NASA Student Launch W. Foothill Blvd. Glendora, CA Artemis. Deployable Rover. November 3rd, Preliminary Design Review

Transcription

1 NASA Student Launch Preliminary Design Review 1000 W. Foothill Blvd. Glendora, CA Artemis Deployable Rover November 3rd, 2017

2 Table of Contents General Information School Information Adult Educators Safety Officer Team Leader Team Members and Team Proposed Duties NAR/TRA Sections I. Summary of PDR Report Team Summary Launch Vehicle Summary Payload Summary II. Changes Made Since Proposal Changes Made to Vehicle Criteria Changes Made to the Payload Changes Made to Project Plan III. Vehicle Criteria Selection, Design, and Rationale of Launch Vehicle Mission Statement Mission Success Criteria Design Review Current Design Alternative Design Launch Vehicle Subsystems Subsystem: Propulsion Subsystem: Aerodynamic and Structural Stability Subsystem: Recovery Recovery Subsystem Design Review Current Recover System Components

3 Preliminary Parachute Analysis Electrical Components Mission Performance Predictions Flight Simulation Results Selected Motor Characteristics Vehicle Stability Kinetic Energy Drift from Launch Pad IV. Safety Safety Officer Responsibilities Preliminary Checklists Preliminary Personnel Hazard Analysis Preliminary Failure Modes and Effect Analysis Environment Concerns V. Payload Criteria Objective of the Payload Payload Mission Success Criteria Payload Systems Current Leading Design Table 44 shown below lists out the materials for the current leading payload design with each materials dimensions and mass Successful Payload Evaluation Preliminary Integration Plan Rover Incorporation VI. Project Plan Requirements Verification Team Derived Requirements Verification Budgeting and Timeline Funding Plan NASA Student Launch Timeline

4 Appendix A: College Profile Appendix B: MSDS Appendix C: Protocols Appendix D: Safety Contract Table of Figures Figure 1: Rocket Owls Organization Figure 2: Exterior View of Launch Vehicle Figure 3 Interior View of Launch Vehicle Figure 4: Cross-Section View of Booster Section Figure 5: Launch Vehicle Alternative Design Diagram Figure 6: Work Break Down Structure of Launch Vehicle System Figure 7: Work Break Down Structure of Propulsion Subsystem Figure 8: Interior View of Booster Section Figure 9: Cross-Sectional View of Booster Section Figure 10: Work Break Down Structure for Stability Subsystem Figure 11: Fin Dimensions Figure 12: Work Break Down Structure for Recovery Subsystem Figure 13: Aerotech L1170FJ Motor Thrust Curve Figure 14: Cesaroni L1090SS Thrust Curve Figure 15: Bulk Plate and U-Bolt Interface Figure 16: Missile Works RRC2+ Altimeter Figure 17: E-match Igniter Figure 18: 9V Battery Figure 19: 4F Black Powder Figure 20: Altus Metrum TeleGPS Figure 21: Exterior Avionics Bay Figure 22: Interior Assembled Avionics Bay Figure 23: Interior Profile View of Avionics Bay Figure 25: Total Velocity vs. Time Graph Figure 27: Aerotech L1170FJ Motor Thrust Curve Figure 28: CP and CG of Launch Vehicle with Motor Figure 29: CP and CG of Launch Vehicle without Motor

5 Figure 30: Alternative Rover Deployment System Designs Figure 31: Spring Deployment System Alternative Figure 32: The Doors Deployment System Alternative Figure 33: Two Threaded Rod Deployment System (Leading Alternative) Figure 34: Alternative Rover Designs Figure 35: Exploded Rover (Labeled) Figure 36: Rover (Labeled Dimensions) Figure 37: Rover Deployment System (Labeled) Figure 38: Rover and Rover Deployment System Figure 39: Rover and Rover Deployment System (Labeled Dimensions) Figure 40: Interior Payload Bay Figure 41: Internal Covered Payload Bay Figure 42: Fully Assembled Interior Payload Bay Figure 43: Payload Bay After Rover Deployment System Activation Figure 44: Rover Deployment System Electrical Schematics Figure 45: Electrical Schematics for the Rover Figure 46: Fully Assembled Rocket (Labeled) Figure 47: Rover Insertion Flowchart Figure 48: NASA Student Launch Timeline List of Tables....4 Table 1: Team Members and Proposed Duties Table 2: General Vehicle Dimensions Table 3: Rocket Materials and Construction Methods Table 4: Subsystem Masses Table 5: Total Mass of Launch Vehicle Table 6: Motor Specifications Table 7: Shroud Line Alternatives Table 8: Shroud Lines and Shock Cord Interface Alternatives Table 9: Shock Cord Alternatives Table 10: Shock Cord and Bulkhead Interface Alternatives Table 10: Bulkhead Alternatives

