STUDENT LAUNCH INITIATIVE 2011 – 2012 AIAA OC Rocketeers CDR Presentation February 6, 2011

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STUDENT LAUNCH INITIATIVESTUDENT LAUNCH INITIATIVE2011 – 20122011 – 2012

AIAA OC RocketeersAIAA OC RocketeersCDR PresentationCDR Presentation

February 6, 2011February 6, 2011

Student Launch InitiativeAIAA OC Rocketeers

AgendaAgenda Introduction of team members (representing 4 high schools in Introduction of team members (representing 4 high schools in

Orange County California)Orange County California) Scale model testing and resultsScale model testing and results Full Scale DesignFull Scale Design

• VehicleVehicle• UAV Payload – Description, Safety, and TestingUAV Payload – Description, Safety, and Testing• Recovery System and EventsRecovery System and Events• GPSGPS• IntegrationIntegration

Feedback form checklistFeedback form checklist Risks and SafetyRisks and Safety Educational OutreachEducational Outreach Budget and TimelineBudget and Timeline Corrected 3 slides, added scale launches 2&3 & RC plane testingCorrected 3 slides, added scale launches 2&3 & RC plane testing

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Scale Model TestingScale Model Testing

How it affected the final designHow it affected the final design

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Black Powder CalculationsBlack Powder CalculationsScale rocket is 3” diameter (surface area on a bulkhead is π r2 or 7.07 in2).. We need at least 100 lbs of force + another 105lbs for the three #2 Nylon screws. The amount of black powder then is C D2 L where C is psi * .0004. D is the diameter in inches (3), and L is the length in inches (12).

Pounds PSI (lbs/in2) Black Powder (g)175 24.8 (175lbs / 7.07in2) 1.08200 28.3 (200lbs / 7.07in2) 1.22225 31.8 (225lbs / 7.07in2) 1.37250 35.4 (250lbs / 7.07in2) 1.53

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Testing – Black PowderTesting – Black PowderPhenolic SabotPhenolic Sabot

Trial Black Powder Result (Sabot is 18” long)1 .28 gram No ejection2 1.1 grams Partial ejection (4” exposed)3 1.5 grams Partial ejection (8” exposed)4 1.75 grams Partial ejection (15” exposed)5 2.0 grams Partial ejection (10” exposed + damage)

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Learned from testing leading to a design Learned from testing leading to a design changechange• Forces on the sabot are substantial Forces on the sabot are substantial • Increasing the black powder charge with Increasing the black powder charge with

a lot of leakage will result in damage a lot of leakage will result in damage before total deployment is reachedbefore total deployment is reached

• Ejecting the sabot towards the avionics Ejecting the sabot towards the avionics bay can contribute to damage through bay can contribute to damage through collisioncollision

• We need to change the design to allow We need to change the design to allow for piston deployment to minimize gas for piston deployment to minimize gas leakage through the sabotleakage through the sabot

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Testing – Black PowderTesting – Black PowderPiston pushing Phenolic Sabot Piston pushing Phenolic Sabot

Trial Black Powder Result (Sabot is 18” long)6 1.5 grams Full ejection but with substantial damage

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Learned from testing leading to a design changeLearned from testing leading to a design change• Piston needs to be made very strong to avoid damagePiston needs to be made very strong to avoid damage

• We will use Blue Tube filled with foam with double We will use Blue Tube filled with foam with double thickness bulkheads for further scale model testingthickness bulkheads for further scale model testing

• Sabot needs to be made very strong to avoid damageSabot needs to be made very strong to avoid damage• We will use Blue Tube with double thickness bulkheads We will use Blue Tube with double thickness bulkheads

for further scale model testingfor further scale model testing• Don’t increase Black Powder when using a pistonDon’t increase Black Powder when using a piston• Keep pressure distributed evenly on contacting parts – an Keep pressure distributed evenly on contacting parts – an

eyebolt pushing on a bulkhead can be catastrophiceyebolt pushing on a bulkhead can be catastrophic

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Testing – Black PowderTesting – Black PowderPiston pushing Bluetube Sabot Piston pushing Bluetube Sabot Trial Black Powder Result7 1.1 grams Successful (no parachute) – no damage8 1.1 grams Not successful (with parachute)9 1.25 grams Successful (with parachute)

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Testing – Black PowderTesting – Black PowderRear Section Drogue and MainRear Section Drogue and Main

Trial Black Powder Result10 1.1 grams Not successful (with drogue and main) too

much leakage through motor11 1.1 grams Successful (with drogue and main parachutes)12 .2g Successful (tender descender)

