CanSat 2017 Vellore Institute of Technology Post Flight Review (PFR)

Transcription

1 CanSat 2017 Vellore Institute of Technology Post Flight Review (PFR) Team # 2617 Team SEDS VIT 1

2 Presentation Outline 1. Introduction I. Presentation Outline....2 II. Team Organization Systems Overview I. CanSat Overview.. 7 II. CanSat Overall Cost III. Physical Layout Concept of Operations and Sequence of Events I. Comparison of planned and actual Con-Ops II. Comparison of planned and actual Sequence of Events

3 Presentation Outline 4. Flight Data Analysis I. Payload Separation Altitude II. Glide Duration. 21 III. Payload sensor data plot IV. Payload altitude plot V. Payload temperature sensor plot...24 VI. Pitot Tube data plot VII. 2 dimensional plot based on speed and heading VIII. Payload solar power plot IX. Container pressure sensor plot X. Container altitude plot XI. Container temperature plot XII. Container battery voltage plot XIII. Camera images Failure Analysis I. Identification of failures, root causes, and corrective actions

4 Presentation Outline 6. Lessons Learned I. Discussion of what worked and what didn't.36 II. Conclusions

5 Team Organization Tony Mai, Amazon Web Services (Team Mentor) Systems Overview Sensor Subsystem Design Descent Control Design Mechanical Subsystem Design Akshay Girish Joshi Aman Gupta Roshan Murali Kunal Pandey Ases Akas Mishra Malhar Joshi Ases Akas Mishra Pranav Naidu (Alternate Team Leader) CDH Subsystem Design EPS Design Rakshit Vig Kumar Yash Kumar Yash Akshay Girish Joshi (Team Leader) FSW Design Rakshit Vig Pranav Naidu GCS Design Pranav Naidu Devesh Bajaj Prof. Geetha Manivasagam (Faculty Coordinator) CanSat Integration & Test Mission Operations & Analysis Roshan Murali Ases Akas Mishra Kunal Pandey Malhar Joshi Aman Gupta Requirements Compliance Management Kunal Pandey 5

6 Systems Overview Akshay Girish Joshi Ases Akas Mishra 6

7 Mission Summary 7

8 Mission Summary 8

9 CanSat Overview Container descent control apparatus(parachute) 28mm 2. Container with dimesions 3. Launch configuration of glider inside container and parachute attachment points 110mm 4. Physical layout of container with glider held inside using rubber bands. 5. Stowed configuration dimensions 9

10 CanSat Overview 1 2 All dimensions are in mm 1. Top View of Deployed Payload(glider) 2. Base Plate (Wing deployment Mechanism) 10

11 CanSat Overall Cost Part Model Quantity Price($) Total($) Determination Processor Arduino Pro Mini (5 V model) Actual Magnetometer, Pressure sensor 10DOF Gyro Accelerometer Compass Altimeter (L3GD20 LSM303D BMP180) Actual Temperature sensor LM Actual Pitot tube(air speed sensor) HK pilot air speed sensor Actual Air pressure sensor (container) BMP Actual Camera Adafruit TTL JPEG Camera Actual SD Card along with Shield 16gb SanDisk class 10 with SD Card Shield Actual XBee radios Xbee Pro S2B U.FL Connector Actual CanSat antenna FXP70 Freedom (patch antenna) Actual Audio Beacon Mini piezo buzzer Actual Altimeter( GPS) Adafruit Ultimate GPS Actual Micro DC motor Micro DC motor Actual Solar Panels(1) CIGS Solar Cloth Actual Solar panel(2) 0.6W Hard Solar Panel Actual Voltage regulator S18V20F Actual Battery Duracell Ultra 223(CR-P2) Actual Total cost of electrical components

12 CanSat Overall Cost Part Model/material Quantity Source Price($) Total($) Determination Container (Extrusion Molding) Fuselage (Structure Material and Fabrication via 3D Printing) Fibre Reinforced Plastic PLA 1 1 Local Market Actual REALiz 3D printers Estimated Parachute TARC-22 1 Fruity Chutes Actual Glider frame Carbon Fibre 2 Local Supplier 3 6 Actual Sailcloth Dacron type 52 2 Local Supplier Actual Miscellaneous (Hooks,adhesives, rubber band etc ) - - Local Supplier Estimated Total 333 Subsystem Price($) Electrical Mechanical 333 Exact Total Margin (15%) TOTAL Hence the total budget of CanSat is well within the limit of $1000 which is the competition requirement. 12