6 Table 11: Altimeter Alternatives Table 12: Leading Recovery System Components Table 13: Parachute Specifications Table 14: Calculated Black Powder Mass Table 15: Predicted Component Weight Table 16: Motor Properties of Aerotech L1170-FJ Table 17: Predicted Stability Margins Table 18: Kinetic Energy of Launch Vehicle by Sections Table 19: Wind Speed and Drift Table 20: Project Risk Qualitative Assessment Table 21: Impact Level Definitions Table 22: Likelihood Definitions Table 23: Project Risks and Mitigations Table 24: Preliminary Safety Checklist (Pre-Launch Day) Table 25: Preliminary Checklist (Location Setup) Table 26: Preliminary Checklist for Drogue Parachute Bay Table 27: Preliminary Checklist for the Avionics Bay Table 28: Preliminary Checklist for Main Parachute Bay Table 29: Preliminary Checklist for the Fins Table 30: Preliminary Checklist for the Launch Pad Table 31: Risk Matrix Table 32: Severity Definitions Table 33: Likelihood of Occurrence Definitions Table 34: NAR/TRA Safety Code and Compliance Table 35: Minimum Distance for Launch Safety Table 36: Facility Hazard Analysis and Mitigation Table 37: Material Hazards Analysis and Mitigations Table 38: Equipment Hazards Analysis and Mitigation Table 39: Launch Vehicle Hazard Failure Modes and Effect Analysis Table 40: Payload Failure Modes and Effect Analysis Table 41: Propulsion Failure Modes and Effect Mitigations Table 43: Environmental Hazards and Mitigations Table 44: Leading Design Materials

7 Table 45: Successful Payload Evaluation Table 46: General Requirements and Verification Plans Table 47: Launch Vehicle Requirements and Verification Plans Table 48: Recovery System Requirements and Verification Plans Table 49: Experiment and Safety Requirements and Verification Plans Table 50: Safety Requirements and Verification Plans Table 51: Team Derived Vehicle Requirements and Verification Plans Table 52: Team Derived Payload Requirements and Verification Plans Table 53: Team Derived Recovery Requirements and Verification Plans Table 54: Team Derived Safety Requirements and Verification Plans Table 55: Team Derived General Requirements and Verification Method Table 56: Budget Table 57: Funding Plan Table 58: NASA Student Launch Timeline Table 59: Outreach Event Timeline Commonly Used Acronyms AED..Automated External Defibrillator APCP...Ammonium Perchlorate Composite Propellant ATF. Bureau of Alcohol, Tobacco, Firearms and Explosives BLS Basic Life Support BMP... Barometric Pressure CAD....Computer-Aided Design CATO... Catastrophic Takeoff Cd Coefficient of Drag CG.....Center of Gravity CP. Center of Pressure CPR. Cardiopulmonary Resuscitation CNC....Computer Numerically Controlled DDDS..Double-Door Deployment System DDS......Door Deployment System 6

8 EIT Electronics and Information Technology EMF...Electromotive Force FAA...Federal Aviation Administration FAR.. The Friends of Amateur Rocketry FN...Foreign National GUSD...Glendora Unified School District HTC..Honors Transfer Council of California IMU.Inertial Measurement Unit LCM... Lower Center of Mass MDARS....Mojave Desert Advanced Rocketry Society MDSPS...Motor-Deployed Solar Panel System MSDS. Material Safety Data Sheet MSFC..Marshall Space Flight Center NAR.....National Association of Rocketry OTR.One Threaded Rod PDS.Piston Deployment System PPE Personal Protective Equipment PS Physical Science NFPA...National Fire Protection Association RAC...Risk Assessment Code RDS....Rover Deployment System ROC. Rocketry Organization of California RSO..Range Safety Officer SDDS Single-Door Deployment System SDS Spring Deployment System SDSPS..Spring-Deployed Solar Panels System STEM Science, Technology, Engineering, and Mathematics TDS...Threaded-Rod Deployment System TRA.Tripoli Rocketry Association TTR...Two Threaded Rods 7

