NU FRONTIERS Northeastern University Rover Deployment Experiment
Agenda Overview of Vehicle Properties ● Stability Analysis ● Launch Vehicle Sections and Systems ● Nose Cone Section ○ Payload Section ○ Lower Avionics Section ○ Booster Section ○ Payload ● Recovery ● Drogues ○ Mains ○ Electronics ● Full scale flight ● Updates ● 2
Overview of Vehicle Properties Length 124 inches Maximum Diameter 6.17 inches Weight 50.1 pounds Body Tube Material G12 Fiberglass Fins 4 Trapezoidal, G10 Fiberglass Motor Cesaroni L1115 Classic Reloadable Number of Avionics Bays 2 Number of Altimeters 6 Number of Main Parachutes 2 Number of Drogue Parachutes 1 3
Stability and Ascent Analysis Center of Gravity = 75 inches Thrust to weight: 5.05 ● ● Center of Pressure = 94 inches Rail exit velocity: 67.4 ft/s ● ● Stability = 2.97 cal ● 4
Launch Vehicle Sections and Systems 5
Nose Cone Section ● Composed of Fiberglass ● Houses a 72 inch elliptical Main Parachute ● Mass: 1.98 lbs (898g) 6
Payload Section ● Houses Upper Avionics Bay and Payload ● Mass: 17.19 lbs (7815 g) 7
Lower Avionics Section Houses Lower Avionics Bay, 1 Main and Drogue Parachute ● Mass: 10.32 lbs (4690 g) ● 8
Booster Section 4 Trapezoidal Fins ● Centering Rings ● ¼” Plywood ○ Motor Mount ● 75mm Blue Tube ○ Aero Pack Motor Retainer ● Mass: 22.46 lbs (10210 g) ● 9
Fin Properties ● 4 G10 Fiberglass fins ● Trapezoidal ● Mounted through wall ● Key slots in centering rings ○ Tabs on fins 10
Motor Properties Cesaroni L1115 Classic Loaded Mass 4404.00 g Burnout Mass 1928.00 g Total Impulse 5015.00 Ns Maximum Thrust 1713.25 N Average Thrust 1119.00 N ISP 213.60 s Burntime 4.48 s 11
Lower Avionics Bay Parachutes Subsystem Electronics ● Components 4 x StratoLogger Altimeter ○ 2 x Digikey Keylock Switches ○ 4 x 9 Volt Batteries ○ Held in custom 9V battery holders ■ 1 x teleGPS Unit ○ 1 x 3.8 Volt LiPo Battery ○ ● Wooden Sled 1 x ¼ birch plywood sled ○ 2 x ¼-20 threaded rods ○ 12
Upper Avionics Bay Parachutes Subsystem Electronics ● Components 2 x StratoLogger Altimeter ○ 1 x Digikey Keylock Switches ○ 2 x 9 Volt Batteries ○ Held in custom 9V battery holders ■ ● Wooden Sled 1 x ¼ birch plywood sled ○ 2 x ¼-20 threaded rods ○ 13
Test Plan and Procedures Internal Design/Safety Review Board ● Successful ground ejection tests ○ Wiring Continuity Audits ○ Simulation Audits ○ Detailed design review including full disassembly ○ Launch Day Checklists ● Range Safety Officer Launch Vehicle Checks ● Internal Post Launch Forms ●
Payload 15
Rover Vex motor locomotion ● Custom designed wheels and body ● “Fanning” solar panels ● Solenoid latching system ● Dynamic support strut ● 16
Pneumatic Ejection System CO2 ejection system connected to pneumatic components ● Peregrine Ejection System ○ Regulator ○ Speed Controller ○ Polyester bellows clamped to bulkheads ● Forward bulkhead slides freely along steel rods ● Rear and pneumatic base bulkheads are set screwed in place ● Electronics mounted below pneumatics ●
Payload Electronics Bay Arduino Nano ● 2x 7.4V 1000mAh LiPo ● GY-521 Accelerometer and Gyroscope ● Adafruit Ultimate GPS Breakout ● DS1307 Real Time Clock (RTC) ● Custom designed PCB ● 18
Recovery Drogues and Mains 19
Parachute Subsystem 48 inch drogue parachute ● Fruity Chutes ○ Upper 72-in main, Lower 60-in main ● Classic Elliptical, Fruity Chutes ○ ⅜” -16 Eye Bolts with 1” Washers ● Swivels ● ½” tubular Kevlar Shock Cord ● ½” plywood bulkheads ● 20
Launch Procedure and Separations Apogee of 5060 ft ● 3 Flight Events ● 21
