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1. http de wikipedia org wiki HORACE Co N http www presse uni wuerzburg de einblick single artikel nach 600 s 9 http idw online de pages de news524349 10 http www scinexx de business 15805 2013 03 20 html 11 http www pressrelations de new standard dereferrer cfm r 526654 B 2 Logo We designed two Logos for the HORACE project One for general use in publications or presentations and a mission patch for personal use like labels T shirt imprints etc MM 7 MUM gg N MUN PLOY KD Mission Patch HORACE Logo RX16_HORACE_SEDv3 0_03Sep13 docx Page 103 HORACE Student Experiment Documentation EuroLauncn B 3 Poster We designed the poster shown below which supports our presentations e g on information stands and is hung up at the floors of the Chair of Aerospace Information Technology Horizon Acquisition Experiment dabei uA vom der Universitat p wird auf REXUS 16 einer Forschungsrakete f r studentische Experimente im Fr hjahr 2014 mitfliegen Das REXUS BEXUS barung zwisch EUROLAUNCH B 4 Presentations Presentations held by team members about HORACE Date Event Occasion Auditorium 16 01 13 Seminar Avionic Devices for Aerospace Information Technology students at University of Wurzburg 22 01 13 Meeting of German Polish cooperation board for nano satellites at University of Wurzburg 09 02 13 Presentation for all other RXBX teams
2. RX16_HORACE_SEDv3 0_03Sep13 docx Page 19 HORACE Student Experiment Documentation EUuRGLAYNCH 2 4 Operational Requirements ID Requrementtex Respondto 0 01 The FS shall operate fully autonomously C 01 during flight HORACE shall accept a request for radio O 02 C 01 silence at any time while on the launch pad O 03 The FS shall survive several power on off C 01 switching cycles during launch preparation ay The FS iie start the video record latest at D S 03 O 05 The FS shall be shut down completely after F S 03 600sec O 06 The FS shall be testable with EGSE O o7 FS shall accepta start command from the i EGSE 0 08 The received downlink data shall be saved by F S 10 the groundsegment The groundsegment shall allow realtime monitoring of the received downlink data The data storage devices shall be removed directly after recover The integration and assembly of the FS in the module shall be simple Table 2 9 operational requirements 2 5 Constraints Table 2 10 constraints RX16 HOHACE SEDv3 0 03Sep13 docx Page 20 2 HORACE Student Experiment Documentation EuroLAauncn 3 PROJECT PLANNING 3 1 Work Breakdown Structure WBS In the WBS all work packages for HORACE are listed below In Figure 3 1 a broad overview and in the following figures a more detailed breakdown are given An even more detailed version can be found in Appendix C Already finished work packag
3. 2 RX16 HORACE SED v3 0 APPENDIX F PCB 2 PDUCarrierB PDU Carrier Board ottom pdf Layout Bottom Layer F 2 Electronic Schematics Index Schematics Filename Description 1 RX16 HORACE SED v3 0 APPENDIX F SCH 1 DCDC DC DC Converter Converter pdf Module 2 RX16 HORACE SED v3 0 APPENDIX F SCH 2 PDU PDU carrier board Carrier pdf 3 RX16 HORACE SED v3 0 APPENDIX F SCH 3 Arduino pdf Arduino Leonardo microSD module for 4 RX16 HORACE SED v3 0 APPENDIX F SCH 4 microSD Module pdf Arduino 5 RX16 HORACE SED v3 0 APPENDIX F SCH 5 RS232 TTL RS232 TTL Converter pdf converter RX16_HORACE_SEDv3 0_03Sep13 docx
4. The optical sensor shall be sensitive to the visible spectrum The optical sensor shall provide an image resolution of 1024px x 768px P E 10 The exposure time of the optical sensor shall be adjustable in a range from 10usec to 1sec E 11 moved to D E 09 The optical sensor shall provide sharp pictures at least 0 120sec after full illumination UU rm Im 9 9 D H E T i The MU shall measure temperatures with an accuracy of 0 5 C The MU shall measure temperatures ina range from 55 C to 125 C The MU shall measure temperatures with a sample rate of 1Hz The MU shall measure currents with an EIS accuracy of 100mA The MU shall measure currents in a range of The MU shall measure currents with a sample rate of 100Hz 4 O O 19 CO no o OO WN ITI A P E 15 v TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD BD 1 I I I I I u m m o N o gt o w gt Table 5 2 verification matrix 2 7 RX16_HORACE_SEDv3 0_03Sep13 docx Page 74 HORACE Student Experiment Documentation EuroLauncu ID Requirement text 7 X PERFORMANCE REQUIREMENTS EMEN NENNEN v see TR4 1 P E 19 The data storage of the MU shall have a RT memory size of 1 Mbyte p p og The data storage of the MU shall provide a Pena write speed of 2 kbyte sec p p o The data storage for the optical raw data shall FEE have a memory size of 45 Gbyte TM The data storage for the opti
5. EUROLAUNCH A DLR and SSC cooperation SED Student Experiment Documentation Document ID RX16 HORACE SEDv3 0 03Sep13 docx Mission REXUS 16 Team Name HORACE Experiment Title Horizon Acquisition Experiment Team Name Student Team Leader Thomas Rapp Team Members Jochen Barf Matthias Bergmann Sven Geiger Arthur Scharf Florian Wolz Version Issue Date Document Type 3 0 03 September 2013 Spec Issued by Thomas Rapp Approved by Gerhard Fellinger University University of W rzburg University of W rzburg University of W rzburg University of W rzburg University of W rzburg University of W rzburg Valid from 14 December 2010 RX16 HORACE SEDVv3 0 03Sep13 docx Page 2 HORACE Student Experiment Documentation FYRQLAYNCH Change Record Version Date Changed chapters 0 2008 12 18 New Version Blank Book 2010 1 2013 01 28 All PDR 1 1 2013 03 26 1 4 2 3 3 2 3 5 post PDR several comments 4 3 4 4 4 5 2 of panel handled see also 4 4 5 4 7 4 8 5 1 appendix A section PDR 6 3 amp minor changes in other chapters 2 2013 06 06 2 3 4 5 6 1 1 CDR 6 2 6 4 Appendix B C D E F 3 2013 09 03 2 3 4 3 4 4 4 5 post CDR all comments of 4 6 5 6 3 amp minor panel handled see also changes in other appendix A section CDR IPR chapters e 2 classification of req e 2 2 perf req for SW e 3 update e 4 more tech drawings e 4 4 protective window e 4 6 mor
6. Test Number 3 3 Test type Functionality Test Test facility University of Wuerzburg Tested item Software of the Core System Test level A Simulation of the flight will be performed to test the procedure and Core System s capability to run the developed Horizon duration Detection Algorithm Test campaign approx 1 day duration Status Open planned for mid of September Test Number 3 4 Test type Functionality Test RX16_HORACE_SEDv3 0_03Sep13 docx Page 82 HORACE Student Experiment Documentation EuroLauncu Test facility University of Wuerzburg Tested item System Level Test Test level Verify that the Flight System is compatible to the REXUS procedure and interface by testing with a REXUS simulator duration Test campaign approx 1 day duration Status Open planned for mid of September Test Number 4 1 Test type Performance Test Test facility University of Wuerzburg Tested item Data Storage Test level Memory size and write speed of data storage devices procedure and shall be tested according to Performance Requirements duration P E 19 to P E 24 Test campaign approx 1 day duration Status Done 30Aug13 Test Number 4 2 Test type Performance Test Test facility University of Wuerzburg Tested item Power Distribution Unit Test level Verify that PDU provides Voltage and Current with a procedure and specific accuracy according t
7. WP is also allocated to him The whole verification testing and simulation of the experiment that are again divided to several main work packages are Arthur Scharf s job Additionally he is in charge of the complete Public Outreach WP with all its sub packages Currently each team member can contribute approximately 10 15h week for HORACE and all six team members plan to be active and available during all design implementation testing and operational phases of the experiment There are some fellow students who are generally interested in HORACE but not yet part of it for various reasons These could possibly be incorporated into the team if necessary 3 3 2 Budget On the next page the budget plan for HORACE is given As some minor values and travel expenses are yet only estimated marked red but the selection of components is finished except for the protective window a margin of 20 is added The calculation already includes spare respectively test items for critical and long lead items core system camera lenses RX16_HORACE_SEDv3 0_03Sep13 docx HORACE Student Experiment Documentation Page 25 EuROLAUNCH A DLR and SSC cooperation Table 3 1 HORACE budget plan RX16_HORACE_SEDv3 0_03Sep13 docx ID Component Sponsors Status No Single cost EUR Total Cost EUR Electronics 1x delivered 1 Camera mvBlueCOUGAR X102b 2x to be delivered MIO 226
8. 2D vector to the earth center formerly F S 05 Of the calculated data the FS shall save the D S 05 detected horizon line as image data formerly F S 06 D D D Table 2 7 design requirements 2 3 RX16 HOHACE SEDv3 0 03Sep13 docx Page 18 HORACE Student EO Documentation EUuRGLAYNCH od ee N eene DESIGN REQUIREMENTS Of the calculated data the FS shall save the D S 06 calculated extrapolated horizon circle D S 02 formerly F S 07 Of the calculated data the FS shall save the D S 07 stop of calculation timestamp D S 02 formerly F S 08 During flight in every downlink data frame the D S 08 startime of calculation shall be included F S 10 formerly F S 11 During flight in every downlink data frame the D S 09 image frame number of the processed frame F S 10 shall be included formerly F S 12 During flight in every downlink data frame the D S 10 2D vector to the earth center if cal culated F S 10 shall be included formerly F S 13 During flight in every downlink data frame the D S 11 extrapolated horizon circle if cal culated F S 10 shall be included formerly F S 14 During flight in every downlink data frame the D S 12 stop of calculation timestamp should be F S 10 included formerly F S 15 during stand b D S 14 The FS shall downlink the self check status F S 16 during stand b D S 15 The FS shall downlink the temperature during F S 16 stand b Table 2 8 design requirements 3 3
9. There is a lack of mechanical overview drawings Use of helicoils on the bulkhead is suggested do not use nuts Self locking helicoils might also be an option depending on order of assembly e Electronics and data management SED chapter 4 2 2 4 2 3 4 5 amp 4 7 Interface circuits are implemented correctly Team has decided not to use batteries Filtering of the 28V of REXUS is missing Include inductivity choke input filter o Overall power consumption is permissible for two interfaces this is however subject to global system design decisions o In worst case scenario second camera system can be driven in a lower power mode o Second experiment connector is requested there will be a second cable o Team will start integrating two systems and wait for EuroLaunch feedback on the availability of experiment connectors Team would rather drop second system than implement batteries RX16 HOHACE SEDv3 0 03Sep13 docx Page 101 EURSLAUNCH HORACE Student Experiment Documentation o Ripple should be measured on the input line clarify it again o Data rate for uplink 38 4 kbit s e Thermal SED chapter 4 2 4 amp 4 6 o Include shipping as a thermal environment for the camera o Full component list with thermal boundary missing o Approach is quite solid e Software SED chapter 4 8 o Edge detection currently implemented in C on Linux will then move to flight hardware Implement proper shutdown proced
10. and the SOE signal and changes to flight mode after receiving Housekeeping This task collects the information forms it into the Stand By Downlink Data Package and sends it to the ground station Included are temperature currents signals and checks Video Save Video saving is started by TC This task has the sole function to add the unique frame number to the received video data and save them to memory Command This task captures manual TC and sends them to the flight segment where the commands are executed Downlink Save The received data is saved to downlink memory Display The housekeeping data is displayed on a screen according to the specifications of the ground station software in 4 9 3 4 8 1 2 Flight Mode Several tasks start working simultaneously and directly after switching g mom mcm c um EEN MEN AM EM EM AM AM UM NM OAM UM EM m EN OG Um UM EM AM M EE UM EE EE AN bownsTREAM FLIGHT MODE l e uH EH NEM UEM NN NN NN EE NN EE Gm RE EE Er ie E FLIGHT SEGMENT GROUNDSEGMENT N I I I i og i 7 J MEASURE COMMAND ot I I I I B m Be f I I ot I og I E I 7 gf CALCULATION di DISPLAY 1 m a i f I I I og I N dg I I I I N I I Figure 4 33 tasks flight mode Page 64 HORACE Student Experiment Documentation EuroLauncu Measure The measure task receives data from the current an
11. see RA Gee ee CORSI all TES Med Ede ee ees ge el de EEN De Ee ee eg PROJECT PLANNING ees sedisie ee ede ee eie ever edicion dni 3 1 d 2 3 3 3 4 3 5 Work Breakdown Structure WBS ccceeeeeeesseeeeeeeeeeeeeeeeeeeneeees CMO dIE ae dis MA EE N OR N OE a 3 3 1 RE EE NE EE RE EE ss 3392 iio AE RE ER EE EE KS ES Moes EO EO ecectoiet Ouireacn ADDFOSD assets fax ER Qd d Fu o e bud 3 4 1 Scientific news services and University 2 42 LocalPblioiby scie rte EE a 3 4 3 Web presence essere nennen Risk Belielel us m moo omm m EXPERIMENT DESGRIPTION ea ie ee ee ee ie ico de ed 4 1 4 2 4 3 Experiment Se ee ee N ER Ee ee ee ee ee ee neee Experiment Interfaces iss ee ee ee ee AA ee ee nnne 421 Mechanical tm 422 Elaelioal sees Ed CEP 4 23 SE decades aid tasted acid tend esd sw UD RUN 4 2 4 Data Interfaces ee EE EE Ee be EA eg Ao ee DE e Experiment Components sesse ees ee ee ee nnne RX16_HORACE_SEDv3 0_03Sep13 docx Page 4 HORACE Student Experiment Documentation FYRQLAYNCH 44 Mechanical Design ee ex x e Eee ER vedere Ge E ey GED NS ee ee EE N EE EE RENE EE Z5 Camela RE EE EE ER EE EG 45 2 Core RE EE EE 45 3 Measurement Unit aine oret e ns e ue Fs exa 4 5 4 Power Distribution UNI RR ee 46 Thermal DOSIO sni pco eigene EE HE EE MOE Dee ii detinet 4 7 Power System EG ZB Software Des EE ex e Rx RE oe e Ed ce nde rane 4 8 1
12. RS 232 Port of the core system Uplink Figure 4 7 electronic schematic TM TC interface The figures next pages show the complete electronic schematics of the PDU carrier board which implements all electrical interfaces Its PCB layout can be found in Appendix F If two identical systems are flown also two electrical interfaces to RXSM are needed RX16 HOHACE SEDv3 0 03Sep13 docx Page 39 Lf HORACE Student Experiment Documentation EuroLauncn RS 232 Connector for CS Male gt MAX488CPD 4 0 29 EI v2 4uaQ r1uog T4400 T E pu o aje fU a U In de i o U 2 a a uU c f I U y XX U y C D m dy Ld e c a Q T D SUB15 1 D SUB15 8 D SUB15 9 D SUB15 15 D SUB15 3 D SUB15 4 D SUB15 5 D SUB15 6 D SUB15 7 D SUB15 13 D SUB15 14 RXSM Connector lt ea O Q E Figure 4 8 electronics schematic for complete PDU carrier board including signal amp TM TC interface RX16 HORACE SEDv3 0 03Sep13 docx Page 40 EURSLAUNCH cooperation HORACE Student Experiment Documentation Adjustment R14 330uH L3 B2 21K LEDS R12 OND Adjustment 2 2k m R16 T4 NBT 330uH mit STEns O STEns O L4 T 8T8nsS U ET ST8ns U Z S8T8ns U 9 ST8ns U S STENS ST STEns O B ST8hns U B S5T8ns U T ST8hnS U 1 6T8SNT we TH NZT LM2596T ass OND Adjustment R18 330uH dX3 FNI dX3 ITU dX3
13. S 07 movedtoD S 06 iT combined wth F S 03 F209 moved to D S 03 ENE 10 The FS shall downlink calculation data during I flight E oo EE F S F S 14 moved to D S 11 O F S 15 moved to D S 12 N O The FS shall downlink health data during F S 16 stand b Table 2 2 functional requirements 2 2 2 2 Performance Requirements Reguirement text j PERFORMANCE REQUIREMENTS FT P M 01 moved to D M 10 P M 02 The horizon may be visible in 7096 of the F M 01 operational time P M 03 The horizon should be visible in 50 of the F M 01 operational time P M 04 The horizon shall be visibible in 3096 of the F M 01 operational time LP E 01 moved to D E 10 LP E 02 movedto D E 11 P E 03 moved to D E 12 LP E 04 movedto D E 13 LP E 05 movedto D E 14 P E 06 moved to D E 15 LP E 07 moved to D E 16 o P E 08 The optical sensor shall be sensitive to the F E 01 visible spectrum The optical sensor shall provide an image Feo P E 09 esolution of 1024px x 768px diis Table 2 3 performance requirements 1 3 RX16 HORACE SEDv3 0 03Sep13 docx HORACE Student Experiment Documentation Page 14 EuROLAUNCH A DLR and SSC cooper ID Requirementte Respondto PERFORMANCE REQUIREMENTS BEEN P E 10 The exposure time of the optical sensor shall F E 01 be adjustable in a range from 10usec to 1sec P E 11 moved to D E 09 N T The optical s
14. Software ee EE ER EE hrs eere Redde penus 4 82 Data Handlih ga i OUR GEES BEE EE GEE EN RR ECRIRE A83 DeVelopmelb eec ios pto EER EE EE recie te NE e oH OX NE ties OES GE 439 Ground Support EQuipImielhib uuu ndn en reu re e RE e Fede t ad EGOE M AEN PL 49 2 MESSE SG GE GOD dado DOT GIRO TO p dU 4 9 3 Ground SIDE ERK ER GE Se GR EER Ee eek EXPERIMENT VERIFICATION AND TESTING ee ee ee ee ee 5 1 Verification Matrix sd ees sd ge de Ge ge Da ca orb eic ule 52 WESPPISI SG Ge ee 5 3 TES RESUS sie IE ei ID ee GE GE RE LAUNCH CAMPAIGN PREPARATION sse 6 1 Input for the Campaign Flight Requirement Plans 6 1 1 Dimensions and mass sssssssss ee ee ee ee ee 6 42 Safety SKS ER EE eeseee REO 6 1 3 Electrical Interfaces AA KERK t s KG KS ra 6 1 4 Launch Site Requirements eeseseeseesseeeee 6 2 Preparation and Test Activities at Esrange sssssssssss 6 3 Timeline for Countdown and Flight esse ee ee 6 4 Post Flight Activities 2 00 ee RA ee DATA ANALYSIS PLAN netto ER RO Se ge Ek GE Ee ee Ee 7 1 Data Analysis Pla sis esse EE Ke Ee m inlata Ee EE ee EE ee ABBREVIATIONS AND REFERENCES iese esse ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee SJ JADDPOUISIDIS se ean d e EE EE N Dear t 8 2 uat NT 8 3 List of Figures and Tables i een de ese d ea e ce APPENDIX A EXPERIME
