SCOPE 2.0 SCOPE 2.0 Warsaw Warsaw University University of - - PowerPoint PPT Presentation

SCOPE 2.0 SCOPE 2.0

Warsaw Warsaw University University of Technology

• f Technology

PDR Presentation

Łukasz Boruc Krzysztof Gedroyć Małgorzata Jackowska Jarosław Jaworski Krystyna Macioszek

Organizacja & zespół Mechanizm Orientacji Platformy Promocja Struktura & kontrola termiczna Elektronika Oprogramowanie

Team members

Łukasz Boruc Małgorzata Jackowska Krystna Macioszek Łukasz Boruc

Coordinator

B.Sc. Krzysztof Gedroyć

Electronics

Małgorzata Jackowska

Platform Orientation Mechanism

Jarosław Jaworski

Mechanics, Mechanical Configuration , Thermal Analysis, PR

Krystna Macioszek

On-Board Computer

Support: Mateusz Wolski Tomasz Rybus Grzegorz Misiołek

Schedule

Screen from Gantt diagram

WBS

Support

Warsaw University of Technology

Faculty of Power and Aeronautical Engineering

• Institute of Heat Engineering, Division of Aeroengines

Piotr Wolanski, D.Sc., Ph.D., Professor

• Institute of Aeronautics and Applied Mechanics Department of Automation

Aeronautical Systems Janusz Narkiewicz, D.Sc., Ph.D., Professor Janusz Narkiewicz, D.Sc., Ph.D., Professor

Space Research Centre of Polish Academy of Sciences

Jerzy Grygorczuk, Eng., M. Sc.,

Carlo Gavazzi Space S.p.A

Vincenzo Pulcino - System Engineer

Platform Orientation Mechanism

Explode view of POM

• Aluminum frames
• 2 BLDC motors
• 2 Bevel gears made of steel
• Bearings
• 2 Encoders

Platform Orientation Mechanism

First and second stage Third stage

• Aluminum frames
• BLDC motor
• Gear made of aluminum
• Bearings
• Encoder
• 2 Encoders
• Possible turn between +/- 60 degree
• Encoder
• Unlimited degree of freedom
• Slip ring
• Camera

First stage Second stage Third stage

Design solutions

• Bevel gears: one made of steel, one made of

plastic

• Gears – covered by solid lubricator
• Motors with changed bearings to hybrid
• Motors with changed bearings to hybrid
• Changed bearings to hybrid
• Project of locking mechanism

Interface to the Egon/S-Egon

• Localization
• Preferences

Experiment does not require any special location on the gondola Experiment could be launched on Egon or S-Egon

• Interface
• Special requirement

Egon or S-Egon Experiment require hole in the gondola for the camera Four bolts is used for integrate to the gondola

Interface to the Egon/S-Egon

• Special requirement

Experiment require hole in the gondola for the camera

Dimensions of the hole: 340mm x 340mm Location: 62 mm from the integration 62 mm from the integration bolt of the experiment

Mechanical Design

• Electronics section
• POM section

Consist mechanical boxes for the electronics, battery, IMU and GPS Consist POM and space for its manouvers

• Mass- 28 kg

manouvers

Mechanical Design

• Experiment frame
• Aluminium panels

Made for aluminum profiles, easy to change a frame configuration For physical and thermal shield, easy to integrate with the frame

• Glass
• Base panel
• Connectors

to integrate with the frame For the safety reasons and for thermal insulation Made of aluminum, to provide easier interface to the Egon/S-Egon Screws, nuts and glue

Mechanical Design

• Six boxes for electronics
• One box for batteries

Made for aluminum. Each consists only one PCB for better heat dissipation. Paint in black in internal site for better radiation

• One box for batteries

Made for aluminum. Fixing six battery packages.

