spacegrant.colorado.edu · Web viewOur mission is to show 3D images are possible in close fields of...

Gateway to Space ASEN 1400/ ASTR 2500 Fall 2012

Colorado Space Grant Consortium

Gateway to SpaceFall 2012

Design Document

Team Napoleon

11/16/12Written by;

Caleb Lipscomb, Ashley Zimmer, Ginny Christian, Akeem Huggins, Chris Grey, Connor Strait, Chad Alvarez, Tucker Emmett

of 26 November 16, 2012

Rev C


Revision Description DateA/B Conceptual and Preliminary Design Review 10/22/12

C Critical Design Review 11/16/12D Analysis and Final Report 12/08/12

Table of Contents

Section # Section Page

1.0 Mission Overview 32.0 Requirements Flow Down 43.0 Design 64.0 Management 145.0 Budget 166.0 Test Plan and Results 177.0 Expected Results 258.0 Launch and Recovery 269.0 Results and Analysis N.A.

10.0 Ready for Flight N.A.


Rev C

Chris Koehler, 11/29/12,

Don’t show this rev until it is actually released.


1.0 Mission Overview

1.1 Mission Statement

Our Mission is to disprove the viability of 3D imaging of large, distant objects and to prove that 3D imaging is possible for objects close to the cameras in space. In order to do this, we will be taking 3D photos of the Earth and of the balloon during the flight of our balloon satellite to test 3D imaging in future space missions. NASA has attempted to create 3D images in space, and has even flown 3D cameras in a mission to Mars on the Curiosity Rover and had spent millions of dollars in the process. Our mission is to show 3D images are possible in close fields of view, like rocks near the rover, but not possible in space for creating 3D images of large landscapes, planets, or stars, thus saving companies millions of dollars in future investments and validating NASA’s expenditures on 3D imaging on the Mars rovers. We will take images using two identical cameras of the ascent of our satellite, Shaniqua, of the balloon burst, and of the descent of our satellite. Using these images, we will attempt to create 3D pictures.

1.2 Mission Objectives

1. To design and prepare a balloon satellite ready to launch by December 1, 2012.2. To use two cameras to capture 3D images and film the entire launch using a GoPro camera.3. To use a gyroscope to determine and record the orientation and rotation of the satellite during

flight.4. Record and collect data on the required environmental variables.5. Have the cost and weight of the satellite remain within budget and meet all scheduled deadlines.6. Follow all RFP requirements.

1.3 Mission Overview

We are taking 3D images of the flight to test the efficacy of 3D in space and future planetary missions. NASA's Curiosity Rover1 currently produces 3D stereo images from two mast cams as well as two hazard cams, and before launch NASA commissioned MSSS to build zoom lenses to enhance the 3D capability of the mast cams, at the behest of James Cameron 2. These zoom lens where then scrapped from the mission, as they were not completed in time for testing. NASA however spent thousands of dollars and months in development of said lenses, so they felt that the expense was justified. In addition, 3one of NASA’s former missions, Spirit, sent 3D images back from the Martian surface in 2004. These images do not appear to be poor quality. The 3D effect, at first glance seems to have worked. This shows that while 3D imaging is possible with objects

1 Malin Space Science Systems. "NASA Halts Work on Zoom Mast cams". Oct 2, 2012.< http://www.msss.com/news/index.php?id=22 >

2 Wired. "The Photo-Geeks Guide to Curiosity Rover's 17 Cameras". Oct 2, 2012. <http://www.wired.com/wiredscience/2012/08/curiosity-mars-rover-cameras/ >

3 Mars 3D, NASA Jet Propulsion Laboratories; http://mars.jpl.nasa.gov/mars3d/


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Shouldn’t use this as a sub heading when it is the name of the overall section.

ITLL, 11/28/12,

Really nice to see.

ITLL, 11/28/12,

Nice Mission Statement. Should consider explaining how these images will be made into 3D pictures.


I can see what you have done since DD A/B but you really need to tighten this up to 1 or 2 sentences. Don’t throw away the other stuff, just put it into the rest of your mission overview because it is good.


Consider showing some actual images that your refer to in your text from Mars. It will really help you make your case and better explain your mission.


close to the cameras, it is worth the investment. We expect to receive similar results on our mission.

