The signed safety contract appears in Appendix C.
21

Technical Design
1. Rocket and payload design
a. General Vehicle Dimensions, Materials, and Construction Methods
• Length: 112.5 in.
• Diameter: 6 in.
• Length/Diameter ratio: 18.75
• Pad weight: 20.7 lb.
• Stability: ~3.5 caliber
Figure 2: Proposed Rocket
Table 8 summarizes the materials and construction methods for the
proposed rocket.
Table 8: Rocket Materials and Construction Methods
Main Vehicle
Components
Material Justification Construction
Method
nosecone fiberglass strong and durable
commercially
available
airframe
Blue Tube 2.0
(vulcanized fiber)
sufficiently stiff,
easier to work with
than fiberglass
cut with mitre saw,
sand by hand,
bond with epoxy
bulkheads &
centering rings
aircraft plywood
strong, easy to cut,
sand, and bond
laser cut,
bond with epoxy
fins
12-ply aircraft
plywood
stiff, resists flutter,
easy to cut, sand, bond
laser cut,
bond with epoxy
parachutes ripstop nylon
light-weight,
tear-resistant
commercially
available
22

b. Projected Altitude
Projected Altitude: 3,000 ft. AGL
Simulations run on RockSim predict an altitude of 3420 ft. A more certain estimate
will be made when the exact mass of the rocket is known, and the accuracy of
simulations can be checked by test flights.
c. Recovery System
The main stages of recovery are summarized in Table 9 below.
Table 9: Recovery System
Altitude
(ft AGL)
Means of
Deployment
Parachute Cd
Descent Rate
(ft/s)
3000
(apogee)
black powder 30” ellipitcal drogue 1.5 47
1000 black powder 30” elliptical 1.5 18
800 black powder 96” elliptical main 1.5 12
Redundant Missile Works RRC3 Sport Altimeters initiate all flight events. At apogee
a black powder charge separates the rocket and deploys the drogue parachute,
which allows the rocket to fall at 47 ft/s. At 1000 ft a black powder charge ejects the
nosecone and attached payload bay, which descends untethered under its own
parachute. Finally, at 800 ft a black powder charge pushes a piston out the front of
the rocket, which pulls out the main parachute. The main parachute brings the
rocket gently to the ground at 12 ft/s.
The descent rate of the rocket and untethered payload will be adjusted as necessary
to ensure that all components land with less than 75 ft-lbf of kinetic energy.
23

d. Motor Information
Motor specifications (according to www.rocketreviews.com) are summarized in
Table 10 as follows:
e. Projected AGSE
The team will design an autonomous, ground-based vehicle for the Mini-MAV
portion of the NASA Student Launch competition. This ground-based vehicle will be
capable of autonomously locating, retrieving, and delivering the designated payload
to the rocket. The AGSE is designed to function in an environment similar to Martian
territory. The description of the AGSE will be divided into the following subsections:
• Chassis, Suspension, and Powertrain
• Navigation and Object Detection
• Robotic Arm
• Micro-Controllers and Drivers
• Payload Compartment
Chassis, Suspension, and Powertrain
The team’s AGSE framework and chassis will be constructed mostly of fabricated or
purchased 6061-T6 aluminum parts, as this material is easily obtainable, relatively
low in cost, and high in tensile strength. 6061-T6 aluminum alloy also exhibits good
weldability, which is useful in our specific application. The chassis of the AGSE will
be machined from 1/8” aluminum sheet metal (6061-T6), which will be welded
together or attached with aluminum L-brackets and bolts to form the chassis design.
Refer to Figure 3 for a graphical representation of the proposed chassis design. As
shown in the figure, the overall dimensions of the chassis are expected to be 24”
long by 18” wide. This design will allow for space to insert batteries, components,
and wiring. The design is also well-balanced, which is necessary for mounting and
operating the robotic arm. The chassis will contain holes for mounting the
Table 10: Motor Specifications
Manufacturer: AeroTech
Model: K1100T
Diameter (mm): 54.0
Length (in): 15.7
Launch weight (lb): 2.95
Empty weight (lb): 1.24
Total Impulse (N-s): 1619
Average Thrust (N): 1012
Maximum Thrust (N): 1628
Burn Time (s): 1.6
24

suspension system and any exterior robotic parts, such as the robotic arm and
camera mast, which are not shown in Figure 3.
Figure 3: Proposed AGSE Body/Chassis Design
The rocker-bogie suspension design has been selected for the AGSE. This suspension
will be fabricated from purchased rectangular 3” x 2” x ¼” hollow 6061-T6
aluminum alloy tubing. This material was chosen because of its relatively low cost,
plentiful stock, and ease of use in construction. The parts will be cut to size using a
saw or an end mill and welded or bolted together to form the basic structure of the
suspension. Holes will be drilled and bearings attached to aluminum rods will be
inserted to provide the pivot points (see Figure 4). Wheels and wheel-related
equipment will be attached to the end of each bogie arm. Hollow tubing was chosen
specifically for wiring purposes; wiring will be required to attach the drive motors
to their respective microcontrollers, and this wiring can easily be stored inside the
suspension framing with this type of material.
25

Figure 4: Proposed Design of AGSE with Rocker Bogie Suspension
The drive and steering motors will be attached to the rods at the end of each bogie
arm. There will be three fully driven wheels on each side of the AGSE, for a total of
six powered wheels. The front and back wheels will contain two motors; one for
forward and backward motion, and one to allow the wheels to pivot up to 45
degrees in either direction. The pivoting of the wheels will allow the AGSE to turn in
place, up to a full 360 degrees. The first set of motors will be considerably larger
than the second, as they will need to provide enough torque to allow the AGSE to
climb over rocks and uneven terrain if needed. The center wheels will only contain
one single motor to aid in the forward and backward motion of the AGSE, which will
further aid in its ability to traverse over obstacles such as rocks and uneven terrain.
Navigation and Object Detection
In order to capture, contain and launch the payload, the AGSE must locate the
payload, navigate to the payload, avoid hazards, locate the rocket, and navigate to
the rocket. To accomplish this, the AGSE will use a camera for color and edge
detection in combination with a laser radar (LIDAR) system to create a 3D map for
hazard detection. Input from both of these sources will be combined to determine
any necessary adjustments in the vehicle’s orientation and trajectory autonomously.
The unit will use both an Arduino Uno and a Beaglebone Black for data analysis and
calculations. The necessary navigation components are listed in Table 11.
26

