1. Avionics, Software, and Simulation Doug Astler Alex Krajewski Chris O’Hare Dennis Sanchez

2. Crew Capsule Selection Team C4’s crew capsule was selected because it has no external elements, which leaves room for sensors It also has the highest mass margin, we therefore have the most available sensor mass total to work with

3. Link Budget Communications link budgets were created for the following links. A safety factor of 2 (3 dB) is used for determining transmitter size and power. BandTransmitterReceiverDistance range (km) Use Scenario KuSpacecraftEarth station 2k – 384kLEO, Transit, Lunar orbit KuSpacecraftRelay sat384kTransit relay KuRelay satEarth station 448kTransmission relay KaSpacecraftL2 Relay sat 64kLunar orbit/landing - dark side SSpacecraftEarth Station 2k – 384kLEO, Transit, Lunar orbit UHFSpacecraftEVA suits< 10Space, lunar EVA

4. Link Budget - Receivers The spacecraft will make use of different receivers during the mission; Deep Space Network Provides continuous possible coverage from three stations Large dishes can pick up weak signals Has some no-coverage spots within 30,000 km altitudes TDRSS TDRSS can relay transmissions to grounds stations Useful if DSN is not available No atmospheric concerns for signal L2 Relay satellite A theoretical satellite in the L2 Lagrangian point will help maintain continuous communication during orbital and lunar surface times on the dark side of the moon This will be modeled as a TDRSS satellite EVA suits Communication must be maintained with crew during all EVA missions

5. Link Budget - Receivers Dish size (m)Max Distance (km) Bands supported DSN34384kKu, S TDRSS4.9384kKu L2 Relay (TDRSS) 4.965kKa EVAN/A10UHF This table represents the relevant statistics of the various receivers used in this mission.

6. Link budget - Diagrams (1)Spacecraft to DSN (2)Spacecraft to TDRSS (3)Spacecraft to L2 relay satellite (4)L2 Relay sat to DSN/TDRSS

7. Link Budget - Spacecraft To minimize transmitter mass and size, one transmitter dish will be used for all three bands considered This will limit communications to only one link at a time Size and power requirements will be dictated by the band with the greatest requirements (in bold) SpacecraftTo DSNTo TDRSSTo L2 KuS SKa Transmitter Antenna Diam (m) 0.10 0.1 0.25 0.10 Transmitter Power (W) 0.097.554.15 15.5 0.05 Link Margin (dB) 3.233.023.05 3.1 3.03

8. Link Budget – Relay Sat The L2 relay sat antenna size is being modeled on TDRSS We assume that it must reach earth from the L2 Lagrangian position L2 SatelliteTo DSNTo TDRSS Ku Transmitter Antenna Diam (m) 4.9 Transmitter Power (W)0.001 0.04 Link Margin (dB)12.72 3.07

9. Link Budget - UHF Omni UHF omni antenna will be used for both space and lunar EVA Maximum EVA distance is 10 km (Apollo legacy) SpacecraftTo EVA Suits UHF Omni Transmitter Power (W)0.001 Link Margin (dB)4.39

10. Link Budget – Final Stats AntennaKa, Ku, S bandUHF Omni Diameter (m)0.25N/A Max Power (W)15.50.001 Link Margin (dB)3.14.39 These are the final stats, that will drive the size and maximum power draw of the transmitters.

11. Different Bands of Frequency Microwave Frequency Band BandFrequency Range L band1 to 2 GHz S band2 to 4 GHz C band4 to 8 GHz X band8 to 12 GHz Ku band12 to 18 GHz K band18 to 26.5 GHz Ka band26.5 to 40 GHz Q band30 to 50 GHz U band40 to 60 GHz V band50 to 75 GHz E band60 to 90 GHz W band75 to 110 GHz F band90 to 140 GHz D band110 to 170 GHz

12. Transmitter Due to the small transmitter being used, signal beams will be narrow. This necessitates accurate transmitter pointing. KaKuS λ (m)0.0093750.0250.12 θ (deg)2.145.7227.5

13. Transmitter Transmitter will be mounted on a 2 DOF rotational mount Provides 2π steradian coverage Spacecraft will contain 2 transmitters at opposite sides Minimizes spacecraft attitude maneuvers to send a transmission Provides redundancy in the event of a transmitter failure

