Transcript ZAMBONI - The University of North Dakota

ZAMBONI
Zippy Aerospace Module Broadcasting
Observed Not-so-bad Images
Fall Design Review
Harrington Hall, Room 218
10 October 2002
1
Design
Team
Mechanical Engineering
Jon Fargo
Katie Kirchner
Andrea Mattern
Electrical Engineering
Mike Hoffmann
Jon Lovseth
Chris Schmidt
Jason Senti
Warren Wambsganss
Not-so-bad Faculty
Arnie Johnson
Richard Schultz
Will Semke
Chang-Hee Won
10 October 2002
2
UND
Vision
1. Moored
Balloon
2. Free
Balloon
3. AEROCam
2000
2000-2001
2001-2002
10 October 2002
4. AgCam (ISS) &
CubeSat
2002-beyond
3
What is a
CubeSat
Idea originated at
Stanford University by
Professor Robert Twiggs
•
California Poly
responsible for
launch integration
•
Size ~ 10 cm (4”) Cube
Mass ~ 1 kg
10 October 2002
4
Mission
Successfully build and launch a CubeSat
•
Transmit a single digital image from space
and receive the image on Earth
•
10 October 2002
5
Goal
Orbit Earth for approximately 8 months
•
Transmit numerous digital images to Earth
•
Transmit health/status data to Earth
•
Transmit data from a commercial/
government sponsored payload to Earth
•
10 October 2002
6
Launch
Expected early 2004 launch
•
800 kilometer orbit
•
Approximately $80,000
•
Rent space for government/industry payload
•
Alumni support:
“Decameter for a Dollar” campaign
•
10 October 2002
7
System
Overview
ZAMBONI
Mechanical
Structure
Health & Status
Sensors
interfaces with all
airborne subsystems
Health
& Status
Data
Full
Image
Digital
Camera
Camera
Control
Data
Thumbnail
Image
Ground Control
University of North Dakota
C&DH
Solar Cells
Power
Charging
Circuitry
Regulation
Watchdog
Timer
Voltage
Current
Batteries
Passive
Attitude
Control
Operator
Microcontroller
Amateur Radio
and TNC
Sponsored
Scientific
Payload
Images
Data
Console
Inputs
Mission Planning
Software –
Satellite Tool Kit
Ground
Control
Computer
Telemetry
Telecommand
(Rare-Earth magnet)
Telemetry
Amateur Radio
Internet Communications
Operators
10 October 2002
Ground
Transceiver
8
Jon
Fargo
10 October 2002
9
Design
Specs
Requirements
Mass not to exceed 2 kg
•Center of mass within 2 cm of the
geometric center
•Structure Material: Aluminum 6061
•
Testing
Vibration qualification test
•Thermal test
•Vibration acceptance test
•Integration
•
10 October 2002
10
Mass
Budget
oz.
Communication /
Control
gm.
Transceiver
2.08
59
TNC
2.01
57
Circuit Board est
6.00
170
Solar cells (1@8g) ~28 cells
7.90
224
Li Ion batteries est
6.70
190
1.27
36
Microcontroller
Power
Battery charging circuitry
Voltage regulators
Watchdog chip
Attitude Control
Passive magnet
10 October 2002
11
Mass
Budget
Sensors
Temperature sensors
Voltage sensors
Current sensors
2 Digital cameras w/o
batteries or case (1@96g)
6.77
192
Structure
Aluminum frame est.
17.64
500
Payload
Allotted mass
10.58
300
20% Margin
14.11
400
Total
75.06
2128
Budgeted Mass
70.55
2000
% over/under budget
10 October 2002
6.40%
6.40%
12
Size
Budget
Total volume available =
10 *10*20 cm = 2000 cm^3
•
Total Volume Used =
680.3 cm^3
•
66% Volume Remaining
•
Does not include wires and
other misc. connections
Major Components
cu. in.
cu. cm.
Ham Radio
2.88
45
TNC
9.28
152.38
Li Ion Batteries
3.061
50.92
Digital Camera - x 2
26.62
432
Frame
118.64
2000
Payload – ¼ volume
29.66
500
Total Volume
41.841
680.3
Remaining Volume:
47.139
819.7
•
10 October 2002
13
P-Pod
Aluminum 7075-T6
•
Spring Deployed
•
Thermal line
cutter actuator
•
Railings
•
Interface port
(access CubeSat
in deployer)
•
10 October 2002
14
Testpod
Internal dimensions same as launcher tube
•
Will accommodate double and triple cubes
•
Designed and manufactured at UND
•
10 October 2002
15
Testpod
Launch condition testing
•
Needs two mounting plates
•
Bolts to shaker table
•
10 October 2002
16
Prototypes
Rapid prototyping machine
•
Full size and scale models
•
ABS plastic
•
10 October 2002
17
Warren
Wambsganss
10 October 2002
18
Why Attitude
Control?