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Conclusion – Black Powder Conclusion – Black Powder TestingTesting

Sabot Ejection Use PistonPiston Construction

Heavy body tube, heavy bulkheads, foam filled, recessed “U” bolts

Sabot Construction

Heavy body tube, heavy bulkheads, even pressure across bulkheads

Black Powder – front section with sabot

1.25 grams (200 lbs giving 28psi in 85 in3)

Black Powder – rear section with drogue and main

1.1 grams (175 lbs giving 25psi in 85 in3)

Black Powder – Tender Descender

0.2 grams per manufacturer’s recommendation

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Scale Test Flight Lucerne Dry Lake 1/14/2012Scale Test Flight Lucerne Dry Lake 1/14/2012Scale model was flown at Lucerne Dry Lake in the Mojave Desert on January 14,2012

Flight used engine ejection for a single main parachute

Vehicle was stable with an extremely straight flight

Parachute deployed and vehicle returned with no damage

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Scale Test Flights Lucerne Dry Lake 1/28/2012Scale Test Flights Lucerne Dry Lake 1/28/2012Scale model was flown again twice on January 28, 2012 with full electronic deployment and a weighted Barbie payload in lieu of the UAV

Flight #1 – Cesaroni I236 Blue Streak• Motor was smaller than first flight due to availability – low altitude and everything deployed nearly at once

Flight #2 – Cesaroni I236 Blue Streak• Adjusted flight computers and we had our three separate events as planned

Launch

Nose Cone & Sabot

Barbie Payload Drogue Drogue + Main

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Scale Test Flights Lucerne Dry Lake 1/28/2012Scale Test Flights Lucerne Dry Lake 1/28/2012

Flight #1 – Cesaroni I236 Blue Streak•Graph from Raven (very late deployment)•Details from HCX:

• Maximum Altitude: 1398 ft• Max Speed: 260 ft/s• Max Acceleration: 166 ft/s/s

Flight #2 – Cesaroni I236 Blue Streak• Graph from Raven (proper, but a little late, deployment)• Details from HCX:

• Maximum Altitude: 1140 ft• Max Speed 246 ft/s• Max Acceleration: 181 ft/s/s

Scale Launch #2

Scale Launch #3

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UAV TestingUAV Testing

UAV Testing began with the Payload team learning to fly under the direction of one experienced team memberFirst flights at ROCtober in Lucerne showed the foam model to be underpoweredThe plane was reworked with a more powerful brushless motor and the final RC electronics and flown again testing the release mechanism as wellNext Steps• Add autopilot to foam model• Build the final RC plane as is and fly• Add autopilot to the RC plane• Finally, integrate the bendable wing

Release mechanism

Test

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How the testing affected the full How the testing affected the full scale vehicle designscale vehicle design

Sabot Ejection Use a piston with flat ends (nothing protruding such as eyebolts or “U” bolts) We want bulkhead to bulkhead or padded with parachute or shock cord

Piston Construction

Use fiberglass coupler tube, ¼” bulkheads reinforced with fiberglass, foam filled, with recessed “U” bolts

Sabot Construction

Use fiberglass coupler tube, ¼” bulkheads reinforced with fiberglass, “pushed” end needs to be flat with hinge to assure even pressure

Black Powder Charges

Some additional black powder is necessary to overcome the friction of the Sabot being pushed out, but the piston is very effective so care must be taken to not add too much. Careful testing is required

Piston Shock cord length

The shock cord on the piston needs to be shorter so the piston barely clears the body tube to prevent fouling

Avionics Bay Sealing

The avionics by needs to be sealed much, much better to avoid ejection charge leakage

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FullFullScaleScale

DesignDesign

Vehicle – Full ScaleVehicle – Full Scale

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Parameter Details

Length/Diameter 125 inches / 5 inchesMaterial .075” thick filament wound Carbon

Fiber from Performance RocketryShock Cord 1” Tubular NylonCenter of Pressure/Center of Gravity 94”/78.3”behind nose tipStability Margin 3.14Launch System / Exit Velocity 1” 8ft Rail / 80.4 ft/s

Vehicle – Full Scale cont’dVehicle – Full Scale cont’d

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Parameter DetailsLiftoff Weight 20.8 lbs

Descent Weight 17.8 lbs

Preferred Motor Aerotech K1050

Thrust to weight ratio 11.35 (1050 Newtons average thrust = 236 N / 20.8 lb vehicle)

