Gateway to Space ASEN 1400/ ASTR 2500Fall 2012

Colorado Space Grant Consortium

Gateway to Space

Fall 2012

Design Document

Team Napoleon

10/22/12

Written by;

Caleb Lipscomb, Ashley Zimmer, Ginny Christian, Akeem Huggins, Chris Grey, Connor Strait, Chad Alvarez, Tucker Emmett

Revision / Description / Date
A/B / Conceptual and Preliminary Design Review / 10/22/12
C / Critical Design Review / 11/15/12
D / Analysis and Final Report / 12/08/12
Table of Contents
Section # / Section / Page
1.0 / Mission Overview / 3
2.0 / Requirements Flow Down / 4
3.0 / Design / 6
4.0 / Management / 11
5.0 / Budget / 13
6.0 / Test Plan and Results / 13
7.0 / Expected Results / 15
8.0 / Launch and Recovery / N.A.
9.0 / Results and Analysis / N.A.
10.0 / Ready for Flight / N.A.

1.0 Mission Overview

1.1 Mission Statement[CK1]

Our Mission is to disprove the viability of 3D imaging in Space. We will take images using two identical cameras of the assent[CK2] of our satellite, Shaniqua, of the balloon burst, and of the descent of our satellite. Using these images, we will attempt to create 3D pictures. In addition, we will use a gyroscope to determine the attitude and spin rate of our satellite.

1.2 Mission Objectives

To design and prepare a balloon satellite ready to launch by December 1, 2012.
To use two cameras to capture 3D images and film the entire launch using a GoPro camera.
To use a gyroscope to determine and record the orientation and rotation of the satellite during flight.
Record and collect data on the required environmental variables.
Have the cost and weight of the satellite remain within budget and meet all scheduled deadlines.
Follow all RFP requirements.

1.3 Mission Overview

We are taking 3D video and images of the flight to test the efficacy of 3D in [CK3]space and future planetary missions. NASA's Curiosity Rover[1] currently produces 3D stereo images from two mast cams as well as two hazard cams, and before launch NASAcommissionedMSSS to build zoom lenses to enhance the 3D capability of the mast cams, at the behest of James Cameron[2]. These zoom lens where then scrapped from the mission, as they were not completed in time for testing. NASA however spent thousands of dollars and months in development of said lenses, so they felt that the expense was justified. Our goal is toshow that 3D imaging is not effective in space by sending a 3D camera rig into space and compare the footage to regular 2D footage captured by our cameras. We believe the 3D footage will be hardly distinguishable from simple 2D video[CK4], because 3D video has two main requirements: a point of reference to give scale to the viewer, and an object moving towards the lens. The fact that our cameras are in space and NASA's are on Mars is irrelevant because there are no swift moving objects in either case to generate successful 3D film. To create a scale for 3D images, there must be an object of known size so the exact size can be compared to the relative size of the object in the film to find the distance from the camera to the object. For both space and on Mars, we do not have an object to give us an exact scale to use to create the 3D image[CK5].If our hypothesis about the relative indifference between 2D and 3D images in space is correct, then we will have proved for future balloon sat missions and other space missions that 3D cameras used to create 3D images are an unjustified expense. When we say '3D cameras,' this is not in reference 3D cameras that use time-of-flight technology to create 3D images, as these create useful data relating to distance, this is instead in reference to 3D cameras that simply produce stereo 3D images for viewing.[CK6]

The second part of our mission is to determine the attitude and spin rate of our satellite. Using data from the gyroscope, we will be able to determine where our cameras are pointing. A MEMS gyroscope has been included in the satellite to record the spin rate of our satellite.

2.0 Requirements Flow Down

Mission Statement

Our Mission is to disprove the viability of 3D imaging in Space. We will take images using two identical cameras of the assent of our satellite, Shaniqua, of the balloon burst, and of the descent of our satellite. Using these images, we will attempt to create 3D pictures. In addition, we will use a gyroscope to determine the attitude and spin rate of our satellite.

