IIUM CanSat - CDR

CRITICAL DESIGN REVIEW
INTERNATIONAL ISLAMIC
UNIVERSITY MALAYSIA
IIUM CANSAT
23 OCTOBER 2008
Nur Farhana Helme

(ir_hana183@yahoo.com / +6013-3937533)
Masturah Mohamad
Wan Nizam Hakim Wan Sulaiman
Mohd Zuhaili Mohd Rodzi
Mohd Ashraf Husni Zai
Nurul Huda Ashari
Advisors:
Assoc. Prof. Dr. Ahmad Fadzil Ismail
(af_ismail@iium.edu.my / +6012-3283175)
Assist. Prof Dr. Raed Ismail Mahmoud Kafafy
(rkafafy@iium.edu.my / +6017-3217941)
CONTENTS
1 INTRODUCTION................................................................................................................... 4
1.1 TEAM ROSTER AND ROLES ....................................................................................... 4
1.2 PRESENTATION OUTLINE .......................................................................................... 6
2 SISWASAT DESIGN AND DEVELOPMENT ..................................................................... 6
2.1 SISWASAT REQUIREMENT......................................................................................... 6
2.2 SISWASAT DESIGN ...................................................................................................... 7
3 PAYLOAD SUBSYSTEM ................................................................................................... 10
3.1 ACCELEROMETER AND ALTIMETER PAYLOAD ................................................ 11
3.2 GPS NAVIGATION PAYLOAD .................................................................................. 14
3.3 WEATHER FORECASTING PAYLOAD .................................................................... 14
3.4 IMAGING MODULE PAYLOAD ................................................................................ 16
4 ON-BOARD DATA HANDLING SUBSYSTEM ............................................................... 20
4.1 DESIGN DETAILS AND REQUIREMENTS .............................................................. 20
4.2 SUMMARY OF CHANGE SINCE PDR ...................................................................... 23
4.3 FLIGHT SOFTWARE DETAILS .................................................................................. 24
4.4 FLIGHT SOFTWARE TESTING .................................................................................. 31
4.5 WORK TO BE COMPLETED....................................................................................... 31
5 ELECTRICAL AND POWER SUBSYSTEM ..................................................................... 31
5.3 ELECTRICAL SYSTEM BLOCK DIAGRAM ............................................................ 32
5.4 POWER SYSTEM DESIGN .......................................................................................... 33
5.5 POWER BUDGET ......................................................................................................... 41
5.6 ELECTRICAL AND POWER SUBSYSTEM TESTING ............................................. 43
6 COMMUNICATION SUBSYSTEM ................................................................................... 46
6.1 FINAL DESIGN ............................................................................................................. 49
6.2 COMMUNICATION SUBSYSTEM TESTING ........................................................... 51
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7 MECHANICAL & STRUCTURAL SUBSYSTEM ............................................................ 69
7.3 MECHANICAL LAYOUT ............................................................................................ 73
7.4 MASS BUDGET ............................................................................................................ 74
7.5 MECHANICAL AND STRUCTURAL SUBSYSTEM TESTING .............................. 74
7.6 RECOVERY SYSTEM AND TESTING ...................................................................... 81
8 INTEGRATION AND TEST................................................................................................ 89
8.3 SYSTEM INTEGRATION AND TESTING ................................................................. 89
9 GROUND SYSTEM ............................................................................................................. 95
9.3 GROUND SYSTEM ARCHITECTURE ....................................................................... 96
9.4 GROUND HARDWARE SELECTION ........................................................................ 97
9.5 GROUND SOFTWARE ................................................................................................ 98
9.6 GROUND SYSTEM TESTING................................................................................... 106
9.7 WORK TO BE COMPLETED..................................................................................... 106
10 RECOVERY SUBSYSTEM ............................................................................................... 106
10.1 DESIGN DETAILS .................................................................................................. 106
10.2 DESIGN OPERATION ............................................................................................ 107
11 CONCEPT OF OPERATION ............................................................................................. 115
11.1 DESIGN DETAILS AND REQUIREMENTS ......................................................... 115
11.2 SUMMARY OF CHANGE SINCE PDR ................................................................. 116
11.3 CONCEPT OF OPERATION................................................................................... 116
11.4 LAUNCH SITE ROLES AND RESPONSIBILITIES ............................................. 117
11.5 CONTIGENCY OPERATIONS ............................................................................... 117
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11.6 DATA ANALYSIS ................................................................................................... 118
11.7 WORK TO BE COMPLETED ................................................................................. 121
12 PROJECT MANAGEMENT & RESOURCES .................................................................. 121
12.1 SUMMARY OF SISWASAT BUDGET.................................................................. 121
12.2 SISWASAT DEVELOPMENT SCHEDULE .......................................................... 123
13 SUMMARY ........................................................................................................................ 124
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1 INTRODUCTION
1.1 TEAM ROSTER AND ROLES

• Project Manager:
Nur Farhana Helme
Bachelor of Aerospace Engineering
4th Year
• Assistant Project Manager

Masturah Mohamad
Bachelor of Aerospace Engineering
4th Year
• Team members:
Wan Nizam Hakim Wan Sulaiman
Bachelor of Mechatronics Engineering
3rd Year
Mohd Zuhaili Mohd Rodzi
Bachelor of Mechatronics Engineering
3rd Year
Mohd Ashraf Husni Zai
Bachelor of Communication Engineering
3rd Year
Nurul Huda Ashari
Bachelor of Communication Engineering
4th Year
• Advisor
Assoc. Prof. Dr. Ahmad Fadzil Ismail
Assist. Prof Dr. Raed Ismail Mahmoud Kafafy
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COMMUNICATION – Mohd Ashraf Husni Zai
Communication Lead will ensure that the communication configurations and settings
meet the competition criteria and will be able to transfer data from cansat to the ground
station at minimum error for every mission.
HARDWARE INTEGRATION- Masturah Mohamad
Hardware Integration Lead will oversee completion of the complete hardware system.
Will ensure all hardware systems are fully operational and interface correctly with other
hardware components and their software counterparts.
SOFTWARE INTEGRATION- Mohd Zuhaili Mohd Rodzi
Software Integration Lead will oversee completion of the complete software system. Will
ensure all software systems are fully operational and interface correctly with other
software components and their hardware counterparts.
PAYLOAD- Wan Nizam Hakim Wan Sulaiman
Payload Lead is responsible for overseeing selection, testing, integration and performance
of the sensor suite needed to complete the mission requirements.
PARACHUTE DESIGN- Farhana Helme
Parachute Design Lead will be responsible to design a new parachute that is able to carry
the CanSat with the required weight and ensure that the CanSat can land safely to the
ground with minimum percentage of damage that possible to happen to the Cansat. Will
oversee the selection of navigation components and the design of position and direction
algorithms
DOCUMENTATION, & PUBLIC RELATION – Nurul Huda
Documentation Lead will ensure the development process will strictly adhere to the
competition guidelines. Documentation process and public relation issue will also be
handled to achieve the objective.
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1.2 PRESENTATION OUTLINE
This report explains on 10 main points which are the CanSat design and
development, Payload Subsystem, On- Board Data Handling Subsystem, Electrical and
Power Subsystem, Communication Subsystem, Mechanical and Structural Subsystem,
Integration and Test, Ground System, Concept of Operation and Project Management
Resources. The elements presented in this report are the revised element from our PDR
report. The subsystems also had been tested and the result will be presented in this report
2 SISWASAT DESIGN AND DEVELOPMENT
2.1 SISWASAT REQUIREMENT

According to the PDR guideline, the design need to be based on the seven criteria listed
below:
i. All structure and components must be integrated and fit inside a standard
325ml soda can with diameter of 6.6 cm and height of 11.0 cm.
Our structure is designed according to all of the requirements above; as

the minimal requirement. Our structure is build with light in weight, low
in cost and high in stability. See the design diagram under mechanical and
structural subsystem for further details.
ii. SiswaSat mass, including parachute must not exceed 350 grams.
Including the parachute and the total of three modules that we have, our
CanSat mass shall not be exceeding 350 grams. The total mass of our
design is 347.7g and this meets the second criteria.
iii. No protrusions from the surfaces of the SiswaSat prior to the deployment
except for antenna & parachute with hooks.
All of our modules; accelerometer, weather forecast and imaging controls

are inserted into the structure. The components will be arranged in the
form that will cause no protrusion.
iv. Telemetry and payload data from the sensors on-board must be transmit to
ground terminal during descent time. Mandatory sensor to be included on
the design is accelerometer.
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Accelerometer and pressure sensors will be use in order to get the data
needed.
v. Telemetry data indicating the SiswaSat altitude during descending shall be

transmit in 5 seconds interval or faster.
Our CanSat is able to transmit telemetry data with elapse time 1 second. It
is faster compared to the minimal requirement.
vi. The power subsystem of the SiswaSat must be able to support the
operation of SiswaSat for at least 20 minutes
We had calculated the estimated running time in hour. With 4500mWH of

total power supplied, only 4476.495mWH. The ratio gives the estimated
running time which is 1 hour. Therefore, our CanSat is able to operate
more than minimal mission requirement of 20 minutes.
vii. Develop a ground terminal receiving software for the SiswaSat that have a
user-friendly interface.
With the basic requirement on the laptop, we had installed some basic
software in our laptop in order to make the design able to communicate
with ground segment software perfectly.
2.2 SISWASAT DESIGN

Our system consists of three modules which are:
i) Accelerometer and Altimeter Module
ii) GPS Navigation Module
iii) Weather Forecast Module
iv) Imaging Module
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We describe the overview of these modules below,
i. Accelerometer and Altimeter Module Overview

