Colorado Space Grant Consortium
GATEWAY TO SPACE
FALL 2012
DESIGN DOCUMENT
Team Spirit of the Koala
Project VOLT
Written by: Thomas Jeffries, Anthony Anglin, Starteya Pais, Colin Harkins, Dustin Fishelman,
Joao Mansur, Andrew Trujillo, Dylan Cooper
12/13/12
Revision D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Revision Log
Revision
A/B
C
D
Description
Conceptual and Preliminary Design Review
Critical Design Review
Analysis and Final Report
Date
10/18/12
11/15/12
12/13/12
Acronyms
Acronym
TSOK
Team SOK
BalloonSat
MissionSim
Meaning
Team Spirit of the Koala
Team Spirit of the Koala
Balloon Satellite
Mission Simulation
Page 2 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Table of Contents
1.00 Mission Overview…………………………………………………………………….……..4
2.00 Requirements Flow Down……………………………………………………………….…..6
3.00 Design………………………………………………………………………………….…….7
4.00 Management………………………………………………………………………………...13
5.00 Budget………………………………………………………………………………………14
6.00 Test Plans and Results……………………………………………………………………...16
7.00 Expected Results……………………………………………………………………………24
8.00 Launch and Recovery………………………………………………………………………24
9.00 Results and Analysis………………………………………………………………………..24
10.00 Ready for Flight…………………………………………………………………………...28
11.00 Conclusion and Lessons Learned……………………..…………….………….……….…29
12.00 Message to Next semester…………………………………………………………………29
13.00 References…………………………………………………………………………………30
Page 3 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
1.00 Mission Overview
1.01 Mission Statement
Determine the feasibility of using the flow of atmosphere across the surface of the
BalloonSat, flown to 30 kilometers, during accent, to provide power to a BalloonSat.
1.02 Primary Experiment
Team Spirit of the Koala will attempt to generate current using the rotation of the
BalloonSat during the accent through the atmosphere. The BalloonSat will attach to the flight
tube with ceramic stainless steel bearings. This will allow the BalloonSat to rotate independently
of the flight tube during the accent. A magnet attached to the flight tube will spin within coils of
copper wire. TSOK hopes to use this rotation to generate current.
This is a graphic taken from an online simulator, demonstrating the concept behind our
experiment. The water pouring from the faucet on the left spins the magnet. This creates a
changing magnetic field, field lines shown by the red and white arrows, which induces an
electromotive force in the wire coil. This electromotive force produces a voltage across the
resistor in accordance with Faradays’ law. This voltage creates a current in accordance with
ohms law.
http://phet.colorado.edu/en/simulation/generator
Page 4 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
1.03 Experiment Background
The spinning of the magnet in the BalloonSat will create a change in flux, inducing a
electromotive force in the copper wire, in accordance with Faraday’s Laws of electromagnetic
induction. Faraday’s Laws state that the voltage produced, across a resistor, in a coil of wire is
proportional to the negative rate of change of magnetic flux. The greater the angular velocity of
the magnet, the higher the change in flux will be. This means that the faster the magnet spins, the
higher that current generated will be.
1.04 Expected Discovery
We expect to discover that the current generated will be inconsistent. This will show that
wind power is unfeasible for use as a primary power source on BalloonSat missions. We expect
this result due to differences in turbulence at different altitudes. Another reason we expect this
result is due to decreasing density of the atmosphere during accent. TSOK will use fins,
composed of foam core attached to the exterior of the BalloonSat, to dampen fluctuations and
provide a more consistent, improved spin rate.
1.05 Experiment Origins
The reason for conducting this mission is to determine the feasibility of using wind to
power experiments in future BalloonSats. Weight could be saved on BalloonSat missions, by
reducing the number of batteries necessary to power the BalloonSat, if power can be generated
using wind.
1.06 Special Features
TSOK’s BallonSat will include a GO PRO video camera. This footage will assist in
displaying our experiment at the design expo, demonstrating what the flight experience was like.
This can also be used to inspire outside interest in BalloonSats, engineering, and space
exploration.
2.00 Requirements Flow Down
This Requirements flow down chart will guide us in project development. It is used to
keep our project on track and for us to verify each requirement as traceable, necessary, verifiable,
attainable, and clear. Our level zero requirements are derived from the RFP requirements and
Page 5 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
our mission statement. These primary systems are labeled A-E with their corresponding subsystems.
Number
Requirement
Origin
Level 0 Requirements
Experiment
0.1
Project Volt shall collect data on current and voltage created by an
electric generator as the BalloonSat spins.