Our goal is to show that 3D imaging is effective for objects close to the cameras, but that it is not effective in space by sending a 3D camera rig into space and compare the images of a far object, Earth, to that of a closer object, the balloon, with a known point of reference in all photos. We will compare the 3D photos of, the Earth, the balloon, and pictures taken on the ground to regular 2D images captured by our cameras. We believe the 3D images of Earth will be hardly distinguishable from simple 2D images, because 3D imaging has two main requirements: a point of reference to give scale to the viewer, and an object moving towards the lens. We will have a point of reference, but due to the unknown scale of the images of Earth and the lack of movement, the 3D images of Earth will be indistinguishable from the 2D images. However, we believe that we will be able to capture 3D images of the balloon and of objects on the ground because we will have a known point of reference and a known, small distance from the satellite to the balloon. This will validate NASA’s attempt to crate 3D images on Mars, where they have a known reference point on Curiosity and a known distance to close objects. To create a scale for 3D images, we will fly an object of known size so the exact size can be compared to the relative size of the object in the film to find the distance from the camera to the object. For large objects in space an on Mars, such as a planet or a mountain respectively, we cannot possibly fly an object to give us an exact scale of the distance to these massive objects to use to create the 3D image. If our hypothesis about the relative indifference between 2D and 3D images is correct, then we will have proved that cameras used to create 3D images are a justified expense on planetary missions, such as the Curiosity rover, and unjustified on interplanetary missions exclusively in space.

The second part of our mission is to determine the attitude and spin rate of our satellite. Using data from the gyroscope, we will be able to determine where our cameras are pointing. A MEMS gyroscope has been included in the satellite to record the spin rate of our satellite.

2.0 Requirements Flow Down

In order to complete our mission, we shall define requirements that must be met in order for our satellite to fly. We shall start with mission objectives, or level 0 requirements. These requirements shall define the goals of our mission. We shall then include objective requirements, or level 1 requirements. These requirements shall define how we plan to achieve our mission objectives. All following requirements shall include in more detail how we plan to achieve our objective requirements.

Level 0 Requirements

# Mission Objectives, Level 0 Requirements. Origin0 Test ability to produce 3D images in a near space environment. Mission Statement1 Determine attitude and rotation of our satellite during the entire

flight.Mission Statement

2 Our Satellite shall reach an altitude of 30 km. RFP


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Pretty good job…

ITLL, 11/28/12,

Good. Straight forward.

ITLL, 11/28/12,

Technical papers should always be written in third person.


3 Keep total weight under 1125g and total money spent $250. RFP4 Keep internal temperature of Satellite above -10 C. RFP5 Record environmental variables. RFP6 Ensure the safety of all members of the team. RFP7 Balloon Sat must be able to fly again. RFP

Level 1 Requirements

# Objective 0, Level 1 Reference #0.1 Satellite Shaniqua shall fly two Cannon SD 780 cameras side by side

to capture “3D” images.0

0.2 Shaniqua shall fly a GoPro to capture standard 2D video. 00.3 The two cameras and GoPro shall be connected by a miniB USB

cable that will sync the timers on the camera hardware and software before the fight to take pictures automatically during the duration of

the flight.

0

0.4 The Cannon Cameras and GoPro shall be attached to a mechanism that shall rotate the cameras 90 degrees 25 minutes prior to balloon

burst.

0

# Objective 1, Level 1 Reference #1.1 Satellite Shaniqua shall fly a Gyroscope that will collect data

continuously for the entire duration of the flight.1

1.2 The data collected by the gyroscope shall be recorded and used to determine our satellite’s attitude and spin rate.

1

# Objective 2, Level 1 Reference #2.1 Our satellite Shaniqua shall be attached to a hydrogen balloon that

shall carry our satellite to an altitude of 30km.2

2.2 Shaniqua shall be attached to a rope that is connected to the Balloon via a tube running through the center of our satellite.

2

2.3 Shaniqua shall use washers and clips to keep it stable on the rope. 2

# Objective 3, Level 1 Reference #3.1 A weight budget shall be kept and updated weekly to ensure our

satellite shall weight less than 1125g.3

3.2 A cost budget shall be kept and updated weekly to ensure our satellite cost does not exceed $250.

3

# Objective 4, Level 1 Reference #4.1 Our Satellite shall have an internal heater powered by 9V batteries

that shall heat the satellite for the duration of the flight.4

4.2 Our satellite shall have ½ inch foam insulation on the interior of the 4 of 26 November 16, 2012

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structure.

# Objective 5, Level 1 Reference #5.1 Our Satellite shall have an external and internal temperature sensor

that shall continuously collect data for the duration of the flight.5

5.2 Our satellite shall have a pressure sensor that shall continuously collect external pressure data for the duration of the flight.

5

5.3 Our satellite shall have an internal humidity sensor that shall collect data continuously for the duration of the flight

5

5.4 Our satellite shall have a 3 axis accelerometer that shall collect data continuously for the duration of the flight.

5

5.5 All data collected from the temperature sensors, pressure sensor, humidity sensors, and accelerometer shall be stored on a 2 GB SD

card.

5

5.6 Data collected form the temperature sensor, pressure sensor, and accelerometer shall be used to determine the altitude of our satellite

as a function of time.

