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USLI PDR 2013 - Illinois Space Society

1. Figure 5 6 Project Timeline Gantt Chart Proposal Deadline 8 31 2012 Design work for payload and UAV Create team website finalize team members Develop UAV controls begin building UAV Teleconference Preliminary Design Review Q and A Establish Web Presence Deadline 10 22 2012 PDR Deadline 10 29 2012 Construction of altimeter sled UAV construction Place UAV parts orders Construction of motor assembly Integrate UAV mass dummy for testing Charge testing First test flight UAV flight testing culminating in drop test Critical Design Review Q and A Integrate UAV into rocket finish flight testing CDR Presentation and Flysheet Deadline 1 14 2013 CDR Presentations Full Scale Flight Test Flight Readiness Q and A FRR Presentation and Flysheet Deadline 3 18 2013 FRR Presentations Competition Launch Activities Post Launch Assessment Deadline 5 06 2013 The red path shows how the building activities lead up to the final presentation launch day and the post launch assessment This represents a very critical path of the project as they all must be completed to meet the mission success criteria The path can be seen to split into two paths due to the multitasking done by the different functional groups of the entire ISS Tech Team While the other events not connect by the red path are important the connected events represent the ones that are the most labor and time intensive The black path
2. recovery electronics from payload Incomplete awaiting payload construction Incomplete Complete Complete Complete Complete Complete Incomplete awaiting flight testing Planning completing construction of rocket and beginning testing Awaiting construction of UAV full scale flight Ongoing design currently does not exceed this limit Design complete awaiting testing Modelling work complete awaiting verification through testing Modelling work complete awaiting verification through testing Complete 11 Illinois Space Society Tech Team NASA USLI PDR The recovery system will have redundant commercially available altimeters Each altimeter will have a dedicated arming switch and power supply Each altimeter will be capable of being locked in the ON position Each arming switch will be a maximum of 6 feet above the base of the vehicle Removable shear pins shall be used for both the drogue and main parachute compartments Electronic tracking devices shall be installed on all independent sections of the vehicle The recovery system shall not be adversely affected by any on board electronics during flight The altimeters will be located in a separate compartment from other radio transmitters The recovery system must be shielded from devices which create magnetic waves The recovery system will use commercially available electric matches for ejection charge ignition J Risk Mitigat
3. we have decided that a Rocketman 16 ft parachute will serve as our main parachute The Rocketman line of parachutes have been used by our group before with success According to data available on the manufacturer s website this parachute will allow us to maintain less than a 20 ft s descent rate and come within the kinetic energy guidelines A 36 SkyAngle parachute will serve as the drogue and will maintain less than 80 ft s of a descent rate The data provided by manufacturers and simulations will be corroborated with testing results which will allow for confirmation of the predicted descent rates If the descent rates do not match testing results the calculations will be redone and a new parachute configuration will be chosen if necessary Careful consideration was made in the drogue parachute choice as we needed it be maintain a descent rate below 80 ft s but not too far below that mark as the rocket could then drift too far away Our team has experience working with SkyAngle parachutes as well and therefore has a firm grasp 17 Illinois Space Society Tech Team NASA USLI PDR around how to use these parachutes properly The shock cord material will be tubular nylon and all eyebolts will be forged All connecting gear between the parachutes and the rocket will be inspected to ensure it can withstand the applied loads All parachutes will also have flame protective covers to prevent burns from ejection charges The sequencing of recove
4. 76646 Level 2 to ensure the group s compliance with the NAR Safety Code In addition to the team mentor other members of the team are also Level 1 Jason Allen and Level 2 Adam Joseph certified B Potential Failure Modes Table 4 2 Payload Design Failure UAV unable to handle the Damage to UAV inability of UAV Use of strong materials when accelerations or environmental to perform mid air UAV failure constructing the body of the UAV conditions For electronic components check with manufacturer to ensure they will remain functional Properly secure all electronic components Systems check before UAV released from rocket to ensure systems are functioning to prevent accidental mid air failure Test UAV during test launch UAV does not fit in rocket Unable to fly in rocket Proper considerations taken during design of the UAV Ensure arms fold correctly Camera on UAV does not record UAV does not take video Make sure UAV is correctly wired Test cameras over the course of project Make sure cameras do not turn off mid flight and check with the manufacturer s guidelines to ensure they will be able to handle the environmental conditions and accelerations 41 Illinois Space Society Tech Team NASA USLI PDR Onboard electronics unable to Recovery system failure critical Check with manufacturer to ensure handle the accelerations or damage to rocket electronic components will remain environmental conditions functional Properly
5. Raspberry Pi is a credit card sized computer that plugs into your TV and a keyboard It is basically ARM Linux PC which can be used for many of the things that your desktop PC does We will be using the Raspberry Pi as the central controller for the quadrotor All processing will be done onboard in real time using C as our development language and it will communicate with various other hardware components such as Parallax Propeller chip over either USB or UART Figure 4 6 Raspberry Pi Computer Parallax Propeller The parallax propeller chip contains eight processors cogs that can operate simultaneously either independently or cooperatively sharing common resources through a central hub Operating at speeds up to 80MHz per cog the propeller is the ideal solution for our UAV All sensor readings will be taken with the Propeller and communicated over UART to the Raspberry Pi The motors will also be controlled with the Propeller since it has an excess of input output ports which are capable of a wide variety of things Great Planes Silver Series 35A Brushless ESC 5V 2A BEC These ESC s are great for delivering 35A of continuous current with a built in Battery Eliminator Circuit which can handle 2A this ESC is very simple to use with a safety arming procedure implemented High refresh rate and thermal protection gives us further reassurance with this product Great Planes Rimfire 400 Outrunner Brushless Motor 37 Illinois Space Socie
6. codes as well as local state and federal regulations Members will be given safety training on equipment to be used in construction of the project prior to handling any of the equipment For smaller equipment more experienced team members or the safety officer will provide instructions while more dangerous equipment training will be handled by personnel with Engineering Special Projects Lab All new members will only use potentially hazardous equipment under the supervision of experienced members All personnel are expected to behave properly in the presence of potentially dangerous tools and materials All members will be required to wear proper attire whenever construction is taking place such as close toed shoes and non baggy clothing and members with long hair must have it tied back Eyesight must not be impaired by long bangs at any time during construction or when handling potentially dangerous materials and must be tied back Proper safety equipment such as safety goggles nitrile gloves and ventilation masks will always be available and must be worn when necessary Food and drink are not allowed during construction or anywhere near power tools and chemicals Table 4 5 Material Hazards Dangerous fumes from chemicals and dust All work with chemicals and dust will take place in well ventilated areas under the supervision of the safety officer or team mentor Safety goggles and ventilation masks will be used Skin irritants Nitrile
7. component in stock Have clear list of duties for each team section have managers assign clear duties to each team member Have more than one team member capable of completing a task coordinate with all team members on when work should be done Have backup launch dates scheduled and schedule necessary launches well in advance of deadlines 13 Illinois Space Society Tech Team NASA USLI PDR K Confidence and Maturity of Design The Illinois Space Society Tech Team is confident in its design work for the rocket for this competition All design work was made by those experienced with high power rocketry using their experience calculations and computer simulations The result of this previous experience along with rigorous testing to guarantee safety gives the design of our rocket maturity The sub scale launch vehicle and sub scale payload have yet to be built This will give us better understanding of how the full scale model will perform through the data it provides With this data we will make the necessary adjustments to the full scale vehicle to ensure better performance L Dimensional Drawing of Assembly Figure 3 8 Exploded View of Rocket Illinois Space Society Tech Team NASA USLI PDR Figure 3 9 Flight Vehicle Dimensions M Mass Statement The mass of the final rocket will be approximately 43 lbs This mass is calculated from weight measurements of components approximate weight or stated weight i
8. ft Ibf All independent sections of the vehicle shall land within 2500 ft given a 15 mph wind Recovery system electronics shall be independent of payload circuitry Ground testing to verify team can assemble rocket quickly Ground testing to verify all components can remain ready for one hour Inspection vehicle is using 1515 rail buttons Inspection the rocket will only use motors compatible with the standard system Inspection current designs do not call for any such equipment Inspection the rocket is only using commercially available motors Inspection no larger motors will be used Inspection and testing if ballast is needed it will not be made to exceed this weight Inspection and planning current timeline allows for full scale testing across multiple weeks Inspection during full scale launch UAV will be completed Planning and inspection if a part pushes the total cost of the rocket above this limit that part or another of similar cost will be replaced the design will allow for this requirement by not including multiple large cost essential devices Inspection the rocket currently includes a dual deployment system Modelling and simulation of rocket will include descent rate approximations data gained from testing will ensure requirements are met Modeling of the rocket will provide approximate descent rates to meet this goal testing will validate models Inspection design separates
9. grams It should be noted that these are both early estimates made using common formulas These will provide a starting point at which to start with ground testing It is more than likely that both of these will change as the project moves forward toward flight tests Shear pin estimates put us at using 4 6 32 nylon shear pins at each separation point Shear pins will be analyzed at ground testing to ensure the charges are large enough to break all pins but the first flight test will be the true test of the shear pins since drag forces cannot be analyzed as accurately on the ground Both altimeters and all charges will be tested for continuity before they are launched The Stratologger automatically does continuity checks once altimeters are turned on allowing for no further device to be implemented to perform this important safety task The parachutes that will be used will be sized such that the descent rate under drogue is no faster than 80 ft s and that the descent rate under main parachute is no faster than 20 ft s The descent rate under main and drogue will not allow any independent section of the vehicle to hit the ground with a kinetic energy of more than 75 ft lbf which is equivalent to a 15 ft s descent rate for any 10 Ib section In addition the descent rate of the vehicle will be determined to allow the vehicle to land within 2500 feet of the pad with a 15 mph wind Through careful consideration of parachutes available on the market today
