Critical Design Review (CDR) of Team Garuda at the International Student CanSat competition. Team Garuda secured International Rank 3 out of 40 Teams at the International Student CanSat Competition 2012 at Abilene, TX, USA. Visit http://www.rishidua.com/cansat/ for more information about the team.
Preliminary Design Review (PDR) of Team Garuda at the International Student CanSat competition. Team Garuda secured International Rank 3 out of 40 Teams at the International Student CanSat Competition 2012 at Abilene, TX, USA. Visit http://www.rishidua.com/cansat/ for more information about the team.
This document discusses VLSI design trends, careers, and opportunities in India. It outlines the VLSI design process from problem identification through fabrication. Key players in research and development are mentioned. The market for VLSI design in India is growing, with the government aiming to create millions of jobs in this sector by 2020. Skills in digital design, HDLs, EDA tools, and projects are important for entering this field. Careers in VLSI offer excellent packages and growth potential in both public and private sectors.
Kuhn flex wing tandem disc harrow 8200 - tandemdisc8200-19 n-2481_-_qr009btlPartCatalogs Net
This document is an owner's manual for an 8200 Series Tandem Disc Harrow. It contains information about safety, specifications, operation, and maintenance of the implement. The manual includes sections on safety symbols and precautions, transporting the implement, hitching and unhitching from a tractor, field adjustments, and how the rephasing cylinder system works.
This document provides an overview of application specific integrated circuits (ASICs). It discusses the main types of ASICs including full custom, semi-custom (standard cell-based and gate array-based), and programmable. For semi-custom, it describes standard cell-based ASICs using predesigned logic cells and different types of gate arrays including channeled, channelless, and structured. The document also covers the design flow, economics, merits like improved speed and power consumption, and demirts such as high costs for redesigns.
The document discusses the history and development of VLSI (Very Large Scale Integration) technology and Moore's Law over time. It describes how transistors have gotten smaller through scaling, allowing more to fit on chips. This doubling of transistors every couple years is known as Moore's Law. 3D VLSI is presented as a potential solution to continue following Moore's Law by building chips in three dimensions rather than just two. Key challenges of 3D integration are also outlined.
VLSI stands for Very Large Scale integration is the art of integrating millions of transistors on a Silicon Chip. Researchers are working to incorporate large scale integration of electronic devices on a single silica chip “Integrated Circuit or IC” to fulfill the market demand. Here, in this presentation we will learn introduction and history of VLSI, VLSI Design Style and Flow, VLSI Design Approaches, CPLD, FPGA, Programmable Logic Arrays, Xilinx vs. Altera Design tools, flow and files.
https://www.udemy.com/vlsi-academy
Usually, while drawing any circuit on paper, we have only one 'vdd' at the top and one 'vss' at the bottom. But on a chip, it becomes necessary to have a grid structure of power, with more than one 'vdd' and 'vss'. The concept of power grid structure would be uploaded soon. It is actually the scaling trend that drives chip designers for power grid structure.
The document discusses placement in physical design. It describes placement as assigning positions to predesigned cells on a chip without overlapping to optimize objectives like minimizing area and interconnects. It discusses different placement types, formulates the placement problem, and describes algorithms like partitioning-based placement, simulated annealing placement, and iterative placement methods.
Preliminary Design Review (PDR) of Team Garuda at the International Student CanSat competition. Team Garuda secured International Rank 3 out of 40 Teams at the International Student CanSat Competition 2012 at Abilene, TX, USA. Visit http://www.rishidua.com/cansat/ for more information about the team.
This document discusses VLSI design trends, careers, and opportunities in India. It outlines the VLSI design process from problem identification through fabrication. Key players in research and development are mentioned. The market for VLSI design in India is growing, with the government aiming to create millions of jobs in this sector by 2020. Skills in digital design, HDLs, EDA tools, and projects are important for entering this field. Careers in VLSI offer excellent packages and growth potential in both public and private sectors.
Kuhn flex wing tandem disc harrow 8200 - tandemdisc8200-19 n-2481_-_qr009btlPartCatalogs Net
This document is an owner's manual for an 8200 Series Tandem Disc Harrow. It contains information about safety, specifications, operation, and maintenance of the implement. The manual includes sections on safety symbols and precautions, transporting the implement, hitching and unhitching from a tractor, field adjustments, and how the rephasing cylinder system works.
This document provides an overview of application specific integrated circuits (ASICs). It discusses the main types of ASICs including full custom, semi-custom (standard cell-based and gate array-based), and programmable. For semi-custom, it describes standard cell-based ASICs using predesigned logic cells and different types of gate arrays including channeled, channelless, and structured. The document also covers the design flow, economics, merits like improved speed and power consumption, and demirts such as high costs for redesigns.
The document discusses the history and development of VLSI (Very Large Scale Integration) technology and Moore's Law over time. It describes how transistors have gotten smaller through scaling, allowing more to fit on chips. This doubling of transistors every couple years is known as Moore's Law. 3D VLSI is presented as a potential solution to continue following Moore's Law by building chips in three dimensions rather than just two. Key challenges of 3D integration are also outlined.
VLSI stands for Very Large Scale integration is the art of integrating millions of transistors on a Silicon Chip. Researchers are working to incorporate large scale integration of electronic devices on a single silica chip “Integrated Circuit or IC” to fulfill the market demand. Here, in this presentation we will learn introduction and history of VLSI, VLSI Design Style and Flow, VLSI Design Approaches, CPLD, FPGA, Programmable Logic Arrays, Xilinx vs. Altera Design tools, flow and files.
https://www.udemy.com/vlsi-academy
Usually, while drawing any circuit on paper, we have only one 'vdd' at the top and one 'vss' at the bottom. But on a chip, it becomes necessary to have a grid structure of power, with more than one 'vdd' and 'vss'. The concept of power grid structure would be uploaded soon. It is actually the scaling trend that drives chip designers for power grid structure.
The document discusses placement in physical design. It describes placement as assigning positions to predesigned cells on a chip without overlapping to optimize objectives like minimizing area and interconnects. It discusses different placement types, formulates the placement problem, and describes algorithms like partitioning-based placement, simulated annealing placement, and iterative placement methods.
This document provides an overview of VLSI technology trends over time. It discusses how Moore's Law has been sustained through transistor scaling down to the nanometer level enabled by various techniques like strained silicon, high-k dielectrics, metal gates, SOI, multi-gate transistors like FinFETs. It outlines the evolution from bipolar junction transistors to MOSFETs to integrated circuits. Short channel effects posed challenges to scaling which were addressed through new device architectures in the second generation of scaling.
This document discusses engineering change orders (ECOs) used to fix timing, functional, power, and clock issues after physical design and sign-off. It describes the motivation for ECOs due to tool limitations and differences between implementation and sign-off. Common ECO techniques are listed for timing (driver upsizing, buffer insertion, etc.), power (vt-swapping, downsizing, etc.), and metal-only ECOs. Timing ECO tools from Synopsys, Cadence, and other vendors are also mentioned. Upcoming ECO technologies like dynamic power optimization and automatic legalization are noted.
The document discusses electronic design automation and the concept of VHDL. It provides a brief history of milestones in the integrated circuit industry. It then explains abstraction levels in VLSI design, digital system design principles, and application specific integrated circuits. The document introduces the concept of programmable logic arrays and function implementation using PLA. It defines electronic design automation and hardware description language VHDL. It discusses simulation and synthesis in VHDL along with basics of complex programmable logic devices and field programmable gate arrays.
These presentation was given to Electronics and Communication Students, Sem6, CENTRAL INSTITUTE OF TECHNOLOGY(CIT) KOKRAJHAR. This presentation includes general overview of VLSI industry and career guidance for VLSI industry. The program was initiated by Dr. Agile Mathew, Assistant Professor at CIT.
The document discusses a presentation on VLSI design given by students after an industrial training. It provides an introduction to VLSI, describes software used in VLSI design like DSCH, Xilinx, Altera and Microwind. It explains VLSI design hierarchy, basic VHDL code structure and Verilog code structure. It also discusses programmable logic device and the downloading process on a PLD using Xilinx. The conclusion states that VLSI design has significant scope as a career.
1. O documento discute os conceitos básicos de desenho técnico em CAD, incluindo o que é um desenho, unidades e escala, entrada de comandos, criação de elementos geométricos e hachura.
2. É apresentado um guia completo sobre as operações e ferramentas do software CAD/TQS Editor de Aplicações Gráficas, com detalhes sobre edição de desenhos, coordenadas, menus, barras de ferramentas e janelas.
3. O documento estrutura a introdução ao software em 7 capítulos
Este documento presenta el Reglamento Técnico de Instalaciones Eléctricas (RETIE) de un país. El RETIE establece los requisitos técnicos y de seguridad para todo el sistema eléctrico, incluyendo generación, transmisión, transformación, distribución e instalaciones de uso final. El reglamento contiene 7 capítulos que definen los requerimientos para cada etapa del sistema eléctrico y para los productos eléctricos. Además, establece normas sobre análisis de riesgos
FPGAs were introduced in 1984 as a programmable alternative to PLDs. They fill the gap between discrete logic and smaller PLDs on the low end and more expensive ASICs on the high end. The basic elements of an FPGA are configurable logic blocks (CLBs), configurable I/O blocks (IOBs), and a programmable interconnect. FPGAs from vendors like Xilinx and Altera have a regular architecture of CLBs surrounded by IOBs and connected via a hierarchy of programmable interconnects.
RiseTime offers "Job Oriented VLSI Design & Verification Course"
In this course, you will learn both ASIC design and verification concepts. Verilog is covered as part of design and systemVerilog/UVM are covered as part of verification. The course highlights are periodical tests followed by extensive lab sessions and mock interviews.
1. Este documento estabelece as especificações e condições de aceitação para o Colete Tático Tipo 2 do Exército Brasileiro.
2. Ele define as normas e documentos complementares a serem utilizados na fabricação e inspeção do colete, incluindo normas técnicas do Exército Brasileiro e normas brasileiras e internacionais.
3. O documento descreve as características gerais do Colete Tático Tipo 2 e suas peças componentes, como o colete propriamente dito, c
sc_vector is a SystemC class that allows users to create vectors of SystemC objects like ports, modules, and signals. It provides member functions for accessing elements in the vector and binding vector ports. The size of an sc_vector must be set during construction or with init() and cannot be dynamically resized. There are two ways to set the size - during construction like sc_vector<sc_port<i_f>> ports("my_ports",4) or later with init() like signals.init(8). Port binding can be done by iterating through an sc_vector of ports and binding it to a vector of signals.
The document discusses the VLSI circuit design flow and system design using Verilog HDL. It covers basic concepts of VLSI including data types, modules and ports for modeling HDL. The VLSI design flow involves multiple levels from specifications to the physical design. The Y-chart model captures considerations in designing semiconductor devices with three domains of abstraction. Verilog HDL can be used to model and simulate hardware before building it and synthesis tools can generate hardware from the HDL description.
I made this presentation for you , I hope its useful for you all, and I hate Plagiarism please, I also used some slides here but I mentioned all in the last slide :)
Hope you can get benefits from it
This document describes the process of global routing in VLSI physical design. Global routing assigns wiring paths between circuit components at a coarse level of granularity by partitioning the chip into routing regions and assigning nets to these regions. It aims to minimize total wirelength and reduce delays on critical nets. Routing regions are represented using graphs to model available routing resources. Common algorithms discussed include rectilinear Steiner tree construction and sequential Steiner tree heuristics to find minimum path routes between pins in the global routing stage.
Programmable Logic Devices : SPLD and CPLDUsha Mehta
Programmable logic devices (PLDs) include simple PLDs (SPLDs) like PLA and PAL devices as well as complex PLDs (CPLDs). SPLDs have a fixed AND plane and programmable OR plane, while CPLDs have multiple logic blocks and a complex, programmable interconnect. PLDs offer advantages over discrete logic and ASICs like low cost, fast design changes, and reprogrammability. SPLDs are programmed using CAD tools to generate a fuse map, while CPLDs offer in-system programmability.
This document discusses field programmable gate arrays (FPGAs). It begins by describing FPGA basics and architecture, including configurable logic blocks (CLBs), I/O blocks, and switch matrices. It then discusses FPGA advantages such as low cost, fast prototyping, and reusability. The document also covers FPGA process technologies including SRAM, antifuse, and EPROM/EEPROM/Flash. It provides details on FPGA architectures, logic elements, routing, memory blocks, and examples of Xilinx FPGAs.
Very-large-scale integration (VLSI) is the process of creating an integrated circuit (IC) by combining thousands of transistors into a single chip. VLSI began in the 1970s when complex semiconductor and communication technologies were being developed. The microprocessor is a VLSI device. Before the introduction of VLSI technology most ICs had a limited set of functions they could perform. An electronic circuit might consist of a CPU, ROM, RAM and other glue logic. VLSI lets IC designers add all of these into one chip.
The History of the transistor dates to the mid-1920s when several inventors attempted devices that were intended to control current in solid-state diodes and convert them into triodes. Success came after World War II, when the use of silicon and germanium crystals as radar detectors led to improvements in fabrication and theory. Scientists who had worked on radar returned to solid-state device development. With the invention of transistors at Bell Labs in 1947, the field of electronics shifted from vacuum tubes to solid-state devices.
With the small transistor at their hands, electrical engineers of the 1950s saw the possibilities of constructing far more advanced circuits. However, as the complexity of circuits grew, problems arose.
One problem was the size of the circuit. A complex circuit like a computer was dependent on speed. If the components were large, the wires interconnecting them must be long. The electric signals took time to go through the circuit, thus slowing the computer.
The Invention of the integrated circuit by Jack Kilby and Robert Noyce solved this problem by making all the components and the chip out of the same block (monolith) of semiconductor material. The circuits could be made smaller, and the manufacturing process could be automated. This led to the idea of integrating all components on a single silicon wafer, which led to small-scale integration (SSI) in the early 1960s, medium-scale integration (MSI) in the late 1960s, and then large-scale integration (LSI) as well as VLSI in the 1970s and 1980s, with tens of thousands of transistors on a single chip (later hundreds of thousands, then millions, and now billions (109)).
R handbook - from Installation to Text AnalyticsATI_2205
This document provides an overview of using the programming language R, from installation to text analytics. It covers topics such as installing R and R Studio, data types and structures in R like vectors, dataframes, lists and matrices. It also discusses importing and exporting data from files and packages, using logical operators and if conditions. The document is divided into multiple sections covering these topics in depth through examples and explanations.
