This document summarizes a student project called O.S.C.A.R. that aims to design a CubeSat to help remove space debris from orbit. It outlines the system design including using a net launcher to capture debris less than 10 cm in size, processing images with a computer and FPGA to locate and identify debris, and deorbiting the captured debris within a year by performing retrograde burns with a propulsion system. The document provides details on the mission objectives, structure, power, communications, and analyses performed to model the attitude determination, thermal, and orbital maneuvering aspects of the CubeSat's debris removal mission.
NRP Engagement webinar - Running a 51k GPU multi-cloud burst for MMA with Ic...Igor Sfiligoi
NRP Engagement webinar: Description of the 380 PFLOP32S , 51k GPU multi-cloud burst using HTCondor to run IceCube photon propagation simulation.
Presented January 27th, 2020.
Burst data retrieval after 50k GPU Cloud runIgor Sfiligoi
We ran a 50k GPU multi-cloud simulation to support the IceCube science. This talk provided an overview of what happened to the associated data.
Presented at the Internet2 booth at SC19.
This presentation details the Avalanche risk Assessment proposal. The mission of this proposal is to determine areas of risk from avalanches based on measuring snow accumulation using laser altimeter systems.
My team and I assigned to develop a conceptual design for the aerial decelerator system used to safely land a high-altitude precision airdropped sonobuoy into the the ocean.
"Building and running the cloud GPU vacuum cleaner"Frank Wuerthwein
This talk, describing the "Largest Cloud Simulation in History" (Jensen Huang at SC19), was given at the MAGIC meeting on Dec. 4th 2019. MAGIC stands for "Middleware and Grid Interagency Cooperation", and is a group within NITRD. Current federal agencies that are members of MAGIC include DOC, DOD, DOE, HHS, NASA, and NSF.
This project solved the car interior overheating problem faced in warm climates when vehicles are left outside for extended periods of time. The solution included a deployable sun-shade within the interior of the car, coupled with a miniaturized air-curtain to actively transfer heat out the car using its own ventilation system. Significant decreases in internal mean temperature (of up to 15 F) were observed.
Video and slides synchronized, mp3 and slide download available at URL http://bit.ly/2xt4ZmE.
Alex Kesling explores Google Expeditions as a case study in building meaningful Virtual Reality applications. Specifically, he discusses how the algorithms of Google's JUMP technologically hallucinate three dimensional photographs of the world around us. Filmed at qconnewyork.com.
Alex Kesling is a Virtual Reality Engineer at Google focused on improving the lives of students everywhere through next-generation technologies. From working on designing Knowledge Graph infrastructure, to Android VR development, he has done a little bit of everything in his tenure at Google. He is currently exploring the next generation of VR tools to support educators.
NRP Engagement webinar - Running a 51k GPU multi-cloud burst for MMA with Ic...Igor Sfiligoi
NRP Engagement webinar: Description of the 380 PFLOP32S , 51k GPU multi-cloud burst using HTCondor to run IceCube photon propagation simulation.
Presented January 27th, 2020.
Burst data retrieval after 50k GPU Cloud runIgor Sfiligoi
We ran a 50k GPU multi-cloud simulation to support the IceCube science. This talk provided an overview of what happened to the associated data.
Presented at the Internet2 booth at SC19.
This presentation details the Avalanche risk Assessment proposal. The mission of this proposal is to determine areas of risk from avalanches based on measuring snow accumulation using laser altimeter systems.
My team and I assigned to develop a conceptual design for the aerial decelerator system used to safely land a high-altitude precision airdropped sonobuoy into the the ocean.
"Building and running the cloud GPU vacuum cleaner"Frank Wuerthwein
This talk, describing the "Largest Cloud Simulation in History" (Jensen Huang at SC19), was given at the MAGIC meeting on Dec. 4th 2019. MAGIC stands for "Middleware and Grid Interagency Cooperation", and is a group within NITRD. Current federal agencies that are members of MAGIC include DOC, DOD, DOE, HHS, NASA, and NSF.