10. inside the dremel e Start with the dremel on low power initially e Avoid walking with the dremel switched on e Wear eye protection e Make sure what you are using the dremel on is held down e Learning to properly use the dremel e Store and use away from all liquids 3 Electric Sander For parts of the rocket construction an electric sander may be used on the rocket body The sander will be used to ensure that the body of the rocket is smooth and that the couplers will be appropriately separable The sander is a Bosch brand Misuse of the sander can lead to potential injuries such as minor burns and electric shocks This can be mitigated by following these steps e Checking the chord for any exposed wire 30 Illinois Space Society Tech Team NASA USLI PDR Wear eye protection 4 Electric Matches Making sure the dremel is on off before plugging it in Remove all tripping hazards from the area Avoid walking with the sander switched on Make sure what you are using the sander on is held down Learning to properly use the sander Store and use away from all liquids Electric Matches will be used during the launch operations and charge testing portion of this project These matches will be used to ignite black powder charges to separate portions of the rocket and deploy parachutes A burn is a potential injury that can arise from the misuse of an electric match The team mentor will safely handle and store the electric matches as w
11. of a wire dislodging Also per NASA safety guidelines all e matches and charges will be stored and handled by our high power certified mentor All recovery system electronics namely Stratologger and TeleMetrum altimeters their power sources and their switches will be kept in a separate compartment from payload electronics In addition the vehicle payload and recovery system will be assembled and tested to ensure their non interference before test flights and also after any changes to payload or recovery electronics Their dedicated arming switches are expected to be 5 ft 3 inches above the base of the rocket at the center of the switchband This is below the 6 ft height requirement specified by NASA B Schematic of Recovery Electronics A diagram of the recovery electronics is shown below The recovery electronics sled shown will be attached to threaded rod in the coupler and screwed in place before flight 19 Illinois Space Society Tech Team NASA USLI PDR Figure 3 11 Schematic Diagram of Recovery Electronics Recovery System Electronics Schematic To Main Parchute My Perfect Flight Stratologger 9V Batteries for L Strattologgers Telemetrum Battery Altus Metrum Telemetrum To Drogue Charges C Testing Procedure Once the rocket structure is complete we will begin a regimen of systems tests to assure proper flight performance For deployment testing all tests will be done using as many flight components as poss
12. packing rocket descent resulting in damage sufficient protection from charges 28 Illinois Space Society Tech Team NASA USLI PDR to rocket sufficient ground testing The Bratmtw lisnsupenhabdbred Parachute tear Parachutes may be unable to slow Inspect parachute prior to use down rocket descent resulting in Keep parachute away from sharp damage to rocket objects Fall too fast slow Rocket ends up drifts too far or Sufficient parachute size ground damage to rocket testing to ensure parachute deploys C Personnel Hazards Safety requirements for materials being used solder epoxy are stated in the Material Safety Data Sheets listed on the team s website These are always available to all team members online and the safety officer and or the team mentor will be present at all times when any of these materials pose a hazard to anyone Caution statements will be included in all instructions and plans All members will adhere to all NAR safety codes as well as local state and federal regulations Members will be given safety training on equipment to be used in construction of the project prior to handling any of the equipment For smaller equipment more experienced team members or the safety officer will provide instructions while more dangerous equipment training will be handled by personnel with Engineering Special Projects Lab All new members will only use potentially hazardous equipment under the supervision of experienc
13. presenting to older students grades 6th 12th our team will include information pertaining to avionics equipment and also cover the more advanced aspects of our UAV payload All aspects of our educational outreach will be organized by our educational outreach team lead who will be in charge of determining specific local schools and classes to visit as well as developing a list of materials to be presented This team member will also decide on the hands on experience as detailed above that is most applicable engaging and safe for each outreach event C Status Currently our Tech Team is signed up to present at Mahomet Science Day a day dedicated to displaying several scientific aspects to the students who attend one of the three schools in the Mahomet Illinois area This event will take place on the Friday of November 9th and we intend to present to 3rd 5th graders with a focus on the structural 51 Illinois Space Society Tech Team NASA USLI PDR aspect of our rocket In addition our team has opportunities to present at Booker T Washington STEM Academy as well as Thomas Paine Elementary right here in Urbana IL The presentations at these locations will be given to six different classrooms of approximately 30 35 students per class which allows us to present our materials to a large group of students of varying age groups This serves to ensure that our presentations will be widely varied and effective for each group of stud
14. range from a simple classical control approach based ona PID design a modern linear quadratic LQ method a nonlinear approach or a combination of these choices Due to the guaranteed stability and robustness properties this project focuses on the LQ approach to the control problem Specifically the explicit model following LQR method was researched and will be implemented The dynamic equations describing the quadrotor motion are the same for all quadrotors However this project was conducted in regards to a specific flight vehicle that we designed therefore we have to find the parameters associated with this vehicle Once these parameters are defined we will proceed to adjust the Q and R matrices of the performance index which will give us an optimal solution to the controls of the quadrotor Below are the 6 nonlinear coupled differential equations of motions we will be linearizing for our controls Figure 4 5 Control equations cosysin cos sin y sin 6 U m siny sin cos cos y sin U m amp cosdcos U m g d Go w 1 1 We 6 1U 6 1 1 1 Y U 66 1 1 Ju Once the control systems have been determined through analysis and verified through testing the final control algorithm will be implemented on the main computer of the UAV 36 Illinois Space Society Tech Team NASA USLI PDR the Raspberry Pi computer which will be able to fly the UAV autonomously B Flight Hardware Raspberry Pi The
15. represents critical deadlines that must be met for the project The red path connects with the black path at the end of the project to show how the critical building path will meet the deadlines through the use of careful planning multitasking of the team and the distribution of workload to the different functional groups 5 4 Educational Outreach A Goals The focus of the ISS Tech Team s educational outreach plan are to reach as many students as possible promote interest in rocketry primarily in younger students and to inspire students about what they can achieve now as well as in the future To accomplish this team members will make frequent visits to nearby schools bringing with them presentations pertaining to rocketry and payload related topics for students to experience additionally our team will engage students outside of the classroom at several other events throughout the year At these events demonstrations of our team s findings will be conducted and supplemented by smaller scale projects in which the students can interact with materials 50 Illinois Space Society Tech Team NASA USLI PDR that will allow them to take in a rocketry based experience In order to receive feedback on and to improve our future outreach opportunities feedback forms will be requested from students who participate in our outreach initiatives and the teachers who supervise them These feedback forms will request insight regarding the information lea
16. the eyebolt attached to the motor case will be made in the base of the UAV As mentioned in our revisions we will also be replacing machined components with 3D printed parts The cost and weight of the parts we need to machine will be a lot lower and upon further stress tests completed by the manager of the Rapid Prototyping Lab at UIUC we will decide whether or not we would like to continue in this 34 Illinois Space Society Tech Team NASA USLI PDR direction The UAV base would be the only component of the UAV that would be 3 D printed All other structural components would be purchased from McMaster Carr A schematic of the base is shown below Figure 4 3 UAV Base o 02 04 E 10 L 07 DETAIL E SCALE 2 1 FRACTIONAL 2 CHECKED TITLE AN MACH SENDA TWO PLACE DECIMAL moane THREE PLACE DECIMAL MEG APPR GEOMETRIC QA PROPRIETARY AND COMNHOEMNAL TOLERANCING FER en THE INFORMATION CONTAINED IN THES MATERIAL DRAWING THE SOLE PROPERTY OF SZE DWG NO REV PEN COMPANY NAME HERE ANY GE za A Base WITHOUT THE WEITEN PERMESON CF NEXT ASSY USED ON SEN COMPANY NAME HERE D T PROH NED APPUCATION DO NOT SCALE DRAWING SCALE 1 2 WEIGHT SHEET 1 OF 1 5 4 3 2 1 Illinois Space Society Tech Team NASA USLI PDR Figure 4 4 Exploded Assembly The control system of the UAV will encompass a major portion of the payload goals Many options are available to design a control law for the quadrotor Choices can
17. the future For this project a subscale model of the rocket is produced by the same supplier as the full scale rocket This kit the Darkstar Mini includes all necessary components to fly the subscale model successfully and is significantly simpler to build compared to the full scale rocket As such the two will be built simultaneously and will also use similar construction techniques Results from the subscale launch will be included with the CDR 3 2 Recovery Subsystem A Recovery System Design Our recovery system will be a dual deployment recovery system with a drogue parachute deploying at apogee and a main parachute at 800 feet All parachutes will be fired by Perfectflite Stratologger barometric altimeters One of the altimeters will function as the main deployment altimeter with no apogee delay set and a main parachute deployment altitude set at 800 feet The second altimeter will serve as a backup deployment altimeter firing separate backup charges This altimeter will have an apogee delay set for the drogue deployment as well as a lower main deployment altitude setting of 700 feet This system will help ensure that should a problem occur even if a charge fires but does not completely deploy the parachute the backup altimeter and charges will be delayed and be able to solve the problem The Stratologger is a barometric altimeter that beeps the altitude of apogee which would allow it to function as an official competition altimeter S
18. 4 20 34 23 99 57 99 112 40 23 92 21 70 4 14 1 68 27 99 79 95 25 199 00 199 96 159 96 79 99 N SH z EN ZE z E lt ES lt ig ZZ als 47 Illinois Space Society Tech Team NASA USLI PDR Propeller Chip 1 7 99 7 99 Y Prop Plug 1 14 99 14 99 Y XBee Pro 60mW 2 36 99 73 98 Y Total 1282 29 Total minus 521 42 previously owned components The travel costs given below are approximations from previous travel by the ISS Tech Team and account for increases in travel costs since previous trip arrangements Table 5 4 Travel Costs A Number 1 csspe Urs Transportation Vehicle 750 Gas 3 200 600 Lodging 3 400 1200 Total 2550 5 2 Funding Funding sources have been sought throughout the duration of the project to help ensure the project is fully funded The funding sources presented below represent both current levels of funding and anticipated funding depending on the source The funding levels as anticipated are adequate to cover all competition costs If additional funds are determined to be necessary the ISS Tech Team can work with other groups in the Illinois Space Society to acquire funding and may also pursue fundraising activities on campus as needed Table 5 5 Funding Sources Funding Source Estimated Funding UIUC Design Council Funding 2500 Y Illinois Space Society Funding 700 Y SORF Contribution 1700 N 5 3 Project Timeline The project timeline listed below includes all events that have se