5

# Objective 6, Level 1 Reference #6.1 Construction and Soldering equipment shall be used only in the

proper manner and for the direct purpose of constructing our satellite.6

6.2 All construction equipment and soldering tools shall be properly stored.

6

# Objective 7, Level 1 Reference #7.1 The structure of our satellite shall be made of foam core and shall be

held together using aluminum tape and hot glue.7

7.2 Our satellite’s structure shall remain intact during the entire flight, including the ascent, the balloon burst, the descent and

7

7.3 All of our satellite’s sensors, cameras, and Arduino boards shall be functioning during the duration of the flight and after landing.

7

3.0 Design

In order to take 3D images during our flight, our camera shall flight two Canon SD 780 cameras side by side, as well as a GoPro camera. In addition, we will fly a gyroscope to collect data on the spin rate an attitude of our flight, and temperature sensors, a humidity sensor, a pressure sensor, and an accelerometer to collect environmental data during our flight. To ensure the survival of our satellite during the flight, our satellite’s structure shall be made of foam core. To ensure our satellite’s internal temperature remains


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Nice job detailing your design with this section. Include pictures of actual hardware/sensors used and you will get brownie points in your final report.


above -10 degrees C, we shall insulate our satellite with ½ inch foam insulation and install a heater in the satellite. Finally, we shall fly two Arduino Uno boards to collect data from the sensors, and the data shall be stored on two 2 GB SD cards.

3.1 Cameras, 3D Imaging and Filming:Our satellite will carry a 3D camera rig, designed to take 3D pictures of the ascent and the

balloon burst. We will use a Canon camera identical to the one provided, and create a fastening system that inverts one camera and aligns the lenses on the same plane, 6cm apart to create a stereoscopic 3D effect. We shall take pictures at 5 second intervals for the duration of the flight. This system will be contained within the satellite, facing out through two viewing windows. The internal configuration allows the cameras to stay within their minimum operating requirements as ordained by the manufacturer. To capture both ascent and balloon burst, at launch the cameras will be pointing horizontally from the satellite. 75 minutes into the flight, the rig will rotate 90 degrees vertically to capture images of the burst. A small DC motor attached to a gear system will initiate this rotation. With free 2D to 3D software, which takes a frame from the left then a frame from the right, and on into perpetuity we will combine each separate picture file into one file. We will hack the cameras’ firmware, enabling us to program the camera’s functions. We will set the picture intervals on both cameras to the same time as well as using a miniB USB cable to synchronize the cameras shutter rate to operate both cameras simultaneously. Post flight, we will compare the 3D images captured by both Canon cameras to a standard 2D image captured by a single Canon camera. A GoPro Hero HD 2 will also be attached to the rig, providing 2D film of the entire launch: ascent, burst, and descent. The GoPro will be turned on before launch, as it is capable of filming 1080p video for four hours, which allows us to leave out the now unnecessary on/off system. The memory will be contained on SD cards in the cameras. Post-flight, the images shall be uploaded on to Connor’s computer and 3D images we attempt to create using the free 2D to 3D software.

3.2 Gyroscope

An Arduino GY-521 MPU-6050 Module 3 Axial Gyroscope Accelerometer Stance Tilt Module shall be used to continuously collect data about the attitude and rate of rotation of the BalloonSat for the approximately 135 minute flight. The gyroscope shall be programed prior to the flight using the Arduino software, and shall collect data autonomously. The gyroscope requires between 3.3 volts of power and is able to collect rotational data from the Shaniqua at the ranges 250, 500, 10000 and 20000 degrees per second. We shall program the Gyroscope to collect data at a rate of 250 degrees per second. The gyroscope collects raw data in the form of mV/degrees/second. The collected data shall be recorded and stored on a 2 GB SD card. We will start with a reading of 0 volts to determine our gyroscope’s data outputs when the sensor is stationary. We will use this voltage output as our zero when analyzing our data. In addition, we will rotate the gyro 180 degrees about a single axis, for the x, y, and z axes, over one second, and compare the sensor data to the actual rotation rate. We shall use this data, in addition to the zero voltage data, to calibrate the sensor. We will then find the sensitivity of the sensor from the data sheet and convert our data to volts before performing the final calculation to find the degrees of rotation of the satellite per second. Readings taken from launch to landing will provide a continuous graph of the rotation of the satellite and allow us to compare rotation rate of the satellite with the video feed at the same time for any time during the flight.

3.3 Sensors:


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Metric?