15. Student Experiment Documentation EuroLauncn 44 Mechanical Design The two main functions of the mechanical design of HORACE are tight and safe mounting for a safe flight as well as the guarantee of good visibility of the horizon for the cameras Figure 4 16 below shows the mechanical setup of HORACE within the 120mm module Figure 4 16 3D view of flight segment setup For easy and fast integration to the module and good utilization of the available volume every single component for two identical experiment systems is mounted onto both sides of the 4mm bulkhead of the experiment s main structure which itself is mounted to the module with the standardized brackets and bolts The bores are at a height of 61 4mm from the lowest surface of the module To have easy access to the data storage devices before integration in the module and during disassembly they are not boxed Wiring within the module is supposed to be done through the cable feedthroughs of the bulkhead plate The specific location of each component shown in Figure 4 18 amp Figure 4 19 shall ensure a good utilization of volume and footprint area as well as best possible symmetrical assembly to keep the center of gravity near the rockets Zpgr axis see Figure 4 19 Also the two cameras are mounted to the main structure symmetrically and so that their view axes are anti parallel Thus in most cases if the horizon cannot be seen by one camera it is visible for the other one
16. T 600 HORACE will consume about 67W on average if two identical core systems are flown respectively 35W for one system both including 50 margin The signals sent to HORACE from RXSM LO signal SOE signal and SODS signal are processed by a separate signal interface which is physically located on the PDU carrier board The interface uses optocouplers to ensure galvanic separation of the experiment and RXSM and to provide the signals to every component The core system is therefore directly connected to the interface and is directly triggered by the incoming signals which are then forwarded to the MU As the LO and SODS signal are actually the only needed signals the SOE signal is implemented as redundancy if the LO signal was missed because of technical malfunction and is sent to HORACE with few seconds delay to lift off cf 4 8 1 Figure 4 6 signal interface RX16_HORACE_SEDv3 0_03Sep 13 docx Page 38 HORACE Student Experiment Documentation EuroLauncu The core system implements the up and downlink interface to RXSM according to the RS 422 standard defined in the REXUS manual via one of its RS 232 interfaces Therefore the RS 232 to RS 422 converter MAX488CSA is used as shown below More information about data interfaces can be found in 4 2 4 RS422 Interface To RXSM 28V 1 e op 28V42 f SODS SOE LO e o GND 28V 2 GND 28V 1 Downlink o To the
17. actually review of design o Analysis is used a little too often RX16_HORACE_SEDv3 0_03Sep13 docx Page 99 EuroLAUNCH HORACE Student Experiment Documentation o Some of the testing is actually not reflected in the verification matrix o Verification methodology is ok but make sure you treat the whole spectrum of verification methods o Software testing should be considerably increased o Lookinto cold coverage factor for software e Safety and risk analysis SED chapter 3 4 o Becareful with severity 5 is very high o Risk analysis should be reviewed in detail e Launch and operations SED chapter 6 Power on T 1200s should be T 600s Chapter 6 3 is missing missing timeline What do you want do to do before flight Which housekeeping data do you need from EuroLaunch Bring with you switches WLAN must be off for radio silence If batteries are used this experiment needs to be able to be switched to a dead payload functionality o Consider the inclusion of the battery possibility now as it is easier to remove later If both systems are used it looks necessary to include the batteries e Organization project planning amp outreach SED ch 3 1 3 2 amp 3 3 o Team looks to still have the lack of mechanical engineering Team can t find one in Wurzburg due to lack of faculty there o Could look at working with the SpaceMasters students in some capacity o Outreach has begun well and it is hoped that the team keeps this up o Update
18. all even the delay of three weeks does not severely affect the overall project progress The current schedule for the whole project is shown in the following figure The complete schedule with more detailed information in particular for the upcoming implementation amp simulation phase is available in Appendix C RX16_HORACE_SEDv3 0_03Sep 13 docx Page 23 _ Mai 2013 29 20 2 22 23 Marz 2013 to 11 12 13 14 15 16 17 18 Januar 2013 g Ia le lel eels s November 2012 51 52 aa 45 46 47 48 49 so e 10 12 Selection Workshop preliminary design phase Stu nts Training Week 08 02 eg c npooents PD identified components main design phase selected Components rt purchase my Breadbords tested finalized long lead items Alge MATLAB tested CDR Juli 2013 September 2013 Novemb 22 23 24 25 26 27 28 29 30 31 32 33 aa 35 36 37 38 39 40 41 42 43 aa as CDR implementation amp simulation phase All items Cofp tests finished Integration complete full system delivered start integration subsystem tests finished tests complete EAR g EAT M rz 2014 Mai 2014 Juli 2014 i 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 2
19. and being damaged after flight won t obstruct the experiments results or performance 5 Low temperatures may slightly affect the SSDs function in particular the write speed But during count down no high speed data link to the SSD is needed and as the components will heat up as mentioned in 2 this discrepancy is also considered not to be critical If the tests proved the opposite the SSDs can simply be replaced by industrial grade models with operating ranges starting from 40 C which are on the other hand much more expensive and therefore not yet selected 6 The discrepancy between the minimum storage temperature of the cameras and the worst case temperature during the long period of shipping can be handled with proper packaging and insulation Nevertheless the camera will also be tested for low storage temperatures and large exposure periods 7 Neither for the RAM SD shield nor micro SD card datasheets are available Thus although no electrical problems are expected those components will be tested carefully and have possibly to be replaced with more expensive industrial components With the low expected ambient temperatures in Esrange electrical components heating up while working is an advantage on ground but can lead to overheating during flight especially as cooling by convection is not possible due to the vacuum environment Therefore a thermal analysis with the following methodology was performed to examine the heat dis
20. data with video editing software and evaluated frame by frame manually or with special software whereas the matching of the RXSM and housekeeping data to the calculated data will most likely be performed by using spread sheets So all data will be analysed regarding the following aspects e Calculate deviation of detected horizon compared with visible horizon in video frames e Calculate deviation of calculated earth vector compared with vector calculated with RXSM data Determine limits of spinning rates for successful horizon acquisition Calculate ratio of correctly processed frames per second Did false positives occur Detect reasons Did false negatives occur Detect reasons Calculate ratio of successful horizon detections to frames on which horizon is indeed visible e Evaluate correlations between power consumption and algorithmic activities and spinning rates e Evaluate power consumption as important parameter for later operational use With this data analysis and evaluation finally both qualitative and quantitative evidence about the general technical feasibility robustness and accuracy of autonomous horizon detection following the outlined approach will be provided RX16_HORACE_SEDv3 0_03Sep13 docx HORACE Student Experiment Documentation Page 91 EuroLAUNCH 8 ABBREVIATIONS AND REFERENCES 8 1 Abbreviations This section contains a list of all abbreviations used in the document AIT asap BO BR CDR COG C
21. ee 66 Figure 4 38 definition of data packages 2 2 see ee ee Re ee ee 67 Figure 4 39 data Danis coctum RE EE ER EE EE oe Cog n ge d 68 Figure 4 40 screenshot of the GUI prototype for stand by view 70 Figure 6 1 timeline for countdown and fight ese ee RR ee 88 Table 2 1 functional requirements 1 2 eecccesecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 12 Table 2 2 functional requirements 2 2 2 REKE enin tte nene ee 13 Table 2 3 performance requirements 1 3 sesse ee Re 13 Table 2 4 performance requirements 2 3 see 14 Table 2 5 performance requirements 3 3 eese 15 Table 2 6 design requirements 1 3 see AA 16 Table 2 7 design requirements 2 3 ee RR ee ee 17 Table 2 8 design requirements 3 3 see 18 Table 2 9 operational requirements iese Re AA 19 Table 2 10 COMSU ANNES EE ER EER EG Mere o Wee RM ED Eg EE EG Ee HR 19 Table 3 1 HORACE budget plan sesse ede esse see ee ee ee ee ee ee ee ee ee 25 Table 3 2 risk register 13 asses ENE EE EO EO DE N EE EE N EGO Eg ey ee 29 Table 3 3 risk register BA us NEE vena Ee AE RS DE Ee ae ea 30 Table 3 4 risk register 3 3 see ee ee AA ee ee ee 31 Table 4 1 experiment componentS iii ee Re ee ee 46 Table 4 2 Experiment summary table iss ee ee ee ee ee ee ee ee ee ee ee ee 46 Table 4 3 components mass amp dimensions estimated values marked red 52 Table 4 4 Ex
22. order to develop the horizon detection algorithm the open source framework openCV is used To implement the algorithm in C the development environment XCode is chosen The application running on the ground station will also be implemented in Python and is fully specified in 4 9 3 4 9 Ground Support Equipment The HORACE ground support equipment includes all needed technical and organisational tools to prepare and operate the experiment during launch campaign At the current stage the following minimum support items have been identified so far This preliminary list will increase and get more detailed during implementation and testing 4 9 1 EGSE To test modify and prepare the experiment there are one or two notebooks with the needed interfaces software possibly special developed cf 4 8 3 and cables Additionally a 24V 36 DC power supply is used for testing During development and implementation an RXSM simulator device is used for testing So far this device can simulate the signals sent by RXSM and will be extended concerning supported features throughout implementation phase For each data memory device as well as critical components of the flight segment there will be another one as backup 4 9 2 MGSE For correct assembly and disassembly the flight segment into the REXUS module there is a toolkit with several needed tools 4 9 3 Ground Station The ground station consists of two notebooks one for each of the identic
23. the core system which are themselves thermally coupled also to the casing respectively to the bulkhead and thus the complete structure is used as heatsink to dissipate the heat during flight whereas the impact of the cameras and SSDs heating up is negligible Hence the flight is short and the heat takes time to spread no significant heating of the rocket s structure or other experiments is expected even if it is used as heatsink To monitor the experiment s temperature during CD and flight the MU collects housekeeping from temperature sensors at six distinct points of the experiment cf 4 5 3 and downlinks the data to the ground Temperatures are measured at e 2x atthe skin at the protective window one sensor each window e 2x core system one each system e 2x PDU one each system As the given calculations are very basic and come with many assumptions the thermal design will be carefully regarded and tested throughout the complete integration process e g both a thermographic camera and thermo vacuum chamber are available at JMU RX16 HOHACE SEDv3 0 03Sep13 docx Page 60 HORACE Student Experiment Documentation EURGLAYNCH 4 7 Power System The complete power consumed by the HORACE flight segment is drawn from the RXSM which provides maximum 84W 3A 9 28V The power budget of HORACE is expected as shown below both for one and two systems As some values are only estimated marked red at the current stage a mar
24. to use any camera data e g images provided by existing payload cameras 1 2 Mission Statement HORACE on REXUS 16 is a technology demonstration mission for autonomous earth detection on satellites The aim is to prove or disprove the general technical feasibility of the outlined approach During the mission the functionality and robustness of the general approach is tested under realistic space like conditions by means of the HORACE Flight Segment After post flight evaluation it shall be determined whether the approach of autonomous horizon acquisition with a camera in conjunction with image processing algorithms running on an embedded system connected to the camera is indeed apt to re acquire a satellite s attitude under nominal or stress conditions RX16_HORACE_SEDv3 0_03Sep13 docx Page 8 HORACE Student Experiment Documentation EuroLauncu 1 3 Experiment Objectives With HORACE whose development will be part of the mission the following primary objectives shall be reached e Investigate whether horizon acquisition can be performed accurately enough for attitude determination e Determine whether the very dynamic and time critical problem can be solved with an embedded system with reasonable time resolution and power consumption Secondary objectives are e to show physical or systematic limits and problems of the general approach e to determine if a future attitude determination system following the general ap
25. 0 with Intel Atom N455 2x delivered 2 1 66GHz 1x to be ordered 3 EE EE 3 SDRAM 2GB DDR3 667MHz SO DIMM 1x JMU 1x delivered 3 40 00 120 00 4 Arduino Leonardo 3x EXP TECH 3x delivered 3 000 5 Arduino SD shield SxEXP TECH 3xdelivered 3 000 7 temperature sensor DS18B20 8 SSDNow V 200 SVP20053 120G 2 5 9 Micro SD 2GB Class 2 10 CF Card 600x 8GB TS8GCF600 3x DLR 3x delivered 11 LM2596 DC DC regulator module 9x JMU 9x delivered 12 PDU PCB board 3x to be ordered 13 RS 232 TTL Module for Arduino 3x JMU 1x to be ordered 3 14 wiring connectors 15 main structure tobemanufactured 1 10000 1000 16 lens adapter ring 2x ZARM 28 00 84 00 17 mounting support screws Gedex mostly delivered 1 18 protective window amp mounting to be ordered 300 00 Ground Support 19 laptop 2x to be ordered 2 300 00 20 power supply PT avalabeat MU ol ooo oo 21 tools PS Javalabeinteam Oo Other CDR travel expenses for 6th team 22 member JMU 1 23 5th amp 6th team member 2 970 00 1 940 00 SUM EUR 6 863 12 Margin 20 1 372 62 TOTAL BUDGET EUR 8 235 74 Page 26 HORACE Student Experiment Documentation EuroLauncu 3 3 3 External Support The HORACE team is continuously seeking for external supporters for experiment realization especially regarding technical and management expertise hardware provisions and sponsoring as well as financial support Currently t
26. 04 Table 5 4 verification matrix 4 7 RX16 HOHACE SEDv3 0 03Sep13 docx Page 76 EURSLAUNCH Verificatior HORACE Student Experiment Documentation D T Requirement text Y Requrementtext DESIGN REQUIREMENTS The FS shall measure the temperature the D E 08 CS PDU amp camera hole for each system formerly F E 05 nowmore detailed D CO m eo The PDU shall provide 5V and 12V formerly P E 01 The PDU shall provide currents between 0A formerly P E 02 The PDU shall provide voltages with an D E 12 accuracy of 5 formerly P E 03 D The optical sensor shall provide the image E 09 data as raw data formerly P E 11 iw m Mad RS a m Oo gt E 13 accuracy of 200mA formerly P E 04 The PDU shall handle a range of input voltage D E 14 between 24V and 36V formerly P E 05 The PDU shall handle a range of input current D E 15 between 0A and 3A formerly P E 06 R T R T T T R T R T A new timestamp shall be provided with the D E 16 frequency 10 kHz R T formerly P E 07 A 04 HORACE shall not mechanically harm neither the REXUS rocket nor launcher no HORACE shall not mechanically interfere with other experiments HORACE shall be compatible to the REXUS D M 03 mechanical interface according to REXUS The core system shall withstand temperature D M 04 conditions inside the module according to T HEXUS manual The cameras shall withstand temperature V see TR23 D M
27. 05 conditions at the module s skin according to T UC TR2 2 REXUS manual Table 5 5 verification matrix 5 7 3 D 5 Z v TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD J O Ix o o N RX16 HOHACE SEDv3 0 03Sep13 docx Page 77 HORACE Student Experiment Documentation EuroLauncu Requirement text Verificatior DESIGN REQUIREMENTS vt D M 06 The whole FS shall withstand pressure T mo o conditions according to REXUS manual D M 07 The whole FS shall withstand vibration A mo conditions according to REXUS manual i D M 08 Connectors shall be easily accessible D M 09 The data storage devices shall be easily accessible The optical sensor shall be mounted M 10 perpendicular to the zgc axis formerly P M 01 UJ iw T The FS shall save the measurement data with S 01 global timestamp R T formerly F S 03 The FS shall save the calculated data with S 02 global timestamp R T formerly F S 04 R D D D The FS shall save the optical raw data D S 03 bijectively linked to calculated data T formerly F S 09 Of the calculated data the FS shall save the D S 04 2D vector to the earth center formerly F S 05 Of the calculated data the FS shall save the D S 05 detected horizon line as image data formerly F S 06 dai niea D S 06 calculated extrapolated horizon circle formerly F S 07 Of the calculated data the FS shall save the D S 07 stop of calculation timestamp formerly
28. 55 C to 125 C 55 C to 125 C current sensor 65 C to 170 C 40 C to 85 C CORE SYSTEM embedded PC RAM 40 C to 85 C O C to 60 C n a n a CF card 40 C to 85 C 25 C to 85 C SSD 40 C to 85 C 0 C to 85 C POWER DISTRIBUTION UNIT DC DC converter 65 C to 150 C 40 C to 125 C MAX488 65 C to 160 C 40 C to 85 C optocoupler 55 C to 125 C 55 C to 120 C Table 4 5 Operational and storage ranges of the components accordina to datasheets RX16_HORACE_SEDv3 0_03Sep13 docx Page 57 Y 1 l HORACE Student Experiment Documentation EugoLnumcu Phase Comp Shipping Integr Roll out to T 20to T T 10m Flight Post Flight T 20m 10m to LO Camera SD shield 7 7 7 7 7 7 7 7 RS232 TTL micro SD temp sensor current sens emb PC RAM CF card SSD DC DC conv MAX488 optocoupler Table 4 6 comparison matrix of expected and specified temperatures The comparison of specified temperature ranges to the expected ones shows that there are 3 components whose temperature ranges partly are outside the expected ranges or don t overlap completely the camera the core system and SSD All those discrepancies will be tested carefully but they are not considered critical for the following reasons 1 The cameras storage temperature range isn t as low as the minimum possible temperature but electronic problems are not expected as the exposure time is short More cr
