0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - ·...
Transcript of 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - ·...
![Page 1: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/1.jpg)
ARCADEEXPERIMENTONBOARDBEXUS13
AND17:DESIGN,INTEGRATIONANDFLIGHT
OFATECHNOLOGYTESTPLATFORMWITHIN
ASTUDENTBALLOONPROGRAMME
MarcoBARBETTA,FrancescoBRANZ,AndreaCARRON,
LorenzoOLIVIERI,FrancescoSANSONE,LiviaSAVIOLI,
FabioSPINELLO,AlessandroFRANCESCONI
1st SymposiumonSpace
EducationalActivities
Padova,9-11December2015
CISASG.Colombo, University ofPADOVA,
ViaVenezia15,35131Padova(ITALY)
![Page 2: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/2.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 2
CONTENTS
Ø EXPERIMENTOBJECTIVES
Ø EXPERIMENTOVERVIEW(2013)
• DockingSubsystem
• MotionControlSubsystem
• ProximityNavigationSubsystem
Ø ARCADEEVOLUTION
Ø FLIGHTRESULTS
Ø LESSONSLEARNED
Ø CONCLUSIONS
![Page 3: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/3.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 3
EXPERIMENTOBJECTIVES
PrimaryObjectives:
• Totestinnovativesolutionsforproximitynavigation,attitudecontroland
docking suitedforminiatureautonomousspaceandaerialvehicles
• Toevaluatedisturbancesaffectingoperationsatdifferentaltitudesonboarda
stratosphericballoonofferedbytheREXUS/BEXUSprogramme
• Torelateperformancestodisturbances
SecondaryObjectives:
• Tocollectenvironmentaldata(pressure/temperatureprofiles)
• Todeterminewinddirectionandspeed
![Page 4: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/4.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 4
EXPERIMENTOVERVIEW(2013)
MainElements:
• SMAV (SMAll AirVehicle)
• PROXBOX(PROXimity BOX)
• STRUT(STRUcTure)
• DockingSubsystem
• NavigationSubsystem
• WindSensors
• Webcam
SMAV
PROXBOX
STRUT
Balloon
frame
![Page 5: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/5.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 5
DOCKINGSUBSYSTEM
• BasedonSoyuzandATVprobe-drogue configuration
• Probelengthof10cm(SMAV size:20x20x20cm)
• Upto10° ofallowablemisalignment
![Page 6: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/6.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 6
MOTIONCONTROLSUBSYSTEM
MainGoal&Architecture:
• ActivelycontrolSMAVyawmovements
• Mainactuator:customreactionwheel
• Backupsolution:DCmotorb/wSMAVandSTRUT
State-SpaceControl
• Statefeedback+integralcontroller
• Disturbancesrejectedoutsidefeedbackloop
• Linearmovementsnotinfluencing attitude
• Backupsolution:manual-tunedPIDcontrollerSMAVReaction Wheel
![Page 7: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/7.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 7
PROXIMITYNAVIGATIONSUBSYSTEM
Sensorselection:
• Compactness(minorpartofSMAVvolume)
• Simplicity (hardwarecomponents&softwarecomputationalburden)
Sensorlayout:
• IRLEDemitter(pulsed at10kHz)onthePROXBOX
• TwoIRreceiversontheSMAV
• Reconstructionofrelativerangeρ andyawangleψ
customrelativenavigationIRsensorbasedon
radiationintensitymeasurement
SMAV
IRRECEIVERS
IRLED
![Page 8: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/8.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 8
ARCADEEVOLUTION2010- 2013
1)SelectionWorkshop 2)PDR 3)CDR
DESIGNPHASE
(10/2010– 6/2011)
1)Conceptdefinition
2)Baselineconfigurationselection
3)Detaileddesign
4)IPR&EAR
5)BEXUS13flight- 2011
INTEGRATION&TESTPHASE
(6/2011– 9/2011)
4)Integrationandacceptance
5)LaunchCampaign
(October2011)
6)BEXUS17flight- 2013
RE-FLIGHT
(11/2012– 10/2013)
• Substitution of
damagedorobsolete
h/w
• Completere-writingof
software
• Otherdesignupgrades
• Massreduction
Unsuccessfulflight because
ofcriticalsoftwarefailure Successful flight!!!