9 TWR.....Two-Wheel Rover UV Ultraviolet 8

10 General Information 1. School Information Citrus College 1000 W. Foothill Blvd Glendora, CA Adult Educators Dr. Lucia Riderer Rick Maschek Team Advisor Team Mentor Physics Faculty Director, Sugar Shot to Space (626) (760) Safety Officer Hunter (626) Team Leader Austin (909)

11 5. Team Members and Team Proposed Duties Table 1 specifies the proposed titles and duties for each member of the Rocket Owls team. Team Member Asaad Table 1: Team Members and Proposed Duties Title Payload Specialist Proposed Duties Payload design and analysis 3D printer programmer Austin Team Leader Communications and coordinator Payload analysis Hunter Safety Officer Implementation of safety plan Website design and maintenance Josh Michael Oscar Philippe Computer Modeling Officer Rocket Design Officer Outreach Officer Payload Specialist Rocket design and analysis Computer modeling of rocket and payload Rocket design and analysis Rocket construction Educational Engagement Rocket construction Payload design and analysis Assist in implementation of safety plan 10

12 Figure 1 illustrates the Rocket Owls chain of command between the members, the team advisor, and the team mentor. Each member s position is also given. Figure 1 outlines the organization of the Rocket Owls Team Figure 1: Rocket Owls Organization 6. NAR/TRA Sections For the purpose of mentoring, review of designs and documentation, and launch assistance the Rocket Owls will associate with the Rocketry Organization of California (ROC) (NAR Section #538, Tripoli Prefecture #48) and Mojave Desert Advance Rocketry Society (MDARS) (Tripoli Prefecture #37). 11

13 Team Summary Team Name: Citrus College Rocket Owls I. Summary of PDR Report Mailing Address: Dr. Lucia Riderer Physics Department Citrus College 1000 W. Foothill Blvd. Glendora, CA Team Mentor Information: Rick Mascheck TRA #11388 Certification Level 2 Launch Vehicle Summary Vehicle Dimensions Length: 124 Diameter: 6.08 Mass (without motor): lb. Mass (with motor): lb. Motor Choice Aerotech L1170-FJ Recovery System The deployment charges will be initiated by redundant Missile Works RRC2+ altimeters. The altimeters will activate the black powder charge, separating the rocket into two parts and deploying the 30 in. drogue parachute at apogee. The rocket will have a velocity of 64.6 ft./s when the drogue parachute is deployed. The second black powder charge will deploy the 141 in. main parachute at an altitude of 800 ft. while the rocket descends at a velocity of 37.6 ft./s. The three tethered rocket sections will reach the ground at a velocity of 10.2 ft./s. Milestone Review Flysheet The milestone review flysheet is available as a separate document. Payload Summary Payload Title Deployment Rover Payload Experiment Overview The team will design and construct a custom rover that will be housed inside the internal structure of the launch vehicle. The rover will be deployed from the launch vehicle when the rover deployment system receives a remotely transmitted signal. Once the rover is deployed, it will autonomously travel a minimum of five feet from the launch vehicle. Upon the fulfillment of the stated requirements, the rover will deploy legs to keep it upright and a set of foldable solar panels. The rover deployment system s main components consist of stepper motors, threaded rods, wooden disks, an Arduino UNO microcontroller and a motor driver. The main components of the rover consist of a 3-D printed protective casing, servo motors, DC geared motors, an Arduino UNO microcontroller, wheels, solar panels, and a sheet of aircraft grade plywood to serve as the base. 12

14 II. Changes Made Since Proposal Changes Made to Vehicle Criteria 1. The length of the launch vehicle has decreased. 2. The mass of the launch vehicle has decreased. 3. The diameter of the drogue parachute has decreased. 4. The diameter of the main parachute has decreased Changes Made to the Payload 1. The rover deployment system changed from being reliant upon springs to stepper motors and threaded rods. 2. Cushioning was added to the payload bay in order to protect the rover. 3. The bolts that secure the rover wheels to the DC motors are recessed so that they are flush with the rover wheels. 4. The GPS and its power supply are now attached to the upper bulkhead, facing the interior of the nose cone. Changes Made to Project Plan Timeline and Activity Lists No changes have been made to the dates of the timeline and activity lists. Budget A total of $ has been added to the budget due to the new payload design. This amount of money covers all materials needed to construct the new rover deployment system. III. Vehicle Criteria Selection, Design, and Rationale of Launch Vehicle Mission Statement The Citrus College Rocket Owls are a science and engineering team dedicated to a successful participation in the NASA Student Launch (NSL) competition. The Rocket Owls are a team of community college students committed to achieving a university level education, followed by a successful career in science, technology, engineering, and mathematics (STEM). In addition, one of the Rocket Owls main goals is to inspire and educate students from the surrounding community in STEM. Project Artemis will have the Rocket Owls design, build, test, and launch a single-stage rocket capable of transporting a payload to 5280 ft. (AGL). On return to the surface, the rocket will wait for user-deployment of a rover housed in its payload bay. The rover will then carry out its mission of driving autonomously from the launch vehicle a distance of 5 ft., after which the rover will deploy a set of functional, foldable solar panels. 13

