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Team Garuda Cansat 2012 PFR

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Post Flight Review (PFR) of Team Garuda at the International Student CanSat competition. Team Garuda secured International Rank 3 out of 40 Teams at the International Student CanSat Competition 2012 at Abilene, TX, USA. Visit http://www.rishidua.com/cansat/ for more information about the team.

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Team Garuda Cansat 2012 PFR

  1. 1. Team Logo Here CanSat2012Post Flight Review Team 7634 Garuda Indian Institute of Technology, Delhi CanSat 2012 PFR: Team 7634 (Garuda) 1
  2. 2. Team Logo Here (If You Want) Presentation Outline Systems Overview Mission summary CanSat overview Components summary Physical layout Concept of Operations and Sequence of Events Comparison of planned and actual Con-Ops Comparison of planned and actual SOE FSW requirements Flight Data Analysis Carrier TLM -GPS data Carrier TLM -Altitude data Carrier TLM -Air temp data Carrier TLM -Battery data Lander TLM -Altitude data Lander TLM -Battery data Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 2
  3. 3. Team Logo Here (If You Want) Presentation Outline Average descent rate –carrier above 200m Average descent rate –carrier 91m to 200m Average descent rate –lander after separation Bonus Data (impact forcecalculation) Failure Analysis Identification of failures, root causes, and corrective actions Management CanSat budget -hardware CanSat budget -other Lessons Learned Discussion of what worked and what didn't Conclusions Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 3
  4. 4. Team Logo Here (If You Want) Team Garuda Contact Details: <firstname>@teamgaruda.in Name Major with Year Arpit Goyal ElectricalEngineering, Senior RajatGupta Mechanical Engineering, Senior KshiteejMahajan Computer Science,Senior AmanMittal ElectricalEngineering, Junior PrateekGupta MechanicalEngineering, Junior SarthakKalani Electrical Engineering, Junior SudeeptoMajumdar Electrical Engineering, Junior AkashVerma Mechanical Engineering, Sophomore Rishi Dua Electrical Engineering,Sophomore Harsh Parikh Computer Science, Freshman Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 4
  5. 5. Team Logo Here (If You Want) Team organization Team Leader Faculty Mentor Mechanical Designs AkashVerma PrateekGupta Electrical Systems Arpit Goyal Sarthak Kalani Sudeepto Majumdar Software Control Harsh Parikh KshiteejMahajan RishiDua Team Mentor Alternate Team Leader AmanMittal RajatGupta Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 5
  6. 6. Team Logo Here (If You Want) Acronyms Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 6 DR –Average Descent Rate CDH –Communication and Data Handling CONOPS –Concept of Operations GCS –Ground Control System GPS –Global Positioning System SOE –Sequence of Events
  7. 7. Team Logo Here (If You Want) Mission SummaryPre launch •Completing Flight Readiness demo -all work was assigned before reaching the launch site •CanSat mass -648g. We used plastic for the carrier body and drilled holes in body to keep the weight low •Payload length -152mm -Placed lander parallel to carrier electronics within carrier for efficient space utilization •No protrusions -electronics placed inside the carrier •Airframe restraints –The CanSatairframe fitted perfectly into the height and width of the launcher. •Antenna length –4m, using a PVC mast Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 7
  8. 8. Team Logo Here (If You Want) Launch and Descent •Launch in Assigned window –time slot 11-12, we launched at 11:20 AM •Launched -The launch was successful •CanSat deployed -The CanSat deployed successfully from Launcher •Lander Separation -battery drained so motor did not work. whereas we got GPS, reason -over testing, replacement not easy •GPS data -Success, using GPS sensor •Altitude data -Success, Using Pressure Sensor BMP085 •Air temperature data -Success, Using Temperature Sensor BMP085 •Battery voltage data -Success, Using voltage divider circuit •CanSat TLM started -Success, By giving ST from ground station Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 8