Maximum ascent velocity 748.62 ft/s

Maximum acceleration 445.61 ft/s/s

Peak Altitude 5244 ft

Drogue – Descent rate 77.75 ft/s

Lower section under Main – Descent rate (Kinetic energy at ground level)

17.4 ft/s (48 ftlb-force)

Upper section under its own chute – descent rate (Kinetic energy at ground level)

17.2 ft/s (24.4 ftlb-force)

UAV on its own parachute – descent rate (Kinetic energy at ground level if UAV is not released)

18.5 ft/s (5.33 ftlb-force)

Vehicle – Forward SectionVehicle – Forward Section

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Parameter Details

Nose Cone Carbon Fiber 24” longBody Tube .075” thick Carbon fiber 5” diameter x 56” longBulkhead ½” plywood with fiberglass on both faces with “U” bolt for

shock cord attachmentShock Cord 1” Tubular Nylon x 20 ft + 4 ft (Piston)Sabot Carbon Fiber coupler, split lengthwise, hingedForward Cavity 10” x 5” diameter for ejection charge, shock cord, GPS, and

forward section parachute (56” – 5” for avionics bay – 5” for nose cone – 31” for sabot – 5” for piston)

Ejection Charge 1.5 grams (200 lbs)

Vehicle – Avionics BayVehicle – Avionics Bay

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Parameter Details

Bay Material Carbon Fiber tubing 12” long – coupler for 5” body tubeBody Tube .075” thick Carbon fiber 5” diameter x 1” longBulkhead ½” plywood with fiberglass on both faces with closed eye

bolt for shock cord attachmentSled 1/8” plywood with ¼” threaded rods the entire lengthElectronics HCX and Raven flight computers, BatteriesTerminal Blocks (for ejection chg)

Aft: Drogue primary and backup, Main primary and backupForward: UAV deploy primary and backup

Vehicle – Rear SectionVehicle – Rear Section

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Parameter DetailsBody Tube .075” thick Carbon fiber 5” diameter x 38.75” longCentering Rings 2ply x 3/32” = 3/16” fiberglass with “U” bolt for shock cordShock Cord 1” Tubular Nylon x 15 ft + 15 ft + 6 ft (across Tender Descender)Rear Cavity 12.75” x 5” diameter for ejection charge, shock cord, GPS, and

forward section parachute (38.75 + 3” for tailcone + 4” inside avionics bay – 6” for avionics bay overlap - 27” for motor)

Ejection Charge 2.24 grams (200lbs)Tender Descender

.2 grams (per the data sheet)

Aerotech K1050Aerotech K1050(Alternate: Cesaroni K600) (Alternate: Cesaroni K600)

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Designation K-1050W-SU Total Weight 2128 grams

Manufacturer Aerotech Propellant Weight

1362 grams

Motor Type Single Use Average Thrust 1050.0 N

Diameter 54.0 mm Maximum Thrust 2164.0 N

Length 67.6 cm Total Impulse 2530.0 Ns

Propellant White Lightning

Burn Time 2.3 s

Cert Organization

TRA Isp 189 s

Launch SimulationsLaunch Simulations

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• Simulations were run using Rocksim• Over 100 simulations were run to fine tune vehicle• Dimensions, weights, and launch conditions were varied• Once vehicle was designed varied engines to attain 1 mile altitude• Verified top speed was still subsonic• Verified range with varied winds

UAV Payload SystemUAV Payload System

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The UAV System consists of• 2.4 GHz RC Control via Spektrum DX-8• 900 MHz telemetry link using X-Bee for

• Altitude via barometric pressure• Speed via pitot tube and pressure sensor• Artificial horizon via 3 axis magnetometer

• 1.2 GHz Video downlink• Video data converted to USB for interface similar to web cam

Note: Rocket also uses two separate GPS transmitters for tracking

UAV Mechanical ComponentsUAV Mechanical Components

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• Mechanically, the UAV is composed of two main parts• Bendable wing developed at University of Florida• Fuselage, vertical and horizontal stabilizer (modified to fit) from the Electrifly RC Airplane

• Wing • Wingspan 30 inches• Weight 12 grams• Material Carbon Fiber

• Fuselage• Length 30 inches• Weight 140g• Material fiberglass

• Parachute release mechanism is electrically controlled servo activated by one channel of the AR-8000 RC receiver• Vehicle with electronics is 1 lb (estimated)

Note: UAV Photos from similar UAV at University of Florida Gainesville UAV lab and Electrifly Web Site