29. 6 HORACE SED v3 0 APPENDIX D DS 8 CF Card pdf RX16 HORACE SED v3 0 APPENDIX D DS 9 MAX488 pdf RX16 HORACE SED v3 0 APPENDIX D DS 10 RS232 TTL Module pdf RX16 HORACE SED v3 0 APPENDIX D DS 11 Optocoupler _EL817 pdf Description Camera technical manual Embedded Board MIO 2260 LM2596 DC DC regulator SSD datasheet Arduino Leonardo Datasheet Temperature Sensor Current Sensor CF Card MAX488 Transceiver RS232 TTL Module Optocoupler EL817 RX16_HORACE_SEDv3 0_03Sep13 docx Page 106 HORACE Student Experiment Documentation EuroLauncu APPENDIX E DETAILED MECHANICS This appendix contains more detailed information about the experiment s mechanics like CAD drawings FEM analysis thermal analysis etc and can be found separately on the Teamsite as zip file with the following contents E 1 Engineering Drawings Index Drawing Filename Description 1 RX16 HORACE SED v3 0 APPENDIX C DRAW 1 aD View HORACE with REXUS Full png module 3D View 2 RX16 HORACE SED v3 0 APPENDIX C DRAW 2 S3D HORACE without View png REXUS module 3D View 3 RX16 HORACE SED v3 0 APPENDIX C DRAW 3 Front HORACE with REXUS View Full png module front view 4 RX16 HORACE SED v3 0 APPENDIX C DRAW 4 HORACE HORACE view from Top png above RX16 HORACE SED v3 0 APPENDIX C DRAW 9 CoreSyst Core System Box em open png open 3D View 10 RX16 HORACE SED v3 0 APPENDIX C DRAW 10 Measure Measurement Unit me
30. 8 29 launch campaign a e Flight Report Documentation d 30 06 Evaluation Report Figure 3 6 HORACE roadmap from initialisation to end of project Page 24 EuroLAUNCH HORACE Student Experiment Documentation 3 3 Resources 3 3 1 Manpower As of now the allocation of specific work packages and tasks to the team members has been completed cf 3 1 according to the disposition of fields of work cf 1 5 2 The Project Management work package is assigned to Thomas Rapp the team leader who is ultimately also in charge of the Concept WP and Flight Activities WP even though all team members work on sub packages of them The Engineering WP and Integration WP as well as the sub packages concerning the electronics and mechanics of HORACE are strongly related to each other Following the focus which is a bit different and the team members fields of work Engineering is assigned to Florian Wolz and Integration to Sven Geiger The sub package mechanical design is completely assigned to Matthias Bergmann who will take miscellaneous tasks and share workload with other team members on demand when his main work packages are completed Jochen Barf is responsible for the software design of the flight segment as well as of the ground segment which is divided to several main work packages As he thus is most familiar with the algorithm for horizon detection best the Evaluation
31. ANCE REQUIREMENTS When the rocket is spinning with low rates lt 0 3Hz AND if there are no image disturbances the results of horizon acquisition F S 02 should be successful in 90 of those cases When the rocket is spinning with low rates lt 0 3Hz AND if there are little image disturbances the results of horizon acquisition should be successful in 80 of those cases When the rocket is spinning with low rates lt 0 3Hz AND if there are many image disturbances the results of horizon acquisition should be successful in 50 of those cases When the rocket is spinning with high rates gt 1 0Hz AND if there are no image disturbances the results of horizon acquisition should be successful in 80 of those cases When the rocket is spinning with high rates gt 1 0Hz AND if there are little image disturbances the results of horizon acquisition should be successful in 70 of those cases When the rocket is spinning with high rates gt 1 0Hz AND if there are many image disturbances the results of horizon acquisition should be successful in 30 of those cases The amount of false negative horizon acquisitions should be less than 10 Image disturbances are phenomena like sun in the image lensflares too dark or too bright illumination 2 A horizon acquisition is successful if and only if the ratio between the calculated earth radius and the real earth radius r R holds 0 9 lt r H lt 1 1 a
32. Additionally to increase the mounting stability the cameras are mounted with brackets Both cameras are supposed to have no direct contact to the rocket skin for thermal reasons RX16_HORACE_SEDv3 0_03Sep13 docx Page 48 Pad d HORACE Student Experiment Documentation EuroLauncn and are protected by two windows which do not affect the cameras field of view cf also Appendix A RID report for protective window The windows are due to the materials good optical and thermal characteristics made of borosilicate also known as Duran The glass itself is cylindrical with a height of 3mm and a diameter of 40mm cf Figure 4 25 To mount the glass onto the module it is embedded in a socket which itself is curved on the side which is in direct contact to the module cf Figure 4 21 Figure 4 22 Figure 4 23 Inside the socket the glasses are reinforced with a silicon seal to buffer the vibrations of the rocket and guarantee tight mounting cf Figure 4 24 The socket will use the mounting points originally designated for the conical adapter and the fins Thus the design change does not affect the mechanical interface to the REXUS rocket The components are mostly fixed with M3 and M4 screws brackets To secure the connections locknuts are used in combination with Loctite More exported CAD drawings as well as the original CAD files and reports of stress analysis can be found in Appendix E Figure 4 17 3D view of fl
33. Done 07Aug13 Test Number 2 4 not needed verification method was changed to Review of Design only Test type Thermal Test Status Cancelled Test Number 2 5 Test type Thermal Test Test facility University of Wuerzburg Tested item System Level Test Test level The whole System shall be tested in a Climate Chamber procedure and at 40 C to verify the System is able to power up at such duration temperature conditions as occur during the test campaign in Kiruna too Test campaign duration Status approx 1 day Planned for 06Sep13 RX16_HORACE_SEDv3 0_03Sep13 docx Page 81 HORACE Student Experiment Documentation EuroLauncu Test Number 3 1 Test type Functionality Test Test facility University of Wuerzburg Tested item Software of the Core System Test level Verify that Measurement data calculated data and procedure and optical raw data are saved with global timestamp duration Test campaign approx 1 day duration Status Open planned for end of September Test Number 3 2 Test type Functionality Test Test facility University of Wuerzburg Tested item Software of the GSE Test level Verify that the Ground Support Equipment is compatible procedure and to the FS and is capable of controlling the FS duration Test campaign approx 1 day duration Status Open planned for end of September
34. E T 2s SODS T 3s If one core system is flown If two core systems are flown Table 6 2 Electrical Interfaces to REXUS 6 1 4 Launch Site Requirements At the launch site the following equipment shall be provided 3 desks tables 6 chairs 10x power outlet 230V 50Hz 1 whiteboard flipchart with pencils amp magnets power supply 24V 36V DC for testing Internet access 6 2 Preparation and Test Activities at Esrange With the following plan for preparation and test activities at Esrange during the days right before launch it shall be ensured that the experiment survived the transport to Esrange is working properly and is well prepared for the flight The given plan will be extended and get more detailed as well as procedures for single activities will be defined by experiences gathered during implementation As soon as possible latest on Day 2 of the launch campaign one shall start unpacking the experiment and perform visual inspection of all components Obviously damaged ones are immediately exchanged with spare items After inspection for each subsystem several tests and check out procedures are performed to ensure proper functionality of each subsystem respectively to detect failures early When all subsystem test and check outs are passed the RX16_HORACE_SEDv3 0_03Sep13 docx Page 88 HORACE Student Experiment Documentation EuroLauncn experiment is assembled in the module latest during Day 3 to pe
35. F S 08 During flight in every downlink data frame the D S 08 starttime of calculation shall be included formerly F S 11 During flight in every downlink data frame the D S 09 image frame number of the processed frame shall be included formerly F S 12 During flight in every downlink data frame the D S 10 2D vector to the earth center if cal culated shall be included formerly F S 13 TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD BD Table 5 6 verification matrix 6 7 RX16 HOHACE SEDv3 0 03Sep13 docx Page 78 HORACE Student Experiment Documentation EuroLauncu Requirement text Verificatior DESIGN REQUIREMENTS During flight in every downlink data frame the D S 11 extrapolated horizon circle if cal culated shall be included formerly F S 14 During flight in every downlink data frame the D S 12 stop of calculation timestamp should be included formerly F S 15 The FS shall downlink received signals echo D S 13 during stand b The FS shall downlink the self check status D S 14 during stand b The FS shall downlink the temperature during D S 15 stand b OPERATIONAL REQUIREMENTS The FS shall operate fully autonomously O 01 M during flight HORACE shall accept a request for radio O 02 silence at any time while on the launch pad The FS shall survive several power on off R R R switching cycles during launch preparation The FS shall start the video record
36. FINO dX3 Drs zs nac L5 DT HSXU SUUS HSX NI El LM2596T 1060n8f100nFL68nF C c3 c2 OdD88 X W ANITIN 2 cEC SU INI INMOU 40128UU07 CSIEWD SO 40 Figure 4 9 full electrical interface modules on carrier board RX16_HORACE_SEDv3 0_03Sep13 docx Page 41 HORAGE Student Experiment Documentation Land SEC cooperan 4 2 3 Thermal There are 6 components 2x camera 2x CS 2x PDU which can heat up their environment 4 of them can generate temperatures up to a peak value of 60 C 2xCS and 2xPDU which will only be reached under maximum workload The 2 other components are the two cameras which only heat up to a maximum of 35 under full stress Figure 4 10 heat distribution in the flight segment in vacuum regarding only internal heat sources button up view blue 35 C red 60 C External heat sources are the module itself either through heating up by air friction or hot gas inrush through the camera holes To prevent hot gas inrush the holes for the cameras are mechanically closed with protective windows Heatsinks are mounted onto the parts which generate the most heat PDU and CS Additionally to further decrease the overall temperature the heatsinks are thermally connected to the casings which are connected to the bulkhead Thus the complete structure can serve as a heatsink The expected overall increase in temperature is in the required ranges stated in the REXUS manual For the
37. Interfaces to REXUS sss 87 Table 6 3 timeline for countdown and flight sssessesesssssssse 88 RX16 HOHACE SEDv3 0 03Sep13 docx Page 96 EuroLAUNCH HORACE Student Experiment Documentation APPENDIX A EXPERIMENT REVIEWS Comments of the Selection Board on proposal Comments on the REXUS Proposal HORACE We got the proposal from the students supervisor Within the REXUS BEXUS programme the student team has to represent the experiment by themselves selection workshop reviews launch campaign Looking at available videos from previous rocket campaigns you should convince us that you can perform a reasonable horizon acquisition with your approach camera image processing http Awww explore rexus de Why do need an uplink Note On REXUS an uplink is not normally available during flight What is the reason to measure power consumption The team should add a mechanical engineer The outreach activities should be extended For instance the video could be uploaded on Youtube and you should present your results in e g seminars Which team member is responsible for public outreach Give some more details on the algorithms and the planned evaluation during the presentation Comments on the presentation during Selection Workshop in Bonn e Consider that the Earth is not always blue and the sky is not always black e Conside
38. NCH Figure 4 5 module with brackets and protective windows Two holes are needed at a 90 and 270 angle from the O line with a diameter of 30mm at a height of 58mm from the bottom line to the holes center for the cameras Around these holes 8 bores with a diameter of 3 2mm in 45 steps are required which were originally designated for fins and aluminium adapters but are now used to mount the protective windows Thus this design change does not affect the mechanical interface to the REXUS rocket at all For the mounting of the bulkhead using the default brackets 12 bores with a diameter of 4mm placed at a height of 61 4mm from the bottom line are needed The middle bores are orientated at a 45 135 225 and 315 angle from the 0 line for more CAD drawings cf Appendix E Mechanical stress analysis for the modified module showed that no further measures are necessary to guarantee stability of the module cf Appendix E RX16_HORACE_SEDv3 0_03Sep 13 docx Page 37 HORACE Student Experiment Documentation EuroLauncu 4 2 2 Electrical The HORACE flight segment will use the power provided by RXSM and does not use own auxiliary power supply The unregulated voltage between 24V and 36V is taken to the experiment via the D Sub 15 connector and converted continuously to the needed operating voltages of all electrical components by the PDU cf 4 5 4 throughout the whole experiment operating time from T 600 to
39. NT REVIEWS ee ee ee ee ese ee ee ee ee ee ee ee ee ee RX16_HORACE_SEDv3 0_03Sep13 docx Page 5 EURSLAUNCH HORACE Student Experiment Documentation APPENDIX B OUTREACH AND MEDIA COVERAGE ee 102 APPENDIX C PROJECT MANAGEMENT eene 104 APPENDIX D DATASHEETS ees ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee nennen 105 APPENDIX E DETAILED MECHANICS ee ee ee ee ee ee ee gee ee ee ee ee ee ee 106 APPENDIX F DETAILED ELECTRONICS eee 108 RX16 HORACE SEDv3 0 03Sep13 docx Page 6 HORACE Student Experiment Documentation EuroLauncn ABSTRACT The aim of the Horizon Acquisition Experiment HORACE is to test and demonstrate the capabilities of a new approach for attitude determination which also works under stress conditions like uncontrolled tumbling or spinning with high rates Therefore the experiment processes optical data with image processing algorithms on an embedded system so that the line of horizon is detected in the frames and a vector to the 2D projection of the center of the earth can be calculated Unlike existing earth sensing systems using the IR spectrum to detect the earth HORACE processes video frames of an ordinary camera which is sensitive to the visible spectrum Thus there is strong emphasis on the software components of the system and we imagine a future system which could on
40. PERFORMANCE REQUIREMENTS N EN When the rocket is spinning with high rates gt 1 0Hz AND if there are little image P S 08 disturbances the results of horizon T TBD acquisition should be successful in 70 of those cases When the rocket is spinning with high rates gt 1 0Hz AND if there are many image S 09 disturbances the results of horizon T TBD acquisition should be successful in 30 of those cases The amount of false negative horizon B sun in the image lensflares too dark or too ma bright illumination 2 A horizon acquisition is successful if and only if the ratio between the calculated earth radius and the real earth radius r R holds 0 9 r H lt 1 1 and the error of the calculation of the center of earth e euclidean distance related to the real earth radius R holds e R ER pe Image disturbances are phenomena like 0 1 DESIGN REQUIREMENTS HORACE shall not electrically harm neither the REXUS rocket nor launcher E E P P S 10 D E 01 HORACE shall not electrically interfere with n THD other experiments 04 HORACE shall be compatible to the REXUS D E 03 electrical interface according to REXUS TBD manual The FS shall use camera s as optical EE ED sensor s D E 05 The FS may use 2 cameras TBC TBD The FS shall provide a global timestamp D E 06 synchronized to LO TBD formerly F E 02 The FS shall measure the power consumption D E 07 of selected subsystems TBD formerly F E
41. RP CS DLR EAT EAR ECTS EIT EPM ESA Esrange ESTEC ESW FAR FS FST FRP FRR GSE HK H W ICD VF IPR JMU LO LT LOS Mbps MFH Assembly Integration and Test as soon as possible Bonn DLR German Space Agency Bremen DLR Institute of Space Systems Critical Design Review Centre of gravity Campaign Requirement Plan Core System Deutsches Zentrum f r Luft und Raumfahrt Experiment Acceptance Test Experiment Acceptance Review European Credit Transfer System Electrical Interface Test Esrange Project Manager European Space Agency Esrange Space Center European Space Research and Technology Centre ESA NL Experiment Selection Workshop Flight Acceptance Review HORACE Flight Segment Flight Simulation Test Flight Requirement Plan Flight Readiness Review Ground Support Equipment House Keeping Hardware Interface Control Document Interface Interim Progress Review Julius Maximilians Universit t W rzburg Lift Off Local Time Line of sight Mega Bits per second Mission Flight Handbook RX16 HOHACE SEDv3 0 038Sep13 docx Page 92 HORACE Student Experiment Documentation Eurolaun MORABA Mobile Raketen Basis DLR EuroLaunch MU Measurement Unit OP Oberpfaffenhofen DLR Center PCB Printed Circuit Board electronic card PDR Preliminary Design Review PDU Power Distribution Unit PST Payload System Test SED Student Experiment Documentation SNSB Swedish National Space Board SODS Start Of Dat
