CanSat 2017 Post-Flight Review (PFR) #5235 APIS AR-GE

Presentation Outline Section Subsection Introduction Team Organization Systems Overview Mission Summary CanSat Overview CanSat Overall Cost Components Summary Physical Layout SV Release Logic CONOPS and SOE Comparison of planned and actual CONOPS Comparison of planned and actual SOE Flight Data Analysis Payload Separation Altitude Glide Duration Payload Sensor Data Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

Presentation Outline Payload Altitude Plot Payload Temperature Sensor Plot Pitot Tube Data Plot 2 Dimensional Plot Based on Speed and Heading Payload Solar Power Plot Container Pressure Sensor Plot Container Altitude Plot Container Temperature Plot Container Battery Voltage Plot Camera Images Failure Analysis Identification of failures, root causes and corrective actions Lessons Learned Discussion of what worked and what didn't Conclusions CanSat 2017 PFR: Team #5235 APIS AR-GE

Team Organization Burak Berkay Kaya Ataberk Arman Kayhan Mert Menekse Junior, B.S. Astronautical Eng. Team Leader Ataberk Arman Kayhan Leader of Electronics and Programming Burak Berkay Kaya Sophomore, B.S. Astronautical Eng. Electronics İbrahim Dipçik Avionic and System Programming Leader of Mechanics and Aerodynamics Oguzhan Cam Freshman, B.S. Aeronautical Eng. Mechanics Kemal Barkin Bas Freshman, B.S. Astronautical Eng. Design Busra Durmaz Senior, B.S. Meteorology Eng. Oguzhan Avci Junior, B.S. Industrial Eng. Organization Prof. Dr. Rüstem Aslan Faculty Advisor Sabrena Heyward Team Mentor CanSat 2017 PFR: Team #5235 APIS AR-GE

Systems Overview CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Systems Overview Mission Summary: A solar powered science glider release from a specific height collects atmospheric data in planetary atmosphere and also transmits its velocity and direction to the ground station maintaining a circular motion pattern during flight. Bonus Objective: Taking pictures as often as possible, storing pictures and transmits the number of pictures to the ground station by using a camera which is powered with same solar power source. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE CanSat Overview Key designs: -We use solar power panels on the glider to produce the necessary power of the system. -For deployment, we use altitude data at first. If it fails, servo motor is triggered by using MOSFET. If both of them fails, the last back-up plan is using LDR after 10 second later seeing light. -We use magnetometer data to plot the glider path and we get heading angle by using this data and velocity from pitot tube. -We used our own PCB design for both glider and container. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE CanSat Overview -The container is hand-made from fiberglass. -The front wings are hybrid wing made from ripstop nylon 66th, spring, carbon fiber tubes. Also hand-made. -The front-wings folds 4 times to fit inside the container by penetrating carbon fiber tubes into other. The tail folds once. -We succeeded the photographing the ground. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE CanSat Overview Glider total height: 520mm (open state) Glider total width: 53.5mm (open state) Container total height: 305mm Container width (diameter): 120mm Total weight: 506.7 grams. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE CanSat Overall Cost Component Model Quantity Unit Price[$] Total[$] Electronics Barometer BMP180 2 10,00 (Actual) 20,00 Pitot Tube HK Pilot Analog 1 24,31 (Actual) 24,31 Camera Eachine 2503 14,99 (Actual) 14,99 SD Card SANDISK 16 GB 7,00(Actual) 7,00 XBEE XBEES2B 55,00 (Actual) 55,00 XBEE’s Adapter XBEE Explorer Dongle 24,95 (Actual) 24,95 Antenna (Glider) 2403CL 5,00 (Actual) 5,00 Microcontroller ATMega32U4 3,00 (Actual) 3,00 RTC DS3231 1,20 (Actual) 1,20 Supercapacitor CES Ultra Capacitor 7.0 (Actual) BUZZER 1,00(Actual) 1,00 IMU BNO055 13,00(Actual) 13,00 Solar panel Eco-worth 10W 10 0,40 (Actual) 4,00 TOTAL: 180.45 CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE CanSat Overall Cost Component Model Quantity Unit Price[$] Total[$] Mechanical Main Wings Rip-Stope Nylon 1440 cm2 5,46 per m2 0.78 (Actual) Airfoil Skeleton Balsa wood plate 3 mm tickness 0.2 m2 7.00 per m2 1.40 (Actual) Fuselage Plywood 80 gr 0,50 per gr 40.00 (Actual) Wing Skeleton Carbon tubes 1 m 1,80 per m 1,80 (Actual) Tail 0,1 m2 7,00 per m2 0,70 (Actual) Wing Mechanism Springs 60 cm 1,00 per m 0.60 (Actual) Tail Mechanism Latex Conteyner Fiberglass 1cm tickness 0.122774 m2 8,00 per m2 0,98 (Actual) Parachute 30d silicone nylon 66 cloth 1 m2 5,00 per m2 5,00 (Actual) Release Mechanism Servo 9gr 2 5,00 10,00 (Actual) Other tools Adhesive,hinge, etc - 20,00 20,00 (Actual) OVERALL TOTAL: $81.86 CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE CanSat Overall Cost Component Model Quantity Unit Price[$] Total[$] Ground Station XBEE XBEES2B 1 55,00 (Actual) 55,00 XBEE’s Adapter XBEE Explorer Dongle 24.95 (Actual) 24.95 Antenna(Ground) 2415D 1 Re-Used 53,00 (Actual) 53,00 Computer Dell-inspiron 3542 Private TOTAL: 132,95 Categories Cost [$] Electronics 180.45 Mechanical 81.86 Ground Station 132.95 TOTAL 395.26 $ CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Components Summary Eachine 2202 Camera Module SD Card module BMP180 Pressure Sensor BNO 055 Magnetometer 5 dBi Antenna Switch Xbee S2B PCB is not shown. It is positioned above the XBee and covers sensor subsytem. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Components Summary Solar Panels before complete integration Pitot Tube Printed Circuit Board CanSat 2017 PFR: Team #5235 APIS AR-GE