Table 11: Navigation Components
Component Function
Arduino Uno R3 LIDAR operation.
Pixy CMUCam5
Locates the payload and potential
hazards. The camera will use color and
edge detection to locate the payload and
potential hazards.
Mini Pan-Tilt head
The Pixy will be mounted to the pan tilt
head in order to track the location of
objects with respect to the rover using
the angles of pan and tilt.
FabScan 3D Laser Scanner Shield
The Arduino plug-in module for 3D laser
scanning.
Pololu A4988 Stepper Motor Driver
Carrier
Allows the Arduino to control a stepper
motor.
200 Step, Unipolar/Bipolar Stepper
Motor
Rotates the Laser Module emitter to take
a series of readings for generating the
3D map.
5mW Laser Module emitter (Red Line)
Emits a line laser at a frequency of
650nm and a range of 3m. Creates a set
of distance points for the 3D map.
Adafruit Data Logging Shield
Serves as an interface between the SD
card and the Arduino.
Transcend 8gb SD card
Records the data for the 3D maps and
the images from the camera.
The Pixy camera module will be mounted in its own structure on a camera mast. The
mast and camera structure will be constructed of the same 6061-T6 aluminum alloy
material as the chassis and framework. The mast will be cylindrical with the pan-tilt
camera mount located atop the mast providing a full panoramic view of the
environment. The top section of this camera mast will have the capability of rotating
360 degrees and tilting at an angle of 45 degrees.
The LIDAR system will be mounted to the AGSE’s center front face and will emit a
line shaped laser. This will be used to calculate the distance between objects in the
environment and the AGSE. Once the on-board microcontroller receives data that
indicates the presence of an object, the camera will capture an image of the object.
The microcontroller will use an algorithm to determine the location of the object it
detects. This will allow the AGSE to determine if the object in view is located in its
path, and allow it to determine the best path.
The sequence of operations is as follows:
1. The unit will be manually activated and paused
27

2. Un-pause when given confirmation to proceed
3. The pan tilt head will rotate the camera 360 degrees and capture a video
of the environment
4. The Pixy camera will simultaneously perform color and edge detection to
search for the payload
5. The AGSE will rotate to face the payload
6. Hazard detection subroutine will begin and the LIDAR system will
activate
7. Proceed towards the payload
8. After the payload is retrieved the AGSE will repeat steps 3-8 in order to
navigate to the rocket
Robotic Arm
A Lynxmotion AL5D robotic arm will be used. The arm has 20 inches of reach, four
degrees of freedom (DOF) and operates on five servo motors distributed throughout
the arm. The motors provide the arm with a rotating and bending shoulder, a
bending elbow, and a rotating and bending wrist. Each motor allows for 180
degrees of motion for its respective shoulder.
In order to reach the ground, the base of the shoulder can be modified to allow for a
180 degree pivot, and therefore increase the total range of motion of the arm to 360
degrees (Figure 5).
Figure 5: Range of Robotic-Arm
The base of the arm (the shoulder) is positioned at a 90 degrees starting point. To
optimize the range of motion, the shoulder will be mounted on a servo controlled
pivot bracket that will allow positioning between the 90 and 270 degree ranges, as
shown in Figure 5. The pivot bracket will be mounted in the cutout section of the
chassis.
28

Micro-Controllers and Drivers
A network of microcontrollers will control the AGSE. A master controller (Arduino
Mega) will command various slave controllers. The master controller will receive
data from the sensors and determine what functions must be carried out. With 54
digital input/output pins and 16 analog input/output pins, the Arduino Mega has
sufficient interfacing capabilities. It will be programmed in a modified, open-source
version of C/C++.
The AGSE will use the following slave controllers. Several T-Rex motor controllers
will drive the wheel and steering motors. The robotic arm will have a dedicated
microcontroller, which controls its motors and servos. A Beaglebone Black, which
has a 1.0 GHz processor, will perform image and video analysis at required speeds.
A system of lithium polymer power banks will provide power. An AllPower 50,000
mAh power bank will power all of the microcontrollers on the AGSE. Two Anker
Astro Pro Multi-Voltage power banks, rated for 20,000 mAh each, will power the
motors. These power banks will be used because of their large power capacity and
their ability to be toggled between 5V, 12V, 16V and 19V. This voltage selection
allows for a wider range of motors to drive the AGSE.
Payload Compartment
The recovered payload will be housed in a compartment directly below the
nosecone of the rocket. Spring-loaded payload doors will be connected to the body
of the rocket. The payload will be pushed through these doors and fall into a
container that will hold it for the duration of the flight. Once the payload falls into
the container, a pressure sensor will detect that the payload has been contained and
a servo motor will lock the doors. The servo will make use of a rack and pinion. The
pinion will be connected to the servo and the rack will slide behind the doors so that
they cannot open. The servo motor will be controlled by an Arduino Uno. The
nosecone will house the payload electronics. These electronics will be mounted to a
custom sled built for the dimensions of the nosecone. The recovery parachutes will
be connected to a bulkhead below the containment device.
The nosecone and the attached payload bay will be ejected from the rocket during
recovery at 1000 ft. This section will be untethered from the main vehicle and
descend under its own parachute. The payload avionics will consist of the same
altimeters that will be used to eject the other parachutes. The Missile Works RRC3
altimeters have an auxiliary output for ejecting this section of the rocket.
The GPS system for the payload will consist of the Arduino used for the servo, a GPS
shield, the GPS unit and an XBee transceiver. The XBee will have a serial
communication line with a ground station that will display the coordinates of the
payload as it comes down. The recovery system will be housed above the payload on
an electronics mount built for the nosecone.
29