UAV Bendable WingUAV Bendable Wing

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• Wing design was developed at University of Florida (UF) for use in UAVs deployed from a tube• Wing is fabricated using Carbon Fiber in a vacuum forming heat process

• Carbon fiber cloth is 6 oz 3K Plain Weave pre-preg• Cloth is laid at 45 degree angle to direction of motion of the wing through the air• 30 inch wing uses 3 layers of carbon fiber• Cloth is laid over the mold and placed in a vacuum bag (mold and vacuum bag are protected with release film• The pressure is then lowered as close to 30” of mecury as possible• The vacuum bag and contents are baked at 260 – 350 degrees for about 6 hours• The wing is then removed and trimmed to size

• Status: We have one wing given to us from UF and Northrop Grumman is making our mold and loaning us time and supervision on their non-flight autoclave

UAV Control Electronics and OperationUAV Control Electronics and Operation

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• Main UAV control is via Radio Control (Spektrum DX-8 transmitter and AR-8000 receiver) on 2.4GHz – This is the default operation• Ardupilot Mega (APM) is switchable autopilot to provide autonomous control with Open Source software and support at DIYDrones• APM accepts data for flight and telemetry from on-board

• Inertial Measurement Unit (IMU)• GPS Receiver• 3 Axis magnetometer• Airspeed sensorAPM and IMU

GPS Airspeed Sensor

Spektrum DX-8 and Receiver

3 Axis Magnetometer

The ArduPilot Mega (APM)The ArduPilot Mega (APM)

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The ArduPilot Mega is:• An Inertial Measurement Unit based autopilot• Consists of

• Arduino based CPU board• IMU Shield• GPS and Sensors as separate boards

• Runs Open Source software (Lead programmer Doug Wiebel is one of our mentors)

• Includes firmware for the autopilot• Ground support station software for a PC

• Is supported by a community at DIY Drones • Can be commanded to take over control from RC and act as an autopilot• Can be programmed for autonomous flight by a simple mission scripting language

• Fly to a GPS waypoint• Loiter at a waypoing• Climb or descend• Change speed• Land

• Uses Xbee to transmit telemetry to ground station

UAV Support ElectronicsUAV Support Electronics

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• Data gathered by the UAV is used by the APM autopilot for flight as well as transmitted real time to a ground station• Radio telemetry downlink uses X-Bee transmitter in the UAV and an X-Bee receiver at the ground station on 900 MHz• Sensors gather and relay information regarding

• Airspeed• Attitude (for artificial horizon)• Altitude• Exact location

• In addition, the UAV carries a video camera• Video is transmitted to the ground station via a 1.2 GHz transmitter in the UAV and a matching receiver on the ground• Video is fed to the ground station via a video to USB converter – making it appear as a web cam input

UAV Electronics SystemUAV Electronics System

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UAV – Ground StationUAV – Ground Station

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UAV Ground Station• Allows RC control of UAV• Allows switching between RC control and autonomous flight• Displays real time telemetry data• Displays real time video from the UAV

UAV SafetyUAV Safety

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1. The UAV will descend on parachute until it can be verified it is flightworthy and not fouled on shock cords or shroud lines

2. The UAV detachment from the parachute is manual allowing a human to make the final decision

3. The UAV can be manually switched back to RC control at any time during the flight

4. If RC communications is lost the AR-8000 receiver sends a signal to the APM autopilot to switch to RC control and the AR-8000 sets servos and throttles to a preset (low throttle and circle) – needs testing

5. Alternatively, the APM autopilot can be programmed to return to home (needs testing)

6. If power is lost to the APM autopilot it automatically returns to RC control

7. If power is restored to the APM autopilot in flight, it will reload a backup program and restart where it left off

UAV Test PlanUAV Test Plan

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Note:UAV will be built from a commercial “Rifle” almost ready to fly RC plane from Electrifly with the University of Florida bendable wing. We are also using a foam Wild Hawk as a rugged trainer. Integration is at the guidance of Dr. Robert Davey, an aeronautical engineer and retired professor from Cal Poly Pomona

1. Install only RC control with batteries, servos, and power components into the foam Wild Hawk and verify the plane is flightworthy and can be controlled

2. Install the APM autopilot into the foam Wild Hawk and integrate with the ground station and X-Planes for a full “Hardware-in-the-loop” PC simulation on the ground1. Validate the scripting performs as it is intended2. Validate the scripting can be changed in the air3. Validate that control can be switched between RC and APM autopilot4. Validate the UAV reaction to loss of RC signal5. Validate the APM autopilot reaction to loss of power and return of power