15 Mission Success Criteria The primary criteria for mission success are the NASA mission requirements mentioned in the Statement of Work (SOW). Certain additional secondary objectives were created by team to deem complete mission success. The launch vehicle must meet the following objectives: Reach an altitude of 5280 ft. AGL Have a stable flight Deploy drogue parachute at apogee +10 ft. Deploy main parachute at 800 ft ft. AGL Land safely Have GPS tracking enabled Be reusable for another flight The rover payload will be deemed successful after achieving the following objectives: Design Review Current Design The launch vehicle is designed to satisfy all requirements of the competition. Figure 3 shows the OpenRocket (v15.03) diagram of the current design, while Figure 2 gives an exterior view of the fully assembled launch vehicle. 14

16 Figure 2: Exterior View of Launch Vehicle Figure 2: Exterior View of Launch Vehicle shows the exterior view of the fully assembled launch vehicle. Table 2 lists the general dimensions for the current launch vehicle design. Included are the dimensions when using the alternative motor. Aspect Table 2: General Vehicle Dimensions Motor No Motor Mounted* (L1170FJ) Motor Mounted* (L1090SS) Length (in.) Diameter (in.) Aspect Ratio (Length: Diameter) 20.39: : :1 Mass (kg) Weight (lbs.) C.P. (in. from top) C.G. (in. from top) Stability (caliber) Average Thrust (N)

17 Table 3 lists the materials to be used for the launch vehicle s main components along with their respective methods of construction. Table 3: Rocket Materials and Construction Methods Vehicle Component Airframe Bulkheads Centering Rings Fins Material Blue tube ply plywood, 0.5 in. 10-ply aircraft plywood,.25 in. 10-ply aircraft plywood,.25 in. Justification Structurally sound, stronger than phenolic tubing Strong, easy to cut Strong, lightweight, easy to cut Strong, lightweight, resists flutter Nose Cone Fiberglass Strong, durable Parachutes Shock Cords Ripstop Nylon Tubular Nylon, 1 in. Strong, lightweight, durable Strong, durable Construction Method Commercially Available, Miter Saw Cut, Epoxy Bound, Fiberglass CNC Machine CNC Machine CNC Machine Commercially Available Commercially Available Commercially Available The launch vehicle will comprise of three independent sections: Payload section Recovery section Booster section The booster section contains the motor and the drogue parachute will be the most. The recovery section will be located in the middle section of the launch vehicle, which will be composed of the main parachute compartment and the avionics bay. The payload section contains the nose cone and the payload bay will be in the most aft part of this section. 16

18 Figure 3 gives an interior view of the launch vehicle while fully assembled. Figure 3 Interior View of Launch Vehicle 17

19 Figure 4 shows a cross-sectional view of the booster section. Figure 4: Cross-Section View of Booster Section 18

20 Alternative Design Figure 5 gives a depiction of the alternative design for the launch vehicle. Figure 5: Launch Vehicle Alternative Design Diagram 19

21 The alternative design of the launch vehicle is very similar to the current design, using the same materials and some of the same dimensions. The major difference between both designs is the location of each parachute. The alternative design has the main parachute housed in the booster section of the launch vehicle and the drogue parachute placed in front of the avionics bay. Having the main parachute housed in the booster section brings the center of gravity closer to the center of pressure; this will give the launch vehicle a stability margin of 2.03 calibers. While the alternative design is fully capable of completing the mission successfully, the leading design is more stable and therefore safer. Launch Vehicle Subsystems The launch vehicle is composed of three subsystems that are integral to the safe completion of the entire mission: propulsion, aerodynamic and structural stability, and recovery. Figure 6 shows a partial work breakdown structure of the launch vehicle system. Figure 6: Work Break Down Structure of Launch Vehicle System Figure 6: Work Break Down Structure of Launch Vehicle System 20