All sensors shall be attached to one of two Arduino boards. Sensors shall be used to collect internal and external temperature, humidity, and pressure measurements. These sensors, in addition to a 3-axies accelerometer shall be attached to the first Arduino. A 3-axies gyroscope shall collect data and shall be connected to a second Arduino. To calibrate the sensor, we will find what the sensors read in 3 separate controlled situations and then use these readings to calibrate the sensors. For the temperature sensors, we will find what the sensors read in a room of known temperature, and then use that data to calibrate the sensor. We shall repeat this test for three separate temperatures. For the humidity sensor, we will see what the sensor reads in a room of know humidity and use this data to calibrate the sensor. We shall repeat this test for three different known humidifies. For the pressure sensor, we will see what the sensor reads in normal room pressure. We will look up the atmospheric pressure in Boulder and combining this information with the sensor reading we will calibrate the sensor. For the accelerometer, we will place the accelerometer on a flat surface and see what the sensor reads. We shall place the accelerometer with two of its axes horizontal to the surface with one vertical. We shall repeat this process so that each axes is placed vertical, and thus should read 1 g when vertical and 0 g when placed horizontally. We will use this data as the zero value for the accelerometer. The Arduinos shall activate theses sensors automatically before the flight and collect the data for the entire duration of the flight. All data collected by the sensors shall be stored in two 2 GB SD cards, one attached to each Arduino via a microSD protoshield.

3.4 Structure:

To insure the survival of our satellite during the flight, we shall construct our balloon satellite using foam core to create a skeletal structure in the shape of a box. To create the cube out of foam core, we will form a “cross” shape making angular cuts to create 6 squares (1x3x1x1). Our structure shall have dimensions 12.25 cm by 11.36 cm by 17.83 cm. The box will contain our Cannon cameras, a GoPro, our rotating mechanism, two Arduino boards, an internal heater powered by three 9V batteries an external and internal temperature sensor, a pressure sensor, a humidity sensor, a gyroscope, and an accelerometer. 3 external LED’s shall be attached on the outside of the structure to indicate if our payload is functioning. In the center of the box, from top to bottom, we will insert a rope surrounded by plastic tubing on the inside of the box. This rope will attach Shaniqua to the balloon and allow our satellite to fly. All of our experiments will be attached internally. The two Canon SD780 IS cameras attached on the inner side of the cube with two view-ports, one located on the side of the satellite and one located on the top of the satellite, allowing the cameras to see outside the satellite. In order to create stable view ports without sacrificing structure we will make 3 rectangular cuts into the foam core, one in front of each of the camera lenses and then create a plastic casing to protect the lenses from radiation and other damaging factors such as weather and temperature. We used the similar design of commercial airplanes with two plastic casings at each opening, one screen attached from the inside while the other is attached in an identical position on the outside. We will then make 3 identical cuts on top of the box in accordance to the vertical rotation for the camera in order to film the balloon pop and use an identical procedure to the side cuts to install protective plastic casings. The rest of our hardware will be placed on the bottom of our balloon satellite box. This includes the Arduino-Uno, Arduino gyroscope, all of our sensors, and internal heater with 3 9-V batteries. We shall insulate the satellite using foam insulation in order to keep the


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internal temperature above -10°C and allowing all hardware to function. We will seal Shaniqua using hot glue and aluminum tape.

3.5 Arduino-Uno Board:

The Arduino-Uno is a microprocessor that can collect data from a variety of sensors using both analog and digital outputs. We shall fly two Arduinos in our satellite. The Arduinos shall be used to control our subsystems and various sensors, the motors and the LEDs included in our satellite. A micro SD shield shall be attached to the top of the Arduinos to house the SD cards. All data gathered by our sensors will be uploaded to the Arduinos and then stored on the micro SD cards. One SD card shall be used to store data from our temperature sensors, pressure sensor, humidity sensor, and accelerometer. A second SD card shall store data from our gyroscope. In addition, a development board shall be attached to each of our Arduinos. The wiring connecting our sensors to the Arduino shall be soldered to the development boards to ensure that they do not become detached during the flight.

3.6 Data Retrieval:

All data recorded by the sensors, Canon cameras; GoPro and Arduino unit shall be stored on 2 GB SD cards that will be retrieved from the satellite after it is recovered. The sensors shall store their data on two separate 2 GB SD cards connected to the Arduinos and the Cannon cameras and GoPro shall have their own internal SD cards. All data gathered by the sensors will be downloaded from the SD card directly onto Caleb’s computer. All images captured by the cameras shall be uploaded to Connor’s computer.

3.7 Diagrams:

Satellite

Back View:


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ITLL, 11/28/12,

Make sure dimensions are readable or else there is no point to putting them on there!


Include actual photos of design next to these in your final report. Dimensions are a little hard to read.


BackBack View:


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9V Batteries

Arduino w/ temperature sensors, humidity sensor, accelerometer, and pressures sensor

GoPro

Arduino w/ gyroscope

Canon SD 780 Cameras

Heater

Canon SD 780 Cameras

GoPro

Camera Rig

Motor

ITLL, 11/28/12,

Consider color coding to help distinguish between the components.


Camera Rig:

Gyroscope Schematics:

The gyroscope has three output pins connected to the Arduino. It has an analog data line, pin SDA on the Arduino, connected to pin A4 on the Arduino. It has an analog clock line, pin SCA on the Arduino, connected to pin A5 on the Arduino. There is a digital communication line, pin INT on the gyro, connected to pin D3 on the Arduino. There is a 3.3V line and a GND line connecting the gyro to the Arduino.