Table 12 below lists the components that will be used in the payload containment
section.
Table 12: Payload Containment Components
Component Function
Arduino Uno R3 Controls recovery electronics and door
locking servo.
EM506 GPS Tracks the position of the payload
containment during recovery.
GPS Shield Serves as the interface between the GPS
and the microcontroller.
XBee Pro 900 Allows for communication between the
ground and the payload.
Rack and Pinion Set Locks the door.
Generic High Torque Full Rotation Servo Moves the locking mechanism into the
locked position.
f. Requirements
The proposed launch vehicle and AGSE meet all vehicle, recovery, and AGSE
requirements. See Tables 13, 14, and 15 below.
Table 13: Launch Vehicle Requirements
Requirement Resolution
1.1 The vehicle shall deliver the payload
to, but not exceeding, an apogee altitude
of 3,000 feet above ground level (AGL).
Simulations and test flights will
determine the appropriate motor to
attain this altitude.
1.2. The vehicle shall carry one
commercially available, barometric
altimeter for recording the official
altitude used in the competition scoring.
One of the Missile Works RRC3
altimeters will record the official
altitude.
1.2.1.The official scoring altimeter shall
report the official competition altitude
via a series of beeps to be checked after
the competition flight.
The Missile Works RRC3 altimeter
reports the altitude via a series of beeps.
1.2.2.3. At the launch field, to aid in
determination of the vehicle’s apogee, all
audible electronics, except for the official
altitude-determining altimeter shall be
capable of being turned off.
All audible electronics, except for official
scoring altimeter, will be capable of
being turned off.
1.3. The launch vehicle shall be designed
to be recoverable and reusable.
Current simulations predict that all
rocket components will be recovered
within 1500 ft of the launch pad, and all
components are designed to be reusable.
30

1.4. The launch vehicle shall have a
maximum of four (4) independent
sections.
The launch vehicle has three (3)
independent sections.
1.5. The launch vehicle shall be limited to
a single stage.
The launch vehicle has only one stage.
1.6. The launch vehicle shall be capable
of being prepared for flight at the launch
site within 2 hours, from the time the
Federal Aviation Administration flight
waiver opens.
Flight preparation will be completed in
less than 2 hours. A checklist will be
used to ensure that flight preparation is
efficient and thorough. The team will
have practiced these operations during
test flights.
of remaining in launch-ready
configuration at the pad for a minimum
of 1 hour without losing the functionality
of any critical on-board component.
All onboard electronics draw very little
power, and can remain in launch-ready
configuration for several hours.
of being launched by a standard 12-volt
direct current firing system.
The rocket will use commercial,
ammonium perchlorate motors that will
ignite with 12-volt direct current.
1.9. The launch vehicle shall use a
commercially available solid motor
propulsion system using ammonium
perchlorate composite propellant
(APCP) which is approved and certified
by the National Association of Rocketry
(NAR), Tripoli Rocketry Association
(TRA), and/or the Canadian Association
of Rocketry (CAR).
The launch vehicle will use a TRA
certified AeroTech K1100T motor, or a
similar certified motor manufactured by
AeroTech, Cesaroni, or Animal Motor
Works.
1.10. The total impulse provided by a
launch vehicle shall not exceed 5,120
Newton-seconds (L-class).
The launch vehicle will use a K-class
motor, which does not exceed 5,120 N-s
total impulse.
1.13. All teams shall successfully launch
and recover a subscale model of their
full-scale rocket prior to CDR. The
subscale model should resemble and
perform as similarly as possible to the
full-scale model, however, the full-scale
shall not be used as the subscale model.
The team will launch and recover a 2/3-
scale (4” diameter) model of the full-
scale rocket prior to CDR. The parts list
for the subscale rocket is in the team
budget. See the timeline for anticipated
dates.
1.14. All teams shall successfully launch
and recover their full-scale rocket prior
to FRR in its final flight configuration.
The rocket flown at FRR must be the
same rocket to be flown on launch day.
The team will successfully launch and
recover the full-scale (6” diameter)
rocket prior to FRR in its final flight
configuration. See the timeline for
anticipated dates.
31

1.14.2.1. If the payload is not flown, mass
simulators shall be used to simulate the
payload mass.
The team plans to fly the payload in the
full-scale demonstration flight.
1.14.2.3. If the payload changes the
external surfaces of the rocket (such as
with camera housings or external
probes) or manages the total energy of
the vehicle, those systems shall be active
during the full-scale demonstration
flight.
All payloads will be active during the
full-scale demonstration flight.
1.14.4. The vehicle shall be flown in its
fully ballasted configuration during the
full-scale test flight.
The vehicle will be flown in its fully
ballasted configuration during the full-
scale test flight.
1.14.5. After successfully completing the
full-scale demonstration flight, the
launch vehicle or any of its components
shall not be modified without the
concurrence of the NASA Range Safety
Officer (RSO).
The launch vehicle will not be modified
after the full-scale demonstration flight
without the concurrence of the NASA
RSO.
1.15. Each team will have a maximum
budget they may spend on the rocket
and the Autonomous Ground Support
Equipment (AGSE). Teams who are
participating in the Maxi-MAV
competition are limited to a $10,000
budget while teams participating in
Mini-MAV are limited to $5,000. The cost
is for the competition rocket and AGSE
as it sits on the pad, including all
purchased components.
The team has budgeted $1500 for the
competition rocket, and $3500 for the
AGSE. Throughout development and
construction of the rocket and AGSE, the
team will be looking for ways to cut costs
and stay within the $5000 total budget.
1.16.1. The launch vehicle shall not
utilize forward canards.
The launch vehicle will not use forward
canards.
utilize forward firing motors.
The launch vehicle will not use forward
firing motors.
utilize motors that expel titanium
sponges.
The launch vehicle will not use motors
that expel titanium sponges.
utilize hybrid motors.
The launch vehicle uses commercially
available solid APCP motors.
utilize a cluster of motors.
The launch vehicle uses only a single
motor.
32