19. Illinois Space Society Tech Team NASA USLI PDR Illinois Space Society Tech Team NASA USLI Preliminary Design Review Illinois Space Society Tech Team NASA USLI PDR Table of Contents 1 1 Team Summary 1 2 Launch Vehicle Summary 1 3 Payload Summary 2 Changes Since Proposal id 3 Vehicle Criteria cccccccccccccccecccececececececececececececececececeseceneseseceneceneseneseseseseseseseseseseseeseeseeeees 3 1 Vehicle Selection Design and Verification 3 2 Recovery Subsystem 3 3 Mission Performance Predictions 3 4 Interfaces and Integration 3 5 Launch Procedures 3 6 Safety and Environment 4 Payload CITO er EINE Oe AB eee Pre STEUER 33 4 1 Payload Selection Design and Verification 4 2 Payload Concept 4 3 Science Value 4 4 Safety and Environment 9 Project Plan nee ie 46 5 1 Budget 5 2 Funding 5 3 Project Timeline 5 4 Educational Outreach 6 ee Te ICH e TEE 53 A A RER eerie eee etre E Illinois Space Society Tech Team NASA USLI PDR 1 Summary 1 1 Team Summary Team Name Illinois Space Society Tech Team Website http www ae illinois edu iss id usli Mailing Address 104 South Wright Street Urbana IL 61801 School University of Illinois at Urbana Champaign Mentor Mark Joseph NAR Level 2 76446 1 2 Launch Vehicle Summary The rocket chosen for this project is the Wildman Rocketry Ultimate Darkstar kit This kit is a sixinch diameter rocket with a final le
20. be mounted on the electronics sled The sled will slide over two threaded rods that span the entire length of the payload bay which are secured in place with threaded nuts and washers Three switches are mounted to the outside of the switch band and are connected to the three electronic components to individually control each of them The entire coupler system and payload will be connected to the upper airframe and booster airframe via 8 total shear pins Illinois Space Society Tech Team NASA USLI PDR Figure 3 6 Coupler with Bulkheads G Upper Airframe Analysis The upper airframe serves as housing for the main parachute The parachute will be attached via elastic shock cord to the eyebolts Protective recovery wadding will separate the black powder charge and the parachute to prevent damage to the parachute The upper airframe will be attached to the nosecone via 4 shear pins H Nosecone Analysis The nosecone provided with the kit is the 5 5 1 von Karman filament wound fiberglass nose cone with aluminum tip The von Karman geometry gives minimum drag for a given length and diameter while the aluminum tip reinforces the nose cone and prevents the tip from shattering upon descent A fiberglass bulkhead was epoxied in place for parachute attachment on the inside of the nose cone A forged eyebolt is secured with nut and washer to the center of the bulkhead This forged eyebolt will serve as the upper connection for the main parachute Bef
21. bers informed of goals and progress 12 Illinois Space Society Tech Team NASA USLI PDR Project goes over budget Key team members leave project Necessary unavailable equipment Necessary components unavailable or ship late Communication problems Team members unable to perform duties Bad weather on launch day Moderate Low Low to Moderate Low to Moderate Low to Moderate Moderate Moderate Unable to buy necessary components or spare parts forcing design changes No one capable of performing specific functions Unable to work on project until equipment becomes available or forced design changes Unable to complete project forcing design changes Team members unaware of responsibilities tasks do not get finished Not enough team members available to finish task forcing larger loads on other members Unable to complete requirements fo competition or get necessary data for competing Develop thorough design that specifies all needed components account for spares for critical components and reuse components from previous projects whenever possible Make sure at least two team members know how to perform every step necessary to complete project Plan ahead to have equipment available for any construction or computer work have backup plans so team members always have work Buy necessary components quickly and when possible buy from suppliers who have
22. ble 3 7 Launch Operations Failure Modes Motor failure Rocket does not launch motor Proper attachment of motor mount launches through rocket structurally sound motor casing proper ignition setup Premature separation Unstable flight required apogee Separating sections will be pinned not reached potential recovery together using nylon shear pins failure that will break when charges triggered Charges insufficient Rocket does not separate and Sufficient amount of charge testing parachutes do not deploy resulting in high velocity impact with the ground Electric match failure Rocket fails to separate and Backup charges connected to parachutes do not deploy resulting redundant altimeter inspection of in high velocity impact with ground matches prior to installation sufficient ground tests to give familiarity Make sure wires connected properly Team mentor will handle all electric matches Vehicle explosion midflight Loss of rocket mission failure Proper motor storage proper construction techniques in regards to motor mount Propellent explodes Loss of rocket mission failure Proper motor storage inspect motor components prior to launch Recovery system failure to deploy Rocket fails to separate and Sufficient amount of charge parachutes fail to deploy result in testing proper construction high velocity impact with ground techniques and use of redundant altimeters Parachute melt tangle Parachutes unable to slow down Proper parachute
23. chining this base from aluminum we are looking to print it out on a 3D printer This will save us machining and material costs while helping us create a lightweight yet strong nylon base With regards to the UAV hardware a large change was made to the design by incorporating a Raspberry Pi computer onboard the quadrotor This will allow the UAV to process and compute all mission critical tasks immediately without the need to transmit wireless data to a ground station The Raspberry Pi computer will be communicating with the Parallax Propeller chip over a UART connection therefore allowing us to stick our original plans for motor control and sensor readings Illinois Space Society Tech Team NASA USLI PDR 3 Vehicle Criteria 3 1 Vehicle Selection Design and Verification A Mission Statement Safely launch and recover a high power rocket with an Unmanned Aerial Vehicle payload consisting of an autonomous folding quadrotor with mounted cameras while successfully completing competition requirements B Requirements In order to successfully complete the mission statement a number of conditions must be met by the launch vehicle The main requirements of the rocket structure including recovery systems are dictated by mission goals for the payload and NASA requirements and are listed below 1 The rocket will be integratable with the UAV payload 2 The rocket shall meet all competition flight requirements including but not limited to
24. cover in spectator areas or outside the launch site nor attempt to catch it as it approaches the ground 56 Illinois Space Society Tech Team NASA USLI PDR B MSDS For ease of use MSDS sheets for all relevant materials can be found on the project website at http Awww ae illinois edu iss id usli 57
25. ctators in the event of a problem will check the stability of my rocket before flight and will not fly it if it cannot be determined to be stable 7 Launcher will launch my rocket from a stable device that provides rigid guidance until the rocket has attained a speed that ensures a stable flight and that is pointed to within 20 degrees of vertical If the wind speed exceeds 5 miles per hour will use a launcher length that permits the rocket to attain a safe velocity before separation from the launcher will use a blast deflector to prevent the motor s exhaust from hitting the ground will ensure that 55 Illinois Space Society Tech Team NASA USLI PDR dry grass is cleared around each launch pad in accordance with the accompanying Minimum Distance table and will increase this distance by a factor of 1 5 if the rocket motor being launched uses titanium sponge in the propellant 8 Size My rocket will not contain any combination of motors that total more than 40 960 N sec 9208 pound seconds of total impulse My rocket will not weigh more at liftoff than one third of the certified average thrust of the high power rocket motor s intended to be ignited at launch 9 Flight Safety will not launch my rocket at targets into clouds near airplanes nor on trajectories that take it directly over the heads of spectators or beyond the boundaries of the launch site and will not put any flammable or explosive payload in
26. der to have a safe launch all team members will undergo pre flight safety briefings These briefings will cover safety procedures and tasks for all team members and will take place when the team arrives at the launch field The contents of the pre flight briefings will be discussed in detail in Appendix B Pre Launch Day Before 1 Check that mentor has e Correct motor assembled e Correct charge size for each separation event 2 Check that all flight hardware is stored for transportation to launch site 24 Illinois Space Society Tech Team NASA USLI PDR 3 4 5 Check that all backup equipment and tools are necessary for quick fixes Check that all ground support equipment is packed Check that all team members have read or heard safety briefing and are informed of their responsibilities Pre Launch Day Of Launch OO OO JO Om PS GO A Pack equipment for travel Travel to launch location Unpack equipment at launch site Perform preflight checks of UAV and altimeters Assemble avionics bay payload sled check that all connections are secure Lock altimeter switches in off position Attach e matches to altimeters Turn on altimeters and check continuity then turn off altimeters Slide avionics sled into coupler and attach bulkheads Check altimeters are off and attach ejection charges to terminal blocks Pack drogue parachute Fold UAV for flight attach to recovery harness and stow in boo
27. e designed to fit onto two threaded rods in the coupler section of the rocket During final assembly all necessary connections to the altimeters will be made outside the coupler after which the sled will slide into the coupler One of the bulkheads will be epoxied to the coupler in order to ensure all components remain in the same location for each launch The threaded rods will have nuts epoxied onto them at locations to ease installation by making the location of all hardware components the same across flights B Altimeter Integration In order to ensure safety and decrease complexity all altimeters will be mounted ona payload sled which slides onto threaded rods in the coupler This configuration has been used on previous projects for entire payloads and it simplifies the construction process and final launch preparations The altimeter sled will be made of aircraft grade plywood and will have copper or brass tubing mounted to allow easy mounting to the threaded rods The sled will also have mounting hardware for the altimeters and holes to allow zip ties to secure the batteries 3 5 Launch Procedures A Launch Platform All launches of the competition rocket will occur using standard 1515 launch rails 8 feet in height These are the rails that will be used for the competition flight and performing multiple launches using the same hardware provides familiarity with the system and safety assurance B Assembly and Launch Procedures In or
28. e working environment For all tools the user manual will be available and the safety officer and experienced members will be supervising 1 Electric Drill For construction of the rocket an electric drill will be used to produce holes in predetermined locations on the rocket body The drill in use is a DeWalt brand drill The drill is a potentially dangerous tool if mishandled it may lead to personal injury Some possible forms of injury are punctures cuts or electric shocks These can be mitigated by taking precautions such as e Checking the chord for any exposed wire e Making sure the drill is on safety before plugging it in e Remove all tripping hazards from the area e Verifying the drill bit is securely locked inside the drill e Avoid walking with the drill on e Wear eye protection e Make sure what you are drilling is held down e Learning to properly use the drill e Store and use away from all liquids 2 Dremel A Dremel will be used during rocket construction It is a handheld rotary power tool with many capabilities It is used primarily for drilling and widening small holes or sanding small portions off the rocket body Potential forms of injury include punctures cuts or electric shocks if it is misused To prevent injury do the following e Checking the chord for any exposed wire e Making sure the dremel is on off before plugging it in e Remove all tripping hazards from the area e Verifying the drill bit is securely locked
