CanSat 2019 �Design Review (PDR) Outline �Version 1.1

Team #4053

Lakshya

CanSat 2019 PDR: Team 4053 | Lakshya

1

Team Organization

CanSat 2019 PDR: Team 4053 | Lakshya

2

Presenter: Tapaswin Padhy

GROUND CONTROL AND SOFTWARE SUBSYSTEM

MECHANICAL SUBSYSTEM

Dr. SURAJ SHARMA (PhD)

FACULTY ADVISER

ELECTRONICS SUBSYSTEM

MANAGEMENT

SUBSYSTEM

BAIVAB KUMAR MISHRA

ALTERNATE

TEAM LEADER

(3rd year)

BONDA

VENKAT SWAMY

IIT BBSR (3rd year)

RAJ KISHORE

PATRA

(2nd year)

DIBYAJYOTI JENA

(2nd year)

SNEHA

SHUKLA

(1st year)

ARIJEET SATAPATHY

(3rd year)

SRIRAM METTA

IIT BBSR(3rd year)

ASHUTOSH

NANDA

(2nd year)

SHUBHAM

SHARMA

(2nd year)

TAPASWIN PADHY

TEAM LEADER

(3rd year)

Systems Overview

Tapaswin Padhy

CanSat 2019 PDR: Team 4053 | Lakshya

3

System Level Configuration Selection

CanSat 2019 PDR: Team 4053 | Lakshya

4

Presenter:Tapaswin Padhy

( Concept 1)

Rationale for selection

​

• The Three wing auto-gyro system produced greater RPM and greater upthrust during testing.

​

• The Three wing auto-gyro system provides us flexibility for choosing dimensions for the wings.

​

• The hollow payload design directed the Centre of gravity downwards for stability while descent

Three Wing auto-gyro System

Hollow payload design

(Lowered centre of gravity)

Physical Layout

CanSat 2019 PDR: Team 4053 | Lakshya

5

Presenter:Tapaswin Padhy

PROPELLERS

HOLLOW

SKELETON

ANTENNA

PCB

POWER

SOURCE

CAMERA

IR SENSORS AND ALTITUDE SENSORS

POWER

SWITCH

Placement of major components

Bottom view

Physical Layout

CanSat 2019 PDR: Team 4053 | Lakshya

6

Presenter:Tapaswin Padhy

ANTENNA

PCB

POWER SOURCE

CAMERA

ARDUINO NANO

POWER SWITCH

Placement of major components

XBEE S2C PRO

GPS Sensor

Physical Layout

CanSat 2019 PDR: Team 4053 | Lakshya

7

Presenter:Tapaswin Padhy

Placement of relevant components

PAYLOAD

LAUNCH CONFIGURATION

DEPLOYED

CONFIGURATION

System Concept of Operations

CanSat 2019 PDR: Team 4053 | Lakshya

Presenter: Tapaswin Padhy

CONTAINER

+

PAYLOAD

(IN ROCKET)

CONTAINER GETS SEPARATED ALONG WITH PARACHUTE

20 m/s

PAYLOAD LANDS USING auto-gyro

10m/s

PAYLOAD LANDS/

BUZZER SAFELY START

SERVO MOTOR

DISENGAGED

450

m

725

-

670

m

PARACHUTE

GROUND CONTROL

ROCKET LAUNCHES

Team Logo

Here

(If You Want)

Launch Vehicle Compatibility

CanSat 2019 PDR: Team 4053 | Lakshya

9

Presenter: Tapaswin Padhy

310 mm

mm

2.5 mm

310 mm

125 mm

125 mm

NOTE:

Dimensions of the container have been designed such that there is enough clearance and no protrusions for smooth fitting and deployment of payload.

Descent Control Design

Baivab Kumar Mishra

CanSat 2019 PDR: Team 4053 | Lakshya

10

Payload Descent Control Strategy Selection and Trade

CanSat 2019 PDR: Team 4053 | Lakshya

11

Presenter: Baivab Kumar Mishra

Parachute Selection

Payload Descent Control Strategy Selection and Trade

​

​

CanSat 2019 PDR: Team 4053 | Lakshya

12

Presenter: Baivab Kumar Mishra

auto-gyro System Selection

Rationale: We’ve chosen the three wings design because it gives us more flexibility while deciding the dimensions for our design as well as for the 3D printing.