The document presents the design of a Quantum Communication Satellite (QCS) constellation. The constellation aims to deliver encrypted quantum keys between ground stations using a network of satellites. Key requirements include maintaining line-of-sight between ground stations for less than 15 minutes using a constellation of 80 satellites in 8 orbital planes. Each 20U CubeSat satellite is designed with subsystems for attitude control, propulsion, power, communication, structure, and thermal control. Simulation and analysis was performed on orbit design, attitude control, power, communication, structure, reliability, and risk management to meet all mission requirements. The design culminates in a 1-year LEO mission to enable quantum key distribution between globally distributed ground stations via an
This document provides an overview of VLSI technology trends over time. It discusses how Moore's Law has been sustained through transistor scaling down to the nanometer level enabled by various techniques like strained silicon, high-k dielectrics, metal gates, SOI, multi-gate transistors like FinFETs. It outlines the evolution from bipolar junction transistors to MOSFETs to integrated circuits. Short channel effects posed challenges to scaling which were addressed through new device architectures in the second generation of scaling.
This document discusses engineering change orders (ECOs) used to fix timing, functional, power, and clock issues after physical design and sign-off. It describes the motivation for ECOs due to tool limitations and differences between implementation and sign-off. Common ECO techniques are listed for timing (driver upsizing, buffer insertion, etc.), power (vt-swapping, downsizing, etc.), and metal-only ECOs. Timing ECO tools from Synopsys, Cadence, and other vendors are also mentioned. Upcoming ECO technologies like dynamic power optimization and automatic legalization are noted.
The document discusses electronic design automation and the concept of VHDL. It provides a brief history of milestones in the integrated circuit industry. It then explains abstraction levels in VLSI design, digital system design principles, and application specific integrated circuits. The document introduces the concept of programmable logic arrays and function implementation using PLA. It defines electronic design automation and hardware description language VHDL. It discusses simulation and synthesis in VHDL along with basics of complex programmable logic devices and field programmable gate arrays.
These presentation was given to Electronics and Communication Students, Sem6, CENTRAL INSTITUTE OF TECHNOLOGY(CIT) KOKRAJHAR. This presentation includes general overview of VLSI industry and career guidance for VLSI industry. The program was initiated by Dr. Agile Mathew, Assistant Professor at CIT.
The document discusses a presentation on VLSI design given by students after an industrial training. It provides an introduction to VLSI, describes software used in VLSI design like DSCH, Xilinx, Altera and Microwind. It explains VLSI design hierarchy, basic VHDL code structure and Verilog code structure. It also discusses programmable logic device and the downloading process on a PLD using Xilinx. The conclusion states that VLSI design has significant scope as a career.
1. O documento discute os conceitos básicos de desenho técnico em CAD, incluindo o que é um desenho, unidades e escala, entrada de comandos, criação de elementos geométricos e hachura.
2. É apresentado um guia completo sobre as operações e ferramentas do software CAD/TQS Editor de Aplicações Gráficas, com detalhes sobre edição de desenhos, coordenadas, menus, barras de ferramentas e janelas.
3. O documento estrutura a introdução ao software em 7 capítulos
Este documento presenta el Reglamento Técnico de Instalaciones Eléctricas (RETIE) de un país. El RETIE establece los requisitos técnicos y de seguridad para todo el sistema eléctrico, incluyendo generación, transmisión, transformación, distribución e instalaciones de uso final. El reglamento contiene 7 capítulos que definen los requerimientos para cada etapa del sistema eléctrico y para los productos eléctricos. Además, establece normas sobre análisis de riesgos
FPGAs were introduced in 1984 as a programmable alternative to PLDs. They fill the gap between discrete logic and smaller PLDs on the low end and more expensive ASICs on the high end. The basic elements of an FPGA are configurable logic blocks (CLBs), configurable I/O blocks (IOBs), and a programmable interconnect. FPGAs from vendors like Xilinx and Altera have a regular architecture of CLBs surrounded by IOBs and connected via a hierarchy of programmable interconnects.
RiseTime offers "Job Oriented VLSI Design & Verification Course"
In this course, you will learn both ASIC design and verification concepts. Verilog is covered as part of design and systemVerilog/UVM are covered as part of verification. The course highlights are periodical tests followed by extensive lab sessions and mock interviews.
1. Este documento estabelece as especificações e condições de aceitação para o Colete Tático Tipo 2 do Exército Brasileiro.
2. Ele define as normas e documentos complementares a serem utilizados na fabricação e inspeção do colete, incluindo normas técnicas do Exército Brasileiro e normas brasileiras e internacionais.
3. O documento descreve as características gerais do Colete Tático Tipo 2 e suas peças componentes, como o colete propriamente dito, c
sc_vector is a SystemC class that allows users to create vectors of SystemC objects like ports, modules, and signals. It provides member functions for accessing elements in the vector and binding vector ports. The size of an sc_vector must be set during construction or with init() and cannot be dynamically resized. There are two ways to set the size - during construction like sc_vector<sc_port<i_f>> ports("my_ports",4) or later with init() like signals.init(8). Port binding can be done by iterating through an sc_vector of ports and binding it to a vector of signals.
The document discusses the VLSI circuit design flow and system design using Verilog HDL. It covers basic concepts of VLSI including data types, modules and ports for modeling HDL. The VLSI design flow involves multiple levels from specifications to the physical design. The Y-chart model captures considerations in designing semiconductor devices with three domains of abstraction. Verilog HDL can be used to model and simulate hardware before building it and synthesis tools can generate hardware from the HDL description.
I made this presentation for you , I hope its useful for you all, and I hate Plagiarism please, I also used some slides here but I mentioned all in the last slide :)
Hope you can get benefits from it
This document describes the process of global routing in VLSI physical design. Global routing assigns wiring paths between circuit components at a coarse level of granularity by partitioning the chip into routing regions and assigning nets to these regions. It aims to minimize total wirelength and reduce delays on critical nets. Routing regions are represented using graphs to model available routing resources. Common algorithms discussed include rectilinear Steiner tree construction and sequential Steiner tree heuristics to find minimum path routes between pins in the global routing stage.
Programmable Logic Devices : SPLD and CPLDUsha Mehta
Programmable logic devices (PLDs) include simple PLDs (SPLDs) like PLA and PAL devices as well as complex PLDs (CPLDs). SPLDs have a fixed AND plane and programmable OR plane, while CPLDs have multiple logic blocks and a complex, programmable interconnect. PLDs offer advantages over discrete logic and ASICs like low cost, fast design changes, and reprogrammability. SPLDs are programmed using CAD tools to generate a fuse map, while CPLDs offer in-system programmability.
This document discusses field programmable gate arrays (FPGAs). It begins by describing FPGA basics and architecture, including configurable logic blocks (CLBs), I/O blocks, and switch matrices. It then discusses FPGA advantages such as low cost, fast prototyping, and reusability. The document also covers FPGA process technologies including SRAM, antifuse, and EPROM/EEPROM/Flash. It provides details on FPGA architectures, logic elements, routing, memory blocks, and examples of Xilinx FPGAs.
Very-large-scale integration (VLSI) is the process of creating an integrated circuit (IC) by combining thousands of transistors into a single chip. VLSI began in the 1970s when complex semiconductor and communication technologies were being developed. The microprocessor is a VLSI device. Before the introduction of VLSI technology most ICs had a limited set of functions they could perform. An electronic circuit might consist of a CPU, ROM, RAM and other glue logic. VLSI lets IC designers add all of these into one chip.
The History of the transistor dates to the mid-1920s when several inventors attempted devices that were intended to control current in solid-state diodes and convert them into triodes. Success came after World War II, when the use of silicon and germanium crystals as radar detectors led to improvements in fabrication and theory. Scientists who had worked on radar returned to solid-state device development. With the invention of transistors at Bell Labs in 1947, the field of electronics shifted from vacuum tubes to solid-state devices.
With the small transistor at their hands, electrical engineers of the 1950s saw the possibilities of constructing far more advanced circuits. However, as the complexity of circuits grew, problems arose.
One problem was the size of the circuit. A complex circuit like a computer was dependent on speed. If the components were large, the wires interconnecting them must be long. The electric signals took time to go through the circuit, thus slowing the computer.
The Invention of the integrated circuit by Jack Kilby and Robert Noyce solved this problem by making all the components and the chip out of the same block (monolith) of semiconductor material. The circuits could be made smaller, and the manufacturing process could be automated. This led to the idea of integrating all components on a single silicon wafer, which led to small-scale integration (SSI) in the early 1960s, medium-scale integration (MSI) in the late 1960s, and then large-scale integration (LSI) as well as VLSI in the 1970s and 1980s, with tens of thousands of transistors on a single chip (later hundreds of thousands, then millions, and now billions (109)).
R handbook - from Installation to Text AnalyticsATI_2205
This document provides an overview of using the programming language R, from installation to text analytics. It covers topics such as installing R and R Studio, data types and structures in R like vectors, dataframes, lists and matrices. It also discusses importing and exporting data from files and packages, using logical operators and if conditions. The document is divided into multiple sections covering these topics in depth through examples and explanations.
The document presents the design of a Quantum Communication Satellite (QCS) constellation. The constellation aims to deliver encrypted quantum keys between ground stations using a network of satellites. Key requirements include maintaining line-of-sight between ground stations for less than 15 minutes using a constellation of 80 satellites in 8 orbital planes. Each 20U CubeSat satellite is designed with subsystems for attitude control, propulsion, power, communication, structure, and thermal control. Simulation and analysis was performed on orbit design, attitude control, power, communication, structure, reliability, and risk management to meet all mission requirements. The design culminates in a 1-year LEO mission to enable quantum key distribution between globally distributed ground stations via an
This document is a user guide for QAD Enterprise Applications 2009 related to supply chain management. It covers topics like the enterprise operations plan, distribution requirements planning, product line planning, resource planning, and more. The guide provides information on setting up and using these various supply chain management modules within the QAD system. It also includes details on things like required implementation steps, setting up family and item data, collecting planning data, and performing family-level and end-item planning.
This document provides guidelines for designing printed circuit boards to be assembled using automated insertion equipment. It discusses considerations for board size, shape, thickness, location references, and component placement. It also covers workboard holder types, axial, radial, and dual in-line package component insertion including specifications for component leads, hole sizes, densities, and tooling footprints. Board handling techniques are described for different machine configurations.
R4U Denim Factory is a jeans factory located in New Delhi, India that produces and trades jeans according to customer requirements. It aims to provide customized jeans based on customer orders through its do-it-yourself model. The business will target customers aged 15-35 in India through retail outlets in Delhi. It seeks to differentiate itself through instant preparation and delivery of customized jeans. The business will be a sole proprietorship initially with the owner investing $22,500 of the $30,000 required capital. It aims to utilize an online design portal and achieve 95% customer satisfaction within 3 years of operation.
This document introduces BusinessObjects Voyager, an OLAP analysis tool that allows business analysts to interactively explore and visualize OLAP data through crosstabs and charts. Voyager workspaces can be published through BusinessObjects Enterprise to share analyses over the web. The guide provides information to help users perform tasks like analyzing data, creating queries and calculations, formatting views, and exporting results.
This document provides guidance on managing SAP ERP 6.0 upgrade projects. It discusses determining the upgrade strategy and scope, including technical considerations and enhancement package installation options. It also covers resourcing models, scheduling, estimating costs and effort. The document outlines building a project team and roles, as well as quality assurance and testing practices. It provides details on cutover planning and post cutover activities. Best practices are shared for project management and technical implementation.
This document provides an overview of human resource management (HRM) practices in the textile industry in Pakistan. It discusses the history and development of HRM. It then focuses on HRM functions like recruitment, selection, training, compensation, and performance management. It also examines the role of HRM in the textile industry and some common challenges faced, like technological changes, lack of training, and low education levels. It provides strategies for HRM in textiles around recruitment, orientation, training, compensation policies, and managing employee relations. In conclusion, it emphasizes the importance of HRM in improving organizational performance and provides some recommendations.
This document provides an overview of the contents of "The Consultant's Guide to SAP SRM". It includes 18 chapters that cover topics such as supplier relationship management, an overview of SAP SRM, basic SAP SRM settings, deployment scenarios, operational procurement, plan-driven procurement, advanced invoicing topics, business workflows, catalog management, sourcing, service procurement, contract management, supplier self-services, SAP NetWeaver, FAQs, customer scenarios and enhancements, and a conclusion. It also includes appendices with commonly used abbreviations, references, useful links, and author biographies.
The document provides an overview of an organization's human resource management practices including its organizational structure, human resource planning and forecasting, recruitment and selection, training and development, performance management, compensation and benefits, career management, and labor relations. It also includes a SWOT analysis identifying strengths like its target customers and infrastructure, weaknesses such as financial instability and high employee turnover, opportunities such as enhancing recruitment policies and threats like emerging competitors. The document concludes with recommendations to improve practices such as restructuring services, drafting clear job requirements, implementing promotion policies, and enhancing training and relations with stakeholders.
The document provides details of the Georgia Tech Team ARES project for the 2015-2016 NASA University Student Launch Initiative competition. It includes a summary of the launch vehicle called Skyron and the Autonomous Ground Support Equipment (AGSE). Skyron is a 3-section rocket that will use an Apogee Targeting System and Cesaroni L990 motor to reach 5,280 feet, with drogue and main parachutes for recovery. The AGSE includes a Robotic Payload Delivery System to insert the payload, a Rocket Erection System to raise the rocket, and a Motor Ignition System. Testing and assembly plans are outlined, along with safety and outreach efforts.
Sharp Corporation final paper- business policy and strategySchwab Kaleb
This document contains a strategic plan analysis for Sharp Corporation, including:
1. A historical analysis of Sharp Corporation and the consumer electronics industry, as well as key competitors like LG, Panasonic, Samsung, and Sony.
2. A current analysis of Sharp's strategy, finances, marketing, and management, as well as the competitive landscape, economic factors, and key success factors of the consumer electronics industry.
3. A strategic plan proposing likely strategic maneuvers of competitors in the next 3 years and identifying a 3-year competitive strategy for Sharp, including which generic strategy fits best and specific offensive strategies to use against competitors.
The document is a letter to a candidate for the Certified Software Tester (CSTE) certification. It discusses that the CSTE designation is becoming the standard for software testing professionals worldwide, with over 27,000 professionals obtaining certification. It encourages the candidate to carefully review the provided study guide, which outlines the CSTE Common Body of Knowledge (CBOK) that forms the basis of the certification exam. The letter wishes the candidate best of luck in preparing for and taking the exam.
This document is the Oracle Essbase Database Administrator's Guide, which provides information about installing, configuring, and managing Oracle Essbase multidimensional databases. It describes Essbase components like the database server, Studio modeling tool, and APIs. The guide also covers key Essbase features such as integration with other systems, data storage and querying capabilities, calculations, security, and ease of development. Finally, it includes a case study example of designing a sample Essbase database for a beverage company.