Altitude and acceleration measurement are the required mission for CanSat 2008.
Therefore, in order to fulfill these requirements, accelerometer and pressure sensor
will be used to get the data needed.
Generally, there is a linear relationship between altitude and pressure changes. As

the height increases from ground/sea level, the pressure decreases. By taking this
nature properties, we will be using the difference in pressure during descend flight
to determine the altitude of our CanSat. The atmospheric model that will be used as
reference and calibration is the COESA 1976 Standard Atmospheric Model.
The equations used are those adopted 15 October 1976 by the United States
Committee on Extension to the Standard Atmosphere (COESA), representing 29
U.S. scientific and engineering organizations. The values selected in 1976 are slight
modifications of those adopted in 1962. The equations and parameters used are
documented in a book entitled U.S. Standard Atmosphere, 1976 published by the
U.S. Government Printing Office, Washington, D.C.
• The Fundamental 7 layers of the Standard Atmosphere to 86 km
h1 and h2 are geo-potential altitude in kilometers of the lower and upper

boundaries of a layer. The gradient dT/dH is kelvins per kilometer.
h1(km) h2(km) dT/dh (K/km)

0 11 -6.5
11 20 0.0
20 32 1.0
32 47 2.8
47 51 0.0
51 71 -2.8
71 84.852 -2.0
Note: 84.852 km geopotential=86 km geometric
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These data along with the sea level standard values of
Sea level pressure = 101325 N/m2
Sea level temperature = 288.15 K
Hydrostatic constant = 34.1631947 kelvin/km
define the atmosphere. The sea level density of 1.225 kg/m3 is derived from the
fundamental quantities above.
A simple representation in form of Table as below;
For acceleration data, an accelerometer sensor will be used to get the CanSat
acceleration during descend in term of ‘G ‘reference. ‘G’ is the gravitational
acceleration which is 9.81m/s2. Calibration will be done according to the axis of the
accelerometer whether it is dual-axis or triple-axis.
ii. GPS Navigation Module
GPS system has been one of the most popular tracking systems for various types of
applications. The GPS will provide NMEA standard data output that provides
information such as GMT time, latitude, longitude and lot more others. For
navigation purposes, we will utilize the latitude and longitude data output from
$GPRMC sentence information to determine the location of our CanSat.
iii. Weather Forecast Module Overview
For weather analysis and forecasting, we will be using a module board which
consists of an Atmel microcontroller integrated with SCP1000 pressure sensor and
SHT15 humidity sensor. With these two sensors, we can determine temperature,
humidity and pressure of the environment. From the data, we can calculate dew
point temperature that is the temperature which the air must be cooled to reach
saturation (assuming pressure remain the same). When temperature cools to dew
point, fog or dew can occur, and the relative humidity becomes 100%. These
measurements will give us idea whether the weather will be rainy, cloudy or sunny.
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iv. Imaging Module Overview
One of the secondary missions includes Terrain Analysis, consisting of Video

Mosaicking for surface mapping and Sobel Edge detection for erosion analysis.
The latter looks at the erosion of the soil, which can complement the primary
mission of weather forecasting.
The Imaging module will capture high resolution video and stream it live to the
Ground Station via a 2.4GHz wireless channel. This module has three stages:
Image Capturing, Transmission and Image Processing. The Image Capturing and
Transmission stages will be implemented in the CanSat payload, while the Image
Processing Stage will be implemented in the Ground Station.
Note that we are only using the 2.4 GHz band for simplex video downlink, which is
distinct from the 434 MHz duplex communication for our telemetry data.
Each stage shall be described in detail in the Payload System, Communication

Subsystem and Ground Station sections.PAYLOAD SUBSYSTEM
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2.3 ACCELEROMETER AND ALTIMETER PAYLOAD
For the Altitude and Acceleration module, the payloads that we use are pressure
sensor, accelerometer.
Pressure sensor - MPX4115A
Acceleration Sensor (Accelerometer) - ‘Lilypad’ (ADXL330)
MPX4115A
The characteristics of the sensors are as follow:
Pressure sensor
• 1.5% Maximum Error over 0oc to 85oc

• Temperature compensated from -40oc to 125oc
• Case 867 (6 Pins)
• Pressure range, 15kPa and 115kPa
• Supply voltage, Min = 4.85V, Typical = 5.1V, Max = 5.35V
• Supply current, Typical = 7mAdc, Max = 10mAdc
• Output voltage, 2.0V to 4.8V
Pin 4, 5 and 6 are internal circuit

connections. It is not to be connected
with any external circuit or ground
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Acceleration Sensor
• Small, low-power profile package 4mm x 4mm x 1.45mm, LFCSP

• Supply voltage, 2.0V to 3.6V
• 10,000 g shock survival
• 3-axis, ± 3g
• Supply current, 320µA at 3V
• Output voltage, 0.1V to 2.8V
• Output change at Xout = -150mV
• Output change at Yout = +150mV
• Output change at Zout = -60mV
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Functional Block Diagram
‘Lilipad’ Accelerometer Breakout Board
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2.4 GPS NAVIGATION PAYLOAD
GPS Navigation Module
GPS EB-85A
• High sensitivity -158dBm

• Power supply 3.3V to 5V
• Updated rate can be up to 5Hz
• Receiving frequency = 1575.42Mhz
• NMEA V3.01
• Hot start = 1 sec, Warm start = 35 sec, Cold start = 41 sec
• Highly reliable ceramic patch built-in antenna
2.5 WEATHER FORECASTING PAYLOAD

Weather forecasting module is consisting of an Atmega8 microcontroller with SCP1000
pressure sensor and SHT15 humidity sensor. It will produce a single string of ascii every
1 second through TTL lever or USB port. The data then will be stored in the computer
and processed to obtain the graph of pressure, humidity and temperature. The sensors are
already calibrated and programmed. The output data is at 9600bps. This module will be
connected to the UM96 434MHz that has 8 channels which can be configured manually
through jumpers.
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Some pictures of weather module and wireless transceiver.
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2.6 IMAGING MODULE PAYLOAD
The Payload Subsystem of the Imaging Module will consist of the first stage: Image
Capture. To capture the images, we will be using a charged coupled device (CCD)
camera, as opposed to CMOS ones, as it provides quality images along with great light
sensitivity. A CCD camera is designed to convert optical brightness into electrical
amplitude signals using a CCD image sensor. The CCD imager is an array of
semiconductor gates formed on a substrate of an IC, in which each represents a picture
element or pixel of the image. The CCD image sensor includes an image sensing section,
which performs photoelectric conversion.
For the Image Capture design for our CanSat, we will be further split it down into
sections, along with the component names:
• CCD Imager- Sharp LZ2413H

• Clock Driver- Sharp LR36685
• Digital Signal Processing- Sharp LR38603
• Video Storage- CoMedia c6810
The CCD Imager will be controlled by the vertical clock driver, and thus capture
the ground image at a high resolution (see Specifications table). The output of the CCD
arrays will be in analog, and needs to be amplified. This analog signal is then put through
an Analog to Digital converter to be further processed in a digital signal processor. The
DSP will enhance the image, automatically adjusting the luminance, colour and
brightness. When this is done, the processed signal will be converted back to analog and
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sent to the Video Storage Unit. Here, we want to store the captured video files on a flash
storage, namely a high capacity SD card. The main reason for option is in case the
transmission signal is cut during the CanSat landing. If we are able to recover the CanSat,
we can just retrieve the SD card and perform the video processing on the video
data.While the saving process is being initiated, the Video Storage Unit will
simultaneously output data to the RF transmitter, in a form of a composite 1 Vpp signal.
Also, the VSU can have another video input in addition. This allows for some extended
capabilities such as adding a second camera.
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Camera Specifications
Unit consists of the Sharp LZ2413H CCD, LR36685 clock driver and LR38603 DSP
Number of Pixels 500(H)x582(V)

System of signal PAL
Horizontal Resolution 420TV Line
Minimum illumination 2.0Lux/F1.2
Lens 3.6mm
Backlight compensation Auto
Electronic shutter 1/50(1/60)~1/100,000sec
White balance Auto
S/N ratio 48dB
Gamma correction 0.45
Operation temperature 20~50
Video output 1.0v p-p 75ohm
Power supply DC12V, 250mA
Dimensions(mm) 32x38mm
Mass (g) 20
Video Storage Unit Specifications
CoMedia C6810
SD Ram 8MB
Storage SD Card (up to 2GB)
Display Connector Composite video out
Video Capture 320 x 240 (up to 15 fps)
Photo Resolution 640 x 480 JPEG
UART Baud Rate 9600 bps
Video Input 4ch, Composite video 1 Vpp
Trigger Input 4ch, active low
Power Supply DC5V, 300mA
Dimensions (mm) 55 x 47mm
Mass (g) 30
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Briefly analyzing the specifications, we can see that the camera’s specification is more
than enough to acquire the needed data to perform the image processing.
Rough estimates of the Field of View of CCD camera yield 35 degrees. Putting this into
the context of aerial imaging, an area of 47.3 x 47.3 m can be covered at a time.
150 m
47.3 m
Unfortunately, how much of an area can be covered highly depends on descent and
azimuth motion rates. Ideally, we want the IIUM CanSat to stay airborne as long as
possible, and move towards a particular direction as well. If the descent rate is faster than
horizontal motion, then it is likely the camera will cover the same area of terrain.
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3 ON-BOARD DATA HANDLING SUBSYSTEM
3.1 DESIGN DETAILS AND REQUIREMENTS
Design Requirement
The design requirements will follow as stated in the SiswaSat guidelines
Design Consideration
The OBDH subsystem must be able to communicate with all the modules on-board the
CanSat. The OBDH subsystem must be able to transmit the telemetry data to the
transceiver which will then transmitted to the ground station.
The software must be able to program the Video Storage component with ease as well as
with reliability. Visual Basic will be used to develop software to program the Video
Storage unit and Camera via the UART interface for testing purposes. A C based version
will later be developed to be downloaded as a firmware into the microcontroller for final
integration.
Our design details are as follows:
• The data from the weather board will be buffered to the microcontroller
(PIC16F877a).
• The buffered data will be concatenated with the data from the pressure sensor and
accelerometer.
• The output string which has been concatenated will be transmitted to the ground
station using UM96 transceiver at 9600bps.
• Data will also be saved in the SD card, while being transmitted to ground.
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• For video transmission, the data will be saved on video recorder unit and
simultaneously transmitted to the ground station.
Main Board Prototype for Pressure Sensors and LCD Module
LM7805 (5V Regulator)

