Department of Mechanical and Aerospace Engineering

1. Department of Mechanical and Aerospace Engineering High Powered Rocketry Club 2014-2015 PDR Presentation

2. PDR Overview • Vehicle • Design • Recovery • Mission Performance • Interfaces and Integration • AGSE • Design • Arm • Rocket Erection • Igniter Insertion • Budget • Safety • Subscale • Questions

3. Vehicle Design - Nosecone Elliptical shaped nosecone for subsonic flight

4. Vehicle Design - Airframe • 5.5” diameter blue tube 2.0 • Body tube separated into four compartments sealed by bulkheads • Payload receptacle on forward nosecone section

5. Rocket Layout

6. Rocket Layout

7. Airframe – Payload Zone

8. Airframe – Payload Zone

9. Vehicle Design – Payload Compartment

10. Vehicle Design - Avionics Two avionics compartments Primary and redundant Stratologger SL100 altimeters, 9V batteries, fiberglass sled GPS Upper avionics: drogue charge 3000’ ARRD 1000’ nosecone from upper airframe 1000’ Payload mold Second sled middle and fin section 700’

11. Nose Cone Avionics

12. Fin Section Avionics

13. Vehicle Design – Fin Section 5.34” bulkhead will be epoxied 4” from the upper surface of the airframe Centering rings

14. Vehicle Design - Stability CG 47.4” nose ref. CP 57.9” nose ref. Static Margin 1.91 45 ft/s as the uppermost rail button leaves the launch rail

15. Vehicle Design - Motor • Animal Motor Works (Cesaroni) K353-RR • 15.9” length • 2.13” diameter • 324 lbf*s Impulse • Weight burned in 2.7 seconds 1.68 lbs • Stability margin increase from 1.913.02

16. Thrust Curve

17. Vehicle Recovery Apogee

18. Vehicle Recovery 1000 ft

19. Vehicle Recovery: AARD • AARD is black powder release • Separates drogue shoot shock cord from sample section • Necessary for mission requirements

20. Vehicle Recovery 700 ft

21. Wind Drift

22. Mission Performance – Flight Profile Open rocket simulation using CesaroniK353-RR

23. Mission Performance – Velocity

24. Mission Performance – Kinetic Energy

25. ASGE Design

26. AGSE Design

27. ASGE Design

28. AGSE Design

29. AGSE Progression

30. Robotic Arm • 4 Degrees of Freedom • 5:1 Gear Ratio • 252 degrees of rotation at each joint • Able to lift ~1 lb at 24” • 6V draw and current up to 10 A

31. Gripper • Provides 2 additional DOF • 180 degrees rotation around wrist • Able to open 1.3” • 6V draw

32. Model of Arm MATLAB used to plot arm at different servo angles

33. Reachable Points MATLAB plot of all points the arm is able to reach in 3 dimensional space

34. AGSE Progression Progression of the system will be measured by an array of sensors connected to the BeagleBoneBlack. Sensors include switches, IR distance sensors, and touch sensors that register true when a task is completed. Stored sensor values can be used to update the system in case of a reboot after power loss

35. Image Processing • Processing on BeagleBone Black Images from USB Camera

36. Image Processing • Sentech STC-MC36USB-L2.3 Micro CMOS USB 2.0 Camera • Mounted on gripper of robotic arm. • Chosen for • Weight: .9 oz • Connectivity: USB 2.0 • Resolution: 640 x 480 • Voltage: 5 V

37. Image Processing Camera connects to BeagleBone Black through powered USB hub. USB input gives 5 V to the camera.

38. Image Processing • Image Processing System used for: • Sample identification • Measuring the distance from camera to the sample at its initial position on the ground. • Measuring intermittent distances as the robotic arm moves closer to the sample. • Determining orientation of the sample.

39. Image Processing: Distance Measurement • Separated foreground from background Unprocessed image

40. Image Processing: Distance Measurement • Adjacent blobs grouped to form less total blobs Blobs formed of foreground pixels

41. Imaging Processing: Distance Measurement Blobs filtered to identify blob representing sample. Calibration curve takes size of the blob and outputs distance from camera to the sample. Calibration curve determined experimentally. Code in C++ on BeagleBone Some applications are autocodedMATLAB

42. Robotic Arm and Imaging • Pic for centering • Rotate wrist • Pic for confirmation • Move arm to sample • Grapple the cache Chain of Events • Pic for centering • Pic for distance • Move arm to half • Pic for distance • Move to 4 in. above • Pic for orientation

43. Raising the Rocket • Planetary Gearbox Stepper Motor • Max Holding Torque: 29.5 ft-lb • Step Angle: 0.039 deg • ~22,000 steps for 85 deg launch rail rotation • Sector Gear • Gear Ratio: 10:1 • Required holding torque: • 12 ft-lb

44. Igniter Insertion Linear Actuator System NEMA 17 Stepper Motor Design Concept: Stepper motor rotates threaded rod. Threaded hexagonal plate moves vertically due to side plates. Igniter on dowel moves upward into rocket motor.

45. Electrical Schematic Overview

46. Battery Systems • 11.1 V System 37 V System

47. 37 V System • 37 V System • Used to power two stepper motors • Raising Rocket • Raising Igniter • Stepper motors require high power to meet torque requirements to raise the rocket

48. 11.1 V System • Step-Down voltage regulators to convert to the desired voltage of different electronics • Systems on this battery • BeagleBone Black • Robotic arm • Robotic arm controller • Rocket Stepper Motor Driver • Igniter Stepper Motor Driver • 11.1 V System

49. Subscale Demonstrator Subscale is 70% of fullscale Aerotech J350 Motor Dual Deploy 18 in. Drogue 36 in. Parachute

50. Subscale Motor Thrust Curve Aerotech J350