The document is a letter to a candidate for the Certified Software Tester (CSTE) certification. It discusses that the CSTE designation is becoming the standard for IT testing professionals worldwide, with over 27,000 professionals certified. It encourages the candidate to carefully study the CSTE Common Body of Knowledge (CBOK) guide to prepare for the exam, as the exam is based on the CBOK outline and tests broad exposure to testing practices. It provides information on maintaining and advancing their CSTE certification after passing the exam.
This Business Improvement Proposal was created by WebIT2 Consultants (Sarah Killey, Donald Gee, Mark Cottman-fields, Darren Cann and Sean Marshall) for the Queensland University of Technology (QUT) Library.
The plan outlines an in-depth situational analysis, proposal description, recommended solution, key benefits, business drivers, return on investment and implementation plan.
This is an assessment piece for INB346 - Enterprise 2.0 unit, Semester 2, 2009 (Lecturer Dr Jason Watson).
This document provides a user's guide for Arena simulation software. It begins with introductory information on the intended audience and how to get support. The bulk of the guide then walks through building a sample model to simulate and analyze the process at an airport security checkpoint. It demonstrates how to map the process flow, define model components and data, run a simulation, and analyze the results. The guide is intended to help new Arena users get started with the basic functions for constructing and running a simulation model.
Artificial Neural Network is a Computer program Based on simulation of Neurons of human brain. During the past Statistical Methods like RSM (Response Surface Methodology). Other statistical methods are used for the development of Modified release formulations (Controlled Release & Sustained Release formulations).
We thought that we had contained the outbreak; we were wrong. The outbreak is back with a vengeance and society as we knew it has fallen. Fortunately, Mr. Billionaire planned for this contingency. His space tourism company has built a large lunar base, designed to support what is left of the human race until the first colony can be established on Mars.
Observability Concepts EVERY Developer Should Know -- DeveloperWeek Europe.pdfPaige Cruz
Monitoring and observability aren’t traditionally found in software curriculums and many of us cobble this knowledge together from whatever vendor or ecosystem we were first introduced to and whatever is a part of your current company’s observability stack.
While the dev and ops silo continues to crumble….many organizations still relegate monitoring & observability as the purview of ops, infra and SRE teams. This is a mistake - achieving a highly observable system requires collaboration up and down the stack.
I, a former op, would like to extend an invitation to all application developers to join the observability party will share these foundational concepts to build on:
UiPath Test Automation using UiPath Test Suite series, part 5DianaGray10
Welcome to UiPath Test Automation using UiPath Test Suite series part 5. In this session, we will cover CI/CD with devops.
Topics covered:
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End-to-end overview of CI/CD pipeline with Azure devops
Speaker:
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Encryption in Microsoft 365 - ExpertsLive Netherlands 2024Albert Hoitingh
In this session I delve into the encryption technology used in Microsoft 365 and Microsoft Purview. Including the concepts of Customer Key and Double Key Encryption.
In the rapidly evolving landscape of technologies, XML continues to play a vital role in structuring, storing, and transporting data across diverse systems. The recent advancements in artificial intelligence (AI) present new methodologies for enhancing XML development workflows, introducing efficiency, automation, and intelligent capabilities. This presentation will outline the scope and perspective of utilizing AI in XML development. The potential benefits and the possible pitfalls will be highlighted, providing a balanced view of the subject.
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A tale of scale & speed: How the US Navy is enabling software delivery from l...sonjaschweigert1
Rapid and secure feature delivery is a goal across every application team and every branch of the DoD. The Navy’s DevSecOps platform, Party Barge, has achieved:
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Development teams can ship efficiently and ensure applications are cyber ready for Navy Authorizing Officials (AOs). In this webinar, Sigma Defense and Anchore will give attendees a look behind the scenes and demo secure pipeline automation and security artifacts that speed up application ATO and time to production.
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In his public lecture, Christian Timmerer provides insights into the fascinating history of video streaming, starting from its humble beginnings before YouTube to the groundbreaking technologies that now dominate platforms like Netflix and ORF ON. Timmerer also presents provocative contributions of his own that have significantly influenced the industry. He concludes by looking at future challenges and invites the audience to join in a discussion.
Alt. GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using ...James Anderson
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Building RAG with self-deployed Milvus vector database and Snowpark Container...Zilliz
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Partecipate alla presentazione per immergervi in una storia di interoperabilità, standard e formati aperti, per poi discutere del ruolo importante che i contributori hanno in una comunità open source sostenibile.
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GraphSummit Singapore | The Art of the Possible with Graph - Q2 2024Neo4j
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Join us as we explore breakthrough innovations enabled by interconnected data and AI. Discover firsthand how organizations use relationships in data to uncover contextual insights and solve our most pressing challenges – from optimizing supply chains, detecting fraud, and improving customer experiences to accelerating drug discoveries.
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Mind map of terminologies used in context of Generative AI
Team Garuda Cansat 2012 CDR
1. Team Logo
Here
CanSat 2012 Critical Design Review
Team 7634
Garuda
Indian Institute of Technology, Delhi
CanSat 2012 CDR: Team 7634 (Garuda)
1
2. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Arpit Goyal
2
Presentation Outline
•Introduction
–Team Garuda...................................................................................................................................................................................6
–Team organization...........................................................................................................................................................................7
–CanSat Crew……………………………………………………………………………………………………………….………………..8
–Acronyms.........................................................................................................................................................................................9
•System Overview -- Mission Summary………………………………………………………………………………………………………………………….13
–System Requirements...................................................................................................................................................................14
–Summary of changes since PDR………………………………………………………………………………………………………...16
–System Concepts of Operations...................................................................................................................................................18
–Context Diagram...........................................................................................................................................................................20
–CanSat Systems…………………………………………………………………………………………………………………………...21
–Physical Layout-CanSat................................................................................................................................................................22
–Physical Layout-Lander.................................................................................................................................................................23
–Launch Vehicle Compatibility........................................................................................................................................................24
•Sensor Subsystem Design
–Carrier Sensor Subsystem overview.............................................................................................................................................26
–Lander Sensor Subsystem overview............................................................................................................................................27
–Sensor Changes since PDR……………………………………………………………………………………………………………...28
–Sensor Subsystem requirements..................................................................................................................................................29
–Carrier GPS Summary..................................................................................................................................................................31
–Carrier non-GPS Altitude and temperature sensor Summary………….......................................................................................34
–Lander altitude sensor Summary..................................................................................................................................................36
–Lander Impact force Sensor Summary…………...........................................................................................................................37
3. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
3
Presentation Outline
•Descent control Design
–Descent control overview..............................................................................................................................................................39
–Descent control changes since PDR…………………………………………………………………………………………………….40
–Descent Control requirements......................................................................................................................................................41
–Descent rate hardware Summary…………………........................................................................................................................42
–Descent rates estimates and observations……………………………………………………………………………………………...44
•Mechanical Subsystem Design
–Mechanical Subsystems Overview...............................................................................................................................................51
–Mechanical Subsystem Design changes since PDR…………………………………………………………………………………..52
–Mechanical Subsystems Requirements........................................................................................................................................56
–Lander Egg protection Overview…………....................................................................................................................................58
–Mechanical Layout of Components...............................................................................................................................................59
–Material Selection..........................................................................................................................................................................60
–Carrier-Lander interface................................................................................................................................................................61
–Structure and Survivability Trades................................................................................................................................................62
–Mass Budget..................................................................................................................................................................................63
•Communication and Data Handling Subsystem Design
–CDH overview................................................................................................................................................................................65
–CDH changes since PDR……………………………………………………………………………………………………………....…69
–CDH requirements.........................................................................................................................................................................70
–Processor and memory Selection................................................................................................................................................73
–Carrier Antenna Selection.............................................................................................................................................................76
–Data package definition……………………………………………………………………………………………………………….......77
–Radio Configuration.......................................................................................................................................................................82
Presenter: Arpit Goyal
4. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 4
Presentation Outline
–Carrier Telemetry Format..............................................................................................................................................................85
–Activation of Telemetry Transmissions.........................................................................................................................................88
–Locator Device overview...............................................................................................................................................................89
•Electrical Power Subsystem
–EPS overview................................................................................................................................................................................92
–EPS changes since PDR………………………………………………………………………………………………………………....94
–EPS requirements for Carrier........................................................................................................................................................95
–EPS requirements for Lander........................................................................................................................................................96
–Carrier Electrical Block Diagram...................................................................................................................................................98
–Lander Electrical Block Diagram...................................................................................................................................................99
–Power Budget..............................................................................................................................................................................100
–External Power Control Mechanism............................................................................................................................................102
–Power Source Summary.............................................................................................................................................................103
–Battery Voltage Measurement.....................................................................................................................................................104
•Flight Software Design
–FSW overview.............................................................................................................................................................................107
–FSW Requirements.....................................................................................................................................................................108
–Carrier and lander CanSat FSW libraries……………………………………………………………………………………………...110
–Carrier FSW overview.................................................................................................................................................................111
–Lander FSW overview.................................................................................................................................................................113
–Software development plan.........................................................................................................................................................115
•Ground Control System Design
–GCS overview..............................................................................................................................................................................117
–GCS requirements.......................................................................................................................................................................118
–GCS Antenna Overview..............................................................................................................................................................120
–GCS software Description...........................................................................................................................................................124
Presenter: Arpit Goyal
5. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
5
Presentation Outline
•CanSat Integration and Test
–CIT overview................................................................................................................................................................................131
–Sensor subsystems Testing Overview…………………………………………………………………………………………………132
–Lander Impact force sensor Testing……………………………………………………………………………………………………134
–DCS Subsystem Testing Overview………………………………………………………………………………………………….…135
–Mechanical Subsystem Testing Overview…………………………………………………………………………………………..…136
–CDH Subsystem Testing Overview………………………………………………………………………………………………….…138
–EPS Subsystem Testing Overview…………………………………………………………………………………………………..…139
–FSW Subsystem Testing Overview………………………………………………………………………………………………….…140
–GCS Subsystem Testing Overview………………………………………………………………………………………………….…141
•Mission Operation & Analysis
–MOA overview.............................................................................................................................................................................143
–MOA manual development plan..................................................................................................................................................144
•CanSat Integration..................................................................................................................................................................145
•Launch Preparation................................................................................................................................................................146
•Launch Procedure..................................................................................................................................................................147
•Removal Procedure................................................................................................................................................................148
–CanSat Location recovery...........................................................................................................................................................149
–Mission Rehearsal Activities…………………………………………………………………………………………………………….151
•Management
–Status of Procurements………………………………………………………………………………………………………………….154
–CanSat Budget............................................................................................................................................................................155
–Sponsorship Plans......................................................................................................................................................................157
–Program Schedule.......................................................................................................................................................................158
–Conclusions................................................................................................................................................................................ 161
Presenter: Arpit Goyal
6. Team Logo
Here
(If You Want)
Team Garuda
Contact Details: <firstname>@teamgaruda.in
CanSat 2012 CDR: Team 7634 (Garuda)
Name
Major with Year
Arpit Goyal
Electrical Engineering, Senior
Rajat Gupta
Mechanical Engineering, Senior
Kshiteej Mahajan
Computer Science, Senior
Aman Mittal
Electrical Engineering, Junior
Prateek Gupta
Mechanical Engineering, Junior
Sarthak Kalani
Electrical Engineering, Junior
Sudeepto Majumdar
Electrical Engineering, Junior
Akash Verma
Mechanical Engineering, Sophomore
Rishi Dua
Electrical Engineering, Sophomore
Harsh Parikh
Computer Science, Freshman
6
7. Team Logo
Here
(If You Want) Team Organization
CanSat 2012 CDR: Team 7634 (Garuda)
Team Leader
Faculty Mentor
Mechanical Designs Akash Verma
Prateek Gupta
Electrical Systems Arpit Goyal
Sarthak Kalani
Sudeepto Majumdar
Software Control
Harsh Parikh Kshiteej Mahajan
Rishi Dua
Team Mentor Alternate Team Leader
Aman Mittal
Rajat Gupta
7
8. Team Logo
Here
(If You Want) CanSat Crew
Contact Details: <firstname>@teamgaruda.in
CanSat 2012 PDR: Team 7634 (Garuda)
Name
Role
Mission Control Officer
Arpit Goyal
Ground Station Crew
Kshiteej Mahajan, Aman Mittal, Rishi Dua
Recovery Crew
Sudeepto Majumdar, Aman Mittal, Sarthak Kalani, Prateek Gupta, Akash Verma, Rishi Dua, Harsh Parikh
CanSat Crew
Sarthak Kalani, Rajat Gupta, Prateek Gupta, Akash Verma
Emergency and Management Crew
Rishi Dua, Harsh Parikh
Safety Crew
Sudeepto Majumdar
8
9. Team Logo
Here
(If You Want)
Acronyms
Abbreviation
Meaning
μC
Microcontroller
ACK
Acknowledgement
ADC
Analog to Digital Convertor
CAD
Computer-aided design
CDH
Communication and Data Handling
CIT
CanSat Integration and Test
DC
Descent Control
DS
Data Sheet
EMRR
Essence's Model Rocketry Reviews
EPS
Electrical Power Subsystem
ERL
Effective Rigging Line Length
Est
Estimated
CanSat 2012 CDR: Team 7634 (Garuda)
9
Presenter: Arpit Goyal
10. Team Logo
Here
(If You Want)
Acronyms
Abbreviation
Meaning
FAT
File Allocation Table
FEA
Finite element Analysis
FRP
Fiber-reinforced plastic
FSW
Flight Software
GCS
Ground Control Station
GPS
Global positioning system
IDE
Integrated Development Environment
Meas
Measured experimentally
MOA
Mission Operation and Analysis
Op-Amp
Operational Amplifier
P&T
Pressure and Temperature
CanSat 2012 CDR: Team 7634 (Garuda) 10
Presenter: Arpit Goyal
11. Team Logo
Here
(If You Want)
Acronyms
Abbreviation
Meaning
PCB
Printed Circuit Board
RF
Radio Frequency
SD
Secure Digital
SPI
Serial Peripheral Interface
SPL
Sound Power Level
SSS
Sensor Subsystem
UART
Universal asynchronous receiver/transmitter
USD
United States Dollar
VSWR
Voltage Standing Wave Ratio
CanSat 2012 CDR: Team 7634 (Garuda) 11
Presenter: Arpit Goyal
12. Team Logo
Here
Systems Overview
Presenters: Harsh Parikh, Rajat Gupta
CanSat 2012 CDR: Team 7634 (Garuda)
12
13. Team Logo
Here
(If You Want)
Mission Summary
CanSat 2012 CDR: Team 7634 (Garuda)
The Main Objective:
The main purpose of CanSat is to ensure that the egg remains intact from launch to landing
Auxiliary Objectives:
•launching CanSat
•descent CanSat from 600m to 200m at a constant descent rate of 10 m/s ± 1 m/s
•changing constant descent rate to 5 m/s ± 1m/s at 200m
•releasing the lander with egg at 91 m altitude
•landing lander with descent rate less than 5m/s without damaging egg
•collecting data at ground station from sensors in CanSat through Xbee radio modules
Selectable Mission: Calculating thrust force after lander has landed; data should be collected at rate more than 100Hz and stored on board for post-processing.
