Transcript Slide 1

Shaftesbury High Altitude
Robotics Project
S.H.A.R.P.
S.H.A.R.P. (Shaftesbury High Altitude Robotics Project)
A weather balloon used to loft a package consisting of a digital
camera, a GPS receiver, VHS radio, and sensors to the edge of space.
S.H.A.R.P. could also serve as a test platform for future remote
sensing experiments.
Simplified Balloon Launch &
Recovery Profile
“We Can Do It!”
Maples Collegiate tests a WinCube BalloonSat.
video: http://www.youtube.com/watch?v=WPxnNs3HzD0
Ascent of S.H.A.R.P.
Commercial airliners cruise at altitudes of 9 –
12 km - in the lower reaches of the
stratosphere. S.H.A.R.P. could reach an
altitude of over 30 km (100 000 feet), a
region known as near space.
Near space is of interest to: the military
(surveillance ), businesses
(communications $) and MAYBE
Shaftesbury High School (education ).
Craft that fly in near space are called
nearcraft.
The Key to Successfully Tracking a
Nearspace Balloon is APRS
“But What is APRS?”
Automatic Position Reporting System (or
APRS) determines position via GPS, then sends
the position via amateur radio to a remote
receiving station. This receiving station is then
able to track the movement of the APRS
equipped vehicle.
Today there are several commercial systems
using the APRS concept including Lo-Jack and
OnStar.
“again… How Does APRS WorK?”
• The BalloonSat position is fixed by GPS satellites.
• The BalloonSat transmits its position to a world
wide network of amateur radio ground stations
(the APRS).
• The APRS network is connected to the internet so
you can follow the BalloonSat on the web
(www.aprs.fi) in near real time (≈30 s updates).
• But you need a HAM radio license for the
BalloonSat transmitter!
“So what does a track look like on the
interweb?” Click the link on the next slide.
GoogleMaps
A
BalloonSat
launched
from the
Maples
invades
US
territory!
Click the link
above, zoom in
and click a
waypoint
to get
flight details.
Zoom In
Real Close!
Tracking Objects in the Early 21st
Century Quiz
• When (time of day) was this WinCube BalloonSat launched?
• What was its speed and altitude when it crossed Portage
Avenue?
• Describe the wind direction.
• When did the BalloonSat pass into US territory?
• How far did the BalloonSat travel?
• How many hours did the trip take? Calculate its average
ground speed?
• What was the last plotted position and altitude of the payload?
• What do you think US Homeland Security officials would do to
Canadians flying robots into the USA - if they knew?
What Does an APRS Tracker Look Like?
The components required for
ground based APRS can be simple.
You can equip your car, boat, etc
with APRS for about a thousand
dollars (Did I say you need a HAM
radio course?). As shown, a GPS
receiver determines position based
on differences in timing signals
from GPS satellites.
battery
The data is sent to a tiny computer (a TinyTracker3) that converts
GPS data (digital) into a format required by the APRS network. It
then passes it to a VHF (HAM) radio (analog). Once transmitted,
ground stations receive the signals and passes them from the global
APRS network via IGates to the internet (digital again). Anyone
with an internet connection can now track it.
Following the Tracks
Once the data is in the APRS network database, various Webbased utilities can be used to display the location of the APRS
tracker, and the path its been on over an arbitrary timeframe. The
following link automatically displays location, altitude and speed
for vehicles in your local area. www.aprs.fi (Going to Finland! You may need to reset the time value.)
Ready for a Movie?
•http://www.youtube.com/watch?v=Oboxl36Kyrg
•http://www.youtube.com/watch?v=Nmk09zUI06c&feature=related
•http://www.youtube.com/watch?v=IPH4mwn4uko&feature=related
•http://www.youtube.com/watch?v=lf6Rlz91Drw
The data is available to everyone! Of course, it may only be a matter
of time before insurance companies require that you have a technology
like this in order to qualify for reasonable rates.
APRS Enabled Transceivers
The Kenwood TMD710 mobile rig and
TH-D7 handheld have
integral TNCs for
connection to a
computer running
APRS software such as
UI-View.
They can also connect
to a GPS receiver for a
full tracker station.
“You don’t have an internet connection in
your tracking/recovery vehicle?” An APRS
enabled transceiver and voice enabled GPS
navigator will talk you to within metres of the
downed payload.
Example APRS Activity for the Port City of Duluth
And a “WinCube” Tracking Exercise
Example BalloonSat Payload
GPS receiver
tracker
Hand held VHS Radio
A Garmin 18x GPS receiver on left (good to
roughly -60 °C). The tracker, radio, batteries,
etc. are inside.
Some Off-the-Shelf Payload Tracking
Hardware
• Garmin 18x OEM
The GPS 18x is high-sensitivity GPS
sensor for use in automotive, marine,
fleet vehicle, and electronics
applications that require a small,
highly accurate 12-parallel-channel,
WAAS-enabled GPS receiver. The
puck-like receiver is 2.4 inches in
diameter and weighs just a few
ounces, making it an ideal solution for
applications where space is at a
premium. The GPS 18x can be used
with non-Garmin software which
requires NMEA input if GpsGate is
used. 010-00321-36 $84.95 CDN
Weight: 115 g, not including cable (The weight
stated by the manufacturer is not correct - ours
weigh in around 55 grams with short (4 inch)
cable. )
A GPS Tracker & Radio in One
• T2-301 APRS Tracker
The T2-301 (integrated radio/tracker) is a
combination of the Friendcom FC-301/D VHF
data radio and a Tracker2 daughter board. All
of the Tracker2's standard functions, except
for on-board temperature measurement, are
present in the T2-301. In addition, the
transmit and receive frequency and RF power
output can be set through the Tracker2,
including by remote command.
