Report Project

Design & Engineering of a Cansat
Nagarjuna College of Engineering & Technology Page 1

Chapter 1
Introduction
This Project aims at designing & engineering of a CanSat. In this Project, we are responsible
for designing the CanSat, selecting its mission, integrating the components, testing, preparing
for launch and then analyzing the data. By analyzing the data recorded by the CanSat, we will
investigate the reasons of its success and/or failure.
A CanSat is a simulation of a real satellite, integrated within the volume and shape of a
regular soft drink can. It is small, non-orbiting and with limited complexity, but it is still like a
"satellite" in terms of many of the challenges real satellites faces. No CanSat has ever left the
atmosphere or even orbited the earth.
In November 1998 at the University Space Systems Symposium (USSS) held in Hawaii, Prof.
Bob Twiggs, (Stanford University Space Development Laboratory) suggested the so-called
"CanSat" concept, whereby the entire satellite would adopt the size of a 350-ml can.
All of the components, such as sensors, actuators, and GPS, are housed inside a 350-ml can.
CanSat provides an affordable opportunity for educators and students to acquire basic
knowledge of space engineering and to experience engineering challenges in building a
satellite. The student will be able to design and build a small electronic payload that can fit
inside a standard drink can (350 ml). The CanSats will be launched by a rocket or balloon and
released in the air. Using a parachute, the CanSat will slowly descend back to the ground as it
performs its designated mission (i.e., taking pictures and transmitting telemetry). By analyzing
the data recorded by the CanSat, participants will investigate the reasons of its success and/or
failure.

Objectives
A CanSat is a simulation of a real satellite, integrated within the volume and shape of a soft
drink can. The challenge is to fit all the major subsystems found in a satellite, such as power,


sensors and a communication system, into this minimal volume. The CanSat is then launched
to an altitude of a few hundred meters by a rocket or dropped from a platform or captive
balloon and its mission begins: to carry out a scientific experiment and achieve a safe landing.
Development of CanSat involves multidisciplinary efforts encompassing mechanical
engineering, material science and also electronics.
CanSats offer a unique opportunity to have a first practical experience of a real space project.
They are responsible for all aspects: designing the CanSat, selecting its mission, integrating
the components, testing, preparing for launch and then analysing the data.

Fig.1. Coke Can sized satellite



Chapter-2
LITERATURE SURVEY
Introduction

The significance of small satellites is increasing day by day, according to a survey
conducted by Space Works around 250 small satellites shall be launched by year 2020.
Matunaga, S. from Mechanical .Aerospace Engineering, Tokyo Institute of Technology,
Japan had launched a prototype of CanSats, small satellites the size of a soft drink can, on
an amateur rocket in September 1999 (ARLISS: A Rocket Launched International Student
Satellites). He had published an IEEE paper in Aerospace Conference Proceedings, 2000
IEEE on the topic Titech Micro-Satellite Model: Cansat for Sub-Orbital Flight. They
developed four CanSats for ARLISS: CanSat Type1 and Type2 missions are experiments of
two different types of mechanisms for tether applications, CanSat Type3, is a
communications and electronic devices test satellite, and CanSat Type4 is equipped with
CCD camera and transmits video images. The development period is less than 5 months. In
their paper, they have described 4 CanSats missions, subsystem designs including the
ground station and the results of ARLISS experiments.

Principle
The Satellite Development involves of 2 tasks mainly
a) Development of the On Board Computer
b) Development of the Base Station with Graphical User Interface

a) Development of the On Board Computer:
In general the development of the On board Computer is a wide platform which includes
simple processing to complex processing .Based upon our requirement the analysis is
conducted for the kind of the data which is required for our application. After the
finalization of the selection of sensors, the programming logic has to be developed and
scrutinized.


b) Development of the Base Station with Graphical User Interface:
The task of utilization and presentation of the data is a crucial task, the entire work is
justified by its effective and convenient utility. Author Aydemir, M.E.
Department of Electronics Engineering, Turkish Air Force Academy, Istanbul,
Turkey Dursun, R.C. ; Pehlevan, M had published an IEEE paper at the, Recent Advances in
Space Technologies (RAST), 2013 6th International Conference on Ground Station Design
Procedures for CANSAT. He had presented the design and implementation of a PC based
ground station for CANSAT's. However, during the competitions it has been observed that
even thoughthe CANSAT works perfectly, the ground station frequently fails therefore
leading to mission failure. In this study a ground station is developed from scratch using a
high level language (C#) and the procedure is defined briefly. The station is platform-free
therefore it may operate with any CANSAT having different brand microcontrollers. The
users may track several parameters and send control commands simultaneously. The
ground-station is one of the most important aspects of CANSAT trials however, for the
beginners it may be challenging to provide all these features at once. This study defines
many practical aspects of designing ground stations so that more emphasis may be given to
the design of CANSAT hardware and software. The ground station is effective when the
synchronization between the on board computer and the ground station is proper. The
Ground stations which have been developed earlier are found to be ineffective due to the
deficiencyin the satellite communication links between the On Board Computer and
the ground segment. Authors Preindl, B. from Institute of Analysis & Science Computation,
Vienna University of Technology, Vienna, Austria; Mehnen, L. ; Rattay, F. and Nielsen, J.D.
had published an IEEE paper in Satellite and Space Communications, IWSSC 2009.
International Workshop conducted on 9-11 September 2009 on topic titled Design of a
Small Satellite for Performing Measurements in a Ground Station Network. The paper is a
novel design solution based on a small satellite cluster is going to be proposed to offer
quality assurance for the ground segment in both sending and receiving directions in
multiple amateur frequency bands based on high-accurate error rate information.



