CanSat & Rocket Experiment(‘99～） UNITEC-1ハイブリッド

’10 Venus
ロケット

CanSat Lecture
- Its Educational Significance -
Shinichi Nakasuka
University of Tokyo

PRISM ‘09

CubeSat 03,05 Nano-JASMINE ‘11

 Contents
• What is CanSat ?
– Birth of Concept and History
– Variety of CanSat
• Significance of CanSat Based Training
• CanSat Systems and Operations
– Basic Systems and Operations of CanSat
• CanSat Missions
– Example missions
– Tips
Ti for
f mission
i i creation
ti
• Common and different things with/from satellite
• Level of CanSat Training
 Wh t is
What i CCanSat
S t?

• In November 1998 at the University Space

Systems Symposium (USSS) held in Hawaii, Prof.
Bob Twiggs (Stanford University Space Develop Develop-
ment Laboratory) proposed "CanSat" concept.
• A 350-ml
350 l can sized
i d smallll satellite
t llit ffor educational
d ti l
purpose, which is launched into high altitude by
rockets,
k t b balloons
ll and/or
d/ model d l aircrafts;
i ft and d
experiments are performed during descent by para-
chute,
h t simulating
i l ti th the satellite
t llit operations
ti iin space
 Initial Concept of CanSats Program
What is the CanSat Program ?
((As of 1998 byy Prof. Twiggs)
gg ) （Cont.）

Each participating university will develop one CANSAT

(http://www.ae.utexas.edu/~cansat/)
and launch them altogether

GEKKA-BIJIN
 US Amateur Group Help Us !
• AEROPAC Amateur
Rocket group
• 1 stage solid motor
• Lift 1
1.8
8 kkg tto 4 kkm
3m • Three 350ml sized
cans or one “Large
sized can”
• Cost $400 / flight
• Black Rock Desert
(Nevada, USA)
 ARLISS (A Rocket Launch for
International Student Satellites)
- Annual
A l suborbital
b bi l launch
l h experiment
i -
 ARLISS 1999：Sept. 11 (Japan:2, USA:2)
 Univ.of
Univ of Tokyo
Tokyo, Titech
Titech, Arizona State
State, etc
etc.
 ARLISS 2000: July 28-29 (Japan:4, USA:3)
 ARLISS 2001: August 24-25
24 25 (Japan:5, USA:2)
 ARLISS 2002: August 2-3 (Japan:6, USA:3)
 ARLISS 2003: Sept.26-27 ((Japan:6, USA:3))
 ARLISS 2004: Sept.24-25 (Japan:6, USA:3)
 ARLISS 2005: Sept.21-23 (Japan:7, USA:3)
 ARLISS 2006 Sept.20-22 (Japan:8 USA:3 Europe:1)
 ARLISS 2007 Sept.12-15 (Japan:10 USA:3 Korea:1)
 Sept 15 20: 10th Memorial ARLISS !
ARLISS 2008 Sept.15-20:
 ARLISS 2009 Sept.15-19 (Japan:12 USA:3 Korea:1)
 ARLISS 2010 Sept.13
Sept 13-1717 (Japan:13 USA:2 Korea:1)
 ARLISS 2011 Sept.12-16 (Japan:14 USA:2 Korea:1)
 ARLISS 2012 Sept.10-14
 Balloon Experiment in Japan
• It
Itakura
k Competition
C titi 2002 (Th
(Thermall b
balloon)
ll )
• Noshiro Space Event 2005～
• IAC Fukuoka International Competition 2006
2005
100-200m

Helium
Balloon
CANSAT
Gondora

Tether

CANSAT
Drop（20 sec）
 Variety of CanSat

Nominal 350ml Juice Can size

(3 CanSats can be launched
by one ARLISS rocket)

“Open Class”: One CanSat can be

launched by one ARLISS rocket
 Significance of
CanSat Based Training
g
 Educational Significances of
CanSat/Micro/Nano/Pico Satellite Projects
CanSat/Micro/Nano/Pico-Satellite
 Practical Training of Whole Cycle of Space Project
 Mission conceptualization, satellite design, fabrication,
ground test, modification, launch and operation
 Know what is important and what is notnot.
 Importance for Engineering Education
 Synthesis (not Analysis) of an really working system
 Feedbacks from the real world to evaluate design, test, etc.
 Learning from failures (while project cost is small)
 Education of Project Management
 Four Managements: “Time, human resource, cost and risk”
 Team work, conflict resolution, discussion, documentation
 International cooperation, negotiation, mutual understanding

 Also contributions to other technology areas !

