PLAID: Precision Launch and Autonomous IDentification NASA USLI - - PowerPoint PPT Presentation

PLAID: Precision Launch and Autonomous IDentification

NASA USLI Flight Readiness Review Carnegie Mellon Rocket Command

March 9, 2018

1

Launch Vehicle Design

January 24, 2018 2

Overall Design

January 24, 2018 3

• Split fins
• Carbon fiber camera shroud
• Metal-tipped nose cone

Main Dimensions & Materials

Component As Built Dimensions Material Lower Airframe 4” D x 31.7” L Fiberglass (G-12) Avionics Bay (coupler) 4" D x 12" L Fiberglass (G-12) Avionics Bay (switch band) 4" D x 2.75" L Fiberglass (G-12) Middle Airframe 4" D x 16.4" Fiberglass (G-12) Recovery Bay (coupler) 4” D x 11.6” L Fiberglass (G-12) Recovery Bay (switch band) 4” D x 1.1” L Fiberglass (G-12) Upper Airframe 4” D x 21.9” L Fiberglass (G-12) Nose cone 4” D 5/1(L/D) Fiberglass (G-12) with Aluminum tip Motor Mount 75mm Fiberglass (G-12) Fins 3/16” thick Fiberglass (G-10)

January 24, 2018 4

Total Rocket 4" D x 90.3” L

Nose Cone

• 4" 5-1 Von Karman
• Polished to reduce surface drag
• Optimized shape for operating velocity

January 24, 2018 5

Nose Cone Shape Drag Coefficient at Mach 0.3 Drag Coefficient at Mach 0.5 Drag Coefficient at Mach 0.8 Cone 0.06 0.07 0.10 Von Karman 0.04 0.04 0.03 Parabolic 0.04 0.04 0.03 Ellipsoid 0.06 0.06 0.07 Tangent ogive 0.04 0.04 0.03 Power series 0.04 0.04 0.03

Fins

• Upper Fin Aspect Ratio:

0.929

• Lower Fin Aspect Ratio: 1.23
• G10 Fiberglass
• Beveled
• Maximum flutter boundary

speed: 1452.14 mph

January 24, 2018 6

Upper Fin CAD Model Lower Fin CAD Model

Motor Retention Method

• 6061 Aluminum
• Thrust Plate, 75mm flanged motor retainer, 54/75mm motor

adapter

• 18-8 Mounting Hardware

Simulation Results

January 24, 2018 7

Motor Retainer Base​ Thrust Plate​

• Under Maximum Thrust from Motor​
• Maximum Displacement​
• 4.902e-4 in​
• Minimum Factor of Safety​
• 2.8​
• Under Maximum thrust from Motor​
• Maximum Displacement​
• 1.173e-4​
• Minimum Factor of Safety​
• 31​

Ballast Container

• Fill with bag of lead shot
• Fully adjustable
• Match ballast curve
• Place bag into container
• Press fit with foam to prevent the

bag from moving

• Fixed to aft end of avionics bay
• Below CG to prevent over stability

and weathercocking

January 24, 2018 8

Mass and Flight Stability

January 24, 2018 9

Statement and Margin

January 24, 2018 10

OpenRocket values Measured/Calculated CP 77.541 in 76.50 in CG (unballasted, wet) 62.442 in 61.04 in CG (unballasted, dry) 56.35 in 54.54 in Stability Margin Wet: 3.717 cal Dry: 5.216 cal Wet: 3.806 cal Dry: 5.406 cal

Static Margin Diagrams

January 24, 2018 11

Motor Description

January 24, 2018 12

CTI K711 White

January 24, 2018 13

Type Reloadable Propellant Information White Propellant; APCP motor Size 54 mm Motor Length 572 mm Burn Time 3.4 sec Total Impulse 2372.2 N-s Max Thrust 1700.6 N Total Mass 2198.0 g Propellant Mass 1398.0 g