Chapter 3
Motivation
1. CanSat has been developed by some students participating in international competitions
but not locally used for different applications such as atmospheric weather studies. IIIT-H,
very ably led by Prof. KS Rajan, comprised of nine undergraduate students from the
electronics and communications engineering (ECE) developed a CanSat for a competition.
The team worked for the last six months on various aspects of the design, fabrication, and
testing of the micro-satellite - IIIT-Hs CanSat - to compete with some of the best teams
from around the world.
2. In 1998, about 50 students and faculties from 12 universities from the United States and
Japan met at a symposium held in Hawaii. It was the first "University Space Systems
Symposium". Here, Bob Twiggs, professor emeritus at the Stanford University, proposed
the initial idea of what later would become the nanosatellite projects. That idea was to
launch a structure of the size of a soda can into space. Its volume should be around 350
milliliters and the mass, about 500 grams. This led to a project that began in 1999 called
ARLISS, involving mostly American and Japanese Universities, carrying out the first
launch on September, 11th of that year and continuing each year without interruption. The
initial idea, still prevalent today, was to launch 3 satellites of 350 milliliters, or a satellite
of greater volume. The means would be a rocket capable of moving 1.8 kilos and of
ascending to 4000 meters, opening the door to low cost space flights -about $400. In 2000
the missions were very different: for instance, calculating the opening of a landing system
using data provided by the barometer or making use of a differential GPS system. The
project came to a more complex situation in 2001 when the ComeBack category was
added, according to which the satellite should be directed to a particular target. This
mission was very successful and in 2002 students of Space Robotics Lab of the Tohoku
University went up to 45 meters from the target and in 2006 this figure dropped to 6
meters. Interest in this type of satellites has been growing and spreading. In 2003 the
University of Tokyo placed into orbit two satellites CubeSat, satellites of a size slightly
larger than the CanSats, and cube shaped. In recent years, several competitions have been


developed following the same concept proposed by Prof. Bob Twiggs and reflected in
ARLISS both national and internationally.

Methodology :
Month 1 Material Acquisition, System Engineering
Month 2-4 CAD modelling / Analysis
Month 5 Module Integration,
Month 6 System Testing



CHAPTER-4
CANSAT DESIGN
CAD Modelling:
Three concepts were evaluated in preparation for the project: a parachute control system, a
parachute control system and a glider approach. Given the lack of availability of appropriate
skills required developing a glider, and because a parachute is far less susceptible to
interference from the wind when compared to a parachute the parachute approach was
chosen. Acrylics material is chosen for the on-board system Key mechanical components
were identified as:
The main parts of the on-board computer are:
Predrilled Main board for mounting circuit boards.
Angle bracket for attaching a parachute.
Computer board with processor and connectors for sensors and communications.
Programmable processor that can be programmed in BASIC Software.
Serial interface connector for host PC communications.
Sensor board with a pressure and temperature sensor.
As construction of parachute requires a person who is skilled at sewing, it was decided that
one should be purchased. A strong on-board construction was considered vital to successful
recover of the Small Satellite, as even with a parachute it would descend at a high speed. The
Small Satellite was thus built around a Perspex chassis (providing support for circuits,
sensors, the battery) housing made out of acrylics providing protection on impact. Out of Four
Designs made, best suitable design is selected for On-board Computer as shown below.


Fig, 4.1.1 Final CAD Design of the On-board Computer

Fig. 4.1.2 All View of the Final on-board System


Fig. 4.1.3 Drafting of the Final on-board system


Fig. 4.2.1 Cad Design of on-board system (Chamfered end) (Difficult to Fabricate with Laser)
Fig. 4.2.2 Cad Design of on-board system (Chamfered end) (Difficult to Fabricate with Laser)

Fig. 4.2.1 Cad Design of on-board system (with Cut out section) (Not good for Electronic
Circuits)


CHAPTER-5
Structural Analysis
FEA Analysis:
FEA section for static structural analysis.
Problem specification:
In static structural analysis we are interested in the total deformation, Von Misses stress which
is also known as equivalent stress, shear stress and stress intensity induced in the skin
structure of the wing. Pre-Analysis and Start-Up Open ANSYS Workbench We are ready to
do a simulation in ANSYS Workbench. Open ANSYS Workbench by going to Start >
ANSYS > Workbench. This will open the start-up screen seen as seen below

Fig 5.1.1 Ansys 15 Workbench



Material Property :
The material we have chosen is Acrylic material which consist of
Density = 1.19gcm^-3
Youngs Modulus (E) = 2800 Mpa
Poission Ratio = 0.35
Ultimate Tensile Stress = 70 Mpa
Tensile yield stress = 69 Mpa
Compressive yield stress = 124 Mpa
Tensile ultimate strength = 690 Mpa
Compressive ultimate Strength = 1240 Mpa
Factor of Safety = 10
For the given input in the Ansys 14.5 it gives the various von mises stress and strain for the
applied force.



Fixed Support
To begin, we need to tell ANSYS what kind of simulation we are doing. If you look to the left
of the start-up window, you will see the Toolbox Window. Take a look through the different
selections. Because we are only doing a force loading, we will be doing a Static Structural
simulation. Load the Static Structural tool box by dragging and dropping it into the Project
Schematic.

Fig. 5.1.2 Tool Box Window
Name the Project Wing structure by doubling clicking {Static Structural (ANSYS)}}
underneath the project schematic.



Geometry
In Workbench in the Project Schematic window, go to File > Import. In the Import window
that opens, change the file type (next to the File Name text box) to Geometry File. Select the
downloaded geometry file and press Open. The geometry should now be in the project
schematic, as shown below.

Fig. 5.1.3 Geometrical Design

Generate the Geometry Next; we will open the file to generate the geometry. Double click the
imported geometry to open the Design Modeller. When the Design Modeller opens, a pop up
window will ask us for the default units of measurement for the geometry. Select Meter and


then press OK. After you select the units, you will notice the Graphics window is empty. We
will fix this soon. First, click on in the Outline window. In the Details window, change
Operation from Add Material to Add Frozen. Finally, generate the part by clicking once you
press, the imported geometry should show in the Graphics window.
Mesh
Initial Setup Close the Design Modeler if you haven't already, and open ANSYS Mechanical
by double clicking When ANSYS Mechanical opens, notice that there is a question mark next
to Geometry in the Project Outline - this means that there is something missing in this section.
Expand Geometry, expand Part and select Outer Surface.

