2022ASI-057 CDR Document

CRITICAL DESIGN REVIEW DOCUMENT
Team : TARS
Team No.: 2022ASI-057
1
CANSAT India Students Competition by ASI: TARS
Team Composition and Management:
 V.K.Rayudu - Team Lead

4th Year - B.E Electronics & Communication Engineering, CMR Institute Of Technology Bangalore.
 Indra Kumar M - GCS and Telemetry

4th Year - B.E Electronics & Communication Engineering, CMR Institute Of Technology Bangalore .
 Pranav J - Software
 Bhargav T - GCS & Telemetry

2nd Year - B.E Computer Science Engineering , CMR Institute Of Technology Bangalore.
 Guna Sekhar G - Mechanical Structure Design

 Ayush Aditya - Mechanical Structure Design

 Chandu Raj S D - Electronic Subsystem

 Nishant Raj - Electronics Subsystem

 Mr. Ashutosh Srivastava - Faculty Co-ordinator

Dept. of Electronics and Communications Engineering, CMR Institute of Technology.
2
Mission Summary:
 Total mass of the CANSAT shall be under 0.700 kg (+/- 0.05 kg)
 CANSAT shall fit in a cylindrical body of 0.125 m diameter x 0.310 m height
 The CANSAT shall consist of necessary sensors to provide Real-time datasets Position data,
altitude, pressure, temperature, orientation data, power data & system status. The data shall
be displayed in near real-time on the ground station User Interface
 The descent rate of the 1st parachute shall be 20 m/s ( +/- 5m/s).
 The second descent control mechanism, CANSAT descent control system shall open at an
altitude of 500 m (+/-10 m) to further decrease the descent rate of the CANSAT to 1 to 3m/s
 CANSAT shall stabilize itself during the decent using the Mechanical Gyroscopes
3
Summary of Changes since PDR:
1) Replacing Servo motor in Secondary decent system with Push-Pull solenoid
PDR CDR
Solenoid
2)Change in placement of parachute chord hold lines
PDR CDR
Progress since PDR Stage:
 Design and Development of User Interface for ground control station.

 Cansat realization started.
 Final design of all cansat sub-systems.
 Changes made for identified flaws in design.
4
System Level Configuration:
 Cansat will use only one parachute.
 After the cansat is ejected, the primary parachute maintains the speed 15-20 m/s.
 The parachute will have reefing mechanism to control the area of the parachute.
 The lines pulling the parachute are connected to a reel and to decrease the descent rate to 1-3
m/s the reel releases the parachute lines when cansat reaches 500m.
 The reel will be blocked by Push/Pull Solenoid, when cansat reaches 500m the solenoid pulls out
from the reel holding parachute lines and reel will release the parachute chord lines and increase
the area of the parachute.
 Cansat uses three individual reaction wheels to stabilize the cansat during the decent process
 To achieve this stabilization, reaction wheels are placed to cover each of three axis.
Reefed De-reefed
5
Descent Control system:
Cansat deployed with reefed

parachute
The reel is released at 500m and

the parachute is de-reefed
Reaction wheel system:
6
Cansat Activities:
Post Launch and Data

Pre-Launch Launch & Descent
Retrival
800-900m Cansat is ejected

Cansat Realization Cansat is Recovered
from rocket
Immmediate deployement
Flight Readiness Check Damage Inspection
of Primary Parachute
Cansat Descent
Set-up GCS Data retrival
Stabilization is achived
At 500m, Parachute is De-

Final Pre-Flight check Data Analysis
Reefed
Cansat reaches ground,

Launch Post Flight Review
buzzer is activated
7
Sensor Subsystem Overview:
S.No Sensor Type Sensor Model Purpose

Measuring air pressure & altitude
1. Air Pressure Sensor BME-280
calculation
It contains a gyroscope, magnetometer
2. Gyroscope MPU 9250
and accelerometer
Global positioning
3. GY-NEO6MV2 To receive GPS signals & locate cansat
system(GPS)
Temperature and Used to monitor the temperature and
4. DHT11
Humidity sensor humidity
5. Xbee Pro series 2 Telemetry
6. Micro Controller Arduino UNO To read sensor input and compute data
Sensor System Summary:
Sensor Model Size Accuracy Mass Input Voltage Current