Components Summary Component Purpose Solar panel To generate enough power to the glider’s electronic system. MOSFET Secondary relasing mechanism of the glider from the container BMP180 To collect altitude, air pressure and temperature data. Xbee S2B To transmit data and receive data between the ground station and payload. 5dBi Antenna To increase singal power to ensure the communication link is strong and secure while increasing the range of the link. Eachine 2203 Camera To take pictures of the ground by command MG 90S 9g Servo To release the glider from the container BNO055 IMU To get the position of the glider by using the magnetometer ATMega32U4 To collect and process data from glider’s sensors. Pro Micro 32u4 To collect and process data from container’s sensors. Voltage Regulators To supply the correct voltages CanSat 2017 PFR: Team #5235 APIS AR-GE

HK Pilot Analog Air Speed Sensor Components Summary Component Purpose Supercapacitor To use power when the glider doesn’t see sunlight HK Pilot Analog Air Speed Sensor To calculate the air speed. DS3231 RTC To keep mission time at the whole mission even the system resets. Buzzer To give the signal when the glider lands CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout Sunroof XBee Pro Micro 32u4 Servo Motor Buzzer Figure: Container configuration CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout Figure: Container and Glider PCB Designs CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout Parachute Xbee Electronic floor Servo motor Separation hook Latex is used in folding mechanism AA Batteries Container Glider Capacitor Stabilizer Pitot tube Tail PCB Figures: Glider inside Container configuration CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout 200 mm Carbon Fiber Rods 260 mm Tail:260 mm length 100 mm (Stabilizer) 65 mm Width 240 mm 50 mm (Stabilizer) 100mm chord Figure: Glider open wing-tail configuration CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout H tail Latex Tail fold section Hinges Solar panels Airfoil Springs and corbonfiber rods Figure: Tail and wing folding configuration CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout Deployed Configuration CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Physical Layout Stowed Configuration CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Release Logic The bottom of the container was open to seperate the glider. A fishing wire is used to attach the glider to the container and make it stable. Fishing wire is connected to the servo motor’s hinge which is on the container’s top side. The separation is achieved by turning the servo hinge at the desired altitude. Fishing Wire Servo motor Servo Motor Hinge Figure: Seperation system view of the CanSat CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Release Logic Servo motor Hinge of the Servo Motor 1 Fishing Wire Battery for container electronics Initially, the seperation system is in the position ① in the figure, and the system is stable. When the container detects 400m, the system runs and servo hinge rotates as in the figure ②. Then the glider is free to fall since bottom of the container is open and the fishing wire is not connected to servo motor’s hinge as in the figure ③. 2 3 Figure: Side view of the separation mechanism. CanSat 2017 PFR: Team #5235 APIS AR-GE

Release Logic If the initial plan fails, we have 2 back-up plans for the seperation. The second one is triggiring the MOSFET by the command and melting the fishing wire. If both of them fails, the third plan is activating the seperation system 10 seconds later seeing the sunlight by using LDR sensor. If LDR fails to read and altitude sensor reads < 400m after passing 400m If altitude < 400m and LDR reads the sunlight. If LDR reads the sunlight and first plan fails. If processor resets at apogee If MOSFET runs by command Release Release after waiting 10 seconds Release CanSat 2017 PFR: Team #5235 APIS AR-GE

CONOPS (Concept of Operations) & SOE (Sequence of Events) CanSat 2017 PFR: Team #5235 APIS AR-GE

Comparison of planned and actual CONOPS Pre-Launch Launch Post-Launch Mission summary before lunch. Electronics and mechanical integration are checked. Arrival to competition area. GCS set up. Integrity double-checks of CanSat. CanSat is delivered to the jury to lunch. CanSat is positioned inside the rocket’s payload. Listing data on GCS sent from container at first and glider after seperation. Recover of glider and container after the flight. Returning to GCS. Analysis and delivery of sampled data. Getting prepare for PFR. Presentation of PFR to jury. CanSat 2017 PFR: Team #5235 APIS AR-GE

