Cansat Activities in University of Tokyo

CanSat Activities in University of Tokyo
- Excellent Training for Real Satellite Project
Department of Aeronautics and Astronautics,

University of Tokyo
Intelligent Space System Laboratory (ISSL)
Yasuhiro Kusakawa
Shinichi Nakasuka
23rd Feb 2007 International CanSat Workshop
Content
‫ ﻪ‬CanSat Activities in ISSL

‫ ﻪ‬CanSat contributions to follow-on space
missions including CubeSat
‫ ﻪ‬Educational significances of CanSats
‫ ﻪ‬Summary

Content

‫ ﻪ‬Summary

CanSat Activities in ISSL (1)
-1999 & 2000 – Before Comeback Competition
‫ ﻪ‬1999: 3 CanSats
‫ ﻩ‬CanSat#001: demonstration of bus
‫ ﻩ‬CanSat#002: sensors and communication
‫ ﻩ‬CanSat#003: taking pictures
‫ ﻪ‬2000: 2 CanSats
‫ ﻩ‬EDL: Extension of landing mechanism
‫ ﻩ‬GPS-Can: DGPS

CANSAT flight profile
obtained
by GPS
CANSAT after landing

Descent Speed Control (2000)
‫ ﻪ‬The descending speed is controlled by

changing the hole size (sub-parachute)
Sub chute Chute hole is closed

Air flow Main chute
Sub chute wire

is winched.
CanSat Descend slow
Descend fast
Landing/Stand-up Experiment (2000)
Expand landing legs like this

triggered by barometer data!!
-2001 & 2002 – “Era of Flyback”
‫ ﻪ‬In 2001: 1 OpenClass
‫ ﻩ‬1st year of comeback competition
‫ ﻪ‬In 2002: 3 OpenClass for fly-backs
Team 1(45m:record) Team 2 Team 3

8.6
8.4
Strong wind blew CanSat 2 km
8.2 away
Release
release
Longitude [min]
7.8
7.6
Target
destination
7.4 Landing
landing
7.2
Came back
50.5 51 51.5 52 52.5 53 53.5 54
Latitude [min]
6000
18000
Longitude and Latitude
5000 4775.12m
15666.4ft
16000 Trajectory
14000
4000
12000
Altitude [m]
Altitude [ft]
3000 10000
8000
2000
6000 Altitude Trajectory (vs time)
4000
1000
2000
0 0
23 Feb 2007
rd International CanSat Workshop
17:09:36 17:16:48 17:24:00 17:31:12 17:38:24 17:45:36 17:52:48 18:00:00
Time
-2003 ~ 2006 – New Challenge(1)
‫ ﻪ‬In 2003: 1 OpenClass
‫ ﻩ‬Fine Fish: for flyback by GPS and image data
‫ ﻪ‬In 2004 4 CanSats and 1 OpenClass
‫ ﻩ‬M1: formation flight by 3 CanSats
‫ ﻩ‬BUJI-SEICAN: INS(Inertia Navigation System)
‫ ﻩ‬B3: runback, separation and taking photo

Results of Launch
Spiral Mode
Started
before Ejection
R: Leader 0
G: Follower 1
B: Follower 2
Pictures took by the CanSat of B3 team

-2003 ~ 2006 – New Challenge(2)
‫ ﻪ‬In 2005 2 CanSats and 3 OpenClass
‫ﻩ‬ SHY-Q: flyback and system demonstration of GMSK
‫ﻩ‬ M2: flyback
‫ﻩ‬ MOEROS: runback
‫ﻩ‬ Dora-Musuko: flyback
‫ﻩ‬ Scorpion!: runback
‫ ﻪ‬In 2006 2 OpenClass
‫ ﻩ‬SAYA&MINORU: flyback and separation
‫ ﻩ‬SAMURAI: runback
Fall speed vs time Flight logs of SAMURAI
7
5
Fall speed[m/s]
0
0 100 200 300 400 500 600 700 800
Flight pass
Time[s]
launch point
landing
point