Payload Descent Stability Control Strategy Selection and Trade

CanSat 2019 PDR: Team 4053 | Lakshya

13

Descent Stability Control Selection

CHOSEN DESIGN FOR DESCENT STABILITY CONTROL

ALTERNATE DESIGN FOR DESCENT STABILITY CONTROL

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (1/11)

​

1. D = 𝑫 = Drag force acting on the probe

𝑊 = Weight of CanSat / Probe

𝝆 = Air density = 1.2 kg/m³

𝒗 = Terminal descending velocity

𝑪_d = Drag coefficient = 1.124

𝑺 = Projected surface area of

descending object.

W = m_ag

2. m_a = 350 g

g = 9.8m/s²

CanSat 2019 PDR: Team 4053 | Lakshya

14

​

​

Presenter: Baivab Kumar Mishra

Descent rate estimation of Science Payload

Descent Rate Estimates (2/11)

​

​

• Terminal velocity during descent auto-gyro should be 10 - 15 m/s.

​

• Average descent speed as per our testing = 12.5 m/s

​

​

​

• Projected surface area is assumed to be circular area.

​

CanSat 2019 PDR: Team 4053 | Lakshya

15

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (3/11)

​

Therefore,

​

​

The circular area then has been assumed to be the area upon which fluid concepts work. Hence, the area would be the surface area of the auto-gyro.

​

Surface area = 3 x ( surface area of 3 identical rectangles ) + surface area of centre circle

s₁= surface area of rectangles

s₂= surface area of the circle

CanSat 2019 PDR: Team 4053 | Lakshya

16

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (4/11)

d = 4 cm(From our design), 𝝿 = 22/7

S = total surface area of the auto-gyro

​

​

; where l = length of each rectangular wing.

b = breadth of each rectangular wing.

(Here l = 30 cm)

CanSat 2019 PDR: Team 4053 | Lakshya

17

s₂ = 12.57 cm²

​

∵ S = 3s₁ + s₂

⇒ 325.5 = 3s₁+12.57

⇒ s₁ = 104.31 cm²

lb = s₁

⇒ b = =

​

⇒ b = 3.48 cm

104.31 cm²

30 cm

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (5/11)

In case of circular motion of the auto-gyro

r = radius of the circle

Equation (1) w = angular speed

v = linear speed

d = diameter of the circle

𝝿 = 22/7

n = no. of complete revolutions per minute

Here the linear speed v has been assumed to be peripheral speed of the fluid (atmospheric air).

​

But, W = Weight of the descending object.

ρ = Air density

V = Peripheral speed of the fluid

C_d = Drag coefficient

S = Surface area of the descending object

CanSat 2019 PDR: Team 4053 | Lakshya

18

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (6/11)

*But earlier V is the terminal descending speed of the payload .

So here,

V = Peripheral speed of the fluid = Terminal descending speed of payload.

V = 12.5 m/s

Substituting this assumption in Equation (1) we get,

​

12.5 x 100 =

​

⇒ n = 1172.66

⇒ n ≈ 1173 rpm

Hence, the rpm (no. of complete rotations per minute) is 1173.

CanSat 2019 PDR: Team 4053 | Lakshya

19

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (7/11)

Descent Rate Estimation of Container

• W = ½.𝝆.V² .C_d.S

​

• Assumption - The projected surface area of the parachute has been assumed to be circular area.