Mission
Statement
0.2
The BalloonSat will rotate independently of the flight string.
Mission
Statement
Structure
0.3
The BalloonSat will withstand the environment at up to 30,000m
and the forces of balloon burst.
Mission
Statement
Data
0.4
The BalloonSat will take data about the environment to give
meaningful comparison for data obtained from the electric
generator.
Mission
Statement
Level 1 Requirements
Experiment
1.1
A functional electric generator will be constructed and integrated
into the attachment point of the flight string to the BalloonSat.
0.1
1.2
An Arduino will be programmed to sample and record the current
and voltage off of this generator using an Attopilot combined
current and voltage breakout.
0.1
1.3
The flight string attachment point will be mounted to the body of
the BalloonSat via a set of ceramic bearings.
0.2
Structure
1.4
All instruments flying in the BalloonSat will be contained within a
hard, heated and insulated structure made from both foam core and
insulating foam.
0.3
Page 6 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
1.5
All items inside the BalloonSat will be tightly secured to the sides
0.3
using Velcro to avoid damage in the post balloon pop environment.
Data
1.6
The BallonSat have a GoPro Hero 2 and a Canon A780 onboard to
record the flight.
0.4
1.7
The BalloonSat will be launched with an accelerometer, a pressure
sensor, internal and external temperature sensors and a humidity
sensor
0.4
1.8
An Arduino will be programmed to record all environmental data
coming from the different sensors
0.4
3.00 Design Overview
3.01 Design Plan
Project Volt’s structure will accommodate for all necessary systems. Team SOK will
build a prototype BalloonSat that will be used for all ground testing. At this moment all
materials have been purchased or received. If we need more structural materials they are
available at the Gateway Store. Team SOK will adhere to the schedule and complete all tasks to
ensure a successful flight. During the testing process if we find that a redesign is necessary we
will address it quickly and effectively. Since the primary objectives of generating rotational
velocity relies upon our fin design, we will perform multiple tests and try different designs to
ensure this system works on the ground before flight. We understand that this has been a
primary objective of previous flights and they have failed. By thoroughly testing this system we
will ensure completion of this objective. Following recovery of our BalloonSat, we will collect
and analyze all data recorded from the flight.
3.02 Structure
The mission is going to be completed by building a 17x17x17 cm cube made out of foam
core. It will be held together with hot glue and aluminum tape. Fins will be glued to the outside
of the structure, one four for each side of the cube. The design of the fins has not been
determined yet, because that is part of our testing experiment, to see which design will create the
most spin. The inside of the cube will be lined with one or two layers of thermal insulation to
ensure the BalloonSat is kept warm during flight. Through the top and bottom will be a hole,
each filled with a ceramic stainless steel bearing. The flight tube will go through the middle of
the BalloonSat and be held in place by a string tied in a knot.
Page 7 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
3.03 Imaging
TSOK will image the environment during flight using both a Canon camera and a GO
PRO. The Canon and the GO PRO will be attached to the walls of the BalloonSat, pointing
outward. Holes will be cut in the exterior of the BalloonSat, over the lenses of the Canon and GO
PRO, allowing the Canon and GO PRO to record images of the environment.
3.04 Generating Current
Inside the BalloonSat, a magnet will be glued, oriented perpendicularly, to the flight tube.
On one side of the flight tube, wire will be coiled, about an axis parallel to the magnet. This coil
will be placed as close to the magnet as possible, while still allowing the magnet to spin freely
without contact. The ends of the coil will be attached to a current sensor, completing the
generator circuit. As the magnet spins, the changing magnetic fields will induce a voltage across
a resistor, causing a current in the wire. This current will be measured using a current sensor
attached to an Arduino.
3.05 Arduinos and Other Sensors
The combined current/voltage sensor will be attached to an Arduino unit with a shield
and micro SD card in order to record the data from the experiment. The Arduino will be powered
by 9V batteries. A heater will be attached with a switch inside the cube. The heater will also be
powered by 9V batteries. Next to the heater will be another Arduino unit with a shield and micro
SD card. This Arduino will have a relative humidity sensor, an internal temperature sensor, a
pressure sensor, and an external temperature sensor connected to it. The external temperature
sensor will be placed on the exterior of the BalloonSat.