Notice that Thickness is highlighted as it does not have a value specified. We will specify a
thickness so the geometry will mesh correctly. For the Outer Surface, enter 1e-2 next to
Thickness. Repeat with the value of 3e-2 for Spar to thickness.
Body Sizing
For this geometry, we will be using a body sizing. Click on Mesh in the Project Outline
window to open up the Meshing Menu in the menu bar. To create a new sizing, go to Mesh
Control > Sizing. Next, we need to select the geometry that the sizing will affect. We want to
select the entire geometry.
Mapped Face Meshing
To apply a mapped face meshing, first click on Mesh in the Outline window. This will bring
up the Meshing Menu Bar at the top of the screen. Next, select Mesh Control > Mapped Face
Meshing. Select the 2 faces of the mesh by holding down the left mouse button and dragging


over the entire geometry. In the Details window, click Geometry > Apply - it should say 2
faces are selected.

Fig. 5.1.5 Imported Mesh Geometry in Ansys Software
In the Setup Menu, select Supports > Fixed Supports. Make sure the Edge Selection Filter is
selected, hold down Ctrl, and left mouse click the upper and lower edges of the airfoil you are
looking at. In the details window, select Geometry > Apply.


Fig.5.1.6 Applied Load
Solution Deformation
To add deformation to the solution, first click to add the solution sub menu to menu bar. Now
in the solution sub menu click Deformation>Total to add the total deformation to the solution.
It should appear in the outline tree.
Equivalent Stress
In the solution sub mean, select Stress > Equivalent (von-Mises). In the details pane, ensure
Geometry is set to All Bodies.
Shear Stress
In the solution sub mean, select Stress > shear stress. In the details pane, ensure Orientations
is set to X axis and Geometry is set to All Bodies. Rename the Stress to Stress XX by right
clicking Shear Stress in the Outline window and selecting Rename.
Stress intensity
In the solution sub mean, select Stress > shear intensity. In the detail pane, ensure Geometry is
set to All Bodies. We are ready to solve the Simulation Press


Fig. 5.1.7 Elastic Strain for the Applied Load

Fig. 5.1.8 Von-mises Stress for the applied Load

Fig. 5.1.9 Total Deformation for the applied Load


Fig. 5.1.10 Total Directional Deformation (X-Axis) for the applied Load

Fig. 5.1.11 Total Directional Deformation (Y-Axis) for the applied Load

So Acrylic plastic can withstand certain amount of load with low weight ratio during the
parachute drop. So we have chosen the acrylic material for on-board system.



Chapter-6
Hardware
The block diagram gives us the layout of the hardware connections of the Small Satellite.

Fig.6.1. Block Diagram of hardware
i. Arduino

Arduino is a single-board microcontroller to make the usage of electronics, in multidisciplinary
projects, more accessible. The hardware consists of an open-source hardware board designed
around an 8-bit AtmelAVR microcontroller or a 32-bit Atmel ARM. The software consists of a
standard programming language compiler and a boot loader that executes on the microcontroller.
The convenience of the Arduino board is its connection methodology where the CPU board to be
connected to a variety of interchangeable add-on modules known as shields. Some shields
communicate with the Arduino board directly over various pins, but many shields are
individually addressable via an ICserial bus, allowing many shields to be stacked and used in
parallel. Official Arduinos have used the mega AVR series of chips, specifically the ATmega8,


ATmega168, ATmega328, ATmega1280, and ATmega2560. A handful of other processors have
been used by Arduino compatibles. Most boards include a 5 volt linear regulator and a 16 MHz
crystal oscillator (or ceramic resonator in some variants), although some designs such as the
LilyPad run at 8 MHz and dispense with the on-board voltage regulator due to specific form-
factor restrictions. An Arduino's microcontroller is also pre-programmed with a boot loader that
simplifies uploading of programs to the on-chip flash memory, compared with other devices that
typically need an external programmer.
At a conceptual level, when using the Arduino software stack, all boards are programmed over
an RS-232 serial connection, but the way this is implemented varies by hardware version. Serial
Arduino boards contain a level shifter circuit to convert between RS-232-level and TTL-level
signals. Current Arduino boards are programmed via USB, implemented using USB-to-serial
adapter chips such as the FTDI FT232. Some variants, such as the Arduino Mini and the
unofficial Boarduino, use a detachable USB-to-serial adapter board or cable, Bluetooth or other
methods. (When used with traditional microcontroller tools instead of the Arduino IDE, standard
AVR ISP programming is used).
The Arduino Nano, and Arduino-compatible Bare Bones Board and Boarduino boards may
provide male header pins on the underside of the board to be plugged into solder less
breadboards.
There are many Arduino-compatible and Arduino-derived boards. Some are functionally
equivalent to an Arduino and may be used interchangeably. Many are the basic Arduino with the
addition of commonplace output drivers, often for use in school-level education to simplify the
construction of buggies and small robots. Others are electrically equivalent but change the form
factor, sometimes permitting the continued use of Shields, sometimes not. Some variants use
completely different processors, with varying levels of compatibility.



Fig. 6.1.2.Arduino Controller Board

The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic
resonator, a USB connection, a power jack, an ICSP header, and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with an AC-to-DC adapter or battery to get started.
The Uno differs from all preceding boards in that it does not use the FTDI USB-to-serial driver
chip. Instead, it features the Atmega16U2 (Atmega8U2 up to version R2) programmed as a
USB-to-serial converter. The Arduino Uno board has a resistor pulling the 8U2 HWB line to
ground, making it easier to put into DFUmode.
The board has the following new features:
1.0 pinout added SDA and SCL pins that are near to the AREF pin and two other new
pins placed near to the RESET pin, the IOREF that allow the shields to adapt to the
voltage provided from the board. In future, shields will be compatible with both the board
that uses the AVR, which operates with 5V and with the Arduino Due that operates with
3.3V. The second one is a not connected pin that is reserved for future purposes.
Stronger RESET circuit.
Atmega 16U2 replace the 8U2.