22 Subsystem: Propulsion Figure 7 shows a flowchart detailing the propulsion subsystem, its components, and subcomponents. Figure 7: Work Break Down Structure of Propulsion Subsystem The subsystem will meet the following requirements: The launch vehicle must deliver a payload to an apogee of 5280 ft. AGL. The launch vehicle will be limited to a single stage. The launch vehicle will use a solid motor propulsion system. The total impulse of the launch vehicle will not exceed 5,120 Newton-seconds. The launch vehicle will reach a minimum of velocity of 52 fps at rail exit. The launch vehicle will have an average thrust to weight ratio of 5 or greater. The launch vehicle s motor consists of the following subcomponents: the motor casing, the forward and aft closures, the motor retainer, and the solid propellant. The motor casing and the forward and aft closures are all made of aircraft-grade aluminum. The forward closure seals the front end of the motor casing and prevents the motor from flying up through the launch vehicle. The aft closure has a slightly larger diameter than the casing. This keeps the motor casing from moving up in the launch vehicle as the motor burns. The propellant being used will be the L- 1170FJ, a solid-propellant composed of ammonium perchlorate (ACPC). The launch vehicle s motor mount consists of the following subcomponents: 0.50 in. thick centering rings, Blue Tube 2.0, and the motor retainer. The centering rings will be made from aircraft plywood cut by a CNC machine, containing a concentric hole with a diameter of 2.95 in. The size of the motor mount has been determined due to the size of the L-class motors available. Any smaller size would not provide sufficient total impulse to reach the target apogee of 5280 ft. AGL. The centering rings will be placed outside a 2.95 in. diameter Blue Tube section and secured using rocket epoxy. The component will be placed in the booster section of the launch vehicle and secured with the use of rocket epoxy. Fillets will be applied where any edges meet for further placement security. The motor retainer is made of two parts: a ring with an outer thread and a cap with an inner thread. The part with the outer thread will be secured onto the aft 21

23 end of the motor mount with rocket epoxy. The cap will screw itself onto its mate once the propellant is loaded for flight. This will keep the motor casing in placed throughout the launch vehicle's flight. Figure 8 illustrates the internal view of the propulsion subsystem while Figure 9 provides a cross-sectional view of the booster section. Figure 8: Interior View of Booster Section 22

24 Figure 9 shows a cross-sectional view of the booster section: Cross-Sectional View of Booster Section Figure 9: Cross-Sectional View of Booster Section 23

25 Subsystem: Aerodynamic and Structural Stability Figure 10 details the work breakdown structure pertaining to the aerodynamic and structural stability subsystem. Figure 10: Work Break Down Structure for Stability Subsystem The subsystem will meet the following requirements: The launch vehicle must withstand all forces throughout the entire flight, including thrust, weight, drag, and lift. The launch vehicle must withstand the impact at landing. The launch vehicle must be aerodynamically stable. The launch vehicle s airframe will be made of Blue Tube 2.0, a material lighter than fiberglass as well as stronger and less brittle than phenolic tubing. Blue Tube can easily be cut with the use of a miter saw. The material also has very shallow grooves spiraling up the tube which can be filled with wood filler and then sanded to provide a much smoother and aerodynamic surface. The airframe is composed of three independent sections joined together with two Blue Tube couplers. Should the independent sections need to separate for parachute deployment, nylon shear pins will be used to secure the airframe section with the coupler section. Otherwise, metal screws will be used to secure the airframe. The aerodynamic stability of the launch vehicle is provided by the nose cone and the fins (See Figure 11). The nose cone will be a commercially bought 6 in. diameter 5:1 Ogive cone composed of fiberglass. It will be secured to the main structure of the launch vehicle with the use of six # in. screws. The fins will be made of 0.5 in. thick aircraft plywood cut from a CNC machine. Four trapezoidal fins will be push through slots in the main airframe. The fin tabs will be attached to the engine mount with rocket epoxy. The fin design was selected to ensure durability and reusability. By using a trapezoidal shape as opposed to a triangular shape, the fin avoids very sharp corners that would be prone to shearing as the launch vehicle touches down on Earth. 24

26 Figure 11 illustrates the dimensions (measure in inches) of the fins used in the stability subsystem. Figure 11: Fin Dimensions 25