Table 14: Recovery Requirements
2.1. The launch vehicle shall stage the
deployment of its recovery devices,
where a drogue parachute is deployed at
apogee and a main parachute is
deployed at a much lower altitude.
Redundant Missile Works RRC3
altimeters will eject a drogue parachute
at apogee, the payload bay at 1000 ft,
and a main parachute at 800 ft.
2.2. Teams must perform a successful
ground ejection test for both the drogue
and main parachutes. This must be done
prior to the initial subscale and full scale
launches.
Successful ground ejection tests will be
performed prior to initial subscale and
full scale launches.
2.3. At landing, each independent section
of the launch vehicle shall have a
maximum kinetic energy of 75 ft-lbf.
The team will use simulation and test-
flight data to calculate the kinetic energy
of each rocket section at landing. The
descent rate of the rocket and
untethered payload will be adjusted as
necessary to ensure that all components
land with less than 75 ft-lbf of kinetic
energy.
2.4. The recovery system electrical
circuits shall be completely independent
of any payload electrical circuits.
The recovery system will contain
redundant Missile Works RRC3
altimeters to deploy the parachutes. The
altimeters will be independent of any
payload electrical circuits. One of the
RRC3 altimeters will be used as the
competition altimeter.
2.5. The recovery system shall contain
redundant, commercially available
altimeters. The term “altimeters”
includes both simple altimeters and
more sophisticated flight computers.
One of these altimeters may be chosen as
the competition altimeter.
2.6. A dedicated arming switch shall arm
each altimeter, which is accessible from
the exterior of the rocket airframe when
the rocket is in the launch configuration
on the launch pad.
Both RRC3 altimeters will have separate
external arming switches accessible
when the rocket is in launch position.
2.7. Each altimeter shall have a
dedicated power supply.
Each altimeter will have a dedicated 9V
power supply.
2.8. Each arming switch shall be capable
of being locked in the ON position for
launch.
The arming switches will require a
straight-edged screwdriver to lock them
in the ON position.
2.9. Removable shear pins shall be used
for both the main parachute
compartment and the drogue parachute
compartment.
All parachute compartments are
attached with #2 nylon shear pins.
33

2.10. An electronic tracking device shall
be installed in the launch vehicle and
shall transmit the position of the
tethered vehicle or any independent
section to a ground receiver.
An Altus Metrum TeleGPS tracking
device will be installed in the launch
vehicle.
2.10.1. Any rocket section, or payload
component, which lands untethered to
the launch vehicle shall also carry an
active electronic tracking device.
The untethered payload compartment
will have its own GPS tracking device.
2.10.2. The electronic tracking device
shall be fully functional during the
official flight at the competition launch
site.
The GPS tracking devices will be fully
functional at the competition launch site.
2.11.1. The recovery system altimeters
shall be physically located in a separate
compartment within the vehicle from
any other radio frequency transmitting
device and/or magnetic wave producing
device.
The recovery system altimeters are
installed in their own avionics bay,
which is physically separated from the
GPS transmitters. One GPS transmitter is
installed in the payload compartment,
and the other is in a separate
compartment in the booster section.
2.11.2. The recovery system electronics
shall be shielded from all onboard
transmitting devices, to avoid
inadvertent excitation of the recovery
system electronics.
The recovery system electronics will be
shielded from the transmissions of the
GPS transmitters, and from any other
onboard devices that may adversely
affect their proper operation.
shall be shielded from all onboard
devices which may generate magnetic
waves (such as generators, solenoid
valves, and Tesla coils) to avoid
inadvertent excitation of the recovery
system.
shall be shielded from any other
onboard devices which may adversely
affect the proper operation of the
recovery system electronics.
34

Table 15: Mini-Mav AGSE Requirements
3.1.1.1. Teams will position their launch
vehicle horizontally or vertically on the
launch pad.
The rocket will be positioned
horizontally on the launch pad.
3.1.1.2. A master switch will be activated
to power on all autonomous procedures
and subroutines.
The AGSE will have a master switch to
power on all autonomous procedures
and subroutines.
3.1.1.3. After the master switch is turned
on and all systems are booted, a pause
switch will be activated, temporarily
halting all AGSE procedures and
subroutines. This will allow the other
teams at the pads to set up, and do the
same.
The AGSE will have a pause switch,
which will temporarily halt all AGSE
procedures and subroutines.
3.1.1.6. Once the pause switch is
deactivated, the AGSE will capture and
contain the payload within the launch
vehicle. If the launch vehicle is in a
horizontal position, the launch platform
will then be manually erected by the
team to an angle of 5 degrees off vertical,
pointed away from the spectators. The
launch services official may re-enable
the pause switch at any time at his/her
discretion for safety concerns.
The AGSE will autonomously identify the
payload on the ground, pick it up with a
robotic arm, and place it in the payload
bay of the rocket.
3.1.1.7. After the erection of the launch
vehicle, a team member will arm
recovery electronics.
Recovery electronics will be armed with
independent arming switches accessible
on the side of the rocket.
3.1.1.12. The rocket will launch as
designed and jettison the payload at
1,000 feet AGL during descent.
The nosecone and attached payload bay
will be ejected by the RRC3 altimeters
with a black powder charge at 1000 ft
AGL.
3.1.2.2. The payload containment system
shall be fully autonomous with no
human intervention.
The payload bay doors will lock
autonomously, and a container within
the airframe will help secure the payload
inside the rocket.
3.1.3.1.1. Sensors that rely on Earth’s
magnetic field are prohibited.
No sensors that rely on Earth’s magnetic
field are used.
3.1.3.1.2. Ultrasonic or other sound-
based sensors are prohibited.
No ultrasonic or other sound-based
sensors are used.
3.1.3.1.3. Earth-based or Earth orbit-
based radio aids are prohibited.
No Earth-based or Earth orbit-based
radio aids are used to acquire and secure
the payload in the rocket.
35