History of Fly-back vs Rover
3000 No Control
2500
Minimum Distance(m)
2000
Flyback
1500
Rover
1000
500 6 m by Rover
0
2000
45 m by Flyback
2002 2004 2006
23rd Feb 2007 YearCanSat Workshop
International
Our Laboratory Records
1980m
6000
Not control
3930m
5000 Not control 5920m
Not control
Distance from Target
4000
3000
2000
1000
650m
0
2001 2002 2003 2004 2005 2006
Year
45m 1499m
World23 record
rdFeb 2007 of Flyback International CanSat Workshop
Not control
Lessons Learned (1)
‫ ﻪ‬Poor design/fabrication/test will eventually fail
‫ ﻩ‬Satellite is working far away from human hands
‫ ﻪ‬Importance of ground tests
‫ ﻩ‬Hard vibration environment during launch (25g rms)
‫ ﻩ‬Long (2-3 hours) lead time before actuating
‫ ﻩ‬Release from rockets and opening of parachute give
very large load (shock, acceleration)
‫ ﻪ‬Importance of schedule management
‫ ﻩ‬Strict dead line (“No delayed CanSats never fly.”)
Lessons Learned (2)
‫ ﻪ‬Importance of human resource managements.
‫ ﻪ‬The integrated system is hard to behave as
expected, so the many tests are important !
‫ ﻪ‬If there is a chance to fail, then eventually it
fails.
‫ ﻪ‬Reliable integration requires bird-eye views
over the whole system.

Example of Failure (2000)
Parachute part and body was separated

by the shock of the deployment of the parachute

Content

‫ ﻪ‬Summary

Nano-satellite projects in ISSL
1999 2000 2001 2002 2003 2004 2005 2006 2007 2008
CanSats
Start of CanSat
projects Flyback
World Record
XI-IV XI-V PRISM
Nano-Satellites
PETSAT
Nano-Jasmine
Launch in 2005 October 27th
Launch
23 in
rd Feb 2007 2003 June 30thInternational CanSat Workshop
Roadmap of Nakasuka Lab’s Satellite Development
2003 04 05 06 07 08 09 10
30 m Ground Resolution
Space Science
PRISM(Remote
CubeSat XI-IV Multi-purpose
sensing) ‘08
’03/6
4 km Ground NANO-
Resolution JASMINE(Astrometry
Satellite） ’08-‘09
CubeSat XI-V ‘05/10
(Sister-Sat with XI-IV PETSAT(Panel
launched with SSETI- Satellite) ’08-‘09
EXPRESS)
23rd Feb 2007 Development

International CanSat Workshop Launch
University of Tokyo’s CubeSat Project “XI”
XI-IV(2003.6
23 Feb 2007
rd
by Rockot） XI-V（2005.10 by Cosmos）
International CanSat Workshop
XI-IV XI-V
‫ ﻪ‬CubeSat 10cm cubic and 1kg
‫ ﻪ‬XI-IV and XI-V have already launched.
‫ ﻪ‬XI-IV
‫ ﻩ‬Mission: System demonstration of COTS bus
‫ ﻪ‬XI-V
‫ ﻩ‬Mission: System demonstration CICS solar cell
taking more sophisticated pictures
re-write message for ham operators

PRISM
‫ﻪ‬ Low-cost remote sensing nano-satellite
‫ﻪ‬ Mass : 3-5 kg
‫ﻪ‬ Size : 170 x 170 x 250 mm cuboids
‫ﻪ‬ Target ground resolution : 30 m
Pico-satellite for
Remote-sensing and
Innovative
Space
23 Missions
Feb 2007
Nano-JASMINE
‫ ﻪ‬Collaborative project with National

Astronomical Observatory of Japan
‫ ﻩ‬Mission: Obtaining fine star maps (3D) using
infra-red CCD sensors and pre-cursor of a large
astronomy satellite “JASMINE”
‫ ﻩ‬Size: about 40cm cubic
‫ ﻩ‬Mass: about 15kg
‫ ﻩ‬3 axis stabilizing within 1 arcsec
PETSAT(Panel ExTension SATellite)
Attitude Control
Mission panel 2
panel 1 CPU panel
Battery panel
Attitude
Control Communication
panel 3 panel 2
Attitude
Before Separation
extension Control panel 1
（Launch Locked） Communication Mission panel 2
panel 1
Plug-in of Panels having different functions deal with variety of
mission requirements just like a “Lego Block”
→ Mass production of panels lead to low cost/high reliability
→ Plug-in makes system level test simple and less time consuming
→ Open architecture to allow participation of new companies with special tech.
→ Extending panels makes it possible to use small satellite as “large sat”
23 Feb 2007
Contributions of CanSat Experiments to
Follow-on Satellite Development (1/3)
‫ ﻪ‬Technological aspects
‫ﻩ‬ Electric circuit design
‫ﻩ‬ Knowledge of ICs and sensors
‫ﻩ‬ Software libraries of ICs for various subsystems
‫ﻩ‬ Vibration test and feedbacks afterwards
‫ﻩ‬ How to make very small satellites
‫ﻩ‬ How to integrate many subsystems into a total system

