SCOPE 2.0 SCOPE 2.0 Warsaw Warsaw University University of Technology of Technology PDR Presentation Łukasz Boruc Krzysztof Gedroyć Małgorzata Jackowska Jarosław Jaworski Krystyna Macioszek
Organizacja & zespół Promocja Mechanizm Orientacji Platformy Struktura & kontrola termiczna Oprogramowanie Elektronika
Team members Łukasz Boruc Łukasz Boruc Krystna Macioszek Krystna Macioszek Małgorzata Jackowska Małgorzata Jackowska Coordinator On-Board Computer Platform Orientation Mechanism Support: Mateusz Wolski Tomasz Rybus Grzegorz Misiołek B.Sc. Krzysztof Gedroyć Jarosław Jaworski Electronics Mechanics, Mechanical Configuration , Thermal Analysis, PR
Schedule Screen from Gantt diagram
WBS
Support Warsaw University of Technology Faculty of Power and Aeronautical Engineering - Institute of Heat Engineering, Division of Aeroengines Piotr Wolanski, D.Sc., Ph.D., Professor -Institute of Aeronautics and Applied Mechanics Department of Automation Aeronautical Systems Janusz Narkiewicz, D.Sc., Ph.D., Professor Janusz Narkiewicz, D.Sc., Ph.D., Professor Space Research Centre of Polish Academy of Sciences Jerzy Grygorczuk, Eng., M. Sc., Carlo Gavazzi Space S.p.A Vincenzo Pulcino - System Engineer
Platform Orientation Mechanism Explode view of POM
Platform Orientation Mechanism First and second stage Third stage Aluminum frames Aluminum frames • • 2 BLDC motors BLDC motor • • • 2 Bevel gears made of steel • Gear made of aluminum • Bearings • Bearings • • 2 Encoders 2 Encoders • • Encoder Encoder • Possible turn between +/- 60 degree • Unlimited degree of freedom • Slip ring • Camera Second stage Third stage First stage
Design solutions • Bevel gears: one made of steel, one made of plastic • Gears – covered by solid lubricator • Motors with changed bearings to hybrid • Motors with changed bearings to hybrid • Changed bearings to hybrid • Project of locking mechanism
Interface to the Egon/S-Egon • Localization Experiment does not require any special location on the gondola • Preferences Experiment could be launched on Egon or S-Egon Egon or S-Egon • Interface Four bolts is used for integrate to the gondola • Special requirement Experiment require hole in the gondola for the camera
Interface to the Egon/S-Egon • Special requirement Experiment require hole in the gondola for Dimensions of the hole: the camera 340mm x 340mm Location: 62 mm from the integration 62 mm from the integration bolt of the experiment
Mechanical Design • Electronics section Consist mechanical boxes for the electronics, battery, IMU and GPS • POM section Consist POM and space for its manouvers manouvers • Mass- 28 kg
Mechanical Design • Experiment frame Made for aluminum profiles, easy to change a frame configuration • Aluminium panels For physical and thermal shield, easy to integrate with the frame to integrate with the frame • Glass For the safety reasons and for thermal insulation • Base panel Made of aluminum, to provide easier interface to the Egon/S-Egon • Connectors Screws, nuts and glue
Mechanical Design • Six boxes for electronics Made for aluminum. Each consists only one PCB for better heat dissipation. Paint in black in internal site for better radiation • One box for batteries • One box for batteries Made for aluminum. Fixing six battery packages.
Thermal analysis and design • Passive thermal control • Styrofoam for outside insulation • Heat pipes to heat • Heat pipes to heat transimttion • Calculations for electronics • More detailed analysis in progress (Patran, Nastran)
Electronic devices and sensors • BLDC motors • Specialized motor driver • Attitude control using optical (magnetic) • Attitude control using optical (magnetic) encoder • Control algorithm based on discrete PID regulator
Camera and transfering data Point Gray Chameleon Camera CCD and Fujinon lens • Image recording using CCD camera • Data transfer using Wisair Wireless USB Module Wireless USB module
Inertial Measurement Unit and GPS system Actual attitude measured by IMU Data of current gondola location provided by own GPS
Problems and solutions Make system simplier - using magnetic encoder Good and reliable start/stop control mechanism
Software SCOPE software SCOPE_F Test Software Test Software Ground Station SCOPE_F
SCOPE_F Objectives Design Computing joints positions Run on OBC - PC/104 � � Written in C++ Receiving telecommands � � Run on Linux OS � Sending telemetry � Gathering sensors data � TM Communication with Communication with � microcontroler TC Data storage � MICROCONTROLER SCOPE_F DATA SENSORS CALCULATIONS
SCOPE_F flow charts Program flow chart Client program flow chart Start Start Initialization procedures Server creation Client creation Communication with GS Communication with GS Initialization procedures Awating for GS call Communication with sensors and uC Receiving telecommand Main loop Joints positions determination Saving telecomand Sending commands to uC on on-board memory
SCOPE_F – Modes Flight Mode : � Pre-flight Mode Set at start-up POM Mode 0 � � Initialization procedures Manual control of POM. � POM Mode 1 � Flight Mode � Camera stabilized to look downward. Set after Pre-flight Mode and Set after Pre-flight Mode and � � POM Mode 2a � lasts during all flight. Target tracking. Targets set via Nominal operation of SCOPE � telecomands. � Post-flight Mode POM Mode 2b � Target tracking. Targets from on-board Set after landing � memory. Shut-down all subsystems �
SCOPE_F – joints position determination Input Two main algorithms: � Euler angles – IMU � Target Tracking Algorithm − Determines desired camera attitude � Gondola position – GPS � Joints Positions Determination � Target position Algorithm Algorithm Output Output − Determines joints positions � Joints positions Based on rotation matrices A β A G = A α
SCOPE_F – joints position determination Z G Z G Z B Z G Z B Y B Z MOP 0 B Y G 0 G Y G 0 G X G X G Y B Y X X G 0 MOP X MOP 0 B X B Y G 0 G X G Y MOP X B Z E EARTH Y E 0 E X E
SCOPE_F – joints position determination A G A β Start 0 G 0 B 0 MOP Input: desired attiutude angles A α 0 G 0 MOP Determination of A α matrix Input: gondola attitude angles A β A G = A α Determination of A G matrix Solving of a system of equations actual attitude Determination of A β matrix (IMU data) target position Determination of joints postitions angles (eg. from GS) joints positions Target Tracking Joints Position Algorithm Determination Algorithm desired attitude actual position Output: joints positions (GPS data)
Ground Station Objectives Design Input for telecommands Written in C++ � � Sending telecommands Written using MS Visual Studio 6 � � Receiving telemetry Run on Windows XP � � Presentation of telemetry data � Telemetry data storage Telemetry data storage �
Ground Station Program flow chart Start Program initialization Communication with SCOPE_F Data storage Telemetry display panel Visualization panel Control panel
Software Test � Validation of main algorithms � Written in C++ � Run on Windows OS � Using OpenGL
SCOPE 2.0 - Hardware � On-board: PC/104 � Ground Station: two notebooks
Outreach program • Logo Experiment sentence • Blog progress Experiment name • Media Camera POM frames
Outreach program • Logo • Blog progress • One post per week • New galleries • Update of team members • Update of team members • Media
Outreach program Facebook group • Logo Main polish space forum • Blog progress • Media Main Polish space service Main Polish space service
Outreach program Next steps (before CDR): • Promotional video • Sweters and t-shirts • Animation of experiment • Animation of experiment functionality (using CATIA DMU Kinematics) • Articles in science and popular science magazines
SCOPE 2.0 PDR Presentation Thank You for Your attention Questions?
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