 Special Features of CanSat
• Very Short Period Required for One Whole Project
– 5-6 months for mission conceptualization, satellite
design fabrication
design, fabrication, ground test
test, modification
modification, launch
launch,
operation with variety of hands-on
– Launch date is usually fixed: no delay is allowed
• Very Low Life Cycle Cost for One Project
– $200 - $1,000
$1 000 budget for one team (typically)
– Helium balloon test requires $150 and Rocket launch
requires $400 (ARLISS), etc.
– No need for actual launch into space
• Small, but Still Can be “a Satellite”
– All th
the satellite
t llit ffunctions
ti + mission
i i can b be packed
k d
• CanSat can be Retrieved after Experiment
– Analysis of the causes of failures is easy
• Possibility of sponsorship from juice/cola company
 Example of Failure (2000)
Parachute ppart and bodyy was separated
p
by the shock of the deployment of the
p
parachute
Failure should be experienced many times and
fully analyzed while project size is small !
CanSat Systems and Missions
Various Missions of
CanSat (since 1999)
Loading to
inside of
rocket
nose-corn
 ARLISS

4km (ARLISS)
4k
altitude CAN SAT deployment

nosecone
carrier
15-20 min
after release
l
launch
h

Amateur Rocket Launch

and Descent by Parachute
CanSat Deployment
p y using
g Helium Balloon
Helium
B ll
Balloon

CANSAT Gondora

100-200m
Tether

Redundant
system for
safety
RF signal to
open the door
CANSAT Drop p
（20-30 sec）

Radio controller (“propo”)

Handy Ground Station
(for ARLISS Project)

•Reception of downlinked signal,

signal
monitor the satellite status, and store
the data in computer
p

Yagi-Antenna Transcever
N t PC
Note
·Frequency : 144MHz ·with TNC
·Gain : 8dBi ·144/430MHz dual band
·length
l th : 87
87cm ☆TNC
·weight : 530g AX.25
1200 / 9600bps

22
 GS Software on PC (1999)
( )
CanSat rotation
Clock Time

Gyro Output
Motor
Command
Schedule Solar Cell Output

Motor Battery Voltage

Current
Status

Number of
Received packets

Data Logging on Memory.

23
 “Non-maintainable System”
• A satellite, even a CanSat cannot be contacted
until the end of its mission once it is loaded on a
rocket or balloon
– “non-maintainable
“ i t i bl system”
t ”
• Sometimes it should survive in space for more
than 10 years without any human interactions, so
g
• Imagine all the p
possible events and anomalies
which may happen on Satellite or CanSat and
prepare
p p countermeasures for them as many y as
possible
• Try as many ground test as possible in various
settings to ensure normal operations of CanSat
 CanSat #001 (1999)

• Experiment of whole satellite

f
functions
ti in
i 350 mll can size
i
– On board CPU using PIC
– Reaction Wheel
– Launch-lock byy Nylon/Nicrom
y
– Solar Cell/Battery Charge
– Attitude Motion Sensing by Gyro
– RF Communication (downlink)
– On board EEPROM
On-board
 CanSat 1999

C S t #001 R
CanSat Result
lt
• CANSAT rotation and solar power data

Rotational velocity（Gyro output） Solar power generation

 CanSat #002
Very
y Simple
p CANSAT
parachute Battery(Li Ion)
Battery(Li-Ion)

Main CPU PCB Sensor PCB

350ml Juice Can

TNC Transmitter
Antenna
 CanSat 1999

CanSat #003
• CCD Camera capture video image from Sky
• Downlink captured video image to ground
 DGPS Experiment
p ((2000))
Pre-experiment for future
○GPS measurement and
F
Formation
ti Flying
Fl i ini Space
S downlink
○Differential GPS
experiment by crosslink
between three CanSats

（Collaboration
with Titech）
 Stand-up ! CANSAT (2000)

Deploy legs and

Landingg stand-up!
stand up!
Landing detection by air
pressure sensor

EDL Landing Mechanism

 Stand-up mechanism

Extension!

Leg

Stopper

EDL Landing Mechanism

Picture From the Sky
y (2005)
( )
 Come-Back Competition

Si ARLISS2002
Simple
l criteria,
it i C Competition
titi makes
k motivation
ti ti
 Students aimed for this flag !
Jim and Becky keeps this flag in good condition
every year.
year Thank you !!

Target Point: 0.9 km west of launch site

Briefing on Tuesday
 Come-Back Competition 2002

Participating Universities 2002

Univ. of Tokyo Kyushu Univ. Nihon Univ.

Tokyo Institute
Tohoku Univ. of Technology
gy Stanford Univ.