14. Different Bands of Frequency EU, NATO, US ECM frequency designations BandFrequency Range A band0 to 0.25 GHz B band0.25 to 0.5 GHz C band0.5 to 1.0 GHZ D band1 to 2 GHz E band2 to 3 GHz F band3 to 4 GHz G band4 to 6 GHz H band6 to 8 GHz I band8 to 10 GHz J band10 to 20 GHz K band20 to 40 GHz L band40 to 60 GHz M band60 to 100 GHz

15. Information NeededType of Sensor(s) NeededExample Attitude dynamicsRotary position sensor, position sensor, and acceleration sensor Star Tracker Pressure in the cabinPressure sensorMPL115A Temperature in the cabinTemperature SensorDS18B20 Oxygen and Carbon Dioxide levels in the cabin Oxygen sensor and Carbon Dioxide sensor TR250Z and Dynament Radiation levels in the cabinRadiation SensorGeiger Counter Docking and landingProximity SensorsE2EM System deployment (landing gear) Electric Power monitoring equipment, Proximity sensor KM50-E and E2EM System and Electronic functioning Electric Power monitoring equipment KM50-E Propulsion tank leakageLiquid Leakage SensorK7L-AT50/ -AT50D Sensors

16. DS18B20 Programmable Resolution 1-Wire Digital Thermometer

17. Provides 9-bit and 12-bit Celcius temperature measurements Accuracy of ± 0.5°C in range of -10°C to 85°C Accuracy of ± 2°C in range of -55°C to 125°C Operating temperature range -55° to 125°C Power Supply 3.0 – 5.5 Volts DC Current Consumption 1 to 1.5mA DC

18. DS18B20 Programmable Resolution 1-Wire Digital Thermometer Sampling Rate Temperature conversion times –9 bit resolution = 93.75ms –10 bit resolution = 187.5ms –11 bit resolution = 375ms –12 bit resolution = 750ms Signal Band Max can be is 1.3 GHz for signal output Criticality Used to check internal temperature of crew system vehicle to make sure it is around room temperature for crew Ensures astronauts are safe

19. DS18B20 Programmable Resolution 1-Wire Digital Thermometer

20. MPL115A Digital barometric pressure sensor

21. Measures an absolute pressure range of 0 – 115 kpa Accuracy of ± 1kpa in range of -20°C to 85°C Operating temperature range -40°C to 105°C Power Supply 2.4 – 5.5 Volts Current Consumption Sleep Mode = 1μA Active = 5μA at one measurement per second

22. MPL115A Digital barometric pressure sensor Sampling Rate 1 measurement per second Signal Band Max can be is 8 MHz for SPI timing component Criticality Used to check internal pressure of crew system vehicle to make sure it is safe for crew Ensures astronauts’ safety during the mission

23. TR250Z Oxygen Sensor

24. Measures O 2 in a range of 0 to 25% or 0.1 to 95% Accuracy of ± 0.5% (2% full scale) Operating temperature range -10°C to 70°C Power Supply 24 V DC ± 10% Current Consumption 600 mA @ 24V DC

25. TR250Z Oxygen Sensor Sampling Rate Sampling is done by diffusion with (ZrO2) Zirconium dioxide 4 sec max diffusion time Signal Band 13.8 GHz to 14.7 GHz Criticality Used to check internal levels of oxygen of crew system vehicle to make sure the crew can breath

26. DYNAMENT CARBON DIOXIDE INFRARED SENSOR

27. Measures CO 2 in a range of 0 to 1000ppm up to 0 to 5% volume CO 2 Accuracy of ± 1% measuring range Operating temperature range -20°C to 50°C Power Supply 3V to 5V DC Current Consumption 60 mA Response time of <30 sec in 20°C

28. DYNAMENT CARBON DIOXIDE INFRARED SENSOR Sampling Rate –Response time <30 sec in 20°C temperature Signal Band Source drive frequency: –2Hz minimum –3Hz typical –4Hz maximum Output signal is around 15 MHz Criticality Used to check internal levels of carbon dioxide of crew system vehicle to make sure the crew does not suffer carbon dioxide poisoning

29. MLX90316 Rotary Position Sensor IC

30. Absolute rotary position IC with Magnetic design Measures from 0 to 360 degrees Voltage Requirement 4.5-5.5 V Has a 10V voltage protection Current Consumption Slow mode = 8.5-11 mA Fast mode = 13.5-16 mA Temperature Range -40°C to 150°C