Selection Rationale:
•Easy implementation
•Criteria: Cost, weight, reliability, power and space effective.
Presenter: Harsh Parikh
13
14. Team Logo
Here
(If You Want)
System Requirements
CanSat 2012 CDR: Team 7634 (Garuda)
ID
Requirements
Rationale
Priority
Parent
Children
VM
A
I
T
D
SYS-01
CanSat constraints will be:
Diameter: less than 127mm
Total mass 400g - 750g
Justifies concept of CanSat
High
-
-
X
SYS-02
CanSat egg placed inside will be recovered safely
Competition requirement
High
-
SSS-05
SSS-06
SSS-08
DC-02
DC-03
GCS-03
X
X
SYS-03
The CanSat shall deploy from the launch vehicle payload section and no protrusions
Easy to leave rocket
High
-
MS-03
X
SYS-04
The descent control system shall not use any flammable or pyrotechnic devices
To comply with field safety
High
SYS-09
-
X
SYS-05
Descent rate should be 10m/s till 200m altitude. descent rate fall to 5m/s at 200m
Competition requirement
High
-
DC-01
FSW-03
X
X
X
14
Presenter: Harsh Parikh
15. Team Logo
Here
(If You Want) System Requirements
CanSat 2012 CDR: Team 7634 (Garuda)
ID
Requirements
Rationale
Priority
Parent
Children
VM
A
I
T
D
SYS-06
Detachment of lander at 91m and lander velocity will be less than 5m/s
Competition requirement
High
-
DC-01
FSW-04
X
X
SYS-07
During descent the carrier shall transmit required sensor data telemetry data once every two second via XBEE Lander descent telemetry shall be stored on – board for post processing following retrieval of the lander
Competition requirement
High
-
SSS-01
SSS-02
SSS-03
GCS-02
FSW-05
CDH-01
CDH-02
CDH-03
CDH-06
X
X
SYS-08
The cost of CanSat flight hardware shall be under1000$ (other costs are excluded)
Feasible to design
High
-
-
X
SYS-09
The CanSat and associated operations shall comply with all field safety regulations.
Competition requirement
Medium
-
SYS-04
X
SYS-10
Impact parameter data shall be measured and stored on data card on sensor
Data backup
Medium
-
SSS-04
CDH-04
X
X
15
Presenter: Harsh Parikh
16. Team Logo
Here
(If You Want)
Summary of Changes since PDR
CanSat 2012 CDR: Team 7634 (Garuda) 16 Presenter: Harsh Parikh
S.no.
Subsystem
Change
Rationale
1
SSS
GPS sensor is changed from Robokits RKI-1543 to MediaTekMT3329
Easy availability, easy interfacing with Arduino Uno
2
CDH
Telemetry starts before launch
Easy Operation
3
CDH
Data parsing GPS
GPS o/p is a string containing information about multiple aspects
4
CDH
SD card replaced by Micro SD card
Micro SD card is smaller in size
5
MS
Bottom flap opening is now horizontal
Air drag opposing the opening in earlier orientation
6
MS
Linear actuator placement changed form horizontal to vertical
Interference in Lander deployment
5
MS
Structural rods added to provide more stability
One point to be added
To provide alignment to lander inside Carrier
6
DC
Deployment mechanism of 2nd parachute is changed
To avoid entanglement
7
EPS
LCD has been removed from design
Weight constraint
17. Team Logo
Here
(If You Want)
System Requirements
CanSat 2012 CDR: Team 7634 (Garuda)
17
Presenter: Harsh Parikh
S.no.
Subsystem
Change
Rationale
8
GCS
Implementation of upload of real time data onto Google maps
Can be accessed easily
9
GCS
Google Earth API introduced.
Trajectory can be plotted
18. Team Logo
Here
(If You Want)
System Concept of Operations
CanSat 2012 CDR: Team 7634 (Garuda) On CanSat
Keep CanSat in rocket
Launch Rocket
Leaving CanSat from rocket at 600m
Descent rate should be 10m/s when CanSat is at height more than 200m
Descent rate should be 5m/s when CanSat is at height more than 91m
Detaching lander at 91m Collecting data from sensors Sending Data to ground station
Data Analysis
Calculating collision force
Detecting CanSat
Off CanSat
18
Presenter: Harsh Parikh
19. Team Logo
Here
(If You Want) System Concept of Operation
•Safety Inspection
•Briefing
•Last Mechanical control
•Last Electrical control
•Coming at Competition Arena
Pre Flight
•CanSat weight and size check.
•Launch Flight
•Deploy CanSat at 600m
•Opening parachute
•Controlling descent rate to 10m/s + - 1m/s up to 200m
•Data collection and transmission
•Reducing descent rate to 5m/s at 200m
•Detaching Lander at 91m
Launch and Flight
•Locating CanSat
•Saving Data
•Analyzing Data
•Preparing PFR
•PFR Presentation
Post Flight
CanSat 2012 CDR: Team 7634 (Garuda) 19 Presenter: Harsh Parikh
20. Team Logo
Here
(If You Want) Context Diagram
CanSat 2012 CDR: Team 7634 (Garuda)
CanSat Processor
Flight Software Power System Mechanical System
Sensor System XBee System
Ground
Antenna
Receiver
Computer Analyser Environment Mechanical System descent Control Lander Release
20
Presenter: Harsh Parikh
21. Team Logo
Here
(If You Want) CanSat Systems CanSat 2012 CDR: Team 7634 (Garuda)
21
Presenter: Harsh Parikh
22. Team Logo
Here
(If You Want)
Physical Layout- CanSat
Presenter: Rajat Gupta 126mm
Space for Electronics Parachute on top
Lander detachment from bottom
Lander
Actuator
CanSat 2012 CDR: Team 7634 (Garuda)
22
23. Team Logo
Here
(If You Want)
Physical Layout- Lander 125mm
Space for parachutes
Electronic Components
Egg
Egg protection system
CanSat 2012 CDR: Team 7634 (Garuda)
23
Presenter: Rajat Gupta
24. Team Logo
Here
(If You Want)
Launch Vehicle Compatibility
•The starting point of design of CanSat body was the inner dimensions of payload section of rocket with sufficient clearance
•Outer diameter of fabricated body is measured to be 126mm giving 1 mm clearance.
•Total height of CanSat system is 151mm which is smaller than the given envelope.
•There are no protrusions from the CanSat which could hamper the smooth deployment from rocket
•The carrier body is tested by passing through a sheet metal envelop of 127mm dia.
•As the rocket compartment opens up, CanSat is deployed by action of gravity.
Presenter: Rajat Gupta
151mm
94mm
CanSat 2012 CDR: Team 7634 (Garuda)
24
25. Team Logo
Here
CanSat 2012 CDR: Team 7634 (Garuda)
Sensor Subsystem Design
Presenter: Arpit Goyal
25
26. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
Sensor Subsystem Overview
•Carrier Sensor Sub-system overview
Presenter: Arpit Goyal Micro-controller Arduino Uno
GPS Sensor
MediaTek
(MT3329)
Pressure Sensor
Bosch
(BMP085)
Non-GPS Altitude Calculation
Battery
Voltage Data
Temperature Sensor BMP085
26
27. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
Sensor Subsystem Overview
•Lander Sensor Sub-system overview
Presenter: Arpit Goyal
Micro-controller
Arduino Uno
Accelerometer Freescale Semiconductors MMA7361
Pressure Sensor
Bosch
(BMP085)
Non-GPS Altitude Calculation
Battery
Voltage Data
Temperature Sensor
BMP085
27
28. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Sensor Changes since PDR
Component Change
PDR
CDR
Rationale
GPS sensor
RKI-1543
MediaTek MT3329
Easy availability;
simple coding 28
Presenter: Arpit Goyal
29. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Sensor Subsystem Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
SSS-01
GPS data shall be measured in carrier (±3m)
Required as main objective and for locating carrier after it has landed. GPS data will be telemetered to the ground
HIGH
SYS-07
SSS-07
X
X
SSS-02
Altitude shall be measured without using a non-GPS sensor in carrier and lander both (±1.0m)
Required as main objective and to calculate height from ground. This will be telemetered to ground and will be used to calculate descent rate
HIGH
SYS-07
SSS-07
X
X
X
SSS-03
Air Temperature shall be measured in carrier
(±2°C)
Required as base objective and for descent telemetry
HIGH
SYS-07
SSS-07
SSS-09
X
X
X
SSS-04
Impact Force shall be measured in lander after it has landed (at rate of at least 100 Hz)
(6g)
Required as part of selectable objective
HIGH
SYS-10
SSS-07
X
X
X 29
Presenter: Arpit Goyal
30. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Sensor Subsystem Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
SSS-05
Data Interfaces from sensors, like SPI or UART should be limited
Limited UART and SPI interface in μC
MEDIUM
CDH
SYS-02
-
X
SSS-06
Both lander and carrier will have an audio beacon of SPL at least 80 dB
Required to retrieve lander and carrier after they have landed
HIGH
SYS-02
CDH-09
X
X
X
SSS-07
Sensors should have high resolutions and high range
For accurate data
LOW
SSS-01
SSS-02
SSS-03
SSS-04
-
X
SSS-08
GPS sensor will be used in lander
It will be used to locate lander after it has landed apart from audio buzzer
MEDIUM
SYS-02
-
X
X
SSS-09
Temperature will be measured in lander
For data matching with of carrier
LOW
SSS-03
-
X
30
Presenter: Arpit Goyal
31. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Carrier GPS Summary
MT 3329 from MediaTek is chosen as GPS sensor due to:
•Small size
•Low weight
•Low cost
•Easily available in India
Manufacturer
Model
Accuracy (m)
Dimensions (mm)
Mass (g)
Voltage (V)
Cost (USD)
MediaTek
MT3329
± 3
16mm x 16mm x 6mm
8
3.2-5
Typically 3.3
40
31
Presenter: Arpit Goyal
MediaTek MT3329 GPS Sensor
32. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Carrier GPS Summary 32 Presenter: Arpit Goyal
•GPS accuracy: 3m.
•Typical GPS data format :
GGA protocol header
Latitude
ddmm format
Longitude
ddmm format
Position
Fix
Indicator*
HDOP# Unit of Antenna Altitude Units of Geoidal Separation UTC time hhmmss format
N-North
S-South
E-East
W-West
Satellites
Used
(0-14)
Antenna
Altitude
Geoidal Separation Checksum * 0 = Fix not available 1=GPS fix 2=Differential GPS fix # Horizontal Dilution of precision
33. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Carrier GPS Summary
33
Presenter: Arpit Goyal
•Process Sequence:
–Read and store GPS data in SD card via μC.
–μC transmits data to GCS.
–When Δh < 0.1m send final data twice which will be used :
•As an acknowledgement of carrier‟s arrival on ground.
•To stop transmission.
•Testing Status:
–GPS coding done
–Data format testing done.
–Interfacing with μC done.
–Distance accuracy checking done with two different GPS, the data differed by 0.5m amongst the reading taken at 10 locations.
–The updating speed of GPS was confirmed by taking it in car moving at almost constant speed of 50 kmph for about 10 min
34. Team Logo
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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Carrier Non-GPS Altitude and Temperature Sensor Summary
34
Presenter: Arpit Goyal
Manufacturer
Model
Accuracy (%)
Dimensions (mm)
Operating Supply Voltage (V)
Data interface
Cost (USD)
Bosch
BMP085
± 1.0
16.5X16.5
1.8-3.3
I2C
20
Bosch BMP085 is chosen as Non-GPS altitude sensor and temperature sensor due to:
•Small Size
•Integrated Temperature Sensor
•Low cost
•Can be easily integrated with I2C bus
Type
Range
Accuracy
Units
Pressure
300 to 1100
± 0.2
1.68
hPa (1hPa = 100 Pa)
m
Temperature
-20 to +65
± 0.5
°C
Bosch BMP085 Pressure Sensor
35. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Carrier Non-GPS Altitude and
Temperature Sensor Summary
Presenter: Arpit Goyal 35
• Process Sequence:
• Read temperature and pressure data from the sensor and storing it into array
• Transmit data via Xbee radio
• Calculate the altitude on ground system using pressure obtained form the sensor with
the help of following equation:
5.255
1
0
44330 1
p
p
H
• Testing Status:
Sensor‟s coding done
Data format testing done.
Interfacing with μC done.
Height accuracy checking done with a GPS and a pressure sensor, the data differed
by 1m amongst the reading taken at 10 locations.
• Data obtained when sensor was kept stationary was having some noise. We are
planning to implement a Kalman filter at GCS to remove noise component from the data.
36. Team Logo
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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Lander Non-GPS Altitude and Temperature Sensor Summary 36 Presenter: Arpit Goyal
•Process Sequence:
•Read temperature and pressure data from the sensor and storing it into array
•Calculate the altitude on Microcontroller using pressure obtained form the sensor with the help of following equation:
•Transmit data via Xbee radio
•Testing Status:
Sensor‟s coding done
Data format testing done.
Interfacing with μC done.
Height accuracy checking done with a GPS and a pressure, the data differed by 1m amongst the reading taken at 10 locations.
5.255
1
0
44330 1
p
p
H
37. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Lander Impact Force Sensor Summary
Deciding factors:
•Low cost
•ADC as data interface, Micro-controller have limited I2C interface.
•Higher range
Accuracy: ± 0.1 g
Data format: (x,y,z) for acceleration in all 3-axis
Process:
• Read data and store in array.
• Calculate resultant acceleration magnitude: |a|
• Impact force = mass*acceleration. Store it in SD
Manufacturer
Model
Dimensions (mm)
Output
(A/D)
Voltage Range
Range
Cost (USD)
Freescale Semiconductors
MMA7361
23.8X12.6
A
3.3 V
± 6g
12 37 Presenter: Arpit Goyal
38. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Descent Control Design
Presenter: Prateek Gupta 38
39. Team Logo
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(If You Want) CanSat 2012 PDR: Team 7634 (Garuda) Descent Control Overview
•The descent mechanism selected is parachutes with thorough calculation of the drag area.
•The material selected after careful consideration is ripstop nylon and it will be provided with spill holes to reduce drift and provide stability.
•2 parachutes of bright red color are chosen for two levels of descent for carrier.
–1st parachute will bring down the velocity of CanSat to 10m/s.
–2nd parachute will be deployed in addition to 1st, at 200m altitude to bring down the velocity to 5m/s.