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Rotation AxelMotor


Nice.


Functional Block Diagram:


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Arduino Uno

Pin A5Pin A4

Pin D3

3.3V

GND

MPU 6050 Gyroscope

SCL

SDA

INT

VCCGND


I was able to copy and past most of my comments on this FBD from your DD rev A/B. Where is the data stored both for Arduino and cameras? How do your cameras get power, activated? Where is the data stored? Are all the cameras connected together? All this and more should be covered in your functional block diagram.


3.8 Final Hardware List

Item Amount Cost SupplierArduino GY-521 MPU-6050 Module 3 axial gyroscope accelerometer stance tilt module(entire unit 76.7 g, have 2 of them)

1 $21 Amazon.com

2 GB SD Card 4 $0 Provided/ Donated from Connor

Arduino Uno with Humidity Sensor

1 $0 Provided

Foam Core .50 m2 $0 Gateway Store

Non-Metal tube 1 $0 Gateway Store

Hot Glue Sticks 4 $0 Gateway Store

Aluminum foil tape 3 m $0 Gateway Store

Dry Ice (4.5 kg) 1 bag $12 SafewayInsulation .5 sheet $0 Gateway

Store9 V Batteries 12 $9 Gateway

StoreGoPro camera 1 $0 TeamHeater System 1 $0 ProvidedCanon SD780 IS 2 $83.47 Provided

/Amazon.comFree Software 1 $0 TeamHousing and gears made in house 1 $5 Team/ home

madeMabuchi FF-N20PN Small DC Motor

2 $13.76 Ebay.com

Mini USB to Mini USB cable 1 $5 Amazon.comPlastic 1 bag $5.40 McGuckinWire 3 feet $0.30 Electronics

LabTOTAL: $154.93


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ITLL, 11/28/12,

Add part numbers to the final list.


4.0 Management

Our team consists of 8 members: Chad Alvarez, Tucker Emmitt, Ginny Christianson, Ashley Zimmer, Chris Grey, Connor Strait, Akeem Huggins, and Caleb Lipscomb. Caleb Lipscomb is the team leader. Ashley Zimmer is in charge of keeping the budget. Our team has been divided into four groups: Structure, systems, programming and science. The structure team is in charge of designing and constructing the structure of our satellite. The systems team is in charge of integrating all of our sensors, switches, LEDs, and Arduino boards. Our programming team in in charge of writing code for the Arduinos to collect data from the sensors. The Science team is in charge of programming the cameras and creating the 3D images. Each group has a leader and a main engineer, with two assistant engineers. Each member of our team was assigned a main group, and was assigned to be an assistant engineer for a second group. This ensures that there is more than one person working on all aspects of our satellite. Chad is the structural lead, Tucker is the main structural engineer, and Ginny and Ashley are the assistant structural engineers. Ashley is the lead systems engineer and Ginny is the main systems engineer. Chad and Tucker are the assistant systems engineers. Caleb is the programming lead, Akeem is the main programming engineer, and Chris and Connor are the assistant programmers. Connor is the science lead, Chris is the main science engineer, and Caleb and Akeem are the assistant science engineers.


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Caleb

Team Leader

Programming Lead

Ashley

Systems Lead

Formatting

Chad

Structures Lead

Systems

Connor

Science Lead

Programming

Tucker

Structures

Systems

Ginny

Systems

Structures

Chris

Science

Programming

Akeem

Science

Programming


Schedule

Meeting Dates:

Date PurposeTuesdays at 6pm General Team Meeting: Work on project

and discuss future events, schedule, and deadlines

Wednesdays at 4pm General Team Meeting: Work on project and discuss future events, schedule, and deadlines

9/28 Turn in Proposal10/3 CoDR Presentation10/5 Authority to Proceed Given10/10 Order Parts Deadline10/18 pCDR Presentation10/19 Receive Parts Deadline10/22 Design Document Rev A/B Due10/23 Begin Structure Construction10/26 Begin wiring/programming sensors11/2 Hack 2nd Canon Camera, begin sync with

1st camera11/5 1st Structure Test11/6 Re-design and Re-construct Structure11/7 Sauder Sensors to Arduino Proto-Shield11/10 1st Calibrate Sensors/ Functional Testing11/14 Cold Testing11/15 In-Class mission simulation11/16 Design Document Rev C due11/19 2nd sensor Calibration, test at different

sensor values than 1st test.11/20 2nd structure test


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Font should not change in a document like this….