3. Go to Lucerne Dry Lake and repeat the testing in step 1 (RC only control) and 2 (APM autopilot control with the plane actually in the air

4. Build the Rifle kit as-is with no modifications (i.e. use the wing that came with the Rifle)

5. Repeat steps 1 through 3 with the Rifle6. Replace the Rifle wing with the bendable carbon fiber wing7. Go to Lucerne Dry Lake and repeat steps 2 and 3 flying on RC and autopilot8. Include the vehicle and validate in test flight of full scale vehicle launch

RecoveryRecovery

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• Recovery System consists of:• G-Wiz Partners HCX Flight Computer (4 pyro events)• 1.10” x 5.50” 45 grams • Accelerometer based altitude• Raven Flight Computer (4 pyro events)•1.80" x 0.8" x 0.55." 27 grams • accelerometer based altitude

• Deployment bag with 84” Main Parachute• Two Tender Descenders in series (primary and backup)Other Parachutes:

• 24” Drogue• 60” Parachute for top body section• 24” Parachute on UAV

• Avionics Bay is coated with MG Chemicals SuperShield Conductive Coating 841 to minimize RF Interference

Recovery InterconnectRecovery Interconnect

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• Flight computers are powered from Duracell 9VDC batteries• Raven CPU and Pyro are on separate batteries• HCX CPU and Pyro are on separate batteries

• Design includes 4 safety switches (CPU power on before pyro)• Raven Flight Computer CPU Power• HCX Flight Computer CPU Power • Raven Flight Compuer Pyro Power• HCX Pyro Power

Black Powder ChargesBlack Powder Charges

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• A total of six separate black powder charges are used• The Drogue uses one black powder charge from the HCX pyro 2 as primary and one from the Raven pyro 1 as the backup to deploy at apogee• The Sabot uses one black powder charge from the HCX pyro 3 as primary and one from the Raven pyro 2 as the backup to deploy at an altitude of 1,000 ft• The Main uses one black powder charge from the HCX pyro 4 as primary and one from the Raven pyro 3 as the backup to deploy at an altitude of 800 ft

Recovery EventsRecovery Events

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• Redundant Dual Deployment from two different flight computers• Deployment consists of three separate events

• Event #1: Near apogee a black powder charge deploys the drogue parachute

• Rocket is in two sections tethered together

• Lower body tube with motor and fins• Nose cone, upper body tube with UAV, avionics bay

• Exposed and on the 1” Nylon shock cord:

• Drogue fully deployed• Main held in bag by Tender Descenders• One of two GPS (to clear carbon fiber body tube)


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• Event #2: At 1000 ft (backup at 900 ft) a second ejection charge separates the rocket further

• Lower body tube with motor and fins still on drogue tethered to the avionics bay only• Upper body tube tethered to the nose cone and the opened sabot is all under another deployed parachute• Second GPS is now exposed on the 1” nylon shock cord• UAV has deployed from the sabot and is under its own parachute


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• Event #3: At 850 ft (backup at 750 feet) a third black powder charge in the Tender Descenders deploys the main. There are now three pieces descending

• Lower body tube with motor and fins still on the main parachute tethered to the avionics bay• Upper body tube tethered to the nose cone and opened sabot under its own parachute• UAV has deployed from the sabot and is under its own parachute waiting for safe release

UAV EventsUAV Events

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• Event #4 is technically not part of the recoverysystem but is next in the sequence of events

• Occurs after successful recovery event #2 at 1,000 ft(altimeter controlled black powder ejection of the sabotwith full deployment of the UAV from that hinged-on-one-end sabot via spring pressure from the bendable wing)• Full UAV deployment is visually validated

• Wings have fully unrolled• UAV is not tangled in shroud lines or shock cords• Appears to try to fly away from the parachute• Is safely away from spectators• UAV is at or below 400 ft as indicated on the ground station telemetry (per the FAA AC 91-57 “Do not fly model aircraft higher than 400 feet above the surface”)• Range Safety Officer has given the OK

• The UAV is released by command from the ground via the 2.4GHz RC radio via a servo controlled latch

UAV EventsUAV Events

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• After the UAV is flying without the parachute• First the UAV is flown as an RC plane until it is validated that we have full control and the plane is functioning properly• The RC transmitter on the ground sends a signal to the UAV electronics to fly autonomously (via the APM autopilot)• The UAV will fly to pre-programmed waypoints (these waypoints can also be changed from the ground station)• After the autonomous flight, the RC transmitter will send a signal to the UAV electronics to fly under RC control again• The UAV will be landed under RC control