29. ed members All personnel are expected to behave properly in the presence of potentially dangerous tools and materials All members will be required to wear proper attire whenever construction is taking place such as close toed shoes and non baggy clothing and members with long hair must have it tied back Eyesight must not be impaired by long bangs at any time during construction or when handling potentially dangerous materials If they interfere with sight at any time they must be tied back Proper safety equipment such as safety goggles nitrile gloves and ventilation masks will always be available and must be worn when necessary Food and drink are not allowed during construction or anywhere near power tools and chemicals Table 3 8 Material Hazards Mitigation Dangerous fumes from chemicals or fiberglass dust All work with chemicals and dust will take place in well ventilated areas under the supervision of the safety officer or team mentor Safety goggles and ventilation masks will be used Skin irritants Nitrile gloves will be used whenever these materials are handled The safety officer or team mentor will be supervising any use Explosive or flammable chemicals All flammable chemicals will be handled by the team mentor be stored in appropriate containment units by the mentor and treated appropriately as per the MSDS 29 Illinois Space Society Tech Team NASA USLI PDR Other personnel hazards include proper use of tools and th
30. ed to be reusable Inspection the rocket currently has four independent sections Simulations complete preparing for flight tests Complete Complete Incomplete awaiting avionics bay construction Current simulations suggest model will remain subsonic for duration of flight awaiting validation through testing Rocket is designed to be recoverable demonstration will be first test flight Complete 10 Illinois Space Society Tech Team NASA USLI PDR The launch vehicle will be capable of being prepared within 2 hours The launch vehicle will be able to remain on the for a minimum of 1 hour The vehicle shall be compatible with an 8 ft 1 5 inch launch rail The launch vehicle shall be capable of launching with a standard 12 V firing system The vehicle shall require no external circuitry or special ground support equipment to initiate launch The rocket shall use commercially available solid rocket motors The total impulse installed on the rocket shall not exceed 5120 Ns The ballast of the fully configured rocket shall not exceed 10 of the unballasted weight The rocket will successfully undergo a full scale launch prior to FRR The UAV shall fly as intended during the full scale launch The maximum cost of the rocket on the pad shall not exceed 5000 The vehicle shall utilize a dual deployment recovery system The maximum kinetic energy of each independent section at landing shall not exceed 75
31. een below Table 5 2 Rocket Budget litem Quantity Unit Cost Item Total Cost Received Y N Ultimate Darkstar 1 Kit Proline 4100 Epoxy 1 119 99 119 99 Y Motor Retainer 1 52 52 Y Assembly Motor Adapter 1 45 45 N Assembly Motor Casing 1 573 99 573 99 N Stratologger 2 79 95 159 90 Y Altimeter Telemetrum 1 350 350 Y Altimeter Beeline Transmitter 1 115 115 N Colloidal Silica Filler 1 24 99 24 99 Y 46 Illinois Space Society Tech Team NASA USLI PDR Rail Buttons 2 Connecting 1 Hardware Shock Cord 40 yards Main Parachute Drogue Parachute Parachute Protector Altimeter Switches Black Powder e matches Igniters Subscale Rocket Motor reloads Total Total minus previously owned components 1 1 2 IG 1 1 1 1 2 4 43 50 2 10 170 45 3 29 2 50 23 55 32 5 95 65 00 190 99 8 86 50 84 170 45 6 58 7 50 23 55 32 5 95 65 00 381 98 2955 86 1505 83 Table 5 3 UAV Budget lt ze z E ZZ lt lt lt lt Lipo Battery Push Props Tractor Props Xbee USB Adapter Worm Gear Worms Torsion Springs Axle Keyed Drive Shaft Standard Key Stock Shaft Collars XBee SIP Adapter Tether Raspberry Pi UM6 Pololu IMU Rimfire Brushless Great Planes ESC RXM SG GPS Jo BR 2 A CO G gt gt sch ON 67 99 1 89 3 39 23 99 57 99 28 10 2 99 21 70 2 07 0 84 27 99 79 95 25 199 00 49 99 39 99 79 99 135 98 11 3
32. effect of any overstability in the rocket This is only done with the acceptance of the RSO 3 4 Interfaces and Integration A Payload Integration Due to the complex nature of the UAV payload special attention must be placed on the problem of integrating it into the rocket airframe In order to give the UAV adequate flight time as well as to ensure the UAV is able to safely detach from the rocket it has been determined that the UAV must be ejected at apogee If the UAV were to be ejected with the main parachute it would begin flying at a much lower altitude It would also have much less time to get RSO confirmation of safety which would reduce the likelihood that it would be able to fly 23 Illinois Space Society Tech Team NASA USLI PDR Because the drogue parachute is stored in the booster airframe the simplest placement for the UAV during ascent is in the same section directly above the parachute This way the ejection charge will pull the UAV out with the drogue parachute The UAV will be machined to fit nearly snug against the walls of the rocket body which will reduce any possible vibrations or forces on the UAV Once it has been deployed and RSO approval has been granted the team will trigger the release of the UAV and it will fly autonomously The UAV will still communicate with the ground through transmission of its GPS coordinates The altimeters will be mounted to a payload sled during construction The payload sled will b
33. elease the UAV will be initiated by the ground team The UAV will then fly autonomously and record video The UAV will also include a GPS tracking device that will be able to transmit location data to a ground station Illinois Space Society Tech Team NASA USLI PDR 2 Changes Since Proposal As noted in the Addendum to the Proposal the team is no longer pursuing to complete the SMD payload requirements The primary engineering payload the UAV quadrotor is still being fully pursued but without the necessary science instruments to complete the SMD payload goals This is due to funding constraints but will also allow for more time to work on necessary components of the UAV system The change in payload will not affect the flight design of the UAV It will however make it lighter and more efficient Removing the science instruments necessary to complete SMD payload requirements also decreases the complexity of the final design lowers build time and reduces the workload on the payload team Safety features originally included as part of the UAV including gps locators will not be affected by this change in payload The activity plans remain largely unchanged Looking at the mechanical design of the UAV we changed the unfolding mechanism on the base from having two arms connected to torsion springs to all four arms being connected This will allow the center worm gear to spin without any resistance created by the quadrotor arms Rather than ma
34. en necessary ductile metal for the construction of my rocket 3 Motors will use only certified commercially made rocket motors and will not tamper with these motors or use them for any purposes except those recommended by the manufacturer will not allow smoking open flames nor heat sources within 25 feet of these motors 4 Ignition System will launch my rockets with an electrical launch system and with electrical motor igniters that are installed in the motor only after my rocket is at the launch pad or in a designated prepping area My launch system will have a safety interlock that is in series with the launch switch that is not installed until my rocket is ready for launch and will use a launch switch that returns to the off position when released If my rocket has onboard ignition systems for motors or recovery devices these will have safety interlocks that interrupt the current path until the rocket is at the launch pad 5 Misfires If my rocket does not launch when press the button of my electrical launch system will remove the launcher s safety interlock or disconnect its battery and will wait 60 seconds after the last launch attempt before allowing anyone to approach the rocket 6 Launch Safety will use a 5 second countdown before launch will ensure that no person is closer to the launch pad than allowed by the accompanying Minimum Distance Table and that a means is available to warn participants and spe
35. ents In addition to reaching out to local students in the classroom ISS Tech Team has the opportunity to present at on campus events such as Engineering Open House abbreviated EOH herein At EOH the team will present the rocket and payload to the general public consisting of 20000 students and their families from Illinois as well as surrounding states to promote interest in rocketry on a general scale and NASA SLP in particular Typically these projects will be viewed by people of differing backgrounds and experiences which serve to enhance our presentations further through interaction with them Team members will make presentations to large groups of spectators as well as answer questions and discuss projects with individuals feedback will be plentiful from this event Our outreach endeavors will conclude with an event of our very own organization Illinois Space Day Illinois Space Day hosted for the first time just one year ago is an event that brings down a substantial amount of students and their families attendance was over 200 in the previous year to the University of Illinois for a thorough look at all things related to space and the space sciences Our Tech Team featured a thorough exhibit at this event last year and we will be holding another presentation this coming April the event will take place on April 14th 2013 With the date of the event being so late in the year our project will be in its final stages of work which all
36. ercent If more dramatic action is needed to reach the competition goals the design will be reassessed and further action taken In order to ensure the stability of the rocket the simulation also takes into account the geometry of the rocket and its mass distribution Using measurements of weight and size the simulation software gave the following stability analysis with the specified motor Figure 3 14 Rocket simulation and stability information Stability 3 27 cal CG 256 cm CP 308 cm The given stability margin the distance between the center of gravity and center of pressure is 3 27 calibers or 3 27 times the diameter of the rocket This over the recommended value of approximately 1 5 2 calibers as a margin of stability However current construction expectations are to add more weight to the bottom than the top which would lower the center of gravity Additionally some additional margin of stability at this stage allows for safe removal of mass at a later point should design changes to increase the apogee prove necessary Approximately 3 calibers of stability is also safe for performing a test flight as the expectation with this margin of stability would be slight weathercocking or some turning into the wind If the launch day proves especially windy the launch rod can be angled slightly away from the wind less than 5 degrees This has been done for previous projects that have launch on windy days and helps reduce the
37. eria The UAV payload will be successful upon safe completion of all competition requirements and its engineering payload is collected and retrieved by the team 4 1 Payload Design and Analysis A Design overview As mentioned in our proposal the quadrotor we designed is comprised of four foldable arms linked together by a worm gear mechanism which guarantees equal unfolding of all of these arms The four outer worms as show below are each connected to a quadrotor arm via keyed shafts and are all connected to the central worm gear guaranteeing the simultaneous motion of all four arms All four of the arms have a 360 degree torsion spring installed on one side of the shaft as seen above which will provide enough torque to help the arms expand once deployed 33 Illinois Space Society Tech Team NASA USLI PDR Figure 4 1 UAV arm attachments A charge released locking mechanism designed by Defy Gravity shown below will be attached to a notch in the side of the base which will allow the UAV payload to separate from the rocket upon confirmation from the ground station The reliability of this device has been tested but will continue to be tested once that step of the design process is achieved Figure 4 2 Defy Gravity Tether E First we must focus on the guaranteed deployment of all four arms and then we will proceed to integrate it with the rocket Additionally a location for the shock cord to pass behind the UAV to attach to