3.1.3.1.4. Open circuit pneumatics are
prohibited.
No open circuit pneumatics are used.
3.1.3.1.5. Air breathing systems are
prohibited.
No air breathing systems are used.
3.1.4.1. Each launch vehicle must have
the space to contain a cylindrical payload
approximately 3/4 inch in diameter and
4.75 inches in length. The payload will
be made of ¾ x 3 inch PVC tubing filled
with sand and weighing approximately 4
oz., and capped with domed PVC end
caps. Each launch vehicle must be able to
seal the payload containment area
autonomously prior to launch.
The rocket has a 8” long payload bay
attached to the nosecone. Spring-loaded
trap doors allow the payload to be
inserted through the side of the rocket,
but then snap shut and lock securely.
Inside the payload bay, a container
centers and aligns the payload vertically
for lift-off.
3.1.4.3. The payload will not contain any
hooks or other means to grab it. A
diagram of the payload and a sample
payload will be provided to each team at
time of acceptance into the competition.
The payload will be retrieved by a
robotic gripper without the need for any
hooks or other means of grabbing it.
3.1.4.4. The payload may be placed
anywhere in the launch area for
insertion, as long as it is outside the
mold line of the launch vehicle when
placed in the horizontal or vertical
position on the AGSE.
The AGSE will be mobile, and capable of
retrieving the payload from anywhere
outside the mold line of the launch
vehicle.
3.1.4.5. The payload container must
utilize a parachute for recovery and
contain a GPS or radio locator.
The payload container will have its own
parachute and GPS radio locator.
3.1.5.1.1. A master switch to power all
parts of the AGSE. The switch must be
easily accessible and hardwired to the
AGSE.
The AGSE will have an easily accessible
and hardwired master switch.
3.1.5.1.2. A pause switch to temporarily
terminate all actions performed by
AGSE. The switch must be easily
accessible and hardwired to the AGSE.
The AGSE will have an easily accessible
and hardwired pause switch.
3.1.5.1.3. A safety light that indicates that
the AGSE power is turned on. The light
must be amber/orange in color. It will
flash at a frequency of 1 Hz when the
AGSE is powered on, and will be solid in
color when the AGSE is paused while
power is still supplied.
The AGSE will have an amber safety light
that flashes at 1 Hz when the AGSE is
powered on, and is solid in color when
the AGSE is paused while power is still
supplied.
36

g. Technical Challenges and Solutions
The technical challenges for this project and their resolution are displayed in Tables
16, 17, and 18 below.
Table 16:
Technical Challenges in AGSE Chassis/Suspension Design and Development
Challenge Solution
Chassis must hold all required
components and must be structurally
sound so that it may move around and
function properly.
Use 6061-T6 aluminum alloy with steel
bolts and design the chassis in a way
that allows it to remain balanced.
The suspension must be able to handle
terrain of unknown qualities, which
may include: rocks, dirt, hills, holes,
grass, mud, and so on.
A rocker-bogie suspension system will
allow the wheels to remain in contact
with the ground at all times. This will
provide proper traction in all of these
situations.
Provide adequate power and steering
capabilities to navigate in the
previously mentioned conditions.
Separate 12-volt motors and a custom
wheel framework assembly will
provide sufficient torque and turning
capabilities.
Table 17: Technical Challenges in AGSE Navigation and Hazard Detection
Challenge Solution
Limited laser range (3m)
The AGSE will perform the LIDAR
analysis every meter.
Tracking the payload location in real
time
The Pixy camera can track objects in real
time, when combined with the pan-tilt
mechanism.
Table 18: Technical Challenges for Payload Containment
Challenge Solution
Design a door that does not require the
AGSE to interact with it.
Create a spring-loaded door that will
open under the weight of the payload
and close otherwise.
Door should not open due to
aerodynamic forces in flight.
A servo motor will autonomously lock
the payload doors.
Create a compartment that is easily
ejected.
The payload compartment will be
attached to the nosecone at the fore end
of the rocket. This forward section is
easily jettisoned.
37

Educational Engagement
The Rocket Owls are involved in a multitude of educational activities in the
communities served by Citrus College, including Azusa and Glendora. These
activities consist of: year-long projects, classroom presentations, booth
presentations, and weekend workshops. A brief description of these activities is
introduced next, followed by a sketch of the evaluation methods of those activities.
Year-long Projects
The two year-long outreach projects organized and conducted by the team are: the
Junior Rocket Owls Program and STEM Pathways. They are briefly described below.
The Junior Rocket Owls Project gives the Citrus Rocket Owls a unique opportunity to
act as mentors for 5th grade students, while providing them with the opportunity to
participate in a year-long project geared towards enhancing their knowledge of and
interest in science, mathematics and engineering. Students enrolled in 5th grade at
La Fetra School in the Glendora Unified School District (GUSD) work in teams under
the facilitative leadership of the Citrus Rocket Owls to design, build and launch
simple model rockets and compare their performance to predictions made in
advance using rocket simulation computer software. They apply physics principles
to predict the performance of a model rocket and use mathematical models to
analyze their data. The Junior Rocket Owls have had their first monthly meetings
with their college mentors on July 12 and August 9, 2014. The meetings will
continue on a monthly basis throughout the 2014-15 academic year. Detailed
information about this program can be found on the Junior Rocket Owls website at:
http://www.citruscollege.edu/academics/owls/jr/
The Rocket Owls involvement in the Azusa Unified School District (AUSD) science,
technology, engineering and math (STEM) Pathways Program consists of the team
members working with students and teachers from Slauson Middle School on
rocketry-related activities on a monthly basis. The Rocket Owls will meet with 6th,
7th, and 8th grade students and their teachers to facilitate workshops that they have
designed in advance. All workshops’ activities will consist of hands-on scientific
inquiry and engineering design activities. AUSD students will work in teams under
the facilitative leadership of the Citrus Rocket Owls to address the scientific inquiry
questions with simple experiments, followed by designing and building a model
rocket, given a problem and a set of constraints. The activities will start with a pre-
designing investigation, when students are asked to describe the experimental
variables (dependent, independent, controlled) and end with a thorough analysis of
the facts discovered. In addition, students will be required to draw diagrams of their
designs, list the investigation procedural steps and collect and present the data in
support of their investigation. Furthermore, students will prepare professional
posters showcasing their work and present them to other AUSD students and
teachers, as well as Citrus students and faculty.
38