27 Subsystem: Recovery Figure 12: Work Break Down Structure for Recovery Subsystem Figure 12: Work Break Down Structure for Recovery Subsystem. The subsystem will meet the following requirements: The drogue parachute must deploy at apogee and remain undamaged. The main parachute must deploy at 800 ft. AGL and remain undamaged. Each independent section of the launch vehicle must have less than 75 ft-lbf of kinetic energy at landing. The GPS tracking system must relay the launch vehicle landing location to the ground station. The recovery subsystem will be further discussed in section 3.3 of this document. Mass Statement Table 4 lists the estimated masses for the three subsystems of the current design of the launch vehicle. Table 4: Subsystem Masses Subsystem Section Estimated Mass (lbs.) Estimated Mass with 25% Increase (lbs.) Propulsion Booster section (w/o motor) Booster section (w/ motor) Motor Casing Aerotech FJ Centering Rings Motor Mount

28 Aerodynamic and Structural Stability Recovery Fins Nose Cone Airframe Avionics Bay Drogue parachute Main parachute Table 5 provides the estimated total masses of launch vehicle when completely flight ready and post motor burnout when using an Aerotech L1170-FJ. Table 5: Total Mass of Launch Vehicle Launch Vehicle Configuration Estimated Mass (lbs.) Estimated Mass with 25% Increase (lbs.) On Launch Pad Post-Burnout Motor Alternative Table 6 lists the specifications for the two motors being considered for the launch vehicle: The Aerotech L1170FJ-P and the Cesaroni L1090SS-P. Table 6: Motor Specifications Manufacturer Aerotech Cesaroni Technology Model 1170FJ-P 1090SS-P Diameter (mm) Length (mm) Launch Weight (lbs.) Empty Weight (lbs.) Total Impulse (Ns) Average Thrust Maximum Thrust (N) Burn Time (s)

29 Figure 13 shows the thrust curve for the Aerotech L1170FJ motor. Thrust increases very rapidly within the first 0.1 seconds of flight and decreases sharply for another 0.2 seconds. Thrust then slowly increases to a local maximum at about 1.7 seconds before slowly decreasing until burnout at approximately 3.7 seconds. Figure 13: Aerotech L1170FJ Motor Thrust Curve 28

30 In the event that the launch vehicle s final mass results as a higher mass than originally predicted (payload mass included), the Cesaroni L1090SS motor will be utilized. The motor s greater thrust and greater burn time will allow the launch vehicle to reach the targeted apogee. Figure 14 depicts the thrust curve for the L1090SS motor. [4] Figure 14 shows the thrust curve for the Cesaroni L1090SS motor. The thrust of this motor increases quickly within the first 0.1 seconds of flight. Thrust then decreases slowly until motor burnout at approximately 4.3 seconds. Figure 14: Cesaroni L1090SS Thrust Curve Recovery Subsystem The recovery subsystem has the following components: the two parachutes, the avionics bay, and the GPS tracking device (see Figure 12). 29

31 Design Review The avionics bay has the following subcomponents: altimeters, power sources, a device mount, bulkheads, key switches, and black powder charges. The device mount is composed of a 6 in. long wooden sled attached to two 9 in. long metal rods that run the length of the avionics bay, which measures at 8 in. long and 6 in. in diameter. The rods will be secured to the 0.5 in. bulkheads sitting on either end of the avionics bay using bolts and rocket epoxy. The electronics and power sources will be secured to the sled using zip ties. Wires will connect the electronics to key switches and the redundant black powder charges installed at either end of the bay. Tables 7-10 list the alternatives to the components of the recovery subsystem. Included in the tables are the benefits and drawbacks to each alternative. Following each table is a discussion of each component alternative and rationale for choosing the leading option. Table 7 lists the shroud lines alternatives. Table 7: Shroud Line Alternatives Component Alternatives Pros Cons Spectra Fiber High-strength polyethylene fiber Heat sensitive, can melt Used for skydiving Abrasive resistant Low coefficient of drag Tenacity of 435 ksi Kevlar High-strength paraaramid Abrasive fiber Can cause zipper tears Heat Resistant UV radiation sensitive Tenacity of 435 ksi High density material Dacron Tenacity of 96 ksi Heat Resistant Nylon 6,6 Tenacity of 96 ksi Used primarily in parachutes Heat resistant Deterioration from sunlight High coefficient of drag Occupies more space when packed UV radiation sensitive The leading option for shroud lines is the spectra fiber. Spectra fiber is made of High Modulus Polyethylene fiber, a strong material that allows a tenacity of 435 ksi. It is abrasive resistant and has a low coefficient of drag. Kevlar is about as strong as Spectra fiber, but Spectra fiber is a lot lighter, making it a clear choice when compared to the alternatives. [3] 30