1st Flight Event Launch Vehicle reaches an apogee of 5060 feet ● The Booster and the Lower Avionics Sections separate, and 48 inch ● drogue parachute is deployed Launch Vehicle falls at 65 ft/s ● 22
2nd Flight Event Occurs at 800 feet ● The Nose Cone and the Payload Sections separate, and 72 inch main ● parachute is deployed. Launch Vehicle still tethered 3rd Flight Event Occurs at 750 or shortly after flight event 2 ● The Payload and the Lower Avionics Sections separate, and 60 inch main ● parachute is deployed. Launch Vehicle separates into two independent sections. Upper sections fall at 10 ft/s, Lower sections fall at 16 ft/s ● 23
Shock Cord ½” Kevlar Shock Cord ● Strong yet also slightly elastic ● Attached to ⅜” Eye Bolts ●
Black Powder Charges Primary Charge Amount Secondary Charge (g) Amount (g) Drogue 2.2 2.6 Upper 2.0 2.4 Main Lower 2.0 2.4 Main
Recovery System - Kinetic Energy 75 ft-lb Landing Maximum Competition Requirement ● All sections meet requirements ○ Terminal Velocity Kinetic Energy Section Mass (kg) Kinetic Energy (J) (m/s) (Ft*lb) Nose Cone 0.898 3.0 4.2 3.1 Payload 7.815 3.0 36 27 Lower Avionics 4.690 4.9 56 41 Booster 7.734 4.9 92 68 26
Recovery System - Lateral Drift 2,500 foot Lateral Drift Maximum Competition Requirement ● All sections meet requirement ○ Wind Speed Maximum Lateral Drift of Two Independently Falling Sections No Wind 8 feet 5-mph 525 feet 10-mph 1,125 feet 15-mph 1,782 feet 20-mph 2,490 feet 27 27
Electronics Recovery, Motor, Nose Cone, and Accelerometer 28
Recovery Electronics Power 4 Volts to 16 Volts, nominal 9 Volt battery Current Consumption 1.5 milliamp Launch Detect 160 feet to 300 feet AGL, default 160 feet Main Deploy Altitude 100 feet AGL to 9,999 feet AGL Maximum Altitude 100,000 feet MS Altitude Resolution 1 feet up to 38,000 feet MSL < 2 feet to 52,000 feet MSL < 5 feet to 72,000 feet MSL Measurement Precision +/- (0.1% reading + 1 foot) typical Flight Data Logged Altitude, temperature, battery voltage Recording Time Per Flight Over 18 minutes Operational Temperature -40°C to +85°C (-40°F to +185°F) Sample Rate 20 samples per second Cost $54.95 29
Payload Ejection System Electronics Bay XBee Pro XSC (S3) ● XBee Breakout Board ● Antenna ● 2x 1000mAh 7.4V LiPo ● Arduino Nano V3 ● XBee Explorer Dongle (Ground Station) ● MPU 6050 ● LIS 331 ● 30
Communication System 31
Telemetry 32
Data Flow The Adafruit GPS Breakout Board gets position data → Arduino Nano V3 ● Arduino Nano V3 → XBee ● XBee → XBee Explorer Dongle at Ground Station ● Data stored and read out on Computer ● 33
Fullscale Test 34
Fullscale Design Uses final motor and parachute configuration ● Simulates the actual launch closely to test the launch vehicle in its entirety ● Motor: L1115 Cesaroni Classic ●
Fullscale Ground Ejection Tests Coordinated with Northeastern University Campus Police ● Secured pedestrian-free area prior to test ● All successful, proof of ejection charge calculations ●
Fullscale Launch March 4th, 2018 ● Champlain Region Model Rocket Club ● ○ St. Albans, VT Temperature: 30°F ● Weather: 13 mph wind and snow flurries ● Launch Angle: 5° into the wind ● 37
Fullscale Launch Results All recovery systems deployed properly when commanded ● Launch Vehicle successfully recovered ● Apogee: 5,596 feet (using lighter payload mass) ● 38
Fullscale Launch Results Anomaly in lower e-bay stratologger Secondary 2 ● lead to lower main parachute deploy at apogee Upper section assembly descended partially in ● free fall Lower section assembly descended under lower ● main parachute from apogee 39
Thank you for listening! QUESTIONS? 40
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