CTI K711 White

January 24, 2018 14

Launch Parameters

January 24, 2018 15

Thrust-to-Weight Ratio

January 24, 2018 16

Motor Brand/ Designation CTI K711 Max/Average Thrust (lb.) Max thrust: 382.80 lbs Average thrust: 159.70 lbs Total Impulse (lbf-s) 534.43 Mass Before/After Burn (lb.) Before: 4.85 After: 1.62 Liftoff Thrust () 382.8

Rail Exit Velocity

January 24, 2018 17

• Achieved: 74 ft/s
• Minimum: 52 ft/s
• Neutral regressive

motor thrust curve

• High initial thrust
• High rail exit velocity

Choosing the Appropriate Ballast

January 24, 2018 18

Recovery

January 24, 2018 19

Recovery Characteristics

Drogue Main Type SkyAngle 24 inch Fruity Chute 84” Harness Material Kevlar Nylon Harness Length (ft) 17 25 Harness Thickness (in) 3/8 1/2

January 24, 2018 20

Parachutes

• Drogue:
• Skyangle 24"
• 68.91 ft/s descent rate
• Main:
• FruityChute Iris Ultra 84"
• 14.30 ft/s descent rate
• 65.92 ft-Ibs of

January 24, 2018 21

Component Nose cone Upper Airframe Lower Airframe Kinetic Energy (ft-Ibs) 6.48 14.93 34.24 Kinetic Energies of components upon landing FruityChute Iris Ultra 84" Skyangle Parachute

Predicted Drift

January 24, 2018 22

Wind Speed (mph) Rough Calculation (ft) Refined Calculation (ft) 20 3013 1801 15 2260 1223 10 1507 686 5 753 289

• Drift was calculated using

a homemade program

• Covers more variables

than standard methods

• Apogee values agree with

OpenRocket

• Produces drifts well within

maximum NASA requires

Predicted Apogee

• OpenRocket

simulations predicted apogee altitudes

• Ballast will likely be

necessary to achieve 1 mile apogee

January 24, 2018 23

Wind Velocity (mph) Required Ballast (Ibs) Program predicted apogee (ft) 20 1.625 5280 15 1.95 5280 10 2.167 5280 5 2.3 5280 2.3 5280

Recovery Bay

January 24, 2018 24

Recovery Bay Electrical Diagram

January 24, 2018 25

• Two

independent systems

• Each have

drogue and main charges

• Secondary

altimeter system has slight delay

Full Scale Flight Test

January 24, 2018 26

Launch Day

January 24, 2018 27

Wind Speed (mph) 16 Humidity 75 Temperature (°F) 50 Launch Angle (degrees) 5 Ballast mass (lbs.) 2.34 Apogee Altitude (ft) 1966 Maximum Velocity (ft/s) 340 Drift Distance (ft) 1,300 Flight Time (s) 60 Time to Apogee (s) 13 Landing Kinetic Energy (ft- lbf) Nosecone: 9.67 Upper Airframe: 24.05 Lower Airframe: 65.26

Flight Data

January 24, 2018 28

Encountered Issues

January 24, 2018 29

Recovery System Tests

• Ejection Charge Test
• Drogue: 2.5g
• Main: 0.5g
• Both successful

January 24, 2018 30

Payload

January 24, 2018 31

Payload Design and Dimensions

January 24, 2018 32

• Parallel plate sled
• Coupler in lower airframe
• 9" tall
• 3.125" wide
• 19.3 oz (excluding coupler)

Payload Housing

• G12 Fiberglass Coupler
• Modified shroud route
• Shroud screw holes
• G10 Fiberglass Bulkhead
• Eye bolt holes
• Two threaded rod holes
• Liquid Fyre Camera Shroud
• Molded from 5 layers of twill

carbon fiber

January 24, 2018 33

Structural Components

• Two 1/8" acrylic sleds
• Two 3D printed sled links
• Sleds slide into links and are

bolted into place

January 24, 2018 34

Electronics Integration

January 24, 2018 35

• Flight Computer serves as information

hub

• SenseHAT connects via GPIO pins
• Camera connects via soldered wires
• nto USB leads
• Battery connects via soldered wires
• nto GPIO pins
• Raspberry Pi distributes power from

battery to all connected electronics

Electrical Components

January 24, 2018 36

Battery Change

January 24, 2018 37

• Zilu Battery Pack required micro-USB to

USB cables

• Internal hardware was unverifiable
• Difficult to interface with
• Purchased independent 18650 batteries

