1. D EPARTMENT OF M ECHANICAL AND A EROSPACE E NGINEERING HIGH POWERED ROCKETRY CLUB 2014-2015 PDR PRESENTATION 1

2. PDR Overview 2 Vehicle Design Recovery Mission Performance Interfaces and Integration AGSE Design Arm Rocket Erection Igniter Insertion Budget Safety Subscale Questions

3. Vehicle Design - Nosecone 3 Elliptical shaped nosecone for subsonic flight ElementDimension Maximum Diameter5.5 in Exposed Length8.5 in Shoulder Length5.5 in

4. Vehicle Design - Airframe 4 5.5” diameter blue tube 2.0 Body tube separated into four compartments sealed by bulkheads Payload receptacle on forward nosecone section

5. Rocket Layout 5

6. 6

7. 7 Airframe – Payload Zone

8. 8

9. Vehicle Design – Payload Compartment 9

10. Two avionics compartments Primary and redundant Stratologger SL100 altimeters, 9V batteries, fiberglass sled GPS Upper avionics: drogue charge 3000’ ARRD 1000’ nosecone from upper airframe 1000’ Payload mold Second sled middle and fin section 700’ Vehicle Design - Avionics 10

11. Nose Cone Avionics 11

12. Fin Section Avionics 12

13. Vehicle Design – Fin Section 13 5.34” bulkhead will be epoxied 4” from the upper surface of the airframe Centering rings ElementDimension Length22.5 in Diameter5.5 ElementDimension Width0.25 in Height7 in Distance from Bottom1.5 in

14. CG 47.4” nose ref. CP 57.9” nose ref. Static Margin 1.91 45 ft/s as the uppermost rail button leaves the launch rail Vehicle Design - Stability 14

15. Animal Motor Works (Cesaroni) K353-RR – 15.9” length – 2.13” diameter – 324 lbf*s Impulse – Weight burned in 2.7 seconds 1.68 lbs – Stability margin increase from 1.91  3.02 Vehicle Design - Motor 15

16. Thrust Curve 16

17. Vehicle Recovery 17 Apogee

18. 1000 ft Vehicle Recovery 18

19. Vehicle Recovery: AARD 19 AARD is black powder release Separates drogue shoot shock cord from sample section Necessary for mission requirements

20. 700 ft Vehicle Recovery 20

21. Wind Drift 21

22. Open rocket simulation using Cesaroni K353-RR Mission Performance – Flight Profile 22

23. Mission Performance – Velocity 23

24. Mission Performance – Kinetic Energy 24

25. ASGE Design 25

26. AGSE Design 26

27. ASGE Design 27

28. AGSE Design 28

29. Grab the Sample AGSE Progression 29 Insert Sample in Clamps Raise the Rocket Insert the Igniter System Ready to Launch Start System

30. Robotic Arm 30 4 Degrees of Freedom 5:1 Gear Ratio 252 degrees of rotation at each joint Able to lift ~1 lb at 24” 6V draw and current up to 10 A

31. Gripper 31 Provides 2 additional DOF 180 degrees rotation around wrist Able to open 1.3” 6V draw

32. MATLAB used to plot arm at different servo angles Model of Arm 32

33. Reachable Points 33 MATLAB plot of all points the arm is able to reach in 3 dimensional space

34. Progression of the system will be measured by an array of sensors connected to the BeagleBone Black. Sensors include switches, IR distance sensors, and touch sensors that register true when a task is completed. Stored sensor values can be used to update the system in case of a reboot after power loss 34 AGSE Progression

35. Images from USB Camera Image Processing 35 Processing on BeagleBone Black

36. Sentech STC-MC36USB- L2.3 Micro CMOS USB 2.0 Camera Mounted on gripper of robotic arm. Chosen for – Weight:.9 oz – Connectivity: USB 2.0 – Resolution: 640 x 480 – Voltage: 5 V Image Processing 36

37. Camera connects to BeagleBone Black through powered USB hub. USB input gives 5 V to the camera. Image Processing 37

38. Image Processing System used for: – Sample identification – Measuring the distance from camera to the sample at its initial position on the ground. – Measuring intermittent distances as the robotic arm moves closer to the sample. – Determining orientation of the sample. Image Processing 38

39. Unprocessed image Image Processing: Distance Measurement 39 Separated foreground from background

40. Blobs formed of foreground pixels Image Processing: Distance Measurement 40 Adjacent blobs grouped to form less total blobs

41. Blobs filtered to identify blob representing sample. Calibration curve takes size of the blob and outputs distance from camera to the sample. Calibration curve determined experimentally. Code in C++ on BeagleBone Some applications are autocoded MATLAB 41 Imaging Processing: Distance Measurement

42. Chain of Events 1.Pic for centering 2.Pic for distance 3.Move arm to half 4.Pic for distance 5.Move to 4 in. above 6.Pic for orientation 42 Robotic Arm and Imaging 7. Pic for centering 8.Rotate wrist 9.Pic for confirmation 10.Move arm to sample 11.Grapple the cache

43. Planetary Gearbox Stepper Motor – Max Holding Torque: 29.5 ft-lb – Step Angle: 0.039 deg – ~22,000 steps for 85 deg launch rail rotation Sector Gear – Gear Ratio: 10:1 Required holding torque: – 12 ft-lb Raising the Rocket 43

44. Linear Actuator System NEMA 17 Stepper Motor Design Concept: Stepper motor rotates threaded rod. Threaded hexagonal plate moves vertically due to side plates. Igniter on dowel moves upward into rocket motor. Igniter Insertion 44

45. 45 Electrical Schematic Overview

46. 37 V System Battery Systems 46 11.1 V System

47. Used to power two stepper motors – Raising Rocket – Raising Igniter Stepper motors require high power to meet torque requirements to raise the rocket 37 V System 47 37 V System

48. 11.1 V System 48 11.1 V System Step-Down voltage regulators to convert to the desired voltage of different electronics Systems on this battery BeagleBone Black Robotic arm Robotic arm controller Rocket Stepper Motor Driver Igniter Stepper Motor Driver

49. Subscale is 70% of fullscale Aerotech J350 Motor Dual Deploy 18 in. Drogue 36 in. Parachute Subscale Demonstrator 49

50. Aerotech J350 Subscale Motor Thrust Curve 50

51. Tripoli Summer Low-Mid Power Launches GE Aviation – Manufacturing Day YMCA Kite and Rocket Day Sigma Gamma Tau Boy Scout Merit Badge Event Community Outreach 51

52. Thank You 52 QUESTIONS?