Comparison of planned and actual CONOPS Pre-Launch Launch Post-Launch Mission summary before lunch. Electronics and mechanical integration are checked. Arrival to competition area. GCS set up. Integrity double-checks of CanSat. Recover of glider and container after the flight. Returning to GCS. Analysis and delivery of sampled data. Getting prepare for PFR. Presentation of PFR to jury. CanSat is delivered to the jury to lunch. CanSat is positioned inside the rocket’s payload. Listing data on GCS sent from container at first and glider after seperation. Container battery change Actual CONOPS are the same with the planned ones which are prepared at April. CanSat 2017 PFR: Team #5235 APIS AR-GE

Comparison of planned and actual SOE Successful Unsuccessful Put the CanSat inside the rocket properly. ✓ Starting telemetry before launch. Separation of container from the rocket. Glider seperation from the container at 400m. Glider leaves the container successfully. Glider performs circular motion. Glider sends telemetry after the seperation. Glider keeps sending telemetry until landing. Glider camera shoots and saves photo to SD-card. Glider lands in one piece. Recovery. We saved all the data to the SD Card at the whole mission time. However, we have some transmit problems. We get 4 data from glider although all of them is written on the SD Card. The other things are perfectly done. CanSat 2017 PFR: Team #5235 APIS AR-GE

Flight Data Analysis CanSat 2017 PFR: Team #5235 APIS AR-GE

Payload Seperation Altitude Diagram indicates that glider began to sample around 350 meters. Due to the delay caused by solar panels, seperation must have occured before, close to 400 m. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Glide Duration MatLab Location Plot -The glider’s path is given above. -4 telemetry from the glider during the flight is obtained. However all the data is written on the SD card. -Telemetries indicates glider safely landed after 32 seconds of flight. CanSat 2017 PFR: Team #5235 APIS AR-GE

Payload Sensor Data Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

Payload Sensor Data Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Payload Altitude Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

Payload Temperature Sensor Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Pitot Tube Data Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

2 dimensional plot based on speed and heading CanSat 2017 PFR: Team #5235 APIS AR-GE

2 dimensional plot based on speed and heading CanSat 2017 PFR: Team #5235 APIS AR-GE

2 dimensional plot based on speed and heading CanSat 2017 PFR: Team #5235 APIS AR-GE

Payload Solar Power Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

Container Pressure Sensor Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

Container Altitude Plot -Telemetry is obtained for 1100 seconds before launch. -System was running but no telemetry from container as it is launched. CanSat 2017 PFR: Team #5235 APIS AR-GE

Container Temperature Plot -We get stable temperature data before the flight, inside the rocket. CanSat 2017 PFR: Team #5235 APIS AR-GE

Container Battery Voltage Plot CanSat 2017 PFR: Team #5235 APIS AR-GE

Selectable Objective Data Bonus objective is to picture ground and store both picture and number of pictures. The regarded data is in the “Images” part of this section. In the telemetry file <BONUS> section is indicated with “Camera On” state. Take picture command is sent to glider but due to transmission problems image is not processed so SD card does not contain and pictures. CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Images Previous Camera Tests CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Images CanSat 2017 PFR: Team #5235 APIS AR-GE

Failure Analysis CanSat 2017 PFR: Team #5235 APIS AR-GE

Identification of failures, root causes, and corrective action We couldn’t get all the data because of the transmission problem. Root cause: Equipment error – Transmission Module Failure – Antenna connector Failure(uFL to SMA) 2. Flight duration (32 seconds) is less than expected (~98 seconds). Root cause: Material selection – Balsa wood is to be replaced. *Tail directly affects the flight time since it stabilizes the glider. CanSat 2017 PFR: Team #5235 APIS AR-GE

Identification of failures, root causes, and corrective action Couldn’t get all the data. Glider tail was damaged keeping overall structure rigid and steady but affecting flight performance. Solutions: Instead of connector uFL to SMA, transmission modules with integrated SMA must be used. Xbee module in the container must begin telemetry upon the command from ground station. (Better battery lifespan) Tail material balsa wood must be changed with plywood which ensure more rigidity and offers better flight duration. CanSat 2017 PFR: Team #5235 APIS AR-GE

Lessons Learned CanSat 2017 PFR: Team #5235 APIS AR-GE

Discussion of what worked and what didn‘t Didn’t Work Decent control systems Couldn’t get all of the telemetry packages Deployment System Expected Flight Time 4 Fold-Carbon Fiber Tubes Wing Mechanism Over-fold tail mechanism Every component kept their position and shape Circular Path succeeded CanSat 2017 PFR: Team #5235 APIS AR-GE

CanSat 2017 PFR: Team #5235 APIS AR-GE Conclusions The mission was majorly a success. Since most of the components and crafts were handmade, they were all tailored specifically for this mission’s purpose. Thus, worked pretty well overall. The components and structures were carefully positioned and mounted to each other. Hence, this helped use the area inside the container very efficiently. Next time, -Material selection for glider body must be done more carefully. -Transmission module physical connections must be double checked. -Even more tests shall be conducted to realize and fix possible errors and failures. CanSat 2017 PFR: Team #5235 APIS AR-GE