BME-280 2x2 cm ±0.6 hma 1.0g 3.3 v 3.6mA
Sensor Processing Logic
As the atmospheric pressure
changes with altitude, it can
also measure approximate
altitude of a place

MPU 6050 2.1 x 1.7 cm ±1 deg 2.1g 2.3v–3.4v 3.2mA
The MPU6050 is a Micro-
Electro-Mechanical Systems
(MEMS) that consists of a 3-
axis Accelerometer and 3-axis
Gyroscope inside it. This helps
us to measure acceleration,
velocity, orientation
8
GY-NEO6MV2 2.5 x 3.5 cm ±2.5 m 22g 3-5v 40mA
GPS modules directly receive
data sent by satellites through
dedicated RF frequencies

1.5 x 1.2 x 1.0
DHT-11 ±2 degree 2.7g 3v – 5v 2.7 g 2.5mAA
cm
DHT11 uses a capacitive humidity
sensor and a thermistor to
measure the surrounding air
Sensor Model Size Frequency Mass Input Voltage Current

Xbee 2 2.4 x 2.7 cm 900Mhz 10g 2.8 - 3.4 v 40mA
Power Consumption: 0.97 W-h
Transmission Power: 4dBm
9
Arduino UNO 6.9 x 5.4 cm - 35g 7 - 12 v
- -
10
Payload System Overview:
Sensor model Module Size RPM Input Mass Current

Voltage
DC Motor 3.2 x 1.8 3500 6v 45g 0.54 A
Sensor Processing Implementation
- Used in the cansat stabilization
sub-system

Motor Driver 1.3 x 1.3 cm - 45g 0 - 11 v 0.54 A
- This motor driver has built-in
protection against reverse-
voltage, under-voltage, over-
current, and over-temperature,
this driver is a great solution for
powering a small, low-voltage
motor
Sensor Model Size Throw Mass Input Voltage Current

5v Push/Pull 6 x 3.3 x 3.2 cm 3mm / 80g 12.6 g 5v 1.1 A
Solenoid
Sensor Processing Implementation
- Used in the secondary descent
control system as a trigger.
11
Cansat Physical Layout:
Secondary Decent Control System
0.307 m
Gyro-Stabilization System
Sensor Sub-System
Power Housing
0.123 m
Parachute Reel System
Sensors Subsystem
Stabilization System
12
Launcher Interface:
Launcher
Cansat Body
0.310 m
0.125 m 0.123 m
0.307 m
Launcher Dimension/Maximum Permitable Dimension:
Height: 0.310 m Width: 0.125 m
Cansat Dimension:
Total Clearance:
13
Control Mechanism of Solenoid:
Working : The solenoid works on the principle of “electromagnetism”. When the current flow through
the coil magnetic field is generated in it, if you place a metal core inside the coil the magnetic lines of flux
is concentrated on the core which increases the induction of the coil as compared to the air core.
Implementation in cansat: A 5v Pull solenoid is used in the secondary decent control system. The
plunger of this solenoid is used to hold the reel mechanism of the parachute.
At 500 meter altitude, this solenoid is activated and thus, plunger is pulled freeing the reel mechanism
holding the parachute lines.
14
Gyroscopic Attitude Control:
Three axis reaction wheel system is implemented in our cansat to stabilize the cansat during decent.
There are three individual motors and reaction wheels for each of three axis. If the system detects any
change in orientation or attitude of the cansat during the decent, the onboard processor calculates the
difference in its values from required stable position and activates respective motors, and keeps
sensing the change in attitude/orientation during the complete decent process.
Reaction Wheels Control Loop:
15
Decent Control Mechanism:
Primary Descent Control: After the cansat is ejected from the rocket, primary parachute will be
deployed immediately. The diameter of the parachute will be restricted and be such that it maintains
required speed at that altitude.
Secondary Descent Control: At 500 meters altitude, the reel holding the parachute lines, releases
para-chord lines, a solenoid is used to hold the reel, at 500 meter altitude the flight controller sends
signal to this solenoid which pulls back and releasing the reel mechanism. After para-chord is released,
there will be no restriction holding the expansion of parachute, hence the diameter of the parachute
expands and descent rate reduces to 1-3 m/s.
Solenoid Working Block Diagram:
Sensing Altitude
False
Altitude <= 500 m
True
Activate Solenoid
16
Payload Subsystem:
There are two main payload sub-systems on this cansat, one is Gyro-Stabilization system and the other is
secondary descent control system.
The Gyro-Stabilization system, consists of a MPU6050 sensors which detects the x, y and z direction
orientation values. If there is any destabilization detected, the micro-controller activates respective
motors to regain stabilization of the system. This process continues from ejection to landing of cansat.
For the descent control system, we are using reefing method of parachute. After ejection of cansat from
the satellite, primary parachute gets deployed. This primary parachute is restricted without fully
expanding. At 500 meters altitude, the cansat releases the reel restricting the parachute. So at 500
meters altitude, parachute opens fully reducing the descent rate to 1-3 m/s.
Cansat deployed with reefed