38. ests are completed the UAV will be prepared for the final launch A series of static tests will be performed to make sure various aspects of the constructed UAV function as designed Static testing will make sure the rocket integrates properly physically into the rocket and attaches as appropriate to the recovery harness Static testing will also confirm that the rocket does not interfere with recovery electronics and will be used to verify the transmission of GPS data before flight A flight test from the ground will be performed to determine whether the UAV flies correctly and establishing that the designed controls work as intended The vehicle will take off from a flight configuration at rest while on the ground and will perform a short flight before landing Another possible flight test of the UAV would be an endurance flight to test how long the vehicle may remain airborne Separate tests of individual components of the tether system will then be performed to confirm that the remote control aspect is functional and able to deploy the foldable arms of the UAV when given the signal The tether s release mechanism will be validated on the ground before a flight test is attempted A fully integrated charge test with UAV will determine whether the UAV can survive the deployment process and can function afterwards This will be the first full system test of the entire rocket and payload as it will include all flight components of both systems T
39. et Motor Thrust Curve 3500 AeroTech L2200 RASP format ThrustCurve org 2011 3000 ls ll E i a ie pea ee ee y SN S 2000 4 N d SC S L 1000 i REE EEE O O U ee ee 0 0 0 1 25 1 2 23 2 50 ii seconds Figure 3 13 Simulated performance with L2200 Simulated flight Vertical motion vs time uoNels ja99e Een Doten JEIUAA 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 Time s The simulated performance on this motor indicates an apogee of 4974 feet This apogee is around 6 below the goal of one mile However using this same software in previous years has resulted in variations of up to 10 in either direction between predicted and actual apogee Thus more data is needed to determine if changes should be made to the 22 Illinois Space Society Tech Team NASA USLI PDR rocket to help meet the altitude goal This data will be provided by flight testing the rocket If it is determined that more mass needs to be added that mass will be added in a location beneficial stability or neutral to it either above or at the center of gravity If mass needs to be reduced a number of options exist including creating or ordering a plastic nosecone to replace the heavy fiberglass one or shortening the long and relatively unused upper airframe Either of these actions could reduce the total mass of the rocket by several pounds which would be enough to boost the rockets apogee by several p
40. f given of components not already delivered and predicted weight of additional small components The tabulation of this weight is given below Table 3 3 Rocket component masses Booster Airframe Body Tube 8 84 Upper Fin 3 83 Lower Fin 3 65 Centering Ring 4 19 Rail Button and Hardware 3 19 Retainer and Hardware 59 Motor Casing 3 71 Drogue Parachute 53 Total 19 44 UAV Payload Projected total mass Total 3 Coupler Bulkhead and Hardware 2 12 Coupler and Switchband 3 19 Threaded rod 23 Batteries 3 1 Attachment hardware 74 Payload sled board 31 15 Illinois Space Society Tech Team NASA USLI PDR Total 6 21 Upper Airframe and Nosecone Nosecone 5 01 Nosecone Bulkhead and hardware 12 Upper Body Tube 5 86 Main Parachute 2 81 Total 14 4 Total 43 05 The final weight of the rocket is large for an L motor to reach one mile This is understood and minimizing the amount of added weight to the rocket has been attempted throughout the design As such an emphasis has been placed on smaller components wherever possible N Subscale Model In order to acquire a better understanding of the rocket and simulation software used a subscale model of the rocket will be built and flown This rocket will provide essential data for evaluating the rocket before the first test flight and will also significantly increase the amount of data to draw on in evaluating the effectiveness of simulations in
41. fastened Monitor UAV throughout flight Electric match failure Rocket fails to separate and Backup charges connected to parachutes do not deploy resulting redundant altimeter inspection of in high vel impact with ground matches prior to installation sufficient ground tests to give familiarity Make sure wires connected properly Altimeter not armed or faulty Rocket does not separate and Throughout the project test the altimeter parachutes do not deploy resulting altimeter to make sure it works or in high velocity impact with the a replacement can be acquired ground Ensure to arm the altimeter on the 42 Illinois Space Society Tech Team NASA USLI PDR launch pad Have redundant altimeter in case of sudden failure UAV descent rate too high UAV takes damage upon landing Equip UAV with a proper size parachute in case it fails mid air Properly design and test UAV to ReSM fgtitatTi s til As qreates dar can land efficiently or does not impact ground Monitor UAV throughout flight C Personnel Hazards Safety requirements for materials being used solder epoxy are stated in the Material Safety Data Sheets listed on the team s website These are always available to all team members online and the safety officer and or the team mentor will be present at all times when any of these materials pose a hazard to anyone Caution statements will be included in all instructions and plans All members will adhere to all NAR safety
42. fficiently with simplicity in mind The fewer factors we have to worry about during flight the better Therefore the mechanical design along with the electrical hardware implantation is as simple as can be for a system of this complexity We will approach each step of the process individually and address issues immediately after they arise This will limit the chance of error we will encounter during actual flight 39 Illinois Space Society Tech Team NASA USLI PDR B Success Criteria The payload will be considered successful if the following requirements are met while maintaining the safety of the team and all those observing the launch 1 The UAV successfully ejects from the rocket at apogee 2 The UAV detaches from the recovery harness upon receiving a command from the ground initiated after RSO approval 3 The UAV successfully deploys from ascent configuration to flight configuration 4 The UAV successfully attains level flight after being ejected 5 The UAV collects locational data from GPS transmitter and relays it to the ground 6 The UAV successfully captures video during its flight 7 The UAV upon finishing its flight successfully descends and lands softly C Experiment Procedure and Processes 1 UAV Testing The following is the intended sequence of testing to be done for the integration of the UAV payload system After each test is completed necessary adjustments will be made to optimize the performance of the UAV Once all t
43. gloves will be used whenever these materials are handled The safety officer or team mentor will be supervising any use Burns from soldering Proper soldering techniques use of proper safety equipment 43 Illinois Space Society Tech Team NASA USLI PDR Other personnel hazards include proper use of tools and the working environment For all tools the user manual will be available and the safety officer and experienced members will be supervising 1 Solder Gun The soldering gun will be used in the physical construction of the electronics for the payload It is used to connect circuitry and electronic hardware The solder gun heats up a metal tip which is then pressed over solder which is then liquefied and used to make electrical connections Since the tip gets very hot burns are a potential injury that can result from improper use of this tool All users will receive training prior before use of this tool To help prevent injury do the following Checking the chord for any exposed wire Making sure the solder gun is set down before plugging it in Remove all tripping hazards from the area Avoid physically handing others the solder gun Avoid walking with the solder gun on Wear eye protection and skin protection including close toed shoes Learning to properly use the solder gun before use Store and use away from all liquids 2 Electric Drill For construction of the rocket an electric drill will be used to produce holes in predeterm
44. he configuration settings of the electronics will be recorded and not changed before the flight 3 3 Mission Performance Predictions To help ensure the rocket will be able to meet system requirements numerous simulations of the rocket in its final flight configuration have been made These simulations are intended to provide an indication of the rocket s flight performance characteristics and to verify the safety of the rocket for testing purposes They are not intended to be used on their own as the sole method of analysis of the rocket and will be used in conjunction with testing data when that data becomes available Table 3 4 Predicted apogee for separate motors Aerotech Diameter lmpulse Motor mass g Launch Mass lb Apogee ft Motors m m Ns L400W 4676 5085 52 43 3333 L952W 0 98 5050 5012 52 27 2257 L952W P 98 5098 5026 52 30 4455 L1120W P 75 4922 4658 51 49 4603 L1170FJ P 75 4214 4990 52 22 3560 L1300RP 98 4556 4884 51 99 3560 L1420R P 75 4616 4562 51 28 4026 L22006 P 75 5104 4751 51 70 4974 Using the data obtained above from the simulations it was determined that the best motor for our rocket was the Aerotech L2200 The thrust curve for this motor is given below This motor puts the rocket at the closest apogee to the goal of one mile Using this motor further simulations were done on the rocket at the anticipated total weight shown below 21 Illinois Space Society Tech Team NASA USLI PDR Figure 3 12 Rock
45. he test will provide data on whether any changes to deployment procedures need to be changed and will help ensure the safety of the deployment process for the full flight test 40 Illinois Space Society Tech Team NASA USLI PDR A drop test will then be conducted to check that the UAV can unfold its arms and then proceed to fly and correct its position all while falling in mid air If a building can be found that is tall enough to allow the UAV to unfold and stabilize before it hits the ground the UAV will be dropped while still in its stored configuration and given orders to deploy and stabilize its flight This test will validate that the UAV can deploy after being released from the rocket The final test of the UAV will be the full scale test launch where the rocket will perform all aspects of its flight as expected for the final competition flight All other tests perform validation of safety and design of one or more components of the system while the full scale launch test serves as a validation of the entire system prior to the competition 4 4 Safety and Environment A Safety Officer The safety officer chosen is Jobin Kokkat a junior in Aerospace Engineering He has worked on rocket projects with Illinois Space Society for the past two years and has closely observed the previous safety officer He is aware of the duties and responsibilities required of this position and plans to work closely with the Team Mentor Mark Joseph NAR