Classroom Presentations
In an effort to reach students with different learning styles, the Rocket Owls will
conduct classroom presentations in a variety of forms to science classes at Citrus
College and K-12 classes from the GUSD and AUSD. A PowerPoint will contain
general rocketry information as well as a brief overview of the NASA Student
Launch Competition for visual learners. The team will present audibly for those who
learn by listening and will also ask questions covered in the PowerPoint to check for
comprehension. For students who learn kinesthetically, the Rocket Owls will
facilitate hands-on activities focused on the concepts discussed during the
presentation. The planned hands-on activities are low cost. They include building
and launching straw rockets and seltzer activated rockets. The team also plans to
incorporate math and physics concepts by asking participants to solve simple
rocketry problems at the end of the presentation. To encourage participation, small
prizes will be awarded to those who solve the problems correctly.
Booth Presentations
The Rocket Owls are committed to spreading their passion for STEM and rocketry to
the community by hosting information/activities booths at local events, including
the Azusa 8th Grade Majors Fair, Glendora Public Library monthly science events,
and Citrus College Physics Festival. These booths will give the community and
students a chance to ask questions pertaining to rocketry, as well as NASA and its
educational programs. The booths will also contain an activity tailored to the
participants along with a worksheet explaining the main rocketry principles.
Weekend Workshops
The Rocket Owls plan to facilitate several weekend workshops where participants
will work in small groups to conduct experiments related to rocketry. The main goal
of these workshops is to introduce elementary and middle school students enrolled
in GATE (Gifted & Talented Education) Programs in Glendora and Temple City to
new ways of looking at science and mathematics, typically not seen in regular
classroom environments.
Each workshop will begin with a detailed presentation on the importance of safety
procedures when building and launching a rocket. The safety presentation will be
followed by an interactive discussion on basic rocketry principles, and will include
steps for the construction of the rocket. During a short break, the Rocket Owls will
introduce their goals for the NASA Student Launch Competition, along with the
strategies for meeting those goals.
The workshops will typically end with students launching the rockets that they
built. Before launch, the Rocket Owls will ask the participants to predict the
behavior of their rocket, followed by an after-launch discussion comparing their
hypotheses to the actual rocket’s behavior. Two such workshops have already been
39

planned by the team for the months of October, 2014 (Temple City workshop) and
February, 2015 (Glendora workshop).
Evaluation
The goal of evaluating the Rocket Owls’ educational engagement program is to find
the program’s impacts on the community, including elementary and middle school
students, as well as community college students and other participants. The
evaluation plan includes quantitative and qualitative methods. Both these methods
will be used to examine the degree to which the Rocket Owls’ educational
engagement program enhances the awareness and interest in STEM, rocketry, and
NASA activities, throughout the K-12 local school districts and the community.
40

Project Plan
1. Timelines
Figure 6: NASA Student Launch Timeline
Figure 7: AGSE and Rocket Construction Timeline
41

Figure 8: Outreach Timeline
42

2. Budget
Table 19: Mini-MAV Budget
Item Quantity Amount Total Shipping
6" rocket
6" AF bulkhead 2 $8.95 $17.90 $0.00
6" to 54mm centering ring 3 $9.25 $27.75 $0.00
6" x 12" avionics bay 1 $69.95 $69.95 $0.00
6" x 48" Blue Tube 3 $66.95 $200.85 $0.00
6" fiberglass nosecone
(Model: FNC-6.0)
1 $99.95 $99.95 $13.95
Nylon Shock Cord: 5/8", 5
yards, presewn endloops
2 $19.00 $38.00 $0.00
54mm x 48" MMT Airframe
Blue Tube
1 $23.95 $23.95 $0.00
CNC fin slots (service fee) 6 $4.00 $24.00 $0.00
96" elliptical parachute 1 $275.00 $275.00 $0.00
Total: 20 $777.35 $13.95
Motor hardware/reloads
Aerotech K1100T-L reload Kit 1 $118.64 $118.64 $0.00
54/1706 Motor Hardware Set
(w/ Forward Seal Disc)
1 $196.88 $196.88 $0.00
Total: 2 $315.52 $0.00
Fins
2' x 4' 1/4" Finnish birch
aircraft plywood for fins
1 $56.38 $56.38 $9.14
Total: 1 $56.38 $9.14
Total Rocket: $1,576.24
4" rocket (subscale)
4" x 48" Blue Tube 2 $38.95 $77.90
4" x 8" avionics bay 1 $41.95 $41.95
38mm x 48" MMT Airframe
Blue Tube
1 $16.49 $16.49
3.9" bulkhead w/ eyebolt 2 $4.29 $8.58
3.9" to 38mm centering ring 3 $4.25 $12.75 $24.95
3.9" plastic nosecone 1 $21.95 $21.95
43

shock cord, 3 yd, 1/2" nylon
tubular, presewn endloops
2 $14.00 $28.00
30" elliptical parachute 2 $64.00 $128.00
18" elliptical drogue 3 $51.00 $153.00 $17.00
Aerotech I161W-M reload 1 $37.79 $37.79
38/360 Motor Hardware Set 1 $114.61 $114.61 $60.83
Total: 19 $641.02 $102.78
Avionics
Missile Works RRC3 Sport
Altimeter
2 $69.95 $139.90 $6.10
Altus Metrum TeleGPS 1 $214.00 $214.00 $8.37
Nuts / Bolts / Hardware 1 $50.00
Total: 4 $403.90 $14.47
Robotic Arm
AL5D Robotic Arm Combo Kit
(BotBoarduino)
1 $309.81 $309.81 $0.00
Beaglebone Black
Microcontroller
1 $79.95 $79.95 $0.00
Aluminum Multi-Purpose
Servo Bracket
1 $11.95 $11.95 $0.00
Aluminum "C" Servo Bracket 1 $12.90 $12.90 $0.00
HS-805BB (343 oz. in.) Mega
Servo
1 $39.99 $39.99 $0.00
Heavy-Duty Wrist rotator 1 $45.84 $45.84 $0.00
Total: 6 $500.44 $0.00
Payload Compartment
Arduino Uno 1 $24.95 $24.95 $0.00
EM506 GPS 1 $39.95 $39.95 $0.00
GPS Shield 1 $14.95 $14.95 $0.00
Xbee Pro 900 2 $54.95 $109.90 $0.00
Antenna 2 $7.95 $15.90 $0.00
Power Source 1 $19.99 $19.99 $0.00
Servo Motor 1 $13.95 $13.95 $0.00
Rack/ Pinion Set 1 $7.99 $7.99 $0.00
Spring-Loaded Hinge 2 $3.38 $6.76 $0.00
44