31. MLX90316 Rotary Position Sensor IC Sampling Rate Slow mode = 600 μs Fast mode = 200 μs Signal Band Slow mode = 7 MHz Fast mode = 20 MHZ Criticality Used to measure the rotational position of the spacecraft during attitude dynamics

32. Bosch Sensortec BMA180 Digital triaxial acceleration sensor

33. Three axis accelerometer with integrated temperature sensor ultra-low noise and ultra high accuracy Programmable g-ranges (1g, 1.5g, 2g, 3g, 4g, 8g, 16g) Zero-g Offset ±5 to 60 mg Voltage Requirement 4.25 V Current Consumption For sleep mode to low noise mode  0.5-975 μA Temperature Range -50°C to 150°C

34. Bosch Sensortec BMA180 Digital triaxial acceleration sensor Bandwidth High pass = 1Hz Band pass = 0.2 – 300 Hz Sampling Rate 1200 samples/sec Signal Band Noise density @1200Hz, 2g, 150-200 μg/√Hz Input runs on 7.5-10 MHZ Outputs data at 2400-1200 Hz Criticality Used to measure the acceleration and the spacecraft’s respective position

35. Bosch LRR3: 3 rd generation Long- Range Radar Sensor

36. Detect objects and measure velocity and position relative to movement of host radar-equipped vehicle Distance accuracy 0.5…250m (±0.1m) Relative speed accuracy -75…+60m/s (±0.12m/s) Vision Range Horizontal opening angle 30° (-6 dB) Vertical opening angle 5° (-6dB) Power Consumption Typically 4 W Temperature Range -40°C to 85°C (periphery) Max Number of detected Objects = 32

37. Bosch LRR3: 3 rd generation Long- Range Radar Sensor Sampling Rate Cycle time is typically 80ms Signal Band Transmits radar waves in 76-77 GHz Criticality This is useful for landing on the moon as to detect the distance from the surface of the moon to the spacecraft

38. SENSOPART Visor Vision Sensor

39. Allows sight via flashing light at fast times Uses 8 LEDS for fast measurement Takes 13s to power up when turned on Voltage Requirement 24V DC Current Consumption About 200 mA Temperature Range -20°C to 60°C

40. SENSOPART Visor Vision Sensor Sampling Rate Cycle time is typically 20ms pattern matching Cycle time is typically 30ms contour 2ms brightness, contrast, grey level Signal Band Transmits in 62-73 GHz Criticality This is useful for landing on the moon as to detect craters and dangerous landmasses so the spacecraft can land in the designated location

41. CT-602 Star Tracker

42. Sampling Rate Cycle time is typically.3 deg/sec Signal Band Transmits radar waves in 10 Hz Criticality The CT-602 features a radiation-hardened processor and additional memory that combine for increased environmental tolerance and greater mission programmability

43. E2EM

44. Sampling Range Measures 4 mm distances Signal Band Transmits radar waves in 1 kHz Criticality Long-distance at up to 30 mm enables secure mounting with reduced problems due to work piece collisions

45. K7L-AT50 / -AT50D Ultra-miniature Sensor Amplifier

46. Rated power supply voltage of 10 to 30 DC Detection time is 10s max Current is 100 mA at 30VDC max Power needed is 1W Temperature range is -10 to 55°C Resistance Range 0 = 0 to 250 kΩ Range 1 = 0 to 600 kΩ Range 2 = 0 to 5 MΩ Range 3 = 0 to 50 MΩ

47. K7L-AT50 / -AT50D Ultra-miniature Sensor Amplifier Sampling Range 800ms max Signal Band 50/60 Hz for 1 min Criticality Prevents leakage of fuel tanks which would help prevent potential disasters from happening

48. KM50-E Power Monitor

49. Rated power supply voltage of 100 to 240 VAC Detection time is 10s max Current is 5,50,100,200,400, or 600 A Power needed is 4kW to 480 kW Temperature range is -10 to 55°C Accuracy for the time is about ±1.5 min/month at 23 ° C

50. KM50-E Power Monitor Sampling Range 800ms max Signal Band 50/60 Hz Criticality Tells if any electronics systems are damaged or broken.