46. i The rocket will reach 5280 but not exceed an apogee of 5600 feet AGL ii The rocket will consist of no more than 4 independent sections iii The rocket will not go supersonic iv The rocket will use standard 1515 launch rails 8 feet in height 3 The rocket will utilize a dual deployment parachute system 4 The vehicle will include one commercially available barometric altimeter for official scoring 5 Each altimeter will be independently armed and have a dedicated power supply 6 Each altimeter will be capable of being locked in the on position 7 The vehicle will land within 2 500 feet of the launch pad given a 15 mph wind and each vehicle section will land with a kinetic energy of less than 75 ft lof 8 The total impulse of the rocket motor shall not exceed 5120 Ns 9 The max cost of the vehicle and payload as flown for the competition will not exceed 5000 10 The vehicle must be recoverable and reusable without additional repairs C Mission Success Criteria The mission will be successful upon completion of the competition if while maintaining the highest possible safety standards all mission requirements are satisfied all competition goals are met and the rocket successfully allows the payload to meet its design goals D Rocket Design and Analysis The vehicle chosen for this competition is the Wildman Ultimate Darkstar This kit is a six inch diameter eighty inch tall rocket The rocket has four segments a booster airframe a co
47. ible This means either using the real component intended to be used during launch or a weight accurate simulant We will use a weight accurate dummy UAV as to not damage it during testing of ejection charges and early launches The dummy will utilize a mass component that was built for a previous rocket as ballast and is slightly lighter than the projected weight of the UAV All tests will be performed with help of our NAR mentor as he will prepare all charges for us We will use remote mechanisms to fire all charges during testing in order to maintain a safe distance Tests will be video recorded for analysis and record keeping In addition to tests of the charges the team will perform thorough analysis and testing of all 20 Illinois Space Society Tech Team NASA USLI PDR flight avionics and transmitters to ensure no interference is possible at any stage in flight Interference testing will include actual flight electronics placed in flight ready configuration The team will analyze each component to ensure that there is no interference between components in their flight ready form If one or more device is being interfered with as determined by non optimal performance or signal discrepancies from individual component testing results the team will restore optimal function through either changing transmission frequencies or the location of electronics in the rocket When further testing shows all components are performing as desired t
48. ined locations on the rocket body The drill in use is a DeWalt brand drill The drill is a potentially dangerous tool if mishandled it may lead to personal injury Some possible forms of injury are punctures cuts or electric shocks These can be mitigated by taking precautions such as Checking the chord for any exposed wire Making sure the drill is on safety before plugging it in Remove all tripping hazards from the area Verifying the drill bit is securely locked inside the drill Avoid walking with the drill on Wear eye protection Make sure what you are drilling is held down Learning to properly use the drill Store and use away from all liquids D Environmental Concerns Table 4 6 Potential environmental concerns due to the payload Potential fire due to charge testing All testing will be done outdoors in a clear area far from property and flammable objects Risk of fire from flammable substances All flammable objects will be handled with caution 44 Illinois Space Society Tech Team NASA USLI PDR Risk of fire from rocket launch Improper disposal of epoxy or solder and be stored in a secure location as per the MSDS All explosive material will be handled and safely stored by the team mentor The rocket will be launched above the ground and flammable materials will be removed from the proximity of the launch pad All explosive material will be handled and safely stored by the team mentor All hazardous material including epo
49. ion schedule Inspection the design currently uses three such altimeters Inspection design currently meets these requirements Testing will be done to make sure switches meet this requirement Inspection design puts switches below this limit Inspection design uses such shear pins for all connections Inspection design calls for such devices on all sections Ground and flight testing will be performed to ensure proper function of all electronics throughout flight Inspection design currently has sealed container for altimeters Inspection the design has sealed container for altimeters only small magnetic waves produced from UAV motors Inspection no homemade igniters will be used Complete upon construction of payload Complete upon construction of payload Awaiting construction of payload for testing Complete Awaiting construction of rocket Awaiting construction of rocket and avionics Awaiting payload construction to begin ground testing Design meets requirement Design meets requirement awaiting testing Complete A risk assessment including mitigation strategies is given below for the entire project Table 3 2 Risk mitigation and solution table Project falls schedule behind Moderate to High Work becomes rushed or Develop doesn t get finished timeline for project requirements and create short term goals to move the team closer to meeting the requirements Keep team mem
50. ith all explosive material D Environmental Concerns Table 3 9 Potential environmental concerns due to the vehicle Concerns Potential fire due to charge testing Risk of fire from flammable substances Risk of fire from rocket launch Improper disposal of chemicals or waste E Preflight Briefing Mitigation All testing will be done outdoors in a clear area far from property and flammable objects All flammable objects will be handled with caution and be stored in a secure location as per the MSDS All explosive material will be handled and safely stored by the team mentor The rocket will be launched above the ground and flammable materials will be removed from the proximity of the launch pad All explosive material will be handled and safely stored by the team mentor All hazardous material including epoxy black powder and rocket motor will be properly disposed of as stated in their MSDS The mentor will carry out the disposal of all explosive material The safety officer will conduct a preflight briefing for all team members prior to assembly of the rocket on launch day During this briefing the safety officer will 1 Go over all safety rules with team members 2 Emphasize people being cautious while working 3 Go through the launch day procedure detailed elsewhere in report to ensure all members understand what needs to be done 4 Assign specific duties to all team members so that all necessary tasks are completed in a q
51. ket unable to separate Rocket does not separate and Properly sanding the connecting parachutes do not deploy resulting sections of the rocket frame to in high velocity impact with the make sure it is not too tight ground Rail buttons incorrectly mounted Rocket breaks free at the Proper design and secure beginning of launch Possible installation of rail buttons damage to rocket or loss of rocket 26 Illinois Space Society Tech Team NASA USLI PDR Table 3 6 Payload Integration Failure Modes Failure Mode Unable to signal UAV UAV unable to deploy UAV deployment system failure UAV failure midair Camera on UAV does not record UAV descent rate too high Altimeter not armed or faulty altimeter Unable to deploy UAV UAV does not perform desired functions UAV does not jettison amp does not carry out its function UAV does not perform UAV freefalls and is damaged and damages whatever it impacts UAV does not take video UAV takes damage upon landing Rocket does not separate and parachutes do not deploy resulting in high velocity impact with the ground Mitigation Test signaling device with UAV inside the rocket Test at test launch Proper design of deployment method Ensure that signaling device is working prior to launch Test to make sure system works Proper design of deployment method Ensure that signaling device is working prior to launch Test to make sure system works Monitor UAV through
52. meters an Altus Metrum TeleMetrum altimeter will also be placed in the altimeter and electronics bay This device will allow us to receive live telemetry from the rocket during flight which may be important to our engineering payload and deciding on its release The additional data will also be very helpful in test flights This not only satisfies the NASA requirement of GPS tracking but will also provide a further backup for data as the competition requires a recorded final altitude Per NASA safety guidelines all altimeters will be armed from outside the rocket via key switches located on the switchband of the altimeter and electronics bay and each will have separate power sources Each Stratologger will have its own 9V battery which will be new for every flight and the Telemetrum will utilize its own rechargeable battery which will be charged prior to all charges The key switches will all be located on one vertical line on the side of the rocket opposite the rail guides Each key switch has the ability to be locked in either the on or off position Keys will be kept with launch materials and taken to the launch pad to be used only once the rocket is on the pad The key switches will connect to the altimeters using stranded wire to decrease the chances of a wire breaking during integration or flight All wires will be connected as firmly as possible and all connections will be double checked before launch to make sure there is a minimal chance
53. my rocket will not launch my rockets if wind speeds exceed 20 miles per hour will comply with Federal Aviation Administration airspace regulations when flying and will ensure that my rocket will not exceed any applicable altitude limit in effect at that launch site 10 Launch Site will launch my rocket outdoors in an open area where trees power lines buildings and persons not involved in the launch do not present a hazard and that is at least as large on its smallest dimension as one half of the maximum altitude to which rockets are allowed to be flown at that site or 1500 feet whichever is greater 11 Launcher Location My launcher will be at least one half the minimum launch site dimension or 1500 feet whichever is greater from any inhabited building or from any public highway on which traffic flow exceeds 10 vehicles per hour not including traffic flow related to the launch It will also be no closer than the appropriate Minimum Personnel Distance from the accompanying table from any boundary of the launch site 12 Recovery System will use a recovery system such as a parachute in my rocket so that all parts of my rocket return safely and undamaged and can be flown again and will use only flame resistant or fireproof recovery system wadding in my rocket 13 Recovery Safety will not attempt to recover my rocket from power lines tall trees or other dangerous places fly it under conditions where it is likely to re
54. ngth of 150 inches All kit components except centering rings are fiberglass The final assembled mass of the rocket including payload and motor is anticipated to be approximately 42 pounds Using simulations approximating the mass of the rocket the projected total impulse of the motor will be at least 4500 Ns depending on the final weight of the rocket The motor supplier chosen was Aerotech which provides a good selection of motors around this size Preliminarily the motor chosen is the Aerotech L2200 a 75 mm motor with a total impulse of 5104 Ns For launch the rocket will be mounted onto a standard 1515 launch rail that is 8 ftin height The rocket will have a dual deployment recovery system utilizing redundant Stratologger and Telemetrum Altimeters The altimeters will be contained in the coupler separate from all transmitters and other payload electronics Each altimeter will have an independant arming switch and battery Each altimeter will be configured to deploy a drogue parachute at apogee and a main at 800 feet AGL 1 3 Payload Summary The payload for this rocket is a deployable quadrotor Unmanned Aerial Vehicle The UAV will fold to fit inside the rocket during ascent This folded shape will be maintained during the ascent stage of flight When the rocket reaches apogee the drogue chute will be deployed and the recovery harness will pull the UAV out of the rocket Upon receiving safety confirmation from the RSO a trigger to r