  9. 9. Team Logo Here (If You Want) Recovery •Carrier Recovered –Recovery crew we were able to locate CanSat. We had GPS data and plots on Google Maps but they were not used as the parachutes were bright and we could see the exact location by observing the descent. •Carrier Locator Operational -The buzzer did not work because manual command ‘BU’ was forgotten to be sent. •Lander Recovered –Since lander did not deploy, carrier and lander were recovered together •Lander Locator Operational -The lander buzzer too did not work due to wiring problem. •Egg intact –The idea to use sponge ball worked well as expected by the rigorous testing results. Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 9
  10. 10. Team Logo Here Systems Overview Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 10
  11. 11. Team Logo Here (If You Want) Mission Overview The Main Objective: The main purpose of CanSatis to provide egg safety from launch to landing. Auxiliary Objectives: •Launching CanSat. •Descend CanSatfrom 600m to 200m at a constant descent rate of 10 m/s +/- 1 m/s •Changing constant descent rate to 5 m/s +/-1m/s at 200m •Releasing the lander with egg at 91 m altitude. •Landing lander with descend rate less than 5m/s without damaging egg. •Collecting data at ground station from sensors in CanSatthrough x-bee radio modules. Selectable (Bonus) Mission: Calculating thrust force after lander has landed; Data to be collected at rate more than 100Hz and stored on board for post-processing. Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 11
  12. 12. Team Logo Here (If You Want) CanSat overview •Used unidirectional antenna •Parachutes for decent control •Plastic body made to keep CanSat low weight •Placed lander parallel to carrier electronics within carrier for efficient space utilization •Egg compartment located at the bottom of the lander packed using sponge •DC Motor actuated flap separation mechanism Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 12
  13. 13. Team Logo Here (If You Want) Component Summary Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 13
  14. 14. Team Logo Here (If You Want) Electrical Components Summary- Carrier CanSat 2012 PFR: Team 7634 (Garuda) 14 XBee GPS BMP085 Antenna (RPSMA) Buzzer Resistors ArduinoUno SD card L293D Battery Presenter: Rishi Dua
  15. 15. Team Logo Here (If You Want) CanSat 2012 PFR: Team 7634 (Garuda) 15 Electrical Components Summary – Carrier GPS Data SD Card BMP 085 (T&P sensor) Xbee Pro Battery Voltage Buzzer Arduino Uno Serial Data Serial for Tx Through ADC I2C data L293D (buffer for actuator) Output PWM Presenter: Rishi Dua
  16. 16. Team Logo Here (If You Want) Electrical Components Summary- Carrier Component Use XBee Data Communicationfrom Carrier to Ground station. GPS Getting the GPSdata to the GCS. BMP Pressure and TemperatureData Antenna Transceiver For sendingand receiving the XBeedata. Buzzer For Locatingthe carrier and lander. Battery For powering up thecarrier and lander system. ArduinoUno Microcontrollerfor the data processing. Resistors For voltagedividing circuit. SD Card Forstoring on-flight data L293D MotorDriver IC CanSat 2012 PFR: Team 7634 (Garuda) 16 Presenter: Rishi Dua
  17. 17. Team Logo Here (If You Want) Electrical Components Summary - Lander CanSat 2012 PFR: Team 7634 (Garuda) 17 MMA 7361 BMP085 Resistors Buzzer SD Card Battery Presenter: Rishi Dua
  18. 18. Team Logo Here (If You Want) CanSat 2012 PFR: Team 7634 (Garuda) 18 Electrical Components Summary– Lander SD Card BMP 085 (T&P sensor) Battery Voltage Buzzer Arduino Uno Through ADC I2C data MMA 7361 (Accelerometer) Through ADC Presenter: Rishi Dua
  19. 19. Team Logo Here (If You Want) Electrical Components Summary - Lander Components Use MMA 7361 Get AccelerometerData Buzzer Locatingthe lander Battery Poweringup the CanSatsystem. SD card For storing on-flight data ArduinoUno Forprocessing the data. Resistors Voltagedividing circuit. CanSat 2012 PFR: Team 7634 (Garuda) 19 Presenter: Rishi Dua
  20. 20. Team Logo Here (If You Want) Mechanical Components Summary - Carrier •Frame – •Bonding - CanSat 2012 PFR: Team 7634 (Garuda) 20 Components Use Motors For openingand closing of leafs and flaps Flap Deployment of lander Leaf Secondparachute deployment. Components Use Elfy To gluetogether acrylic Electrical Tapes To hold the components. Presenter: Rishi Dua