11/26 3D/2D Image testing11/27 Launch Readiness Review11/28 Integrate all parts into Final Satellite11/30 Final Balloon Sat Weigh in and Turn in12/01 Launch Day12/04 Analyze Data/ Review results of Flight12/05 Edit/Finalize Team Video12/08 ITLL Design Expo

Design Document Rev D DueTeam Videos Due

12/11 All DATA Due in classFinal Presentations and Reports

12/13 Final Team Evaluations

5.0 Budget

Budget:

Ashley is in charge of keeping the budget balanced. She will record the cost, source, and weight of each product bought for Shaniqua. All purchases made will be confirmed with Professor Koehler prior to making the purchase. Team Napoleon will keep the receipts. The following list documents all of the purchases we currently anticipate.

Item Amount

Weight Value Cost Supplier

Arduino GY-521 MPU-6050 Module 3 axial gyroscope accelerometer stance tilt module(entire unit 76.7 g, have 2 of them)

1 14g $21 $21 Amazon.com

2 GB SD Card 4 4g $15 $0 Provided/DonatedArduino Uno with Humidity Sensor

1 30g $39 $0 Provided

Foam Core .50 m2 80g $45 $0 ProvidedNon-Metal tube 1 20g $3 $0 ProvidedHot Glue Sticks 4 5g $1 $0 ProvidedAluminum foil tape 3 m 10g $11 $0 ProvidedDry Ice (4.5 kg) 1 bag 4500g $12 $12 SafewayInsulation .5 sheet 5g $10 $0 Provided


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9 V Batteries 12 111g $12 $9 Provided /Safeway

GoPro camera 1 350g $300 $0 TeamHeater System 1 100g $5 $0 ProvidedCanon SD780 IS 2 260g $150 $83.47 Provided

/Amazon.comFree Software 1 N/A $0 $0 TeamHousing and gears made in house 1 50g $5 $5 TeamMabuchi FF-N20PN Small DC Motor

2 5g $13.67 $13.76 Ebay.com

Mini USB to Mini USB cable 1 5.6g $5 $5 Amazon.comPlastic 1 bag 3 g $5.40 $5.40 TeamWire 3 feet 3 g $0.30 $0.30 TeamTOTAL: 1055.6

g$653.37 $154.9

3Any unanticipated spare parts needed shall be purchased using the remaining $95.07 from our budget.

6.0 Test Plan and Results

In order to ensure our satellite will be able to meet all the RPF and mission requirements, our satellite shall undergo several tests. We shall perform a drop test to ensure our satellite survives the flight. We shall perform a whip test to ensure the satellite survives the balloon burst and the following “whip”. Our satellite shall undergo a vibration test to ensure the structure survives the ascent and descent. Our cameras shall undergo image testing to ensure we can capture images automatically. In addition, we shall perform a 3D image test to verify that 3D imaging is possible with our cameras. All of our sensors shall undergo functionality tests to ensure they are collecting accurate data and they shall be calibrated using the testing results. Our satellite shall undergo a cold test to ensure the interior temperature remains about -10 degrees C for the duration of the flight. Finally, our satellite shall undergo a mission simulation test to ensure that all systems will function properly for the approximately 135 minute flight.

6.1 Drop Test

To ensure the strength of our structure, our satellite shall undergo two drop tests. For the first drop test, our satellite shall be thrown down a large flight of stairs. After the test, the damage to the structure shall be analyzed to see if there were any structural failures. This test shall be repeated 3 times. For the second drop test, our satellite shall be thrown into the air from an initial


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height of 15 m above the ground. Post-test, our satellite’s structure shall be analyzed to see if there were any structural failures. If there are any failures, the structure shall be re-designed and tested again. The goal of these tests is to insure our satellite will survive the flight and be able to fly on future missions.

Results:

The 1st drop test resulted in moderate success of the structural integrity. Rocks of slightly greater mass than the actual satellite components were collected to use as mass models for testing. The rocks were bundled in paper, and duct taped to the inside of Shaniqua. When dropped from the ITLL/DLC crossover bridge, it was observed that Shaniqua did survive the fall. However, one of Shaniqua’s corners was noticeably dented; a similar fall may dent our science equipment during flight.

Upon further analysis, it was discovered that the rock mass models had become loose during impact. It is therefore likely that the combined mass of the rocks created a large enough impulse to create the dent in the corner. We will not loosely duct tape the science equipment to the interior of Shaniqua, and the combined mass of our equipment will be less than the rock mass models, so it is expected that in the case of a long drop, Shaniqua will survive.Another possible reason for the structural dent was an incomplete seal in Shaniqua’s side. The dented corner was not completely hot-glued shut before the test, but, unfortunately, this structural inconsistency was discovered after the test.

The staircase test was completely successful, as Shaniqua survived with minor dents. The rock mass models were not secured for the staircase test, which created an optimal situation for a worst-case-scenario. The rocks, freely colliding against the walls of Shaniqua, imparted the greatest forces possible that Shaniqua will endure. . The sides, corners, and all connecting surfaces of Shaniqua must be precisely glued to attain a desirable amount of structural integrity.