55. nts remove power sources from avionics and store all materials for future flights 3 6 Safety and Environment A Safety Officer The safety officer chosen is Jobin Kokkat a junior in Aerospace Engineering He has worked on rocket projects with Illinois Space Society for the past two years and has closely observed the previous safety officer He is aware of the duties and responsibilities required of this position and plans to work closely with the Team Mentor Mark Joseph NAR 76646 Level 2 to ensure the group s compliance with the NAR Safety Code In addition to the team mentor other members of the team are also Level 1 Jason Allen and Level 2 Adam Joseph certified B Potential Failure Modes Table 3 5 Rocket Design Failure Modes Bulkhead failure Damage to payload UAV Proper construction techniques parachutes and onboard test to ensure strength electronics Unstable flight failed recovery Fins break fall off Unstable vehicle Use proper construction techniques when attaching the fins test to ensure strength Airframe structural damage Unstable vehicle rocket does not Use strong materials for the reach desired altitude damage to construction of rocket fiberglass rocket or loss of rocket mission epoxy during construction use failure proper construction techniques to maintain structural integrity of the rocket Center of Gravity too far back Unstable vehicle Add extra weight to the front of the rocket nosecone Roc
56. or this mission will be employed and will allow all mission critical processing to be done onboard the UAV Complex topics in controls and fine tuned programming algorithms will be used to guarantee the success of this mission Unmanned aerial vehicles have received a lot of interest and attention in recent years Their ability to perform tasks considered monotonous or dangerous at a low cost makes them excellent platforms for experiments in research institutions and engineering companies Small UAVs such as the quadrotor are excellent for indoor testing relatively cheap and provide students with the ability to understand all aspects of its flight from the mechanical design to controls The payload we are pursuing this year is going to be a very complex undertaking to say the least and encompasses a wide variety of disciplines in order to guarantee its success The long term goal of this project is to develop a stable rocket deployed UAV platform capable of taking precise measurements and maneuvering at high altitudes with little to no human input We have split up the project into three large components mechanical controls and electrical programming 4 3 Science Value A Payload Objectives The objective of the payload is to be able to maintain a stable hover at high altitudes and navigate to GPS coordinates based off of our control algorithms ALL autonomously In order for this mission to be successful we need to design a system that can work e
57. ore mounting the bulkhead to the nosecone the eyebolt was mounted to the bulkhead and epoxied in place to prevent it from moving In order to secure the bulkhead in place fillets of epoxy were placed above and below the bulkhead along the connections to the nosecone body The only future work on the nosecone is drilling holes for connecting the upper airframe to the nosecone Illinois Space Society Tech Team NASA USLI PDR Figure 3 7 Nosecone Assembly I Verification Plan Table 3 1 Verification Plan and Status Vehicle shall deliver engineering payload to 5280 ft AGL Vehicle shall carry one commercially available barometric altimeter for competition scoring The official scoring altimeter shall report altitude as a series of beeps All audible electronics except the official scoring altimeter will be capable of being turned off after launch The launch vehicle shall remain subsonic The launch vehicle shall be reusable and recoverable The launch vehicle will have a maximum of four independent sections Modelling simulation and flight testing of rocket and motor Inspection recovery system currently includes multiple possible altimeters Inspection recovery system currently includes such altimeters Inspection and ground testing team will verify payload meets requirement after construction Modelling simulation and flight testing of rocket Inspection all components and systems of rocket are intend
58. out flight UAV equipped with parachute to prevent damage in case of failure Proper testing of UAV and testing at launches to ensure it will not fail and is able to function Monitor UAV throughout flight Make sure UAV is correctly wired Test cameras over the course of project Make sure cameras do not turn off mid flight and check with the manufacturer s guidelines to ensure they will be able to handle the environmental conditions and accelerations Equip UAV with a proper size parachute in case it fails mid air Properly design and test UAV to ensure that its lift is greater than its weight Test UAV to ensure it can land efficiently or does not impact ground Monitor UAV throughout flight Throughout the project test the altimeter to make sure it works or a replacement can be acquired Ensure to arm the altimeter on the 27 Illinois Space Society Tech Team NASA USLI PDR launch pad Have redundant altimeter in case of sudden failure Sled not correct size rods Electronics bay unable to fit inside Proper design of the sled of the insecure rocket Electronics bay may electronics bay and test to ensure become dislodged secure installation Key switches hard to access or Potential difficulty arming Properly design an easily not securely fastened altimeters Wiring may come accessible location for the key undone switches and tightly secure key switches Check throughout project to avoid risky last minute alterations Ta
59. ows us to present the most materials on it to the audience of students and adults who attend Students will have the chance to engage with our work hands on and watch recordings of our testing and construction of each component of the project 52 Illinois Space Society Tech Team NASA USLI PDR 6 Conclusion The ISS Tech Team is making progress on all areas of the design and construction of the rocket and payload Component acquisition is commencing in areas where the design has been finalized allowing for the beginning of construction of sections which have not yet started Additionally progress on construction of the rocket and recovery system proceeds well enough for a first test flight in mid to late November The complexity of the project including multiple systems that have never been attempted together is one of the most daunting technical projects attempted by any Illinois Space Society Technical Project 53 Illinois Space Society Tech Team NASA USLI PDR A NAR Safety Code B MSDS Appendices 54 Illinois Space Society Tech Team NASA USLI PDR A NAR Safety Code High Power Rocket Safety Code Provided by the National Association of Rocketry 1 Certification will only fly high power rockets or possess high power rocket motors that are within the scope of my user certification and required licensing 2 Materials will use only lightweight materials such as paper wood rubber plastic fiberglass or wh
60. re 3 10 Deployed recovery system All connections between recovery Upper airframe securely devices and rocket are forged eyebolt attached to coupler and quicklink The parachutes will connect to the rocket using quicklinks and 1 tubular nylon shock cords The shock cords will be sized to approximately five times the length of the rocket about 60 feet for each section to allow for adequate vehicle separation under parachute and to help reduce any possible spikes in force during deployment Each parachute will connect to the rocket in two places The drogue will attach at the bottom to the forward closure of the motor retainer Aerotech motor retainers have forward closures that allow for the attachment of a forged eyebolt to the casing and the recovery harness will be quicklinked 18 Illinois Space Society Tech Team NASA USLI PDR to this piece The drogue will be connected above to the lower bulkhead of the avionics bay the coupler This link will also be via a quicklink to a forged eyebolt that is screwed and epoxied to the bulkhead The main parachute will have a nearly identical connection to the top of the coupler for its lower connection The upper connection for the main parachute will be a bulkhead epoxied into the nosecone that also has a forged eyebolt screwed and epoxied into it All of the forged eyebolts have washers and nuts to retain them and help dissipate loads across the bulkhead In addition to the two barometric alti
61. retainer is 12 screws with threaded inserts mounted into the centering ring Figure 3 4 Motor Retainer Assembly The launch rail interface for the rocket is three 1515 rail buttons attached to the side of the booster airframe These rail buttons will be attached via screws to a threaded nut in the rocket The threaded nut will be mounted on plywood and epoxied to the rocket This setup ensures that the button will be fixed to the rocket and will also allow for the Illinois Space Society Tech Team NASA USLI PDR attachment of replacement buttons should one or more be removed or damaged Figure 3 5 Rail Button Arrangement The drogue parachute will also go into the booster airframe with the quadrotor UAV engineering payload above it The UAV itself is designed to fit securely against the walls of the rocket body and has no impact on the structural component of the actual launch vehicle F Coupler Analysis The fiberglass coupler provided with the kit will contain the electronics and will serve as a mounting location for the black powder ejection charges The electronics mounted ona sled will slide into the coupler where it will be secured to the top bulkhead via threaded nut and washer The sled is made of aircraft grade plywood which will also have 4 pieces of copper tubing epoxied to the side of the sled opposite of the electronics The backup and main Stratologger altimeter Altus Metrum Telemetrum and individual batteries will
62. rned from the outing the clarity of the presentation and the fluidity of the projects completed Our team will then analyze the information gathered from these forms and compare it to our desired outcomes in terms of concepts successfully conveyed and deliverables produced From this we will have a much more clear understanding of how to better serve our community in future endeavors B Outreach Logistics The ISS Tech Team has numerous opportunities to engage in educational outreach throughout the year The most prominent of these being those in which we can engage students in the classroom and provide them with information about rocketry and science in general During these engagements ISS Tech Team members will present a short introduction to rocketry along with descriptions of their experiences with rocketry this and other projects The team will also engage students with hands on demonstrations and projects so that they will have an immediately understanding of how satisfying rocketry can be Possibilities for these projects include dividing students up into teams and having each team create a small Estes rocket this allows the students to express their ideas on rocketry and its design processes while simultaneously engaging directly with the material Each team will then get the chance to launch their rocket under our supervision and measure their success This project will be aimed exclusively at younger students grades K 5th When
63. ry events will be determined by the altimeters When the altimeters detect apogee they will trigger the charges in the booster airframe These charges will ignite and sever the shear pins connecting the coupler and the booster The ejection will pull out the shock cord UAV and drogue parachute The main charge will be set to deploy at apogee while the backup will have a two second delay This ensures that should anything go wrong with the first charge the second has a chance of providing an extra push to the rocket The UAV will initiate its own flight but the rocket will continue to descend under the drogue until it reaches an altitude of 800 ft AGL At this altitude the main altimeter will trigger the deployment of the charge in the upper airframe This airframe will remain connected to the coupler as the two are securely bolted together However shear pins connecting the upper airframe to the nosecone will be severed The charge will push out the main parachute which will slow down the rocket to an acceptable landing speed If the main charge for any reason does not activate or is not enough to force out the main parachute the backup charge will be deployed at 700 ft to push out the parachute If the parachute is already deployed the backup will initiate and detonate harmlessly After main parachute deployment the rocket will slow to its landing speed and drift to landing A diagram of the recovery system when deployed is shown below Figu