PIC16F877a MCU
16x2 LCD Module
(To be completed)
LM317
(3.3V Regulator)
EEPROM 25LC640
(To be completed)
MPX4115A
RS232 Communication
(DB9 Socket and MAX232)
• The above module will be using PIC16F877a MCU to run the programmed missions.
• Sensors such as pressure sensor and accelerometer will be connected to the ADC of
the MCU.
• There are power supply regulator that is LM7805 and LM317 to regulate 5V and
3.3V.
• These variations of power supply are needed because most of the components need 5V
and some components such as accelerometer needs 3.3V.
• LCD Module and accelerometer is not shown at the above board and will be added
later.
• 25LC640 EEPROM socket will be added as an alternative to store sensors data
simultaneously while storing inside the SD card.
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• Sensors data are read using RS232 communication using hyper-terminal or other third-
party RS232 reader software.
• It will be transmitted to the ground station through wireless communication using
433Mhz transceiver.
Manual glider control prototype board
Left/Right servos 315Mhz receiver

with decoder
315Mhz Transmitter
Motor Driver circuit
• The motor driver circuit will control the rotation of the servo whether left or right
and clockwise or counter-clockwise.
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• The transmitter has 4 different input:
A/B – Right servo for clockwise and counter-clockwise direction
C/D – Left servo for clockwise and counter-clockwise direction.
• The transmitter is a 4 channel encoder using PT2262 encoder chip.

• The receiver is a pulse or momentarily high decoder using PT2272M4 chip.
Flight Software Simulation
3.2 SUMMARY OF CHANGE SINCE PDR

No major changes from previous PDR design.
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3.3 FLIGHT SOFTWARE DETAILS
Programming languages : C/C++ or Assembly
Development environment : Microsoft Windows
Data rate : Common baud rate usage – 19200 bps
PIC16F877a Block Diagram :
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Flow Chart
Accelerometer and Altitude Module
GPS Navigation Module
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Hardware Block Diagram
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Software Block Diagram
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Programming Memory Map
There are three memory blocks in

each of the PIC16F877A
microcontroller. The Program
Memory and Data Memory have
separate buses so that concurrent
access can occur
It has a 13-bit program counter
capable of addressing 8K x 14 words
of program memory space.
The RESET vector is at 0000h and
the interrupt vector is at 0004h.
It has only 35 instructions for
assembly programming and the speed
up to 20Mhz which is equivalent to
50ns instruction cycle.
Most instructions are single cycle
except for branches which is two
cycles
Data memory is partitioned

into several banks which
contains the General Purpose
Register and Special Function
Register.
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Imaging flight software
The Video Storage Unit can be programmed via the UART interface. Below is the
software that will be used to configure the initial settings and testing purposes.
To program the Video Storage Unit, the commands used are strings of hexadecimal
numbers. They consist of the synchronization bit and check bit. There are 2 types of
commands: ID Command, and ACK Command. Synchronization byte (0xaa), is placed at
the front of command, used for the synchronization between microcontroller and the
VSU. Checksum Byte is equal to the lowest 8 bit of the summation of all the other bytes
in the command. It is used for the verification of the command. Below is a summary of
available commands. For example, to get the status of the VSU, the microcontroller needs
to send the command 0xaa 02 00 ac to the VSU via the UART interface. It then waits for
a reply. The VSU will return its status in the form of 0xaa 0d 00 02 01 01 01 00 05 03 01
05 05 01 d3.
The designated transfer rate is set at 9600 baud, which is the limit of the UART interface
chip of the VSU.
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3.4 FLIGHT SOFTWARE TESTING
• The format of data transmission will be - [pressure data],[acc_x],[acc_y],[acc_z]

• Data will be received using hyper terminal to see the flow of the received data.
• The test will be considered if the expected data displayed during the wireless
transmission.
• For backup and quality transmission check, a 64K SPI EEPROM will be integrated as an
alternative or support for the existed SD Card.
• The compilation of each source code will be made PICC compiler and simulated using
PIC IDE Simulation.
3.5 WORK TO BE COMPLETED
• Control Video Recording Unit from PIC

• Log data to SD card
4 ELECTRICAL AND POWER SUBSYSTEM

The Electrical & Power subsystem is the critical component for the rest of the
subsystems to function. The design objectives of the IIUM CanSat Electrical & Power
subsystem include:
• Provide sufficient power to the electrical subsystem

• Minimize power drain from batteries
• Minimize mass and size according to competition guidelines
The critical design of the CanSat power system involved research, analysis and testing of
power requirements of the electrical subsystem. After the power requirements of each
module are known, a suitable power source and voltage regulators can be chosen.
The design of the electrical subsystem is modularized, which each module performing
their respective roles. This means that each has their own voltage requirements, which
needs to be adhered to. Initially we opted to design one big module to fullfill all the
missions, unfortunately the final size would exceed the dimensions of the CanSat.
Purchasing ready made modules with Surface Mount components means modules are as
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small as possible, and consequetively, power consumption is kept at a minimum as
possible. A small size and low power footprint would allow us to fullfill the requirements
of fitting all modules within can size of 6.6 x 11.0 cm and make sure each of the modules
can operate for at least 20 min.

• We have looked into the possibility of using Lithium Polymer. Depending on the
availability of boost regulator components, either 7.4V or 11V will be selected.
• We have tested the camera’s voltage requirements. Analysis is included in the testing
section.
• The variable output voltage regulated is changed to the Fairchild LM317 for the
3.3V and 5V buses, instead of the Texas Instrument PTN78060WAH. This because
the LM317 is much cheaper, as well as easier to integrate into the IIUM CanSat.
Depending on the availability of boost regulators, the 12V bus will be regulated
either by the LT1372 or the LM2585 using the 7.4V battery system.
• Power budget recalculated.
4.3 ELECTRICAL SYSTEM BLOCK DIAGRAM
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List of components selected:
- Accelerometer (ADXL330)
- Altimeter (MPX4115A)
- CCD Camera sensor (LZ2413H CCD)
- Video Storage Unit (C6810)
- Humidity and Pressure Sensor (SHT15 & SCP1000)
- GPS (EB-85A)
- Servos
4.4 POWER SYSTEM DESIGN
Electrical testing and analysis of CCD Camera
Before going through the design, some of the components need to be tested before hand.
The CCD camera is an important focus in the view of power design, by virtue of it’s high
power consumption. Due to the lack of a detailed specifications sheet, the CCD camera
was tested to see the voltage ranges and average current consumption. These are
compared with image captures. Our interest in this experiment is to see the minimum
required voltage to operate it. The results of these tests are under the Electrical & Power
subsystem testing section. We see that it can operate as low as 8.4 V, despite the rating of
12 V.
Battery system
A lithium polymer battery will be used. Before, we have looked at the possible battery
systems. Alkalines are cheap, but they have limited current draw and are very heavy for
their rated capacities. Lithium Polymer batteries provide a solution to the mass and
current draw problems. Their high rated capacity would provide it with sufficient power
to last the required 20 mins of operating time.
Voltage Rated Capacity Max Current Mass

Battery system
(V) (mAh) (mA) (g)
Alkaline Manganese Dioxide 9 560 50 45
Lithium Manganese Dioxide 9 1200 120 35
Lithium Polymer 7.4 350 2100 33
Lithium Polymer 7.4 1100 6000 52
Lithium Polymer 11 350 2100 48
Lithium Polymer 11 1300 6000 90
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Graph of a 12V Lithium Polymer battery with different current capacities.
From the above, we can deduce that a larger current capacity is desirable. Whether or not
all the capacity is needed, the slow discharge rate is critical because the voltage drops
slower compared to other current capacities.
The issue here is the currently available Lithium Polymer batteries in the Malaysian
market. At the moment, the most accessibe ones are those produced by VXR racing.
After some deliberation, 3 different Li-po products are selected:
Model: VX- LBM-311300
Nominal Voltage: 11.1V
Current Capacity: 1300mAH
Maximum Current draw: 10A
Mass: 90g
Dimensions: 80 x 28 x 18 (mm)
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Model: VX- LRX-211000
Mass: 52g
Model: VX- LRX-0500
Mass: 23g
Dimensions: (mm)
Model: VX- LRX-211300
Mass: 61g
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The 11.1V battery can directly power the CCD camera, while the 7.4V ones need boost
regulation. However, the 11.1V battery weighs 90g compared to 52g of the LRX211000.
In addition, it is important to look at the dimensions of the battery to see if they can fit
along with the rest of the components. Thus, the three factors we need to look into are
voltage, current capacity, and size. Voltage highly depends on the regulation design,
which will be explained in the next section. Current capacity relates to the power budget
of the whole system. Finally, the dimensions and weight add towards the rest of the
components, and must not exceed competition guidelines.
Regulation
We will be using two types of regulators, the LM317 buck regulator for the 3.3V and 5V
lines, and a boost regulator for the 12V CCD camera. The LM317 is cheap and easy to
implement. The boost regulators are comparitively more expensive and harder to
integrate, but it is suitable for use as boost regulators. Two proposed boost regulators are
the LT1372 or the LM2585. They are also highly efficient, which is important due to the
fact that the CCD camera consumes the most power out of all the components. This can
be seen in the power budget.
If we are unable to order the boost regulators, or if they are too hard to implement, we
will aim for the 11.1V Lithium Polymer battery. From earlier experiments, we have
realised that the CCD camera is able to operate at 11.1V without any regulations.
However, the implication of getting an 11.1V battery is the added cost, size as well as
higher thermal power losses for the step down regulators. As such, we will try hard to
implement the boost regulators first before going to that contingency plan.
Description and typical connections for the LM317 buck regulator:
• Output Current In Excess of 1.5A