Total: 12 $254.34 $0.00
Navigation Package
Arduino Uno 2 $24.95 $49.90 $9.47
Pixy Camera Module 1 $69.00 $69.00 $0.00
Pan-Tilt Head 1 $39.00 $39.00 $0.00
FabScan 3D Scanner Shield 1 $12.84 $12.84 $40.33
Pololu A4988 Stepper Motor
Driver Carrier
1 $12.22 $12.22 $0.00
200 Step, Unipolar/Bipolar
Stepper Motor
1 $19.92 $19.92 $0.00
5mW Laser Module emmiter
(Red Line)
1 $7.57 $7.57 $0.00
Adafruit Data logging shield 1 $19.95 $19.95 $9.47
Tanscend 8gb SD card 1 $11.95 $11.95 $0.00
Total: 10 $242.35 $59.27
AGSE Structural Components
Pack of 30 ball bearings 1 $17.82 $17.82 $0.00
2" x 3" x 1/8", 8-ft long
aluminum rectangular Tubing
(6061-T6)
1 $52.26 $52.26 $52.80
Alluminum Sheet Metal 6061-
T6 (36" x 48" sheet)
2 $133.35 $266.70 $0.00
Nuts, bolts, and washers 1 $50.00 $0.00
1" Inner Diameter 6061-T6
Alluminum Rod
1 $22.42 $22.42
12V 200 RPM DC Motor 10 $11.95 $119.50 $20.00
Helical Couplers 6 $20.62 $123.72 $15.00
Anker Astro Pro 20Ah Lithium
Battery Pack
3 $99.99 $299.97 $0.00
Total: 25 $952.39 $87.80
AGSE Controller Components
Arduino Mega 1 $49.95 $49.95 $0.00
T-Rex Motor Driver 5 $74.95 $374.75 $0.00
45

Total: 6 $424.70 $0.00
Launch Competition
Airfare (6 x 400) $2,400.00
Hotel (5 x 2 x 90) $900.00
Rental Van (1 x 200) $400.00
Food and Entertainment $500.00
Freight $400.00
Total Launch Competition: $4,600.00
Outreach $3,500.00
Launch Pad Total: $4,314.05
Project Total: $12,955.80
Figure 9: Budget Distribution
$1,576.24
$743.80
$500.44
$254.34
$301.62
$1,040.19
$424.70
$4,600.00
$3,500.00
Budget Distribution
Rocket
Subscale Rocket
Robotic Arm
Payload Compartment
Navigation Package
AGSE Structural Components
AGSE Controller Components
Competition
Outreach
46

3. Funding Plan
Table 20: Funding Plan
Activity Funded by Amount Funds used for
Junior Rocket
Owls Program
Citrus College
Foundation /
Private Donors $8,000.00
$6, 000.00 to sponsor the
Citrus Rocket Owls’
participation in the NASA
Student launch and
$2,000.00 to purchase
supplies for the Junior
Rocket Owls activities
Azusa STEM
Pathways
Canyon City
Foundation
$6,500.00
$5,000.00 to sponsor the
Citrus Rocket Owls’
participation in the NASA
Student launch and
$1,500.00 to purchase
supplies for the STEM
Pathways activities
Science and
Technology
Fundraiser Event
Citrus College in
collaboration with
local businesses
$2,000.00
Sponsor the Citrus Rocket
Owls’ participation in the
NASA Student launch
Night on the
Plaza
Fundraising
Event
Glendora Public
Library Foundation $200.00
NASA Student launch
Presentation to
the RACE to
STEM committee
members
RACE to STEM Title
V Grant $500.00
NASA Student launch
KIWANIS Club
Presentation KIWANIS Club $500.00
NASA Student launch
Solicitations to
local businesses
Private donations
$2,000.00
NASA Student launch
Total:
$19,700.00
NASA Student launch and
their educational
engagement activities
47

4. Plans to Solicit Additional Support
The team received a license to use the simulation program STAR-CCM+ for 5,000
hours to help with simulations of the rocket's aerodynamic and structural
requirements. The team has access to Pasadena City College's Engineering Lab, and
to the expertise of the USC Rocket Propulsion Laboratory (RPL) team.
5. Sustainability Plan
In order for the rocketry project to be sustained at Citrus College and in the
community, the team plans to do the following:
• Maintain collaboration with the Rocket Team at Cal Poly Pomona. This
collaboration will extend the existing relationship between the Citrus
College Physics Department and the Aerospace Department at Cal Poly
that started two years ago as a result of a joint High Altitude Balloon
Project between the two colleges, funded by NASA through the California
Grant Space Consortium.
• Submit abstracts of team research for presentations to the annual HTCC
Student Research Conference for California Community Colleges hosted
by the University of California at Irvine. This conference is an opportunity
for the Rocket Owls to highlight their research, gain experience in a
research conference setting and potentially receive recognition,
scholarships and have their research published.
• Maintain our relationship with the Glendora Public Library by conducting
rocketry workshops open to the public every year.
• As part of the newly created Physics lab curriculum with a peer-led
component, the Rocket Owls will facilitate a rocketry lab every semester
for the PHYS 201 (General Physics–Mechanics) students, under the
supervision of the instructor in charge, Lucia Riderer, who is also the
faculty advisor of the Rocket Owls.
• Present team research, methods and results at the Citrus College Physics
Festival to approximately 200 Physics students every December and June.
• Present team research, methods and results at the Natural and Physical
Science Division faculty and staff meeting at least twice every year.
• Prepare and present a poster at the yearly Citrus College STEM
Symposium, open to all Citrus College students.
• Recruit new members for next year’s competition and mentor the new
team for at least one month. The new Rocket Owls will be recruited by the
team at the end of a rocketry workshop open to all interested students at
the beginning of June, 2015.
• Maintain existing Facebook page
(https://www.facebook.com/CitrusCollegeRocketOwls) and create other
social media web pages to constantly update their progress on the NASA
SLP.
48