42. a Storage SOE Start Of Experiment STW Student Training Week S W Software T Time before and after launch noted with or TBC To be confirmed TBD To be determined WBS Work Breakdown Structure WP work package RX16_HORACE_SEDv3 0_03Sep13 docx Page 93 HORACE Student Experiment Documentation EuroLauncu 8 2 References Books Paper Proceedings 1 EuroLaunch REXUS User Manual 2012 8 3 List of Figures and Tables Figure 1 1 Hierarchy of HORACE cceeceeeeeessseeeceeeeeeeeeeeestseeeeeeeeeeeees 8 Figure 1 2 Subsystems of Flight Segment sees ee ee Re ee ee ee ee 9 Figure 2 1 WBS overview is AE Ee EE REG Mon Cn Se ERU M Ee Be EE Ee Eg de 20 Figure 3 2 detailed WBS Management amp Concept essssss 20 Figure 3 3 detailed WBS Engineering amp Integration 21 Figure 3 4 detailed WBS Flight Activities amp Evaluation 21 Figure 3 5 detailed WBS Public Outreach ee ee RR ee 22 Figure 3 6 HORACE roadmap from initialisation to end of project 23 Figure 4 1 Flight Segment experiment setup ees Re ee ee 32 Figure 4 2 required modifications holes of the 120mm module 34 Figure 4 3 detailed view of bores in the module ssss 35 Figure 4 4 top view of the module with angles of bores indicated 35 Figure 4 5
43. age data of the outer environment of the REXUS rocket to the core system with an unique frame number via GigE Vision interface The core system receives the numbered frames from the camera via GigE Vision interface provided by the embedded computer and saves it via SATA to a fast mass memory SSD In a second step image processing algorithms for horizon detection and the calculation of the 2D vector to the earth center run on the core system The frame number of every processed frame is saved together with the global timestamp and the results of the calculations to another file on the SSD so that bijective matching of the video data with the calculations is ensured The global timestamp is reset at lift off by the core system and is provided by an internal timer of the embedded computer Meanwhile synchronized with the global timestamp the measurement unit which is an Arduino Leonardo extended with a SD shield regularly measures RX16 HOHACE SEDv3 0 03Sep13 docx Page a3 EURSLAUNCH HORACE Student Experiment Documentation the current consumed of each core system and the temperature at six points of the experiment at the lens PDU and core system of each of the two identical systems The measurements with the global timestamp are stored on a SD card within the measurement unit During stand by and shutdown mode cf 4 8 1 the measurements are also passed to RXSM downlink via the core system using the RS 232 interfaces of both
44. al systems both using the same software for up and downlink Both are connected to the Science Net using the RS 232 interface The three main tasks are saving downlink data displaying downlink data and sending telecommands on ground To fulfil those tasks special software with the following features is developed cf also 4 8 3 Save The raw downlink data is saved automatically on the notebook s hard drive to a file whose name and path can be set in the preferences of the ground station software RX16_HORACE_SEDv3 0_03Sep13 docx Page 70 HORACE Student Experiment Documentation EuroLauncu Display To display the data it is parsed and shown on a GUI As there are different modes of the core system also the ground station represents them with different views which show only information available and necessary for the current state of countdown and flight A status bar indicates whether the connection to the system is established and which of both systems is connected either master core system or slave core system View for Stand By Mode In this view while the rocket is still on ground information of the current state e g bootup information self check results of the core system is printed to a scrollable text area using colours to indicate success and failures Additionally the housekeeping data collected by the MU is continuously displayed if the ground station is linked to the master core system indicating u
45. and operational requirements are defined which must be fulfilled to reach the Mission Objectives cf 1 3 All requirements can uniquely be identified with its appropriate number X Y Z according to this scheme X F functional requirement P performance requirement D design requirement O operational requirement Y M mechanical E electrical S software Z consecutive number starting with 01 2 1 Functional Requirements ID Requirement text 7 F E 01 The FS shall observe optically the outer MEME enivronment of the REXUS rocket F E 02 moved to D E 06 NN F 03 The FS shall distribute power to all ENEN subsystems combined wth F E 05 to F E 06 aside moved to D E 07 combined wth F E 04 to F E 06 HE DT moved to D E 08 The FS shall measure health data of selected subsystems and at selected points of the experiment The mounting of the optical sensor should ensure visibility of the horizon The FS shall detect and calculate the line of horizon The FS shall calculate the 2D vector to the 2D projection of the earth center The FS shall save the experiment data with global timestamp combined wth F S 04 amp F S 09 original requirement moved to D S 01 Table 2 1 functional requirements 1 2 RX16 HOHACE SEDv3 0 038Sep13 docx Page 13 HORACE Student Experiment Documentation EuroLauncu combined wth F S 03 EIEN F S 05 movedtoD S 04 F S 06 movedtoD S 08 ooo F
46. apter 4 2 1 amp 4 4 o Team doesn t have a mechanical engineer currently o If parts break off from the rocket that can influence flight dynamics o So team should be able to prove somehow that the system is fastened well and strong enough o Consider working on both sides of a single bulkhead rather than using two bulkheads Box your electronic boards up to protect them Team is looking at just holes This would mean hot gas coming in on entry Team needs to think on how large these holes are for the correct angle of view o Brackets are upside down o Cable feedthrough is needed at 180 for both bulkheads if used e Electronics and data management SED chapter 4 2 2 4 2 3 4 5 amp 4 7 o Interface to REXUS is ok o Power consumption is unclear right now o DCDC converters would be more efficient o With a second camera more power required could exceed the budget o Team perhaps power consumption is much higher than earlier O O O O O O 0 0 RX16_HORACE_SEDv3 0_03Sep13 docx Page 98 HORACE Student Experiment Documentation EuroLauncu o Input to power has a large capacitor which should be removed if not valid o Power consumption is at limit but with a 25 margin be careful of DCDC converter efficiency o COTs board with unnecessary components that are unlikely to perform or survive for a rocket launch Important to make sure they are safe enough for the launch Long boards need to be supported against bending stresses Better i
47. apter is placed in the module to close the gap between the module s skin and the lens without obstructing the camera s field of view Originally it was planned to match the calculated data also with recorded flight data of flight dynamics for post flight evaluation But that data cannot be provided by RXSM with the needed accuracy and would only bring new information about the experiment s performance if the video data was lost Furthermore if an own recording system was designed and implemented in case of loss of data it would be very likely that also parts of the flight dynamic data would be lost Thus it was decided that no such recording system will be implemented and that one will forego the matching of the calculated data with data of flight dynamics As already discussed on PDR level it is planned to let two identical systems fly in the same module Unlike the demand of the PDR panel to implement RX16_HORACE_SEDv3 0_03Sep13 docx Page 34 HORACE Student Experiment Documentation EuroLAauncn own auxiliary power units to mitigate the problem that with two systems HORACE would consume too much power and thus exceed the total power budget of REXUS some changes in the electrical design cf 4 5 are introduced which led to lower power consumption cf 4 7 As it has not yet been confirmed by EuroLaunch if that approach solves the problem adequately the decision to fly two systems stays preliminary If it is declined by Eu
48. art of the mechanical workgroup and thus involved in the device assembly and mechanical integration of the experiment focusing on procedures for assembly during launch campaign Thomas is in his third undergraduate year of studies of Aerospace Information Technology at University of Wurzburg Jochen Barf Algorithmic Development Jochen s main task is to develop smart algorithms which detect the horizon in the video frames and to calculate a 2D vector to the earth center reliably and as fast as possible He will also develop the required software components of the ground segment for TM TC Jochen is a student of Aerospace Information Technology at University of Wurzburg in his third undergraduate year RX16_HORACE_SEDv3 0_03Sep13 docx Page 11 EuroLAUNCH HORACE Student Experiment Documentation Sven Geiger Embedded System Development amp Porting Its Sven s job to make sure that Jochen s algorithms will run on the embedded system of the HORACE System He is also responsible for the rest of the embedded programming which is necessary for the experiment to run properly and assists in the development of the software for ground segment Sven is in his third undergraduate year of studies of Aerospace Information Technology at University of W rzburg Florian Wolz Electrical amp Mechanical Engineering As electrical engineer Florian ensures that every component is supplied with power and that the power consump
49. cal raw data shall ETE provide a write speed of 71 Mbyte sec pe Uie P E 23 The data storage for the calculated data shall RT V see TRA 1 have a memory size of 77 Mbyte The data storage for the calculated data shall PER provide a write speed of 130 kbyte sec RE Lic P S 01 The 2D vector to the earth center should be calculated with 2 digits P S 02 P S 03 The system shall process 30fps for horizon The system shall calculate the 2D vector to the earth for every successful horizon detection detection When the rocket is spinning with low rates P S 04 lt 0 3Hz AND if there are no image disturbances the results of horizon acquisition should be successful in 90 of those cases acquisition should be successful in 50 of those cases When the rocket is spinning with high rates gt 1 0Hz AND if there are no image P S 07 disturbances the results of horizon When the rocket is spinning with low rates 0 3Hz AND if there are many image P S 06 disturbances the results of horizon acquisition should be successful in 8096 of those cases EL NN oom When the rocket is spinning with low rates 0 3Hz AND if there are little image P S 05 disturbances the results of horizon T TBD acquisition should be successful in 80 of those cases Table 5 3 verification matrix 3 7 RX16_HORACE_SEDv3 0_03Sep13 docx Page 75 HORACE Student Experiment Documentation EuroLauncu ID Requirement text 7
50. caused M C 3 by a mechanical influence TC 170 Net gas inrush through unportected camera holes TC 171 remainder of TC 170 TC 180 hot gas flow damages lens B l4 Experiment can not be VE 010 recovered or mass storage 4 is destroyed during landing VE 020 Camera gets loose from structure Table 3 4 risk register 3 3 RX16 HORACE SEDv3 0 03Sep13 docx gt recovery procedure gt integration procedure gt backup after recovery gt complete shutdown before landing gt secure mounting of memory device gt recovery procedure gt integration procedure gt backup after recovery gt complete shutdown before landing gt secure mounting of memory device gt recovery procedure gt integration procedure gt backup after recovery gt complete shutdown before landing gt secure mounting of memory device gt protect holes with fin gt close gap with adapter gt protect lens with fin gt downlink minimum data gt vibration tests gt secure mounting Page 32 HORACE Student Experiment Documentation EuroLauncn 4 EXPERIMENT DESCRIPTION 4 1 Experiment Setup Measurement Unit i lt p LO Signal SOE Signal To REXUS Rocket SODS Signal Core System Figure 4 1 Flight Segment experiment setup As already given in Chapter 1 4 the subsystems of the Flight Segment are the core system the camera the PDU the measurement unit and the structure The camera passes its im
51. cial events to increase public awareness of our activities To reach this approach we will have to diversify what kind of information we will provide in which case For that we spotted three parts of news distribution the scientific news services and University local newspaper TV broadcasts and the presence on the internet 34 1 Scientific news services and University As proposed in SED v1 0 we released an article about our experiment through the scientific news services of our University to describe and share Our progress we made with the experiment see Appendix B for links to the articles Further articles are planned for October and for March 2014 to present the outcome of our experiment RX16_HORACE_SEDv3 0_03Sep13 docx Page 27 HORACE Student Experiment Documentation EuroLauncu Additionally presentations at University of Wurzburg which already were part of our outreach approach will be continued On January 16th 2013 two of our team members presented the concept and first details about our experiment to a group of students and on January 22th 2013 our team leader held a presentation in front of a European audience to get them a glimpse into what projects our university is involved in On May 27th Thomas and Jochen presented in front of an English class to describe the experiment objectives and to arouse more interest for what we are doing Additionally we are in touch with our Supervisor to organize a lecture abo
52. complete simulation report see Appendix E 4 2 4 Data Interfaces In order to gain safe and reliable data and signal interfaces both to RXSM and for intra experimental communication protocols will be implemented for each RS 232 interface of the core system The core system conditions the data to be sent to ground station via the RXSM telemetry infrastructure as well as TC is implemented by the RS 232 interface of the core system TC is used for on ground commanding and pre campaign testing verification During flight TC is not needed for operational functions although it is implemented for testing RX16 HOHACE SEDv3 0 03Sep13 docx Page 42 HORACE Student Experiment Documentation EuroLauncn Take note that in this chapter only protocols for transmitting and receiving are described on a low level e g formatting and failure recognizing For more information about the transmitted data packages see 4 8 2 For definition of master core system resp slave core system see 4 5 2 4 2 4 1 First RS 232 of Master Slave CS The following protocols are implemented to the first RS 232 interface of both master and slave core systems CS gt RXSM Used for downlink data packages according to software mode cf 4 8 2 Baud rate 38 4 kbit s Format 8 bits 1 start and stop bit no parity Used Pins TX pin for transmitting downlink protocol frames The header information of the downlink protocol frame consists of a synchronisa
53. cy to LO FS all stop saving safe system shutdown RXSM POWER OFF Table 6 3 timeline for countdown and flight RX16 HOHACE SEDv3 0 03Sep13 docx Page 89 EuroLAUNCH HORACE Student Experiment Documentation 6 4 Post Flight Activities Directly after flight the received and saved downlink data will be backed up to external data storage devices to prevent loss of data by accident While waiting for recovery first brief evaluations of the downlink data are performed to estimate the experiments performance which will be presented during Post Flight Meeting As first action of disassembly the Flight Segment s data storage devices are removed carefully and immediately backed up Afterwards the complete Flight Segment is disassembled step by step and all components inspected Disassembly and inspection are well documented regarding check lists and including photos Finally all components and the complete equipment is packed and prepared for transportation following packing procedures RX16_HORACE_SEDv3 0_03Sep13 docx Page 90 HORACE Student Experiment Documentation EuroLauncu 7 DATA ANALYSIS PLAN 7 1 Data Analysis Plan During the post flight analysis the calculated data will be both matched with the recorded video data and collected housekeeping data as well as with flight data collected by RXSM and data from pre flight simulations and tests Therefore the calculated data will be visualised layered in the video
54. d is used to be sure that actually a TC was sent the cyclic redundancy check ensures that a correct command was gained Besides TC also the different signals provided by RXSM will be trapped with this interface To prevent glitches on the signal line being misinterpreted as signals as a rising edge event occurs the CS waits for a falling edge event for 15ms before accepting the signal Figure 4 12 protocol frame RXSM gt CS Sync synchronisation word Command telecommand word CRC cyclic redundancy check 4 2 4 2 Second RS 232 of Master CS only The following protocols are implemented on the second RS 232 interface of only the master core system but not respectively implemented but deactivated on the slave core system MasterCS MU Used for TC and signal forwarding as well as providing time synchronisation Baudrate 38 4 kbit s Format 8 bits 1 start and stop bit no parity Used Pins TX pin on CS for transmitting protocol frames CD pin on CS for forwarding LO SOE and SODS Signal DSR pin on CS for sending time pulse RX pin on MU for receiving protocol frames CD pin on MU for trapping forwarded LO SOE SODS signal DSR pin on MU for capturing time pulse The synchronisation word indicates a new protocol frame while a checksum is used for failure recognition While the data package contains the current time of the core system also a pulse on the DSR pin is sent when transmitting this protocol frame This provide
55. d temperature sensors adds the global timestamp and saves them to memory Video Save This task has the sole function to add the unique frame number to the received video data and save them to memory Calculation The first part of the calculation is a threshold filter which decides if a pixel is bright or dark by comparing it to a parameter called threshold value and assigns its corresponding value An edge detection marks the borders of bright and dark areas in the resulting picture Therefore it uses the parameters low threshold value and high threshold value Now as edges are found the line detection searches for a line by extrapolating edges beginning at the border of the frame Here the parameter range affects the decision which pixel belongs to the horizon line After the curve of the horizon has been detected the vector to the 2D projection of the earth is calculated by finding the center of the circle which is determined by the curve During and after each calculation selected data specified in 4 8 3 is sent to the downstream and saved to memory wa um um um um um um Uum Um EUM WEN UM Um Um Em EM UM Um Um EM EM UM Um Um Em EE Um Um um EE my VECTOR CALCULATION id d CALCULATION 1 L THRESHOLD Ed FILTER s I AE EE 1 EDGE sets low threshold value 1 DETECTION high threshold value I I 1 I 1 LINE DETECTION I I E E L Lj mmmmmmmummummmummummmummmumummmummummumummmummumm