ROVER
 Come-Back Competition 2008
Fly-backers

Kyushu Tech KINGS Titech Str. Dynamic Lab

Kyushu University B Keio University

 Come-Back Competition 2008
Fly-backers

University of Tokyo ISSL Titech Matunaga Lab B

Kyushu Tech. Cho Lab A Kyushu Tech. Cho Lab B

 Come-Back Competition 2008
Fly-backers

Akita University Titech Matunaga Lab A

Soka University C Nihon University

 Come-Back Competition 2008
Fly-backers
Flyback CanSats: 12
Rover CanSats: 6
Hybrid: 1
Non-comeback:
Non comeback: 4
Total: 23
Kyushu University A

Non-comebackers

Need photo !

Keio High School Soka University C

 Come-Back Competition 2008
Rovers

University of Tokyo B3 Tsuyama College

Tohoku University Univ. for Electro Comm.

 Come-Back Competition 2008
Rovers

Soka Universityy B Seoul National Univ.

Flyback CanSats: 12
Rover CanSats: 6
Hybrid: 1
Non-comeback: 4
Total: 23
 Come-Back Competition 2007

2008 Comeback
C b k Competition
C titi R Ranking
ki
1st Place:
Pl Tohoku
T h k University
U i it (R):
(R) 0m

2nd Place:
Pl Nihon
Nih University
U i it (F):
(F) 818 m

3rd Place: Titech Matunaga Lab (F): 903 m

 Come-Back Competition 2008
Rovers

University of Tokyo B3 Tsuyama College

Tohoku University Univ. for Electro Comm.

 Tips
p to create CANSAT missions
• Sensoring: to be decided considering what kind of
sensors are available and how easy to implement
– Temperature, pressure, GPS, accelerometer,
sun light
light, gyro
gyro, ultra violet
violet, sound
sound, infra red
red…….
• Actuation： available actuators, power, force, etc.
– Motor, nychrom line to cut nylon wire, magnet,
utilization of shock of landing, spring, gravity…
• ON/OFF switching
– Triggered
gg by;
y; command uplink,
p , timer,, events…
• High level actions
– Guidance/control with GPS(comeback)
GPS(comeback), camera
camera,
LED, stand-up, moving after landing……… 48
Important Consideration in Mission Creation
• Aiming at interesting, but not so high (within
your ability)
bilit ) technological
t h l i l llevell
– Should finish within the lime limit, considering
h
human resource andd expertise
ti
– Consider what you can do in the laboratory
f ilit and
facility d available
il bl components t
• The most important thing is to make what
really works as designed
• Usually task requires almost twice as long
time as expected: add schedule margin!
• Step-up
Step up from easy level to higher levels
• Consider how to verify your design by tests
 Create Mission Sequence !
１）Set upp CANSAT and p put it into a rocket and turn
on switch A (something start operation)
２）Rocket side prepare launch (you cannot contact
and not predict the time in this phase precisely)
３）Launch with high acceleration (CanSat may mea-
sure something in a rocket and write in memory)
4) CanSat starts certain operation triggered by some
switch at the timing of release from the rocket
5) Downlink mission data as well as write in memory
6) Uplink command may tell CanSat to do something
7) Landing may trigger also another actions
System
y Analysis:
y Power Budgeting(2)
g g( )
time
• Based on the mission Switch-on
sequence CPU 0.5W

• Calculate the total Release from rocket

power consumption GPS
(--Wh or --Ah) Landing

• Add some margin Motor

(such as x1.5)
• Estimate the required TX
battery type and size
(e g 500mWh x 3)
(e.g. RX
• Do sequence test in
real situation ! S
Sensor1 1
Case for CanSat without Solar Cells
-------
Common/different Things
with/from Actual Satellites
 Space
p Environment
■ Vacuum Vaporization, cold welding,
Vaporization welding friction,
friction electric
discharge, change of material, heat spot….
■R di ti
■Radiation El t i parts
Electronics t malfunction
lf ti and
d breakdown,
b kd
Degradation of solar cells and materials…..
■Thermal Large temperature differences/cycles,
heat shock, heat spot…..
■Launch Vibration, shock, acceleration,
sound vibration…..
■Distance No maintenance possible, long range
communication, trackingg required…..