–To avoid the fore body wake effects, the effective rigging line length is calculated.
–Use of bridle to prevent entanglement of shroud lines.
•The parachute in the lander directly brings it descent rate to below 5m/s.
•Before deployment the parachutes are folded to occupy the allotted minimum space.
Presenter: Prateek Gupta
39
40. Team Logo
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CanSat 2012 PDR: Team 7634 (Garuda)
Descent Control Changes since PDR 40 Presenter: Prateek Gupta
•Use of bridle to prevent entangling of shroud lines of two parachutes of carrier.
•Tethered device for deployment of 2nd parachute of carrier.
•Parachute has been tested to verify coefficient of drag.
•Consideration of spill hole size according to vendors available in market and modification of parachute size accordingly.
•Two parachutes have been purchased and tested and appropriate requirement of parachutes have been realized.
•Parachutes have been analyzed from the perspective of oscillations as well.
41. Team Logo
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CanSat 2012 PDR: Team 7634 (Garuda)
Descent Control Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
DC-1
Use of two parachutes in Carrier and one in lander
To attain required descent rates
HIGH
SYS-05
SYS-06
-
X
X
X
X
DC-2
Parachute should have a shiny colour
To locate carrier and lander easily
HIGH
SYS-02
-
X
DC-3
Spill holes should be used in parachutes
To reduce drift
MEDIUM
SYS-02
-
X
X
X
DC-4
At 200 m the 2nd parachute shall not entangle with the 1st one
Proper orientation and deployment mechanism is required for 2nd parachute
HIGH
SYS-05
-
X
X
41
Presenter: Prateek Gupta
42. Team Logo
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(If You Want) Descent Rate Hardware Summary
DESCENT RATE CALCULATIONS FOR CanSat
Payload
Diameter
(1st Parachute)
Descent rate (600m)
Diameter
(2nd Parachute)
Descent Rate (200m)
725g
36cm
10m/s
51cm
5.56m/s
CanSat 2012 PDR: Team 7634 (Garuda)
42
Presenter: Prateek Gupta
Tethered device and a deployment bag to be used for deploying 2nd parachute held by the compressed spring which will act as a trigger to throw out lid.
• Passive Descent Control:
• Brighter parachute color to be selected
• Active Descent Control:
We will be calculating decent rate at GCS software from the data.
43. Team Logo
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(If You Want) Descent Rate Hardware Summary
DESCENT RATE CALCULATIONS FOR LANDER(91m)
•Parachute:
CanSat 2012 PDR: Team 7634 (Garuda)
43
Presenter: Prateek Gupta
• Passive Descent Control:
Payload
Diameter
Descent rate
200g
37cm
5m/s Parachute Testing done from IIT Delhi
44. Team Logo
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(If You Want) Descent Rate Estimates
Measurements:
• Each parachute weighs 50gm
• All parachutes in a cluster must be identical to prevent unbalancing of drag forces. This
requirement is completely relaxed and will be considered after testing of dual chutes.
• Spill hole of 20% of chute diameter is not going to affect the equivalent diameter and this is
available in the market.
• Spill hole will also help in increasing the stability of chute.
• Equivalent diameter for cluster is calculated using:
• All calculations are based on EMRR‟s Calculator
CanSat 2012 PDR: Team 7634 (Garuda)
2 2
Deq D1 D2
Presenter: Prateek Gupta 44
45. Team Logo
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(If You Want) Descent Rate Estimates
Testing of Descent Rate Control Status:
Presenter: Prateek Gupta CanSat 2012 PDR: Team 7634 (Garuda) 45
T
L
v plumbline
• The parachute was tested by descent from 25m high building and payload of
725gm. Coefficient of drag was calculated from the observations and chute‟s
diameter were accordingly modified.
• The plumb line length were tested of the descent control mechanism. The results
were in consonance with (data table).
• Plumb line length =10m
• The steeper the negative dCm/dv slope, the greater is the stabilizing tendency of
the parachute, and the better is its damping capability against non stabilizing
forces such as sudden gusts of wind.
• Cm is the coefficient of moment acting on chute about payload
46. Team Logo
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(If You Want) Experimental Observations
Altitude =24m
Area =7*(0.17)2 m2 = 0.2023 m2
Calculated Cd comes out to be 1.30
Parachute sizes have been therefore
Modified and ordered from the same vendor.
MATLAB program has been made and velocity
curve has been plotted against time to verify
time to reach terminal velocity.
S. No.
Mass
Time
Velocity
Drift
1.
0.72gm
1.50 s
6.67m/s
1.5m
2.
0.72gm
1.47s
6.8m/s
1.1m
3.
0.72gm
1.48s
6.76m/s
0.9m
CanSat 2012 PDR: Team 7634 (Garuda)
46 17cm
Presenter: Prateek Gupta
47. Team Logo
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(If You Want) Descent Rate Estimates
Formula used for calculating the terminal velocity
Vt= Terminal Velocity
W= Payload
Cd= Coefficient of Drag (1.5 for round and hemisphere)
ρ =Density of Air (It varies from 600m to ground level)
A= Equivalent area of Parachute or cluster of them ((Π*d2)/4)
CanSat 2012 PDR: Team 7634 (Garuda) 47
C A
W
V
d
t
2
Presenter: Prateek Gupta
48. Team Logo
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(If You Want) Descent Rate Estimates
Density of air is not
constant.
@ 600m
density=1.13 kg/m3
@Sea level
Density= 1.2 kg/m3
Terminal velocity will decrease as it approaches ground.
There is not much variation in density and hence we can assume it to be constant and
calculate for the worst case i.e. 1.13 kg/m3.
CanSat 2012 PDR: Team 7634 (Garuda)
48
Presenter: Prateek Gupta
49. Team Logo
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Descent Rate Estimates
*Use of spill hole deviates the equivalent diameter only by a small amount so these values should hold in actual scenario. Cd taken is 1.30.
Object
Altitude
Weight
Terminal Velocity
Carrier + Lander
600m
725g
10m/s
Carrier + Lander
200m
725
6m/s
Carrier
91m
525g
5.7m/s(Using non identical chutes)
Lander
91m
200g
5m/s
CanSat 2012 PDR: Team 7634 (Garuda)
49
Presenter: Prateek Gupta
50. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
Mechanical Subsystem Design
Presenters: Rajat Gupta, Akash Verma
50
51. Team Logo
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(If You Want) 51
Mechanical Subsystem Overview
CanSat 2012 CDR: Team 7634 (Garuda)
•The design of the structure was governed by the designated payload envelop. For the given dimensions of payload, concentric arrangement of carrier and lander one-inside-the-other was perceived to be best suited.
•The body is fabricated with fiber re-enforced plastic which provides good impact resistance
•The bottom of carrier is opens horizontally on initialization of lander deployment with help of linear actuator and the lander falls due to gravity.
•The structural rods are made of aluminum and provide structural integrity.
•All electrical components are placed strategically to bring the centre of gravity as close to the centre as possible for balance of the system
•The egg protection system uses a combination of impact force distributor and shock absorbing material.
Presenter: Rajat Gupta
52. Team Logo
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Mechanical Subsystem Changes Since PDR
52
Component Changed
PDR
CDR
Rationale
Bottom flap opening
Opened vertically along horizontal axis
Now opens horizontally along vertical axis
To prevent flap opening against air drag.
Linear actuator placement
Placed on the flap
Placed on main body
Space constraints and prevent interference
Structural rods of lander
Solid rods
Hollow rods
For rigid attachment and directed deployment CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
53. Team Logo
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Mechanical Subsystem Changes Since PDR-Detailed
1. Bottom flap opening: It was observed that the previous design for opening of bottom flap for lander detachment is working against the drag force of air experienced during descent and a strong springing mechanism would be required to overcome it.
To overcome this an alternate arrangement of the bottom opening horizontally sideways is used. It is loaded on a Torsional spring on the axis and released using a linear actuator.
53
Direction of descent
Air Drag Direction of opening
New direction of opening
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
54. Team Logo
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Mechanical Subsystem Changes Since PDR-Detailed
2. Linear actuator placement: Earlier the actuator was placed on the flap according to the original direction of opening. But the new horizontal opening the actuator is placed vertically to avoid interference.
54 CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
55. Team Logo
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Mechanical Subsystem Changes Since PDR-Detailed
55
3. Structural rods of lander: Earlier the rods of lander were solid and independent of carrier. Now the rods of lander are hollow and solid rods are added to the carrier. The solid rods of carrier are inserted in the hollow rods of lander, providing it a rigid support and guiding pathway for deployment.
Solid rods inserted in hollow rods
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
56. Team Logo
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56
Mechanical System Requirements
Presenter: Rajat Gupta
ID
Requirement
Rationale
Priority
Parent
Child
VM
A
I
T
D
MS-1
Total mass of CanSat shall be between 400g and 750g.
Specified limits for the base mission requirement.
High
-
-
X
X
MS-2
CanSat shall fit into a cylindrical envelop of 130 mm diameter and 152mm height.
The CanSat dimensions are governed by the payload envelop available inside rocket.
High
-
-
X
MS-3
There shall be no protrusions beyond the payload envelop until CanSat deployment
Protrusions may interfere with smooth deployment.
High
SYS-03
-
X
MS-4
The various components shall be located strategically so as to bring the CG near the centre line.
The mass distribution of the rocket should be fairly uniform for stable operations
Medium
SYS-11
-
X
MS-5
The egg shall be recovered without breaking
The egg protection system should withstand all impacts and ensure safety of egg
High
-
-
X
X
CanSat 2012 CDR: Team 7634 (Garuda)
57. Team Logo
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Mechanical System Requirements
57
MS-6
The lander shall be released at height of 91m
The lander should be securely attached to carrier and only be deployed at designated altitude.
High
-
-
X
MS-7
All electronics shall be shielded from the environment
Structure must provide protection to the electronics
High
-
-
X
MS-8
The structure must support 30gees of shock force and 10 gees of acceleration
The structure has to withstand various forces during takeoff and landing
High
-
-
X
X CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
58. Team Logo
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58
Lander Egg Protection Overview
•The selected egg protection system consists of a force distributor at bottom and surrounded by a shock absorbing and dampening material.
–The hip bone protector(used by elderly people) is used as a force distributor to distribute the impact forces sideways and protect the egg from breaking
–The egg is placed in a spherical foam ball with cavity carved inside to provide protection from all sides. It is covered from top by more foam pieces.
Presenter: Rajat Gupta
•Other alternates: cotton & bubble wrap are also tested for cushioning effect.
•In final configuration, Egg is wrapped with a layer bubble wrap to protect from self crushing force from foam ball
•Polystyrene balls are filled in any space left to provide extra cushion.
•All the materials: foam, bubble wrap, polystyrene balls are easily available lightweight and inexpensive. Hip protector was available in our lab as part of ongoing product developed with patented research. CanSat 2012 CDR: Team 7634 (Garuda)
59. Team Logo
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59
Mechanical Layout of Components
151mm
94mm
125mm Electronics Space for parachute
Egg Protection system
Actuator
Main Structure
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
60. Team Logo
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(If You Want) Material Selections 60 FRP (fiber reinforced plastic)
•Density = 1799.19381 kg / m3
•chemical, moisture, and temperature resistance
•superior tensile, flexural and impact strength behaviour
•High Strength to Weight Ratio
•Easy to mold and cast in our lab
•Cheap and easily available
Aluminum rods
•Density 2.63 gram
•Ultimate strength 248 MPa
•Light weight and strong enough for the CanSat
•Easily available in various diameters
Torsional spring
•For quick opening of bottom flap of the carrier
The material chosen for structure is FRP body with aluminum support rods due their superior qualities at affordable price as shown below.
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Rajat Gupta
61. Team Logo
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(If You Want) Carrier-Lander Interface Release of the lander results in opening of the parachute which is above the lander. 61
•The lander will be placed inside the carrier.
•The bottom part of the carrier is a rotating disc.
•A torsional spring is attached between the disc and the carrier for quick opening.
• A linear actuator is used for holding the bottom disc. At 91m actuator pulls the locking rod and the disc rotates by spring force.
•Lander comes out by gravitational force.
•Hollow rod of the lander will slide through the solid rods attached to the carrier, providing a guided path to lander deployment.
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Akash Verma
62. Team Logo
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Structure and Survivability
•The components are securely fastened on the structure of carrier and lander with the help of nut and bolts. Superglue is used wherever there is space or size constraint for bolts.
•The structure is tested for shock force survivability both by numerical simulations(Finite element method) and by actual strength testing under load(explained in testing section).
•The preliminary FEA results of the structure for load due 20gees average deceleration shows resultant displacement and von-mises stress way below limits.
62 *The analysis is for static forces equivalent to 20g impact for fixed end boundary conditions with material properties assumed to be uniform. In real case the properties are different in direction of fibers for FRP Max resultant disp.: .01mm
Max von mises stress= 0.23 Mpa
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Akash Verma
63. Team Logo
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(If You Want) Mass Budget 63
Carrier components
Weight (g)
Arduino board
32
LCD
35
Parachutes
60
Structure
250
Battery
24
Other electronics
20
Total carrier mass
421
Carrier components
Weight (g)
Arduino board
32
LCD
35
Parachutes
30
Structure
100
Battery
24
Other electronics
20
Egg protection(without egg)
~60
Total carrier mass(without egg)
241 CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma
64. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
64
Communication and Data Handling Subsystem Design
Presenter: Aman Mittal Presenter: Aman Mittal
65. Team Logo
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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 65
CDH Overview – Lander
GPS Data
SD Card
BMP 085 (T&P sensor) Xbee Pro
Battery Voltage Buzzer Arduino Uno
Serial Data
Serial for Tx
Through
ADC
I2C data L293D (buffer for actuator)
Output
PWM
Presenter: Aman Mittal
66. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
66
CDH Overview – Carrier
•BMP sensor gives the temperature and pressure data in I2C format, so we use the corresponding pins in the Arduino.
•The Battery Voltage gives Analog data, and hence analog pins in Arduino Uno are used.
•GPS sends data serially to the Arduino and hence we use the Rx pin on Arduino.
•Data is sent to Xbee serially from Arduino using the Tx pin in Arduino.
•Data is stored in SD card through SPI mode, and hence SPI pins on Arduino are used for the same.
•Output is given out to Buzzer to enable auditory location. It is done using Digital pins on Arduino.
•PWM output is given to L293D which drives the actuator.
Presenter: Aman Mittal
67. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
67
CDH Overview – Lander
GPS Data SD Card BMP 085 (T&P sensor)
Xbee Pro
Battery Voltage
Buzzer
Arduino Uno Serial Data Serial for Tx Through ADC
I2C data
MMA 7361 (Accelerometer) Through ADC
Presenter: Aman Mittal
68. Team Logo
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(If You Want) CanSat 2012 CDR: Team 7634(Garuda)
68
CDH Overview – Lander
•BMP sensor gives the temperature and pressure data in I2C format, so we use the corresponding pins in the Arduino.