• Output Adjustable Between 1.2V and 37V
• Internal Thermal Overload Protection
• Internal Short Circuit Current Limiting
• Output Transistor Safe Operating Area Compensation
36
• TO-220 Package
Description and typical connections for the LT1372:
• Faster Switching with Increased Efficiency

• Uses Small Inductors: 4.7mH
• All Surface Mount Components
• Only 0.5 Square Inch of Board Space
• Low Minimum Supply Voltage: 2.7V
• Quiescent Current: 4mA Typ
• Current Limited Power Switch: 1.5A
• Regulates Positive or Negative Outputs
• Shutdown Supply Current: 12mA Typ
• Easy External Synchronization
• 8-Pin SO or PDIP Packages
37
Description and typical connections for the LM2585:
• Requires few external components

• Family of standard inductors and transformers
• NPN output switches 3.0A, can stand off 65V
• Wide input voltage range: 4V to 40V
• Current-mode operation for improved transient response, line regulation, and current
limit
• 100 kHz switching frequency
• Internal soft-start function reduces in-rush current during start-up
• Output transistor protected by current limit, under voltage lockout, and thermal
shutdown
• System Output Voltage Tolerance of +/- 4% max overline and load conditions
• TO-220 package
38
Updated proposed power design:
Plan 1 (assuming successful implementation of boost regulator)
39
Plan 2 (assuming unsuccessful implementation of boost regulator)
Components needed for the 3.3V bus line
- LM317 component
- 0.1 uF capacitor (Ci)
- 1 uF capacitor (Co)
- 390 Ω resistor (R2)
Components needed for the 5V bus line
- LM317 component
- 0.1 uF capacitor (Ci)
- 1 uF capacitor (Co)
40
Components needed for the 12V bus (LT1372)
- LT1372 component
- 22 uF electrolytic capacitors (C1 & C4)
- 0.047 uF ceramic capacitor (C2)
- 0.0047 uF ceramic capacitor (C3)
- 1N5818 Schottky diode (D1)
- 10 uH inductor (L1)
- 53.6 kΩ resistor (R1)
- 6.19 kΩ resistor (R2)
- 2 kΩ resistor (R3)
Components needed for the 12V bus (LM2585)
- 100 mF, 25V Aluminum Electrolytic (CIN1)

- 0.1 mF Ceramic (CIN2)
- 15 mH, Renco ÝRL-5472-5 (L)
- 1N5820 (D)
- 680 mF, 16V Aluminum Electrolytic (COUT)
- 0.47 mF Ceramic (CC)
- 2 kΩ (RC)
- R1 = Short and R2 = Open
4.5 POWER BUDGET

ITEM CURRENT (mA) VOLTAGE (V) POWER (mW)
LIS3LV02DQ 0.65 3.3 2.145
MPX4115 7 4.85 33.95
PIC16F877 25 4.5 112.5
24LC640 3 4.5 13.5
HS-255BB 300 4.8 1440
EB85A(GPS) 59 4.5 265.5
LM35 5 3 15
HAC-UM96 40 5 200
IF-10mW TX 41 5 205
CCD CAMERA 150 12 1800
C6810 300 5 1500
HIH-3610 0.2 4.5 0.9
TOTAL 930.85 5588.495
BATTERY(LiPo
11.1V, 1300mAH) 1300 11.1 14430
BATTERY(LiPo
7.4V, 1000mAH) 1000 7.4 7400
41
Total power supplied by 11.1V LiPo in 1 hour = 11.1 V x 1300mAH
= 14430mWH
Total power supplied by 7.4V LiPo in 1 hour = 7.4 V x 1000mAH
= 7400mWH
Power consumed by system in 1 hour = 5588.495 (+/- 5%)
Estimated running time with 11.1 V LiPo battery, in hours;
Power supplied / power consumed = 14430mWH / 5588.495mA
= 2.58
Estimated running time with 7.4 V LiPo battery, in hours;
Power supplied / power consumed = 7400mWH / 5588.495mA
= 1.32
The CanSat is able to operate for about 1 hour for both types of batteries, more than
minimal mission requirement of 20 minutes.
42
4.6 ELECTRICAL AND POWER SUBSYSTEM TESTING
Methodologies:
- Testing of power consumption of each component seperately, as a subsystem, then as a

whole system.
- Two different levels of power consumption needs to be worked out: Idle and Load.
- Edurance testing of components by observing current levels and temperature. The
components will run off a fixed power supply for at least 30 mins. This testing requires
diligent observation of temperatures and back up components in case of burnouts.
Instruments:
- Power supply unit

- Digital Multimeters
- Power meter
- Temperature probe
- Oscilloscope with logging option
Initial Results:
Below are the images of the camera test, at voltages of 7.0, 7.5, 8.0, 8.1, 8.2, 8.3, and 8.4
to 12 V.
43
7.0 V 7.5 V
8.0 V 8.1 V
8.2 V 8.3 V
8.4 V – 12 V
44
One thing to note is the extreme brightness of the last image. This issue has been
discussed in the Image Subsystem of the Payload section.
We can see that the camera is able to operate below the stated voltage rating. At the 7 V
range, the camera is partially activated. The DSP chip is running as shown by an output,
but the serial and vertical registers are offline, As voltage increases to 8V, both the
vertical and horizontal registers are operating. However, the amplification of output is at
it’s minimum, as shown by the dark image. Incremental steps of 0.1 V show brightness
and contrasts. It reaches it’s peak at 8.4 V. Thus, minimum optimum operating voltage is
around 8.4 V, and we can see that the image remains the same up to 12 V. There was no
need to test beyond this, and doing so may lead to overheating of the voltage regulator
that is embedded on the camera board.
From multimeter observations, the input current fluctuates from 140mA (+/- 5mA) to
160mA (+/- 5mA). Thus, gving an average of 150mA.
• Finish power consumption testing.

• Fabrication of Power supply module, containing two steps down voltage regulators
and one boost regulator, and perform endurance test.
• Purchase of Lithium Polymer battery with a charging unit.
• Integration of all electrical systems.
45
5 COMMUNICATION SUBSYSTEM
The communications architecture of the IIUM CanSat consists of the CanSat and
ground stations interconnected with communications links. The telemetry, tracking and
command (TT & C) link is the vital connection between the CanSat and the ground
station. It is used for communication between the satellite and the ground segment. Most
of the time, the CanSat operates automatically. It is a duplex link (communication is two-
way).
Figure 5-1: Communication links
Telemetry
In one direction (CanSat to ground) which is known as downlink, the link is used to
monitor the CanSat through status reports detected by the onboard computer; this is
telemetry. Telemetry is a set of measurements taken on board the CanSat and then sent to
the operations control centre (ground station). The measurements describe the satellite,
subsystem by subsystem. Measurements concern magnitudes as varied as temperatures,
voltages, currents, pressure etc.
Command
In the other direction (ground to CanSat) which is known as uplink, the link is used
either for routine programming or for sending commands to carry out specific actions to
handle events as required (orbital maneuvers, equipment tests, failures etc.); this is the
command link. Although modern satellites operate automatically, they still need to
46
receive commands from the ground. This need is particularly obvious during the satellite
attitude acquisition phase. During this critical phase, the satellite needs to be very closely
controlled from the operations control centre.
Tracking
The same link is used for tracking. This term describes measurements taken to accurately
locate the CanSat (the correct term is orbit determination). This involves:
• measuring the time taken by RF signals for the round trip journey (ground station -
CanSat- ground station). By measuring the time taken, it is possible to calculate the
distance between the station and the CanSat, an operation known as ranging.
• measuring, based on the Doppler effect, the frequency shift due to satellite velocity;
this measurement is used to calculate CanSat range rate;
• measuring antenna orientation with respect to the north (azimuth) and the horizon
(elevation), when the antenna is pointing towards the CanSat. The complementary
elevation and azimuth measurements are indispensable for determining the exact
orbital position and thus for accurately calculating the CanSat’s orbit.
Figure 5-2: Wireless Communication by MU-1
47
Data downlink system
MU-1 receives data through SCI communication from OBC

MU-1 encodes and modulates the data
The modulated waves then is send through the antenna
The antenna will transmits downlink data to the ground station
Data uplink system
MU-1 receives uplink command from the ground station through serial
communication
MU-1 decodes the modulated data and sends it to OBC
MU-1
transceiver
Regulator
TA48M05F
Communication Board
48
Figure 5-3: the MU-1 Block Diagram
Applications:
Serial data transmission

Telecontrol
Telemetry
5.1 FINAL DESIGN
Our final design of the communication system onboard is:
• Telemetry Data: Accelerometer, Altitude, Humidity, Temperature and GPS
• All telemetry data would encoded into bits.
• A digital communication system with appropriate encoding, modulation and error

correcting features is used.
• It requires an optimum amount of bandwidth
• We also have an additional payload which is imaging payload
• The output of the Imaging Module will be in 1Vpp Composite, therefore the signal
will be analog
49
• An analog communication system with appropriate video modulation is also used.
Bandwidth requirement
• Data Rate of Telemetry:
9600 bps
• Assumptions:
Case Factor = 0.5, Ratio = 12
• Minimum Bandwidth required:
B = c x N x 1/r = 400 Hz
• Imaging 1Vpp Composite Video:
15 MHz - 20 MHz
• Minimum Bandwidth requirement:
20 MHz
• Due to high bandwidth requirements and nature of analog signal, Imaging must use
separate communication system from Telemetry data
Design of communication system on board IIUM CanSat
50
The two transmitters are placed side by side, with their antennas extending from the
bottom of the can, off center.
5.2 COMMUNICATION SUBSYSTEM TESTING