3.06 Parts/Hardware Needed









Canon Camera (Space Grant)
GO PRO (Purchased by team member)
Neodymium Magnets (apexmagnets.com)
Voltage/Current Sensor (sparkfun.com)
Copper Wire (Home Depot)
Arduinos (Space Grant)
Arduino Shields (Space Grant)
SD cards (Space Grant)
Environmental Sensors (Space Grant)
Page 8 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
3.07 Parts Ordered and Received
Ordered Parts:



Neodymium Magnets
Sealed Ceramic Stainless Steel Ball Bearings
Current/Voltage Sensor
Order Status:





Magnets: Received
Bearings: Received
Current Sensor: Received
Copper Wire: Purchased
GO PRO: Purchased
3.08 3D and 2D Pictures
Flight Tube
Aruino w/ external
temperature, internal
temperature, and current.
17 cm
Magnet
Wire Coil
17 cm
Go Pro
Canon Camera
Arduino w/ internal
temperature,
pressure, humidity,
and accelerometer
Heater
Page 9 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Flight Tube
Magnet
Aruino, w/ external
temperature, internal
temperature, and current.
Wire Coil
17 cm
Go Pro
Canon Camera
17 cm
Arduino w/ internal
temperature,
pressure, humidity,
and accelerometer
Page 10 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Arduino w/ Voltage
and External Temp
Sensors
Canon
Camera
Batteries
Magnet
GO
Pro
s
Coil of
Wire
Heater
17 cm
system
17 cm
Arduino w/ Internal
Temp, Pressure,
Humidity,
Acceleration
Sensors
Page 11 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
3.09 Functional Block Diagram
GoPro Hero 2
Canon A780
Heater
Voltage
Sensing
Arduino
Environmental
Sensing
Arduino
Page 12 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
4.00 Management and Scheduling
4.01 Management
Dylan Cooper
Lead Programmer
Thomas Jeffres
Leader, Budget
Manager, Structural
Design, Backup
Programmer
Anthony Anglin
Coordinator,
Researcher
Starteya Pais
Structures,
Researcher
Andrew Trujillo
Researcher, Backup
Structures
Joao Mansur
Researcher,
Structures
Colin Harkins
Structures, Secretary
Dustin Fishelman
Coordinator,
Structures, Secretary
4.02 Scheduling
*Team Meetings every Sunday and Monday and as necessary*
September 28th………………………………………………………... Turn in proposal (4:00 pm)
October 2nd….………………………………………………...CoDR Presentations Due (7:00 am)
October 4th………………………………………………………………….Order all the hardware
October 5th………………Authority to Proceed by appointment with Chris (9:00 am - 3:00 pm)
October 7th………………………………………………………..Finalize design + Team meeting
October 13th…………………………………………….......................Have acquired all hardware
October 14th…………………………………………………………………….Begin construction
October 18th………………Design Document Rev A/B (7:00 am) + pCDR Slides Due (7:00 am)
October 21st…………………………………….Testing: Structural Test: Drop Test and Roll Test
Page 13 of 30
Team Spirit of the Koala
December 13, 2012
Project VOLT
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
November 4th………………………………………………………………..Finalize programming
November 13th..........................................................Testing: Structural Test: Whip Test and
Cooler Test + Sensor Test: Imaging Tests
November 14th…………………………………Testing: Overall Test: Experimental Systems Test
November 15th……………………………………..Design Document Rev C (7:00 am) + InClass Demo (Mission Simulation Test)
November 25th………………………………………………Finalize satellite and prep for launch
November 27th………………………………………………………….LRR Slides Due (7:00 am)
November 30th……………………………………………………………………...Final Weigh-in
December 1st ……………………………………...Launch day @ 6:50 AM (Weather Permitting)
December 2nd…………………………………………………………………….Celebration Party
December 3rd……………………………………………………………….System Failure Testing
December 4th……………………………………Launch Recap/Report + Data Analysis Guidance
December 8th………………………………………….ITLL Design Expo + Design Document
Rev D Due (7:00 am) + Extra Credit Video Due
December 11th………………………………………………………..Final Presentations and
Reports (7:00 am) + BalloonSat hardware turn-in
December 12th (Final Class) ……………………...Final Team Evaluations + Homework #09 Due
*Schedule after December 1st if launch postponed will be pushed back according to the
postponed launch date*
5.00 Budget
5.01 Weight
Hardware
Weight (g)
Quantity
Subtotal
Bearings
9.07185
2
18.1437
Magnets
132.297
1
132.297
Voltage Sensor
1
1
1
Arduino
30
2
60
Arduino Shield
30
2
60
Copper Wire
34.8
1
34.8
Accelerometer
1
1
1
Pressure Sensor
1
1
1
Page 14 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Temperature Sensor
1
2
2
GoPro
200
1
200
Camera
130
1
130
Humidity Sensor
1
1
1
Batteries
40
6
240
Heater
300
1
15
Structure
415
1
415
Total
N/A
N/A
1211
We are currently 86 grams overweight. TSOK traded with team 2 for an additional 80
grams of weight, and was given an extra six grams by Professor Koehler.