​

• S_c =

⇒ S_c =

⇒ S_c = 0.01635 m²

⇒ S_c = 163.5 cm²

​

​

​

​

​

CanSat 2019 PDR: Team 4053 | Lakshya

20

Where,

• m_c = Mass of the entire

container = 450 g

• g = 9.8 m/s²
• C_Dc = Drag coefficient = 1.124
• 𝝆 = 1.12 kg/m³
• S_c = Projected surface area
• V = Descending speed of

container system = 20 m/s

2 x m_cg

𝝆V²C_Dc

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (8/11)

Descent Rate Estimation of Container

​

• Area of the spill hole is chosen to be 4% of the total parachute projected area.
• Projected area of the parachute without the spill hole:

​

CanSat 2019 PDR: Team 4053 | Lakshya

21

Presenter: Baivab Kumar Mishra

Area of parachute = 163.5 x 104% = 170 cm²

​

Descent Rate Estimates (9/11)

1. 𝑾 = 𝑫 = 𝝆𝒗^𝟐𝑪_𝑫𝑺 𝑫 = Drag force acting on the probe

𝑊 = Weight of CanSat/Probe

𝝆 = Air density

𝒗 = Descent velocity

𝑪_𝑫 = Drag coefficient

𝑺 = Projected surface area of

descending object.

​

2. g = 9.8m/s²

𝝆 = 1.2 kg/m²

CanSat 2019 PDR: Team 4053 | Lakshya

22

1

2

x = Distance from ground (Altitude)

v = Descent speed

t = Time required for descent

Presenter: Baivab Kumar Mishra

Formulae used for Descent Rate Estimations

Descent Rate Estimates (10/11)

CanSat 2019 PDR: Team 4053 | Lakshya

23

v = Linear speed

r = Radius of the circle

⍵ = Angular speed

​

5.

v = Linear speed

d = Diameter of the circle

​

n = no. of complete revolutions per minute

​

​

​

Presenter: Baivab Kumar Mishra

Descent Rate Estimates (11/11)

CanSat 2019 PDR: Team 4053 | Lakshya

24

Assumptions

• Weight of the descending object is equal to the Drag force when it descends with constant velocity (terminal velocity).

​

• Density of air is assumed to be 1.2 kg/m³.

​

• Projected surface area is assumed to be circular area which would be equal to the upper surface area of the auto-gyro system.

​

• While calculating the RPM of the auto-gyro system, linear velocity v has been assumed to be the peripheral velocity of the fluid (atmospheric air).

​

• Peripheral velocity of the fluid here in case of the payload descent has been assumed to be equal to the terminal descending velocity of the payload.

Presenter: Baivab Kumar Mishra

Descent Rate Estimates

CanSat 2019 PDR: Team 4053 | Lakshya

25

Final Summarized Results

1. Upper surface area of the auto-gyro system = 325.5 cm²

​

• Projected area of the parachute without the spill hole:

163.5 cm² x 104%= 170 cm²

​

• Maximum width of the auto-gyro wings = 3.48 cm

​

• No. of complete revolutions per minute = 1173 rpm

​

Presenter: Baivab Kumar Mishra

Mechanical Subsystem Design

Sriram Metta

CanSat 2019 PDR: Team 4053 | Lakshya

26

Mechanical Subsystem Overview

Container

• Includes PLA components, carbon fiber rods, plastic coatings. This configuration makes the probe lightweight and durable.

Payload

• Includes PLA+ ,carbon fiber, for lightweight and mostly structure is left hollow.

Electronics

• All connection are secured by extra layering of glue over soldering to protect it from shock

CanSat 2019 PDR: Team 4053 | Lakshya

27

Presenter: Sriram Metta

Payload Mechanical Layout of Components Trade & Selection

CanSat 2019 PDR: Team 4053 | Lakshya

28

Presenter: Sriram Metta

CONCEPT 1 (CHOSEN):-

Hollow payload design using 3 wing auto-gyro system

Location of Electrical Components

Mechanical Parts such as hinges and springs

auto-gyro

Attachment

Point

Structure of Payload

Payload Pre Deployment�Configuration Trade & Selection

​

CanSat 2019 PDR: Team 4053 | Lakshya

29

Presenter: Sriram Metta

Payload inside the container, with the servo motor holding on to the container in place

The Folded auto-gyro is put inside the container and the lid was closed .