As mentioned in the Preliminary Design Review, we will be using two different
transmitters to send a digital modulated signal, and an analog video signal, to the ground
station.
Imaging Communications
We have managed to successfully order the IntelligentFlight GP707 Transmitter and
Reciever set, and it had arrived in good quality.
51
Receiver
One of the main reasons of ordering this particular receiver is it’s acclaimed sensitivity
compared to standard 2.4 GHz receivers currently existing in the market. The 4 channels
are selected with a pushbutton, and indicated on four LED's. This allows for easy channel
switching. The receiver is did not come with a power adapter, but we still managed to use
generic 12 power adapters as it used the standard 2.1mm DC jack.
52
The internal circuit is running on 5V from a linear regulator. This allows the receiver to
still operate in the 8-10V range. This does not matter much in the SiswaSat competition
as the ground station is powered by the mains. However, it might be a useful trait for
future uses, because it means it can run off standard 9V PP3 batteries. From some
rudimentary testing, the supply current hovers around 200mA. Again, accuracy for the
current consumption of receivers is not needed, but confirms that it can be run off
batteries nonetheless.
In the PDR, we mentioned the use of the CMU radio tester. Unfortunately, the lab
technician had informed us that this instrument can not be utilized due to the missing
cables needed. A back up option would be to use the spectrum analyzers available at the
Antenna and Propogation labs. These spectrum analyzers can detect signals up to 3 GHz.
While we wait for permission to use them, we have found existing spectrum analysis of
the same Transmitter and Receiver set done by Thomas Scherrer from Denmark, albeit a
slightly older version.
53
Receiver center frequency: measured with Agilent E4438C 3MHz dev 100kHz sine
new-type
CH1 2.412
CH2 2.438
CH3 2.457
CH4 2.475
In this competition, we will be using channel 2, with a center frequency of 2.438 GHz.
Transmitter
Another reason why we ordered this set is the size of the transmitter. It only weighs
1.9grams and measures 18 x 17 mm, a perfect candidate to fit in the can. The transmitter
was factory set at Channel 2, but it can be changed to other center frequencies by
soldering together a combination of pins. From documentation, up to 16 different center
frequencies can be selected.
54
Past experiments on this transmitter yielded these transmitter results:
5.5V 39mA +12.0dBm 2.47024

5.0V 34mA +10.8dBm 2.47024
4.5V 30mA +9.6dBm 2.47028
4.0V 26mA +8.2dBm 2.47024
This spectra was obtained by supplying 5V, attaining a power output of 20mW. However,
the transmitter for the IIUM CanSat would most likely be undervolted to redunce power
consumption.
55
This spectrum shows a 50MHz span, with a video input. We note that the power is now
more spread over a wider frequency.
56
Video Transmission test
Since real life testing is more desirable, the Transmitter was attached to the video output
of our CMOS test camera. The receiver is connected to the Video to USB converter, and
subsequently to the computer.
57
With a distance of one meter apart, the video quality remained excellent as shown above.
There were some white lines when the transmitter antenna faced a certain direction. This
was identified as interference, as we were testing within a room.
58
The following are images tested at different ranges. Resolution of each images are 352 x
288, captured by the RoboRealm software.
59
At 1m indoors
60
At 5m indoors
At 15m indoors
61
At 30m indoors
At 60m indoors
62
From the above indoors tests, picture quality remained excellent up to 60m. At 60m,
quality had reduced due to multipath progation of the walls of room, as well as
interference. However, as outdoor performance is much better than indoor, we will test it
in an outdoor environment.

We will test the maximum possible distance of the IIUM CanSat from the receiver at
200m. we will also test the claim of 700m outdoors
As mentioned in the PDR, we may need to design a new antenna for optimum
communications. The nature of the positions of both the transmitter and receiver is such
that two wipped antennas will obtain very minimal gain. Our testing in the previous
section shown favourable results, but this they were align across the ground where gain is
maximum. A typical azimuth polar chart for a wipped antennas is show below:
While this type of antenna is omnidirection in the azimuth, there is barely any gain
directly above and below it.
63
To find a more suitable antenna design, the positions of the transmitter and receiver will
need to be deliberated upon. The optimum position of the antenna of the transmitter
would be at the bottom of the can, facing the ground. This allows unobstructed view as
well as reduce the chances of multipath propogation with nothing for the waves to bounce
off. The transmitter will also be in motion, thus the angle of reception would be variable.
This is a very important factor to consider. The antenna of the receiver will remain static
at the ground station. This, we need an antenna that as a circular polarization, allowing it
to receive signals from any direction that the transmitter in the air would be.
From diligent research, one very viable option to satisfy the problems is to remain using a
Whip antenna for the antenna, but on the other hand, use a Patch antenna for the receiver.
This type of antenna has circuilar polarization, which is suitable for the receiver.
A logarithmic gain curve below shows the performance of using a Whip along with the
Patch. This experiment resulted in gains of up to 8dBi.
64
From some initial research, nearly all existing Patch antennas are simple circuit
board designs, mainly because they are cheap to mass produce. They consist of a double
sided circuit board, usually .06" thick, that has the reflector etched on one side and the
driven element on the other. A coax is used as the feedline and the coax's connection
point determines the feedpoint impedance.
However, printed circuit board (pcb) Patches are not as efficient as other
construction techniques. The pcb has an exaggerated dielectric value that impacts the
antenna design. Both aperture size and RF medium losses are typical issues. The thin
dielectric, often barely just .01 wavelength in size, negatively reduces the overall
bandwidth due to the close proximity of the driven element and reflector.
Even if zero loss Teflon circuit board substrate is used, there are still gain
reductions that harm performance. That is because the circuit board material reduces the
element size (due to its impact to antenna resonance) and it increases the beamwidth.
Hence, there is usually at least a -3dB reduction in gain when pcb designs are employed.
65
A much more efficient Patch can be made if we use air as the dielectric. With a
dielectric constant of one (unity), it allows for a full size Patch element and presents a
low loss interface between it and the reflector. Without the constraints of a circuit board,
it is quite easy to use optimal reflector spacing, such as a .04 wavelength.
The antenna element is much larger on an air dielectric Patch. Larger antennas, that are
driven at resonance, have higher efficiency than those that are smaller. Improved gains of
up to 3dB over commercial Patch antennas has equivalence to doubling transmit power.
Since we do not want to increase the power consumption of the IIUM CanSat, and that
the receiver is located on the ground with ample power supply, the Patch antenna’s size
and power is not an hindrance at all.
We shall refer to the information available at http://www.rc-cam.com. The

materials needed to construct a DIY Patch includes:
• 5" x 7" piece of 24 to 30 gauge sheet metal (tin, brass, or galvanized).

• 2 inch long piece of 0.20" square balsa, pine, or hardwood.
• PCB mount SMA connector, Amphenol RFX #901-9895-RFX. Available at
Mouser (p/n 523-901-9895-RFX ) and Digi-Key (ARFX1229).
With the exception of the third item, all these materials are avaible at major hardware
stores in Malaysia. The PCB mount SMA connector may need to be ordered online.
Below shows a the proposed design for the Patch antenna:
66
The SMA's center post a little short and needs to be longer in order to reach the driven
element when added later. This is solved by soldering a short piece of 24-26 AWG solid
wire onto the end of the center post. The line impedance is claimed to be 50 ohm, and we
shall verify this before connecting it to our receiver.
67
Telemetry Communications
See Telemetry Subsystem section
Antenna Design for Telemetry Communications

We can use this Patch design at other UHF and microwave frequencies by re-scaling it.
This is a process where all the dimensions are increased to suit the required operating
frequency.
From the given dimensions by RC Cam, the scale factor as shown;
Scale Factor = 2400Mhz / Required Mhz
To use a Patch antenna for the 434 Mhz telemetry link;
2400Mhz / 434 MHz = 5.529.
This means we need to multiply the dimensions of the 2.4 GHz antenna by almost 5.
Unfortunately, this results in a very large Patch antenna, which may not be desired.
However, designing a special antenna for the 434 MHz communications is not necessary,
as the default helical antennas are more than sufficient. Waveforms at this frequency do
not suffer as much attenuation and interference compared to at 2.4 GHz.
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6 MECHANICAL & STRUCTURAL SUBSYSTEM
The requirements and details that are needed to be observed during the construction of the
mechanical structure of the CanSat:
1. The CanSat mass shall not exceed 350 grams.