5.02 Budgeted Expenses
Hardware
Cost
Quantity
S/H
Subtotal
Bearings
14.95
2
6.11
36.01
Magnets
19.99
2
6.65
46.63
Voltage Sensor
19.95
1
0
19.95
Velcro
22.23
1
0
22.23
Total
N/A
N/A
N/A
124.82
5.03 Additional Expenses
Hardware
Usage
Cost
Quantity
Subtotal
Dry Ice
Cooler Test 1
26
1
26
Dry ice
Cooler Test 2
12
1
12
Total
N/A
N/A
N/A
28
5.04 Provided Items
Item
Quantity
Usage
Arduino
2
Data Collection
Arduino Shield
2
Data Collection
Page 15 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Accelerometer
1
Measuring Acceleration
Pressure Sensor
1
Measuring Pressure
Temperature Sensor
2
Measuring Temperature
Camera
1
Environment Imaging
Batteries
5
Power
Heater
1
Maintain Temperature
Switches
3
Control Electronics
LEDs
4
Indicators
Foam Core
N/A
Structure
Insulation
N/A
Maintain Temperature
Hot Glue
N/A
Structure
Flight Tube
1
Attach to flight String
Washer
2
Structure
Aluminum Tape
N/A
Structure
Wires
N/A
Electronic Connections
Solder
N/A
Electronic Connections
6.00 Testing
To test the integrity of the satellite, we will have a variety of different simulations and
tests under different conditions. These include drop tests, cooler tests, whip tests, imaging tests,
mission simulation tests, experimental system tests, and tests looking at the effectiveness of
different fin types and sizes.
6.01 Drop Test
A prototype version of the structure of our BalloonSat will be constructed with the same
dimensions and weight. This prototype will include the insulation and to simulate mass will
include rocks that are taped into place (to prevent damage because of the rocks moving around).
These rocks will need to weigh a total of approximately 980 grams to properly simulate the mass
of the components that will be housed inside the BalloonSat. Once this is completed a variety of
different drop tests will be conducted from different heights available to us. All heights should be
in excess of 10m and with additional force pushing the prototype toward the ground. This will
simulate a worse-case scenario landing. If the BalloonSat structure survives this, we can be sure
that it will survive the landing and the balloon pop on launch day.
Results:
Page 16 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
The prototype box was dropped from a height of approximately 13m with mass
simulators weighing a total of approximately 2kg. This weight of more than our allowed mass is
to ensure that the box will hold up to a large amount of kinetic energy being transferred from it
as it impacts the ground. The mass simulators were secured inside the box with duct tape. In the
end, the box survived very well (enough to repeat the test two more times with the same results)
aside from a few dents along the edges. There were no breaks in the box and all of the rocks
were still secured when the box was opened again.
BalloonSat
6.02 Cooler Test
With the same prototype as mentioned above a cooler test using dry ice will be
conducted. During this test the dry ice will bring the BalloonSat down to temperatures similar to
those at the coldest point during its fight. Inside the prototype there will be a single Arduino Uno
with internal and external temperature sensors wired up to it and the heater, constructed out of
ceramic resistors and 3 9 volt batteries. In addition to these systems all of the camera systems
will be functioning and recording. These systems will provide data on how close to flight
temperatures we achieved with the dry ice, as well as how well the insulation kept the
temperature up in the BalloonSat. This data will also give information on how all of the
components inside the BalloonSat function at low temperatures. Through this we can determine
what systems will need to be closest to the heating system. To succeed in this aspect of the
mission we need to keep the internal temperature above -10 degrees Celsius.
Results:
Page 17 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Cooler Test Data
60
50
Placed in Cooler
Removed from Cooler
40
Pressure (psi)
AccelX (g)
30
AccelY (g)
AccelZ (g)
20
Humidity (%)
Internal Temp (Deg C)
10
min
1.75
3.48
5.22
6.96
8.70
10.44
12.17
13.92
15.65
17.41
19.14
20.89
22.62
24.37
26.10
27.85
29.59
31.33
33.07
34.81
36.56
38.30
40.04
41.78
0
Time (min)
Page 18 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Cooler Test Data
35
Placed in Cooler
30
Removed from Cooler
25
20
Voltage (V)
15
Current (I)
10
Internal Temp (C)
External Temp (C)
5
min
1.95
3.89
5.84
7.78
9.73
11.67
13.61
15.56
17.50
19.44
21.39
23.33
25.27
27.22
29.16
31.11
33.05
35.00
36.94
38.88
40.83
42.77
44.72
46.66
48.60
0
Time (min)
The cooler test was a success because the internal temperature stayed above 10 degrees
Celsius for the duration of the test.