This project solved the car interior overheating problem faced in warm climates when vehicles are left outside for extended periods of time. The solution included a deployable sun-shade within the interior of the car, coupled with a miniaturized air-curtain to actively transfer heat out the car using its own ventilation system. Significant decreases in internal mean temperature (of up to 15 F) were observed.
Video and slides synchronized, mp3 and slide download available at URL http://bit.ly/2xt4ZmE.
Alex Kesling explores Google Expeditions as a case study in building meaningful Virtual Reality applications. Specifically, he discusses how the algorithms of Google's JUMP technologically hallucinate three dimensional photographs of the world around us. Filmed at qconnewyork.com.
Alex Kesling is a Virtual Reality Engineer at Google focused on improving the lives of students everywhere through next-generation technologies. From working on designing Knowledge Graph infrastructure, to Android VR development, he has done a little bit of everything in his tenure at Google. He is currently exploring the next generation of VR tools to support educators.
3. Purpose
Presenter: Jesse Pelletier
● Active solution to space debris de-orbit
● Use COTS hardware
● Combined de-orbit in 5 years
● Extension to future missions
O.S.C.A.R.
10 December 2015
4. Design Ideas/Philosophy
Presenter: Jake Adzema
● Use proven/tested technologies
● Reliable, relatively inexpensive, easy to manufacture
● High degree of autonomy throughout mission
● Future goals: fleet of CubeSats ready to be launched at anytime
● Work in tandem with larger systems to make a real impact on cleaning space
O.S.C.A.R.
10 December 2015
5. System Overview
Presenter: Jake Adzema
● Size choice - Satellite and debris
● Capture method
● Layout
O.S.C.A.R.
10 December 2015
7. ● Secondary payload in a P-POD
● Sun-synchronous orbit
○ 95° to 105° inclination
○ 600 km to 800 km
● Launch with most observation satellites
Launch
Presenter: Alex Malin
Launch ➨ Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: http://ccar.colorado.edu/asen5050/projects/projects_2011/leppek/
8. Structure
Presenter: Alex Malin
● Meets CubeSat Design Specification R13
○ Aluminum only
○ No large gaps in rails
○ Standard 3U size
● Flight proven, made by Innovative Solutions In Space
● Accommodates antenna in middle of structure
● Ready to go, no modifications
Launch ➨ Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
9. Deployment
Presenter: Ryan Moriarty
Tumble Initialize Confirm Status
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
10. Power
Presenter: Ryan Moriarty
● Optimized for worst case scenario
○ β=0
● Factor of Safety 1.5
● Power budget
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source:
https://upload.wikimedia.org/wikipedia/commons/thumb/a/af/Beta_angle_sun.svg/2000px-Beta_angle_sun.svg.png
11. Power
Presenter: Ryan Moriarty
Battery
Clyde Space
10 Wh Capacity
Thermal control
Solar Panels
Clyde Space
7.29 W
Magnetorquers
Electrical Power System
Clyde Space
10 Outputs
Radiation Tolerant
Deployment ➨ Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source:
http://www.clyde-space.com/3g_eps_range/422_3g-flex-eps
Source:http://www.clyde-space.com/cubesat_shop/batteries/279_cubesa
t-standalone-battery Source:http://www.clyde-space.com/cubesat_shop/solar_panels
13. Initialization
Presenter: Jesse Pelletier
Receive directive, either rendezvous or immediate de-orbit (Mission failure)
Activate ADCS
● Detumble
● Find sun
● Orient for power
● Spin up for stability
Send status and callsign once per minute
Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
14. ADCS
Presenter: Jesse Pelletier
iADCS-100 (Berlin Space Tech.)