  21. 21. Team Logo Here (If You Want) Mechanical Components Summary- Lander •Frame - Bonding – CanSat 2012 PFR: Team 7634 (Garuda) 21 Components Use AcrylicRods Support mechanism with less weight. Hip Protector Impact Distribution forEgg Protection Circular Disk (Plastic) To hold the electricalComponents Foam Ball Shock Absorptionfor Egg Protection Components Use Electrical Tape To hold the electrical components Elfy To glue the electrical components Epoxy Toglue the joints together Presenter: Rishi Dua
  22. 22. Team Logo Here (If You Want) Physical Layout-CanSat Presenter: Rishi Dua 126mm Space for Electronics Parachute on top Lander detachment from bottom Lander Motor CanSat 2012 PFR: Team 7634 (Garuda) 22
  23. 23. Team Logo Here (If You Want) Physical Layout-Lander 145mm Space for parachutes Electronic Components Egg Egg protection system Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 23
  24. 24. Team Logo Here (If You Want) Physical Layout Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 24
  25. 25. Team Logo Here Concept of Operations and Sequence of Events Presenter: Harsh Parikh CanSat 2012 PFR: Team 7634 (Garuda) 25
  26. 26. Team Logo Here (If You Want) Comparison of planned and actual Con-Ops •Safety Inspection •Briefing •Last Mechanical control •Last Electrical control •Coming at Competition Arena •Checking weight of Cansat Pre Flight •Power-on the Cansat •Placing the Cansat in Rocket. •Place the Rocket on launch pad •Launch •Recover the Cansat after flight Launch and Flight •Locating CanSat •Saving Data •Analyzing Data •Preparing PFR •PFR Presentation Post Flight *The Operation(s) in red is the one whichfailed CanSat 2012 PFR: Team 7634 (Garuda) 26 Presenter: Harsh Parikh
  27. 27. Team Logo Here (If You Want) Comparison of planned and actualSOE *The Operation(s) in red is the one whichhad problems. On CanSat Keep CanSat in rocket Launch Rocket Leaving CanSat from rocket at 600m Descent rate should be 10m/s when CanSat is at height more than 200m Descent rate should be 5m/s when CanSat is at height more than 91m Detaching lander at 91m Collecting data from sensors Sending Data to ground station Data Analysis Calculating collision force Detecting CanSat Off CanSat CanSat 2012 PFR: Team 7634 (Garuda) 27 Presenter: Harsh Parikh
  28. 28. Team Logo Here (If You Want) Overview of Con-Op and SOE Planned Actual Reasons SafetyCheck Successful Provided checklist was checked more than twice GCS connection Successful Rigorous testing was done before Placing Egg Payload on the CanSat Successful Easy Design of Lander Egg Placement LoadingCanSatin Launch vehicle Successful Sizewas well within limit and there were no protrusions Following the designed flow of CanSat Lander didn’t deploy As the battery drainedout,the flap motor couldn’t get enough power to rotate. Failure of Separation mechanism. Telemetry processing, archiving and analysis Successful Testing already done many times and highgain antenna used Switchingon the Carrier locating device Failed Manually command‘BU’ was forgotten to be sent from GCS Switchingon the Lander locating device Failed Wiring problems. Recovery Successful Bright ColoredParachutes with help from organisers CanSat 2012 PFR: Team 7634 (Garuda) 28 Presenter: Harsh Parikh
  29. 29. Team Logo Here (If You Want) Con-Op and SOE •The Cansat was almost ready and tested before coming to arena but there were minor changes at last moment on the module •The spherical casing along with bubble wrap was prepared on field. •There was need of battery change in Lander and Carrier but only Lander’s battery was changed due to lack of time and complicated battery fixture •Everything else went according to plan, also the Cansat was completely recovered. CanSat 2012 PFR: Team 7634 (Garuda) 29 Presenter: Harsh Parikh
  30. 30. Team Logo Here (If You Want) FSW Requirements •FSW required sea-level pressure and elevation of the launch place (Jim Burkett Ranch, Texas) to calculate exact altitude of CanSat. •This was done using a meteorological website and then making elevation at ground to zero. CanSat 2012 PFR: Team 7634 (Garuda) 30 Presenter: Harsh Parikh
  31. 31. Team Logo Here Flight Data Analysis Presenter: ArpitGoyal CanSat 2012 PFR: Team 7634 (Garuda) 31
  32. 32. Team Logo Here (If You Want) Carrier TLM: GPS data Presenter: Arpit Goyal CanSat 2012 PFR: Team 7634 (Garuda) 32 TLM from Carrier was started by sending a ‘ST’ command from GCS. Telemetry of GPS data is displayed below: $GPGGA,162631.000,3157.8494,N,09916.9001,W,2,9,0.94,501.6,M,-22,M,,*75 Following slides will show trajectory of CanSat using Google Earth API.