32 Table 8 lists the alternatives for shroud lines and shock cord interfaces. Table 8: Shroud Lines and Shock Cord Interface Alternatives Component Alternatives Pros Cons Quick-Link High yield strength Does not pivot Ball Bearing Swivel High yield strength None Pivots, reducing tangled shroud lines Ball bearing reduces friction The current leader for the shroud line and shock cord interface is the ball bearing swivel. This component alternative will connect the shroud lines to the shock cord. Since it can pivot very usually due to the ball bearing design the parachute can move freely without tangling the shroud lines below. Table 9 shows the alternatives for the shock cord component. Table 9: Shock Cord Alternatives Component Alternatives Pros Cons Nylon Flat Webbing 1 High yield strength Higher chance of failure Tubular Nylon 1 Stronger than flat webbing per square in None More flexible than flat webbing The leading component is the 1 in. tubular nylon as it is inherently the better design for the application. The tubular webbing is significantly stronger than the flat webbing, making it the best choice for a shock cord. [5] Table 10 lists the alternatives for the shock cord and bulkhead interface. Table 10: Shock Cord and Bulkhead Interface Alternatives Component Alternatives Pros Cons U-bolt High yield strength Occupies more space Held in place by two nuts Eye Bolt High yield strength Opening of eyebolt makes it prone to failure Welded Eye Bolt High yield strength Held in place by one Less prone to failure than unwelded eye bolt nut 31

33 The shock cord and bulkhead interface must be able to resist the heat from the black powder ignition at parachute deployment as well as the strong forces as the shock cord stretches out. The U-bolts are fasteners that find themselves in various applications, many times used as anchors. This component will use two washers and two hex nuts attached to the bulkheads sitting on either side of the avionics bay. [7] Figure 15 shows the U-bolt attached to the bulkhead as previously detailed. Figure 15: Bulk Plate and U-Bolt Interface Table 10 lists the alternatives to the bulkhead component. Table 10: Bulkhead Alternatives Component Alternatives Pros Cons Baltic birch plywood 0.50 in. Density of 42 Slightly heavier lb/ft 3 Durable Balsa wood 0.50 in. Density of 7 lb/ft 3 The leading material for the bulkhead alternatives is the Baltic birch plywood. Although it is slightly heavier, Baltic birch has a greater density than balsa wood. The launch vehicle will experience very big loads at parachute deployment, making a Baltic birch the appropriate option. Not only will the greater density serve as a stronger platform for the U-bolts that will be 32

34 attached, but it will also help insulate each parachute compartment from the heat of the ejection gases at deployment. [6] Table 11 lists the alternatives for the altimeters installed in the avionics bay. Table 11: Altimeter Alternatives Component Alternatives Pros Cons Missile Works RRC2+ Easy to install and operate Dual-deployment altimeter Affordable Missile Works RRC3 Dual-deployment altimeter Third auxiliary output LCD screen capable Entacore AIM 3 Dual-deployment altimeter USB capable Weighs more than the RRC2+ Significantly more costly The leading option for the altimeters is the Missile Works RRC2+ altimeter. It achieves all of the functions necessary for mission completion, weighs less than the alternatives, and is more affordable. [8] Current Recover System Components The leading components of the recovery system were chosen with the purpose of meeting each requirement for the successful and safe completion of the mission. Table 12 lists the component selection, its function, and justification for selection. These components will achieve the following: Detect apogee and 800 ft. AGL accurately Deploy both parachutes at designated altitudes Reduce the kinetic energy of each independent section to no greater than 75 ft.-lb. Table 12: Leading Recovery System Components Component Function Material Selection Justification Main Parachute Decreases Ripstop Nylon Low weight (141 in. toroidal) launch vehicle Tear-resistant descent rate for Low packing volume safe landing Drag coefficient of 2.2 Drogue Parachute Decreases Ripstop Nylon Low weight (30 in. toroidal) launch vehicle Low packing volume lateral drift Tear-resistant and descent rate Drag coefficient of