13 CanSat Overall Cost Part Model Quantity Price ($) Total ($) Ground Control Station Costs Determinat ion Processor Arduino Duo Actual Communication Module Xbee Pro S2B Actual GCS Antenna HG2409PC Actual Laptop Lenovo Z Actual Xbee Shield Module Sain Smart Actual Total GCS Budget 820 Testing and Prototyping cost includes the preliminary mechanical prototypes which ever used for flight test, determining glider ratios, and other experimental data Testing and Prototyping Costs Prototyping Actual Testing Actual Total testing and prototyping cost

14 Physical Layout 2 1. Container Electronics 2. CanSat after recovery 3. Container PCB and base plate

15 Physical Layout Glider with panels 2. Glider base plate 3. Glider after recovery 4. Glider fuselage showing switch button and camera

16 Concept of Operations and Sequence of Events 13

17 Concept of Operations and Sequence of Events(Planned) Launch Operations Pre-Launch Activities Loading of CanSat Rocket Deployment CanSat will be inspected for any surface abrasions, scratches and damages. The solar panels will be cleaned. All the on-board electrical circuits will be verified. The sail material will be checked for any rips. The GCS will be initiated and the software will be checked for proper functioning of each sub process and the initial FSW state will be shown on the GCS. Radio communication and sensors will be tested. The glider will be folded and slid into the container and the ejection mechanism will be set in place. The parachute will be folded and placed in the closed end of the container opening for easy release. The CanSat will be switched ON and will start transmitting telemetry data. The CanSat will be placed into the payload section of the rocket. A final system check will be conducted through telemetry. The FSW state will be updated on GCS. FSW will initiate its next state and the same will be updated on the GCS. CanSat will be deployed from the rocket at 1000m and the parachute will be inflated to aid its descent. 17

18 Concept of Operations and Sequence of Events(Planned) Descent Operations Detachment As the CanSat attains an altitude of 400m+/- 10m, the FSW will go into detachment state. At 400m+/- 10m the ejection mechanism will be activated and the glider will eject from the container. If the automatic ejection mechanism is not activated until the glider reaches 400m+/- 10m, ejection mechanism will be forced by the GCS. The container will continue to transmit the telemetry data for 2 seconds after the release of the glider. Glider Descent Glider descent state will be initialized on the FSW and updated on the GCS. The glider wings will be fully deployed. The solar panels will start supplying sufficient power to the system. The glider will start descending in a helical path of diameter m. Landing The FSW state will be updated to landing. Buzzer will be turned ON. Telemetry will be stopped Post launch recovery Glider and container will be tracked using GPS, buzzer and fluorescent colour. Power will be turned off Post flight data analysis Data will be retrieved from the glider and checked for correctness Corrections are made if required Report is made for judges 18

19 Concept of Operations and Sequence of Events(Actual) Pre Launch Activities All operations were completed as planned. We forgot to switch on the glider before placing it into the rocket payload section. Hence we had to open the rocket payload again to switch the Loading glider of on(with CanSat the judge s permission). The container telemetry was switched on 45min prior to the launch. Hence we received large number of telemetry packets before launch Launch The solar panels were fixed on the sail cloth using adhesive because of which the surface of the sailcloth got hardened and it s folding became a little difficult than how it was planned. All other launch operations worked as planned Descent Glider wings did not fully unfold due to deformation of the spring because of its constant compression The helical path of the Glider couldn t be observed due to low visibility. We couldn t verify it using sensor data Glider ejected at an altitude of 404m Glider telemetry stopped after 81.69sec Glider flight time was 81.69sec until the last telemetry data was received 5 images were captured but none of the images are clear. We couldn't keep a count of the images Telemetry packets were not received at a frequency of 1 hertz Apart from the specified telemetry packet, we also obtained latitude and longitude of the container All other operations worked as planned 19

20 Concept of Operations and Sequence of Events(Actual) Landing Because of no telemetry after 81.69sec we couldn t track where the glider landed(although the recovery crew recovered it afterwards). Received telemetry data indicate that other functions worked as planned Post Launch Recovery The recovery site was deemed a dangerous zone because of the presence of poisonous snakes hence the organizers didn t allow us to recover the CanSat. We do not know if the audio beacon was activated because recovery was done by the CanSat organisers and not our recovery crew. When we received the CanSat, the electronics was switched off. When we switched it on all the electronics were working fine Post flight data analysis 661 packets of container telemetry data and 35 packets of glider telemetry data were received Telemetry data(in csv file) and all the images were submitted to the judges in a pendrive. 20