While the rated power output is 5 watts, the
maximum power setting can be as high as
9.5 watts, depending on supply voltage.
http://www.argentdata.com ($229.00 US)
Programming Software Online. Weight; 170
grams. Extreme cold rated.
Miscellaneous Cables, LiPo Batteries,
Antennas, etc. will be Needed like this
• T2-301 Serial + Power Cable
This cable is designed to simplify connection of the T2-301 TNC/radio
combination. The yellow end connects to the T2-301, and the black
end has the same pinouts as the OT2m, allowing direct connection of
a GPS receiver, PC, Y-splitter cable, etc.
Power is provided to the T2-301 through the red and black power
lead. Anderson Powerpole connectors or a cigarette lighter plug with
LED indicator are available as options below. ($8.00 US)
And This
• FC-301/D Programming Cable
Programming cable for the FC-301/D data radio. Male connector on
one end for connection to the radio, and female on the other for
connection to a PC. Stripped and tinned wires are provided for
power (red for positive and black for ground). The yellow wire
should be left disconnected or grounded. ($9.00 US)
A Payload Microcontroller (is the Robot’s Brain)
• BASIC Stamp 2pe Module
The BASIC Stamp 2pe (Item code: BS2PE)
is a programmable microcontroller that
serves as the brain of the payload. It is able
to control and monitor timers, motors,
cameras, sensors, switches, relays, etc.
The BS2pe-IC is optimized for batterypowered or data logging applications.
Programming is performed in an easy-tolearn language called PBASIC.
http://www.parallax.com/ ($75.00 US)
The Robot’s Nervous System?
• BASIC Stamp 2 Carrier Board
The Parallax BASIC Stamp® 2 carrier
board (Item code: 27120) has 24-pin DIP
socket for the BS2E-IC ($15.99 US). The
board also contains a through-hole
prototype area, battery clip for simple
power connection, and reset button. A 9V
battery is required.
A larger “development” board is available
with USB connection (instead of serial)
Item code: 28850 ($69.99).
Temperature Sensor
(What are the properties of NearSpace?)
• DS2760 Digital Thermocouple Kit
Kit Contents:
Thermocouple Module
K-Type
(Chromel/Alumel)
Element
J-Type
(Iron/Constantan) -60 °C
Element
T-Type
(Copper/Constantan)
Element
Parallax
Item code 28022
$34.99 US
Setting Up the Microcontroller
• Serial Cable
A programming serial
cable is required to
connect the Stamp 2e
microcontroller to a
computer. Software is free.
Item code: 800-00003
($3.99 US)
Setting Up the Microcontroller
• Windows, Mac and Linux Software is a Free
Download from Parallax
PBASIC 2.5 includes desirable features such as
syntax highlighting, IF...THEN...ELSE, and improved
editing features. PBASIC 2.5 is only for the BS2
series of modules.
BASIC Stamp Windows Editor version 2.4.2 (~5.9
MB) Windows 2K/XP/Vista.
Remote Sensing (Robot Eyes)
• Canon (powershot) Digital Camera(s)
(http://chdk.wikia.com/wiki/CHDK)
CHDK is free software – CHDK
released under the GPL, allowing you
to use it for free.
CHDK is a firmware ADDON –
CHDK does not replace the original
firmware, and does not make any
permanent changes to the camera.
Instead, it is loaded from the SD card,
either at startup or using the built in
menu.
CHDK – stands for Canon Hack
Development Kit;
CHDK is experimental and comes
with no warranty
$150 CDN - new
Links to Balloons, Chutes, etc.
• Sounding Balloon from Kaymont
• Parachute by The Rocketman and
http://spherachutes.com/items/spherachutes/list.htm
• Radar Reflector West Marine
• The Pyrotechnic Cut-down Device.
The Military is in Near Space
Robot Warrior Videos etc.
Boston Dynamics Big Dog military robot
General Atomics Reaper
Talon
Toyota Robot
Businesses Are In Nearspace
“What
About
You?”
S.H.A.R.P.
Shaftesbury High
Altitude Robotics
Project
QUESTIONS & MORE QUESTIONS:
Is there good value in S.H.A.R.P.?
Can you see how a BalloonSat Program could enhance learning
in your program area?
Does S.H.A.R.P. fit with our School’s Mission/Vision/Goals?
Would there be sufficient student interest?
Would you be willing to give some of your limited time to
S.H.A.R.P.?
S.HA.R.P.?
BalloonSat Education Related Sites
• http://www.sencer.net/Outreach/pdfs/DCSymposium08/P
osters/ASUballoon.pdf
• http://www.stratostar.net/
• http://www.youtube.com/watch?v=8IJkBRRjrbQ
• http://www.eoss.org/pubs/eossinfo.htm
• http://www.qsl.net/wb9sbd/school.html
• http://www.grc.nasa.gov/WWW/k12/Numbers/Math/Mathematical_Thinking/designing_a_
high_altitude.htm
Even More Links:
http://www.natrium42.com/halo/flight2/
http://vpizza.org/~jmeehan/balloon/