Introduction(Kshitij Shaekhar)-
Greeting judges. I kshitij shekhar would like to welcome you on the
continued roller coaster ride by our team BAGS. We have already marked
our words my securing the 5th rank in the PDR. But the zeal to do better
every single day has made us work harder and turn it to the 1st rank. We
are making sure that everyday goals are perfectly matched with our
schedule. So now without wasting our important time, I would handover this
presentation to Snigdha, who would share details on the system overview.
System overview(Snigdha Singh) (3 mins)-
My role is the ideation of cansat design and coming up with the most
optimized solution in terms of mass, cost and aerodynamic stability. Our
main objective is to design and fabricate a cansat with an Autogyro
mechanism with descent velocity 10-15m/s. Sub objectives may include
1. Transmission of telemetry consisting of sensor data with real time
plotting at ground station.
2. An easily accessible power switch, Power indicator and an audio
beacon.
There are some changes since PDR which are worth mentioning. Most of
the changes were done to improve weight, space and ergonomics of
cansat.
Nichrome heating setup is now placed below the bottom lid. Secondly,
orientation of PCBs are also changed from horizontal to vertical and Rotor
mount has been also thickened. In CDH, internal EEPROM of ATtiny85 is
replaced by external EEPROM 24AA64 . In EPS TIP120 NPN BJT for
nichrome heating setup is replaced by 12V relay. In GCS, telemetry data is
now stored in deque rather than array and Dash is now used to develop
instead the use of Tkinter python module.
Moving toward our layouts, Our container consist of an electronic module
and a main body with parachute attachment point at the top and a
container lid at the bottom.
our payload consist of one payload pcb section , one battery section and a
camera stabilisation pcb section at the bottom.
In stowed configuration, the nylon thread is attached to the mount on the
cylinder. It passes through a hole in the hinged lid on the other end around
which the nichrome wire is wound. A compressed spring is also used to
hold the payload in its position.
We have 3 pcbs designed for our cansat-one each for the container,
payload, camera stabilisation.
After the final checks, cansat shall be placed in the rocket. At apogee,
parachute shall deploy, then at 450m payload release shall take place
through nichrome heating setup and airfoil opening using elastic strands.
The payload shall send Telemetry data which shall end after landing and
audio beacon shall get activated to aid recovery . Roles are assigned
accordingly to team members.
Moving on to launch vehicle compatibility, we have kept height tolerance
14.36mm and width tolerance 6.54mm. Total height of the parachute
module is 27 with 2mm of height clearance.
An important note is there are no sharp edges in our cansat and no
vegetation will be harmed under any circumstances.
Now I would like to Invite divya tiwari For sensor subsystem.
SLIDE 82
For payload release ribs and similar negatives are formed in container
and payload respectively which ease the payload release at a height
of 450m
SLIDE 83
Based on the expected failure mode of each and every component,
different materials have been selected for each component
SLIDE 84
The container consists of four major parts
Parachute module
Electronics module
Main body
And Lid
The lid is hinged to the main body and is actuated via nichrome-nylon
set-up along with elastic strand which provides the required force for
its opening, actuating set-up is places on the extra structure provided
on the lid.
SLIDE 86
Similar to the payload material selection is done on the basis of
failure modes
SLIDE 87
Payload rests on the lid of the container which is hinged to the
container and diametrically opposite end is held to the container via a
nylon thread
Payload release is controlled by nichrome-nylon set up which is
actuated by the pressure sensor. The nichrome wire melts the nylon
wire and elastic strand pull open the lid thus releasing the payload.
Rail in the container ensure smooth and straight exit of the payload
SLIDE 88
Parachute is kept inside the parachute module and the extensions of
top surface prevent parachute release inside the rocket. After
separation from rocket the air pushes it out out of the module almost
instantaneously
The shroud lines are connected via a two tab method
SLIDE 89
All the components have arrived and have been measured on a
precision weighing scale and the total weight comes out to be
approximately 507 grams, which is well within the prescribed limits
also we expect a bit of change in this weight during final assembly so
we are ready to perform topology optimizations in order to change the
weight if it doesn't fall within the prescribed range during the
complete final assembly
Slide 2: For nichrome wire burning mechanism, the proposed power bjt
based model has been replaced by a 12V relay. The former was
supplanted because a large potential drop was observed through it, leading
to inadequate heating and thus, a slower container release than desired.
Slide 3: The Payload section A, is powered using a 3.6 Lithium Ion battery.
It utilises a 3.3V LDO LM1117 for powering SAM D21 and the sensor
subsystem. It also incorporates a 12V Booster, for the audio beacon. On
the right side, the switching mechanism of SAM D21 is shown. SAM D21
works in two states, namely standby and active. The former has lower
current requirements, and a simple Lithium Ion Coin cell is required for
keeping it ON and in turn the Internal RTC active at all times. While it is
pushed to the active state, using a 3.6V Li-ion battery generating an
interrupt.