51. HD25A Magnetic Encoder

52. Sample Rate 4 msec Signal Band 20 kHz max Critically Using the HD25A magnetic encoder because it calculates absolute position and also digital to avoid less errors and noise

53. Sensors and Signal Bands SensorFrequency RangeBand DS18B20 Programmable Resolution 1-Wire Digital Thermometer1.3 GHzL band MPL115A Digital barometric pressure sensor8 MHzA band TR250Z Oxygen Sensor 13.8 GHz to 14.7 GHz Ku band DYNAMENT CARBON DIOXIDE INFRARED SENSOR15 MHZA band MLX90316 Rotary Position Sensor IC7 MHz - 20 MHzA band Bosch Sensortec BMA180 Digital triaxial acceleration sensor7.5 MHz - 10 MHzA band Bosch LRR3: 3rd generation Long-Range Radar Sensor76 GHz - 77 GHzW band SENSOPART Visor Vision Sensor62 - 73 GHzE band Magnetic Absolute Encoder20 kHzA band

54. Sensor Block Diagram Power KM50-E Power Monitoring KM50-E Power Monitoring BMA180 Triax Accelerometer BMA180 Triax Accelerometer DS18B20 Temperature DS18B20 Temperature MPL115A Pressure MPL115A Pressure TR250Z Oxygen TR250Z Oxygen Dynament CO 2 Dynament CO 2 MLX90316 Rotary Position MLX90316 Rotary Position LRR3 Range LRR3 Range Sensopart Landing Sensopart Landing CT-602 Star Tracking CT-602 Star Tracking E2EM Proximity E2EM Proximity K7L-AT50 Fuel Leakage K7L-AT50 Fuel Leakage HD25A Magnetic Encoder HD25A Magnetic Encoder Computer Inside  Outside Pressure Hull Power Data

55. Sensor Power Requirements SensorUsed forVoltage RequirementsCurrent ConsumptionPower RequirementInside/Outside Craft DS18B20Temperature3-5.5v DC1-1.5mA.00825 WInside MPL115APressure2.4-5.5v DC5μA2.75E-5 WInside TR250ZOxygen24v DC600mA14.4 WInside DynamentCO23-5v DC60 mA.3 WInside MLX90316Rotary Position4.5-5.5v DC8.5-16 mA.088 WInside BMA180Triax Accelerometer4.25v DC975 μA.004 WInside LRR3Range4 WOutside SensopartLanding24v DC200 mA4.8 WOutside CT-602Star Tracking28v DC9 WOutside E2EMProximity Sensor24v DC100 mA2.4 WOutside K7L-AT50 / - AT50DFuel Leakage10-30v DC100mA.3 WOutside KM50-EPower Monitoring7 WInside HD25AMagnetic Encoder5.5v DC16 mA.088 WOutside Total42.39 W

56. Criticality Crew Oxygen Levels TR250Z Oxygen Sensor Oxygen Levels TR250Z Oxygen Sensor CO 2 Levels Dynament CO2 Infrared Sensor CO 2 Levels Dynament CO2 Infrared Sensor Pressure Levels MPL115A Digital barometric pressure sensor Pressure Levels MPL115A Digital barometric pressure sensor Temperature Levels DS18B20 Programmable Digital Thermometer Temperature Levels DS18B20 Programmable Digital Thermometer Mission Acceleration Velocity Position Sensors Mission Acceleration Velocity Position Sensors This Criticality diagram shows how the crew must come first before the mission because there needs to be a crew to do the mission

57. Sensor Redundancy In order to provide a safe environment for the crew and keep the mission going, we need multiple sensors so if one fails, we have a backup We must calculate the probability that at least one sensor will work in case one or more fail in it’s place

58. Sensor Redundancy Probability that k out or n units working

59. Sensor Redundancy For all the sensors, using the worst mean time between failures out of all the sensors as a worst case scenario

60. Sensor Redundancy 3 parallel sensors, each has reliability of 0.9395 Probability all three work Probability exactly two work Probability exactly one works

61. Sensor Redundancy Probability all three work Probability at least two work Probability at least one works Probability that none work

62. Possible ENAE 484 DBTE Projects

63. Sight View Mock-Up Want to mock-up the capsule view point to assure the astronauts have significant sight lines for landing from the window. From mock-up, analyze structure for possible window placement and quantity of windows Can shine light through windows in the dark to visualize sight lines easier