"Uno" means one in Italian and is named to mark the upcoming release of Arduino 1.0. The Uno
and version 1.0 will be the reference versions of Arduino, moving forward. The Uno is the latest
in a series of USB Arduino boards, and the reference model for the Arduino platform; for a
comparison with previous versions, see the index of Arduino boards.
Technical Specification
Microcontroller ATmega328
Operating Voltage 5V
Input Voltage (recommended) 7-12V
Input Voltage (limits) 6-20V
Digital I/O Pins 14 (of which 6 provide PWM output)
Analog Input Pins 6
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
Flash Memory 32 KB (ATmega328) of which 0.5 KB used by bootloader
SRAM 2 KB (ATmega328)
EEPROM 1 KB (ATmega328)
Clock Speed 16 MHz
The Arduino reference design can use an Atmega8, 168, or 328, Current models use an
ATmega328, but an Atmega8 is shown in the schematic for reference. The pin configuration is
identical on all three processors.


Power
The Arduino Uno can be powered via the USB connection or with an external power supply. The
power source is selected automatically.
External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or battery.
The adapter can be connected by plugging a 2.1mm center-positive plug into the board's power
jack. Leads from a battery can be inserted in the Gnd and Vin pin headers of the POWER
connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less than 7V,
however, the 5V pin may supply less than five volts and the board may be unstable. If using
more than 12V, the voltage regulator may overheat and damage the board. The recommended
range is 7 to 12 volts.
The power pins are as follows:
VIN. The input voltage to the Arduino board when it's using an external power source
(as opposed to 5 volts from the USB connection or other regulated power source).
Voltage can be supplied through this pin, or, if supplying voltage via the power jack,
access it through this pin.
5V.This pin outputs a regulated 5V from the regulator on the board. The board can be
supplied with power either from the DC power jack (7 - 12V), the USB connector (5V),
or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins bypasses
the regulator, and can damage the board.
3V3. A 3.3 volt supply generated by the on-board regulator. Maximum current draw is
50 mA.
GND. Ground pins.
IOREF. This pin on the Arduino board provides the voltage reference with which the
microcontroller operates. A properly configured shield can read the IOREF pin voltage
and select the appropriate power source or enable voltage translators on the outputs for
working with the 5V or 3.3V.


Memory
The ATmega328 has 32 KB (with 0.5 KB used for the bootloader). It also has 2 KB of SRAM
and 1 KB of EEPROM (which can be read and written with the EEPROM library).
Input and Output
Each of the 14 digital pins on the Uno can be used as an input or output, using pinMode(),
digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can provide or
receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of
20-50 kOhms. In addition, some pins have specialized functions:
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
These pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL
Serial chip.
External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt
on a low value, a rising or falling edge, or a change in value.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite()
function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI
communication using the SPI library.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, it's off.
The Uno has 6 analog inputs, labelled A0 through A5, each of which provide 10 bits of
resolution (i.e. 1024 different values). By default they measure from ground to 5 volts, though it
is possible to change the upper end of their range using the AREF pin and the analogReference()
function. Additionally, some pins have specialized functionality:
TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using
the Wire library.


There are a couple of other pins on the board:
AREF. Reference voltage for the analog inputs. Used with analog Reference().
Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset
button to shields which block the one on the board.
See also the mapping between Arduino pins and ATmega328 ports. The mapping for the
Atmega8, 168, and 328 is identical.
Communication
The Arduino Uno has a number of facilities for communicating with a computer, another
Arduino, or other microcontrollers. The ATmega328 provides UART TTL (5V) serial
communication, which is available on digital pins 0 (RX) and 1 (TX). An ATmega16U2 on the
board channels this serial communication over USB and appears as a virtual com port to
software on the computer. The '16U2 firmware uses the standard USB COM drivers and no
external driver is needed. However, on Windows, an .inf file is required. The Arduino software
includes a serial monitor which allows simple textual data to be sent to and from the Arduino
board. The RX and TX LEDs on the board will flash when data is being transmitted via the
USB-to-serial chip and USB connection to the computer (but not for serial communication on
pins 0 and 1).
A Software Serial library allows for serial communication on any of the Uno's digital pins.
The ATmega328 also supports I2C (TWI) and SPI communication. The Arduino software
includes a Wire library to simplify use of the I2C bus.
Programming
The Arduino Uno can be programmed with the Arduino software (download). Select Arduino
Uno from the Tools > Board menu (according to the microcontroller on your board).


The ATmega328 on the Arduino Uno comes pre-burned with a bootloader that allows you to
upload new code to it without the use of an external hardware programmer. It communicates
using the original STK500 protocol (reference, C header files).
The bootloader can be bypassed and the microcontroller can be programmed through the ICSP
(In-Circuit Serial Programming) header.
The ATmega16U2/8U2 is loaded with a DFU bootloader, which can be activated by:
On Rev1 boards: connecting the solder jumper on the back of the board and then resetting
the 8U2.
On Rev2 or later boards: there is a resistor that pulling the 8U2/16U2 HWB line to
ground, making it easier to put into DFU mode.
The Atmel's FLIP software (Windows) or the DFU programmer (Mac OS X and Linux) can be
used to load a new firmware. The ISP header with an external programmer (overwriting the DFU
bootloader).
Automatic (Software) Reset
Rather than requiring a physical press of the reset button before an upload, the Arduino Uno is
designed in a way that allows it to be reset by software running on a connected computer. One of
the hardware flow control lines (DTR) of the ATmega8U2/16U2 is connected to the reset line of
the ATmega328 via a 100 nanofarad capacitor. When this line is asserted (taken low), the reset
line drops long enough to reset the chip. The Arduino software uses this capability to allow you
to upload code by simply pressing the upload button in the Arduino environment. This means
that the bootloader can have a shorter timeout, as the lowering of DTR can be well-coordinated
with the start of the upload.
This setup has other implications. When the Uno is connected to either a computer running Mac
OS X or Linux, it resets each time a connection is made to it from software (via USB). For the
following half-second or so, the bootloader is running on the Uno. While it is programmed to
ignore malformed data (i.e. anything besides an upload of new code), it will intercept the first