6.2 Whip Test

To ensure our satellite survives the “whip” immediately after the balloon burst, our satellite shall undergo a whip test. For this test, our satellite shall be attached to the end of a 1.5 m rope and rotated as fast as Tucker can swing the satellite above his head for one minute. After the test, the satellite structure shall be analyzed for any structural failures. If there are any failures, the structure shall be re-designed and tested again. This test shall be repeated 3 times.

Results:

The 1st whip test had mixed results. Shaniqua withstood the forces imparted, but the structure began to fail during the test. While the foam core exterior remained untouched, the center tube that contained the string nearly separated from Shaniqua. It was again observed that this was a failure to properly hot glue the structure before testing; the center tube was glued only minutes before testing commenced. Although the tube slipped halfway out of Shaniqua, the test was successful in demonstrating the necessity for a properly glued structure.


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ITLL, 11/28/12,

Nice format. Easy to follow and to find your test results. Good job.


These problems will be fixed with the application of hot glue to the connections of Shaniqua’s surfaces, and further systems testing to ensure a sturdy and successful flight.

Result of 1st Whip Test:

6.3 Cold Test

To ensure our satellite survives the extreme low temperature that it will encounter during the flight, our satellite shall undergo cold testing. We shall place our satellite in an ice cooler with 4.5 kg of ice for 135 minutes. This will simulate the cold temperatures our satellite will experience at high altitudes during our flight. We shall run our payload during the entirety of the test. Post-test, we will analyze our external and internal temperature sensors. If the internal temperature of our satellite reaches below – 10 degrees C at any point during the test, our satellite structure and heater placement will be re-designed and tested again.

Results:

Our cold test was a success. The internal temperature of our Arduino remained well above -10 degrees C during the test. The lowest temperature reached was 17 degrees C. We may have to repeat the test, however, because our external temperature sensor was not outside of the structure we used during the cold test. In addition, we only used 4.5 lbs. of dry ice, and we may need more ice to reach the temperatures close to those experienced on the flight of our satellite.

Internal Temperature of Satellite:


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5819 998486 1991962 2985350 3978512 49720460

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Thermo (Deg C)

Thermo (Deg C)

6.4 3D image testing

In order to ensure our camera can successfully take pictures, all the cameras shall undergo image testing. Our cameras shall be programed to automatically take pictures every ten seconds, and we shall run the program to see if the camera can take pictures of various objects automatically. Post-test we will see if the camera automatically took pictures over the required time interval and trouble shoot any errors. In addition, we will run the GoPro for 10 minutes to ensure that it can successfully take video. We will trouble shoot any errors discovered during the test.

To ensure the cameras are capable of capturing 3D images, the cameras shall undergo 3D image testing. The two Cannon cameras shall be attached to the rotating mechanism and shall take pictures of objects of know size and distance from the camera. Using these pictures, we shall attempt to create 3D images using the 2D to 3D image software.

In addition, we will test the field of view of all of our cameras. We will place an object next to the Camera lens, but initial out of view of the camera. We will then move the object away from the camera until it enters the view of the camera. In doing this, we will find out the width of the field of view of our cameras

Results:

Our initial test pictures were with the two Canon cameras were able to capture 3D images. We were also able to successfully program the cameras to take pictures on their own, and synchronize both cameras to take pictures at the same time over an hour period. There was an issue in the shutter rate of the cameras. This issue will be resolved by connecting the cameras with a miniB USB cable that shall synchronize the shutter rate of the two cameras.


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Use a time scale that makes sense. Also your results tell me you the test was not cold enough.


We found that a 1cm by 1cm square was visible in the camera’s field of view at 2 cm away from the camera’s lens. We plan on performing more field of view tests in the future, using different objects of different shapes in order to increase our data on the camera’s field of view.

3D image:

2D image:

6.6 Functional testing and sensor calibration


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To ensure our sensors are functioning and collecting accurate data, they shall undergo functional testing. For functional testing, the sensors shall be connected to the Arduino and we shall see if the Arduino is reading the sensor measurements. For the temperature sensors, we will place our finger on the sensor and see if the sensor reads the temperature change. For the humidity sensor, we will breathe on the sensor and see if the sensor detects changes in humidity. For the pressure sensor, we will suck on the sensor and see if the sensor detects changes in air pressure. For the accelerometer, we will move the accelerometer and see if the sensor detects the changes in g-force. For the gyroscope, we shall rotate the gyroscope in various directions and see if the sensor detects the change in rotation.

Results:

We performed two calibration tests up to this point.

For the first test, we ran the sensors in a room of 22 degrees C, a pressure of 12 psi, a humidity of 42%, and on a flat surface with the z axis of the accelerometer facing up for 7 minutes. Over the 7 minute time period, the mean temperature reading of our internal temperature sensor was 24.773 degrees Celsius and the mean temperature of our external temperature sensor was 26.319 degrees Celsius. Our humidity sensor mean reading was 44.14%. Our pressure sensor mean reading was 12.5 psi. Our accelerometer X, Y, and Z mean readings were .334g.451g, and .98g respectively. We found the difference between the actual readings of our sensors and the mean values recorded by our sensors and then added the difference if it was positive and subtracted the difference if it was negative to the sensor values in our Arduino code.

