Seoul National University Small Satellite Team SNUSAT ARLISS 2015 final reporting presentation. Please visit SNUSAT blog for more details! https://snusat.wordpress.com/

1. 2015 ARLISS
19/09/2015
SNUSAT

2. Our Members
Ju-Hyun Kim Mechanical & Aerospace Eng. Project manager
Hwi-Jea Kwon Electrical & Computer Eng. Satellite Software
Jung-Jae Park Mechanical & Aerospace Eng. Satellite Structure
Han-Byul Kim Electrical & Computer Eng. Vision Software, PCB
Min-Young Kang Mechanical & Aerospace Eng. Sub-structure design

3. Mission
Success Crit.

4. ARLISS Success Criteria
CRITERIA
1
CRITERIA
2
CRITERIA
3
Arrive at Goal point.(in 5 meters)
Drawing 3D Object Maps 10m around Goal Point with
collected Image and IMU Data of Satellites.
Complete whole satellite system and bring it to launch
site

5. 5

6. ARLISS Mission Overview
Power ON
Flight
GPS Boot
up
Transceiver
On
Transferring
Flight Data
Landing
Capsule
Expansion
Drive
Cam
On
Picture
Take
Pictures
Transferring
Making 3D
6

7. Mission
Payload
7

8. ARLISS Payload

9. ARLISS Payload System Diagram
SURF
Matching
Keypoints
Calculating
Depth(Z) Value
3D mapping GPS Value
X, Y value
exist

10. 10
Goal
Go to goal pointRevolving and taking stereo pictures

11. ARLISS Mission Overview
11https://www.youtube.com/watch?v=Ebxj04uhmS8

12. ARLISS Payload System Diagram

13. Detail Design
1. Schematic
& Design Keypoints

14. EPS
ARLISS Schematic
MCU
IMU GPS
Transceiver
CAM
MOTOR

15. Camera
Motor
Driver
Motor
System Stack
Actuator
EPS Board
Main Board
Navigation Board
Connector Board
Battery
(7.4V, 14.8V)
5V(1) 5V(2) 3.3V
Deployment
swtich
Port
MCU Shield
ARLISS System Overview
GPSIMU
Transceiver

16. ARLISS Stack

17. Our System

18. Detail Design
2. Structure
18

19. ARLISS Structure Design
19

20. 20
Thermal analysisStatic analysis(100G)

21. Detail Design
2. MCU
21

22. • The Powerful Linux Computer
• 1.7GHz Quad-Core processor and 2GByte RAM
• 10/100Mbps Ethernet with RJ-45 LAN Jack
• 3 x High speed USB2.0 Host ports
• Audio coded with headphone jack on board
• GPIO/UART/I2C ports
• XUbuntu 13.10 or Android 4.x Operation System
• Size: 83 X 48 mm, Weight : 48g including heat sink
• 36 IO poarts of GPIO/PWM/ADC with Shield
Image processing in real-time

23. Detail Design
3. EPS
23

24. ARLISS Electric Power System
Camera
Motor
Driver
Motor
Actuator
EPS Board
Main Board
Navigation Board
Connector Board
Battery
(7.4V, 14.8V)
5V(1) 5V(2) 3.3V
Deployment
swtich
Port
MCU Shield
GPSIMU
Transceiver

25. ARLISS Electric Power System
IRF 4905
Deploy Switch
2 MOSFET SW used
Minimize the Loss of power at
loading state
Power supplied as the Socket pulled
25

26. • Supplying DC
5V and DC 3.3V
• Supplying the
11.1V Power
Directly to
Motor with
Deploy System.
BAT
7.4V
11.1V
Jump Socket
10㏀
7805
3.3V REG
IN
IN
GND LED
(B)
220Ω
LED
(G)
BusE-D
BusE-M
OUT
OUT
BusE-A
GND
BusE-D
BusE-M
BusE-A
GND
BusE-A7805
IN OUT
GNDMOSFET(P)
S
G
D
S
MOSFET(N)
G
D
BusE-M
HEAT
LED
(R)
220Ω
R