•The Battery Voltage and MMA 7361 gives Analog data, and hence analog pins in Arduino Uno are used.
•GPS sends data serially to the Arduino and hence we use the Rx pin on Arduino.
•Data is sent to Xbee serially from Arduino using the Tx pin in Arduino.
•Data is stored in SD card through SPI mode, and hence SPI pins on Arduino are used for the same.
•Output is given out to Buzzer to enable auditory location. It is done using Digital pins on Arduino.
Presenter: Aman Mittal
69. Team Logo
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CDH Changes Since PDR
•The START signal for Xbee communication was sent after take off in PDR. Now it is being sent before take off in CDR because the modification in this rule was discussed in the Yahoo Group of CanSat.
•In PDR we used SD card adaptor. This is replaced with mini SD card in CDR because it is less preserves space.
•In PDR, we had missed the data parsing of GPS output. This has been corrected in CDR.
CanSat 2012 CDR: Team 7634 (Garuda)
69 Presenter: Aman Mittal
70. Team Logo
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CanSat 2012 CDR: Team 7634 (Garuda)
CDH Requirements
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
CDH -01
Sensor data will be sent
Base mission requirements
HIGH
SYS-07
-
X
X
CDH-02
Carrier data will be stored
Store all data to be transmitted as backup
MEDIUM
SYS-07
-
X
CDH-03
Store lander data
Base mission requirement for velocity data
HIGH
SYS-07
-
X
X
CDH-04
Accelerometer data
ADC data for force calculation
HIGH
SYS-10
-
X
CDH-05
Micro-controller speed>1MHz
To process all data and send telemetry
MEDIUM
-
-
X
CDH-06
Telemetry from Xbee will be used
Base Station Requirements
HIGH
SYS-07
FSW-02
X
70
Presenter: Aman Mittal
71. Team Logo
Here
(If You Want)
CDH Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
A
I
T
D
CDH-07
AT Mode for Xbee will be used
Base Mission Requirement
HIGH
-
-
X
X
CDH-08
Locating device active on landing
Base mission requirements and to save power
HIGH
-
-
X
X
CDH-09
SPL for Buzzer shall be greater than 80dB
For location
HIGH
SSS-06
-
X
CDH-10
Handheld locator will trigger buzzer
To provide ease in locating
MEDIUM
-
-
X
X
CDH-11
Buzzer will be off before landing
Base mission requirements and to save power
HIGH
-
-
X
CDH-12
CanSat will stop transmitting when triggered off
Saving power
MEDIUM
-
FSW-07
X
X
CanSat 2012 CDR: Team 7634 (Garuda) 71
Presenter: Aman Mittal
72. Team Logo
Here
(If You Want) CDH Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
A
I
T
D
CDH-13
The Pan ID of Xbee module should be set as Team Number
To avoid interference
HIGH
-
-
X
CanSat 2012 CDR: Team 7634 (Garuda) 72
Presenter: Aman Mittal
73. Team Logo
Here
(If You Want)
Processor and Memory Selection
Parameter
Arduino Uno
Processor Speed(MHz)
16
Operating Voltage
5
Data Interface (D/A)
14/6
Size(cm x cm)
6.5x5.2
Flash Memory(kB)
32
Price(in USD)
25
Modes Available(SPI/I2C/Serial)
1/1/1
CanSat 2012 CDR: Team 7634 (Garuda)
73
Presenter: Aman Mittal
Micro SD card
ATmega 128
74. Team Logo
Here
(If You Want)
Processor and Memory Selection
•Carrier
– Arduino Uno is chosen for the microcontroller.
–Easy interfacing, sufficient digital outputs for data handling.
–Low price and size.
–Sufficient modes of communication available.
•Lander
–Arduino Uno is chosen for the microcontroller.
–Same design for the carrier and Lander.
CanSat 2012 CDR: Team 7634 (Garuda) 74
Presenter: Aman Mittal
Arduino Uno
75. Team Logo
Here
(If You Want)
Memory Selection
•Micro-SD card is used for external memory
–Standard FAT 32 file system.
–Large amounts of data can be stored.
–Non-volatile.
–Easy to retrieve data on laptop.
CanSat 2012 CDR: Team 7634 (Garuda)
75
Presenter: Aman Mittal
Micro-SD card
76. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
76
Carrier Antenna Selection
•Antenna used is - A24HASM 450 – an RPSMA antenna to be used with XBP24BZ7SIT-004J
S. No.
Performance Measure
Specifications
1
Frequency (in MHz)
2400-2500
2
Gain (in dB)
2.5
3
VSWR
<1.6:1
4
Impedance
50 Ώ
5
Height (in mm)
109
6
Weight (in g)
14
Presenter: Aman Mittal
77. Team Logo
Here
(If You Want) Data Package Definitions - Radio
The Xbee communicate in AT mode (transparent mode).
Xbee uses USART communication at baud rate 57600.
The communication protocol in AT mode is simple serial communication with any device.
Point to point communication is established in Xbee.
The coordinator ID is set at 0 while the other Xbee(in the modules) have a unique PanID.
We are using 64-bit addressing (transparent) for Xbee.
The network address will be stored in the table
CanSat 2012 CDR: Team 7634 (Garuda)
77 Presenter: Aman Mittal
78. Team Logo
Here
(If You Want) Data Package Definitions - GPS
•GPS transmits data serially using UART at baud rate of 57600 (configurable).
•It uses NMEA for data transmission.
•The data starts with a „$‟ and ends with the <cl><rf> in this format and output format is comma separated. This is used to parse the data to get the required data.
•The GPS automatically sends the data at 1Hz when powered on, and we take this data from UART.
•The GPS data format has been mentioned in the GPS subsection in the Sensor Subsystem Design.
CanSat 2012 CDR: Team 7634 (Garuda)
78 Presenter: Aman Mittal
79. Team Logo
Here
(If You Want)
Data Package Definitions- T&P sensor
•Uses I2C format for the transmission of data to the Arduino.
•In this protocol, SDA line sends the data while SCL is the clock.
•Start – SDA pulled low while SCL is high.
•Stop – SDA pulled high while SCL is high.
•We are using it in ultra low power mode, putting the oversampling setting (osrs) to 0.
•I2C Address of the sensor – 0x77 for start of transmission.
CanSat 2012 CDR: Team 7634 (Garuda) 79 Presenter: Aman Mittal
80. Team Logo
Here
(If You Want)
Data Package Definitions - Accelerometer
•Analog data output to the microcontroller.
•We use the g select as 0.
•10 bit ADC mode is used at sampling rate 50KHz.
CanSat 2012 CDR: Team 7634 (Garuda)
80 Presenter: Aman Mittal Accelerometer
81. Team Logo
Here
(If You Want) Data Package Definitions – SD Card and Battery Voltage
•Battery Voltage Sensor –
–Uses 2 amplifiers for the sensing of battery voltage.
–Gives an analog data which is fed to the analog pin of arduino.
•SD Card –
–Uses SPI mode for transfer of data.
–Uses the SPI bus on the Arduino.
CanSat 2012 CDR: Team 7634 (Garuda)
81
Presenter: Aman Mittal
82. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 82 Radio Configuration
•The radio module XBP24BZ7SIT-004J is configured to be used in AT mode.
•AT mode supports any device with serial communication, so we use serial pins in Arduino.
•As AT Mode is being used, we will mainly be talking to one Xbee at a time, as talking to multiple Xbee requires changes destination address from command mode. We will be using point to point network. Selects channel and PAN ID
Set the Xbee to join a specific PAN ID(7639)
Security key to be obtained in preinstall
Send data to the specific 16 bit addresses. Presenter: Aman Mittal
83. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 83 Radio Configuration
Pre-Flight
•Establish connection by sending START from GCS and receiving ACK from Xbee Module(PAN on same ID, transmission to specific addresses.)
Ascent
•Send data from Carrier Xbee to GCS
•One way communication in this phase.
Descent
•Send data packets from Carrier Xbee to GCS
•One way communication in this phase. Post Flight
•Carrier Xbee stops transmission and its location is stored.
•Lander Xbee starts transmission to GCS.
•GCS can send activate buzzer commands to Lander and Carrier.
Presenter: Aman Mittal
84. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
84
Radio Configuration
•We have been successful in establishing communication between the Xbee modules in AT mode.
•We have tested the transmission of data between Xbee in when kept in separate rooms.
•We have successfully been able to test the Xbee over the range of 300m in open.
•We need to further test its complete range.
•We need to test for the launch and drop cases for the communication to be robust. Presenter: Aman Mittal
85. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
85
Carrier Telemetry Format
•The data sent in the telemetry includes –
–GPS data
Height ( altitude)
No. of satellites tracked
Longitude
Latitude
UTC Time
–Altitude and temperature data from BMP085
–Battery Voltage
•Data rate: 0.5 Hz.
•The format is explained in the next slide.
Start of Transmission ($) Data Checksum
Presenter: Aman Mittal
86. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
86
Carrier Telemetry Format
–The data format is –
‟$,55,22,101.9,6.60,161441,4106.041N,02901.369E,03,39.5,M,167” (to be sent via Xbee)
•$ is Start Byte
•55 is Seconds since launch
•22 is temperature in Celsius
•101.9 is pressure in kPa
•6.60 is battery voltage in V
•161441 is 16:14:41 UTC time
•4106.0410 is latitude, N indicates North
•02901.3697 is longitude, E indicates East
•03 is the number of satellites tracked
•39.5 is Mean Sea Level Altitude, M indicates meters.
•167 is the checksum, calculated by adding all bytes in the frame modulus 255.
Presenter: Aman Mittal
87. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
87
Carrier Telemetry Format
Characters Sent
Definition
HHmmss
UTC Time
LLLL.LLLL
Longitude
LLLL.LLLL
Latitude
AAA.A
Altitude (GPS)
NN
No. of satellites
AAA.A
Altitude (BMP085)
TT.T
Air Temperature
VV.V
Battery Voltage
Presenter: Aman Mittal
88. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) 88 Activation of Telemetry Transmissions
•Telemetry activation done just before launch by sending a START command from the GCS Xbee(Coordinator node)
•The end device(Carrier and Lander) joins the network formed by the coordinator Xbee.
Presenter: Aman Mittal
89. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
89
Locator Device Selection Overview
•The locator devices will be a combination of GPS, Xbee and Buzzer.
•To activate telemetry from the Xbee and GPS, 2 flags will be set –
–After switching on, when height>300m, the first flag goes high, to ensure that they don‟t send data before flight.
–The second flag goes high only when flag 1 is true, when the altitude data is constant for 10 seconds.
•The buzzer can be activated by sending an ACTIVATE signal through the GCS.
•If connection between Xbee fails, the Buzzer is switched on automatically.
•On recovery, buzzer, Xbee and GPS are switched off through a manual power switch. Presenter: Aman Mittal
90. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
90
Locator Device Selection Overview
•There will be separate transmission ID for the carrier and the Lander.
•The Coordinates of the Carrier Xbee are located and stored in the GCS. The Carrier Xbee stops transmitting after altitude data is constant for 10 sec post flight.
•In case of non recovery, on the launch day, the carrier and the lander will be having Labels :
• “Carrier, CanSat 2012 Team 7639, Garuda, IIT Delhi”
“Lander, CanSat 2012 Team 7639, Garuda, IIT Delhi”
Performance Measure
Specifications
Operating Voltage (V)
5
Current Consumption (mA)
35
Sound Output (dB)
95
Power Consumption (mW)
175 Presenter: Aman Mittal
91. Team Logo
Here CanSat 2012 CDR: Team 7634 (Garuda) Electrical Power Subsystem
Presenter: Harsh Parikh
91
92. Team Logo
Here
(If You Want)
EPS Schematic Overview
CanSat Power System Carrier battery source Lander battery source Sensors + Xbee
Arduino Board
Buzzer and actuator
Sensors + Xbee
Arduino Board
Buzzer 92 CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Harsh Parikh
93. Team Logo
Here
(If You Want)
EPS Overview
•2 supplies: Carrier + Lander
•Most power consumers: GPS sensor and buzzer.
•Power supply:
–Main supply used : 9V.
–Supply to components via 3.3V and 5V regulator ICs.
–Rationale: Constant voltage to components.
•Use of GPS and radio on Lander:
–Rationale: Easy retrieval.
–Cost, space, power and weight: not a limiting factor.
•Power saving:
–High power components switched on only during flight.
–Sleep mode used during 1hour wait time and before retrieval (except buzzer) via communication.
CanSat 2012 CDR: Team 7634 (Garuda)
93 Presenter: Harsh Parikh
94. Team Logo
Here
(If You Want) EPS Changes since PDR
1. LCD has been removed as it was consuming lot of space, weight and power.
CanSat 2012 CDR: Team 7634 (Garuda) 94
Presenter: Harsh Parikh
95. Team Logo
Here
(If You Want)
EPS Requirements-Carrier
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
EPS-01
All electronic components of carrier will be powered.
Necessary for the working of CanSat.
High
-
-
X
EPS-02
Power shall be supplied by 3.3V and 5V regulator ICs (LM7833 and LM7805 used)
Components require 3.3V and 5V regulated power supplies
High
-
-
X
EPS-03
External switch and LED shall be used for initial and final on/off
Easy power turn on/off mechanism
High
-
-
X
EPS-04
Actuator should have an external switch for manual override.
Easy process of testing
Medium
-
-
X
X
X
CanSat 2012 CDR: Team 7634 (Garuda) 95
Presenter: Harsh Parikh
96. Team Logo
Here
(If You Want)
EPS Requirements-Lander
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
EPS-05
All electronic components of lander will be powered.
Necessary for the working of CanSat.
High
-
-
X
EPS-06
Power shall be supplied by 3.3V and 5V regulator ICs (LM7833 and LM7805 used)
Components require 3.3V and 5V regulated power supplies
High
-
-
X
EPS-07
Voltage should be displayed on LCD
Efficient monitoring of battery voltage
Low
-
-
X
X
EPS-08
External switch and LED shall be used for initial and final on/off
Easy power turn on/off mechanism
High
-
-
X
CanSat 2012 CDR: Team 7634 (Garuda)
96
Presenter: Harsh Parikh
97. Team Logo
Here
(If You Want) EPS Requirements-Lander
ID
Requirement
Rationale
Priority
Parent
Children
VM
A
I
T
D
EPS-09
Power to extra hardware to measure battery voltage
Voltage level to be transmitted and so its hardware needs power.