We ran a second calibration test on a flat surface, with the z axis of the accelerometer facing up, in a room 20 degrees C, with a humidity of 32%, and a pressure of 12 psi. Our mean Accelerometer readings were X=.087g, Y=.005g, and Z=.958g. Our mean pressure reading was 12.206 psi. our mean humidity reading was 20.718%. Our mean internal temperature sensor reading was 20.718 degrees C. Our mean external temperature sensor reading was 21.15 degrees C. We will repeat the same calibration process as we did in the 1st test to increase the accuracy of our sensors.

These are the graphs of our sensors during the second calibration test:


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Internal Temperature sensor

566 58807 11718117545023397729222835051240888546727952577858405019

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External Temperature Sensor

566 81307 162205 243244 324031 404908 485812 56683320.4

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OneWire(Deg C)


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Pressure Sensor

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Humidity Sensor

566 88053 1754502631013505124380065257786131780

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Humidity (%)

Humidity (%)

6.7 Mission Simulation


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To ensure all parts of satellite will function properly during the entire mission, our satellite will undergo a mission simulation. We will turn on all systems of our fully integrated satellite and run them for 135 minutes. Post-test we will collect and analyze all data collected by our sensors and look at all images collected by our cameras.

Results:

Our mission simulation was a partial success. The pressure sensor, external temperature sensor, internal temperature sensor, humidity sensor, and accelerometer all collected accurate data and successfully wrote all data to an SD card. There was very little variation in all the data, as expected because the sensors sat in a room of constant temperature, humidity, pressure, and their orientation remained constant. Both of our cameras were able to take pictures automatically and at the same time for the hour and a half duration of the test. We were also successfully able to create 3D images from our pictures. Our gyroscope, however, failed to write to the SD card, and we will re-write the code to fix the issue. Our motor to be used in the camera rig successfully turned on 65 minutes into the test as planned.

7.0 Expected results

We expect that we will be able to produce 3D images of the balloon but that we will not be able to produce accurate 3D images of Earth with the images taken at an altitude of 30 km. With a known reference point and difference, we expect to be able to successfully create 3D images of the balloon and any other objects close to the satellite. However, due to the immense distance, we expect that we will be unable to produce 3D images of Earth during the flight. We also expect that the camera rig will successfully rotate the cameras so that they can take pictures of the balloon burst. We expect to gather accurate data about the attitude and spin rate of our satellite from our gyroscope. Our spin rate will be recorded in degrees per second, and we will be able to see at what parts of the flight our satellite was rotating at a faster rate. We expect that we will gather accurate environmental data form all of our sensors. Using the external temperature and pressure data compared with time, we expect to find the altitude of our satellite at any time during the flight, and thus find the ascent rate of our satellite. We will compare our temperature and pressure data with known temperature and pressure data at different points in Earth’s atmosphere to find our satellites altitude. Furthermore, we expect that our satellite will survive the flight and that all parts of the satellite will be fully functional after the flight. We also expect that the internal temperature of our satellite was never below -10 degrees C.

The Data from all of our sensors shall be stored on one SD card attached to each of the Arduinos. We will remove the Arduinos from the satellite post-flight and remove the SD cards form the Arduinos. We will upload all sensor data from the SD cards to Caleb’s computer where it will be analyzed and graphed. All of the pictures taken from the flight by the Canon Cameras will be stored on an SD card attached to each camera. The SD cards shall be recovered from the Cameras post-flight and all images shall be uploaded to Connor’s computer. Connor shall then attempt to create 3D images from the cameras.


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ITLL, 11/28/12,

Address “Tested taking and retrieving data”


Would have liked to see some anticipated data plots.


8.0 Launch and Recovery

We will meet outside of the Engineering Center at 4:45am on December 1st to prepare for our launch. Our team shall drive in two separate cars driven by Tucker and Akeem. We shall arrive in Windsor Colorado by 6:50am in order to launch our balloon satellite. Our satellite shall be sealed and the payload and heater shall be turned on using external switches. Caleb shall hold and launch our satellite. After the launch, we will track the balloon satellite using the GPS tracking device attached to the Balloon. Chad shall recover our satellite after the balloon. After our balloon has been recovered, Connor, Ginny, and Tucker shall collect the image data, Caleb, Chris, and Akeem shall collect the data from the gyroscope, and Ashley and Chad shall collect the data from the pressure sensor, temperature sensors, and humidity sensor, and accelerometer. After the data has been retrieved, we shall upload the data to Caleb’s computer, analyze our data and compare it to our test results.


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ITLL, 11/28/12,

Has this retrieval process been successfully tested?

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