27. Detail Design
4. Communication
27

28. Camera
Motor
Driver
Motor
System Stack
Actuator
EPS Board
Main Board
Navigation Board
Connector Board
Battery
(11.1V)
5V(1) 5V(2) 3.3V
Deployment
swtich
Port
MCU Shield
GPSIMU
Transceiver
PWM
Using USB Port
UART(TX, RX)
I2C(SDA,SCL)
UART(TX, RX)

29. ARLISS Wi-Fi
ESP8266 NextG USB-Yagi Plug & Play
11N Long Range WiFi antenna
Antenna(GND) Distance(m) (PCB)
TPLINK WR-
811N
479(external antenna)
366(no antenna)
UBIQUITI
NanoBridge M2
4280(external antenna)
3710(no antenna)
29
Anything can be GND station

30. Detail Design
5. ADCS
30

31. ARLISS ADCS
GPS
IMU
MAX-6Q
miniacher 66-ch GPS
Location accuracy max 2.5m
myAHRS+
Has Euler angle, attitude, acceleration,
angular velocity sensor in 3-dimesion
Offering GUI Program
Steering and Attitude
management
31

32. Design focus
32

33. 33
Structural system Circuit & Software system
Independently design!!
- Convenient
- Effectively protects the circuit system
- Generality

34. 34
Condition monitoring
flight safe stuck drive
• 0  false, 1  true
• 1000  flight
• 0100  safe
• 0010  stuck
• 0001  drive
• 0000  mission
Shut down the system in emergency situation with GND

35. 35
PCB design

36. Mission performance
Launching Report

37. ARLISS Mission Overview
Power ON
Flight
GPS Boot
up
Transceiver
On
Transferring
Flight Data
Landing
Capsule
Expansion
Drive
Cam
On
Picture
Take
Pictures
Transferring
Making 3D
Capsule
destroyed

38. 38
Odroid on
Yaw GyroZ Lat Lng Hgt
76.26 211 0 0 0
322.99 -259.65 0 0 0
322.52 -138.43 0 0 0
321.84 -52.8 0 0 0
1.1 -238.04 0 0 0
335.89 214.12 0 0 0
292.25 -390.33 0 0 0
349.23 -171.21 0 0 0
331.89 133.98 0 0 0
12.17 517.04 0 0 0
348.55 -233.34 0 0 0
243.12 32.29 0 0 0
229.69 -41.63 0 0 0
157.69 -409.92 0 0 0
88.17 91.19 0 0 0
209.61 -455.4 0 0 0
105.31 368.85 0 0 0
60.89 -310.13 0 0 0
90.76 211.37 0 0 0
256.82 -228.58 0 0 0
33.63 471.39 0 0 0
Flight data
Too fast to detect GPS
The Capsule was too weak

39. 39
Test data
Odroid on
Yaw/time GyroZ Lat Lng Hgt
92.39 0.12 0 0 0
92.3 0.12 0 0 0
91.83 15.56 0 0 0
91.97 0 0 0 0
92.35 0 0 0 155027
92.45 0 0 0 155032
92.08 0.06 4046.33 -11915.7 1186
91.88 14.59 4046.33 -11915.7 1190
cam
11:31:27
?61.98 -0.98 4046.33 -11915.7 1190
cam
11:31:30
271.42 0.06 4046.33 -11915.7 1190
cam
11:31:33
?07.60 -0.49 4046.33 -11915.7 1190
cam
11:31:36
?56.39 -0.43 4046.33 -11915.7 1191
cam
11:31:39
?10.45 -2.93 4046.32 -11915.7 1191
cam
11:31:45
128.37 -0.67 4046.32 -11915.7 1191
Match with Time, GPS and IMU

40. 40
Left Cam Right Cam

41. SNUSAT
Thank you!
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