6.03 Whip Test
To ensure the integrity of the flight string attachment point, we will need to conduct
extensive whip tests simulating the forces that will be experienced after balloon pop. These tests
will need to be so extensive because our entire experiment depends on this point. With a
prototype box we will construct a working mock-up of the flight tube and the bearings that let it
rotate independently of the BalloonSat. Mass simulators will be put in place of all hardware.
From this point we will connect the flight tube to a section of string in the same manner that it
will be connected on launch day. The BalloonSat will be violently whipped around in an effort to
simulate the extreme forces present when the balloon pops. Whether or not the fight tube and the
rest of the structure attaching the bearings hold up will tell us whether or not we need to rethink
the attachment points.
Results:
Page 19 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
The test was successful. The BalloonSat
sustained no damage. The flight tube attachment
remained secure throughout the test. All interior
components remained in place.
6.04 Imaging Tests
Imaging tests will be conducted inside of one of our prototype boxes. This will ensure the
placement and that the software that controls the Canon A780 camera. In addition to this, the imaging test
will show us how long the batteries will last on both the Canon Camera and the GoPro.
Results:
Both cameras were mounted into the BalloonSat and turned on to test their field of view as well
as their battery life. The field of view on each of the two cameras included the fins on the sides of the box
to watch for any failure during the flight. Both of the cameras were mounted inside and turned on to the
mode they will be running in during the flight and both tested to have a battery life around the range of
2.5 hours. We know that temperature often has a very large effect on battery usage in electronics. To
negate some of this effect we will be locating the heater next to the batteries for both Arduinos and the
Canon A780 camera. The Go Pro Hero 2 has a built in heater to preserve its battery life in very cold
temperatures.
Page 20 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
6.05 Experimental Systems Test
The Experimental Systems test will be the test of the experimental structure. The flight
tube will be mounted on the bearings with the magnets attached to the flight string. The system
of coils will be constructed and there will be an Arduino located inside the BalloonSat prototype.
The BalloonSat will be spun around the flight tube. The current and voltage produced by the
generator will be written onto a 2GB SD card and stored. This test will ensure that all of our
coding for the experimental sensor works properly and that the system actually functions to
generate current. The data received from this test will give us background on how our
experimental system sensor is working and if we need to adjust some of its components such as
the VREF and gain.
Results:
The Experimental Systems Test went well. Upon looking at the results we immediately saw that
it would be necessary for us to adjust the gain on the sensor due to the overwhelming noise and
the fact that the sensor could not process the range it needed to sample on with such sensitivity.
This first test is illustrated by the first graph. To solve these issues we turned the gain down on
the sensor. This is illustrated by the second graph.
Page 21 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Current (I)
1200
1000
800
600
Current (I)
400
200
min
0.54
1.08
1.61
2.15
2.69
3.22
3.76
4.29
4.83
5.37
5.90
6.44
6.97
7.51
8.04
8.58
9.12
9.65
10.19
10.72
11.26
11.80
12.33
12.87
13.40
13.94
0
Time (min)
Current (I)
500
450
400
350
300
250
200
Current (I)
150
100
50
millis (ms)
3154
6234
9313
12398
15496
18580
21659
24742
27841
30929
34008
37088
40183
43274
46356
49435
52533
55619
58705
61784
64882
67962
71051
74133
0
6.06 Mission Simulation Test
To simulate the entire mission we will have all of the components that will be present on
launch located inside the BalloonSat. This includes all cameras, the Arduinos, and the entire
experimental system. The BalloonSat will be spun so that a voltage can be measured. This test
will ensure that all components running in the mission work properly while running at the same
Page 22 of 30
Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
time and that they will perform for the extended periods of time that they will be required for
during flight.
Results:
The mission simulation test ran for approximately 2 hours and 40 minutes. All systems
performed well, indicating that the BalloonSat is ready for launch.