  33. 33. Team Logo Here (If You Want) Carrier Trajectory Google Earth CanSat 2012 PFR: Team 7634 (Garuda) 33 Presenter: Arpit Goyal
  34. 34. Team Logo Here (If You Want) Carrier Trajectory Google Earth: Side View CanSat 2012 PFR: Team 7634 (Garuda) 34 Presenter: Arpit Goyal Launch Pad, Jim Burkett Ranch
  35. 35. Team Logo Here (If You Want) Carrier Trajectory Google Earth: Top View CanSat 2012 PFR: Team 7634 (Garuda) 35 Presenter: Arpit Goyal
  36. 36. Team Logo Here (If You Want) Carrier TLM: GPS data, No of Satellites CanSat 2012 PFR: Team 7634 (Garuda) 36 Presenter: Arpit Goyal
  37. 37. Team Logo Here (If You Want) Carrier TLM -Altitude data CanSat 2012 PFR: Team 7634 (Garuda) 37 Presenter: Arpit Goyal 200m height from Ground Avg. Descent Rate = (735-626)/(120-101) = 5.73 m/s Avg. Descent Rate = (1182-735)/(84-36) = 9.3125 m/s *535.9 is the altitude of Jim Burkett ranch launch site from sea level.
  38. 38. Team Logo Here (If You Want) Carrier TLM -Air temp data CanSat 2012 PFR: Team 7634 (Garuda) 38 Presenter: Arpit Goyal
  39. 39. Team Logo Here (If You Want) Carrier TLM -Battery data CanSat 2012 PFR: Team 7634 (Garuda) 39 Presenter: Arpit Goyal
  40. 40. Team Logo Here (If You Want) Lander TLM –Altitude data CanSat 2012 PFR: Team 7634 (Garuda) 40 Presenter: Arpit Goyal Since, lander was not separated from Carrier, the altitude plot will be almost same as that of carrier
  41. 41. Team Logo Here (If You Want) Lander TLM –Battery Voltage data CanSat 2012 PFR: Team 7634 (Garuda) 41 Presenter: Arpit Goyal
  42. 42. Team Logo Here (If You Want) Impact Force Calculation CanSat 2012 PFR: Team 7634 (Garuda) 42 Presenter: Arpit Goyal Impact Force 1.63g –0.72g = 0.91g So, Impact Force = Mass*0.91g/0.3 = 0.648*3 = 1.944g Sampling Frequency: 100Hz
  43. 43. Team Logo Here (If You Want) Carrier TLM –Descent Rate Calculations CanSat 2012 PFR: Team 7634 (Garuda) 43 Presenter: Arpit Goyal 200m height from Ground Avg. Descent Rate = (735-626)/(120-101) = 5.73 m/s Avg. Descent Rate = (1182-735)/(84-36) = 9.3125 m/s *535.9 is the altitude of Jim Burkett ranch launch site from sea level.