few bytes of data sent to the board after a connection is opened. If a sketch running on the board
receives one-time configuration or other data when it first starts, make sure that the software with
which it communicates waits a second after opening the connection and before sending this data.
The Uno contains a trace that can be cut to disable the auto-reset. The pads on either side of the
trace can be soldered together to re-enable it. It's labelled "RESET-EN".
USB Overcurrent Protection
The Arduino Uno has a resettable polyfuse that protects your computer's USB ports from shorts
and overcurrent. Although most computers provide their own internal protection, the fuse
provides an extra layer of protection. If more than 500 mA is applied to the USB port, the fuse
will automatically break the connection until the short or overload is removed.
Physical Characteristics
The maximum length and width of the Uno PCB are 2.7 and 2.1 inches respectively, with the
USB connector and power jack extending beyond the former dimension. Four screw holes allow
the board to be attached to a surface or case.
ii. GPS Module
The Global Positioning System (GPS) is a space-based satellite navigation system that provides
location and time information in all weather conditions, anywhere on or near the Earth where
there is an unobstructed line of sight to four or more GPS satellites. The data is sent out on the
serial port at an interval called update rate. The GPS receivers output NMEA data. The NMEA
(National Marine Electronics Association) standard is formatted in lines of data called sentences.
Each sentence contains various bits of data organized in comma delimited format (i.e. data
separated by commas). The 3 NMEA data lines which are continuously received are GPRMC,
GPGGA and GPGSA.

For example if one set of data stream is


$GPRMC,235316.000,A,4003.9040,N,10512.5792,W,0.09,144.75,141112,,*19
$GPGGA,235317.000,4003.9039,N,10512.5793,W,1,08,1.6,1577.9,M,-20.7,M,,0000*5F
$GPGSA,A,3,22,18,21,06,03,09,24,15,,,,,2.5,1.6,1.9*3E
The GPGGA sentence contains the follow:
Time: 235317.000 is 23:53 and 17.000 seconds in Greenwich mean time
Longitude: 4003.9040 N is latitude in degrees. decimal minutes, north
Latitude: 10512.5792 W is longitude in degrees. decimal minutes, west
Number of satellites seen: 08
Altitude: 1577 meters

Fig. 6.2.2 GPS Module
iii. Wireless Module
An RF(Radio Frequency) module is used to transmit and/or receive radio signals from the robot
to the base station. The telemetry system used is designed as an open source Xbee replacement
radio set, offering a lower price, longer range (approx one mile) and superior performance to
Xbee radios. Its workable frequency is 915 MHz and it has serial board connection for the air
and USB connection for the ground.


The system provides a full-duplex link using HopeRF's HM-TRP modules running custom, open
source firmware. Interface to the module is via standard 5V-tolerant TTL serial / FTDI USB
serial.
The SiK firmware includes a bootloader that permits radio firmware upgrades over the serial
interface, and radio firmware with configurable parameters. Firmware upgrades and
configuration are fully supported in the APM Mission Planner. Configuration is also possible
through the 3DR Radio configurator and AT commands.
Hardware features and specifications
Very small size
Light weight (under 4 grams without antenna)
Available in 900MHz or 433MHz variants
Receiver sensitivity to -121 dBm
Transmit power up to 20dBm (100mW)
Transparent serial link
Air data rates up to 250kbps
Range of approx. 1 mile
MAVLink protocol framing and status reporting
Frequency hopping spread spectrum (FHSS)
Adaptive time division multiplexing (TDM)
Support for LBT and AFA
Configurable duty cycle
Built in error correcting code (can correct up to 25% data bit errors)
Demonstrated range of several kilo meters with a small Omni antenna
Can be used with a bi-directional amplifier for even more range
Open source firmware
AT commands for radio configuration
RT commands for remote radio configuration
Adaptive flow control when used with APM


Based on the HopeRF HM-TRP radio module, featuring an SiLabs Si1000 RF
microcontroller

Fig. 6.2.3 TTL Telemetry Module

iv. Pressure Sensor
A pressure sensor measures pressure, typically of gases or liquids. A pressure sensor usually acts
as a transducer; it generates a signal as a function of the pressure imposed. For the purposes of
this, such a signal is electrical. The pressure sensor we are using is an absolute pressure sensor.
The pressure sensor we are using is BMP085 manufactured by BOSCH. The BMP085 is
designed such that it can be connected directly to the microcontroller using I2C bus. The
pressure sensor is based on piezo-resistive technology for EMC robustness, high accuracy and
linearity as well as long term stability.
Technical Specifications:
Pressure Range: 300 - 1100hPa (+9000m to -500m above sea level)


Supply voltage: 1.8 3.6 V (V DDA)
1.62 V 3.6 V (V DDD)
LCC8 package: Robust, ceramic lead-less chip carrier (LCC) package
Small footprint: 5.0mm x 5.0mm
Super-flat: 1.2mm height
Low power: 5 micro A at 1 sample / sec. in standard mode
Low noise: 0.06hPa (0.5) in ultra-low power mode
0.03hPa (0.25) ultra-high resolution mode
Down to 0.1 micro m (rma noise) possible
Temperature measurement included
I2C interface
Fully calibrated
Pb-free, halogen-free and RoHS compliant,
MSL 1

Fig. 6.2.4 Pressure sensor & Pin Diagram


Pin No. Name Function Type
1 GND Ground Power
2 EOC End of Conversion Digital output
3 V
DDA
Power supply Power
4 V
DDD
Digital Power Supply Power
5 NC no Internal connection -
6 SCL I2C serial bus clock input Digital input
7 SDA I2C serial bus data Digital bi-directional
8 XCLR Master clear (low active) input Digital input

Fig. 6.2.5 Connection Methodology


v. Humidity & Temperature Sensor
Temperature sensors are devices used to measure the temperature of a medium. A humidity
sensor is a device used to measure the humidity of air or any gas in a given area. It can be used in
both indoors and outdoors.
The module being utilized is DHT22. DHT22 output calibrated digital signal. It utilizes
exclusive digital-signal-collecting technique and humidity sensing technology, assuring its
reliability and stability. Its sensing elements are connected with 8-bit single-chip computer.
This model is temperature compensated and calibrated in accurate calibration chamber and the
calibration-coefficient is saved in type of programme in OTP memory, when the sensor is
detecting, it will cite coefficient from memory.