64. Sight View Mock-Up

65. Inner Configuration Mock-up Want to design a mock-up of how the inner structure of the crew systems vehicle is laid out We will design moveable furniture, such as the chairs, control panels, cubbies, etc. to see if the space suited crew can operate the controls in a well timed manner From this, we will put people in space suits and see if the configuration we designed for the crew systems vehicle is satisfactory –It is satisfactory if the crew can operate all the controls, (within arm’s length while sitting) and move without much trouble If it is deemed unsatisfactory, then the furniture and control systems is moved into a new configuration until a good configuration is found Goal: To see if the crew can react to situations without much trouble and to become familiar with the crew systems vehicle before the mission starts

66. Mock-up: Lunar Egress Hatch Design Objective Determine desirable hatch sizes and shapes for egress in spacesuits after cabin decompression Analyze ease of exiting/entering through the hatch, ease of opening/closing the hatch Analyze performance in zero gravity, lunar gravity Lunar gravity – further step-down to surface simulation Required mockup Can create a low cost/ low fidelity dry mockup Can create a higher fidelity neutral buoyancy mockup Both would require structural construction Dry mockup needs more structural support NB mockup needs more specialized construction

67. References Hatcher, Norman M. A Survey Of Attitude Sensors for Spacecraft. Rep. no. NASA SP-145. Washington, D.C.: Langley Research Center, 1967. Web. 9 Dec. 2012. MPL115A Digital Barometric Pressure Sensor. Rep. no. MPL115AFS. N.p.: n.p., n.d. Freescale Semiconductor. Web. 8 Dec. 2012. http://cache.freescale.com/file/sensors/doc/fact_sheet/MPL115AFS.pdf http://cache.freescale.com/files/sensors/doc/data_sheet/MPL115A1.pdf?fpsp=1 http://cache.freescale.com/files/sensors/doc/data_sheet/MPL115A2.pdf?fpsp=1 DS18B20 Programmable Resolution 1-Wire Digital Thermometer. Rep. San Jose, CA: Maxim Integrated, 2008. Maxim Integrated. Web. 11 Dec. 2012. http://datasheets.maximintegrated.com/en/ds/DS18B20.pdf MLX90316 Rotary Position Sensor IC. Rep. no. 3901090316. N.p.: Melexis Micro Electronic Integrated Systems, 2012. Melexis Micro Electronic Integrated Systems. Web. 11 Dec. 2012. http://www.melexis.com/Assets/MLX90316-DataSheet-4834.aspx BMA180 Digital, Triaxial Acceleration Sensor. Rep. no. Rev. 2.5. N.p.: Bosch, 2010. Bosch. Web. 10 Dec. 2012. http://irtfweb.ifa.hawaii.edu/~tcs3/jumpman/jumppc/1107-BMA180/BMA180- DataSheet-v2.5.pdf

68. References Chassis Systems Control LRR3: 3rd Generation Long-Range Radar Sensor. Rep. N.p.: Bosch, 2009. Bosch. Web. 10 Dec. 2012. http://www.bosch- automotivetechnology.com/media/db_application/downloads/pdf/safety_1/en_4/lrr3_d atenblatt_de_2009.pdf VISOR- the New Generation of Vision Sensors. Rep. no. 068-14397. N.p.: SensoPart, 2012. SensoPart. Web. 11 Dec. 2012. http://www.sensopart.com/jdownloads/Prospekte/06814397_14_VISOR_e.pdf http://www.sensopart.com/en/products/vision-sensors-a-systems/obect-detection HD25A Absolute Industrial Optical Encoder. Rep. N.p.: US Digital, n.d. US Digital. US Digital. Web. 11 Dec. 2012. http://pdf.directindustry.com/pdf/us-digital/hd25a-absolute-industrial-optical- encoder/Show/15092-187916.html TR250Z Oxygen Sensor. Rep. no. DSTR250Z. N.p.: CO2Meter, 2012. CO2Meter.com. CO2Meter. Web. 12 Dec. 2012. http://www.co2meters.com/Documentation/Datasheets/DS-TR250Z-sensor.pdf Carbon Dioxide Infrared Sensor Temperature Compensated Certified Version Type MSh-CO2/TC. Rep. no. TDS0003. Vol. 4.3. N.p.: Dynament, 2011. Dynament. Web. 11 Dec. 2012. http://www.dynament.com/infrared-sensor-data/tds0003.PDF