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Drift During RecoveryDrift During Recovery• Lower Sustainer Section

• I - Drops from 5,280 ft to 1,000 ft at 78 ft/s on 24” drogue• II - Drops from 1,000 ft to 850 ft at 61 ft/s on 24” drogue without the top section weight• III - Drops from 850 ft to 0 ft at 17.5 ft/s on 84” main

• Top Section (with UAV)• I –Drops from 5,280 ft to 1,000 ft at 78 ft/s on 24” drogue• II – Drops from 1,000 ft to 0 ft at 17 ft/s on 60” parachute

• UAV (if not separated from parachute)• I – Drops from 5,280 ft to 1,000 ft at 78ft/s on 24” drogue• II – Drops from 1,000 ft to 0 ft at 18.5 ft/s on 24” parachute

Lower Sustainer Section

Wind (MPH)

Wind (ft/s)

I - Drogue Range (feet)

II - Drogue Range (feet)

III - Main Range (feet)

Total Range (feet)

0 0.00 0 0 0 05 7.33 404 18 358 780

10 14.67 807 36 715 155815 22.00 1211 54 1073 233820 29.20 1614 72 1431 3117

Top Section

Wind (MPH)

Wind (ft/s)


II - Top Parachute

Range (feet)

Total Range (feet)

0 0.00 0 0 05 7.33 404 425 829

10 14.67 807 850 165715 22.00 1211 1275 248620 29.20 1614 1700 3314

Drogue if parachute does not separate

Wind (MPH)

Wind (ft/s)


II – UAV Parachute

Range (feet)

Total Range (feet)

0 0.00 0 0 05 7.33 404 398 802

10 14.67 807 796 160315 22.00 1211 1194 240520 29.20 1614 1593 3207

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Configuration of Configuration of the HCXthe HCX

Flight ComputerFlight ComputerHCX Provides 4 Pyro Ports

• Pyro 1 – Not Used• Pyro 2 – Drogue deployment via black powder charge at Apogee + 2.0 seconds for Mach Delay• Pyro 3 – UAV deployment via black powder charge at 1,000 feet• Pyro 4 – Main deployment via Tender Descender black powder charge at 800 feet

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Testing of HCXTesting of HCXFlight ComputerFlight Computer

G-Wiz Partners Flightview Software allows configuration and testing

• Power-ON: Sign-on beeps verified (2 low beeps for JP7 in followed by status of pyro connections: 1=connected 2=not connected)• Pyro Connection beeps: Check all open is 4 double beeps. Short one at a time to hear single beep. Final is 2-1-1-1 since pyro 1 is not used• Bench Test: Shows battery voltages, pyro connections (lights), and allows test firing of each pyro – expected light lit• Test Flight: Simulated flight validated all three pyros fired (lights lit) when expected

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Configuration of Configuration of the Raventhe Raven

Flight ComputerFlight Computer

The Raven Provides 4 Pyro Ports• Pyro 1 – Drogue deployment via black powder charge at Apogee + 2.0 seconds for Mach Delay• Pyro 2 – UAV deployment via black powder charge at approximately 1,000 feet (992 feet)• Pyro 3 – Main deployment via Tender Descender black powder charge at 800 feet• Pyro 4 – Not Used

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Testing of RavenTesting of RavenFlight ComputerFlight Computer

• Pyro Connection beeps: Check all open is 4 low beeps. Short one at a time to hear low pitch change to high pitch beep. Final is H-H-H-L since pyro 4 is not used• Test Flight Simulation: Simulated flight validated all three pyros fired (lights lit) when expected• After the flight is back on the ground, the Raven must be tilted to start the altitude beeps

The “Featherweight Interface Program allows configuration and testing• Power-ON: If not vertical gives battery voltage as series of high beeps followed by low beeps every few seconds forever. If vertical gives status of pyro connections (high pitch = connected and low pitch = not connected)

GPS TRACKINGGPS TRACKING

Beeline receives GPS positionBeeline receives GPS position• Encodes as AX.25 packet dataEncodes as AX.25 packet data• Sends as 1200 baud audio – 1 at each end of 70 cm ham bandSends as 1200 baud audio – 1 at each end of 70 cm ham band

VX-6R switched between two frequencies and extracts audioVX-6R switched between two frequencies and extracts audio TinyTrack 4 converts audio to digital NMEA location dataTinyTrack 4 converts audio to digital NMEA location data Garmin displays the digital location data on human screenGarmin displays the digital location data on human screen