56. during STW 27 05 13 Presentation in the context of English course English for Academic Purposes students of all fields of study attending at University of Wurzburg RX16_HORACE_SEDv3 0_03Sep 13 docx Page 104 HORACE Student Experiment Documentation APPENDIX C PROJECT MANAGEMENT EuroLAUNCH This appendix contains additional information about project management and can be found separately in a zip file with the following contents Index Filename RX16 HORACE SED v2 0 APPENDIX C 1 full WBS 01Jun13 pdf 2 RX16 HORACE SED v3 0 APPENDIX C 2 schedule 02Sep13 mpp 3 RX16 HORACE SED v2 0 APPENDIX C 3 Verification Objecti ves 02Sep13 pdf RX16 HOHACE SEDv3 0 03Sep13 docx Description Full WBS PDF Complete Schedule MS Project 2010 interactive Verification Objectives Page 105 HORACE Student Experiment Documentation APPENDIX D DATASHEETS EuroLAUNCH The appendix can be found separately on the Teamsite as zip file with the Index Filename 1 2 Co o gt RX16 HORACE SED v3 0 APPENDIX D DS 1 camera pdf RX16 HORACE SED v3 0 APPENDIX D DS 2 embedded b oard pdf RX16 HORACE SED v3 0 APPENDIX D DS 3 DCDC regulator pdf RX16 HORACE SED v3 0 APPENDIX D DS 4 SSD pdf RX16 HORACE SED v3 0 APPENDIX D DS 5 Arduino Leona rdo pdf RX16 HORACE SED v3 0 APPENDIX D DS 6 Temperature Sensor pdf RX16 HORACE SED v3 0 APPENDIX D DS 7 Current Sens or pdf RX1
57. e detailed e 5 update e 6 3 update 4 Pre Campaign 5 Final report Abstract This paper contains the complete documentation of the HORACE project which is payload on REXUS 16 The current version 3 0 represents the frozen status after CDR covering all comments recommendations of the CDR panel and giving the final design and current status of implementation which is to be discussed during IPR REXUS 16 SED Student Experiment Documentation HORACE Horizon Keywords Acquisition Experiment University of W rzburg RX16_HORACE_SEDv3 0_03Sep13 docx Page 3 HORACE Student Experiment Documentation FYRQLAYNCH CONTENTS EA SE EE E E EE INTRODUCTION ausis enasud dean ax eu eR Rec VR E ek GE RE Re C Ee trn 1 1 1 1 2 1 3 1 4 1 5 Scientific Technical Background sesse RR ee ee Mission Statement Ee Ee ES Ee Se Ee EE Experiment Objectives iese ee ee GAS nre be Gee ER Re SE Ee Er ape RR pena aep ie Experiment CODO so pite tent ento pex er Ge NE ax den cen Brad ee ee uae Team ILI pr ion Contact POEIER IEODR EUER ELE CURE CLIE CUIR CLP XD EFL IRE 1 5 2 Team Member SR cin veces N SR SE Ke Ke RA URL cas EXPERIMENT REQUIREMENTS AND CONSTRAINTS 2 1 2 2 2 3 2 4 2 5 Functional Requirements sesse ese ee AA ee nnne Performance Requirements i iese es Design Requirements sessie es EE kes ee bbs baee pus bee Re Ee poni be es pue Operational Requirements
58. e health data of selected F E 06 subsystems and at selected points of the experiment The mounting of the optical sensor should F M 01 Ho ensure visibility of the horizon The FS shall detect and calculate the line of F S 01 f horizon The FS shall calculate the 2D vector to the 2D F S 02 ed projection of the earth center The FS shall save the experiment data with F S 03 global timestamp combined wth F S 04 amp F S 09 original requirement moved to D S 01 i R T sf R T R T R T combined wth F S 03 F 5 04 moved to D S 02 F S 05 moved to D S 04 F S 06 moved to D S 05 F S 07 moved to D S 06 F S 08 moved to D S 07 combined wth F S 03 F 5 08 moved to D S 03 F S 10 The FS shall downlink calculation data during E flight S 11 Pe S 15 FST sie The FS shall downlink health data during ma pm stand b Table 5 1 verification matrix 1 7 F moved to D S 08 TBD TBD TBD TBD TBD TBD TBD TBD BD Page 73 HORACE Student Experiment Documentation EuroLauncu Requirement text Verificatior PERFORMANCE REQUIREMENTS M 01 moved to D M 10 P M 02 The horizon may be visible in 70 of the A operational time The horizon should be visible in 5096 of the A operational time U z o 03 04 The horizon shall be visibible in 3096 of the operational time moved to D E 10 moved to D E 11 moved to D E 12 DOOD U MM Im ololol c GOINI 0 rm o A
59. emp nt M M1 M2 M3 S S1 S2 S3 MasterCS To MU Data Package Figure 4 37 definition of data packages 1 2 RX16 HOHACE SEDv3 0 03Sep13 docx Page 67 HORACE Student Experiment Documentation EuroLauncn Calculation Data Package Sync Frame St Extrapolated Vector Horizon Line Time Horizon Temp Temp Temp Temp Temp Current Current M1 M2 M3 S1 S2 S3 M S Figure 4 38 definition of data packages 2 2 veran bweemorki sol Downlink 626 4 kbyte 52 8 kbyte Table 4 9 data amount if two core systems are flown RX16 HOHACE SEDv3 0 03Sep13 docx HORACE Student Experiment Documentation Case Required bandwidth Page 68 E UROLAUNCH Table 4 10 required bandwidth for downlink VR um um WEN EM UM EM EM WEN EM UM EM UEM UEM EM WEI NM WEN WEN WEN NM WEN NM WE WE WE WE WE EE WE WE EE EE EE RA N C wm m m um m m m M EE UM OM m EM SEM EM Um UM ME NM EM GE GE GM OG UM ME UM GM EE UM GE UM ME UM UM GM EE UM ME EE EN S e Figure 4 39 data handling CURRENT ta VIDEO SAVE d CALCULATION j DOWNSTREAM n ie DISPLAY m um Gm EE EE EE WE WE WE WE WE WE WE EE WE WE EE WE WE EE WE EE EE EE EE EE GO GS EE GS mm mm mu 9 DATA HANDLING TEMPERATURE P MEASUREMENT s MEMORY put VIDEO Ko MEMORY FQ CALCULATION ke MEMORY P DOWNLINK he MEMORY Eon SAVE Page 69 EuroLAUNCH HORACE Student Experiment Documentation 48 3 Development In
60. en OA and 3A F E 03 C 01 formerly P E 06 Table 2 6 design requirements 1 3 RX16 HOHACE SEDv3 0 038Sep13 docx Page 17 HORACE Student Experiment Documentation EuroLauncu Respondto J DESIGN REQUIREMENTS The PDU shall handle a range of input current D E 15 between 0A and 3A F E 03 C 01 formerly P E 06 A new timestamp shall be provided with the D E 16 frequency 10 kHz D E 06 formerly P E 07 HORACE shall not mechanically harm neither other experiments HORACE shall be compatible to the REXUS D M 03 mechanical interface according to REXUS C 01 manual The core system shall withstand temperature D M 04 conditions inside the module according to C 01 REXUS manual The cameras shall withstand temperature D M 05 conditions at the module s skin according to C 01 REXUS manual The whole FS shall withstand pressure conditions according to REXUS manual The whole FS shall withstand vibration D M 07 conditions according to REXUS manual Connectors shall be easily accessible The data storage devices shall be easily 0 11 accessible The optical sensor shall be mounted D M 10 perpendicular to the Zg axis formerly P M 01 mee S 01 global timestamp S formerly F S 03 The FS shall save the calculated data with S 02 global timestamp formerly F S 04 The FS shall save the optical raw data S 03 bijectively linked to calculated data formerly F S 09 Of the calculated data the FS shall save the D S 04
61. ensor shall provide sharp e FEE VE pictures at least 0 120sec after full illumination Pel The MU shall measure temperatures with an accuracy of 0 5 C The MU shall measure temperatures ina range from 55 C to 125 The MU shall measure temperatures witha sample rate of 1Hz The MU shall measure currents with an accuracy of 100mA The MU shall measure currents in a range of P E 17 OA to 3A D E 07 P E 18 The MU shall measure currents with a sample D E 07 rate of 100Hz P E 19 The data storage of the MU shall have a D S 01 memory size of 1 Mbyte P E 20 The data storage of the MU shall provide a D S 01 write speed of 2 kbyte sec P E 21 The data storage for the optical raw data shall D S 03 have a memory size of 45 Gbyte The data storage for the optical raw data shall amp FEE provide a write speed of 71 Mbyte sec Di P E 23 The data storage for the calculated data shall D S 02 have a memory size of 77 Mbyte The data storage for the calculated data shall P E 24 brovide a write speed of 130 kbyte sec PUE The 2D vector to the earth center should be P 9 01 calculated with 2 digits oe P S 02 The system shall calculate the 2D vector to the F S 02 earth for every successful horizon detection P S 03 The system shall process 30fps for horizon F S 01 detection Table 2 4 performance requirements 2 3 RX16 HOHACE SEDv3 0 03Sep13 docx Page 15 HORACE Student Experiment Documentation EuroLauncu PERFORM
62. es are written in italics 1 Management 2 Concept 3 Engineering 4 Integration G Thomas Rapp G Thomas Rapp Florian Wolz O Sven Geiger 5 Flight Activities 6 Evaluation 7 Public Outreach Thomas Rapp J Jochen Barf Figure 3 1 WBS overview 1 Management 2 Concept 1 1 project management 2 1 basic concept Thomas Rapp 1 2 project control 2 2 requirement definition Thomas Rapp 1 3 documentation 2 3 algorithmic approaches Thomas Rapp 1 4 risk management 2 4 evaluation plan Thomas Rapp Jochen Barf Arthur Scharf Figure 3 2 detailed WBS Management amp Concept RX16 HOHACE SEDv3 0 03Sep13 docx Page 2 HORAGE Student Experiment Documentation EugoLnumcu 3 Engineering 4 Integration Florian Wolz 3 1 power supply 4 1 embedded porting 3 2 electronics design 4 2 assembly Florian Wolz 3 3 mechanical design 4 3 system verification 3 4 software design 4 4 ground segment preparation D Jochen Barf Arthur Scharf Sven Geiger 3 5 ground segment design Jochen Barf Arthur Scharf Sven Geiger Figure 3 3 detailed WBS Engineering amp Integration 5 Flight Activities 6 Evaluation Thomas Rapp Jochen Barf 5 1 mission plan 6 1 data preparation Thomas Rapp Arthur Scharf 5 2 FRP 6 2 data analysis 5 3 first post flight analysis 6 3 campaign report Thomas Rapp 6 4 final experiment report Thoma
63. etups only one MU is integrated During stand by and shutdown mode cf 4 8 1 the measured data is passed to RXSM downlink via the core system using the RS 232 interface implemented by the RS 232 TTL converter placed on the SD shield The Arduino Leonardo is ideal to read out sensors with little power consumption and a simple interface to the core system can be implemented Additionally the platform is well documented and many extensions like the SD shield are available 4 5 4 Power Distribution Unit The power distribution is performed with a set of DC DC regulators LM2596 produced by Linear Technology one for each needed voltage The modules are able to handle the unregulated input voltage from RXSM of 24V to 36V and provide very stable voltages and currents The operating temperature range is between 40 C and 125 so the modules might have to be cooled by a link to passive heatsinks or to the bulkhead Each PDU for one system consists of three regulator modules which are placed on the PDU carrier board for complete electronics schematics cf 4 2 2 and Appendix F RX16 HOHACE SEDv3 0 03Sep13 docx Page 55 HORACE Student Experiment Documentation EuroLauncn DC DC Converter the potentiometer R2 will be replaced with fix value a sd LEXIC 1 di Figure 4 27 electronics schematic for one DC DC converter module The first module PDU 1 provides 12V power only to the core system and uses t
64. f the power solution is worked on sooner rather than later since it can be messy to implement at a late stage Team must implement batteries or use just a single unit Power system and batteries will influence all other systems and so a decision should be made quickly for this e Thermal SED chapter 4 2 4 amp 4 6 o Not much there right now Nice that team was able to identify this o Environment considered and the Component ranges should be added in this section Thermal experiment interface deleted please put it back in Hot gas inrush needs to be looked at carefully Power dissipation of the FPGA will need to be checked and tested very carefully e Software SED chapter 4 8 o Should switch to experiment phase before lift off so that it can be checked out thoroughly o Look to use SOE and SODS before or after lift off so that you can better test your experiment o How do you ensure that none of the data is corrupted during shutdown o Processers need to be brought to safe mode directly before switch off o Look for the data packages to use bytes rather than bits as this can be easier to implement but could also be adapted Please implement an uplink capability for on ground testing Use this for a memory reset function You have very nice diagrams but halfway between block diagrams and flow diagrams good to be careful with this but diagrams are generally clear and informative e Verification and testing SED chapter 5 o Some items are analysis but are
65. fimmxi5mmximm 0005 00005 10JCF Card 60x8GB TSBGCFO0 2 5 OOMO 0028 11 M2S96DC DCregulatormodule 6 45mmx20mmxismm 00120 00720 RS 232 TTL Module for Arduino ET x 30mm x 12mm 0 0040 0 0040 Mjwiing conecors 1 o 0 2000 0 2000 15 mainstructure e 1 5000 1 5000 lens adapter ring EE 25mm x ca 20mm 0 0200 0 0400 EE ee 0 mounting support screws 0 1400 0 140 protective window amp mounting NEE HE 01000 SUM kg 3 2329 Margin 1096 0 3233 TOTAL MASS kg 3 5562 Table 4 3 components mass amp dimensions estimated values marked red RX16 HORACE SEDv3 0 03Sep13 docx Page 53 HORACE Student Experiment Documentation EuroLauncn 4 5 Electronics Design 4 5 1 Camera The camera which observes the outer environment is the industrial CMOS camera mvBlueCOUGAR X102b manufactured by Matrix Vision It provides the image data as consecutively and uniquely numbered frames via GigE Vision interface to the core system This interface provides a fast data throughput to the core system also for frames with high resolution Through the integrated FPGA during implementation various settings like exposure time resolution and frame rate can be programmed With those variable settings it is possible to adjust the frames exactly to the needs of the algorithm even in a later development process Is it planned to set a frame rate of 30fps an 8bit colou
66. gin of 5096 is added Components indicating a consumption of OW are directly supplied by their carrier component thus no extra consumption must be added Current Single power W Flight power Electronics 1 Camera mvBlueCOUGAR X102b MIO 2260 with Intel Atom N455 2 1 66GHz 12 0000 3 SDRAM 2GB DDR3 667MHz SO DIMM C ilesaroteoraso af soe oud ala 5 Arduino SD shied a o000 o0oool ooo rfemperature sensor sis ooo ooo o oo co 8 SSDNow V 200 SvP200s3 1206 2 5 2 20650 1000 207 413 C s wsospzcsdas 3 oco ono ao oto 10 CF Card 600x 8GB TS8GcF600 2 00000 0000 000 000 LM2596 DC DC regulator module Se MANE AE EE 12 PDUPCBboard Tt 510 00 slespmwesaaa a emm om oo ow 14 T connectors 0 00 SUM one system W 23 39 Margin 50 11 69 TOTAL CONSUMPTION one system W 35 08 SUM two systems W 44 77 Margin 50 22 39 TOTAL CONSUMPTION two systems w 67 16 Table 4 8 HORACE power budget RX16_HORACE_SEDv3 0_03Sep13 docx Page 61 HORACE Student Experiment Documentation EuroLauncu 4 8 Software Design 4 8 1 Software Modes There are three software modes stand by flight mode and shut down After power on the flight segment is in stand by mode By receiving the LO signal or the redundant SOE signal the mode will be switched to the flight mode When the internal clock reaches Ts T 590s t
67. he first 28V power line provided by RXSM The second module PDU 2 converts the 28V provided by the second power line of RXSM also to a 12V output to supply the camera and the SSD Additionally the third module PDU 3 is also powered by PDU 2 and converts the 12V output of PDU 2 to 5V which supply the MU the SSD as well as the RS 422 to RS 232 converter placed on the PDU carrier board Figure 4 28 PDU modules placed on the carrier board The used stepdown regulator chip LM2596 is very power efficient and provides enough current for the system In addition with the given circuit the voltage can be adjusted very accurately RX16_HORACE_SEDv3 0_03Sep13 docx Page 56 Pa HORACE Student Experiment Documentation EuroLauncn 4 6 Thermal Design Phase Shipping Integr Roll out to T 20mto T 10m Flight Post T 20m T 10m to LO Flight Temp 40 C 20 C 40 C 17 C 40 C to 40 Cto 20 Cto 30 Cto 20 C 20 C 45 C 0 C Exp time eo oo 10min oo 10min 10min 10min 3hours Table 4 4 Expected temperature ranges inside the module and exposure times according to flight profile of RX10 and RX11 and REXUS manual Temp Component OPTICAL SYSTEM Camera 20 C to 60 C MEASUREMENT UNIT n a 40 C to 85 C Storage Temperature Operating Temperature O C to 45 C Arduino Leonardo SD shield n a n a RS232 TTL 65 C to 160 C 40 C to 85 C micro SD card n a n a temp sensor
68. he mode is changed to shut down gt STAND BY FLIGHT MODE SHUT DOWN a I POWER LO Signal i f TIME I TIME POWER ON gt OFF SOE Signal 24 q mmmh EE mw mm mm mm mm mm mm ma Figure 4 30 software modes 4 8 1 1 Stand by Several tasks start simultaneously after switching dIE AATEA ETER ETEAAE AE e EE MN STAND BY p tmm mmm m cmm n ke mm mm FLIGHT SEGMENT GROUND SEGMENT SELF CHECK M3 COMMAND RESET DOWNLINK SAVE il um um um WE WE UM WE WE WE EE EE EE ee mu wa mu 59 SWITCH DISPLAY Hi L HOUSEKEEPING gt M g m O gt lt m Figure 4 31 tasks stand by mode Page 62 HORACE Student Experiment Documentation EuroLauncu INTERRUPT 2x TC gt 1 swmeH FLIGHT di Mode VIDEO SAVE start RESET data storage data storage RESET Flight Segment POWER ON DOWNLINK I m alive SELF CHECK Figure 4 32 flow chart of stand by mode Self Check Several subsystems are checked for operational reliability Reset The data storage reset is executed by TC and deletes all saved data This reset is needed to make sure that important data can t be overwritten and there is enough free space on the data storage device RX16 HOHACE SEDv3 0 03Sep13 docx Page 63 HORACE Student Experiment Documentation EuroLauncu Switch This task waits for the LO