[CK7]

Level 0 Requirements

# / Mission Objectives, Level 0 Requirements. / Origin
0 / Test ability to produce 3D images in a near space environment. / Mission Statement
1 / Determine attitude and rotation of our satellite during the entire flight. / Mission Statement
2 / Our Satellite shall reach an altitude of 30 km. / RFP
3 / Keep total weight under 1125g and total money spent $250. / RFP
4 / Keep internal temperature of Satellite above -10 C. / RFP
5 / Record environmental variables. / RFP
6 / Ensure the safety of all members of the team. / RFP
7 / BalloonSat must be able to fly again. / RFP

Level 1 Requirements

# / Objective 0, Level 1 / Reference #
0.1 / Satellite Shaniqua shall fly two Cannon SD 780 cameras side by side to capture “3D” images. / 0
0.2 / Shaniqua shall fly a GoPro to capture standard 2D images.[CK8] / 0
0.3 / The two cameras and GoPro shall be programed before the fight to take pictures automatically during the duration of the flight.[CK9] / 0
0.4 / The Cannon Cameras and GoPro shall be attached to a mechanism that shall rotate the cameras 90 degrees 15 minutes prior to balloon burst[CK10]. / 0
# / Objective 1, Level 1 / Reference #
1.1 / Satellite Shaniqua shall fly a Gyroscope that will collect data continuously for the entire duration of the flight. / 1
1.2 / The data collected by the gyroscope shall be recorded and used to determine our satellite’s attitude and spin rate. / 1
# / Objective 2, Level 1 / Reference #
2.1 / Our satellite Shaniqua shall be attached to a hydrogen balloon that shall carry our satellite to an altitude of 30km. / 2
2.2 / Shaniqua shall be attached to a rope that is connected to the Balloon via a tube running through the center of our satellite. / 2
2.3 / Shaniqua shall use washers and clips to keep it stable on the rope. / 2
# / Objective 3, Level 1 / Reference #
3.1 / A weight budget shall be kept and updated weekly to ensure our satellite shall weight less than 1125g. / 3
3.2 / A cost budget shall be kept and updated weekly to ensure our satellite cost does not exceed $250. / 3
# / Objective 4, Level 1 / Reference #
4.1 / Our Satellite shall have an internal heater powered by 9V batteries that shall heat the satellite for the duration of the flight. / 4
4.2 / Our satellite shall have ½ inch foam insulation on the interior of the structure. / 4
# / Objective 5, Level 1 / Reference #
5.1 / Our Satellite shall have an external and internal temperature sensor that shall continuously collect data for the duration of the flight. / 5
5.2 / Our satellite shall have a pressure sensor that shall continuously collect external pressure data for the duration of the flight. / 5
5.3 / Our satellite shall have an internal humidity sensor that shall collect data continuously for the duration of the flight / 5
5.4 / Our satellite shall have a 3 axis accelerometer that shall collect data continuously for the duration of the flight. / 5
5.5 / All data collected from the temperature sensors, pressure sensor, humidity sensors, and accelerometer shall be stored on a 2 GB SD card. / 5
5.6 / Data collected form the temperature sensor, pressure sensor, and accelerometer shall be used to determine the altitude of our satellite as a function of time. / 5
# / Objective 6, Level 1 / Reference #
6.1 / Construction and Soldering equipment shall be used only in the proper manner and for the direct purpose of constructing our satellite. / 6
6.2 / All construction equipment and soldering tools shall be properly stored. / 6
# / Objective 7, Level 1 / Reference #
7.1 / The structure of our satellite shall be made of foam core and shall be held together using aluminum tape and hot glue. / 7
7.2 / Our satellite’s structure shall remain intact during the entire flight, including the ascent, the balloon burst, the descent and / 7
7.3 / All of our satellite’s sensors, cameras, and arduino boards shall be functioning during the duration of the flight and after landing. / 7

3.0 Design

In order to take 3D images during our flight, our camera shall flight two Cannon[CK11] SD 780 cameras side by side, as well as a GoPro camera. In addition, we will fly a gyroscope to collect data on the spin rate an attitude of our flight, and temperature sensors, a humidity sensor, a pressure sensor, and an accelerometer to collect environmental data during our flight. To ensure the survival of our satellite during the flight, our satellite’s structure shall be made of foam core. To ensure our satellite’s internal temperature remains about [CK12]-10 degrees C, we shall insulate our satellite with ½ inch foam insulation and install a heater in the satellite. Finally, we shall fly two Arduino Unoboards to collect data from the sensors, and the data shall be stored on two 2 GB SD cards.