Slide 5: Samsung 18650, is utilised for powering the telemetry section i.e.
Payload section A. Its voltage output, 3.6V easily fits to the MCU
subsystem requirements. Moreover, it offers an apposite Wh ratings of
2500Wh and good CDR of 20A.
Slide 10: From the specifications given in datasheets of 3.3V Lithium Ion
Battery and 9V Nickel Metal Hydride battery, a safety margin of 7.16Wh
and 2.9Wh were observed respectively.
Slide 11: The container subsystem requires a 3.3V LDO for powering
Attiny85 and the sensor subsystem. Similar to the Payload, it requires a
12V Booster for powering the Audio Beacon.
Slide 13: The Whole requirements of the container subsystem has been
summarized in this slide.
Slide 14: A margin of 8.453Wh was observed from the Container power
budget and the Wh offered by the 3.6V Li-ion battery.
My role in FSW was to determine and code the FSW states based on
sensor information. In FSW Overview, We have used C++/Arduino as our
languages with Arduino IDE as the environment. The main tasks of this
subsystem we have identified are
Processor reset - The logic is same as the Payload State diagram. The
difference is in the micro-controller which is ATtiny85 here instead of
SAMD21.
Now we come to software development plan.
Since our FSW design is simple and easily implementable, we have used
the RAPID Software Development Life Cycle model.
The unit testing of all the sensors, review of logic and algorithm design are
being carried from the commencement of the development of the FSW.
Currently, the testing is being carried out on the bread board which would
be shifted to the PCB once it is ready.
We have followed proper timeline according to our gantt chart with
Procedural Programming design to avoid delay in software development.
Now, I would like to call Shaonak to present the GCS Design.
GCS(Shaonak Dayal) (1:30)-
Slide 152: This is the overview of our GCS structure
Slide 153: Changes since PDR-
Telemetry is stored in a deque instead of an array for easier
rendering of graphs in GUI
Plotly module is chosen instead of matplotlib extensions for
better graphs and greater functionality
Dash by plotly is used instead of Tkinter to increase
customisation, using local server to render graphs on a web
browser(We have tested it on Google Chrome v.
73.0.3683.103)and to make overall code simpler
Slide 156: This is the ground control design
Slide 157: This is the gcs flowchart. When the altitude is greater than 5m,
then gcs data is processed, saved in .csv file and plotted in real time graph
Slide 158: The GCS software does the following tasks, saving the data in
csv file, plot the required fields in real time, gps plot using google earth
engine and virtual tilt animation.
Slide 159: Telemetry is saved in .csv using python’s csv module and
handed to judges in a pen drive for inspection. It is saved in a file named
Flight_1516.csv
Slide 160, 161: These are the GUI during testing
Slide 162,163: Python code for reading data from port and saving data to
csv file
Slide 164: The following are the used software packages
Slide 165: Tilt animation and gps plot testing
Slide 166: TL-ANT2415D is our chosen GCS antenna
Slide 167: The antenna will be connected to the XBees via an rpsma
coaxial cable and it’ll be hand held by one of the team members. It has
been tested till a range of 1Km
Slide 169: This is the range calculation for the antenna Friis transmission
equation.
CanSat Integration and test(Advait Paithankar) (1 min)-
The CanSat integration and test has been divided into following
categories:
Management(Kshitij Shaekhar)-
My role in Cansat is to look at the integrated development and coordination between all
subsystems and to verify whether every subsystem plan their design and builds.
In the program schedule we have 3 critical phases-
The critical path in Phase 1 PDR included preparation of preliminary designs of all subsystems.
The critical path in Phase 2 CDR includes testing of all the components and subsystems we
have built, coding of FSW design and submission on time.
The critical path in Phase 3 mission planning and preparation includes system testing of the
entire cansat.
This is overall gantt chart which is being followed strictly. We have also made separate gantt
chart for different subsystems so as to help the team to work in a smooth manner. The dates
assigned to the tasks in the gantt chart are kept ahead of the dead line so as to avoid any last
minute hustle.
This is our detailed program schedule which again has the dead lines mentioned with the
duration of time invested in it. It also include the names of the teams member who have been
assigned the work, from whom the updates are collected on a regular basis.
Talking a bit about our cansat, it has been developed using rapid software development life
cycle model in which we have analysed the risks at every stage.
We have also made all arrangement for the shipping of our cansat model, we have chosen DHL
for the work. This is because they are taking least time and are most cost effective.
Our accomplishment would include
-All sensors tested with SAMD21 on breadboard.
-Telemetry has been tested
- Descent rate estimations have been done using numerical methods
- Mechanism for payload deployment and container opening have been tested
-Material selection and basic material testing has been done
We have received all our 3d printed cansat model parts.
This all work has been done because we have had a unidirectional mindset from the beginning
which was to give 110% at each stage of the competition.
Team BAGS is privileged to be a part of Cansat this year And as Sunita Williams said,” Don’t be
bogged down by the notion of limits. There aren’t any”. Namaste.