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Transmitters in Vehicle

• Big Red Bee Beeline GPS• RF: 17mW on 70cm ham band• Battery and life: 750mAh 10 Hrs• Size: 1.25” x 3” 2 ounces

Ground Station

• Receiver: Yaesu VX-6R• TNC: Byonics Tiny Track 4• GPS: Garmin eTrex Legend

Payload/Vehicle IntegrationPayload/Vehicle Integration

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Photos from “Development of a Composite Bendable-Wing Micro AirVehicle” by Dr. Peter Ifju et al URL: http://baronjohnson.net/Publications/ASM2007.pdf

• UAV is encased in a sabot• Protects the UAV from ejection charge• Provides a clean method for deploying the vehicle from the body tube

• Deployment and flight plan• Ejection before main at 900 ft• UAV will descend under parachute until verified flight-worthy• Parachute will be released• UAV will fly under RC control• If safe, UAV will fly pattern under autonomous control• Return to RC control for landing

http://baronjohnson.net/Publications/ASM2007.pdf

Feedback Form ChecklistFeedback Form Checklist

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No Feedback Action1 NAR will provide 8ft rail – not 6ft This has been changed in RockSim and in the

documentation2 Max Mach is .68 – use Mach Delay 2 second Mach delay is in HCX and Raven

3 20 ft recovery is fine, longer is better Rear is no 36 ft total and front is 20 ft + 4ft on piston

4 Will there be dedicated arming switch for each altimeter

Yes – dedicated CPU and Pyro switches for each altimeter (4 total)

5 How long will ematch for Tender Descender be? Ematch wire is accordioned with additional 3 ft extra, protected by nomex sleeve

6 Lower stability margin to 3-4 Stability margin is now 3.18

7 Describe ejection events Events are described in a series of drawings with explanation

8 Is charge pushing out sabot manual or altimeter based?

Altimeter

9 Is the UAV design proven UAV is combination of wing from University of Florida on an Electrifly Rifle RC airplane

10 What altitude is the UAV deployed 1,000 ft on parachue – 400 ft to fly

11 Is parachute on UAV attached to the airframe until 1,000 ft or does it come down from apogee

UAV is inside vehicle until it descends to 1,000 ft and is on parachute until 400ft.

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No Feedback Action12 How will UAV be released By control from a channel on the RC transmitter using a

servo13 Will the release mechanism be manual or automatic Manual14 What is KE of UAV under the UAV parachute 5.33 ft lbs force

K.E. = ½ ( (m*0.454) * (v * .305)2 ) * 0.738m in lbs, v in ft/s – 1 lb UAV on chute falls at 18.5 ft/sK.E. = ½((1*0.454) * (18.5 * .305)2) * 0.738

15 How far will parachute drift after UAV is released When the parachute is released from the Sabot, the shroud lines are no longer held at a point – 1 shroud line has a small ½ oz weight which comes down like a streamer. This will keep it within the 2,500 ft

16 Is the UAV manually controlled on the way down. If communications is lost what is failsafe

UAV is controlled manually. If signal is lost Spektrum RC has 3 failsafe modes. We will set it to lower the throttle and circle to descend. Alternatively, the APM can be set to return to home

17 If power is lost to control system and then comes back on what happens

The APM will automatically switch to RC when power is lost. If power is restored it can restart and pick up where it left off

18 How much load can the wing handle before it fails 9 lbs (per University of Florida’s testing)19 Has the team referenced AC-91-57. We may need to file a

waiverWe have downloaded and read (“Do not fly model aircraft higher than 400 feet above the surface”) and will look into the waiver

At CDR and FRR present details on the fail-safe mechanism for the UAV, both in design and control (see UAV safety slide)

The UAV system will need to be tested in its full configuration during the full-scale flight testThe team should investigate the possibility of filing a waiver to FAA AC-91-57

RisksRisks

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5 Risk: The rocket weather cocks