21 Mission Sequence of Events(Planned) Launch Day sequence of events Arrival at Launch Site Pre-launch Checks Integration into Rocket Ground station is set up. Communication devices are connected. Assign different roles to the team members. Final inspection of all the sub systems of CanSat. Measure solar intensity for power estimates. Measure wind speed and direction for landing estimates. Go through pre-flight checklist and make sure every prelaunch requirement is met. Ensure that the ground station is operational and check its functioning. Check orientation of antenna and check telemetry transmission. Estimate the CanSat landing zone. Seal all the electronic payload of the glider inside the fuselage. The hang glider is folded and placed inside the container and the ejection. mechanism is initiated The CanSat is powered on. The CanSat is installed in the designated payload section of the launching rocket. 21

22 Mission Sequence of Events(Planned) Rocket Launch - According to the information given by the sensors, the flight software state is updated when each action takes place. Deployment - With the deployment of the CanSat, parachute is deployed. - At deployment, the FSW State is updated. - At a height of 400m, the glider is ejected from the container and glide within a diameter of 1000m. Separation & Descent - Telemetry is started and Data is received at GCS. - The camera starts capturing images. The images are stored on the SD card - FSW State updated to descent. Landing - The telemetry is stopped after the landing of the glider - The audio beacon is activated for detection. - FSW state updated to Landed. 22

23 Mission Sequence of Events(Planned) Post Launch Sequence of Events: Recovery of the Glider and the Container done with the help of buzzers and fluorescent colour. Both of them are examined for any possible damage during flight or landing. Recovery The data obtained is utilized for making a presentation. A presentation is given on the following day to the judges Telemetry data file is delivered to field judge for review Post Flight Reporting DataAnalysis The SD card is retrieved from the electronic section. The telemetry data and images are analyzed. 23

24 Mission Sequence of Events(Actual) Arrival at launch site Modifications were made to the container so that edges were round and smooth and also to reduce the weight further to stay within the safe weight limit. Telemetry was rechecked and it was made sure that electronics was working fine Weight check verified that the weight of our CanSat was 502g. The CanSat passed the fit test. The tests were done in time. The power bus of the solar panels were tested and verified Pre launch checks All crews successfully proceeded with the sequences The GPS got fix after 23 sec Integration into rockets CanSat was powered on and placed into the rocket payload section. FSW 0 state was initiated Rocket launch The launch took place approximately 45min after placing the CanSat into the rocket payload section Deployment CanSat separation was successful from the rocket and the parachute was successfully deployed FSW state was updated 24

25 Mission Sequence of Events(Actual) Separation and descent GCS crew was able to collect telemetry Telemetry plotting was shown to the judges FSW state was updated Landing Telemetry stopped before landing because of which we couldn t track the location of the CanSat Post Launch ---Recovery Recovered by CanSat organizers ---Data Analysis SD card was retrieved from the fuselage and the telemetry data was submitted to the judges in a pen drive ---Post flight reporting The data obtained is used to analyse the failures and prepare the PFR. 25

26 Concept of Operations and Sequence of Events Team Members roles and responsibilities on launch day Sr. No Name Position/Role(on launch day) 1 Akshay Girish Joshi Allocating tasks to the crew members and overseeing all operations 2 Pranav Naidu GCS Setup. Post flight recovery and analysis of flight data 3 Ases Akas Mishra Final mechanical systems check before loading the CanSat in the rocket payload section 4 Roshan Murali Descent Control Module inspection 5 Kumar Yash Antenna construction on the launch day 6 Aman Gupta 7 Malhar Joshi Telemetry data transmission check. Electrical systems check before launch CanSat recovery and extraction of SD card and submission to the ground control 26

27 Flight Data Analysis Presenter: G Pranav Naidu 27

28 Payload Separation Altitude The ejection took place at 404m. The microcontroller on the container was coded in such a way that the container telemetry stops as soon as ejection takes place Hence we can assume that last telemetry value of the container is where the ejection took place, i.e. 404m Presenter: G Pranav Naidu 28

29 Glide Duration Although we were able to get the glider telemetry successfully at first, however as the glider descended, a gradual decrease in the solar intensities were observed. Hence as result at the height of 281.3m the glider could not transmit anymore telemetry data due lack of power. Therefore only seconds of glide time could be observed. Presenter: G Pranav Naidu 29