parachute
The reel is released at 500m and

the parachute is de-reefed
17
MPU6050 GPS
Mechanical Sub-system Design:
Parachute
Secondary Descent
Control Mechanism
Cansat Stabilization
System
DHT11 Antenna
Sensor Sub-System BMP-280 Arduino

UNO
Power Housing
Motor Casing
Para-chord
Winded reel
Fly-Wheel DC Motor Push/Pull

Solenoid Solenoid
Holding case
18
Communication and Data Handling:
Data Budget:
TM Parameter Function Size(Bytes)

<Team ID> Team Number for 4
Identification
<TIME STAMPING> Time since the initial 11
power(Seconds)
<PACKET COUNT> Count of transmitted packets 1
<ALTITUDE> Altitude in units of meters 1-4
and must be relative to
ground
<PRESSURE> Measurement of 1
atmospheric pressure
<TIME> Temperature in Celsius 1-4
<VOLTAGE> Voltage of the CANSAT 1-4
power bus
<GNSS TIME> Time generated by the GNSS 11
receiver
<GNSS LONGITUDE> Longitude generated by the 8
GNSS receiver
<GNSS LATITUDE> Latitude generated by the 8
GNSS receiver
<GNSS ALTITUDE> Altitude generated by the 8
GNSS receiver
<GNSS SATS> GNSS satellites connected 2
<ACCELEROMETER DATA> Data received from the 1-4
gyroscopic sensor i.e
acceleration and roll & pitch
parameters
<GYRO SPIN RATE> Spin rate of Mechanical Gyro 4-6
wrt. CANSAT
<FLIGHT SOFTWARE STATE> Operating state of the 7-16
software
Total Bits 69-92
19
Communication and data handling subsystem:
Sensor Model Size Interface Mass Input Voltage Current

SD Card Reader 1.8 x 2.5 cm SPI - 4- 5 v
-
Sensor Model Size Memory Storage Mass Read(Speed) Write(Speed)

Sand Disk Ultra - 16 GB - 60 mbps 100 mbps
- -
Sensor Model Size Frequency Mass Input Voltage Current

Xbee 2 2.4 x 2.7 cm 900Mhz 10g 2.8 - 3.4 v 40mA
Power Consumption: 0.97 W-h -
Transmission Power: 4dBm
20
Sensor Model Frequency Connection Type Mass Type Gain
Duck Antenna 900 MHz RP-SMA Male 6g Omni Directional 4 dBi
Sensor Processing Placement
- Placed along the body of the
cansat for good polarization
Data Packet Information:
<Team ID> ,<TIME STAMPING>, <PACKET COUNT>, <ALTITUDE>,<PRESSURE>,<TIME>,

<VOLTAGE>, <GNSS TIME>,<VOLTAGE>,<GNSS TIME>,<GNSS LONGITUDE>,<GNSS LATITUDE>,
<GNSS ALTITUDE>,<GNSS SATS>,<ACCELEROMETER DATA>,<GYRO SPIN RATE>,
<FLIGHT SOFTWARE STATE>
21
Ground Control Station:
 The data from the cansat will be transmitted over a rubber duck antenna, to the Ground Control
Station
 The data is received at the Ground Control Station, with the help of a Yagi-Uda antenna, connected
with a Xbee.
 That stream is fed to the Ground Control Station Computer.
 The Ground Control Station computer will have batter charge, suitable for >2 hours.
 The data fed into Ground Control Station computer will be displayed at User Interface, designed
for this mission, in real time.
Antenna Used in Ground Control Station:
Antenna Type Yagi-Uda