Appendix A: Citrus College Profile
Since 1967, Citrus College has been providing a quality educational experience for
the communities of Azusa, Glendora, Duarte, Claremont and Monrovia. It is currently
home to over 12,000 students, the majority of whom are considered ethnic
minorities, and is dedicated to creating a diverse and welcoming learning
environment that supports educational achievement for all its students.
Citrus College offers many programs that promote community awareness in
numerous STEM (Science, Technology, Engineering, and Mathematics) related fields.
Biological and Physical Sciences is the second most common major in the school.
There are also numerous extracurricular programs aimed at increasing interest in
STEM subjects within the community, such as the SIGMA (Support and Inspire to
Gain Motivation and Achievement) peer mentor program; the PAGE (Pre-Algebra,
Algebra, Geometry Enrichment) summer K-12 mathematics enrichment program;
and the Secrets of Science Summer Camp that provides K-12 students with practical
experience in biology, chemistry, astronomy and physics laboratories.
Students at Citrus College are active participants in many STEM-related activities. In
past years, students have participated in NASA’s Reduced Gravity Education Flight
Program (RGEFP), have launched a near-space sounding balloon, and have also
traveled to Huntsville, Alabama and to Salt Lake City, Utah as participants in the
2013 and 2014 USLI SLP (University Student Launch Initiative Student Launch
Projects).
We hope to duplicate, if not supersede, the previous years’ successes with our own
2015 Student Launch project.
49

Appendix B: Safety Contract
50

Appendix C: NAR High Power Safety Code
1. Certification. I will only fly high power rockets or possess high power rocket
motors that are within the scope of my user certification and required
licensing.
2. Materials. I will use only lightweight materials such as paper, wood, rubber,
plastic, fiberglass, or when necessary ductile metal, for the construction of
my rocket.
3. Motors. I will use only certified, commercially made rocket motors, and will
not tamper with these motors or use them for any purposes except those
recommended by the manufacturer. I will not allow smoking, open flames,
nor heat sources within 25 feet of these motors.
4. Ignition System. I will launch my rockets with an electrical launch system,
and with electrical motor igniters that are installed in the motor only after
my rocket is at the launch pad or in a designated prepping area. My launch
system will have a safety interlock that is in series with the launch switch
that is not installed until my rocket is ready for launch, and will use a launch
switch that returns to the “off” position when released. The function of
onboard energetics and firing circuits will be inhibited except when my
rocket is in the launching position.
5. Misfires. If my rocket does not launch when I press the button of my
electrical launch system, I will remove the launcher’s safety interlock or
disconnect its battery, and will wait 60 seconds after the last launch attempt
before allowing anyone to approach the rocket.
6. Launch Safety. I will use a 5-second countdown before launch. I will ensure
that a means is available to warn participants and spectators in the event of a
problem. I will ensure that no person is closer to the launch pad than allowed
by the accompanying Minimum Distance Table. When arming onboard
energetics and firing circuits I will ensure that no person is at the pad except
safety personnel and those required for arming and disarming operations. I
will check the stability of my rocket before flight and will not fly it if it cannot
be determined to be stable. When conducting a simultaneous launch of more
than one high power rocket I will observe the additional requirements of
NFPA 1127.
7. Launcher. I will launch my rocket from a stable device that provides rigid
guidance until the rocket has attained a speed that ensures a stable flight,
and that is pointed to within 20 degrees of vertical. If the wind speed exceeds
5 miles per hour I will use a launcher length that permits the rocket to attain
a safe velocity before separation from the launcher. I will use a blast deflector
to prevent the motor’s exhaust from hitting the ground. I will ensure that dry
grass is cleared around each launch pad in accordance with the
accompanying Minimum Distance table, and will increase this distance by a
factor of 1.5 and clear that area of all combustible material if the rocket
motor being launched uses titanium sponge in the propellant.
51

8. Size. My rocket will not contain any combination of motors that total more
than 40,960 N-sec (9208 pound-seconds) of total impulse. My rocket will not
weigh more at liftoff than one-third of the certified average thrust of the high
power rocket motor(s) intended to be ignited at launch.
9. Flight Safety. I will not launch my rocket at targets, into clouds, near
airplanes, nor on trajectories that take it directly over the heads of spectators
or beyond the boundaries of the launch site, and will not put any flammable
or explosive payload in my rocket. I will not launch my rockets if wind speeds
exceed 20 miles per hour. I will comply with Federal Aviation Administration
airspace regulations when flying, and will ensure that my rocket will not
exceed any applicable altitude limit in effect at that launch site.
10. Launch Site. I will launch my rocket outdoors, in an open area where trees,
power lines, occupied buildings, and persons not involved in the launch do
not present a hazard, and that is at least as large on its smallest dimension as
one-half of the maximum altitude to which rockets are allowed to be flown at
that site or 1500 feet, whichever is greater, or 1000 feet for rockets with a
combined total impulse of less than 160 N-sec, a total liftoff weight of less
than 1500 grams, and a maximum expected altitude of less than 610 meters
(2000 feet).
11. Launcher Location. My launcher will be 1500 feet from any occupied building
or from any public highway on which traffic flow exceeds 10 vehicles per
hour, not including traffic flow related to the launch. It will also be no closer
than the appropriate Minimum Personnel Distance from the accompanying
table from any boundary of the launch site.
12. Recovery System. I will use a recovery system such as a parachute in my
rocket so that all parts of my rocket return safely and undamaged and can be
flown again, and I will use only flame-resistant or fireproof recovery system
wadding in my rocket.
13. Recovery Safety. I will not attempt to recover my rocket from power lines,
tall trees, or other dangerous places, fly it under conditions where it is likely
to recover in spectator areas or outside the launch site, nor attempt to catch
it as it approaches the ground.
52

MINIMUM DISTANCE TABLE
Installed Total
Impulse
(Newton-
Seconds)
Equivalent
High Power
Motor Type
Minimum
Diameter of
Cleared Area
(ft.)
Minimum
Personnel
Distance (ft.)
Minimum
Personnel
Distance
(Complex
Rocket) (ft.)
0 — 320.00 H or smaller 50 100 200
320.01 — 640.00 I 50 100 200
640.01 —
1,280.00
J 50 100 200
1,280.01 —
2,560.00
K 75 200 300
2,560.01 —
5,120.00
L 100 300 500
5,120.01 —
10,240.00
M 125 500 1000
10,240.01 —
20,480.00
N 125 1000 1500
20,480.01 —
40,960.00
O 125 1500 2000
Note: A Complex rocket is one that is multi-staged or that is propelled by two or
more rocket motors
This document is effective as of August 2012 (http://www.nar.org/safety-
information/high-power-rocket-safety-code/)
53

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