10 Risk: The Rocket lands in mud

15 Risk: A parachute misfires

20 Risk: The tracking device isn’t accurate

25 Risk: The UAV hits an object

30 Risk: The battery(s) of our electronics bay fall out

4 Risk: The engine “chuffs”

9 Risk: The rocket lands in a dangerous area

14 Risk: The batteries die during launch

19 Risk: A servo cable on the UAV catches

24 Risk: A part or battery disconnects

29 Risk: No recovery system

3 Risk: the rocket struggles off the launch pad

8 Risk: Interference of the lawmate video transmitter and xbee telemetry

13 Risk: a parachute fires at the wrong alititude

18 Risk: The electronics in the UAV over heat

23 Risk: Sheer pins aren’t put in place

28 Risk: Loss in signal via controller

2 Risk: The rocket folds upon itself

7 Risk: The parachute tangles around the UAV

12 Risk: The engine explodes

17 Risk: The UAV Motor propeller breaks during sabot release

22 Risk: Tracking device is damaged in launch

27 Risk: The black powder is not the correct amount

1 Risk: rocket misfires Mitigation: check continuity

6 Risk: The Parachute doesn’t detach from the UAV

11 Risk: The Rocket’s fins break

16 Risk: The altimeters aren’t set to fire the parachutes

21 Risk: Tracking device doesn’t transmit radio waves

26 Risk: The electric match doesn’t ignite the black powder

Risks MitigationRisks Mitigation

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5 Mitigation: the design is not over stable

10 Mitigation: Make sure launch site is dry

15 Mitigation: double check programming on the altimeter is correct

20 Mitigation: Make sure tracking device works

25 Mitigation: UAV can be switched from autopilot to manual mode Each member in the payload subsection will know how to fly the UAV

30 Mitigation: zip tie batteries and double check connection

4 Mitigation: make sure igniter is all the way in the engine

9 mitigation: Launch site is clear of all hazardous materials

14 Mitigation: use fresh batteries

19 Mitigation: test the cables before flight and have a large enough opening

24 Mitigation: use strong connectors and zip ties to secure wires

29 Mitigation: Double-check our rocket is set up correctly

3 Mitigation: use the correct size launch rod

8 Mitigation: Make sure that the frequencies do not interfere with one another


18 Mitigation: Air vents will be placed for the entering and exiting of air – this will provide enough ventilation

23 Mitigation: double check the rocket before placing on the launch pad

28 Mitigation: using a 2.4GHZ radio for long range and less interferences

2 Mitigation: body tube and nose cone are fiberglass

7 Mitigation: Make sure the parachute is correctly folded

12 Mitigation: make sure there is no defects in engine

17 Mitigation: A folding propeller will be used – this opens up when the motor powers on.

22 Mitigation: Make sure Tracking device is secure and is fully encased in the Styrofoam

27 Mitigation: have a backup charge to either “blow it out or blow it up”

1 Mitigation: check continuity

6 Mitigation: Check harnesses and linkages

11 Mitigation: Use in wall fins


21 Mitigation: double check tracking device is on

26 Mitigation: make sure there electric match is touching the black powder

SafetySafety

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• Follow NAR and TRA safety rules for launch• Safe material usage restrictions• Safe distance from launch pad• Safe recovery area• Inspection by range safety officer before flight

• Follow our check list when preparing for launch• Have fire extinguisher and first aid kit on site• Follow our own (AIAA OC Section Rocketry) safety rules for shop• MSDS referred to as needed (can be found on our web site)• Manuals are posted on the web site since they contain set-up information for recovery electronics• Presentation given to all team members with their signature that they attended and understand

Educational OutreachEducational Outreach

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• Space 2011 Education Alley (Sept – too early for credit) • Girl scout workshop and launch outing in October/November 2011• Talk at St Norbert school January 2012• Talk at Montesorri school in Fullerton January 2012• Giving presentation to AIAA professional society council meeting with all AIAA members in Orange County invited in 2012• Newspaper articles

• Article in Sunny Hills High School (Fullerton, CA) school paper• Try for article in local paper in Orange, CA – The Foothills Sentry

• Presentations at Orange County 4H clubs• Contact Discovery Science Center for youth booth• Youth Expo at the Orange County Fair Grounds April 2012

Budget - ExpendituresBudget - Expenditures

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Budget – IncomeBudget – Income

5757


• NASA Grant for SLI teams• Fundraising letters

• Boeing• Raytheon• Northrop Grumman• Lockheed Martin• Thirty other aerospace related companies

• Sees candy sales• Beg for support from parents

TimelineTimeline

5858


Thank you for letting us Thank you for letting us be part of SLI againbe part of SLI again

5959


Questions?Questions?

STUDENT LAUNCH INITIATIVE 2011 – 2012 AIAA OC Rocketeers CDR Presentation February 6, 2011

Documents

Transcript of STUDENT LAUNCH INITIATIVE 2011 – 2012 AIAA OC Rocketeers CDR Presentation February 6, 2011