Environmental Sensors
70
60
50
Pressure (psi)
40
AccelX (g)
30
AccelY (g)
20
AccelZ (g)
10
Humidity (%)
-10
min
9.59
19.17
28.75
38.34
47.92
57.50
67.08
76.66
86.25
95.83
105.41
115.00
124.58
134.16
143.74
153.32
162.90
172.49
182.07
191.66
201.24
210.82
220.39
229.97
239.56
0
Internal Temp (C)
Time (min)
Temperature
70
60
50
40
30
Internal Temp (C)
20
External Temp (C)
10
min
0.56
1.12
1.67
2.23
2.79
3.34
3.90
4.46
5.01
5.57
6.13
6.68
7.24
7.80
8.35
8.91
9.47
10.02
10.58
11.14
11.69
12.25
12.81
13.36
13.92
0
Time (min)
6.07 Safety
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
SOK will use many techniques to ensure both the safety of ourselves, as well as the
safety of any onlookers during our tests. During flight the BalloonSat will be securely fastened to
the string of the balloon, preventing the BalloonSat from falling separately from the balloon
apparatus. During all drop tests team members will station themselves about the drop area to
prevent any persons or items from entering the landing area. Whip tests will only be conducted
in open spaces with all nearby persons warned of the possibility of whip test failures and pieces
or all of the BalloonSat launching through the air. During cooler tests we will ensure that the
cooler is not sealed, allowing a pressure release so that CO2 will not buildup and violently
rupture the container. Additionally, SOK will place an American flag sticker onto the outside of
the BalloonSat. University of Colorado Boulder’s contact information will also be written on the
side of the BalloonSat. These two measures will help if the BalloonSat is recovered by a nonSOK team member. Basic common sense will also be used to maintain safety of all involved.
7.00 Expected Results
We hope to recover data from our flight confirming our hypothesis that wind power is not
a feasible primary source of power for BalloonSats. We expect that the amount of power
generated will be greatest in the first part of the flight. It will increase to its highest near the top
of the troposphere, where average wind speeds are highest. From this point it will start to go
down because the air is much less dense in the high atmosphere. The lower density of the air
should make for less force spinning the balloon. This would mean that to apply this power
toward the entire flight, it would need to be stored throughout in some type of system. All of this
data will come in the form of discrete data points of current and voltage. By putting all of this
data through a function to multiply the two, the instantaneous power going through the circuit.
This data will be graphed and compared to the altitude of the BalloonSat (calculated from the
atmospheric pressure samples obtained during flight.
8.00 Launch and Recovery
On December 1st, 2012 our BalloonSat will launch. TSOK member Dustin Fishelman
will be the team member holding the BalloonSat as it launches. The entire TSOK will be
traveling to recover the BalloonSat which will be located through the GPS sensor that is
launched with the BallonSat. This GPS data will be relayed to us by Professor Koehler. To
recover all of the flight data, we will remove the 2 GB SD cards from each of the Arduinos and
the Canon Camera and the 32 GB SD card from the Go Pro Hero 2. At this point, the data will be
put on a computer and backed up to another drive before being analyzed and graphed in
Microsoft Excel. We have done this same procedure when preforming cooler testing to verify
that it actually works.
Launch occurred at approximately 7:30 AM on December 2nd, 2012. The launch
proceeded without issue. The chase led us to corn field near Venango, Nebraska. The BalloonSat
was recovered just before 1:00 PM.
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
9.00 Results, Analysis, and Conclusion
9.01 Results and Analysis
Upon the recovery and analysis of our flight data it quickly became apparent that
something had gone wrong at some point in flight. Both Arduinos seemed to have begun a cycle
of resetting throughout the flight and there was little data to be recovered from either of the
Micro SD cards that the Arduinos wrote to. Due to this fact we were forced to extrapolate many
of our conclusions from the flight video and data obtained on the ground.
In analyzing the data we obtained from the Arduino measuring the current across the
generator we saw that there is only approximately 2.5 minutes of data. All data recovered was
prior to launch
Temperature
40
30
20
10
min
0.12
0.23
0.35
0.46
0.57
0.69
0.80
0.91
1.03
1.14
1.25
1.37
1.48
1.59
1.71
1.82
1.93
2.04
2.16
2.27
2.39
2.50
2.61
0
-10
-20
Internal Temp (C)
External Temp (C)
-30
-40
-50
-60
Time (min)
Looking at a graph of the current measured here we can see that the orientation of the
magnet goes largely unchanged. This section of data may have been from an unknown point in
the flight or when the BalloonSat was still on the ground before launch.