‫ ﻪ‬Management aspects
‫ ﻩ‬Management of time, cost, human and risk
‫ ﻩ‬The Documentation is necessary !!
‫ ى‬What is not documented will be eventually forgotten.
‫ ﻩ‬Having a whole view of projects is important
‫ ى‬CanSat and CubeSat projects are small enough to
view the whole aspects of one project.
‫ ﻩ‬Importance of communication between
subsystem teams
‫ ﻪ‬Others
‫ ﻩ‬Ground tests are essential to make reliable systems
‫ ى‬No ground test, no success.
‫ ى‬We must be conscious about the aim of each experiment.
‫ ى‬We must always think why these experiments are
needed.
‫ ﻩ‬Failure possibility should be deleted one by one
‫ ى‬If the product have no potential cause of failures, it will
surely succeed !
Differences between CanSats and real space
projects
‫ ﻪ‬Environmental consideration is mitigated in
CanSat
‫ ﻩ‬In CanSat projects we need not to think about most
space environment, such as radiation, vacuum and
ultraviolet ray.
‫ ﻩ‬But, temperature, vibration, acceleration problem exist.
‫ ﻪ‬Faster project time scale
‫ ﻩ‬CanSat projects usually finish in 6 months, but real
space projects require far more time (more than 2 years).
‫ ﻪ‬Far cheaper, but still effective !
‫ ﻪ‬CanSat can be retrieved after experiments
‫ ﻩ‬Good for analysis of real cause of failures if failed.
Content

‫ ﻪ‬Summary

CanSat Contributions
‫ ﻪ‬We can experience through CanSat …

‫ ﻩ‬One whole cycle of space development
including mission conceptual design,
satellite design, manufacturing,
integration, test, feedbacks, launch,
operation, analysis of results
‫ ﻪ‬CanSat can be said excellent material
for 1st step training towards real
satellite projects
Current problems from educational
points of view (1)
‫ ﻪ‬CanSat ages goes down to 2nd and 3rd grade
of universities: (not our lab members).
‫ ﻩ‬Limited time allocated to CanSat development
‫ ﻩ‬No experience and knowledge about satellites
‫ ﻩ‬Laboratory members are too busy with their
own satellite projects
‫ ﻪ‬How to educate these new-comers with
limited laboratory human resource ?
Current problems from educational
points of view (2)
‫ ﻪ‬The new comers tend to set higher goals than
the previous years’ ones, and so the success
level is becoming higher and higher every year.
‫ ﻪ‬But, they have not experienced the prior stage
and do not have enough skill to reach the goal
‫ ﻪ‬As a result, FAILS !

Countermeasures under Way
‫ ﻪ‬Initial training is to be provided by the experienced lab
members as a curriculum
‫ ﻪ‬Technology transfer should be made more effectively
‫ ﻪ‬Experienced lab members show the project
management way inside the CanSat teams
‫ ﻪ‬The success level should be assigned carefully so that
the motivation can be maintained while the goal can be
reached with the new-comers’ skills & allowable time

Content

‫ ﻪ‬What was of help to CubeSat in CanSat
projects?
‫ ﻪ‬Educational Aspects of CanSats
‫ ﻪ‬Summary

Summary
‫ ﻪ‬CanSat history of 8 years since 1998 has provided us
with tremendous knowledge, skills and experiences.
‫ ﻪ‬These experiences became the basis for follow-on
satellite projects and their success.
‫ ﻪ‬Recent problems in CanSat failures should be solved
by taking more effort in “education and technology
transfer” from the experienced laboratory members
to younger generations
http://www.space.t.u-tokyo.ac.jp/

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- Excellent Training for Real Satellite Project

Department of Aeronautics and Astronautics,

‫ ﻪ‬CanSat Activities in ISSL

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬CanSat Activities in ISSL

23rd Feb 2007 International CanSat Workshop

23rd Feb 2007 International CanSat Workshop

CANSAT after landing

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬The descending speed is controlled by

Sub chute Chute hole is closed

Sub chute wire

Expand landing legs like this

Team 1(45m:record) Team 2 Team 3

23rd Feb 2007 International CanSat Workshop

23rd Feb 2007 International CanSat Workshop

23rd Feb 2007 International CanSat Workshop

23rd Feb 2007 International CanSat Workshop

Parachute part and body was separated

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬CanSat Activities in ISSL

23rd Feb 2007 International CanSat Workshop

23rd Feb 2007 Development

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬Collaborative project with National

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬CanSat Activities in ISSL

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬We can experience through CanSat …

‫ ﻪ‬As a result, FAILS !

23rd Feb 2007 International CanSat Workshop

23rd Feb 2007 International CanSat Workshop

‫ ﻪ‬CanSat Activities in ISSL

23rd Feb 2007 International CanSat Workshop

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