Frequency 800-900
Gain 11-14
Type Directional
22
User Interface:
System Status & Mission GPS Co-ordinates Data

Team Logo
Timer
Packet information
Command Prompt Text Bar

Battery Percentage Display
Real Time Sensor Readings
23
Electrical Power Subsystem:
Component Purpose
Battery Supplies voltage to components
Voltage Sensor To measure external voltages
Voltage Step-down Regulator Lowers voltage for required level
Sensor Model Size Type Mass Voltage Capacity

Battery 6.5 x 1.8 cm Li-Ion 40 g x2(no.s) 3.6 V 3000 mah
- -
Sensor Model Size Accuracy Mass Input Voltage output

Voltage Step- 3.1 x 3.1 cm - 40 g 6 - 12 v 3.3 v
down Regulator 5v
3.3V DC at 800mA maximum current The module is capable of
5.0V DC at 800mA maximum current altering the output of the
power source/supply before
supplying it to the load so as
to deliver the specified power
to your load.
Sensor Model Size Sensitivity Mass Model Current

Voltage Sensor 2.5 x 1.5 cm 0.009 v 10g 0 - 25 v -
allows to use the analog input of a -
microcontroller to monitor voltages
much higher than it is capable of
sensing
24
Power Subsystem Design:
Power Consumption Data:
Power
Supply
Component Current Power Consumption Duty cycle
voltage(V)
(Wh)
Arduino UNO 5v 42mA 0.29W 0.29 100%
Arduino NANO 5v 19mA 0.29W 0.29 100%
DHT11 5v 0.3mA 1.5mW 0.0015 100%
GY-NEO6MV2 5v 67mA 0.335W 0.335 100%
BME-280 3.3v 3.6µA 11.880 µW 11.880µ 100%
MPU 6050 3.3v 4mA 13.2mW 0.0132 100%
SD Card Reader 3.3v 200mA 0.66W 0.66 100%
Servo Motor 5v 400mA 1.8 W 0.9 10%
DC Motors 5v 5A 0.034W 0.034 100%
XBEE 2 PRO 3.4 45mA 0.153W 0.153 100%
LED 3.3v 5mA 0.016 W 0.016 100%
BUZZER 5v 45mA 0.225 W 0.0225 10%
Total 6.02 4.339
Battery 7.2v 3000mAh 21.6 W-h Margin=17.2
4 Hours
*Approximated current values Time
54 Minutes
25
Sensor Sub-System Schematic:
26
Parachute Deployment and recovery:
 Method Employed - Reefed Parachute System

 Secondary Descent Mechanism - Reel winded with parachute lines gets released allowing
parachute mouth to expand.
 Trigger Mechanism for secondary descent system - Solenoid [Pull Mechanism]
Recovery Plan:
27
Changes Made Since PDR:
1) Replacing Servo Motor with Push/Pull Solenoid in secondary descent control mechanism.
PDR CDR
Solenoid
The servo motor in trigger mechanism of secondary descent control system, has a circular motion to
release the reel. This makes it difficult and requires more force to pull out from the reel. There will be
many forces acting on the arm of the servo motor, hence this makes it a weak point in the cansat system.
This is also one the major feedback of the jury during PDR presentation.
By using solenoid, it tackles issues raised by servo motor. The movement of the working arm is linear,
hence the pulling technique is easier and the arm can hold more forces comparatively than servo motor.
So we replaced servo motor with Push/Pull type solenoid.
2) Change in placement of para-chord hold lines on cansat body.
PDR CDR
Initially the placement of the para-chord hold lines are placed along the outer edge of the cansat cap, so
that during the decent process, the para-chords will reduce the rolling of cansat additionally to
stabilization system. But allowing para-chords using this system raised flaw in the working of the
secondary parachute. Because of the distance in these lines, parachute pre-maturely expands more than
required. so to counter this problem we brought hold line together, which further more helps in
restricting the parachute expansion beyond required amount.
28
Cansat Algorithm:
29
Cansat Integration and Testing:
Environment Testing:
Drop Test  Attach Cansat with a parachute externally