3.1 Cameras, 3D Imaging and Filming:

Our satellite will carry a 3D camera rig, designed to take 3D pictures of the ascent and the balloon burst. We will use a Canon camera identical to the one provided, and create a fastening system that inverts one camera and aligns the lenses on the same plane, 6cm apart to create a stereoscopic 3D effect. We shall take pictures at 10 second intervals for the duration of the flight. This system will be contained within the satellite, facing out through two viewing windows. The internal configuration allows the cameras to stay within their minimum operating requirements as ordained by the manufacturer. To capture both ascent and balloon burst, at launch the cameras will be pointing horizontally from the satellite. 85 minutes into the flight, the rig will rotate 90 degrees vertically to capture images of the burst. A small DC motor attached to a gear system will initiate this rotation. With free 2D to 3D software, which takes a frame from the left then a frame from the right, and on into perpetuity we will combine each separate picture file into one file. We will hack the cameras’ firmware, enabling the Arduino to control the camera’s functions, operating both camerassimultaneously. A GoPro Hero HD [CK13]2 will also be attached to the rig, providing film of the entire launch: ascent, burst, and descent. The GoPro will be turned on before launch, as it is capable of filming 1080p video for four hours, which allows us to leave out the now unnecessary on/off system. The memory will be contained on SD cards in the cameras. Post-flight, the images shall be uploaded on to Connor’s computer and 3D images we attempt to create using the free 2D to 3D software.

3.2Gyroscope

An Arduino GY-521 MPU-6050 Module 3 Axial Gyroscope Accelerometer Stance Tilt Module shall be used to continuously collect data about the attitude and rate of rotation of the BalloonSat for the approximately 135 minute flight. The gyroscope shall be programed prior to the flight using the Arduino software, and shall collect data autonomously. The gyroscope requires between 3 and 5 volts of power and is able to collect rotational datafrom the Shaniqua at the ranges 250, 500, 10000 and 20000 degrees per second. The gyroscope collects raw data in the form of mV/degrees/second. The collected data shall be recorded and stored on a 2 GB SD card. We will start with a reading of 0 volts to determine our gyroscope’s data outputs when the sensor is stationary. We will use this voltage output as our zero when analyzing our data post-flight. [CK14]We will then find the sensitivity of the sensor from the data sheet and convert our data to volts before performing the final calculation to find the degrees of rotation of the satellite per second. Readings taken from launch to landing will provide a continuous graph of the rotation of the satellite and allow us to compare rotation rate of the satellite with the video feed at the same time for any time during the flight.

3.3 Sensors:

All sensors shall be attached to one of two Arduino boards.Sensors shall be used to collect internal and external temperature, humidity,and pressure measurements. These sensors, in addition to a 3-axies accelerometer shall be attached to the first Arduino. A 3-axies gyroscope shall collect data and shall be connected to a second Arduino. To calibrate the sensor, [CK15]we will find what the sensors read in a controlled situation and then use these reading to calibrate the sensors. For the temperature sensors, we will find what the sensors read in a room of known temperature, and then use that data to calibrate the sensor. For the humidity sensor, we will see what the sensor reads in a room of know humidity and use this data to calibrate the sensor. For the pressure sensor, we will see what the sensor reads in normal room pressure. We will look up the atmospheric pressure in Boulder and combining this information with the sensor reading we will calibrate the sensor. For the accelerometer, we will place the accelerometer on a flat surface and see what the sensor reads. We will use this data as the zero value for the accelerometer. The Arduinos shall activate theses sensors automatically before the flight and collect the data for the entire duration of the flight. All data collected by the sensors shall be stored in two 2 GB SD cards, one attached to each Arduino via a microSD protoshield.