Fig. 6.2.6 Sensor & Pin diagram
Pin Specification
Pin No. Function
1 VDD-power supply
2 DATA-signal


Model DHT11
Power supply 3.3-6V DC
Output signal digital signal via single-bus
Sensing element Polymer capacitor
Operating range humidity 0-100%RH; temperature -40~80Celsius
Accuracy humidity +-2%RH(Max +-5%RH); temperature <+-0.5Celsius
Resolution or sensitivity humidity 0.1%RH; temperature 0.1Celsius
Repeatability humidity +-1%RH; temperature +-0.2Celsius
Humidity hysteresis +-0.3%RH
Long-term Stability +-0.5%RH/year
Sensing period Average: 2s
Interchange ability fully interchangeable
Dimensions small size 14*18*5.5mm; big size 22*28*5mm
vi. Accelerometer
An accelerometer is a device that measures proper acceleration. The proper acceleration
measured by an accelerometer is not necessarily the coordinate acceleration (rate of change of
velocity). Instead, the accelerometer sees the acceleration associated with the phenomenon of
weight experienced by any test mass at rest in the frame of reference of the accelerometer device.
For example, an accelerometer at rest on the surface of the earth will measure an acceleration g=
9.81 m/s
2
straight upwards, due to its weight. By contrast, accelerometers in free fall or at rest in
3 NULL
4 GND


outer space will measure zero. Another term for the type of acceleration that accelerometers can
measure is g-force acceleration.
Accelerometers have multiple applications in industry and science. Highly sensitive
accelerometers are components of inertial navigation systems for aircraft and missiles.
Accelerometers are used to detect and monitor vibration in rotating machinery. Accelerometers
are used in tablet computers and digital cameras so that images on screens are always displayed
upright.
Single- and multi-axis models of accelerometer are available to detect magnitude and direction
of the proper acceleration (or g-force), as a vector quantity, and can be used to sense orientation
(because direction of weight changes), coordinate acceleration (so long as it produces g-force or
a change in g-force), vibration, shock, and falling in a resistive medium (a case where the proper
acceleration changes, since it starts at zero, then increases). Micro machined accelerometers are
increasingly present in portable electronic devices and video game controllers, to detect the
position of the device or provide for game input.
Pairs of accelerometers extended over a region of space can be used to detect differences
(gradients) in the proper accelerations of frames of references associated with those points. These
devices are called gravity gradiometers, as they measure gradients in the gravitational field. Such
pairs of accelerometers in theory may also be able to detect gravitational waves.

Fig.6.2.7 Accelerometer & Pin diagram



Pin Specification

The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a
measurement range of 3 g mini-mum. It contains a poly silicon surface-micro machined sensor
and signal conditioning circuitry to implement an open-loop acceleration measurement
Pin No. Mnemonic Description
1 NC No Connect
2 ST Self-Test
3 COM Common
4 NC No Connect
5 COM Common
6 COM Common
7 COM Common
8 Z OUT Z Channel Output
9 NC No Connect
10 Y OUT Y Channel Output
11 NC No Connect
12 X OUT X Channel Output
13 NC No Connect
14 Vs Supply Voltage (1.8V to 3.6V )
15 Vs Supply Voltage (1.8V to 3.6V )
16 NC No Connect
EP Exposed Pad Not internally connected. Solder for mechanical integrity


architecture. The output signals are analog voltages that are proportional to acceleration. The
accelerometer can measure the static acceleration of gravity in tilt-sensing applications as well as
dynamic acceleration resulting from motion, shock, or vibration.
The sensor is a polysilicon surface-micro machined structure built on top of a silicon wafer.
Polysilicon springs suspend the structure over the surface of the wafer and provide a resistance
against acceleration forces. Deflection of the structure is measured using a differential capacitor
that consists of independent fixed plates and plates attached to the moving mass. The fixed plates
are driven by 180 out-of-phase square waves. Acceleration deflects the moving mass and
unbalances the differential capacitor resulting in a sensor output whose amplitude is proportional
to acceleration. Phase-sensitive demodulation techniques are then used to determine the
magnitude and direction of the acceleration.
3-axis sensing
Small, low profile package
4 mm 4 mm 1.45 mm LFCSP
Low power : 350 A (typical)
Single-supply operation: 1.8 V to 3.6 V
10,000 g shock survival
Excellent temperature stability
BW adjustment with a single capacitor per axis
RoHS/WEEE lead-free compliant

Fig.6.2.8 Axes of Acceleration Sensitivity



vii. Camera Module
The Camera Module consists of a pin hole lens which captures the data and stores the data into
the micro SD memory card. This can be retrieved later and when the memory card is connected
to the PC then the video of the entire travel of the satellite can be seen.

Fig. 6.2.9 Camera Module

viii. Hardware Assembly Procedure
1. Cut the male pin connector header in to the following lengths: - 6 pins (H1) - 10 pins
(H2) - 8 pins (H3) - 8 pins (H4)
2. Insert the connector headers into the Arduino board with the short end up.
3. Mount the shield board on top of the Arduino Uno.
4. Solder all the pins on the top of the circuit board and then remove it from the Arduino
Uno. Make sure not to heat the pins to long while soldering. To long exposure to heat
might damage the Arduino board.
5. Cut out two lengths of 4-pin connector header and one length of 2-pin connector header.
Place them on the top of the shield board and solder them on the bottom as shown on the
illustration.