  44. 44. Team Logo Here Failure Analysis Presenter: Harsh Parikh CanSat 2012 PFR: Team 7634 (Garuda) 44
  45. 45. Team Logo Here (If You Want) Failure Analysis •The Lander didn’t deploy from Carrier –The lander was to be supposed to deployed at 91m by opening of the flap at the bottom of Carrier. The flap would rotate with the help of geared motor. As the battery drained of in mid of flight the power was not enough for the motor to make it rotate. –Tools not compatible with USA power standard –Corrective Measures: •Will make battery holder more easily replaceable next time •Will arrange tools on time according to US and will try to come to US a day earlier. •The buzzer was not on while the CanSathad landed –The drained off battery turned the tables. –Corrective Measures: Will make battery holder more easily replaceable next time Presenter: Harsh Parikh CanSat 2012 PFR: Team 7634 (Garuda) 45
  46. 46. Team Logo Here (If You Want) Failure Analysis •The battery of Cansatdrained off in between the flight –It was noticed that battery had low life left before the flight, but we were unable to replace it because, replacement of battery was complicated due to clustered design. –The battery already installed drained off due to excessive testing –Corrective Measures: Will make battery holder more easily replaceable next time. Ensure to place new battery at the time of launch. •Entanglement of circuit wires and uncertainty of connection –It was presumed that it would be convenient to make circuit by hand and that no PCB was needed, this made the circuitry lot more wired and clustered –Due to so many wires, they use to entangle and also it was not convenient to change any component. –Corrective Measures: Will use printed boards next time. They are easy to make and more reliable. Presenter: Harsh Parikh CanSat 2012 PFR: Team 7634 (Garuda) 46
  47. 47. Team Logo Here Management Presenter: Rishi Dua CanSat 2012 PFR: Team 7634 (Garuda) 47
  48. 48. Team Logo Here (If You Want) CanSat Budget –Hardware CanSat 2012 PFR: Team 7634 (Garuda) Presenter: Rishi Dua S.No. Component Quantity Rate (USD) Cost (USD) 1 Arduino Board Uno 2 27.6 55.2 2 Pressure Sensor Bosch 2 20.0 40.0 3 GPS sensor 1 50.0 50.0 4 Accelerometer 1 12.0 12.0 5 Xbee Radios 1 pair 50.6 50.6 6 Battery Duracell 10 (2to be used, 8 spare) 2.4 24.0 7 Audio Buzzer 2 1.5 3.0 8 Antenna A24HSM450 2 6.0 12.0 9 Parachutes 3 25.0 75.0 10 Material for structure and fabrication N.A 50.0 50.0 11 DC Motors 2 5.0 10.0 TOTAL 381.8 48
  49. 49. Team Logo Here (If You Want) Components Cost(USD) Laptop for GCS None Travel 9000 Rental 700 Test facilities 100 Total 9800 CanSat Budget –Other Costs CanSat 2012 PFR: Team 7634 (Garuda) Presenter: Rishi Dua 49
  50. 50. Team Logo Here (If You Want) CanSat Budget –Sponsors CanSat 2012 PFR: Team 7634 (Garuda) Presenter: Rishi Dua 50
  51. 51. Team Logo Here Lessons Learned/Conclusions Presenter: Kshiteej S. Mahajan CanSat 2012 PFR: Team 7634 (Garuda) 51
  52. 52. Team Logo Here (If You Want) Worked/ Didn’t Work Worked •The bi-hemispherical sponge egg casing along with bubble wrap and hip impact distributor. •Parachutes with proper spill holes were able to control descend rate and drift •Telemetry data was successfully received •GPS sensor gave accurate data •Pressure sensor, used to get altitude worked accurately •Temperature sensor gave accurate data Didn’t Work •The lander deployment system failed due to battery drain •The buzzer used to locate carrier and lander didn’t went ON due to wiring problems. •Battery could not provide sufficient power for motor. Presenter: Kshiteej S. Mahajan CanSat 2012 PFR: Team 7634 (Garuda) 52
  53. 53. Team Logo Here (If You Want) Lessons Learned (1) •The prime most lesson learned was that if PCB was used instead loose circuit, the circuitry would have been less complex, less clustered and more organized. •This may help us to easily change components or battery, also there will be no entanglement in wirings. •Secondly, it was concluded that over testing of leaf and flap motors resulted in drain off of battery. •We should use the new batteries just before the flight so that it may sustain for long time. CanSat 2012 PFR: Team 7634 (Garuda) Presenter: Kshiteej S. Mahajan 53
  54. 54. Team Logo Here (If You Want) Lessons Learned (2) •We were unable to test the complete integration of Cansat due to lack of local facilities. Thus we were not able to check the deployment of lander. •If Cansat was completely integrated much before, we would have been able to test if from different site instead of using local facility. •We must try different designs physically so as to assure its working in different scenario which will be the result of continuous testing. CanSat 2012 PFR: Team 7634 (Garuda) Presenter: Kshiteej S. Mahajan 54
  55. 55. Team Logo Here (If You Want) Thank You CanSat 2012 PFR: Team 7634 (Garuda) Presenter: Kshiteej S. Mahajan 55

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