● Reaction wheels, magnetorquers, star tracker, nadir tracking, target pointing
Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source:
https://directory.eoportal.org/web/eoportal/satellite-missions/a/aalto-1
18. ADCS Summary
Presenter: Jesse Pelletier
Simulation of real system
● 5Hz discrete sample time
● Quaternion-based
● Sensor and Kalman filter
● Performance can only improve
Initialization ➨ Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: iADCS-100 Interface Control
Document
19. Rendezvous
Presenter: Colin Lenhoff
● Calculate orbital maneuvers, despin
● 800 km circular orbit
● 37 m/s ∆V Precession Change of 7 deg/yr
● 76 m/s ∆V 0.3 Inclination Angle Change
● 137 m/s ∆V for 800 km to 300 km Perigee Half Year Nodal Precession Change
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Hohmann Transfer
Nodal Precession Close Up
20. Propulsion
Presenter: Colin Lenhoff
● Aerojet Rocketdyne MPS-130
● AF-M315E Propellent
● 340 m/s ∆V for 4 kg
● 5℃ - 50℃
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: Test Results of for MPS-120 and MPS-130 CubeSat
Propulsion Systems
Source: Test Results of for MPS-120 and MPS-130
CubeSat Propulsion Systems
Source: Test Results of for MPS-120 and MPS-130
CubeSat Propulsion Systems
21. Thermals
Presenter: Jake Adzema
● Two cases to consider
○ Direct view of sun
○ Sun completely blocked by Earth
● Operational range: 5 to 50 °C
● Propulsion system defines the temperature
range
● One heater provides extra heat to propulsion
● Calculated to stay between 10 and 40 °C
Heat emitted via radiation
Heat absorbed from sun
AlbedoInfrared
Heat emitted via radiation
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
22. Radiation Protection
Presenter: Jake Adzema
● Radiation tolerant components
● Short mission life span
● Chassis made of aluminum and solar panels should deflect most radiation
Rendezvous ➨ Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
Source: https://upload.wikimedia.org/wikipedia/commons/thumb/6/61/Alfa_beta_gamma_radiation_penetration.svg/2000px-Alfa_beta_gamma_radiation_penetration.svg.png
23. Localization
Presenter: Alex Malin
● Now within ~10 meters of target
● Stereo vision sensing system will locate target
● Slowly move toward target and stop
● Evaluate target
○ ~10x10x10 cm
○ 2.5 kg
○ Limited or no tumbling
○ Solid
○ Sharp edges
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
24. Sensing
Presenter: Alex Malin
● Two cameras for stereo vision
○ Consumer camera sensors
○ Deployed for extra distance between sensors
○ Can create disparity to just over 10 m
● Determines relative location
● Can evaluate target for...
○ Volume
○ Total size
○ Tumbling
○ Jaggedness
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
25. What does the computer do?
Presenter: Austin Kubiniec
Orders for all subsystems
Calculate maneuvers
Talk to Telecom
Image processing
Operate sensors, and the capture
Source: www.spacemicro.com
Processing Power: 1200 MIPS
Memory: 8GB flash, 512MB RAM
Radiation-Hardened
Localization ➨ Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
26. Processing Power Allocation
Presenter: Austin Kubiniec
● Most of the processing goes to sensing
● Identification of debris object will require
in-depth image processing capabilities
● The computer contains a Field
Programmable Gate Array (FPGA) which
can be used to render point clouds at high
frames per second
● Given a resolution of 2592x1944, we
expect a maximum frame rate of 0.212 fps
Localization ➨ Capture ➨ De-orbit
Source: http://robotica.unileon.es/mediawiki/index.php
O.S.C.A.R.