Natural Position of the wings of the auto-gyro

The wings are folded to be stowed inside the container using springs and hinges

Chosen Pre Deployment Configuration

Payload Deployment

Configuration Trade & Selection

CanSat 2019 PDR: Team 4053 | Lakshya

30

Presenter: Sriram Metta

Payload Deployment Configuration Selection

Rationale: The current design is chosen because of micro servo lightweight and non interference with any other sensors providing better alternative

Using an electromagnetic system for the container opening is a bit more complex. Secondly It needs huge amount of current for this system to work. Again, the presence of electromagnet causes interference in the GPS module and other sensors’ working.

​

The opening of the container using micro servo motor is simple to make and it’s mechanically more feasible.

Payload Deployment

Configuration Trade & Selection

CanSat 2019 PDR: Team 4053 | Lakshya

31

Presenter: Sriram Metta

The Selected design for the payload deployment configuration employes hinges on each wing of the auto-gyro system and the hinges use springs which will try to restore themselves to their natural lengths once the payload is deployed from the container and the springs will straighten the wings thereafter.

PAYLOAD

SPRING MECHANISM FOR FOLDING AND DEPLOYMENT OF PROPELLERS

Electronics Structural Integrity

Container Drop Test Simulation

Stress variation Strain variation

​

​

​

​

​

​

​

​

​

CanSat 2019 PDR: Team 4053 | Lakshya

​

​

32

Presenter: Sriram Metta

Electronics Structural Integrity

(Simulation)

Payload Drop Test Simulation

Strain Variation Stress Variation

​

CanSat 2019 PDR: Team 4053 | Lakshya

​

​

33

Note:-

Drop test simulations were done in ANSYS 16.0 and the results are above.

It shows the structure survives 30Gs of acceleration and 15Gs of shock.

Presenter: Sriram Metta

Electronics Structural Integrity

CanSat 2019 PDR: Team 4053 | Lakshya

​

​

34

(Experimental)

Drop Test from Drone

• Drone carried the auto-gyro to a height of ~ 200m to 300m.
• auto-gyro descended with a speed that was accepted.
• Sensors communications was maintained and telemetry update was collected during the whole Flight.
• No Structural damage reported.

Presenter: Sriram Metta

Mass Budget

35

Communication and Data Handling (CDH) Subsystem Design

Raj Kishore Patra

​

​

CanSat 2019 PDR: Team 4053 | Lakshya

​

​

36

Probe Telemetry Format

CanSat 2019 PDR: Team 4053 | Lakshya

37

Presenter: Raj Kishore Patra

Telemetry Data

Team Logo

Here

(If You Want)

Electrical Power Subsystem (EPS) Design

Dibyajyoti Jena

CanSat 2019 PDR: Team 4053 | Lakshya

38

Payload Electrical Block Diagram

CanSat 2019 PDR: Team 4053 | Lakshya

39

Presenter: Dibyajyoti Jena

• The power switch is external and is placed to prevent accidental switching due to jolts and shocks during deployment.
• The devices requiring 5 V are connected directly to the microcontroller.
• The devices requiring 3.3 V are connected to a voltage regulator.
• For testing, a 5 V USB adaptor is used as a power source.

​

​

Power Source(9V)

Switch

Microcontroller (9V)

Voltage Regulator(3.3v)

Audio Beacon (3.3 v)

Power Led(3.3V)

DS1307 (5V)

SD Module

Infrared Sensor

XBEE

CMOS

AdaFruit IMU

UBLOX Neo

Flight Software (FSW) Design

Shubham Sharma

​

​

CanSat 2019 PDR: Team 4053 | Lakshya

40

Team Logo

Here

Team Logo

Here

(If You Want)

PROBE FSW STATE DIAGRAM

CanSat 2019 PDR: Team 4053 | Lakshya

41

Power On

All system initialization

Read data from sensors & collect

Store data to SD card

Send data at 1Hz via XBEEs

Launch?

Is altitude between 670 &725m?

Sensor sampling, telemetry at 1Hz & store data to SD card

Yes

No

State 1:Pre-Launch

State 2: Ascent

Deployment from rocket

Sensor sampling, telemetry at 1Hz & store data to SD card

Is

Alt.=450m?

Release heat shield

Descend under auto-gyro control

& begin capturing video

Is

Altitude=5m

?