and drop it from different heights
 Test will be conducted by, dropping from
top of buildings and also using drones
 Data will be collected at all points and will
be analysed
Thermal Test  Thermal Test will be conducted to check
the tolerance and effect of high and low
temperatures on mechanical and electrical
system
 Test will be conducted in suitable Thermal
Machines and any damage will be checked
after test
Vibration Test  This test will be performed using sander
machine
 The vibration rate will be increased
gradually
 Any damage to mechanical and electrical
systems will be analysed
Housing Fit Check Test  A Tool similar to rocket payload section
with exact dimensions will be created and
used to check the fit and ejection of the
cansat
Parachute Deployment Test  Parachute will be attached and folded
same as launch configuration and will be
dropped from heights to test the opening
of the parachute
30
Sensor-Subsystem Testing:
Sensor Test Status

Air Pressure Measuring altitude at COMPLETED
location where altitude is
known
Air Temperature Compare measured COMPLETED
temperature with
thermometer
Arduino UNO Test receiving and transmitting COMPLETED
of data of processors and
executing calculation
GPS Compare location with other COMPLETED
devices
Voltage Divider Measure and compare COMPLETED
battery with Voltmeter
SD card Verify known data is stored in SD COMPLETED
card
Xbee Verify functionality as per PENDING
CDH and GCS requirements
Other Tests:
Housing Fit Check Check that the dimensions of the cansat COMPLETED
meet the requirement
Flight Software Check Check the working of Software as per PENDING
algorithm
31
Mission Operation and Analysis:
Arrival Mid-Air Operation

 Arrival at Launch Site  Primary parachute will deploy
 cansat will be checked for any immediately after ejection
damage or unexpected  Stabilization system will be
malfunction activated
 GCS & Antenna are ready and  At 500 meters, altitude
prepared. secondary descent control
system gets activated
 During the descent process,
cansat will transmit data to
the GCS.
Setting Ground Station
 Ground Station Software
Check
 GCS-Antenna Assembly
Recovery
 Communication link
 Cansat will land with parachute
Establishment
 The latest coordinates will be used
to locate the touchdown locations
with help of audio beacon
Pre-Launch
 The electronic components will
be tested as integrated system.
Analysis
 Wireless Communication will be
initiated & tested.  Cansat Data Retrieval
 Checklist for Pre-launch  Cansat damage inspection
procedures  Post Flight Review
Launch
 Rocket will be launched
completing launch procedures.
 When the rocket reaches apogee,
cansat will begin to descend with
parachute.
32
Pre-Flight requirement-check analysis:
Team follows a particular sequential list of checks on cansat and GCS before flight. This check ensures
that no unforeseen situation raises during the mission sequence.
Each sub-system will be thoroughly checked for any damage or possibility of malfunction during the
process of the mission.
(Backup solutions and few by-pass methods are in place, for any malfunctions in cansat sub-systems.)
Pre Flight Check List STATUS

Cansat Visible Damage analysis OK / NOT OK
Sub-system Fitness check OK / NOT OK
Power supply to each sub-system OK / NOT OK
Battery charge check OK / NOT OK
Sensor calibration OK / NOT OK
Parachute check OK / NOT OK
Payload check OK / NOT OK
Communication link establishment OK / NOT OK
Flight Software Analysis OK / NOT OK
Cansat response to GCS OK / NOT OK
Logistics and Transportation:
 We ensure that, cansat and its equipment are thoroughly packed in pelican case for the transportation.
 Special cushion casings will be used in packing the cansat systems.