10 December 2015
27. Capture
Presenter: Austin Kubiniec
● Computer initiates capture
● Ship repositions and reorients
● Net is fired
● Net entangles debris object
● Pull back to cubesat
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
28. Net Launch Device
Presenter: Alex Austin
● Custom designed part
○ Housed in top unit of CubeSat
○ Center section holds an 18 in. x 18in. net
○ Four perimeter barrels hold weights to be
launched and pull net out of structure
● Compressed gas reservoir with solenoid
valve for release
● Small servo motor to pull debris object
back to CubeSat after net entanglement
● Full-scale 3D printed ABS design model
created to perform system validation
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
29. Net Launch Device Future Plans
Presenter: Alex Austin
● Determine an ideal net material
● Manufacture a working prototype to perform net launch microgravity testing
and further refine design
● Develop a cover to contain net before debris capture
● Final flight model will likely be made of aluminum through a CNC milling or 3D
printing process
● Explore additional uses of this device to capture objects other than debris
The initial steps have been laid to bring this design to production
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
30. Telecommunications
Presenter: Alex Austin
ISIS VHF downlink/UHF uplink
Full Duplex Transceiver
GOMspace NanoCom ANT430 UHF
Turnstile Antenna
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
● Full duplex transceiver
● 1.2 kbps uplink/9.6 kbps
downlink
● Omni-directional antenna
● Mountable within center of
structure
Source: http://www.isispace.nl/brochures/ISIS_TRXUV_Transceiver_Brochure_v.12.5.pdf
Source:
http://www.gomspace.com/index.php?p=products-ant430
31. Telecommunications
Presenter: Alex Austin
● At maximum altitude of 800 km and minimum
elevation angle of 10 degrees:
○ Minimum CubeSat receiver sensitivity = -84.55 dBm >
-104 dBm (sensitivity of CubeSat transceiver)
○ Minimum ground station sensitivity = -88.01 dBm
● Utilizing STK analysis with the Wallops, VA
ground station:
○ Average communication time is 500 - 700 seconds per
pass
○ Uplink: 75 - 105 kilobytes
○ Downlink: 600 - 840 kilobytes
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
32. De-orbit
Presenter: Alex Austin
● Perform a retrograde burn to reach lower altitude
● With maximum sized debris object captured, burn will bring the system to a
minimum 300 km altitude
○ Deorbit in less than a year
● Any excess propulsion will be used to shorten this time
● Both the CubeSat and captured debris object will burn up on re-entry
De-orbit
O.S.C.A.R.
10 December 2015
33. Additional Applications
Presenter: Ryan Moriarty
● Object retrieval mission
○ Launch from ISS
○ Capture and return to ISS
● Object investigation mission
○ Launch to unknown NEO
○ Inspect with stereo vision
● Adaptable Payload
O.S.C.A.R.
10 December 2015
34. Known Cost
Presenter: Ryan Moriarty
O.S.C.A.R.
10 December 2015
Component Cost
CPU $100,000
ACS $154,000
Transceiver $9,500
Antenna $6,000
Propulsion TBA
Solar Panel $26,000
Battery $2,000
EPS $13,500
Structure $4000
Payload TBA
Total $315,000 + Propulsion/Payload
35. Risks
Presenter: Ryan Moriarty
O.S.C.A.R.
10 December 2015
Risk Mitigation
Hardware Failure Flight tested hardware
Propulsion might not be produced MPS-120
Obsolete hardware Update CubeSat
Net Device not COTS Ground/ESA testing
36. Final Remarks
Presenter: Alex Austin
● Highly reliable system based on flight
tested hardware
● Payload device is ready for second
stage design work and testing
● Foresee a future with a fleet of these
units ready to be launched at anytime
● As a supplement to larger debris
de-orbiting devices, this will make a
significant contribution to cleaning
space over time
O.S.C.A.R.
10 December 2015
40. Initial Design Model
Presenter: Alex Austin
● Full-scale 3D printed ABS model
of Net Launch Device within
CubeSat unit
○ Sample servo motor, air reservoir,
solenoid valve, and pneumatic tubing
lines
● Provides validation of initial
system layout and opportunity to
identify future improvements
before a flight prototype
Capture ➨ De-orbit
O.S.C.A.R.
10 December 2015
43. Works Cited
● http://robotica.unileon.es/mediawiki/index.php/PCL/OpenNI_tutorial_2:_Cloud
_processing_(basic)
● http://www.scientificamerican.com/media/multimedia/0212-spacejunk/img/cha
rt-historical-debris-growth.jpg
● http://ccar.colorado.edu/asen5050/projects/projects_2003/wilson/index_files/i
mage017.gif
● Carpenter, C., Schmuland, D., Overly, J., and Dr. Masse, R. Test Results for the MPS-120 and MPS-130 CubeSat Propulsion
Systems. Aerojet Rocketdyne. Web. 3 Dec 2015.
O.S.C.A.R.
10 December 2015