Sensor sampling, telemetry at 1Hz & store data to SD card

Release

OK?

Initialize backup release mechanism

Activate audio beacon & stop telemetry

State 3:Descent

No

Yes

No

Yes

Yes

No

System State Recovery:

EEPROM memory will be read in order to recover the state of the software in case of sudden processor resets.

It will also store time for telemetry update

​

Presenter: Shubham Sharma

Team Logo

Here

(If You Want)

Ground Control System (GCS) Design

Raj Kishore Patra

CanSat 2019 PDR: Team 4053 | Lakshya

42

GCS Overview

CanSat 2019 PDR: Team 4053 | Lakshya

43

Presenter: Raj Kishore Patra

PROBE

XBEE

HANDHELD

2.4GHz

YAGI

ANTENNA

RP-SMA to SMA ADAPTER

GCS

XBEE

ARDUINO NANO (MPU)

​

​

​

​

​

​

LAPTOP (GUI)

​

​

​

​

​

​

XBEE USB Adaptor Board

​

​

​

​

​

​

GCS Software

Selected prototype of the GUI using LabVIEW.

CanSat 2019 PDR: Team 4053 | Lakshya

44

Presenter: Raj Kishore Patra

CanSat Integration and Test

Tapaswin Padhy

CanSat 2019 PDR: Team 4053 | Lakshya

45

Subsystem Level Testing Plan

CanSat 2019 PDR: Team 4053 | Lakshya

46

​

DESCENT CONTROL SUBSYSTEM PLAN

​

Presenter: Tapaswin Padhy

​

​

A proposed CanSat design connected to a

Quadcopter for drop test from different heights

A Picture while the CanSat is descending under auto-gyro mechanism.

Subsystem Level Testing Plan

CanSat 2019 PDR: Team 4053 | Lakshya

47

​

DESCENT CONTROL SUBSYSTEM PLAN

​

Presenter: Tapaswin Padhy

​

​

The simulations related to the parachute are done.

The auto-gyro system connected to a dummy container and dropped from an altitude of 30m

Integrated Level Functional Test Plan

The parachute opening, the impact test and the working of the auto-gyro mechanisms will be tested in this test plan. We have some methods such as releasing from a quadcopter or dropping it from the roof of our administration building and from different altitudes.

CanSat 2019 PDR: Team 4053 | Lakshya

48

Presenter: Tapaswin Padhy

​

​

​

DESCENT TESTING

​

Impact test and the working of the auto-gyro mechanism when dropped from a height of about 40 metres.

Management

Arijeet Satapathy

CanSat 2019 PDR: Team 4053 | Lakshya

49

Program Schedule Overview

CanSat 2019 PDR: Team 4053 | Lakshya

50

Presenter: Arijeet Satapathy

Program Schedule Overview

CanSat 2019 PDR: Team 4053 | Lakshya

51

Presenter: Arijeet Satapathy

Social Media and Publicity

CanSat 2019 PDR: Team 4053 | Lakshya

52

Presenter: Arijeet Satapathy

Facebook

We have our social outreach with a growing number of followers and constant support will help us grow

​

Youtube

We Constantly keep updating videos in YouTube to share our daily progress.

Conclusions

Major Accomplishments:

1. Schedule was created.

2. Finance was secured.

3. Airline tickets sponsors were found.

4. PDR was completed.

5. auto-gyro was designed and tested without any damage.
6. PCB for the payload is designed and tested.
7. GCS System software is successfully tested under extreme cases.
8. All subsystems have completed, detailed designs.
9. The algorithm for sensor control is decided and tested.
10. Mechanical designs were made.

​

Unfinished Work

1. The antenna has been ordered but did not receive, so we could not test range of the communication system.
2. Environmental (Drop, Thermal, and Vibration) Test to be performed.

​

The Preliminary Design Phase is complete for Mechanical and Electronics setup. Design and hardware, both are finalized and we are ready to move to the next phase i.e. the Critical Design Phase.

​

​

​

CanSat 2019 PDR: Team 4053 | Lakshya

53

Presenter: Arijeet Satapathy