High
-
-
x
x
EPS-10
External switch to turn lander on/off
Easy mechanism for turning lander on/off
High
-
-
x
x
EPS-11
LED
Display on/off power of lander
High
-
-
x
EPS-12
Power to accelerometer
Need to measure external force with the same
High
SYS-10
-
x
x
CanSat 2012 CDR: Team 7634 (Garuda)
97
Presenter: Harsh Parikh
98. Team Logo
Here
(If You Want) Carrier Electrical Block Diagram
CanSat 2012 CDR: Team 7634 (Garuda)
Arduino (9V) GPS(5V) P&T Sensor (3.3V)
Actuator
(3.3V)
SD card
(3.3V)
Buzzer(9V) LCD(5V)
Voltage Measurement Hardware(9V)
Radio Transceiver
(3.3V) Power Source 3.3V regulator
5V regulator
9V supply
98 Presenter: Harsh Parikh
99. Team Logo
Here
(If You Want)
Lander Electrical Block Diagram
CanSat 2012 CDR: Team 7634 (Garuda) Arduino (9V)
GPS(5V)
P&T Sensor
(3.3V)
Accelerometer
(3.3V) SD card (3.3V)
Buzzer(9V)
LCD(5V) Voltage Measurement Hardware(9V) Radio Transceiver (3.3V)
Power Source
3.3V regulator
5V regulator 9V supply
99
Presenter: Harsh Parikh
100. Team Logo
Here
(If You Want) Power Budget - Carrier
CanSat 2012 CDR: Team 7634 (Garuda)
S. No.
Component
Voltage (V)
Current drawn (mA)
Power (mW)
Duty Cycle/ Time of operation
Uncertainty (%)
Capacity required (mAh)*
Total Power Consumed (mW)*
Source
1
Arduino (Board only)
9
0.02
18
100%
20
0.03
22
Meas
2
P&T Sensor
3.3
0.1
0.33
100%
10
0.15
0.4
DS
3
GPS Module
3.3
45
200
100%
10
50.0
160
DS
4
Transceiver Module
3.3
65
330
10%
10
7.50
33
DS
5
Actuator
3.3
30
99
1%
15
0.40
2
Est
6
Buzzer
9
15
135
3hrs
20
20.0
165
Est
7
SD card
3.3
50
165
5%
10
3.0
10
Est
8
Extra h/w (regulator ICs + voltage measurement h/w)**
9
0.1
0.9
100%
20
0.2
1
Meas
9
LCD
5
40
200
5%
10%
0.4
10
DS
Total
81.28
403.4
* All values are assumed to be on higher side. ** Peak values attained.
100
Presenter: Harsh Parikh
101. Team Logo
Here
(If You Want)
Power Budget - Lander
CanSat 2012 CDR: Team 7634 (Garuda)
S. No.
Component
Voltage (V)
Current drawn (mA)
Power (mW)
Duty Cycle/ Time of operation
Uncertainty (%)
Capacity required (mAh)*
Total Power Consumed (mW)*
Source
1
Arduino (Board only)
9
0.02
18
100%
20
0.03
22
Meas
2
P&T Sensor
3.3
0.1
0.33
100%
10
0.15
0.4
DS
3
GPS Module
3.3
45
200
100%
10
50.0
160
DS
4
Transceiver Module
3.3
65
330
10%
10
7.50
33
DS
5
Accelerometer
3.3
0.4
1.32
5%
10
0.02
0.1
DS
6
Buzzer
9
15
135
3hrs
20
20.0
165
Est
7
SD card
3.3
50
165
5%
10
3.0
10
Est
8
Extra h/w (regulator ICs + voltage measurement h/w)**
9
0.1
0.9
100%
20
0.2
1
Meas
9
LCD
5
40
200
5%
10%
0.4
10
DS
Total
80.9
401.5
* All values are assumed to be on higher side. ** Peak values attained.
101
Presenter: Harsh Parikh
102. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
External Power Control Mechanism
•Separate on off switch both for carrier and lander
•Power monitoring system:
–LED shows whether 9V battery is switched on/off
•All components put to sleep mode during 1hour prelaunch time and in the post flight period with the use of radio communication with CanSat. This prevents faster battery drain.
102
Presenter: Harsh Parikh
103. Team Logo
Here
(If You Want)
Power Source Summary
CanSat 2012 CDR: Team 7634 (Garuda)
S. No.
Battery Name
Battery Type
Weight (gm.)
Typical Voltage (V)
Capacity (mAh)
Energy (Wh)
Cost
(USD)
Decision
1
Duracell ultra
Alkaline
45
8.4
550
4.5
2.40
S
•Finally selected battery: Duracell Ultra.
•Power available is 550mAh and 4.5Wh.
•Power consumed (3hrs of working) is 250mAh and 0.5Wh
•Available margin assuming 3 hours of working: 300mAh (55%)
•Minimum time of operation assuming full operation of all components : 5hour.
•Selection criteria:
•Reliability
•Cost
•Easy availability
•Service hours provided 103 Presenter: Harsh Parikh
104. Team Logo
Here
(If You Want) Battery Voltage Measurement
CanSat 2012 CDR: Team 7634 (Garuda)
Additional hardware is comprised of voltage follower by inverting amplifier (used
for attenuator here)
Voltage follower helps in isolation of output and input. Inverting amplifier corrects
sign and provides given output as . Taking Rf as 10kΩ, Ri as 20kΩ,we get Vmax
up to 5V.
ADC output multiplied by 2 gives exact Voltage value.
This is better than potential divider because
• Consumes almost no current.
• Has much better stabilization characteristics
i
f
R
R
Presenter: Harsh Parikh 104
105. Team Logo
Here
(If You Want) Battery Voltage Measurement Testing CanSat 2012 CDR: Team 7634 (Garuda)
105
Presenter: Harsh Parikh
•Testing Status:
•The component and the circuitry of electrical power subsystem is tested.
•The op-amp follower circuit along with regulator was checked
•Testing Result:
•When the circuit was tested with LED for the output, the LED went „on‟ on attaching battery. This confirmed the proper circuitry
•The output of the circuit was measured:
•Rf=170Ω, 330Ω; Ri=1k Ω,
•Vo=1.68V, 3.29V
•It was inferred that the voltage regulation is effective
Circuit used for testing Battery Voltage Measurement
106. Team Logo
Here CanSat 2012 CDR: Team 7634 (Garuda) Flight Software Design
Presenter: Sudeepto Majumdar 106
107. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) FSW Overview
•Programming Language : .NET/JAVA
•Developing Environment : Arduino IDE (processing language)
•Flight software is responsible for ensuring that:
–Carrier releases the Lander at the right time.
–Lander is aware when its released.
–All sensors and GPS data are read and the data packet for RF Transmission is prepared.
–All read data and detailed flight log are stored on SD-Card.
–Communication with ground station is maintained.
–Speed of descent is controlled.
Presenter: Sudeepto Majumdar 107
108. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
FSW Requirements
ID
Requirement
Rationale
Priority
Parent(s)
Child(ren)
VM
A
I
T
D
FSW-01
FSW shall initialize the sleep mode
To save power
MEDIUM
-
-
X
X
FSW-02
FSW shall start telecommunication
To avoid transmission of data while not in flight mode
HIGH
CDH-06
-
X
X
X
FSW-03
FSW will be responsible for opening of parachute at 200m
Base Mission Requirement
HIGH
SYS-05
-
X
X
X
X
FSW-04
FSW shall be responsible for releasing the lander at 91m
Mission Requirement
HIGH
SYS-06
-
X
X
X
X
FSW-05
FSW shall collect data from sensors and then store and telemeter to the ground
Base Mission Requirement
HIGH
SYS-07
-
X
X
X 108 Presenter: Sudeepto Majumdar
109. Team Logo
Here
(If You Want) FSW Requirements CanSat 2012 CDR: Team 7634 (Garuda)
ID
Requirement
Rationale
Priority
Parent(s)
Child(ren)
VM
A
I
T
D
FSW-06
FSW shall activate impact sensor after the lander is released
To avoid sensor operations when not required
MEDIUM
SYS-10
-
X
X
X
FSW-07
FSW shall stop telemetry of data after CanSat has landed
To avoid transmission when not required
MEDIUM
CDH-12
-
X
X 109
Presenter: Sudeepto Majumdar
110. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Carrier and Lander CanSat FSW Libraries Presenter: Sudeepto Majumdar 110
S.No.
Sensor
Model No.
Library
1
Temperature and Pressure
BMP085
Bmp085.h from adafruit*
2
GPS
Mediatek MT 3329
Arduino.h
SoftwareSerial.h
3
SD card
Kingston
sd.h from Arduino
4
Xbee radio
Digi International
SoftwareSerial.h
*- Open Source Library
111. Team Logo
Here
(If You Want) Carrier CanSat FSW Overview
CanSat 2012 CDR: Team 7634 (Garuda) 111 Presenter: Sudeepto Majumdar
• The Data will be transmitted at the rate of 0.5 Hz and Throughput value will be 25 bytes per second
112. Team Logo
Here
(If You Want) Carrier CanSat FSW Pseudo Code CanSat 2012 CDR: Team 7634 (Garuda) 112
Presenter: Sudeepto Majumdar
System Start Read Sensor: While(altitude>200) if (descent rate>10) Command DCS descent rate=10m/s Write to SD card Transmit to GCS While(200>=altitude>91) if(descent rate>5) Command DCS descent rate=5m/s Write to SD card Transmit to GCS while(91>=altitude) if(Lander deployed=false) Signal Deployment Write to SD card Transmit to GCS If(landed=true) Buzzer status->on on Button press Stop else Repeat
113. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Lander CanSat FSW Overview Presenter: Sudeepto Majumdar 113
• The Data will be stored at the rate of 0.5 Hz and Throughput value will be 25 bytes per second
114. Team Logo
Here
(If You Want)
CanSat 2012 CDR: Team 7634 (Garuda)
Lander CanSat FSW Pseudo Code Presenter: Sudeepto Majumdar 114 System Start Read Sensor Write to SD card if(landed=true) Buzzer->on On button press Stop else Repeat
115. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) Software Development Plan
•FSW testing:
•The code has been written and the interface is established.
•The response of GPS sensor, Temperature and Pressure sensor and the Buzzer was tested when the acknowledgement was received .
•The system is ready to use.
•Development Team:
•Sudeepto Majumdar, Rishi Dua 115 Presenter: Sudeepto Majumdar
116. Team Logo
Here CanSat 2012 CDR: Team 7634 (Garuda) Ground Control System Design
Presenters: Kshiteej Mahajan, Rishi Dua 116
117. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) GCS Overview Presenter: Rishi Dua Antenna receives Signal from Carrier Microcontroller provides serial input to the computer
Computer processes, stores and displays the data 117
118. Team Logo
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(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) GCS Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
A
I
T
D
GCS-01
Antenna shall point upwards and be at least 1m above the ground
To prevent interference
High
-
-
X
GCS-02
Data will be processed and stored
To meet base mission requirements
High
SYS-07
-
X
X
GCS-03
Recovery of CanSat
To avoid loss of carrier, lander and egg
Medium
SYS-02
-
X
X
GCS-04
Mission operations: Includes the detection of various phases by the GCS
To ensure base mission requirements are met
Medium
-
-
X
X
X
GCS-05
Real-time online uploading of data on a remote server
For Remote Access
Medium
-
-
X
X 118 Presenter: Rishi Dua
119. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda)
GCS Requirements
ID
Requirement
Rationale
Priority
Parents
Children
VM
A
I
T
D
GCS-06
Software made using JAVA and PHP
Cross platform support and faster
High
-
-
X
GCS-07
Power Backup for 4 hours
Should not fail in case of power outage
Low
-
-
X 119 Presenter: Rishi Dua
120. Team Logo
Here
(If You Want) CanSat 2012 CDR: Team 7634 (Garuda) GCS Antenna Overview
•The antenna to be used is A24HASM-450 – ½ wave dipole antenna.
•The coverage of the antenna module is about the range of 2 km.
•This antenna has omni-directional pattern when places in vertical direction.
•The antenna should be able to cover a drift of up to 1km, so we have a margin of 500m from our design.
•The antenna will be facing at an angle to the launch site to increase coverage.
Presenter: Rishi Dua
120
121. Team Logo
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(If You Want) GCS Antenna Selection CanSat 2012 CDR: Team 7634 (Garuda) 121
•Assuming the wind speed of 25kph in Abilene, Texas in June.
Time of descent at 5m/s for 600m.
Time = 120sec.
So, d = 833m.
•So, we need to have an antenna that can expect a drift of at least 833m.
Presenter: Rishi Dua
122. Team Logo
Here
(If You Want) GCS Antenna Selection CanSat 2012 CDR: Team 7634 (Garuda) 122
•The Antenna selection is done on the basis on Link Budget.
•The Xbee sensitivity is -102dBm, so assuming -90dBm to account for the uncalculated losses, using the Link Budget equation –
PRX = PTX + GTX + GRX – LTX – LRX – 20log(4πd/λ)
PTX = 17dBm
GTX = GRX = 2.5dBi
LTX = LRX = 1 dB
Calculating the above, we get d = 3.145 km, which is well above the calculated maximum drift.
Presenter: Rishi Dua
123. Team Logo
Here
(If You Want) GCS Antenna Selection CanSat 2012 CDR: Team 7634 (Garuda) 123 Carrier Antenna Module
Ground Antenna Module
UART data to Xbee The communication is established between X-Bees (in API mode)
•The carrier module above transmits the sensor data back to the ground module.
•The ground station module receives data from the carrier module and transmits the data to the laptop.
• We are planning to make portable mast with PVC pipes for mounting antenna.
• Antenna will be inclined at an angle for max coverage.
Presenter: Rishi Dua
124. Team Logo
Here
(If You Want) GCS Software
•Data taken currently from CSV file (which is updated every 2 seconds), later on preferred mode of input would be serial input.
•Data plotted and also uploaded simultaneously on the internet so that it can be remotely accessed.
•Data plotted using Java library (Live-Graph).
•Data can be exported to Excel file, XML, SQL and the Graph can be exported as JPEG image.
•Since it is based on JAVA, PHP and SQL, it will be faster and more reliable than third party tools like MATLAB. Moreover, all tools used are open source with good cross platform support.
•GPS data is also embedded in Google Maps, to possibly help recover location of the CanSat.
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Kshiteej Mahajan 124
125. Team Logo
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(If You Want) GCS Software Description CanSat 2012 CDR: Team 7634 (Garuda) Data file Settings Graph Settings
Graph
Data Series Settings
Presenter: Kshiteej Mahajan
125
126. Team Logo
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(If You Want) GCS Software Description CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Kshiteej Mahajan
126
•GPS data is also embedded in Google Earth. This can help recover location of the CanSat.