6. The green female connector header allows us to easily connect and disconnect the radio
for programming. Place the connectors on top of the board and solder them on the
bottom.
7. Solder the data logger onto the shield board using a 6-pin connector header. Use the short
end of the connector downwards trough the shield board. It is recommended to use some
hot glue in between the board and the logger to support the logger. If not supported it
may easily brake off or damage the soldering points.
8. Use two lengths of 5 pin male connector header and solder the accelerometer onto the
shield board at the U1-possition. Make sure to put the sensor the correct way. The black
IC-chip on the sensor should be pointing upwards. Also note that two of the solder pads
both on the shield board and the sensor have a square shape instead of a circle shape.
These squares should be aligned.
9. Put the pressure sensor onto the shield board and solder it on the bottom side.
10. Continue by soldering the 75 Ohms resistor to the R2 position, the 1uP capacitor to C1
position and the temperature IC sensor (LM35DZ) to T1 position. The temperature
sensors orientation is labelled with at drawing on the board. The capacitors orientation is
labelled with a plus sign (+) on the board. The positive pin on the capacitor is the longest
pin. The negative pin is also marked on the side of the capacitor.
11. Solder a 2-pin male connector header to one of the radios. These pins will only be used
as support to reduce the strain on the radio connector. Mount the radio to the shield
board. Solder the battery connector to the shield board
ix. Software Installation
The Software for writing the program and compiling the program for the Arduino is provided by
Arduino.
Steps for obtaining the software
Goto arduino.cc/en/Main/Software and download the latest version
Click on the downloaded zip-file
Extract the contents to folder on your computer, for example C:/Program
files/Arduino.
The content will then be put in a subfolder of this location


Connect the board
The Arduino Uno automatically draws power from either the USB connection to the computer or
an external power supply. Connect the Arduino board to the computer using the USB cable. The
green power LED (labelled PWR) should go on.
Install drivers
Installing drivers for the Arduino Uno with Windows 7, Vista or XP
Plug in the board and wait for Windows to begin its driver installation process. On some
computers the drivers will install automatically. If not, follow the steps below.
Click on the Start Menu, and open up the Control Panel.
While in the Control Panel, navigate to System and Security. Next, open the Device
Manager which you will find under System.
Look under Ports (COM & LPT). You should see an open port named "Arduino UNO
(COMxx)" In some cases you wont find Arduino Uno, instead you will find
Unknown device at the top.
Right click on the "Arduino UNO (COMxx)" port and choose the "Update Driver
Software" option.
Next, choose the "Browse my computer for Driver software" option.
Finally, navigate to and select the Arduino Uno's driver file, named "ArduinoUNO.inf",
located in the "Drivers" folder of the Arduino Software download (not the "FTDI USB
Drivers" subdirectory).
Windows will finish up the driver installation from there.
Launch the Arduino application
Double-click the Arduino application in the folder where you extracted it. To find this
application easier you can also make a shortcut to the desktop.



Opening an example code
Open the example code by: File Open The CanSat DVD Code
TestArduino.ino. You will get a message to create a sketch folder, and move the file. This will
make a copy of the .ino file



Selecting the board
Select the entry in the Tools Board menu that corresponds to the presently used Arduino.

Selecting the serial port
Select the serial device of the Arduino board from the Tools Serial Port menu. This is likely
to be COM3 or higher (COM1 and COM2 are usually reserved for hardware serial ports). To
find out, the Arduino board has to be disconnected and re-opened; the entry that disappears
should be the Arduino board. Reconnect the board and select that serial port.



Uploading the program
Click the "Upload" button in the environment. After few seconds the RX and TX LEDs on the
board flashing. If the upload is successful, the message "Done uploading." will appear in the
status bar.

Read data
Open the serial monitor to look at the data that is coming from the Arduino Uno board. This
opens a new window which is called after the current COM-port being used. A text string from
the serial prints which have been set in the code will be received.

Testing the Arduino Uno board
To verify whether the right data is being received, each channel should be set to ground and
power. A wire should be plugged in the analogue connectors and power connectors on the
Arduino Uno.


Connect one end of the wire in A0 on the board
Connect the other end in GND
Now should Analog0 show 0
Move the wire from GND to 5V
Now should Analog0 show 5
Move the wire from 5V to 3.3V
Now should Analog0 show 3.3
Repeat the cycle with A1



Chapter-7
GROUND STATION
For CANSATs the design of ground station GUI is one of the most important parts and
in this section a design is mentioned briefly. For this study, many programming
languages and development platforms like MATLAB, Java and LabView are researched
and examined. C# programming language and Visual Studio -as a development platform-
are chosen for design of the ground station GUI, because C# is an advanced, object-
oriented high level programming language and Visual Studio is a user-friendly
development platform. In addition to these features, there are many advantages of using
C# programming language for beginners and some of them are:

It comes with a large framework of pre-developed components (also called as .Net
Framework),
It is full of features that make development faster and easier, usually at the cost of
flexibility and/or runtime performance,
It is much cleaner and has easier to use syntax,
The ability of using advanced and easy interface provided with Visual Studio.
It is freeware for small-sized applications.

A. Received Data Format
The hardware sends data in a string as :
$,40.968788,28.842109,4,20680,0,100089,27.89,99999
Next the GUI changes data format with using this code:
string[ ] parsedBuffer = new string[32];
parsedBuffer = buffer.Split(new char[1] { ',' });
Latitude = Convert.ToDouble(parsedBuffer[1]);
Longitude = Convert.ToDouble(parsedBuffer[2]);


Satellites = Convert.ToInt16(parsedBuffer[3]);
UTC = (parsedBuffer[4]);
Speed = Convert.ToDouble(parsedBuffer[5]);
Temperature = Convert.ToDouble(parsedBuffer[6]);
Pressure = Convert.ToInt32(parsedBuffer[7]);
Atm = Convert.ToDouble(parsedBuffer[8]);
BarometerAltitude=Convert.ToDouble(parsedBuffer[9]);

Pressure and temperature data is provided from a digital pressure sensor, because of the
ambient pressure drift, it needs to be adjusted for actual pressure value.
B. GUI Layout
GUI layout consists of conrol panel, warning screen, serial port panel, graphs and map (Fig.). Every
value is displayed as string. Also changes of temperature, speed, pressure and altitude temperature
with respect to time are shown .

The GUI provides serial port of com, baud and parity selections. The user first has to select
serial port properties to run the GUI. Then the program detects serial port properties then if


there is any problem, the GUI does not run and show problem on the warning screen. If the
serial port properties are available, GUI starts to run (Fig).

