SABRE-I: An End-to-End Hs-On CubeSat Experience for the Educate Utilizing CubeSat Experience Program Bungo Shiotani Space Systems Group Dept. of Mechanical & Aerospace Engineering University of Florida April 21, 2016 April 21, 2016 13 th Annual CubeSat Developer s Workshop 1
EdUCE Program Highlights April 21, 2016 13 th Annual CubeSat Developer s Workshop 2
SABRE-I Project Life-Cycle Need Requireme nts Design Developm ent Verificatio n Valida (V&V) Utiliza Support Retiremen t The mission is to provide end-to-end hs-on experience through on-orbit/inflight image video capturing over Gainesville, FL on a CubeSat-class system April 21, 2016 13 th Annual CubeSat Developer s Workshop 3
Need Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment Objective Need: To underst learn the end-to-end process Approach: utilize SABRE-I to emulate an end-to-end space mission (i.e., conceptualize, design, fabricate, operate, decommission) Constraints Programmatic Cost: $2,000 Schedule: Complete within 1 year Mission defini Mission objectives Primary Secondary Technical Spacecraft: 3U-class or smaller Flight: Fly on high altitude balloon CONOPS WBS Tasks responsibilities April 21, 2016 13 th Annual CubeSat Developer s Workshop 4
Requirements Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment Underst regulas FAA regula, U.S. CFR 14 Part 101 (MOORED BALLOONS, KITES, AMATEUR ROCKETS AND UNMANNED FREE BALLOONS) Requirements flowdown alloca Detailed WBS Detailed WBS Developed requirements verifica matrix for traceability Number Requirement 1.1.3 EPS Subsystem The EPS subsystem shall include a rechargeable battery to provide 1.1.3.1 sufficient power to all peripherals on SABRE-I The EPS subsystem shall include a power distribu module that will 1.1.3.2 deliver power to all peripherals on SABRE-I The EPS subsystem shall include a 1.1.3.3 power genera module to charge batteries Verifica Method A O D T R Verifica Artifact X X Design Reference Document X X Design Reference Document X X Design Reference Document Requirements verifica matrix Status April 21, 2016 13 th Annual CubeSat Developer s Workshop 5
Design Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment Volume Mass Power Link Altitude Cost Schedule Initial budgets 3U-class 4 kg TBD TBD 152.4 m (500 ft.) $ 2,000 < 1 year Performed trade studies on components Determined interfaces between all components Designed custom PCBs structures Developed V&V plans Cameras Op 1 Op 2 Objective Weighting Factor Parameter Mag. Score Value Mag. Score Value Price 0.10 $ 69.99 7.0 0.7 49.04 10 1.0 Interface 0.40 Quality Great 10 4.0 Poor 2 0.8 Compatibility 0.30 Quality Great 10 3.0 Poor 2 0.6 Max Resolu 0.10 Pixels 1920000 10 1.0 307200 5 0.5 Min Resolu 0.10 Pixels 19200 8 0.8 19200 8 0.8 Overall value 4.7 1.8 System architecture N2 diagram Trade study Custom PCBs V&V plans April 21, 2016 13 th Annual CubeSat Developer s Workshop 6
Development Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment Developed: PCB stack Structure (8020) & panels Flight software Flight software PCB stack Custom panels April 21, 2016 13 th Annual CubeSat Developer s Workshop 7
Verifica Valida Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment Performed V&V tasks according to the plan developed earlier During V&V, completed final budgets (mass, power, cost, link) requirements verifica matrix Mass 1755.56 g Power < 2.5 W Cost $1,428.92 Volume 120x120x300 mm (3U-class) Link > 500 ft Schedule 1.5 months April 21, 2016 13 th Annual CubeSat Developer s Workshop 8
Test Launch April 21, 2016 13 th Annual CubeSat Developer s Workshop 9