![Page 9: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/9.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 9
FLIGHTRESULTS(1/2)
Dockingsystem
• SuccessfulreleaseoftheSMAV
• Thermaldeformation: in-flight
modificationofactuatorsstroke
• Twocompletedockingandrelease
procedures
Motioncontrolsystem
• Backupmotor successfullypointingandmoving theSMAV
• ReactionwheelsuccessfullytestedwithbothPIDandState-Spacecontrols
PIDControllerManoeuvreState-SpaceControllerManoeuvre
1 2 3 4
![Page 10: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/10.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 10
FLIGHTRESULTS(2/2)
Proximitynavigationsystem
• Automaticcalibrationofphotodiodes
electronics(temperature-dependant)
• Real-timeestimationwithon-boardsoftware:
accuracyof17mm– 2.7deg
• Postprocessing:accuracyof5mm– 1.5deg
Thermalcontrolsystemandwindsensors
• Experimenttemperaturealwayswithinoperationalrange
• Estimationofwindtorqueson thevehicle
![Page 11: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/11.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 11
LESSONSLEARNED(1/3)ExperimentDesign
• Don’t fallinlovewithdesign ideasbut
asktoexpertsforwhatalreadyexists
• Thesimpler thebetter:asimple
solution, although lesselegant,is
preferable
• AlwaysoptinfavourofCOTSagainstself-
builtcomponents
• Don’tunderestimatetimetoallocateto
softwaredeveloping. Eveninintegration
isincomplete
![Page 12: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/12.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 12
LESSONSLEARNED(2/3)LaunchCampaign
• Finalizeasearlyaspossible theintegration.
Worstproblemshappenat99%ofprogress.
Dropthings ifneeded
• Don’tchangesoftwareatlastevenifit’ssoooo
easy
• Havesparepartsboth forCOTSandself-built
components
• Makesystemsserviceable
• Don’t relyontelecommand forthesuccessof
theexperiment
![Page 13: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/13.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 13
LESSONSLEARNED(3/3)
ProcurementandShipping
• Freezelong leadtimecomponentsasearlyaspossible
• Usecomponents frombigdistributors
• ConsiderLi-SOCl2batteryshipping.Couriersarescaredofhazmat!
Testing
• Testflightconfiguration inthemostrealisticway
• Givetestsapriority.Testfirstthingswhichare
likelytohaveproblems inyourmind
OutreachandFunding
• Goodoutreachmeansfunding
• Goodoutreachdevotesafull-timeperson– orevenmore.
![Page 14: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/14.jpg)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 14
CONCLUSIONS
• Importantscientific andtechnologic results
• Testedcriticaltechnologies for:
• Docking
• Relativenavigation
• Attitudecontrol
• Know-howoftheteamseriously improved
• Bigexperienceaboutspaceprogramsanddeadline-driven teamwork
HOWMANYERRORSBEAVOIDED
THANKSTOTHISEXPERIENCE?
![Page 15: 0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - · !"#!$%&%'(%")*%+,&-+&.-!"$&.%'/0&12&!+$&134&$%0)5+6&)+,%5"!,)-+&!+$&78)59,&-7&!&,%#9+-8-5:&,%0,&(8!,7-"*&;),9)+&!&0,/$%+,&.!88--+&("-5"!**%](https://reader033.fdocuments.us/reader033/viewer/2022052723/5f0e2d077e708231d43df907/html5/thumbnails/15.jpg)
THANKYOUFORATTENTION!
1st SymposiumonSpace
EducationalActivities
Padova,9-11December2015
CISASG.Colombo, University ofPADOVA,
ViaVenezia15,35131Padova(ITALY)