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Current (I)
800
700
600
500
400
300
200
100
Current (I)
Satellite spun prior to launch
min
0.10
0.19
0.29
0.38
0.47
0.56
0.66
0.75
0.84
0.93
1.03
1.12
1.21
1.30
1.40
1.49
1.58
1.67
1.77
1.86
1.95
2.04
2.14
2.23
2.32
2.42
2.51
2.60
0
Time (min)
The environmental sensing Arduino did slightly better but only gave a section of data
covering about 38 minutes. All of this data was typical. Barometric pressure went down, internal
and external temperature went down to expected levels, humidity had a spike (as it went through
the clouds) and then went down after and the accelerometer relatively normal readings.
Environmental Sensors
Launch
Pressure (psi)
Humidity (%)
Internal Temp (C)
min
1.44
2.88
4.32
5.76
7.20
8.63
10.07
11.51
12.94
14.38
15.82
17.26
18.69
20.13
21.57
23.01
24.45
25.88
27.32
28.76
30.20
31.64
33.07
34.51
35.95
45
40
35
30
25
20
15
10
5
0
Time (min)
Because of the constant readings from the accelerometer we could ascertain that burst did
not happen at any point during the time where this Arduino read. We compared our sensor data
to a number of other teams so we could have an idea of where this section of data was from. It
matched up well with the data other teams had received during the first parts of flight where the
BalloonSat had taken off and then gone through the cloud layer.
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
Acceleration
6
5
Launch
4
3
2
AccelX (g)
1
AccelY (g)
-1
-2
min
1.34
2.68
4.01
5.35
6.68
8.02
9.35
10.68
12.02
13.35
14.69
16.02
17.36
18.69
20.03
21.36
22.70
24.04
25.37
26.70
28.04
29.38
30.71
32.05
33.38
34.71
36.05
0
AccelZ (g)
-3
-4
Time (min)
From watching our flight video we could determine that the BalloonSat had a very high
angular velocity just after takeoff. If our experimental sensor had been running at this point in
time it should have seen a high number of fluctuations per minute in the current produced by the
generator. After the BalloonSat reached the cloud layer we saw that it almost entirely stopped
spinning. Aside from some slow rotation, this continued for the entire duration of the flight. The
time that the BalloonSat actually spun and would have created power was only a fraction of the
time it was in flight.
We can conclude from the data present that a system such as ours where the flow of the
atmosphere across the surface of the BalloonSat is used to create power would not be feasible.
We determined this by looking at the inconsistent spin of the BalloonSat and some of the
characteristics of the system we employed. First, it only spun at the rate we intended it to for the
first part of the flight. The amount of power generated from this would likely not be enough to
power any significant systems onboard the BalloonSat and would undoubtedly not outweigh the
advantages of using batteries. Second, the experimental system used a very great amount of the
weight that we could fly. If we were to devote all of this weight to other sources of power such
as batteries, we could power the BalloonSat for a great deal longer as well as provide a much
more reliable power system. In the end, we can say that it is possible to provide some power
from a system such as ours; it is not possible for this system to, by itself, power a BalloonSat,
without being augmented with an additional power supply system.
9.02 Failure Analysis
Although we saw in our flight video that the BalloonSat did spin a great deal during the
first part of its flight, there was little data to give us any context to what had happened with the
generator during that period of time. The data we did recover from the Arduino with the
experimental system consisted of only 3 minutes or so of actual sampling. After that point there
are a large number of empty data files that fill up the space where the data from the rest of the
flight should have been. This same thing happened with the other Arduino in the BalloonSat that
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
was measuring environmental variables, only it managed to run for a longer time before
succumbing to the same fate.
The way both of the Arduino systems had failed tells us a great deal about what may have
happened in the flight. We saw on both Micro SD cards that after the first set of data there were
only a number of empty files. This indicates that the Arduinos did not fail entirely, but in fact
they had kept turning on and off during the flight. Each time they had reset, it would create a
new data file to be filled. They stopped reading data but were still functional and trying to run
the code that was uploaded onto them to read the sensors and record the data to the Micro SD
card each had onboard.
This lack of real data about the flight left a large gap in what we could determine
happened to ultimately cause the experiment to fail. We had tested it numerous times with the
exact same components that had been flown on launch day (aside from the batteries). A two hour
and 40 minute MissionSim had been performed the day before flight. The only system that had
changed prior to flight had been the set of batteries installed for launch day. Upon realizing this
we performed extensive testing on the batteries used in flight, only to find that the same issue
came up. Both Arduinos would reset periodically and then entirely stop reading data even though
both batteries had enough power to support the Arduino systems. When the Arduinos were set up
to be powered by a computer they had no issues and sampled from each sensor as intended. This
pointed to an issue not with the Arduino system but with the mobile power supply that it had
used during flight. When each Arduino was powered by a new 9 volt battery this problem
entirely disappeared. Everything ran as intended without any of the resetting problems that had
appeared in flight. We received similar data as during our preflight testing.