69. he team is generously supported by e The Chair of Aerospace Information Technology at University of W rzburg In particular Prof Dr Hakan Kayal and Dipl Inf Gerhard Fellinger support the team with technical and management expertise Furthermore the Chair of Aerospace Information Technology provides access to local facilities and expertise from other projects as well as logistic and financial support for HORACE e Alexander Bucher designer from Munich who designed the HORACE logo e EXP GmbH an electronics shop from Saarbricken generously sponsored three Arduino Leonardos and fitting SD card shields which are used for the Measurement Unit of HORACE e Watterott electronic GmbH from Leinefelde handsomely sponsored all temperature and current sensors which are used by the Measurement Unit to collect housekeeping data e Firma Gedex Service from Erkrath sponsored the majority of the needed screws washers and nuts e va Q tec AG from W rzburg generously provided their thermal chamber for testing our components at 40 C 3 4 Outreach Approach Since public outreach is a very important part of the HORACE project we are going to involve a broad spectrum of news spreading media We will broadcast news the old fashioned way via newspaper especially the local newspaper MainPost in W rzburg Also we will be highly integrated in digital media like social websites etc and we will be present at University s both daily routine and spe
70. ight segment setup without module RX16 HOHACE SEDv3 0 03Sep13 docx Page 49 HORACE Student Experiment Documentation EuroLauncn Figure 4 18 bottom up view grey bulkhead brackets blue cameras with brackets yellow core systems green measurement unit Figure 4 19 top down view with COG black PDUs red SSDs RX16_HORACE_SEDv3 0_03Sep13 docx Page 50 HORACE Student Experiment Documentation EuRoOLAUNcH Figure 4 20 side view Figure 4 22 detailed view protective Figure 4 21 front view protective window with window measures Figure 4 23 side view protective window RX16 HORACE SEDv3 0 03Sep13 docx Page 51 id EUROLAUNCH HORAGE Student Experiment Documentation A DLR and S8 cooper Figure 4 24 glass of protective Figure 4 25 pure glass of protective window window with silicon seal RX16_HORACE_SEDv3 0_03Sep13 docx Page 52 HORACE Student Experiment Documentation EuroLauncu Camera mvBlueCOUGAR X102b 39 8mm x 39 8mm x 35mm 0 1100 0 2200 MIO 2260 with Intel Atom N455 2 1 66GHz 2 100mm x 72 mm x 34mm 0 2000 0 4000 SDRAM 2GB DDR3 667MHz SO DIMM lt NN 0 0500 0 1000 alArduino Leonardo 1 69mm x 53mm x 12mm 5lArduino SD shield 1l61mmx 53mm x 5mm y current sensor ACS712 2 35mm x 15mm x 15mm 7 temperaturesensorDS18820 6H9mmx4mmx3mm B SSDNow Ve200 SVP20053 120G 2 5 2100mmx69 85mmx7mm 00823 01846 9 MicoSD2GBClass2 1
71. itical is the risk of the lenses or filters growing damp in the cold As this dampness will evaporate and thus the lenses and filters will be clear again when the rockets starts climbing up the atmosphere and pressure sinks no obstruction of the experiment s performance is expected 2 During this phase the systems are already running and thus all electrical components will heat up the module If needed additional workload can be put to the core system via TC to increase the temperature even more Thus the most critical moment will be starting up the experiment at T 10min when it s cold and cannot heat itself As during this phase low levels of heating can be provided by the Service System and as the experiment will be monitored precisely at the RX16 HORACE SEDv3 0 03Sep13 docx Page 58 HORACE Student Experiment Documentation EuroLauncu ground station also that issue is not considered to be critical but will be tested even more carefully 3 In fact the cameras operating temperature does overlap with the expected range for flight But as the cameras are very close but not thermally coupled to the rocket s skin and no information of the exact point of measurement for the RX10 11 flight profile is available the camera s behavior at high temperatures will be tested carefully 4 This discrepancy is absolutely uncritical for the experiment as after switching off the experiment at T 600s the cameras won t be needed anymore
72. latest at O 04 i Osec lift off The FS shall be shut down completely after O 05 600sec 0 06 The FS shall be testable with EGSE O 07 FS shall accept a start command from the EGSE The received downlink data shall be saved by O 08 the groundsegment oo The groundsegment shall allow realtime R monitoring of the received downlink data The data storage devices shall be removed O 10 i directly after recover The integration and assembly of the FS in the R R R UJ iw R T T T T 5 5 5 5 5 More detailed information about verification e g verification objectives pass fail criteria verification levels is available in Appendix C TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD BD T T T T T T T T module shall be simple Table 5 7 verification matrix 7 7 RX16 HOHACE SEDv3 0 03Sep13 docx Page 79 EuroLAUNCH HORACE Student Experiment Documentation 5 2 Test Plan Test Number 1 1 Test type Vacuum Test Test facility University of Wuerzburg Tested item Power Modules Test level The power modules will be tested under low pressure procedure and conditions lt 0 5 mbar according to the REXUS manual duration chapter 9 1 to verify that the capacitors on the power modules withstand low pressure conditions Test campaign approx 1 day duration Status Done 20Jun13 Test Numbe
73. ly be a software package capable enough to use data from existing payload cameras for attitude determination in emergencies During the experiment both video and calculated data are collected to provide qualitative and quantitative evidence about the robustness and accuracy of the horizon acquisition and the calculated earth vector as well as for the general approach after post flight evaluation The flight on REXUS provides a good setting for the experiment because the launcher s rotation is similar to uncontrolled tumbling or spinning movements and the reached altitude is high enough to take realistic space like images HORACE has been initiated by five students of Aerospace Information Technology at University of Wurzburg in close cooperation with and support of the Chair of Aerospace Information Technology in October 2012 It will be implemented throughout 2013 and launched in spring 2014 as payload of REXUS 16 Ed The HORACE team left to right Sven Geiger Arthur Scharf Florian Wolz Jochen Barf Matthias Bergmann Thomas Rapp RX16 HOHACE SEDv3 0 03Sep13 docx Page 7 HORACE Student Experiment Documentation EuroLauncu 1 INTRODUCTION 1 1 Scientific Technical Background As a further step in today s way of technology towards completely autonomous satellites a satellite s attitude acquisition and control system AACS an essential subsystem must work autonomously not only during nominal phases of the
74. m y n MASTER y gt send Connected of Master Figure 4 40 screenshot of the GUI prototype for stand by view RX16_HORACE_SEDv3 0_03Sep13 docx Page 71 HORACE Student Experiment Documentation EuroLauncu Flight Mode In this view the results of the algorithm which are continuously downlinked during flight will be displayed The calculation time is displayed in a plot as well as calculation results and vector data are given as numerical or graphical output Shutdown The status of the shutdown procedure is printed to a scrollable text area using colours to indicate success and failure in this view For the master system additionally housekeeping data provided by MU is displayed Command The ground station software parses the text commands input via the GUI translates them to the corresponding byte command conditions them according to the uplink protocol cf 4 2 4 and sends them via the RS 232 interface to the Science Net for uplink RX16_HORACE_SEDv3 0_03Sep13 docx Page 72 HORACE Student Experiment Documentation EuroLauncu 5 EXPERIMENT VERIFICATION AND TESTING 5 1 Verification Matrix ID Requrementiet Verficatior Status FUNCTIONAL REQUIREMENTS enivronment of the REXUS rocket F E oa the FS shall distribute power to all EHE subsystems combined with F E 05 to F E 06 F E 04 moved to D E 07 CE combined wth F E 04 to F E 06 F E 05 moved to D E 08 Eos The FS shall measur
75. mber 5 4 Test Number 5 3 Test type Thermal vacuum Status Combined with 2 1 and 5 2 to Test Number 5 4 RX16 HOHACE SEDv3 0 03Sep13 docx HORACE Student Experiment Documentation Page 84 EURSLAUNCH Test Number 5 4 Test type Thermal vacuum Test facility University of Wuerzburg Tested item System Level Test Test level The whole System consisting of PDU MU CS and procedure and Camera System shall be tested under flight conditions duration according to REXUS manual Chapter 9 1 and 9 2 Test campaign approx 2 days duration Status Open planned for mid of September Test Number 6 1 not needed anymore Test type vibration Test level Qualification Level procedure and duration Status Will not be done Test Number 6 2 Test type vibration Test facility DLR Bremen Tested item System Level Test Test level Acceptance Level procedure and The whole system shall be mounted on a vibration table duration and vibration in X Y and Z axis must be performed according to REXUS manual chapter 9 3 1 Test campaign TBD duration Status Open Test Number 7 1 Test type Performance Test Test facility University of Wuerzburg Tested item System Level Test Test level The whole system shall be disassembled and RX16_HORACE_SEDv3 0_03Sep13 docx HORACE Student Experiment Documentation Page 85 EuroLAUNCH proced
76. mented by using the second RS 232 interface of the embedded computer Thus also housekeeping data provided by the MU can be downlinked as well as commands can be forwarded to the MU RX16_HORACE_SEDv3 0_03Sep13 docx Page 54 HORACE Student Experiment Documentation EuroLauncn As also in the case of two core system setups only one MU is integrated cf 4 5 3 only one of the two core systems is linked to the MU and thus has access to the provided data and has to control the MU If distinction of both core systems is needed the core system linked to the MU is called master core system in figures also abbreviated as MasterCS or indicated by an M the other one is called slave core system respectively SlaveCS S The master core system additionally provides time synchronization with the MU as specified in 4 2 4 2 4 5 3 Measurement Unit The MU is an Arduino Leonardo Board with an Atmel ATmega32U4 microcontroller shouldered with a SD card shield It measures regularly temperatures with DS18B20 digital temperature sensors from Maxim Integrated range from 55 C to 125 C with a sensitivity of 0 5 six points of the experiment lens CS PDU each system and current of the core systems with the ACS712 current sensors produced by Allegro range from 5A to 5A with sensitivity of 185mV A and saves the measured data with the global timestamp to its SD storage Also in the case of two identical core system s
77. mission but also in unexpected situations or emergency cases These include situations during which the satellite s main AACS is corrupt itself or during which the main AACS s capability does not suffice e g when the satellite is spinning and tumbling uncontrolled at high rates To face those situations in the future we envision a sensor system which is autonomously able to re acquire a satellite s attitude not only under nominal but also stress conditions mentioned above and which should also be affordable for smaller satellites and missions In our opinion the best approach would be an horizon acquisition sensor system as it unlike many other attitude determination systems e g sun sensors star cameras etc would work in more situations for following reasons the central body s in most cases the earth s surface looks different to the dark space even during eclipse and it is only hardly probable nearly impossible that the satellite would spin and tumble in a mode during which the central body is never visible In contrast to existing earth sensors that detect the earth s IR radiation HORACE shall use an optical sensor which is sensitive to the visible spectrum for the horizon detection to keep expenses low and to emphasis the image processing software components of the system So that in a future version with more generic algorithms the system could possibly be only a software package which is capable enough
78. module with brackets and protective windows 36 Figure 4 6 signal interface ico EE EE n ERU Mona EE bela Dein iei de uds 37 Figure 4 7 electronic schematic TM TC interface sssessssss 38 Figure 4 8 electronics schematic for complete PDU carrier board including signal amp TM TC interface t RS R e e E s de e 39 Figure 4 9 full electrical interface modules on carrier board 40 Figure 4 10 heat distribution in the flight segment in vacuum regarding only internal heat sources button up view blue 35 C red 60 C 41 Figure 4 11 protocol frame CS gt RXSM see ee Re ee ee ee 42 Figure 4 12 protocol frame RXSM gt CS ss see ee ee ee AA ee ee 43 Figure 4 13 protocol frame MasterCS 2 MU see ee ee ee Re ee ee ee ee 44 Figure 4 14 protocol frame MU gt MasterCs c eceeeeeeeeeeeeeeeeteneeeeeeeees 44 Figure 4 15 overview of electrical amp data interfaces cabling amp connectors 45 Figure 4 16 3D view of flight segment setup sees ee Re ee ee ee ee 47 Figure 4 17 3D view of flight segment setup without module 48 Figure 4 18 bottom up view grey bulkhead brackets blue cameras with brackets yellow core systems green measurement unit 49 Figure 4 19 top down view with COG black PDUs red SSDs 49 Figure 4 20 side VIEW esse esse er
79. nd the error of the calculation of the center of earth e euclidean distance related to the real earth radius R holds e R lt 0 1 Table 2 5 performance requirements 3 3 RX16_HORACE_SEDv3 0_03Sep13 docx Page 16 HORACE Student Experiment Documentation EuroLauncu 2 3 Design Requirements ID T Requirement text Respondto DESIGN REQUIREMENTS the REXUS rocket nor launcher other experiments HORACE shall be compatible to the REXUS D E 03 electrical interface according to REXUS C 01 manual D E 04 The FS shall use camera s as optical P E 08 sensor s D E 05 The FS may use 2 cameras TBC The FS shall provide a global timestamp D E 06 synchronized to LO formerly F E 02 The FS shall measure the power consumption D E 07 of selected subsystems F E 06 formerly F E 04 The FS shall measure the temperature the D E 08 CS PDU amp camera hole for each system F E 06 formerly F E 05 nowmore detailed oem D E 09 data as raw data F E 01 formerly P E 11 The PDU shall provide 5V and 12V The PDU shall provide currents between 0A D E 11 and 2 5A F E 03 formerly P E 02 The PDU shall provide voltages with an D E 12 accuracy of 45 F E 03 formerly P E 03 The PDU shall provide currents with an D E 13 accuracy of 200mA F E 03 formerly P E 04 The PDU shall handle a range of input voltage D E 14 between 24V and 36V F E 03 C 01 formerly P E 05 The PDU shall handle a range of input current D E 15 betwe
80. nexpected or out of range values with colours As the slave core system can t access the housekeeping data the corresponding area on the GUI is left blank for the ground station linked to the slave To send TC a terminal is used It is both possible to manually type commands or use buttons to copy predefined commands to the terminal For security every command must be confirmed with a click to the Send button to avoid sending wrong commands by accident Critical commands like restart need to be additionally confirmed on the terminal Are you sure Furthermore manual typing editing commands in the terminal can be disabled so that only the commands predefined on the buttons can be accessed to prevent spelling mistakes or entering wrong commands during stress situations hot countdown File Edit View MODE Stand by Flight Mode Shutdown Stand by Flight Mode Shutdown Housekeeping MASTER Housekeeping SLAVE Temperature 1 10 C Temperature 1 8 89 C Temperature 2 30 C Temperature 2 22 C Temperature 3 10 C Temperature 3 Current 0 5A Current 0 5A Downlink Master Info MORATE IVIA3 ICI Systenrpuvunig WN HORACE MASTER Connection Test MU FAILURE HORACE MASTER waiting for LO Ok HORACE MASTER restarting System Ok Uplink Master Commands editable OFF restart shutdown Switch to FM Switch to SDM Switch to SB Reconnect MU Reset Time foo bar MASTER gt gt restart Are you sure you want to restart the syste
81. ng CD systems don t start up MS 070 during CD due to low temperatures MS 080 fligh segment overheats during flight protective window gets MS 090 fogged or dirty during integration testing MS 091 remainder of MS 090 ann Protective window gets B MS 100 fogged or dirty during flight PE 010 team member not available 4 during launch campaign PE 020 team member cannot work for a periode fatal communication problems Table 3 2 risk register 1 3 Mis o4o camera does not resist E temperature conditions PE 030 Use redundancy Use SOE as backup thermal tests isolation damp will evaporate during flight due to vaccum thermal tests ask for heating by Service System thermo vacuum tests passive cooling of hot parts protection foil removed as short as possible before flight fog will evaporate due to vaccuum creating detailed operation lists recruit fellow students documentation person proxy list take care of each other respectful discussions frequent social activities mediation with supervisors HORACE Student Experiment Documentation Page 30 EuroLAUNCH ID Risk amp consequences P S PxS Action 1 1n camera can not provide sharp pictures fast enough 2 after full illumination electical connection between camera and core IC 4 System gets lost electical connection between camera and video s
82. ntUnit closed png Box closed 3D View 11 RX16 HORACE SED v3 0 APPENDIX C DRAW 11 Measure Measurement Unit mentUnit open png Box open 3D View 12 RX16 HORACE SED v3 0 APPENDIX E DRAW 12 complet HORACE complete e CAD dwg CAD File RX16 HORACE SED v3 0 APPENDIX C DRAW 7 HORACE HORACE front view Front png 5 RX16 HORACE SED v3 0 APPENDIX C DRAW 5 HORACE HORACE bottom view bottom png 6 RX16 HORACE SED v3 0 APPENDIX C DRAW 6 HORACE HORACE side view Side png 7 x 8 RX16_HORACE_SED_v3 0_APPENDIX_C_DRAW_8 CoreSyst Core System Box em closed png closed 3D View 9 a RX16_HORACE_SEDv3 0_03Sep13 docx Page 107 HORACE Student Experiment Documentation EuroLauncu E 2 Reports Index Report Filename Description 1 RX16 HORACE SED v3 0 APPENDIX E REP 1 Mech Load Mechanical Load Test Test pdf 2 RX16 HORACE SED v3 0 APPENDIX E REP 2 Temp Thermal Analysis Analysis pdf Report RX16_HORACE_SEDv3 0_03Sep13 docx Page 108 HORACE Student Experiment Documentation EuroLauncu APPENDIX F DETAILED ELECTRONICS This appendix contains more detailed information about the experiment s electronics like electronic schematics PCB layouts etc and can be found separately as a zip file on the Teamsite with the content given below F 1 PCB Layouts Index Filename Description RX16 HORACE SED v3 0 APPENDIX F PCB 1 PDUCarrierlo PDU Carrier Board p pdf Layout Top Layer