3.4 Structure:

To insure the survival of our satellite during the flight, we shall construct our balloon satellite using foam core to create a skeletal structure in the shape of a box.To create the cube out of foam core, we will form a “cross” shape making angular cuts to create 6 squares (1x3x1x1). Our structure shall have dimensions 12.25 cm by 11.36 cm by 17.83 cm. The box will contain our Cannon cameras, a GoPro, our rotating mechanism, two Arduino boards, an internal heater powered by three 9V batteries an external and internal temperature sensor, a pressure sensor, a humidity sensor, a gyroscope, and an accelerometer. 3 external LED’s shall be attached on the outside of the structure to indicate if our payload is functioning. In the center of the box, from top to bottom, we will insert a rope surrounded by plastic tubing on the inside of the box. This rope will attach Shaniqua to the balloon and allow our satellite to fly. All of our experiments will be attached internally. The two Canon SD780 IS cameras attached on the inner side of the cube with two view-ports, one located on the side of the satellite and one located on the top of the satellite, allowing the cameras to see outside the satellite. In order to create stable view ports without sacrificing structure we will make cuts into the foam core in front of the camera lenses and then create a plastic casing to protect the lenses from radiation and other damaging factors such as weather and temperature. We will then make cuts on top of the box in accordance to the vertical rotation for the camera in order to film the balloon pop. The rest of our hardware will be placed on the bottom of our balloon satellite box. This includes the Arduino-Uno, Arduino gyroscope, all of our sensors, and internal heater with 3 9-V batteries. We shall insulate the satellite using foam insulation in order to keep the internal temperature above -10°C and allowing all hardware to function. We will seal Shaniqua using hot glue and aluminum tape.

3.5 Arduino-Uno Board:

The Arduino-Uno is a microprocessor that can collect data from a variety of sensors using both analog and digital outputs. We shall fly two Arduinos in our satellite. The Arduinos shall be used to control our subsystems and various sensors, the motors and the LEDs included in our satellite. A micro SD shield shall be attached to the top of the Arduinos to house the SD cards. All data gathered by our sensors will be uploaded to the Arduinos and then stored on the micro SD cards. One SD card shall be used to store data from our temperature sensors, pressure sensor, humidity sensor, and accelerometer. A second SD card shall store data from our gyroscope. In addition, a development board shall be attached to each of our Arduinos. The wiring connecting our sensors to the Arduino shall be soldered to the development boards to ensure that they do not become detached during the flight.[CK16]

3.6 Data Retrieval:

All data recorded by the sensors, Canon cameras; GoPro and Arduino unit shall be stored on 2 GB SD cards that will be retrieved from the satellite after it is recovered. The sensors shall store their data on two separate 2 GB SD cards connected to the Arduinos and the Cannon cameras and GoPro shall have their own internal SD cards. All data gathered by the sensors will be downloaded from the SD card directly onto Caleb’s computer. All images captured by the cameras shall be uploaded to Connors [CK17]computer.

3.7 Diagrams:

Satellite

Back View:[CK18]

Front View:[CK19]

Gyroscope Schematics:[CK20]

Functional Block Diagram:

[CK21]

4.0 Management

Our team consists of 8 members: Chad Alvarez, Tucker Emmitt, Ginny Christianson, Ashley Zimmer, Chris Grey, Connor Strait, Akeem Huggins, and Caleb Lipscomb. Caleb Lipscomb is the team leader. Ashley Zimmer is in charge of keeping the budget. Our team has been divided into four groups: Structure, systems, programming and science. The structure team is in charge of designing and constructing the structure of our satellite. The systems team is in charge of integrating all of our sensors, switches, LEDs, and Arduino boards. Our programming team in in charge of writing code for the Arduinos to collect data from the sensors. The Science team is in charge of programming the cameras and creating the 3D images. Each group has a leader and a main engineer, with two assistant engineers. Each member of our team was assigned a main group, and was assigned to be an assistant engineer for a second group. This ensures that there is more than one person working on all aspects of our satellite. Chad is the structural lead, Tucker is the main structural engineer, and Ginny and Ashley are the assistant structural engineers. Ashley is the lead systems engineer and Ginny is the main systems engineer. Chad and Tucker are the assistant systems engineers. Caleb is the programming lead, Akeem is the main programming engineer, and Chris and Connor are the assistant programmers. Connor is the science lead, Chris is the main science engineer, and Caleb and Akeem are the assistant science engineers.