1. Project Λscension

2. Vehicle Dimensions Pad Weight: 28.1 Ib Length: 112.5 in (9 ft. 4.5 in) Diameter: 6 in Fin Semi-Span: 6 in

3. Key Design Features

4. Payload Containment Device

5. Key Design Features Piston Parachute Deployment

6. Key Design Features Piston Parachute Deployment

7. Final Motor Choice

8. AeroTech K1275R Thrust Curve

9. Static Stability Margin Center of Gravity (inches from nose): 71.8 Center of Pressure (inches from nose):89.7 Stability Margin (diameters):2.9

10. Mass Statement

11. Parachutes ParachuteSize (in) Descent Rate (fps) Drogue3054 Payload4221 Main7219

12. Kinetic Energy

13. RockSim Predicted Altitude

14. RockSim Predicted Drift

15. Test Plans

16. Full-Scale Flight Results Test Flight 1 Partial success Altitude of 3391 ft. Recovery parachutes deployed too early Stability of the rocket demonstrated successfully

17. Full-Scale Flight Results Test Flight 2 Complete success Altitude of 3446 ft. All recovery systems functioned properly Stability of the rocket demonstrated successfully

18. Piston Ejection Ground Test

19. Status of Requirements Verification

20. AGSE Design Overview

24. Wheel spindle shaft will sit tightly in an opening in the spindle. A 10- 24 screw and washer /lock nut will be used to provide additional support and friction. The spindle will be attatched to the motor with 10-24 screws, allowing the wheel to be turned by the motor

25. AGSE Dimensions

26. AGSE Design Overview Pan/Tilt Servos Servo connections Pixy connection to Arduino ISCP connection Lens and Reset Button

27. AGSE Design Overview HS-422 Gripper HS 645 Wrist Servo HS-755 Elbow Servo C-Brackets HS-805 BB Shoulder Servo

28. AGSE Integration

29. AGSE Design Overview

30. AGSE Dimensions

31. AGSE Integration

32. AGSE Verification: Requirements RequirementDesign Feature Teams will position their launch vehicle horizontally on the launch pad.  The AL5D Lynxmotion robotic arm will have sufficient reach to load the payload into a horizontally positioned launch vehicle. A master switch will be activated to power on all autonomous procedures and subsystems.  A single poll triple throw (SPTT) switch has been wired into the AGSE between the main power sources and their respective components to act as a master power switch. After the master switch is turned on and all AGSE subsystems are booted, a pause switch will be activated, temporarily halting all AGSE procedures and subroutines.  A single poll single throw (SPST) switch has been installed and wired to the master controller. When this switch is activated, the master controller will send a signal back to itself, fulfilling a Boolean statement in code and therefore allowing the AGSE processes to continue. Disengaging this switch pauses the AGSE until the switch is engaged again. After setup, one judge, one launch services official, and the team will remain at the pad. During autonomous procedures, the team is not permitted to interact with their AGSE.  The onboard microcontrollers and logic boards will automate all AGSE processes. The main computer, an Arduino Mega, will be responsible for managing the activation / deactivation of other microcontrollers. After all nonessential personnel have evacuated, the pause switch will be deactivated.  Engaging the pause switch will allow the master controller to resume its processes of activating / deactivating other subsystems as necessary. Once the pause switch is deactivated, the AGSE will capture and contain the payload within the launch vehicle. If the launch vehicle is in a horizontal position, the launch platform will then be manually erected by the team to an angle of 5 degrees off vertical, pointed away from the spectators. The launch services official may re-enable the pause switch at any time at his/her discretion for safety concerns.  The camera subsystem and the payload retrieval subsystem will be responsible for navigating the AGSE to the payload and then retrieving the payload. The body will support all of these subsystems and will be made mobile through the use of 6, 12V DC motors and 4 servos for steering. The main computer will allow these subsystems to work in conjunction with one another by relaying relevant information between each of the subsystems.

33. AGSE Verification: Verification Procedures RequirementVerification Procedure Teams will position their launch vehicle horizontally on the launch pad.  Measurements have been taken to ensure that the launch vehicle will be with reach of the AL5D robotic arm from the AGSE body. A master switch will be activated to power on all autonomous procedures and subsystems.  The functionality of the switch has already been verified through testing. When activated, 0V and 0mA reach the logic boards, as indicated by voltage and current measurements. After the master switch is turned on and all AGSE subsystems are booted, a pause switch will be activated, temporarily halting all AGSE procedures and subroutines.  The functionality of the pause switch has been verified through testing. Upon activation, the switch successfully allows the Arduino Mega to send a signal back to itself, fulfilling a Boolean statement to activate a piece of code which halts all AGSE routines and subroutines. After setup, one judge, one launch services official, and the team will remain at the pad. During autonomous procedures, the team is not permitted to interact with their AGSE.  Subsystem level testing and inspection is being carried out to verify the AGSE’s ability to fulfill the mission goals without human intervention. These are detailed in the next slides. After all nonessential personnel have evacuated, the pause switch will be deactivated.  Deactivating the pause switch has been verified in the same manner as its activation. Once the pause switch is deactivated, the AGSE will capture and contain the payload within the launch vehicle. If the launch vehicle is in a horizontal position, the launch platform will then be manually erected by the team to an angle of 5 degrees off vertical, pointed away from the spectators. The launch services official may re-enable the pause switch at any time at his/her discretion for safety concerns.  The payload retrieval subsystem will be responsible for depositing the payload into the payload containment bay of the launch vehicle. This will be verified by the subsystem testing and verification specific to the payload retrieval subsystem. This is detailed in its respective subsystem level verification slide.

34. AGSE Subsystem Verification: Body Tested for:Verification Procedure Verification Status Structural SupportInspectionPartial Success MobilityTesting motor drive Partial Success Steering Servo Functionality Tested by servo panning under full load Success Autonomous Steering and Navigation Tested through field testing In progress

35. AGSE Subsystem Verification: Camera Tested for:Verification Procedure Verification Status Color signature detection TestingSuccess Object Differentiation Testing using aspect ratio algorithm In progress Tracking and Distance Calculations Testing using calibration curve In progress

36. AGSE Subsystem Verification: AL5D Arm Tested for:Verification Procedure Verification Status Servo Functionality Testing has been conducted on all servos individually to verify functionality Success Servo IntegrationManual override has been used to verify and test the arms ability as a whole, to lift the payload. Success Programmatic Consistency The custom made inverse kinematics software will be tested for its ability to consistently locate and pick up the payload. In progress

37. AGSE Subsystem Verification: Boards/Power Tested for:Verification Procedure Verification Status Safe Current and Voltage output Inspection using voltage and current measurements on battery outputs and power inputs on the boards Success Board Communication I2C port functionality was tested using sample code on the boards configured as slaves to the Mega Success Board Hardware/Progra m Integration Each board will be tested with its respective hardware to verify that they can all work together as an autonomous system In progress