2. The overall diameter shall not exceed 66mm.
3. The overall height shall not exceed 110mm.
4. The structure must be the size of a 325ml can
69
We decided the structure design must be compatible as follows:
• Light weight High strength-to-weight ratio material

• High robustness and durable
• Low in cost
• High strength
• High stiffness
• High wear resistant
• High fatigue life
• Simple load paths
• Simplify interfaces
• Easy integration
• Impact resistant
• Heat/thermal resistant(low thermal expansion)
• Anti-corrosion
• Structural response: must withstand vibration and resonance
• High stability
• Cheap
General Functions:
Strength adequate strength to withstand design loads without

yielding, failing or exhibit excessive deformations
Tolerances and sufficiently accurate to guarantee conformance to

alignments geometrical interface requirements
Cylindrical reducing aerodynamic drag

shape
70
Two types of matrices are taken into account when designing the structure of IIUM Team
Cansat which are polymer matrix composite and metal matrix composite. Each of them
has their advantages that are very useful in producing a good quality structure.
Polymer Matrix Composite versus Metal Matrix Composite
PMC MMC
Lower processing temperature than MMC Higher elastic properties than PMC
Lower density than MMC Higher service temperature than PMC
Insensitivity to moisture
Higher electric and thermal conductivities
than PMC
Better wear, fatigue and flaw resistances
However, even though MMC has better performance than PMC, it is difficult to
manufacture. It requires high processing temperature and there is no facility in IIUM to
fabricate the structure. Therefore, PMC is the best alternative to replace MMC. It is very
simple to manufacture and requires low operating temperature to cure the composite. The
mixture of epoxy and hardener is brushed on fiber. After six hours, a smooth surface of
composite can be produced. Matrix material is used as support for protection and it can
transfer stress equally to the structure. Details of each layer are explained in Mechanical
& Structural Subsystem Testing.
Fiber Glass
ADVANTAGES DISADVANTAGES
High strength Low elastic modulus
Low cost Poor adhesion to polymer
High chemical resistance Sensitivity to abrasion (reduce tensile strength)
Good insulating properties Low fatigue strength
Graphite
ADVANTAGES DISADVANTAGES
high specific strength and modulus high cost
low coefficient of thermal expansion low impact resistance
high fatigue strength high electrical conductivity
71
Epoxy (Matrix)
Epoxy resins are the most commonly used resins. They are low molecular weight organic
liquids containing epoxide groups( one oxygen and two carbon atoms). Hardeners are
added for aiding in curing of composites. This will produce epoxies with a wide range of
properties of viscosity, impact, degradation, etc.
The main reasons why epoxy is the most used polymer matrix material are:
• High strength
• Low viscosity and low flow rates, which allow good wetting of fibers and prevent
misalignment of fibers during processing
• Low volatility during cure
• Low shrink rates, which reduce the tendency of gaining large shear stresses of the
bond between epoxy and its reinforcement
In the PDR, the structure consists of four layers which are hard plastic, foam, fiberglass
and a mixture of epoxy and hardener as shown in figure below. However, when
fabricating the shell, the weight of the structure increases if a layer of foam is added.
Therefore, this layer has to be removed in order to reduce the weight. Foam will be
inserted inside the shell so that it can act as a dampener to absorb the impact when hitting
the ground. For the latest design, the fiberglass is replaced with Kevlar which has a
greater strength than fiberglass. This laminate structure consists of three layers of Kevlar
and the mixture of epoxy and hardener is brushed in between the plies.
72
6.3 MECHANICAL LAYOUT
1st layer: hard plastic (inner layer)
2nd layer: foam
3rd layer: fiber glass
4th layer: mixture of epoxy and

hardener
Preliminary structure design
New design
1st layer: Kevlar (0 deg)
2nd layer: Kevlar (90 deg)
3rd layer: Kevlar (0 deg)
Thickness=0.19mm
Diameter=65.72mm
Fabrication of composite structure
73
6.4 MASS BUDGET
Mass Budget
COMPONENT MASS (GRAMS)
STRUCTURE:
Plastic 5g
Foam 5g
Fiberglass, epoxy and hardener 20g
Total Structure Mass 30g
GLIDER:
Canopy 20g
Strings 10g
Total Glider Mass 30g
TOTAL MASS 60g
6.5 MECHANICAL AND STRUCTURAL SUBSYSTEM TESTING
Testing:
1. Tensile test
2. ANSYS analysis
Specimen dimension
74
Specimens design
Designs Materials/ specimens Ply laminates
1st design Plastic & fiber

glass/epoxy
2nd Plastic & fiber

design glass/epoxy
3rd design Graphite/epoxy
graphite
graphite
graphite
4th design Fiber/epoxy
Fiber
75
ANSYS Workbench analysis
Test Methodology Flow chart
GEOMETRY
Design shape of structure
SIMULATION
Meshing
STATIC STRUCTURAL
ANALYSIS
Apply pressure
SOLUTION
• Total deformation
• Equivalent stress
• Shear strain
FATIGUE TOOL
• Life
• Safety factor
76
Composite shell
Negative pressure (with holes) Negative pressure (no holes)
77
Safety factor
Safety factor
Equivalent stress
Equivalent stress
Total deformation Total deformation
78
Results
Results for Tensile Test
1ST DESIGN (t=1.4mm)
2nd design
79
3rd design
4th design
Test 1 2 3 4
Ultimate tensile 26.45074 24.08796 391.237 72.48512
strength (MPa)
Thickness (mm) 1.4 2.29 0.12 0.147
80
Improvement of new design
For the latest design, plastic is not used as part of the shell because the adhesion between
plastic and epoxy is not strong. The structure will easily delaminate. The plies also are
oriented in [0/90/0] to that a strong composite structure can be designed. From the tensile
test, it shows that graphite has a greater ultimate tensile strength than fiberglass.
Therefore, for the new design, graphite/epoxy will be used.
Results for ANSYS analysis
Force/ Total deformation (m) Von Mises stress (Pa)

pressure
applied
On body Upward pressure/ Maximum Minimum Maximum Maximum
tensile (100MPa) 6.597x10-10 5.875x10-10 3354 3200
Downward 0.0472 0.0325 49139 288.66

pressure/
compression
6.6 RECOVERY SYSTEM AND TESTING

The glider design has been evolved since the initial design that has been made in the
PDR. Testing of different type of glider has been done according to surface area
calculated value from the PDR and mass allocated for the recovery system.
• Planform surface area: 0.2320m2

• Mass: 30g
Several glider design for recovery system has been tested using simple methods:
1) Free fall testing using a 320g mass dummy SiswaSat
81
2) Horizontal Wind testing
- using pedestal industrial circulator (big fan)
- using a moving vehicle
GLIDER 1: FLOWFORM
Theory
The front vents are larger, and vents are introduced in the rear of the centre cells and the
vertical ribs separating the cells, allowing a continuous flow of air through the kite.
Additionally, vents are made in the upper and lower surfaces. These modifications are
designed principally to equalise pressure, with the vents in the upper and lower surfaces
acting as inlet or exhaust vents according to local conditions. Furthermore, the vents in
the upper surface help to delay stalling at high angles of attack, making the flowform
easier to launch and rock-steady in a wide range of winds.
82
Construction Plan
83
OPENING TEST AND RELIABILITY TEST
Horizontal Wind Test
1) testing using pedestal industrial circulator (1/4 HP, 5000 CFM)
* Airflow is measured in cubic feet per minute (CFM)
Planform surface : 40 cm x 58 cm
84
Angle of horizontal airflow Opening Reliability
10º Yes Stable
20º Yes Stable
30º Yes Stable
60º Yes Stable
70º Yes Slightly unstable
80º Yes Slightly unstable
90º No Glider collapse
85
2) Using vehicle as medium to generate air
Using a vehicle, we would know the speed of the car moving relative to the glider while
opening.
Speed(m/s) Time of opening (seconds) Reliability

0 0 No opening
10 4 Slightly unstable
20 3 Stable
30 3 Very stable
40 4 Stable
50 5 Slightly unstable
60 5 Very unstable
70 0 Glider collapse
Free fall result: Open but unstable
86
GLIDER 2: RATA
45 cm
117 cm
Horizontal wind testing results : Glider open but unstable

Free fall result: Glider open but unstable
GLIDER 3: innovated based on Nasa Power wing design
54cm
75 cm
Result : Glider open but reluctantly unstable
Free fall result: Glider open but unstable
87
FUTURE TESTING
In the future, we hope to improve the design of the glider and would further construct
with a more accurate measurement and more excellent stitching process which will
reduce error and fault.
Powerful software to simulate and analyze gliders are not available at the moment due to
high cost of software. Real testing free fall 320g of mass attach to the glider has been
done for the all three gliders but results are not up to the expectation due to stitching
incompetence. Therefore free fall testing will be conducted after certification and
confirmation of a perfect glider construction.
1. Structure
To avoid any unwanted situation in the future, at least 2 structures will be

fabricated for back up. The design of the structure can be improved by changing
the orientation of the plies.
2. Glider
At the moment, we decided to focus on the flowform glider due to the incentive of
our team to pursue on presenting idea and innovativeness in upgrading design of
gliders existed. From this SiswaSat program we hope to find and develop new
discoveries of more reliable glider and extent research for the betterment of
science. In the meantime, other designs of gliders are taken into consideration
and will be under construction to obtain the optimum results.
88
7 INTEGRATION AND TEST
The requirements for the integration and test include the following:
• Ensure all Imaging components perform according to specifications

• Safe handling of Camera, Video Storage unit and Transmitter
• Calibrate components using proper instruments and equipment
• Making sure all imaging components can fit the CanSat

No major changes
7.3 SYSTEM INTEGRATION AND TESTING

Under this part, we had categorized the system integration and testing into two
parts which are modules integration and test subsystem and test for glider operation.
Integration and Test Subsystems
For integration and test purposes, we have divided the process into two major categories;
• Hardware Integration and Test

• Software Integration and Test
Hardware Integration
There are several modules to be integrated with the main board while some other
modules are independent. The modules that will be integrated with the main board are;
Dependent Modules Independent Modules
Accelerometer and Altitude module Imaging/Video module

Weather module Transceiver 2.4Ghz
Transceiver 434Mhz GPS Navigation module
89
The dependent modules will be connected to the main board using wire connector or
directly attach to the main board itself. The power system will be independent module
which regulates the voltage needed for modules and components. The system is separate
because some modules and components require 5V to 3.3V and up to 12V for the camera
module.
Hardware Test
The university facilities such as lab and workshop will be used for testing and integration
purposes. Among the labs that are available in our universities are:
For integration and testing purposes:
• Wind Tunnel
• Material Laboratory (Impact test, Tensile test)
• Control Systems Laboratory
• Instrumentation Laboratory
• Aerospace Project Development Lab
• Mechatronics Research and Development Lab
• Software Lab
• Mechatronics Workshop
• Engineering Workshop
For Communication purposes:
• Digital Communication Lab