30 Payload Sensor Data Plot The Pressure observed was almost constant at 235 Pascal Hence very less increase with respect to height was observed Presenter: G Pranav Naidu 30

31 Payload Altitude Plot A clear decrease in the height is evident as the glider descends. Presenter: G Pranav Naidu 31

32 Payload Temperature Sensor Plot The Temperature observed was between Celsius. A clear increase in the temperature was observed as the glider descended. Presenter: G Pranav Naidu 32

33 Pitot Tube Data Plot The pitot tube value was consistently between 4-5 m/sec Presenter: G Pranav Naidu 33

34 2 Dimensional Plot Based On Speed And Heading The heading data was inaccurate because of which we couldn t properly locate the position of the glider on the field. Presenter: G Pranav Naidu 34

35 Payload Solar Power Plot The voltage reading was almost consistent at 5V with minimum variation in the voltage reading Presenter: G Pranav Naidu 35

36 Container Pressure Sensor Plot The Pressure observed was almost constant at 235 Pascal Hence very less increase with respect to height was observed Presenter: G Pranav Naidu 36

37 Container Altitude Plot The clear and sharp increase in the height of the altitude can be observed as the rocket ascends upwards. Presenter: G Pranav Naidu 37

38 Container Temperature Plot The Temperature observed was between Celsius. A clear decrease in the temperature was observed as the rocket ascended. Presenter: G Pranav Naidu 38

39 Container Battery Voltage Plot The voltage reading was almost consistent at 4-5V with minimum variation in the voltage reading Presenter: G Pranav Naidu 39

40 Camera Images 40

41 Failure Analysis 33

42 Identification Of Failures, Root Causes, And Corrective Actions Failures Root Cause Corrective Actions The folding of the glider was difficult. The solar panels were fixed on the sail cloth using adhesive because of which the surface of the sailcloth got hardened The flexible solar panels should have been stitched Glider wings did not fully unfold The spring used for folding got deformed because of its constant compression A coil spring with greater angle should have been used to accommodate the compression. The helical path of the Glider couldn t be observed Due to low visibility. We couldn t verify it using sensor data The sensor(magnetometer) should have been properly calibrated Glider telemetry stopped after seconds The glider didn t fully unfold because of the compression of the spring and the hardening of the sailcloth. Hence the flexible solar panels couldn t fully unfold and perform to its full capacity Proper unfolding should have been ensured 42

43 Identification Of Failures, Root Causes, And Corrective Actions Failures Root Cause Corrective Actions Telemetry packets were not received at a frequency of 1 hertz We couldn t track where the glider landed We do not know if the audio beacon was activated 5 images were captured but none of the images are clear. We couldn't keep a count of the images Due to difference in sampling rate of sensors we couldn t give a proper delay interval in our code Because of no telemetry after 81.69sec Because recovery was done by the CanSat organisers and not our recovery crew. Fluctuation of voltage and improper serial communication between the primary and the secondary arduinos(arduino for camera) A sensor specific delay should have been implemented instead of a fixed delay Proper unfolding should have been ensured to receive telemetry till the end We should have enquired if the buzzer was working Proper unfolding of the glider should have been ensured for maximum solar power output. 43

44 Lessons Learned 35

45 Discussion Of What Worked And What Didn't What worked All components were properly sized for release and operations. Glider was deployed properly Ejection of glider took place within the specified altitude Glider had a controlled descent; it did not lose its stability and maintained a steady descent till sec(observed) Sensors mostly worked as planned with data logged and telemetry transmitted successfully. CanSat was recovered What didn t work Optimum solar power output was not obtained because of improper unfolding Telemetry of the glider wasn t obtained till the end Camera count wasn t updated Helical path couldn t be observed Glide duration couldn t be calculated Heading data was not updated 45

46 Conclusions Launch was a success. The CanSat worked almost as expected. The team could reason out the problems faced and understood what went wrong and how to correct them. More thorough testing is required to ensure reliable operation. Since some testing may be difficult or expensive to perform, more detailed mathematical analysis could be done. Manufacturing processes must be repeatable and fast enough to allow for thorough, frequent, and possible destructive testing. Greater effort spent in the initial design phase contributed to good performance of the CanSat system despite less than optimal testing. Because of early research all the work was completed in proper deadline. Though availability of some parts posed a great challenge in our country, we somehow managed to arrange for all the parts in the required time. 46