 Once the team reaches launch site, there will be thorough inspection of cansat systems, to avoid
problems before launch.
33
Cansat Budget:
Electronic System Budget:

Components Price(₹) Components Price(₹)
Arduino UNO 800 Buzzer 50
Arduino NANO 750 Voltage Sensor 50
DHT11 175 XBEE 2 3,500
GY-NEO6MV2 950 SD Card 500
BME-280 250 Antenna 200
MPU 6050 300 Motor Driver 400
SD Card Reader 100 Battery x 2 250
Servo Motors 270 Voltage Step-down 150
DC Motors x 3 900 Regulator
Mechanical System Budget:

Components Price(₹) Prototyping = 2000
Cylinder body(material+3D printing) 3500
Parachute 500 Miscellaneous = 2000
Flywheels 900
Total Cansat Budget = 19,245 ₹
Ground Station Budget = 7,000 ₹
Funding Acquired: 60,000 ₹ Sponsored by : CMR Institute of Technology, Bangalore.
Funding Breakout:
PDR Registration 5,000 INR

CDR Registration 20,000 INR
Cansat Development 20,000 INR
Ground Control Station Development 7,000 INR
Team Merchandise 8,000 INR
Total 60,000 INR
34
Conclusion:
Major Accomplishments:
 CDR was completed
 User Interface was designed and finished
 Testing electronic components is completed
 Changes made in CDR as per feedback received from jury
 Funding was obtained
Major Unfinished work:

 Realization of GCS is to begin
 Complete cansat need to be finished and tested with all systems integrated in it
Readiness for FRR:
 Most of the work has been finished.

 We are estimating to finish actual cansat by 1st week of April
35

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CRITICAL DESIGN REVIEW DOCUMENT

 V.K.Rayudu - Team Lead

 Indra Kumar M - GCS and Telemetry

 Bhargav T - GCS & Telemetry

 Guna Sekhar G - Mechanical Structure Design

 Ayush Aditya - Mechanical Structure Design

 Chandu Raj S D - Electronic Subsystem

 Nishant Raj - Electronics Subsystem

 Mr. Ashutosh Srivastava - Faculty Co-ordinator

 CANSAT shall fit in a cylindrical body of 0.125 m diameter x 0.310 m height

1) Replacing Servo motor in Secondary decent system with Push-Pull solenoid

2)Change in placement of parachute chord hold lines

Progress since PDR Stage:

 Design and Development of User Interface for ground control station.

 Cansat will use only one parachute.

Cansat deployed with reefed

The reel is released at 500m and

Reaction wheel system:

Post Launch and Data

800-900m Cansat is ejected

At 500m, Parachute is De-

Cansat reaches ground,

S.No Sensor Type Sensor Model Purpose

Sensor System Summary:

Sensor Model Size Accuracy Mass Input Voltage Current

Sensor Model Size Accuracy Mass Input Voltage Current

Sensor Model Size Accuracy Mass Input Voltage Current

Sensor Model Size Frequency Mass Input Voltage Current

Sensor model Module Size RPM Input Mass Current

Sensor Model Size Accuracy Mass Input Voltage Current

Sensor Model Size Throw Mass Input Voltage Current

Secondary Decent Control System

Parachute Reel System

Launcher Dimension/Maximum Permitable Dimension:

Height: 0.310 m Width: 0.125 m

Height: 0.307 m Width: 0.123 m

Height: 0.003 m Width: 0.002 m

Reaction Wheels Control Loop:

Solenoid Working Block Diagram:

Altitude <= 500 m

Cansat deployed with reefed

The reel is released at 500m and

Sensor Sub-System BMP-280 Arduino

Fly-Wheel DC Motor Push/Pull

TM Parameter Function Size(Bytes)

Sensor Model Size Interface Mass Input Voltage Current

Sensor Model Size Memory Storage Mass Read(Speed) Write(Speed)

Sensor Model Size Frequency Mass Input Voltage Current

Data Packet Information:

<Team ID> ,<TIME STAMPING>, <PACKET COUNT>, <ALTITUDE>,<PRESSURE>,<TIME>,

Antenna Used in Ground Control Station:

Antenna Type Yagi-Uda

System Status & Mission GPS Co-ordinates Data

Command Prompt Text Bar

Sensor Model Size Type Mass Voltage Capacity

Sensor Model Size Accuracy Mass Input Voltage output

Sensor Model Size Sensitivity Mass Model Current

Power Consumption Data:

 Method Employed - Reefed Parachute System

So we replaced servo motor with Push/Pull type solenoid.

2) Change in placement of para-chord hold lines on cansat body.

Drop Test  Attach Cansat with a parachute externally

Sensor Test Status