•Longitude, Latitude, Altitude data of the CanSat with time is taken from a CSV file and converted to KML file using self-written adapter and convertor to generate a flight path on Google Earth.
•We currently have two types of visualizations: Extruded and Linear.
•The following slides give snapshots of Extruded & Linear path of our CanSat (Garuda) for fictitious data, respectively.
127. Team Logo
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(If You Want) GCS Software Description
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Kshiteej Mahajan 127
128. Team Logo
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(If You Want) GCS Software Description
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Kshiteej Mahajan 128
129. Team Logo
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CanSat Integration and Test
Presenter: Akash Verma
CanSat 2012 CDR: Team 7634 (Garuda) 129
130. Team Logo
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(If You Want)
CanSat Integration and Test Overview
Stage I: CanSat has following subsystems, that are built up in parallel:
Mechanical Subsystem
Descent Control Subsystem
Sensor and Communication Subsystem
Electrical Subsystem
Software Subsystems
Stage II: Mechanical Subsystem and DCS are integrated first and ECS, SSS, CDH are integrated in parallel.
Stage III: Merging of the two subsystems of Stage II to make final CanSat.
Test equipments and conditions are specified in respective tables/sections. in following slides.
All test data is uploaded real-time and available on www.teamgaruda.in/testdata
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Akash Verma
130
131. Team Logo
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(If You Want) Clearance test (Mechanical) Weight Test (Mechanical)
Body strength test
(Mechanical) Shock Absorption Test (Mechanical) Descent Rate Control (Mechanical)
EPS testing along with robustness
(Electrical)
Sensor testing
(Electrical)
FSW response
(Software Control) Detachment of Lander (Mechanical) Deployment of parachute (Mechanical)
Communication linking
(Electrical) GCS testing (Software Control) Data handling and mathematic modelling
Testing the Integrated Model
CanSat Testing as a Unit
Testing Sequence:
CanSat 2012 CDR: Team 7634 (Garuda) Presenter: Akash Verma
131
132. Team Logo
Here
(If You Want) Sensor Subsystem Testing Overview
S.No
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
GPS
Interfacing with Microcontroller
GPS availability in breakout board
Reception of data in the proper format
Pass
2
GPS
Measurements tested against Google Earth API
jqPlot Charts required for jQuery for plotting variations
The measurement difference plot should lie within 2.5m
Pass.
Accuracy achieved: 1m
3
GPS
Tested by taking data from GPS placed in car moving with constant speed of 50kmph
Arduino interfacing
Hyperterminal Interfacing
Data variation should be continuous
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
132 Presenter: Akash Verma
133. Team Logo
Here
(If You Want) Sensor Subsystem Testing Overview
S. No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
4
Non GPS Altitude sensor
Interfacing with Microcontroller
Sensor availability in breakout board
Reception of data in the proper format
Pass
5
Non GPS Altitude sensor
Variation of altitude tested by going to highest floor (7th) in lift and compare results with that of GPS
Carrying the whole setup as a handheld one. GPS should be already tested.
Variation in GPS and non-GPS altitude measurer should not differ by more than 2m.
Pass.
Accuracy achieved: 1.2m
6
Temperature sensor
Tested with cold water with ice to hot water till luke warm and cross checked variation using Laboratory Thermometer
Preventing the sensor from getting wet.
Difference in readings should be less than 0.8°C
Pass. Max. difference 0.5°C when properly calibrated
7
Temperature Sensor
Below 0°C up to -10°C checked using refrigerator.
Variation in temperature at different points of fridge gave abnormal readings
Variation should be visible for below 0°C temperatures.
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
133 Presenter: Akash Verma
134. Team Logo
Here
(If You Want)
Lander Impact Force Sensor Testing
S. No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
Accelerometer/ Impact Force Sensor
Interfacing with Microcontroller
-
Reception of data in the proper format
Pass
2
Accelerometer/ Impact Force Sensor
Checking for acceleration values in 10 places e.g.. Lift, car.
Movement of Arduino board and the source with accelerometer.
Comparison with any other possible source of acceleration (where possible) and estimated calculations otherwise.
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
134 Presenter: Akash Verma
135. Team Logo
Here
(If You Want) DCS Subsystem Testing Overview
S.No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1.
Parachutes along with mass
•Experimental throws of 700gm object from 15m height.
•Terminal velocity found out using speed time formula
•Length of plumbline takes is 10m
•Reaction time of an observer
•Attainable height for parachute releasing
•Terminal velocity within the range
•Drift- not too large
Pass
2.
Parachute‟s shroud lines
Experimental throws of 700gm object from 15m height.
Attainable height for parachute releasing
Shroud lines should not entangle
Fail
3.
Parachute packing
Experimental throws of 700gm object from 15m height.
Attainable height for parachute releasing
Parachute should unfold itself
Pass
CanSat 2012 PDR: Team 7634 (Garuda)
135
Presenter: Akash Verma
136. Team Logo
Here
(If You Want)
Mechanical subsystem testing overview
136
S.No.
Component/ Subsystem tested
Objectives
Test description
Constraints
Pass Criteria
Results
1
Deployment/ Separation Testing for load
Smooth release of lander.
It should be able to uphold the load of lander
Actuator is connected to the
Battery and the linear movement of the plunger tested for various loads
Test conditions may not be able to simulate the actual friction characteristics of the interface.
Capacity to hold the maximum load of 750g
To be performed once actuator is delivered
2
Deployment/ Separation testing for response time
Quick release of lander.
response time of the plunger for
Error in time measurement due to human response time
Allowable error of 1% in lander deployment target altitude
To be performed once actuator is delivered
3
Shock survivability
Structure should survive 30gees of shock force
30g equivalent of force is applied through static weights (30x 720g~210Kg)
The strength is only tested in longitudinal direction which is only relevant.
Structure should be able to withstand the load without failure and low distortions.
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Akash Verma
137. Team Logo
Here
(If You Want)
S.No.
Component/ Subsystem tested
Objectives
Test description
Constraints
Pass Criteria
Results
4
Clearance for Launch vehicle Compatibility
To check if the structure is able to slide through rocket payload section
A sheet metal envelope of 127mm is made and the carrier is slid through it at various orientations.
Errors in the cylindricity of the fabricated sheet metal envelop may be preset and the surface characteristics may be different for actual rocket.
Smooth passage of the carrier structure.
Pass
5
Egg protection system
To ensure protection of egg for impact force experienced during landing
Drop the finally selected egg protection system from various heights of 10, 20 , 30 , 40ft. for maximum impact velocity of 11m/s
Impact depends on the softness of the ground which maybe different from launch location
Safe recovery of the egg
Pass
137
Mechanical subsystem testing overview
CanSat 2012 CDR: Team 7634 (Garuda)
Presenter: Akash Verma
138. Team Logo
Here
(If You Want) CDH Subsystem Testing Overview
S. No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
Xbee radio receiver testing
The communication link was checked using a test data signal from computer
Xbee module, computer and GCS software
The data should be received without any error
Pass
2
Xbee radio transmitter testing
The communication link was checked using a test data signal to computer
Xbee module, computer and GCS software
The data should be received without any error
Pass
3
Buzzer testing
The buzzer range was tested by supplying power to it
Buzzer, battery
The buzzer‟s buzz was audible to a range of 100m
Pass
Range:100m
4
SD card testing
SD card was tested using arduino board
SD card, arduino board, SD card reader
The data stored should be not be corrupted and should be accessible
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
138
Presenter: Akash Verma
139. Team Logo
Here
(If You Want) EPS Subsystem Testing Overview
S. No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
Battery Voltage measuring circuit
External voltage of 9V was applied and regulated output was checked using potentiometer
Op-Amp, Resistors, 9V battery and potentiometer
For input voltage of 9V regulated voltage should be 5V
Pass
2
Battery Life
A battery of 9V was drained using a buzzer
Buzzer, battery and Stop watch
The buzzer should buzz for atleast 5 hours
Pass
Life: 6 hours
3
External Switch
LED was used to check switching
LED, battery, Switch
LED should glow for on and off when the switch is off
Pass
4
Components power specification
Potentiometer was used to check the power specifications
Potentiometer, electrical components
Power output should be within specified range
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
139 Presenter: Akash Verma
140. Team Logo
Here
(If You Want)
FSW Subsystem Testing Overview
S. No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
Xbee
check RSSI and connectivity in case of relative motion and across multiple barriers.
Simulated environment does not cover all possibilities.
RSSI should be more than 20%
Pass
2
Pressure Sensor
check pressure in room conditions and in blowing wind at various heights.
pressure actually varies very rapidly while falling down at 10m/s
pressure values should match barometer values
Pass
3
GPS
data checked in various locations separated by 5kms and in moving vehicles
Simulated environment does not cover all possibilities.
output accuracy +/- 3m
Pass
4
Accelerometer
magnitudes and directions of acceleration while moving and while impact
Simulated environment does not cover all possibilities.
accuracy +/- 0.5 m/s2
Unconfirmed
5
Temperature
check temperature at various locations, heights and time intervals.
-
accuracy +/- 1C
Pass
6
Software
Interfacing with individual sensors and above tests conducted. Collected data stored onto the SD card.
Integration not done, only individual sensors tested at a time.
Successful running of the code and proper data acquisition from the sensors.
Partially pass. Accelerometer interfacing failed
CanSat 2012 CDR: Team 7634 (Garuda)
140 Presenter: Akash Verma
141. Team Logo
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(If You Want)
GCS Subsystem Testing Overview
S. No.
Component/ Subsystem Tested
Test Description
Test Constraints
Result Criteria
Result
1
Antenna
Send known data from carrier radio module to ground station
running on simulated data, not on actual data
Result should match with the sent data
Pass
2
Data plotting library
Plotting a sample data
the library livegraph should work correctly
The graph should match with standard software like MATLAB
Pass
3
Google earth API integration
Input CSV position data to generate a KML file
running on simulated data, not on actual data
Visualization should be successful
Pass
4
Real time data update
Input data to GCS
Internet connectivity and server uptime
The database on server should get updated
Pass
CanSat 2012 CDR: Team 7634 (Garuda)
141
Presenter: Akash Verma
142. Team Logo
Here Mission Operations & Analysis
Presenter: Arpit Goyal
CanSat 2012 CDR: Team 7634 (Garuda)
142
143. Team Logo
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(If You Want)
Overview of Mission Sequence of Events
CanSat 2012 CDR: Team 7634 (Garuda)
•Briefing
•Last Mechanical control
•Last Electrical control
•Coming at Competition Arena Pre Flight
•Pre-Flight operation
•Integration of CanSat
•Setup of GCS
•Placement of Egg
•Launch Flight
•Deploy CanSat at 600m
•Opening parachute
•Controlling descent rate to 10m/s +/- 1m/s up to 200m
•Data collection and transmission
•Reducing descent rate to 5m/s at 200m
•Detaching Lander at 91m
•Landing and Locating CanSat
•Recover egg and data from Lander Launch and Flight
•Saving Data
•Analyzing Data
•Preparing PFR
•PFR Presentation
•Pack up and leave for New Delhi
Post Flight
143
Presenter: Arpit Goyal Please see Team Members Role on slide 8
144. Team Logo
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(If You Want) Mission Operations Manual Development Plan
•Mission Operation consist of 4 steps:
–CanSat Integration
–Launch Preparation and GCS setup
–Launch Operation
–Removal Operation
CanSat 2012 CDR: Team 7634 (Garuda)
144
Presenter: Arpit Goyal
145. Team Logo
Here
(If You Want) CanSat Integration
•The CanSat system is basically divided into three parts:
–The Lander
–The Carrier
–Electrical and Electronic System
•The integrated parts are to be assembled to make CanSat.
•The Electrical System is first integrated with Lander and Carrier
•The Carrier and Lander will be integrated and CanSat is ready for Launch.
CanSat 2012 CDR: Team 7634 (Garuda)
145
Presenter: Arpit Goyal
146. Team Logo
Here
(If You Want)
Launch Preparation and GCS setup
•GCS will be setup by GCS crew after reaching competition arena.
•Take rocket to flight line and get launch pad assignment
•Walk out with the pad manager and have rocket installed on rail.
•Pad manager installs igniter.
•Pad manager verifies igniter continuity if launcher has continuity tester.
•Team‟s picture next to Rocket
•Team goes back to flight line and assigned crew position
CanSat 2012 CDR: Team 7634 (Garuda) 146 Presenter: Arpit Goyal
147. Team Logo
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(If You Want)
Launch Procedure
•Request a GO/NO GO from GS
•Verify recovery crew is in place and ready
•Verify launch control officer is ready
•Verify flight coordinator is ready.
•Command ground station crew to activate the CanSat telemetry.
•Verify with ground station crew that telemetry is being received.
•Request GO/NO GO from ground station crew, recovery crew and flight coordinator.
•Command launch control officer to proceed countdown and launch.
CanSat 2012 CDR: Team 7634 (Garuda) 147 Presenter: Arpit Goyal
148. Team Logo
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(If You Want) Removal Procedure
•Command ground station crew to disable telemetry from CanSat.
•Team wait until all other launches are completed.
•Command launch control officer to disarm the launch pads.
•Launch control officer removes the arming key to the launch controller.
•Pads are declared safe.
•Team can go with the pad manager and then can remove the CanSat.
CanSat 2012 CDR: Team 7634 (Garuda) 148
Presenter: Arpit Goyal
149. Team Logo
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(If You Want) CanSat Location and Recovery
1.Carrier Recovery
–Carrier will have buzzer inside it which will be only be activated when carrier has landed. This buzzer has SPL>80 dB and will aid us to recover carrier.
–We will use shiny and bright colored parachutes so that we can spot it from some distance.
–GPS sensor on carrier will transmit exact coordinates after landing. This data will help us to reach there.
–We will be using trajectory (obtained after getting data of position from GPS sensor) to estimate landing coordinates for carrier. This will be done automatically using a script (in GCS software only) performing data analysis.
–Besides, all team members will be keeping eyes on carrier as it descends down from sky.
CanSat 2012 CDR: Team 7634 (Garuda) 149
Presenter: Arpit Goyal
150. Team Logo
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(If You Want) CanSat Location and Recovery
2. Lander Recovery
–Lander will have buzzer inside it which will be only be activated when lander has landed. This buzzer has SPL>80 dB and will aid us to recover carrier.
–We will use shiny and bright colored parachutes so that we can spot it from some distance.
–We will be using a additional GPS sensor on lander that will transmit exact coordinates after it has landed (also using extra x- bee modules for that).
–Wind data and trajectory of carrier after it has got separated from lander will be useful for us to implement a script to generate estimated coordinates of lander.
–Besides, all team members will be keeping eyes on lander as it descends down from sky.
CanSat 2012 CDR: Team 7634 (Garuda) 150 Presenter: Arpit Goyal