Design Iteras Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment First itera to second itera Power on/off by connecting/disconnecting battery Camera has internal level shifter so no flight daughter board needed Optimize PCB stack design Design 1 Design 2 Design 3 Design Development V&V Test launch Design itera summary Design Development V&V Design Development V&V Launch Second itera to third itera Isolate voltage bus circuits Access ports on the panels are limited, thus, the RBF charging ports were moved on the stack Optimize PCB stack design April 21, 2016 13 th Annual CubeSat Developer s Workshop 10
SABRE-I Specificas Mass 2215.82 g Cost < $1500 Power ~2 W (orbit average power) Payload Dimensions TT&C EPS Launch 3U CubeSat-class (12 x 12 x 32.5 cm) Xbee Pro 900 with duck antenna Solar cells on four sides 3.7V 10Ah Li-Po battery 3.3V, 5V, 9V voltage buses (typical CubeSat voltages) Balloon Tethers CDH ADS Structure Ground Support 4 cameras 4 camera temp sensors Arduino DUE MicroSD card data storage RTC 5 current sensors 6 internal temp sensors 6 external temp sensors Pressure sensor with temp sensor 3-axis magnetometer 3-axis gyroscope 3-axis accelerometer GPS receiver 6 Sun sensors Custom side panels 80-20 structural frames Xbee Pro 900 with duck antenna Matlab GUIs April 21, 2016 13 th Annual CubeSat Developer s Workshop 11
Utiliza Support Need Requi remen ts Desig n Devel opme nt Verific a Valida (V&V) Utiliza Supp ort Retire ment Launched on a tethered balloon Flight Operas Used set of uplink comms Used GUIs to monitor real-time downlink Sensor GUI Health GUI Comm GUI April 21, 2016 13 th Annual CubeSat Developer s Workshop 12
First Launch November 6, 2015 April 21, 2016 13 th Annual CubeSat Developer s Workshop 13
Second Launch December 2, 2015 April 21, 2016 13 th Annual CubeSat Developer s Workshop 14
In-Flight Camera Data April 21, 2016 13 th Annual CubeSat Developer s Workshop 15
Retirement Need Require ments Design Develop ment Verificat ion Validatio n (V&V) Utilizati on Support Retirem ent Post-processed downlinked data Documented lessons learned 120 110 100 90 Altitude Pressure GPS Altitude (m) 80 70 60 50 40 30 20 0 500 1000 1500 2000 2500 Time (s) April 21, 2016 13 th Annual CubeSat Developer s Workshop 16
Flight Data: Voltages Currents 9 8 7 Voltage Battery Panels 3.3V Bus 5V Bus 9V Bus 12 10 Voltage Battery Panels 3.3V Bus 5V Bus 9V Bus 6 8 Voltage (V) 5 4 Voltage (V) 6 3 4 2 1 2 0 0 500 1000 1500 Time (s) Current 1400 1200 0 0 500 1000 1500 2000 2500 Time (s) Current 900 800 Current (ma) 1000 800 600 400 Battery Panels 3.3V Bus 5V Bus 9V Bus Current (ma) 700 600 500 400 300 Battery Panels 3.3V Bus 5V Bus 9V Bus 200 200 100 0 0 500 1000 1500 Time (s) 0 0 500 1000 1500 2000 2500 Time (s) April 21, 2016 13 th Annual CubeSat Developer s Workshop 17
Lessons Learned Flight system Consider alternative payload communica systems Use server to host code for multi-person coding Need alternative connectors on stack Use of CAD software rapid prototyping to verify design Product verifica after acquisi Ground system Improve ground system (mainly software) Launch system Written set of launch procedures Vital to check weather condis prior to launch Improve on tether system April 21, 2016 13 th Annual CubeSat Developer s Workshop 18
Lessons Learned Comments Provides exposure to an end-to-end process Provides experience knowledge for other projects research Satisfied but wanted more experience with hardware structure There are costs associated with shipping, taxes, etc. SABRE-I was utilized in a Capstone Design Course for college seniors in Fall 2015. All teams succeeded in obtaining flight data gained valuable hs-on experiences. Elements of SABRE-I has been utilized to teach middle school students from The Weiss School (Palm Beach Gardens, FL). April 21, 2016 13 th Annual CubeSat Developer s Workshop 19
Thank you! Contacts: Bungo Shiotani (bshiota@ufl.edu) Norman Fitz-Coy (nfc@ufl.edu) April 21, 2016 13 th Annual CubeSat Developer s Workshop 20