Others: Atomic Oxygen, Debris/Meteoroids, Ultraviolet rays

 Satellite Development & Operation Facilities
Clean Booth (class 10,000) Vibration Table (25g rms) Thermal bath
(-70 ～100 ℃)

Thermal Vacuum Chamber

- Solar Simulator
- Attitude free
motion table
- RF test room
at NAOJ - Vacuum Chamber
 CanSat / Satellite Systems uplink downlink

Thruster Command Receiver Transmitter

Memoryy

Torquer Command
Comm. Computer
Motor Currentt
C Data
•Actuator status OBC •Communication

Command Sensor data

Sensors,
experimental
system,
t D t
Data
S1 S2 S3 S4 S5
camera, etc. Command
voltage, temperature
Mission Subsystem •C&DH
•Mission Bus Sensor
•Sensor attitude sensors
controller

Power System
Th
Thermal
l Control
C t l System
S t Structure
St t and
d
Mechanism System
Solar Cell Battery
 Ground Station Facilityy

Command Uplink
Orbit Analysis Tx/Rx Equipment Control
Tl
Telemetry
t Server
S

Main Screen Radio Equipment

Telemetry Distribution Network

FLIGHT INCO EECOM EGIL

HK Data
D t Di
Distribution
t ib ti

Terminal for Subsystems

Ground Station Antenna
ISSL ground station (Tokyo)
(completed in 2009)

Mizusawa ground station (Iwate)

Swedish Space
p Corp.
p (Kiruna)
( ) is
ready to receive telemetry at initial
phase.
 Ground Operation

•Reception of downlinked signal,

signal
monitor the satellite status, and store
the data in computer
p

Yagi-Antenna Transcever
N t PC
Note
·Frequency : 144MHz ·with TNC
·Gain : 8dBi ·144/430MHz dual band
·length
l th : 87
87cm ☆TNC
·weight : 530g AX.25
1200 / 9600bps

58
 BBM – EM – FM Development Process

2000 2001
9 11 1 2 4
Conceptual USSS Mission CDR
g
Design Conference Defined
Radiation XI-II（BBM) Thermal
Test Vacuum
XI I（BBM)
XI-I（BBM)

5 6 9 11 12
Long Range Vibration Const. Temp. Vacuum
Comm. Test Oven
(ISAS Balloon) XI-IV,V
XI-III（EM) (FM)
Thermall
Th Operation
Vacuum Practice
 Integration
g

Mounting solar cells on the

flight model in the clean booth

Final Integration
Procedure
CanSat: Differences from Satellites
• System architecture
– No thermal system
– Minimum or no redundancy (short time span)
• Required ground tests
– Vibration/shock test for rocket launch
– Sequence test
• Ground
G d operation
i
– Short range:
g small hand-held Yagi-antenna
g
• Development process
– No
N clean
l b
booth
th required
i d
– BBM/EM + FM or EFM type simple process
 What you can learn in CanSat ?
• Mission creation and sequence generation
• Satellite architecture design
• System analysis (power/weight budgeting)
• Subsystem design and fabrication
• Development process (BBM/EM/FM,
(BBM/EM/FM Design
Review) and Project Management
• Assembly, Integration and Test (AI&T)
• How to do “Field
Field Test
Test” (rocket or balloon)
• Ground operation (uplink/downlink/console)
 Various Levels of CanSat
Development
1) Assemble “kit” with fixed mission, ground
p
test and launch/balloon experiment
– 1-1) Add original mission with new components
2) Create mission,
mission obtain(buy) subsystem
components, ground test and launch/balloon
experiment
– 2-1)) Design/fabricate
g some components
p
– 2-2) Design/fabricate all the components
Find adequate level considering you and your team’s expertise !
 Expertise
p to be Obtained

Mission Architec- System Sub Project AI&T

creation ture Analysis system manage-
design design ment

1) y y

1-1) y y y y E

2) E E E E E

2-1) E E E y E E

2 2)
2-2) E E E E E E
Note) AI&T Assembly, Integration and Test y:small effect E:large effect
 Substems-based
Substems based Teaming
– “Bus”
Bus and “Mission”
Mission Subsystems
– CanSat Subsystems
• Command & Data Handling System (C&DH)
• Software
• Power System (battery, charge/discharge system)
• Communication System (incl. antenna)
• Ground Station
• Sensors (may be elements of mission)
• Actuators (may be elements of mission)
• Mission
• Structure & Accessories (incl. parachute)
 CanSat Teaming
• Based on subsystems
– “C&DH + software + power” group, etc.
• Based on administrative roles:
– Project Manager (PM)
(PM), Sub-manager
Sub manager
– Budget management
– Parts/components
P t / t searchh and
d purchase
h
– Documentation and data control (Web, ICD….)
– Outer relationships & promotion
(permission,, regulations,
(p g , seeking
g for fund,, etc.))
CanSat is the Best First Step towards Space

As of May 2012

CanSat participating universities