83. o Requirements P E 01 to duration P E 06 Test campaign approx 1 day duration Status Open planned for end of August Test Number 4 3 Test type Performance Test Test facility University of Wuerzburg Tested item Camera System RX16_HORACE_SEDv3 0_03Sep13 docx Page 83 HORACE Student Experiment Documentation EuroLauncu Test level Verify that the Camera provides an image resolution of procedure and 1024x768px and is able to provide sharp pictures at duration least 0 12sec after full illumination The protecting glass must be used in this test to verify there are no severe impacts or distortions on image quality caused by the protecting glass Test campaign approx 1 day duration Status Open planned for beginning of September Test Number 4 4 Test type Performance Test Test facility University of Wuerzburg Tested item System Level Test Test level A simulation of the flight shall be run to confirm that the procedure and Flight Segment is able to operate fully autonomously duration during a flight simulation The image data also shall be simulated via ASAP Simulator or Beamer Test campaign Approx 2 days duration Status Open planned for mid end of September Test Number 5 1 Test type Thermal vacuum Status edited and moved to Test Number 2 4 Test Number 5 2 Test type Thermal vacuum Status Combined with 2 1 and 5 3 to Test Nu
84. om the digital sensors to the MU to read the raw housekeeping data is implemented using the standardized OneWire protocol The figure given below shows an overview of all electrical and data interfaces as well as the used cabling and connectors CAMERA BLUECOUGAR D SUB 9 FEMALE FOR HIROSE X102B SERVICE PURPOSES HR10A 10P 12S 01 FEMALE g MEASUREMENT UNIT m TEMPERATURE SERVO FEMALE SENSOR CONNECTOR e RS 232 3 PINS e FEMALE LS ETHERNET CABLE VIDEOSIGNAL AMIYA SERVO CONNECTOR 3 PINS FEMALE CABLE FEMALE RS 232 CURRENT SENSOR PDU CARRIER BOARD PDU CONVERTER CORE SYSTEM MIO 2260 D SUB 9 g FEMALE i f D SUB 9 CONVERTER FEMALE D SUB L __ SIGNAL i MALE lada a SIGNALS LO SODS SOE UP AND D SUB 15 g DOWNLINK RS 232 FEMALE D SUB 15 4 MALE 4 RXSM Figure 4 15 overview of electrical amp data interfaces cabling amp connectors RX16 HOHACE SEDv3 0 03Sep13 docx Page 46 HORACE Student Experiment Documentation EuroLlauncn 4 3 Experiment Components ID Component Manufacturer Status Electronics 1x delivered 1 Camera mvBlueCOUGAR X102b Matrix Vision 2x to be delivered MIO 2260 with Intel Atom N455 2x delivered 2 1 666Hz Advantech 1x to be ordered uL REM 3 SDRAM 2GB DDR3 667MHz SO DIMM 1x delivered REM pese 3 5 A
85. pected temperature ranges inside the module and exposure times according to flight profile of RX10 and RX11 and REXUS manual 56 Table 4 5 Operational and storage ranges of the components according to AVAGO OS RE Ee ei GE ee EE EE GR EE Ee EE ee ee 56 Table 4 6 comparison matrix of expected and specified temperatures 57 Table 4 7 measured estimated temperatures 1bar 21 C ambient 58 Table 4 8 HORACE power budget iis sees ee ee ee ee ee ee ee ee ee 60 Table 4 9 data amount if two core systems are flown 67 Table 4 10 required bandwidth for downlink ee 68 Table 5 1 verification matrix 1 7 sesse sees sesse Ese ee ee ee AA Gee ee ee AA 72 Table 5 2 verification matrix 2 7 ees Ns ese dee dk sek se de ede de EE ei Gee 73 Table 5 3 verification matrix 9 7 Joa ssec cen eere eO Hu RE Re eR Reeks Ee sg e 74 Table 5 4 verification matrix MH 7 esse sesse see ee ee AA Gee ee AA 75 Table 5 5 verification matrix 5 7 riore rura rete bebe ER eg Ee see 76 Table 5 6 verification matrix 6 7 esse sesse Ee ee ee ee AA Gee ee AA ae 77 Table 5 7 verification matrix 7 7 uses einn Ese de pete se ge de de pneu ee ei see 78 RX16_HORACE_SEDv3 0_03Sep13 docx Page 95 HORACE Student Experiment Documentation EuroLauncu Table 6 1 Experiment mass and VOIUMG cccccceeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeess 86 Table 6 2 Electrical
86. proach would be applicable also for small satellites 14 Experiment Concept Flight Segment Core System Measurement Unit Power Distribution Unit Camera Mechanical Structure Ground Segment Ground Station MGSE Figure 1 1 Hierarchy of HORACE The Horizon Acquisition Experiment HORACE consists of the Flight Segment FS which is carried on the REXUS rocket performing the actual experiment and the Ground Segment which are the Ground Station and Ground Support Equipment both electrical and mechanical RX16_HORACE_SEDv3 0_03Sep13 docx Page 9 HORACE Student Experiment Documentation EUuRo LaumcH Data Storage ij Core System Time Sync amp Data TE Hoe Measurement Unit From RXSM Figure 1 2 Subsystems of Flight Segment The two key elements of HORACE Flight Segment are its camera and the core system Furthermore there is an independent measurement unit and a separate power distribution unit which is the power interface to RXSM and provides regulated voltages to every component and of course the structure which mechanically connects the experiment with the vehicle All components involved in data handling the core system and measurement unit are synchronized with a global time so that results can be matched for post flight evaluation The camera which observes the outer environment of REXUS passes its video data to the core system which directly
87. r 1 2 Test type Vacuum Test Stress Test Test facility University of Wuerzburg Tested item Power Distribution Unit Test level The PDU will be tested under low pressure conditions lt procedure and 0 5 mbar according to the REXUS manual chapter 9 1 duration and beneath an electronic load similar to the electronic load which arises during operation of the FS Test campaign approx 1 day duration Status Planned for 05Sep13 Test Number 2 1 Test type Thermal Test Status Combined with 5 2 and 5 3 to Test Number 5 4 Test Number 2 2 Test type Thermal Test Test facility University of Wuerzburg Tested item Lens Test level The Lens shall be tested under temperature conditions RX16_HORACE_SEDv3 0_03Sep13 docx HORACE Student Experiment Documentation Page 80 EURSLAUNCH procedure and duration as occur on the skin at the outside of the rocket according to the REXUS manual chapter 6 1 3 Test campaign duration approx 1 day Status Done 27Jul13 Test Number 2 3 Test type Thermal Test Test facility University of Wuerzburg Tested item Camera System Test level The Camera System shall be tested under temperature procedure and conditions as occur on the skin at the outside of the duration rocket according to the REXUS manual chapter 6 1 3 to determine if the camera is working without a protective glass Test campaign duration approx 1 day Status
88. r using movies from other teams to test the algorithm e After the flight housekeeping data from the rocket can be provided to support the evaluation e Consider including more than one camera e Tests on turning tables should be carried out e Consider that the camera can be exposed directly to sun e Consider to reduce avoid sun reflections around and inside the hatch e g surface treatment e Consider comments already given with the workshop invitation RX16 HOHACE SEDv3 0 03Sep13 docx Page 97 EuroLAUNCH HORACE Student Experiment Documentation Comments and recommendations of the PDR panel More detailed information discussion and response of the team about the RIDs is available on the Team Site file RX16 HORACE RID PDR v1 0_21Mar13 pdf e Requirements and constraints SED chapter 2 21 functional requirements appears to be far too many Focus on functions that people would like to know from the experiment Some performance requirements are very open Be careful with the difference between performance and design requirements o Can include should shall may in the requirements to build on the objectives in the requirements Careful with definitions of your experiment name Operational requirements very good Careful with the words launcher and vehicle 2nd performance requirement how do you actually achieve a 70 if you are treating the systems as redundant Team they are independent e Mechanics SED ch
89. rduino SD shield Arduino 3x delivered Allegro 6 current sensor ACS712 MicroSystems Inc 2x delivered 7 temperature sensor DS18B20 Maxim Integrated 12x delivered 8 SSDNow V 200 SVP200S3 120G 2 5 Kingston 3x delivered 9 Micro SD 2GB Class 2 SanDisk 2x delivered 10 CF Card 600x 8GB TS8GCF600 Transcend 3x delivered EE 11 LM2596 DC DC regulator module Linear Technology 9x delivered 12 PDUPCBboard Btobeordered 13 RS 232 TTL Module for Arduino 1x to be ordered 14 wiring connectors several mostly delivered 15 main structure JMU workshop to be manufactured 16 lens adapter ring 3x delivered 17 mounting support screws several mostly delivered 18 protective window amp mounting Schott to be ordered Po EE wer ee modelssuize 8 8 s 19 laptop e g IBM Lenovo 2x to be ordered models suffice 20powersupply available atm 21 tools available in team Table 4 1 experiment components Table 4 2 Experiment summary table RX16_HORACE_SEDv3 0_03Sep13 docx Experiment mass in kg 7 65kg for 2 systems including 10 margin including module Experiment dimensions in m 0 318 m x 0 348 m x 0 0799m Experiment footprint area in m 0 038 m Experiment volume in m 1 1 10 ms Experiment expected COG centre of coordinate system axes parallel to gravity position BF origin on zgr in lowest plane of module x 0 0mm y 0 0mm z 66 6mm lt 10mm each axis Page 47 HORACE
90. red resolution of 1024px x 768px With a global shutter and a maximal blindness of 1 8 333s after full illumination good pictures can be provided also under rough conditions high spinning rates looking regularly into sun As soft criterion the good documentation available drivers as well as the good support of the manufacturer even beforehand lead to the decision of this model 4 5 2 Core System On the core system which is the embedded computer Pico ITX MIO 2260 with an Intel Atom CPU the actual experiment image processing and horizon detection is performed cf 4 8 Therefore it receives the provided video data via the GigE interface which is then directly stored to the SSD via SATA interface Furthermore it processes the video 7 data and saves the calculated data to the SSD By saving both the global timestamp and the consecutive unique frame number for every processed frame it is ensured that all collected data can be matched bijectively for post flight evaluation cf 4 8 2 Additionally the core system controls all subsystems and therefore communicates with the RXSM and the other subsystems The communication for up and downlink via RXSM is implemented according to the RS 422 standard defined in the REXUS manual by using the I O transceiver extension chip MAX488 and the first RS 232 interface of the core system This interface is also used to process the signals provided by RXSM Communication with the MU is imple
91. ret tne integrin dn dan cB een n 50 Figure 4 21 front view protective window with measures 50 Figure 4 22 detailed view protective window sessesseeeeeeee 50 Figure 4 23 side view protective window iii ee ee ee RR ee ee 50 Figure 4 24 glass of protective window with silicon seal 51 Figure 4 25 pure glass of protective window ssssseeeesess 51 Figure 4 26 components mass amp dimensions estimated values marked red sap eevee EE AE N EE EE 52 Figure 4 27 electronics schematic for one DC DC converter module 55 Figure 4 28 PDU modules placed on the carrier board 55 RX16_HORACE_SEDv3 0_03Sep13 docx Page 94 HORACE Student Experiment Documentation EuroLauncu Figure 4 29 result of temperature simulation ee 59 Figure 4 30 software modes see ee ee ee ee ee 61 Figure 4 31 tasks stand by mode sees esse ee AA ee ee 61 Figure 4 32 flow chart of stand by mode ee RR ee ee ee 62 Figure 4 33 tasks flight mode eee sibs ee Ge Ee ede ee Ed ee nas 63 Figure 4 34 flow chart of calculation esse ee ee 64 Figure 4 35 data flow downstreaM sesse esse esee 65 Figure 4 36 tasks SNUL COWN 222 sesse sis ses SEE ER Re Ek teret tete ke bee ee eg Dek 65 Figure 4 37 definition of data packages 1 2 see ee ee Re ee ee
92. rform full system tests and check outs Properly prepared one will go on with the compulsory tests and flight simulation together with the other experiments already connected to and communicating via RXSM Day 3 amp 4 As the last step before final assembly of the complete payload all screws are checked locked and glued irreversibly as well as all electrical connections are checked and fixated irreversibly latest end of Day 4 what will be followed by the Flight Acceptance Review Before roll out the Flight Readiness Review will be held and the launch preparations end with the compulsory test CD nominally during Day 7 Latest possible before launch the protection foils of the cameras are removed 6 3 Timeline for Countdown and Flight This chapter gives a rough timeline of activities processes and signals actions of RXSM written in red capitals for countdown and flight The timeline will be extended and specified more detailed in upcoming SED versions RBFs As short as possible before flight the protection foils of the cameras windows have to be removed start all subsystems start monitoring amp saving received TM FS all self checks finished GS TC clear reset data storages manually GS TC command start video record FS CS start video record triggered by TC GS TM monitor video recording LO synchronize clock start amp save calculations start saving measurement data RXSM SOE as redundan
93. roLaunch HORACE will not implement own auxiliary power units but only fly one system 4 2 Experiment Interfaces 4 2 4 Mechanical HORACE will feature a main structure with one single bulkhead loaded from both sides to store all components Components with unprotected electrical parts or parts which emit high temperatures are stored in aluminium boxes mounted onto the bulkhead others like the camera are directly mounted onto the bulkhead with a bracket to secure its connection The highest parts are mounted on the lower side of the bulkhead while the lower parts are mounted onto the upper side Additionally the setup is built highly symmetrical to ensure that the center of gravity is very near the Zgr axis of the rocket For each camera a hole in the outer structure of the REXUS rocket is needed as optical interface To protect the experiment from hot gases those holes are closed with protective windows which are mounted to the rocket s skin With a total height of 77mm the assembly fits into a 120mm long module regarding the restrictions for gaps of 10mm and 20mm to the lower and upper end of the module Figure 4 2 required modifications holes of the 120mm module RX16 HORACE SEDv3 0 03Sep13 docx Page 35 HORACE Student Experiment Documentation EuRoOLAUNCH Figure 4 4 top view of the module with angles of bores indicated RX16 HORACE SEDv3 0 03Sep13 docx Page 36 HORACE Student Experiment Documentation EuRoOLAU
94. s Rapp Jochen Barf Figure 3 4 detailed WBS Flight Activities amp Evaluation RX16 HOHACE SEDv3 0 03Sep13 docx Page 22 HORACE Student Experiment Documentation EuroLauncn 7 Public Outreach 7 1 website 7 2 social media Arthur Scharff 7 3 local press Arthur Scharf i 7 4 media relations Arthur Scharf 7 5 presentations 7 6 reports Arthur Scharf 4 7 7 sponsors supporters Arthur Scharf Figure 3 5 detailed WBS Public Outreach 32 Schedule At this point in time the project is delayed for about three weeks due to the intense work of nearly the complete team on a solution for thermal protection of the optical system what was imposed as condition for passing the CDR by the review board Thus the work on the RIDs in particular the protective window retarded the beginning of the integration which however until then progresses well The solution for the protective window is not yet finished completely but progresses in parallel with the rest of the integration All components except some spare items the protective windows and professional made PCBs for the PDU are delivered and therefore no further delays due to component purchase are expected Also the algorithmic development progresses well as recently major problems have been solved and as the embedded porting is much simpler the delay from CDR level is nearly caught up All in
95. s an accurate time synchronisation between the core system and the MU RX16 HOHACE SEDv3 0 03Sep13 docx jp Page 44 HORACE Student Experiment Documentation EuroLauncn Figure 4 13 protocol frame MasterCS gt MU Sync synchronisation word Data data package including command and time cf 4 8 2 Checksum sum of all data bytes MU gt MasterCS Use forward housekeeping data for downlink Baud rate 38 4 kbit s Format 8 bits 1 start and stop bit no parity Used Pins TX pin on MU for transmitting protocol frame RX pin on CS for receiving protocol frame Like in other protocols the synchronisation word is used to identify new protocol frames and the checksum for failure recognition Figure 4 14 protocol frame MU gt MasterCS Sync synchronisation word Data data package cf 4 8 2 Checksum sum of all data bytes 4 2 4 3 Others Camera gt CS The data interface from the camera to the core system to transfer the image data is implemented using the standardized GigE vision protocol CS gt SSD The data interface from the core system to the SSD to write video and calculated data is implemented using the standardized SATA protocol MU gt SD The data interface from the MU to the SD to write housekeeping data is implemented using the standardized SPI protocol Sensors gt MU RX16_HORACE_SEDv3 0_03Sep13 docx Page 45 HORACE Student Experiment Documentation EuroLauncn The data interface fr
96. s and outreach should continue after the launch O O O O O 0 0 Comments and recommendations of the CDR panel More detailed information discussion and response of the team about the RIDs is available on the Team Site RX16 HORACE CDR RID 01 v1 1 08Aug13 final pdf RX16 HORACE RID CDR others v1 0 25Aug13 pdf e Requirements and constraints SED chapter 2 o Some classifications are not correct The requirements P E 01 to P E 08 are all design requirements not performance requirements RX16 HOHACE SEDv3 0 03Sep13 docx Page 100 HORACE Student Experiment Documentation EuroLauncu o Performance requirements should reflect to goals of what the system has to achieve o For example Output of power supply is a design requirement not a performance requirement o P E 12 has been clarified o D E 09 has been clarified e Mechanics SED chapter 4 2 1 amp 4 4 o Major topic Camera covers fins o If an element is protruding from the skin this element will in fact get hot Consider turbulences that can occur due to the fins Fins are not completely wrong but might not be completely useful either It is recommended that the fins on the outside are removed o The panel suggest finding a different protective solution flush with the skin Protection with a cover usually is for the ascent phase only Aluminium or other metals will be very bright in the camera make sure to render the surface less reflective