64. secure all electronic components Test during the test launch Table 4 3 Payload Integration Unable to signal UAV Unable to deploy UAV Test signaling device with UAV inside the rocket Test at test launch UAV unable to deploy UAV does not perform desired Proper design of deployment functions method Ensure that signaling device is working prior to launch Test to make sure system works UAV deployment system failure UAV does not jettison and does Proper design of deployment not carry out its function method Ensure that signaling device is working prior to launch Test to make sure system works Poor wire connection Unable to signal UAV deployment Properly plan when connections altimeters do not work charges do will go during design and use not deploy reliable wiring and proper installation methods Double check connections prior to launch Sled not correct size rods Electronics bay unable to fit inside Proper design of the sled of the insecure rocket Electronics bay may electronics bay and test to ensure become dislodged secure installation Table 4 4 Launch Operations Failure Modes Failure Modes Mitigation UAV failure midair UAV does not perform UAV UAV equipped with parachute to freefalls and is damaged and prevent damage in case of failure damages whatever it impacts Proper testing of UAV and testing at launches to ensure it will not fail and is able to function Ensure that the battery power supply is securely
65. ster airframe Pack recovery harness and flame protectors in booster airframe Attach coupler and insert shear pins Pack main parachute and flame retardants Attach GPS transmitter to recovery harness Pack recovery harness attach upper airframe and nosecone insert shear pins Insert motor into booster airframe Attach motor retainer Bring rocket to RSO for safety inspection e Make changes as RSO requires After RSO approval wait for range clear When range is clear move rocket to pad Lower launch rod and mount rocket on the rod Raise rod and rocket to upright position One at a time arm altimeters listen for continuity settings check Check pad power is off and attach igniter to pad controller Insert igniter into motor and plug Leave range and wait for launch Acquire signals from GPS transmitters and UAV before launch Launch rocket Atapogee wait for separation Upon separation confirmation await RSO approval to detach UAV Upon RSO approval detach UAV Wait for rocket to land UAV to complete flight Upon range clear retrieve rocket and UAV check for undetonated charges and remove as necessary 25 Illinois Space Society Tech Team NASA USLI PDR 16 Return to safe area Post Launch 1 Remove altimeters from coupler and collect data 2 Collect data from UAV 3 Turn off all avionics and store for transport 4 When travel back is finished clean all dirty compone
66. t dates and anticipated dates for future events Table 5 5 Milestone Timeline e Aug 31 Proposal Due Mid Sep Create team website finalize team members 48 Illinois Space Society Tech Team NASA USLI PDR Sep 27 End of Sep Oct Oct 4 Oct 11 Oct 22 Oct 29 Oct 31 End of Oct Oct 31 Nov Dec Nov 2 Nov 5 Nov 6 Nov 8 Nov 9 Nov 13 Mid November Nov 12 23 Dec 3 Dec 7 Dec 7 20 Jan Jan 14 Jan 23 Feb 1 Feb 11 Feb Mar 18 Mar 25 Apr 3 Apr 17 21 May 6 Selection Notification Finish design work on payload and UAV Develop UAV controls begin building UAV Teleconference Preliminary Design Review Q and A Establish Web Presence Deadline PDR Due Finish UAV design Finish fin assembly construction Begin construction of altimeter sled UAV construction period Place UAV parts orders Finish motor assembly Finish altimeter sled Integrate UAV mass dummy for testing Complete charge testing PDR Presentation Complete first test flight Develop UAV controls systems Critical Design Review Q and A Finish UAV construction UAV flight testing culminating in drop test Integrate UAV into rocket finish flight testing CDR Presentation and Flysheet Due CDR Presentations Flight Readiness Review Q andA Full Scale Flight Test FRR Presentation and Flysheet Due FRR Presentations Competition Launch Activities Post Launch Assessment Review Due 49 Illinois Space Society Tech Team NASA USLI PDR
67. tratologger altimeters have been used considerably in the past by ISS Tech Team members ensuring team member familiarity with parachute deployment testing and data collection from these altimeters TeleMetrum altimeters have also been used in the past by team members The 16 Illinois Space Society Tech Team NASA USLI PDR TeleMetrum altimeter has an integrated GPS receiver and transmitter allowing it to function as the locating device for the 3 tethered components of the rocket Like the Stratologger the TeleMetrum is a barometric altimeter Each of the altimeters involved in parachute deployment will fire two black powder charges one for the drogue in the lower airframe of the rocket for drogue deployment and one in the upper section for main Each charge will be ignited using e matches and charges will be assembled by the team mentor The ejection charges will be mounted on the bulkheads of the coupler using tubing that is permanently attached to the rocket The e matches will connect to the altimeters through terminal blocks mounted on the same side of the bulkheads Before deployment the rocket will be held together by removable shear pins in all sections that will separate Through calculations which took rocket component mass force required to break shear pins and inner rocket volume into account we arrived ona base estimate for our drogue ejection charges of 6 5 grams and a main ejection charge of 10 5
68. ty Tech Team NASA USLI PDR Excellent motors designed for explosive acceleration and maximum torque Lightened aluminum can houses high torque rare earth Neodymium magnets These motors are virtually maintenance free X Bee 900 Pro Transceiver The X Bee 900 Pro Transceiver is responsible for providing communication between the UAV and our ground station The X Bee will transmit data such as GPS tracking information and sensor measurement information The X Bee will communicate over UART to the Parallax Propeller UM6 Ultra Miniature Orientation sensor This sensor from Pololu uses rate gyros accelerometers magnetic sensors and an onboard 32 bit ARM Cortex processor to estimate the absolute sensor orientation 1000 times per second The resolution on this sensor is 0 01 degrees and can be coupled with our parallax GPS module to provide position altitude speed and course outputs RXM SG GPS Module w Ext Antenna The RXM SG GPS Module provides a high quality highly sensitive GPS receiver with an external antenna to provide a complete GPS solution for both microcontroller and PC applications Testing for reliability in measurements have been done and the GPS chip was able to capture ample amounts of satellites for position tracking Raw NMEA0183 data will be transmitted to the UM6 Ultra Miniature Orientation sensor for further processing Flightpower Pro50 2550 mAh 4S 11 1V Li Po battery This is a very powerful and lightweight batter
69. uick safe and efficient manner under the supervision of the team mentor and safety officer 31 Illinois Space Society Tech Team NASA USLI PDR 32 Illinois Space Society Tech Team NASA USLI PDR 4 Payload Criteria A Mission Statement The main objective of the engineering payload is to launch an Unmanned Aerial Vehicle quadrotor aircraft to fly autonomously after being ejected from the rocket at apogee The UAV must record video during flight fly autonomously for a short period and be successfully recovered B Requirements In order to successfully complete the mission the payload must follow the engineering goals set by the team as well as the competition guidelines specified by NASA These requirements include 1 The UAV will be foldable to allow integration into the rocket 2 The UAV will be attached to the shock cord and remain attached until given permission by RSO to deploy 3 The UAV detachment mechanism will be controlled entirely from the ground and will be initiated by the team 4 Upon deployment the UAV will unfold its arms and lock into flight configuration and deploy a parachute which will allow the stabilization algorithm to begin running 5 The UAV will then fly autonomously following a predetermined algorithm and flight plan 6 The UAV will be able to record video during flight 7 The UAV will have one full scale test flight during which it functions as planned for the competition C Mission Success Crit
70. upler with a switchband an upper airframe and a nosecone Each of these sections will be examined in detail following Illinois Space Society Tech Team NASA USLI PDR Figure 3 1 Assembled Rocket Structure E Booster Airframe Analysis The booster airframe contains a number of subsystems including the fin assembly motor casing and retainer and launch rail interface Figure 3 2 Booster Airframe The fins of the rocket consist of three split fins or six total fins Fin slots were put in the airframe by the manufacturer The fins are designed to mount on the motor mount and airframe The fins will be placed between the centering rings to help increase the structural integrity of the fin assembly As the fins will undergo some of the largest aerodynamic loadings they will be carefully mounted and epoxied to these surfaces to decrease the chance of one of them fluttering and or detaching during flight Illinois Space Society Tech Team NASA USLI PDR Figure 3 3 Fin Assembly The motor assembly for this kit consists of a fiberglass motor mount wood centering rings Aeropack motor retainer and adapter and a motor casing When fully assembled the centering rings are mounted to the motor mount at locations just above and below all six fins with the motor retainer attached to the lower centering ring The wooden centering rings are secured in place with epoxy fillets on both top and bottom sides The method of attachment for the
71. xy and solder will be properly disposed of as stated in their MSDS The mentor and the safety officer will supervise and ensure the safe disposal of all materials 45 Illinois Space Society Tech Team NASA USLI PDR 5 Project Plan 5 1 Budget The budget for this project is tabulated below as currently stands Items in any table marked with an asterisk are items taken from completed projects in previous years and as such are not adding to the total cost of the budget They are included here to demonstrate that the team can complete the requirement that the total cost of the competition rocket will not exceed 5000 on the pad The amounts reflected in the total budget are items that will be ordered on this year s budget Table 5 1 Total Project Budget Subsystem Group Total Cost Rocket Structure 1505 83 UAV Payload 521 42 Educational Outreach 200 Travel 2550 Total 4777 25 The projected total budget has decreased significantly since the proposal The majority of this decrease comes through the changes to the payload specifically the removal of the SMD science goal The instruments necessary to complete this payload would have required significantly larger budgets Additional savings came from careful inventory of items already in the tech teams possession mostly from previous projects These items especially the rocket body and altimeters further significantly reduce the overall cost of the project as can be s
72. y that will be able to discharge enormous current providing massive power for all 4 brushless motors 1 battery per 2 motors All of the components above will be mounted to the bottom of the base shown previously aside from the UM6 IMU which will need to be positioned at the center of rotation of the quadrotor C Verification Plan Table 4 1 The payload verification plan is still in the early stages of development The quadrotors arms will unfold 3D printing Test Inspection smoothly and lock into place once Stress Test Analysis released from the rocket The UAV payload will hover and Controls Test continue to be stable even with external disturbances Kalman Filter is tuned and IMU is Programming Test 38 Illinois Space Society Tech Team NASA USLI PDR calibrated The UAV will read all sensors Programming Test values at a sufficient rate and perform data analysis to filter good bad signals 4 2 Payload Concept The payload onboard the rocket will consist of a UAV which has the capability to hover autonomously and hold a GPS position once deployed Real time data will be collected onboard the UAV and a select amount of information will be streamed to our designated ground control station There we can consistently monitor its activity in an effort to prevent a safety hazard to the spectators below Some of the data collected will include altitude temperature barometric pressure and panoramic video feed Sophisticated hardware f

USLI PDR 2013 - Illinois Space Society

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