(same as Zilu battery)

• 5V regulator
• All connections can be soldered

Electrical Connections

• DE-9 D-Sub Connectors
• Secure connections fastened by

tightened screws

• All wires can be soldered onto D-

Sub

• Exposed wire covered in heat tape
• r rubber tubing

January 24, 2018 38

TDS Program Logic

January 24, 2018 39

• Autonomous initiation of TDS
• Analyze images based on

expected HSV, size, and shape of targets

• Interface with SenseHAT for

acceleration data

• Label and store all identified

targets

Launch Vehicle Interfaces

• Payload coupler slides into lower airframe
• Rigidly attached with button bolts and PEM broaching nuts
• Connect camera lens to ribbon cable once payload is fixed
• Middle airframe slides over payload coupler
• Rigidly attached with button bolts and PEM broaching nuts
• Shock chord is tied to eye bolt of upper bulk plate

January 24, 2018 40

Ground Systems Interfaces

41

GPS

• Mounted in nose cone

with home base receiver

• Coordinate readout on

LCD screen

January 24, 2018 42

TDS

• Raspberry Pi connects to

mobile hotspot

• Can transfer files using

PuTTY from laptop

• Obtain target detection data

from flight

January 24, 2018 43

Requirements Verification

January 24, 2018 44

Completed Requirements Verification

January 24, 2018 45

Section​ Progress​ To Be Completed​ General​ 14/14​

Educational Outreach​

Launch Vehicle​ 21/21​ Apogee, Preparation Time, Standby Time, Full Scale Test Launch​ Recovery​ 11/11​ Ground Ejection Charges, GPS, Electronics Shielding​ Payload​ 5/5​ Target Detection Accuracy and Testing​ Safety​ 5/5​ Full Scale Test Launch​

Launch Vehicle Examples

January 24, 2018 46

Subsystem Requirement Verification Method Status 2.16 The launch vehicle will have a minimum static stability margin

• f 2.0 at the point of rail exit. Rail

exit is defined at the point where the forward rail button loses contact with the rail. See Section 3.3.3 for stability margin calculations. Met 3.3.0 An electronic tracking device will be installed in the launch vehicle and will transmit the position of the tethered vehicle or any independent section to a ground receiver. An Eggfinder GPS Tracker System is installed in a shock cord mount on the upper shock cord. This will transmit the location of the vehicle to its corresponding ground receiver. This is confirmed by the Section 3.5.4 which contains an overview of the design of the tracking unit. Met

Payload Example

January 24, 2018 47

Subsystem Requirement Verification Method Status 4.4.1 Teams will design an onboard camera system capable of identifying and differentiating between 3 randomly placed targets. See Section 4.2.4 for success criteria for the target detection system. Met 4.4.2 Data from the camera system will be analyzed in real time by a custom designed on-board software package that shall identify, and differentiate between the three targets See Section 4.2.3 for demonstration of real time analysis. Met

Test Plans and Procedures

January 24, 2018 48

Summary of Tests

Test Objective Payload Testing Validate the integrity of TDS Launch Vehicle Drop Test Determine whether all sections of PLAID can withstand landing forces PLAID Ejection Charge Test Determine whether the ejection charges calculated are enough to break the shear pins and deploy the parachutes Launch Prep Test Determine whether PLAID can be prepared for launch in under three hours Launch Pad Mock Test Determine whether PLAID’s batteries can keep the altimeters and avionics bay ready to launch for one hour Launch Pad Test To determine whether PLAID can remain in a launch ready configuration for one hour. DIET PLAID Ejection Charge Test Determine whether the ejection charges calculated are enough to break the shear pins and deploy the parachutes. G12 Materials Testing Determine the elastic modulus and compressive strength of G12

January 24, 2018 49

Launch Vehicle Testing

• Ground Ejection Charge
• All Successful! - Full-Scale and Sub-scale Drogue and Main
• Launch Pad Mock Test
• All Successful! - Altimeters, GPS, Payload
• Launch Pad Preparation Test
• Passed! - With an hour to spare
• Drop Test
• All Successful! - Nose Cone, Ebay, Lower Airframe

January 24, 2018 50

Payload Testing

• TDS has been tested in both

simulated and full scale launches

• Successfully detected and

differentiated between each colored target

• TDS does not attempt to cause

PLAID to land on the targets

• Camera video feed is analyzed in

real time by autonomous python script built into Raspberry Pi

January 24, 2018 51

Thank You

Questions?