Fig.7.1 The Serial Port Interface
CANSAT location is shown on the world map with using latitude and longitude data. If ground
station connects internet, CANSAT location is shown in real time. Also the user can select
different map type from options tab. So the user can use the different maps for different aims.
Moreover, map depth of focus can be adjusted with using mouse and scale tab which is near the
map or select the auto map option. If CANSAT connection is broken, new latitude and longitude
data are the last data which was received (Fig.7.1.2).

Fig.7.1.2 The Map


GUI has the correction options for example, if there is adjust offset problem about
temperature, barometric altitude, pressure or speed values, the user can adjust it with using
offset tab. All values are shown as string also temperature, barometric altitude, pressure and
speed values are plot tables concurrently. The tables auto scale. If the user would like to use
auto scale property, GUI automatically adjusts scale to value range, so the user can see the
value changes easily. For example, if change is getting smaller, scale gets narrow, so the user
can notice the instantaneous small changes.

Fig.7.1.3The tables and offsets


C. Ground Station Flow Scheme
Serial port must be available for starting GUI. The program searches every serial port and the
user selects available port and GUI starts (Fig. 11). First, GUI receives string data from
CANSAT and parses it which is separated with commas. Every date covers to integer, double,
float and string syntax. Finally, graphics are drawn

Fig.7.4 The Ground Station Flowchart



Chapter-8
CONCLUSION
The development of the Small Satellite includes 3 vital steps:
1. Design a CAD model for the external body of the satellite and perform design iterations
of the CAD model, conduct the stress analysis for the body made and make respective
corrections.
2. Fabricating the sensors, GPS, radio transceiver along with the Arduino board,
programming and compiling the on-board computer.
3. Develop an algorithm for the Graphical User Interface which is to be developed and
interfacing the On board computer with GUI.
We have designed the CAD model of the body of the Satellite, performed the stress analysis
and written the program for the Arduino Controller Board.
We have to perform the fabrication of the electronic components along with the Controller
and develop the GUI in the Visual Basic Platform and interface the On-Board Computer
along with the GUI.



REFERENCE

Authors SaburoMAlzTNAGA , Keisuke Yoshiharpi, Yoshiki SUGIURA- Masato SEKIGUCHI,
HirotakaSAWADA,Shingo TSURUMI, Koji NAKAYA, Makoto MORI, KyoichiU,
NaohideMAEDA and Osamu MORI of Mechano-Aerospace Engineering, Tokyo Institute of
Technology, Tokyo 152-8552, Japan had published an IEEE paper on the topic Titech Micro-
Satellite Model:CanSat for Sub-orbital Flight.
Authors Jack K. Kreng, Michelle M. Ardeshiri, Oscar C. Barbosa, and Yogi Y. Krikorian from
The Aerospace Corporation, Communication Systems Engineering Department, Los Angeles,
California had presented an IEEE paper on the Telemetry, Tracking, and Commanding (TT&C)
Link Considerations for a LEO Sat123
Authors M. HosseinSharifi, Senior Member, IEEE from M/A-COM Telecommunications, Inc.
Germantown and MahammedArozullah Dept. of Electrical Engineering from The Catholic
University of America Washington had published an IEEE paper on A Centralized Multiple
Satellite Network For Real Time Global Space, Land, And Mobile Communications.
The authors Bastian Preindl from Institute of Analysis and Scientific Computing Vienna
University of Technology, Austria; Lars Mehnen from Institute for Biomedical Engineering FH
Technikum Wien, Austria; Frank Rattay from Institute of Analysis and Scientific Computing,
Vienna University of Technology, Austria and Jens Dalsgaard Nielsen from Section of
Automation and Control Aalborg University, Denmark had written an IEEE paper on Design of
a Small Satellite for PerformingMeasurements in a Ground Station Network
The CHASQUI team members from the J. Martn 1 Center for Technological Information and
Communications, National University of Engineering (UNI), Lima, Peru; Canales R. from
German Aerospace Center (DLR), German Space Operations Center, Germany and Glen
Rodriguez from the Technical Consultants to the National University of Engineering had
published an IEEE paper on the topic Design of a Peruvian Small Satellite Network



Authors ChetanAngadi Team Leader, Project STUDSAT Department of Electronics &
Communication Engineering NitteMeenakshi Institute of Technology Affiliated to the
Visveswaraya Technological University, Karnataka, India; ZhoraManjiyani, Core Leader,
Payload; Chetan Dixit, Core Leader, Project & Finance Management; Vigneswaran K, Avinash
G.S, Prithvi Raj Narendra, Core Leader, Command & Data-Handling.
Shwetha Prasad, Core Leader, Communication System; Harish Ramavaram&Mamatha R.M,
ADCS.Karthik G, Arpan H.V, Sharath A.H, SashiKiran P, Core Leaders, Structure and
Visweswaran K, Core Leader, Ground Station had jointly published an IEEE project on
STUDSAT: Indias First Student Pico-Satellite Project.
Author Stileyrnan SOYER from Istanbul Technical University,Istanbul, TURKEY had published
an IEE paper on the topic Small Space Can: CanSat
Authors Mustafa EmreAydemir from the Department of Electronics Engineering, Turkish Air
Force Academy, Istanbul, Turkey; Mansur Celebi from the Department of Aerospace
Engineering, Turkish Air Force Academy, Istanbul, Turkey; Serdar Ay from the Department of
Aerospace Engineering, Turkish Air Force Academy,Istanbul, Turkey; Esau VincenteVivas of
Mexico University NacionalAutonoma de Mexico, Mexico; FredyCalleBustinza from Peru
Universidad Nacional de Ingenieria, Peru; and Dan Phan from Vietnam Space Tech Institute of
Vietnam, Vietnam had published an IEEE paper on Design and Implementation of a Rover-
Back CANSAT
Authors Mustafa EmreAydemir, Raif Can Dursun from the Turkish Air Force Academy,
Department of Electronics Engineering, Istanbul, Turkey; and MiracPehlevan from the Turkish
Air Force Academy, Department of Computer Engineering, Istanbul, Turkey had publishe an
IEEE paper on the topic GROUND STATION DESIGN PROCEDURES FOR CANSAT

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Design & Engineering of a Cansat

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