Alignment with the
Earth’s magnetic field
Camera
Magnetic field line
Y (wobble axis)
S
B
+
X (free axis)
N
Camera
Z (wobble axis)
N
Earth
Earth
Equator
S
Picture
footprint
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Attitude
Control
Magnetic torque rods
Uses magnetic torque to
point satellite
•
Active
Decreasin
g
Complexity
Gravity gradient
Uses boom (weight) to align with
Earth’s gravity gradient
•
Passive
Magnetic alignment
Makes use of a magnet to align
with the Earth’s magnetic field
•
10 October 2002
20
Active
Control
Relies on global position system data (GPS)
GPS
Position
information
(Latitude and
Longitude)
Geomagnetic
Model
Disturbance torques
Velocity vector
(Degrees heading)
Unit magnetic
field vectors
given in North
(x), East (y),
and Nadir (z)
directions
Determine LVLH coordinate
system from velocity vector
and convert magnetic field
vectors to LVLH system.
(Coordinate system whose
vectors correspond to
direction of velocity (x),
negative orbit plane normal
(y), and nadir (z)
+
Error given as
difference between
prefered LVLH
magnetic field vectors
and actual Spacecraftfixed magnetic field Controller
vectors
D(s)
x
Torque rods and
physical structure
+
+
x
Actual orientation
G(s)
-
Normalized magnetic field
feedback vectors given in
Spacecraft-Fixed coordinate
system
(Coordinate system
geometrically fixed to satellite)
Sensors
(magnetometers)
10 October 2002
Cannot obtain
unlocked GPS
module
21
Magnetic
Alignment
Extremely strong
Rare-Earth magnets
•
Rate of Change of Magnetic field and Magnetic Angular Acceleration
vs. Latitude at 800km. (For Travel along Prime Meridian)
0.025
Larger magnets
produce more torque
•
0.02
Rad/sec.
0.015
Rate of change
1.3oz. Magnet
0.01
.64oz. Magnet
.16oz. Magnet
0.005
0
-100
-50
0
-0.005
Latitude
50
100
Probability of “seeing”
Earth increases from
95.88% to 99.25% at
800 km orbit
•
10 October 2002
22
Magnetic
Testing
Helmholtz
Coil
B
I

I
S
I
N
R

S
B
N
9V
200g
Constant magnetic
field near center
•
+
R
+
Used to determine
magnetic torque
•
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23
Solar
Cells
GaAs – Galium Arsenide
•
Most common in space
•
High efficiency
•
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24
Solar Cell
Circuitry
L1
150uH
Used to control charging
of system batteries
•
D1 1BH62
C1
Solar Cell
Vin
Vsw
470uF
16.2Ohm_1%
R1
470uF
C2
LT1071
470uF
C3
R4
68kOhm_5%
FB
Gnd
Vc
V1
36V
12V
+
C4
4
U2
TLV2370
5
3
DIV
1
1.0uF
R3
2
R2
20.0kO hm_1%
1.00kO hm_1%
_
R7
R6
Current and voltage output of a single solar cell
under varying light levels
R5
620Ohm_5%
50%
Key = a
5K_LIN
200Ohm_1%
R9
510kOhm_5%
510kOhm_5%
R15
M1 P03HDL
MO S_3TDP_VIRTUAL
2N2222A
Q4
1N4731A
2N2222A
Q1
R8
20.0kO hm_1%
D3
Key = a
200K_LIN
2N2222A
R14
Q5
50%
2
C urrent (Am ps)
6V 1.5A out
2N2222A
Q2
R10
200Ohm_1%
4
Q3
1.5
2 su ns (2002N2222A
0W/sq .m)
1 su n (100 0W/sq. m)
R16
5
20.0kO hm_1%
R11
Key = a
200K_LIN
D2
50%
1N5227B
R12
2
200kOhm_1%
3
0.5 suns (5 00W/sq .m)
1
TLV2370
U1
1
DIV
R13
100kOhm_1%
0.25 suns (500W/ sq.m)
0.5
Max pow er operating
point
0
0
0.1
0.2
0.3
Voltage (Volts)
0.4
0.5
Vmp
Constantly monitors
output of solar cells
•
0.6
10 October 2002
25
Jon
Lovseth
10 October 2002
26
Components
Camera:
Olympus D-360L
•
Microcontroller:
MSP430F149
•
TNC:
PicoPacket
•
Radio:
Yaesu Vx-1R
•
Hamster:
for power
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27
Interface
02000008FF08FF4402851234AB386
510D0385610834D83180502000008
FF08FF4402851234AB386510D038
5610834D83180502000008FF08FF4
402851234AB386510D0385610834
02000008FF08FF4402851234AB38
Fullpic3
15
06
05
D83180502000008FF08FF44028512