Thermal analysis and design

• Passive thermal control
• Styrofoam for outside

insulation

• Heat pipes to heat
• Heat pipes to heat

transimttion

• Calculations for electronics
• More detailed analysis in

progress (Patran, Nastran)

Electronic devices and sensors

• Attitude control using optical (magnetic)
• BLDC motors
• Specialized motor driver
• Attitude control using optical (magnetic)

encoder

• Control algorithm based on discrete PID

regulator

Camera and transfering data

Point Gray Chameleon Camera CCD and Fujinon lens

• Image recording using

CCD camera

• Data transfer using

Wireless USB module

Wisair Wireless USB Module

Inertial Measurement Unit and GPS system

Actual attitude measured by IMU Data of current gondola location provided by own GPS

Problems and solutions

Make system simplier

• using magnetic encoder

Good and reliable start/stop control mechanism

Software

SCOPE_F Test Software

SCOPE software

Ground Station Test Software

SCOPE_F

SCOPE_F

Design

• Run on OBC - PC/104
• Written in C++
• Run on Linux OS

Objectives

• Computing joints positions
• Receiving telecommands
• Sending telemetry
• Gathering sensors data
• Communication with

TM Communication with microcontroler

• Data storage

TC DATA CALCULATIONS SCOPE_F

MICROCONTROLER

SENSORS

SCOPE_F flow charts

Start Client creation Server creation Start Initialization procedures Communication with GS

Client program flow chart Program flow chart

Awating for GS call Receiving telecommand Saving telecomand

• n on-board memory

Main loop Initialization procedures Communication with GS Communication with sensors and uC Joints positions determination Sending commands to uC

SCOPE_F – Modes

Pre-flight Mode

• Set at start-up
• Initialization procedures

Flight Mode

• Set after Pre-flight Mode and

Flight Mode:

• POM Mode 0

Manual control of POM.

• POM Mode 1

Camera stabilized to look downward.

• Set after Pre-flight Mode and

lasts during all flight.

• Nominal operation of SCOPE

Post-flight Mode

• Set after landing
• Shut-down all subsystems
• POM Mode 2a

Target tracking. Targets set via telecomands.

• POM Mode 2b

Target tracking. Targets from on-board memory.

SCOPE_F – joints position determination

Two main algorithms:

Target Tracking Algorithm

−

Determines desired camera attitude

Joints Positions Determination

Algorithm

Input

Euler angles – IMU Gondola position – GPS Target position

Output

Algorithm

−

Determines joints positions

Based on rotation matrices AβAG = Aα Output

Joints positions

0G 0B

ZB YB XG ZG YG X ZG YG

0G

ZG ZB Y ZMOP

SCOPE_F – joints position determination

XB XG XG XG YG

0G

XB YB

0B 0MOP

YMOP XMOP

EARTH

XE ZE YE

0E

Start Input: desired attiutude angles Determination of A α matrix

0B 0MOP AG Aβ 0G 0MOP Aα 0G

SCOPE_F – joints position determination

Input: gondola attitude angles Determination of A G matrix Solving of a system of equations Determination of A β matrix Determination of joints postitions angles Output: joints positions

Aβ AG= Aα

Target Tracking Algorithm Joints Position Determination Algorithm actual position (GPS data) target position (eg. from GS) desired attitude actual attitude (IMU data) joints positions

Ground Station

Objectives

• Input for telecommands
• Sending telecommands
• Receiving telemetry
• Presentation of telemetry data
• Telemetry data storage

Design

• Written in C++
• Written using MS Visual Studio 6
• Run on Windows XP

Telemetry data storage

Ground Station

Start Program initialization

Program flow chart

Communication with SCOPE_F Data storage Telemetry display panel Visualization panel Control panel

Software Test

Validation of main algorithms Written in C++ Run on Windows OS Using OpenGL

SCOPE 2.0 - Hardware

On-board: PC/104 Ground Station: two notebooks

Outreach program

• Logo
• Blog progress
• Media

Experiment sentence Experiment name Camera POM frames

Outreach program

• Logo
• Blog progress
• One post per week
• New galleries
• Update of team members
• Media
• Update of team members

Outreach program

• Logo
• Blog progress
• Media

Facebook group Main polish space forum Main Polish space service Main Polish space service

Outreach program

Next steps (before CDR):

• Promotional video
• Sweters and t-shirts
• Animation of experiment
• Animation of experiment

functionality (using CATIA DMU Kinematics)

• Articles in science and popular science

magazines

SCOPE 2.0

PDR Presentation

Thank You for Your attention Questions?