Beyond this issue, when we opened the box after recovery we found that the set of three
batteries powering the heater had become dislodged from where they were bound to and had
stuck to the magnet. This most likely happened in the moments after burst (or cut in our case)
when the BalloonSat is subject to a great deal of force. While if this had happened at burst, it
would not have affected our experimental data, it is an issue for re-flight. If a failure like this
were to happen with an Arduino (which was secured in the same way as the batteries) it could
ruin our chances of being able to fly again. To fix this issue, we have moved the batteries farther
away from the magnets in the box and we have secured each of the components inside the
BalloonSat better.
10.0 Ready for Flight
Our payload is currently entirely ready to fly again. After recovery, there were only some
minor changes to be made so that it could be flown again. First, we placed all of the batteries
farther away from the magnets and we secured them better. We ran into a problem sometime
during flight when the batteries used for the heater became separated from where they were
attached and stuck to the magnet. This stopped the entire BalloonSat from rotating as it should
have around the flight string. Keeping these components separated from one another better will
prevent a failure similar to this in future flights. All of the components of our structure were
completely intact and will not need to be replaced or adjusted. Our payload should be stored so
that it is not in a cramped space. If any of fins on the outside of the box are damaged they will
need to be replaced before another flight so that they can properly catch the flow of the
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Team Spirit of the Koala
December 13, 2012
Project VOLT
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
atmosphere across them. Aside from this, our BalloonSat does not have to be stored in any
particular orientation. The payload can be activated simply by turning on all of the switches
located on the exterior of the box. Each switch has an LED accompanying it to indicate the status
of the system it is controlling.
11.00 Conclusions and Lessons Learned
Team Spirit of the Koala learned many lessons through the semester. We learned a lot
about each other, a lot about patience, and a lot about BalloonSats. We learned how to build a
generator. One of the greatest challenges we faced was construction of the electrical components
of the satellite. All the wiring was custom made and soldered by hand. Additionally both
Arduinos needed to be programmed to record all sensor data; this required us to learn the
Arduino coding language. As a team we learned a lot about how long integration can actually
take.
If we had a chance to do this project again, the main thing we would do differently is
scheduling. We would use the syllabus to schedule important due dates. Moreover, we would set
ourselves definite deadlines along the way. Allowing ourselves more time to integrate the
satellite would have saved us a few longs nights and many headaches. Finally, a second thing
that we would do differently is using glue to adhere the Velcro strips to the walls of the box. This
would provide extra security and possibly eliminate our main failure.
12.00 Message to Next Semester
Professor Koehler was in fact correct in saying that we will spend more time on this class
than any other class during the semester. You may not believe it at the beginning of the semester
but this class will challenge you, stress you, keep you up until the early hours of the morning and
most of all, things will go wrong at the worst possible moment. All of that said, Gateway to
Space will be the most fun you have ever had on a project. It is immensely rewarding to launch
what you have worked so hard on for so long. There are a number of things that as a team you
can do to make the overall experience less stressful though.
To start, you must have a strong team leader, someone who will not be afraid to kick
people into line to get done what needs to be done. This is because without a doubt there will be
people on the team who do not want to contribute to the best of their ability. Second, do your
research. You may have a good concept at the beginning and it may go well throughout the
project, but you must know everything about how your concept works. In the case that you don’t,
things will start to pile up very quick when you can’t understand something that has gone wrong.
Third, work out just when your team can meet and have very good communication between team
members. This will make everything else much less stressful. Overall, the main thing that we
should have done differently was testing. Had we completed our MissionSim testing earlier we
could have worked out all of our problems without needing to spend the night in SpaceGrant
hours before the BalloonSat was due. In the end, have fun with the experience.
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D
Gateway to Space ASEN 1400/ASTR 2500___________________________________Fall 2012
13.00 References
1.) "Faraday's Laws and Magnetic Induction." MIT Physics Notes. MIT, n.d. Web.
<http://ocw.mit.edu/courses/physics/8-02sc-physics-ii-electricity-and-magnetism-fall-2010/faradayslaw/MIT8_02SC_notes21.pdf>.
2.)"Faraday's Laws." Hyper-Physics. N.p., n.d. Web. 21 Oct. 2012. <http://hyperphysics.phyastr.gsu.edu/hbase/electric/farlaw.html>.
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Team Spirit of the Koala
Project VOLT
December 13, 2012
Rev D