510D0385610834D831805…
34AB386510D0385610834D831805
02000008FF08FF4402851234AB386
510D0385610834D831805FFFF
02000008FF08FF4402851234AB386
510D0385610834D83180502000008
FF08FF4402851234AB386510D038
5610834D83180502000008FF08FF4
402851234AB386510D0385610834
D83180502000008FF08FF44028512
34AB386510D0385610834D831805
02000008FF08FF4402851234AB386
02000008FF08FF4402851234AB386
510D0385610834D831805…
510D0385610834D831805FFFF
1B5306000011020000001300
1B43060000040C0000001000
1B4303000202000400
1B43060000040B0000000F00
00
02000008FF08FF4402851234AB386
510D0385610834D83180502000008
FF08FF4402851234AB386510D038
5610834D83180502000008FF08FF4
402851234AB386510D0385610834
02000008FF08FF4402851234AB386
Subliminal Message
D83180502000008FF08FF44028512
510D0385610834D831805…
34AB386510D0385610834D831805
02000008FF08FF4402851234AB386
510D0385610834D831805FFFF
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28
Not-so-bad
Images
Thumbnail
4kbytes
SQ resolution
50-64kbytes
10 October 2002
29
Mike
Hoffmann
10 October 2002
30
Ground
Station
Data received in hexadecimal
•
Contains header and
footer information
(must be parsed)
•
10 October 2002
31
Image
Reception
<UND Header>
<Ham Header>
<JPEG Header>
Header and footer
analyzed to determine
how to process image
•
<JPEG Data>
<Ham Header>
<JPEG Header>
<JPEG Data>
<Ham Header>
<JPEG Header>
<JPEG Data>
<Ham Header>
<JPEG Header>
<JPEG Data>
<UND Footer>
Remaining image data
is output as a viewable
JPEG image
•
_______ = Data to be kept
_______ = Data to be removed
10 October 2002
32
Demo
camera
computer
computer
chip
TNC
TNC
ZAMBONI
(Space)
Ground Station
10 October 2002
33
Jason
Senti
10 October 2002
34
STK
Simulation
Satellite Tool Kit:
Used for simulating
space satellite missions
•
STK provides an
analytical engine to
produce 2-D map
and 3-D simulations
•
10 October 2002
35
STK
Simulation
3D Simulation of Launch and “P-Pod” Ejection
**Video Removed for Website Version**
10 October 2002
36
STK
Simulation
3D Simulation of ZAMBONI’s Orbit
**Video Removed for website version**
10 October 2002
37
Katie
Kirchner
10 October 2002
38
Testing
Shaker Table:
MB Dynamics C10E shaker &
M6K amplifier system
10 October 2002
39
Testing
Cold Thermal Testing
Standard 5.0 cu. ft freezer
•
Desired temp: -40 C
•
Achievable temp: -32 C
•
Relay equipped for
DAQ card control
•
10 October 2002
40
Testing
Vacuum Chamber
Custom built with acrylic
•
5.5” inside diameter
•
Over 700 lbs of force on
blind plates
•
Can achieve vacuum of less
than 0.2 inches of mercury
•
10 October 2002
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AIAA
American Institute of Aeronautics and Astronautics
Unites UND Aerospace, Space Studies,
and Engineering students
•
Access to UND Student Organization funding
•
Tentative UND AIAA Student Branch, January 2003
•
10 October 2002
42
Chris
Schmidt
10 October 2002
43
USSS
2002 University Space Systems Symposium
•
November 8-10, 2002
•
University of Hawaii-Manoa
•
Attendees:
Jon Fargo
Jon Lovseth
Chris Schmidt
Jason Senti
Chang-Hee Won
10 October 2002
44
CubeSat
Benefits
Low cost
•
Workforce training
•
Recruitment
•
New space technology
•
Educational outreach
•
Challenging, motivational, educational
•
10 October 2002
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Special
Thanks
•
Dr. John Ettling, V.P. of Academic Affairs and Provost
•
Prof. Arnie Johnson, Chair of Electrical Engineering
•
Dr. Donald Moen, P.E., Chair of Mechanical Engineering
•
Dr. John Watson, Dean School of Engineering and Mines
•
Dr. Shanaka de Silva, North Dakota Space Grant
•
Intercollegiate Academics Fund (VPAA’s Office)
10 October 2002
46