Special thanks to John Haught, Rod Schafer, and John Brohm!

January 24, 2018 52

References

January 24, 2018 53

“Apogee Rockets.” Apogee Rockets, Apogee Rockets, http://www.apogeerockets.com/. Benson, Tom. Velocity During Recovery. NASA, https://www.grc.nasa.gov/WWW/k-12/VirtualAero/BottleRocket/airplane/rktvrecv.html. Cipolla, John. “Fin Flutter and Loads Analysis Software.” AeroFinSim, AeroRocket and Warp Metrics, www.aerorocket.com/finsim.html. “Elastic Constant Converter.” Calculator for Exploring Relations Among the Elastic Constants, EFunda Inc., www.efunda.com/formulae/solid_mechanics/mat_mechanics/calc_elastic_constants.cfm. “G10 Fiberglass Epoxy Laminate Sheet.” Material Property Data, MatWeb, www.matweb.com/search/DataSheet.aspx?MatGUID=8337b2d050d44da1b8a9a5e61b0d5f85 Hennin, Bart. “Apogee Components Peak of Flight Newsletter.” 19 October 2010. Howard, Zachary. “Apogee Components Peak of Flight Newsletter.” 19 July 2011. “How To Size Ejection Charge.” HARA, 18 May 2014, hararocketry.org/hara/resources/how-to-size-ejection-charge/. Hunter, John D. “Matplotlib: A 2D Graphics Environment.” Computing in Science & Engineering, vol. 9, no. 3, 2007, pp. 90–95., doi:10.1109/mcse.2007.55. More About Hard Fiber, Fiberglass, Garolite, and Carbon Fiber. engineering.tamu.edu/media/4247821/ds-garolite-properties.pdf. “NEMA Grade G-10 Glass Epoxy Laminate.” The Gund Company, The Gund Company, thegundcompany.com/wp-content/uploads/2016/11/NEMA-G10-EPGC-201-from-The-Gund-Co.pdf. Newton, Mark, et al. “Rocketry Basics.” NAR Member Guidebook, Jan. 2021, pp. 4–27. Niskanen, Sampo "OpenRocket technical documentation", 10 May 2013. “ Pro54 1750K650-16A.” Pro54, Cesaroni Technology, Inc., www.pro38.com/products/pro54/motor/MotorData.php?prodid=1750K650-16A. “ Pro54 2377K711-18A.” Pro54, Cesaroni Technology, Inc., www.pro38.com/products/pro54/motor/MotorData.php?prodid=2377K711-18A. “Scheme-It.” SchemeIt | Free Online Schematic Drawing Tool | DigiKey Electronics, www.digikey.com/schemeit/project/. “Shape Effects on Drag.” NASA, Glenn Research Center, 5 May 2015, www.grc.nasa.gov/WWW/k-12/airplane/shaped.html. Stein, Stephen D. “Benefits of the Star Grain Configuration for a Sounding Rocket”, Tola, Ceyhun, and Melik Nikbay. “Investigation of the Effect of Thickness, Taper Ratio and Aspect Ratio on Fin Flutter Velocity of a Model Rocket Using Response Surface Method.” Research Gate, 7th International Conference on Recent Advances in Space Technologies, June 2015. Van Milligan, Tim. “Apogee Components Peak of Flight Newsletter.” 18 December 2012. Van Milligan, Tim. “Apogee Components Peak of Flight Newsletter.” 2 May 2017. “Wing Geometry Definitions.” NASA, Glenn Research Center, 5 May 2015, www.grc.nasa.gov/www/k-12/airplane/geom.html.