• Antenna and Propagation Lab
• Transmission Media Lab
Software Integration
Each of our team members is assign a specific module for them to develop, therefore the
analysis software related to that module will be develop independently and will be
integrated later when it is fully finalized and completed.
The integration phase of the software for each module will be done upon the integration
of the hardware. This is to make sure the hardware and software integration flows
proportionally.
90
Software Test
Software testing and debugging purposes will be done by using compiler and simulator.
This is to ensure that the source code runs as what expected for the specific module in
order to accomplish the mission stated.
Among the platforms for software developments are:
• Windows
• Linux
• And others
The most famous yet common platform will be Microsoft Windows since it will be
compatible with most PCs and laptops plus the compiler available will be more than
Linux.
Integration and Testing for Communication Subsystem
Each component will be tested separately, to insure elimination of problems due to

influence of other components. The Camera will be directly tested by connecting it to the
TV, and subjectively judge the quality. It will then be connected to the Video Storage
Unit, and tested with a multitude of settings such as frame rate capture, quality and
recording length. Finally, the Transmitter will be tested with the Camera alone to gauge
it’s performance. The Transmitter and Receiver will first be place side by side, then they
will be separated apart by set distances. Once it is verified that video is being transmitter,
we will make use of the Rohde Schwarz CMU-200 Universal Radio Communication
tester, located at the Instrumentation Lab to fine tune the transmitter and receiver antenna
gain. The spectral content of the signal will be compared before and after transmission.
91
Below is an image of a preliminary test for data transmission using a Tektronix Spectrum
Analyzer located at the Analog Communication Lab for a low frequency signal.
However, it has a maximum frequency limit of 1 GHz, it is only suitable to test the 434
MHz wireless channel.
Integration and Test for Weather Board Module
The transmitter UM96 and weatherboard are connected together and tested for the
maximum range that data can be transmitted. From the observation, the range is 300++m
depending on the battery and condition. The connection has to be put properly and with
caution as the signal transmitted are easily affected by the noise and producing some
rubbish in the ascii string transmitted. Although the board has 2 port for TTL and RS232
communication, only 1 port can be used at a time ,upon receiving signal UM96 will
92
produce the same signal through both port with different voltage level. The data obtained
through wireless transmission are as below
Data obtained using the software
Data logging
93
Data obtained trough hyper terminal
Sensor data obtained through Matlab
94
WORK TO BE COMPLETED
1. Presenting the data more user friendly such as using real time plotting in GUI. In this
Gui the user can obtain the graph and the value for any specific time.
2. Comparing the data obtained from different sensors make an analysis out of it
3. Further testing the wireless transmission for the claimed maximum 500meters radius.
4. Make a conclusion based on the result obtained from the sensor
Integration and Test for Mechanical and Structural Subsystem
Analysis required for glider operation:
1) LS DYNA ANSYS SOFTWARE
2) Real testing - After construction of glider, real testing in mid air is needed for
endorsement of design
3)AAA Software
8 GROUND SYSTEM

Design Requirements
• Be able to receive video data from transmitter

• Send data to computer via USB
• Perform the required Image processing on video data

No major changes
95
8.3 GROUND SYSTEM ARCHITECTURE
The final stage of the image processing will be located at the Ground Station.
After the wireless receiver successfully receives the video data, the signal will be
converted into digital so it can be read by the computer. Hauppauge’s WinTV USB is a
cost effective solution for an analog to digital conversion and outputting the result to the
computer via the USB port. The video data will then be inputted into a custom made
MATLAB application, which will be used to perform the Terrain Analysis mission. After
filtering out further noise using Median filters and enhancing the video data, frames will
be selected to create a mosaic image of the whole area. This will be done using
Simulink’s Mosaicking tool, and will be controlled via the MATLAB GUI. The
appropriate use of Sobel gradient filters will transform the data to show distinct contours
of the terrain. The analysis of the contours helps us determine the extent of the erosion of
the soil.
Below is the block diagram of the Image Processing stage.
96
8.4 GROUND HARDWARE SELECTION
Design of ground system communication
TO TELEMETRY LAPTOP
96
R
UM
E
IV
CE
RE
TO COMPOSITE TO USB
CONVERTER
WIPPED DEFAULT ANTENNA

MAY BE CHANGED TO PATCH
ANTENNA
97
8.5 GROUND SOFTWARE
Accelerometer and Altimeter
Flight Software Programming
There are two choices of programming languages that we can choose to program our
microcontroller and develop our flight software:
• C/C++ - MSVC++, CSS C Compiler

• Assembly - MPLAB IDE, various Assembler
C/C++ language has the advantage of easy to use and debugs since there is a lot built in
functions which are able to assist us for our programming code. But the disadvantages is
that, we lack of stack control and certain custom control for definitive output is not
available or simply to say that, there is some function that you need to create on your own
but it doesn’t mean that it will give the 100% expected output.
As for comparison, assembly language might be a tougher one to deal with but it provides
us with better stack control and you are able to see the sequence flow clearly since it
programs directly to the hardware.
As for our decision, we might end up using both or either one depends on the situation
needs.
Calculation and Analysis
The calculation and analysis that will be implemented for our modules are as follow;
Accelerometer and Altitude: Interpolation from Table/Graph
1. Output = [Data received / Total Range (bit conditions)] * max voltage

2. Get the equivalent pressure from the Volt vs Pressure graph
3. Get the altitude from the standard atmospheric table (COESA).
98
GPS Navigation: Difference between latitude and longitude
* We are still searching for the best method in terms of precision output.
Imaging Module
As stated in the PDR, the image processing aspect of the Imaging Subsystem is the most
important. Once we have successfully received the video image and recorded it, it is time
to analyze and perform the needed image processing operations.
Before describing the MATLAB algorithm used, it is important to understand the

concepts behind mosaicking. Mosaicking involves “stitching” together a number of
photos taken by a camera to produce a larger virtual image, equivalent to a much larger
camera. The processes behind it include homography, Fourier correlations, Non- Linear
minimizations, Image composing, and so on. Thankfully, computers now aid us in doing
all these numerous processes.
The primary techniques behind automatic mosaicking includes:
• Nonlinear minimization of SSD error function to estimate homography parameters

• Fourier phase correlation to estimate large camera motions
• Multiple planes/cylindrical coordinates to counteract large angle distortion for
panoramic mosaicking
• Projective depth variables estimated for parallax motions
MATLAB contains all the functions needed to perform the mentioned techniques. In our
IIUM CanSat, images captured will have multiple planes and variable rotation of camera
axis as the CanSat is bound to shake during descent. Thus, it is important to estimate the
homography parameters properly. However, it is more likely to settle and have it’s lens
parallel to the ground. If this is the case, the mosaicking process is more easier to do.
The key is matching similar points between two picture frames. The algorithm will
automatically calculate the correlation via convolution. Below are theoretical CanSat
image captures of the Kulliyah of Engineering, IIUM (using Google Earth software):
99
100
After putting through an mosaicking MATLAB algorithm, the output should be as
follows:
101
The final mosaic output is then shown below:
102
To show what the Sobel Edge detection can give us, we put the mosaic image through the
process after a convolution filter to show the final output:
103
From the final output, we can see bright intensities representing the edges between colour
variations in the original picture.
Bright spots indicate objects on the ground, which in this case are trees and the parked
cars of students. What is of great interest are the less intensive lines, as these represents
the variations of the ground itself. From the view of terrain analysis and erosion, these
variations can show contrasts between different types of soils, as well as the shapes of
their boundaries.
In this example, the height of image capture is three times of what our CanSat is expected
to take images from. The closer proximity to ground may yield better quality images, but
at the same time, fluctuations of the light saturation of the camera as the CanSat descends
may corrupt the mosaic output. The descent itself may be a problem, as stated in the
payload section.
Hauppauge WinTV USB
104
MATLAB GUI development
As MATLAB requires a powerful computer to run effectively, a laptop powered by an

Intel Core 2 Duo processor with 1 GB of memory will be sufficient for the task.
105
8.6 GROUND SYSTEM TESTING
The transceiver is configured and tested but not fully utilized up to maximum efficiency.