97. s on a regularly basis and later Afterwards outcome and results analysis of the experiment come to the fore The website also features a download section where the documentation will be made available for the public and a sponsor section the sponsors are broken down For people who are interested in the experiment and want to get in touch with our team the website also provides a contact section The other part of our web presence is the presence on social media like Facebook Twitter Google etc Here we will publish short status updates and RX16 HOHACE SEDv3 0 03Sep13 docx Page 28 HORACE Student Experiment Documentation EuroLauncu news at a regular basis to keep the virality of the project as high as possible and to reach a broad audience Preferably images or videos shall be uploaded to these pages since they are more likely to be watched than status updates consisting of plain text RX16_HORACE_SEDv3 0_03Sep13 docx HORACE Student Experiment Documentation 3 5 Risk Register Risk ID TC technical implementation MS mission SF safety VE vehicle PE personnel EN environmental Page 29 EuroLAUNCH ID Risk amp consequences P S PxS_ Action 1 1 1 1 51 deleted redundant to vo dent Ma EE EEN MS 020 LO signal missed B 4 deleted redundant to S030 FE ft O MS 050 Horizon less than 50 of time visible lenses or filters get fogged Mee in the cold duri
98. saves it to data storage and processes it for the horizon acquisition The results of the calculation are also stored to mass memory Additionally the core system represents the data interface to RXSM and passes some of the results of its calculations to RXSM for downlink The measurement unit regularly determines and saves health data like currents and temperatures autonomously and in selected software modes cf 4 8 1 provides them for downlink The experiment starts at lift off and runs completely autonomously throughout the whole flight TC is implemented for on ground testing before launch and flight simulation during implementation development RX16_HORACE_SEDv3 0_03Sep13 docx Page 10 EuroLAUNCH HORACE Student Experiment Documentation 1 5 Team Details 1 5 1 Contact Point The team s contact person will be the Project Manager Thomas Rapp whose contact information is as followed Address HORACE Team Thomas Rapp c o Prof Dr Hakan Kayal amp Dipl Inf Gerhard Fellinger supervisors Informatik VIII Julius Maximilians Universitat W rzburg Sanderring 2 97070 W rzburg GERMANY Phone 49 1577 1529248 E Mail team horace rexus de 1 5 2 Team Members Thomas Rapp Project Management Thomas is the student team leader and therefore responsible for the overall management of the HORACE project He is in charge of the documentation as well as the project schedule and is the main contact person He is also p
99. sipation within the flight segment The components temperature was measured at 1bar and 21 C ambient temperature respectively estimated where components weren t available so far first being powered on but idling and secondly under maximum load The table below gives the end temperatures after 15min Those absolute temperatures are of course not representative for vacuum conditions as the components were passively cooled by convection but give the relative temperature distribution Idle Maximum Load camera 25 C 35 C PDU 30 C 55 C core system 30 C 60 C SSD 21 C lt 31 C Table 4 7 measured estimated temperatures 1bar 21 C ambient RX16_HORACE_SEDv3 0_03Sep13 docx Page 59 HORACE Student Experiment Documentation EuroLauncn As all electrical components are mostly built of the same materials and similar in size their heat radiation capacity is considered to be equal In a further step a numerical simulation of heat distribution in the module over time for vacuum conditions and 15 minutes was performed with the above determined relative temperature distribution as input Thus the results indicate the relative heat distribution for vacuum conditions and the components working with maximum load and so show the hot parts within the flight segment which need to be cooled cf Figure 4 29 Figure 4 29 result of temperature simulation As consequence of this analysis passive heatsinks are placed onto the PDU and
100. subsystems The PDU continuously provides the needed voltages for every single component throughout the whole experiment from power ON T 600s to power OFF T 600s by regulating down the voltage provided by RXSM The electrical interface to RXSM is realized with a D SUB 15 connector on side of RXSM and optocoupler circuits which are located on the PDU carrier board to process and forward the signals to the core system and the measurement unit As besides the LO and SODS signal other signals are not needed for the flight segment the SOE signal is used as redundancy if the LO signal was missed The downlink stream is directly conditioned and the uplink stream is interpreted by the core system So the corresponding pins are connected via bidirectional RS 422 to RS 232 converter also located on the PDU carrier board to a serial interface of the core system The main structure which is the mechanical interface to REXUS are bulkhead mounted aluminium cases in which all unprotected components except the camera and connecting wires are stored The camera is directly mounted to the bulkhead with an aluminium mounting frame and observes the outer environment through a hole in the outer hull of REXUS The thermal analysis has shown that no protecting window which would impair video data is necessary To prevent hot gases from flowing directly on the lens an aerodynamic fin is mounted on the module s outer skin Additionally an aluminium ad
101. tion is measured and stored correctly Together with Matthias and Thomas he also works on the mechanical and thermal design and device assembly Florian is a student of Aerospace Information Technology at University of W rzburg in his third undergraduate year Matthias Bergmann Mechanical amp Optical Engineering Matthias joined the team in April 2013 and does the main part of the mechanical and thermal design including CAD and calculations and device assembly and is assisted by Florian and Thomas He is also in charge of all parts concerning the camera and optics of HORACE Matthias is in his third undergraduate year of studies of Aerospace Information Technology at University of W rzburg Arthur Scharf Simulation Environment amp Public Outreach Arthur is mainly responsible for simulation validation and testing He therefore will manage the test facilities and procedures and will develop the ground support equipment which is needed for pre flight test to make sure that HORACE is ready for flight Besides that it s Arthur s part to spread information and news about HORACE with his public outreach program Arthur is in his third undergraduate year of studies of Aerospace Information Technology at University of W rzburg RX16 HOHACE SEDv3 0 03Sep13 docx Page 12 HORACE Student Experiment Documentation EuroLauncu 2 EXPERIMENT REQUIREMENTS AND CONSTRAINTS In this chapter the functional performance design
102. tion word a message counter and the current software mode The synchronisation word indicates a new protocol frame in order to decode the protocol frames on ground Since the data package size and division is depending on the software mode cf 4 8 2 this information is essential for decoding downlinked data The message counter provides checking whether information was lost during transmission For failure recognizing a checksum and also a cyclic redundancy check is implemented As required in REXUS manual a gap of 3ms between two following protocol frames will be implemented Figure 4 11 protocol frame CS gt RXSM Sync synchronisation word Mode software mode of the core system MCNT message counter Data data package depending on software mode cf 4 8 2 Checksum sum of all data bytes CRC cyclic redundancy check RXSM gt CS Used for on ground uplink and receiving LO SOE SODS Baud rate 38 4 kbit s Format 8 bits 1 start and stop bit no parity Used Pins RX pin for receiving uplink protocol frames CD pin for trapping LO signal DSR pin for trapping SOE signal CTS pin for trapping SODS signal RX16_HORACE_SEDv3 0_03Sep13 docx Page 43 HORACE Student Experiment Documentation EuroLauncn In addition to a simple 8 bit command word that is decoded on the core system also an synchronisation word and an cyclic redundancy check provide a save commanding of the experiment on ground While the synchronisation wor
103. torage A remainder of TC 020 MU software fails during flight system damaged during C la implementation shipping TC 051 remainder of TC 050 TC 060 Camera does not resist pressure conditions TC 061 remainder of TC 060 TC 070 loss of developement data Bs manufacturer does not TC 080 provide cannot deliver 2 hardware gt early illumination tests with camera vibration tests gt secure connectors gt Vibration tests gt secure connectors gt Software tests gt have always spare HW componets reorder spare items immediately if gt vacuum tests gt do regular backups gt save in cloud gt order camera at other manufacturers TC 090 splitup T loss of downlink data caused by a software malfunction loss of measurement data caused by a software malfunction loss of calculated data caused by a software malfunction 29 loss of video data caused TC 130 a software malfunction Bis Table 3 3 risk register 2 3 RX16_HORACE_SEDv3 0_03Sep13 docx gt software tests code coverage gt software tests code coverage gt software tests code coverage gt software tests code coverage HORACE Student Experiment Documentation Page 31 EuroLAUNCH ID Risk amp consequences P S PxS_ Action loss of measurement data caused by a mechanical influence loss of calculated data caused by a mechanical influence loss of video data
104. ummm Figure 4 34 flow chart of calculation RX16 HOHACE SEDv3 0 03Sep13 docx Page 65 EuroLAUNCH HORACE Student Experiment Documentation Downstream This task running on the flight segment selects calculated data packages forms them into downlink packages and sends them to the RXSM w m um um um um WEE EM WEN WEN WEN WEN WEN eee WEN WE WEN eee eee eee eee EE EE EE mu DOWNSTREAM SELECTION FORMATION gc PE EE EN EE EE EE SEE EE N EE OE SA EE D eel eo ee Figure 4 35 data flow downstream Switch At Ts T 590s this task changes the mode to shut down Command For testing and in the case that there is an uplink available this task captures manual TC and sends them to the flight segment where the commands are executed During flight it is not necessary for the operational functions Downlink Save This task running on the ground station has the sole function to save the received downlink data to memory Display The ground station displays the received downlink data according to the specifications of ground station software in 4 9 3 4 8 1 3 Shut Down 9 om om m m m m EE um WE eee eee eee eee eee ee ee mm SHUT DOWN FLIGHT SEGMENT GROUND SEGMENT N L Li L L L L L L L L m um um Gm Gm eee eee oO mummmmummmummumummummmummmmmmmmummmmummmmm Figure 4 36 tasks shut down RX16 HOHACE SEDv3 0 03Sep13 docx Page 66 HORACE Student E
105. ure and duration assembled according to the Integration and assembly procedure to verify the assembly procedure is simple and without fault Test campaign duration approx 2 days Status Open planned for end of September Test Number 8 1 Test type Transport Test facility University of Wuerzburg Tested item System Level Test Test level The whole system shall be put in similar conditions as procedure and occur during transport of the experiment from Bremen to duration Kiruna It shall be verified that there is no damage to any component even the transport conditions are rough Test campaign duration approx 2 days Status Open planned for end of September 5 3 Test Results The test results can be found separately in a zip file on the Teamsite which contains following items Index Filename Description RX16 HORACE TR1 1 v1 0 21Jun13 pdf Test Report for Test 1 1 RX16 HORACE TR2 2 v1 0 30Jul13 pdf Test Report for Test 42 2 1 2 3 RX16 HORACE TR2 3 v1 0 07Aug13 pdf Test Report for Test 42 3 4 RX16 HORACE TR4 1 v1 0 02Sep13 pdf Test Report for Test 744 1 RX16 HOHACE SEDv3 0 03Sep13 docx Page 86 EURSLAUNCH HORACE Student Experiment Documentation 6 LAUNCH CAMPAIGN PREPARATION 6 1 Input for the Campaign Flight Requirement Plans 6 1 1 Dimensions and mass Experiment mass in kg 7 65kg for 2 s
106. ure on the Linux system Fast start up time of system is good SOE signal 10s before lift off is a risk There is no chance to stop launch sequence at this point o Consider pushing a button yourself on the ground station instead of SOE e Verification and testing SED chapter 5 o Compatibility to the launcher vehicle shall be tested not only reviewed Excellent thermal vacuum test plan Very good test plan in general Consider and test the dynamic exposure setting of the camera e Safety and risk analysis SED chapter 3 4 o No safety issues seen with the experiment e Launch and operations SED chapter 6 o No specific comments o Does not use the SOE signal 10s before LO e Organisation project planning amp outreach SED chapters 3 1 3 2 amp 3 3 o Correct the order of sponsor on your webpage o Good that there is current information o Impressed by the project management it was very clear Gantt WBS etc clear Include a sponsorship in the component list IPR is scheduled too early RX16_HORACE_SEDv3 0_03Sep13 docx Page 102 E UROLAUNCH HORACE Student Experiment Documentation APPENDIX B OUTREACH AND MEDIA COVERAGE B 1 Weblinks Ref Link www horace rexus de www facebook com horace rexus www youtube com user horacerexus www gplus to horacerexus www twitter com horace rexus occ m http wwwea informatik uni wuerzburg de mitarbeiter kayal0 student_projects horace
107. ut the experiment Potential dates to present our work progress to other interested students and people are at the end of June or the beginning of October This presentation will probably take place within the so called Schnupperwoche a special week in which school leavers who are interested in studying at the University of Wurzburg can get a view into some student projects Furthermore the experiment will be presented at the Tag der Physik an open house day at the end of June where different science projects are presented to a broad local also non university audience At this presentation we will especially concentrate on technical aspects and technical capability of the system Another presentation in which we will focus on the algorithm and other aspects of the software will be held at the Tag der Informatik a computer science day at our university For all presentations we will also prepare some gimmicks e g posters and stickers badges 3 4 2 Local Publicity To publicize the experiment regionally we will release some information about HORACE at the local newspaper called MainPost Additionally we plan to print and distribute some informational posters in selected public places including our university 3 4 3 Web presence The Web presence of HORACE is one of the major public outreach tools and divided into two parts First we have the main website to keep our audience up to date about our development progres
108. xperiment Documentation EuroLauncu Housekeeping This task collects the information forms it into the Stand By Downlink Data Package and sends it to the ground station Included are temperature currents signals and checks Command For testing and in the case that there is an uplink available this task captures manual TC and sends them to the flight segment where the commands are executed It is not necessary for the operational functions Downlink Save The received data is saved to downlink memory Display The housekeeping data is displayed on a screen according to the specifications of ground station software in 4 9 3 4 8 2 Data Handling One stream of the raw video data is directly saved to the video memory the other one supplies the calculation process Calculated data packages are both saved to calculation memory and sent to the downstream Downlink packages received in the ground station are displayed and saved to downlink memory The measurement data from current and temperature sensors is processed in the measure task and saved to the measurement memory The numbers in the following packages are the bytes the section named above needs with the convention k 1000 M 1000k and G 1000M M and S indicate the system Master Slave and the numbers in the names indicate the sensor Measurement Data Package Sy C Time Current M BEN MU To MasterCS Data Package Time Curre Temp Temp Temp Current Temp Temp T
109. ystems including 10 margin including module Experiment dimensions in m 0 318 m x 0 348 m x 0 0799m Experiment footprint area in m 0 038 m Experiment volume in m 1 1 10 3 m Experiment expected COG centre of coordinate system axes parallel to gravity position BF origin on Zer in lowest plane of module x 0 0mm y 0 0mm z 66 6mm lt 10mm each axis Table 6 1 Experiment mass and volume 6 1 2 Safety risks Except from usual risks associated with electricity HORACE entails no special safety risks neither for personnel nor the REXUS rocket 6 1 3 Electrical interfaces REXUS Electrical Interfaces Service module interface required Yes Number of service module interfaces 2x1 TV channel required No Up Downlink RS 422 required Yes Data rate downlink 2x 5 3Kbit s Data rate uplink OKbit s Power system Service module power required Yes Peak power consumption 35W 67 2W RX16_HORACE_SEDv3 0_03Sep13 docx Page 87 HORACE Student Experiment Documentation EuroLauncu Average power consumption 35W 67 2W incl 50 margin Total power consumption after lift off until T 600s 5 8Wh 11 2Wh Power ON T 600s Power OFF T 600s Battery recharging through service module No Experiment signals Signals from service module required Yes LO Yes SO

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