Do further testing for cracking configuration and data transmitting.
9 RECOVERY SUBSYSTEM
9.1 DESIGN DETAILS

This subsystem is an additional feature to our design. This subsystem basically
locates our CanSat once it touches the ground. Technically this system will detect the
CanSat by using triangulation method.
In every mission, there is a need to recover the CanSat once it touches the ground. The
recovery subsystem has several purposes:
• To ensure that the components can be used for the next mission. Therefore,
the effect of landing impact will be taken into concern and all modules will
be recovered and tested again.
• To do data analysis where the real-time data will be compared with stored
data inside the CanSat memory module.
• To ensure that the CanSat doesn’t fall into the property of other individuals.
In order to ensure the accomplishment of the recovery process, we have decided to

implement a recovery method that will utilize the concept of range finding and detection
with triangulation.
106
Figure 9-1: Recovery System Block Diagram
9.2 DESIGN OPERATION

• Firstly, we take any two points;
For example: A B
We generate these points from GPS
• By using North as reference, we find the angle from A to B, and from B to A
107
N
Where:
L= P=
Finding a and b,
• Then, find
108
L
• We will compare between ( ) and ( )

Between y and which one is higher:
The higher value will have this condition (180°- a°)
The lower value will have this condition (90°-b°)
• Then, we will be using antenna/ stepper motor in order to find direction

• The reading must be start at of the stepper motor pointing at North
109
• We will get the angle from the stepper motor as
• =
•
• Then,
110
• Conditional
i. If
• Then,
ii. If
111
N
• Then
iii. If
112
N
• Then
iv. If
113
N
• Then
114
10 CONCEPT OF OPERATION
Date\Task 6/8- 18/8- 1/9- 15/9- 29/9- 13/10- 27/10- 10/11- 24/11- 8/12- Person in
17/8/08 31/8/08 14/9/08 28/9/08 12/10/08 26/10/08 9/11/08 23/11/08 7/12/08 21/12 charge
Accelerometer
Altitude data
GPS Zul
navigation
system
Telemetry
TESTING
Weather Nizam
forecasting
Camera Ashraf
Video
Structure Mai &

Fana
115
No major changes
10.3 CONCEPT OF OPERATION
LAUNCH DAY SEQUENCE
Payload’s carrier preparation
Tethered balloon released into the air
Communication check out
Release command from GSE
Payload deployed & Start Descending
Payload recovery
116
10.4 LAUNCH SITE ROLES AND RESPONSIBILITIES
During the launch day of the CanSat, we have divided the task into two parts consists of
ground station operators as well as Cansat handling and testing/troubleshooting operators.
For ground station operators:
1 person – handle the data recording in the descent time

1 person – handle the data calibrating in the descent time
1 person – responsible for antenna positioning during data transmitting.
For CanSat handling and testing/troubleshooting operators
1 person – responsible for parachute setup for launching

1 person – responsible for data handling when the CanSat ascent and descent
1 person – CanSat retrieving
10.5 CONTIGENCY OPERATIONS

We have come with several contingency plans to ensure the smooth running of our
missions. The plans are as describe below:
1. Plan A
To ensure that all system has backup components incase of last-minute malfunction
components. Prioritize area are the main board (OBDH), communications, and
glider.
Scenario: At the launch site, the CanSat doesn’t work. Troubleshooting proves that
there is malfunctions components or short-circuit board.
Tools: Backup module board, or soldering iron and jumpers for any bypass
connection if needed.
117
2. Plan B
Change of primary design, such as from glider to parachute or from CCD to CMOS
camera. Although there are changes but the missions remain unchangeable and the
overall systems will still meet the competition requirements.
Scenario: Due to several factors such as environment condition or supporting

equipment which need major changes from the main configurations.
Tools: Backup prototype which has been developed earlier in case of emergency
cases.
3. Plan C
We are planning to use the SiswaSat Kit provided by ANGKASA. Several other
backup prototypes will be taken into considerations if the main board and modules
does not function as expected.
Scenario: When Plan A and Plan B doesn’t work.
Tools: As prepared earlier for unexpected situations.
10.6 DATA ANALYSIS

Calculation and Analysis
The calculation and analysis that will be implemented for our modules are as follow;
Accelerometer and Altitude: Interpolation from Table/Graph
1. Output = [Data received / Total Range (bit conditions)] * max voltage

2. Get the equivalent pressure from the Volt vs Pressure graph
3. Get the altitude from the standard atmospheric table (COESA).
118
GPS Navigation: Difference between latitude and longitude
* We are still searching for the best method in terms of precision output.
RoboRealm will be used for initial testing of the Sobel Edge filters
119
Mosaicking Sample Output and Sobel Edge Detection
After successful testing of filters, the MATLAB GUI will used as described in the
Ground Station section to be a front for a Simulink based Mosaicking as well as Sobel
Edge Detection modeling system. Below is the process of the proposed Simulink model:
In brief, the input video data will be downsampled then put through a corner detector. The
corner detector will determine the correlation between successive frames. This will be used
to calculate the Transform Matrix, which will generate the required Mosaicking effect. For
Sobel Edge detection, the final image will be put through a median filter for noise reduction
then a single pass Sobel Edge filter.
The laptop contains an SD Card slot, which allows us to analyze data stored in it. This is for
both back up purposes as well as comparison between stored and transmitted data.
120
Further testing on the parachute to ensure the smoothness of the CanSat during descent
time and landing.
11 PROJECT MANAGEMENT & RESOURCES
11.1 SUMMARY OF SISWASAT BUDGET
ITEM QUANTITY MASS (g) Cost (RM)

LIS3LV02DQ 1 0.2 31.20
MPX4115 1 4.0 96.00
PIC16F877 1 8.5 21.00
24LC640 1 3.5 5.50
HS-255BB
2 18 69.90
(SERVO)
EB85A(GPS) 1 15 316.80
LM35 1 5 10.00
HAC-UM96
1 50 220.0
(TRANSCEIVER)
AWM633-TX 1 15 120
ATmega32 1 8 25
CAMERA 1 20 200.00
HIH-3610 1 0.5 83.00
BOARD WITH
1 20 50
CIRCUITRY
SHELL(REINFORC
ED CARBON
1 30 165.50
FIBRE/CYANATE-
ESTER RESIN)
GLIDER(CANVAS) 1 30 100
TOTAL 14 227.7 1405.90
BATTERY(ALKAL
1 120 10
INE 9V)
Grand Total 15 347.7 1415.90
121
Total power supplied by battery in 1 hour = 9 V x 500mAH = 4500mWH
Power consumed by system in 1 hour = 4476.495mWH
Estimated running time, in hour;
Power supplied / power consumed = 4500 /4476.495 = 1.00525 hours
The CanSat is able to operate for about 1 hour, more than minimal mission
requirement of 20 minutes.
122
11.2 SISWASAT DEVELOPMENT SCHEDULE
123
12 SUMMARY
The main objective of CanSat project is to demonstrate that small, inexpensive satellites
can be built, tested, and launched in the span of a year. A major obstacle in designing
satellite missions is the ability to implement a reliable, inexpensive data telemetry system
for control and data relay communications. This is mainly due to the fact that engineering
undergraduate students are generally not adequately trained for the design of digital packet
communication systems. The design is a work in progress and is scheduled for completion
and launch by December 2008.
To summarize, this project is to design a small, can-sized satellite with command and
control capabilities that will transmit basic analog and digital measurements (made on the
satellite) to the Earth on request. The design should be as inexpensive and simple as
possible. The CanSat program gives students hands-on experience in the design of
spacecraft and to determine if small satellites can perform useful functions.
The CanSat program allows university students to lift up and release 325ml soda-can-sized
satellites using a helium balloon from a targeted altitude of 150m. The CanSat mission
objectives are listed below in order of significance:
• Collect and transmit data.

• Demonstrate command and control capability.
• Show that an inexpensive design will survive launch loads.
• Create prototype data telemetry system and signal design for future implementation
and improvement.
The system will have both receiving and transmitting capabilities and will be incorporated
with a complement of basic analog and possibly digital sensors.
124

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CRITICAL DESIGN REVIEW

Nur Farhana Helme

1.1 TEAM ROSTER AND ROLES

• Assistant Project Manager

Wan Nizam Hakim Wan Sulaiman

Bachelor of Mechatronics Engineering

Mohd Zuhaili Mohd Rodzi

Bachelor of Mechatronics Engineering

Mohd Ashraf Husni Zai

Bachelor of Communication Engineering

Nurul Huda Ashari

Bachelor of Communication Engineering

HARDWARE INTEGRATION- Masturah Mohamad

SOFTWARE INTEGRATION- Mohd Zuhaili Mohd Rodzi

PAYLOAD- Wan Nizam Hakim Wan Sulaiman

PARACHUTE DESIGN- Farhana Helme

DOCUMENTATION, & PUBLIC RELATION – Nurul Huda

2 SISWASAT DESIGN AND DEVELOPMENT

2.1 SISWASAT REQUIREMENT

Our structure is designed according to all of the requirements above; as

All of our modules; accelerometer, weather forecast and imaging controls

v. Telemetry data indicating the SiswaSat altitude during descending shall be

We had calculated the estimated running time in hour. With 4500mWH of

2.2 SISWASAT DESIGN

i) Accelerometer and Altimeter Module

ii) GPS Navigation Module

iii) Weather Forecast Module

iv) Imaging Module

i. Accelerometer and Altimeter Module Overview

Generally, there is a linear relationship between altitude and pressure changes. As

• The Fundamental 7 layers of the Standard Atmosphere to 86 km

h1 and h2 are geo-potential altitude in kilometers of the lower and upper

h1(km) h2(km) dT/dh (K/km)

A simple representation in form of Table as below;

ii. GPS Navigation Module

One of the secondary missions includes Terrain Analysis, consisting of Video

Each stage shall be described in detail in the Payload System, Communication

Pressure sensor - MPX4115A

Acceleration Sensor (Accelerometer) - ‘Lilypad’ (ADXL330)

The characteristics of the sensors are as follow:

• 1.5% Maximum Error over 0oc to 85oc

Pin 4, 5 and 6 are internal circuit

• Small, low-power profile package 4mm x 4mm x 1.45mm, LFCSP

‘Lilipad’ Accelerometer Breakout Board

• High sensitivity -158dBm

2.5 WEATHER FORECASTING PAYLOAD

• CCD Imager- Sharp LZ2413H

Number of Pixels 500(H)x582(V)

Video Storage Unit Specifications

3.1 DESIGN DETAILS AND REQUIREMENTS

The design requirements will follow as stated in the SiswaSat guidelines

Our design details are as follows:

Main Board Prototype for Pressure Sensors and LCD Module

LM7805 (5V Regulator)

16x2 LCD Module

(DB9 Socket and MAX232)

Manual glider control prototype board

Left/Right servos 315Mhz receiver

Motor Driver circuit

C/D – Left servo for clockwise and counter-clockwise direction.

• The transmitter is a 4 channel encoder using PT2262 encoder chip.

Flight Software Simulation

3.2 SUMMARY OF CHANGE SINCE PDR