35 Shroud Lines Shock Cord Shock Cord Protector Parachute Protector Bulk Plate Quick Link U-bolt Eye and eye swivel Altimeter Allow parachutes to open completely Absorbs majority of parachute deployment shock Protects shock cord from black powder ejection gases Protects parachutes from black powder ejection gases Separates different compartments in launch vehicle, U-bolt platform Connects the shock cord to the U-bolt and ball eye swivel Connects the bulkhead to the quick link Connects the shroud lines to the shock cord Measures altitude, sets off parachute deployment Spectra Fiber Strong, durable Low weight Low friction Tubular Nylon Low weight Higher strength Durable Kevlar sleeve Temperature resistant Maintains shock cord integrity Nomex Temperature resistant [12] Durable Maintains parachute integrity Baltic birch Strong plywood Durable Steel Strong Durable Easy to install Steel Strong Durable Safest interface option Steel Strong Durable Prevents shroud lines tangling Missile Works Dual Deployment RRC2+ system Battery powered Easy to use Reports apogee 34

36 Preliminary Parachute Analysis The proper selection of parachute sizes is an integral part of completing the missions safely. The following discusses the decisions and calculations made for the selection of the main parachute size. The recommended descent velocity for a rocket is between 3.5 to 4.5 meters per second. The target descent velocity will be 3.5 meters per second. This will minimize the kinetic impact of the launch vehicle at touchdown as well as spare the payload from major shocks. The area of the main parachute was calculated with the equation: [10] 2 g m S = ρ C d v 2 The diameter of the main parachute is provided by the following equation: [10] D = 4 S π The following calculations were made to determine the main parachute s area and diameter: 2 (9.8 m S = s2) ( kg) (1.15 kg m3) (2.2) (3.5 m/s)2 = m 2 D = 4 (10.14 m2 ) π = 3.59 m = in. The diameter of the drogue parachute was calculated using the following equation: [11] 4 L d D = π 4 (124 in. ) (6.08 in. ) D = π = in. The following list assigns definitions for each variable used in the previous calculations: g acceleration due to gravity (m/s 2 ) m mass of launch vehicle post-burnout (kg) ρ air density (kg/m 3 ) Cd coefficient of drag of parachute v designated descent speed (m/s) L length of launch vehicle (in.) d diameter of launch vehicle (in.) S parachute area (m 2 ) D diameter of parachute (in.) 35

37 Table 13 lists the specifications for each parachute to be used in the recovery subsystem. Table 13: Parachute Specifications Parachute Material Diameter (in.) Drag Coefficient Predicted Descent Rate (ft./s) Main Ripstop Nylon Drogue Ripstop Nylon The launch vehicle must land with a kinetic energy of 75 ft-lbf or less in order to ensure a safe landing. The current design is predicted to land with a total kinetic energy of ft-lbf. This was calculated using the following equation: [13] K = ½ mv 2 = ½ ( kg)(3.5 m/s) = J = ft-lbf The following variables were used: m total mass of the launch vehicle post-burnout (kg) v predicted descent rate (m/s) K kinetic energy (ft-lbf) Electrical Components The recovery subsystem will use altimeters, batteries, igniters, and black powder for all parachute deployment events. Redundant components will be used to ensure safe deployment of each parachute. Redundant ejection charges will connect with a primary and secondary altimeter. The secondary altimeter will have a 1-second delay. Additionally, the launch vehicle will be equipped with an Altus Metrum TeleGPS. This device will allow for tracking and recovery of the launch vehicle once the mission is complete. The TeleGPS will be placed in the payload bay, closest to the nose cone. RRC2+ Altimeters The Missile Works RRC2+ is a barometric altimeter capable of recording flight data and deploying two parachutes. Their commercial availability, functionality, reliability, and ease of use will make it a great selection for the recovery subsystem. Two RRC2+ altimeters will be placed in the avionics bay: one primary altimeter and one secondary altimeter. The secondary altimeter will operate in the same way was the primary altimeter, only with a 1-second delay. Both altimeters will be programmed to deploy the drogue parachute at apogee and the main parachute at 800 ft. AGL. Figure 16 shows the altimeter to be utilized for the launch vehicle. 36

38 Figure 16 shows the RRC2+ dual deployment altimeter. Figure 16: Missile Works RRC2+ Altimeter E-match Igniter The E-match igniter is responsible for activating the black powder ejection charges. Each RRC2+ altimeter will be connected to two igniters. A total of four igniters will be used: two as primary igniters, two as secondary igniters. The primary igniters will deploy the primary recovery system and the secondary igniters will deploy redundant recovery system. Figure 17 shows the e-match igniters used for recovery. Figure 17: E-match Igniter 37

39 Power Supply The power supply housed in the avionics bay will come in the form of two 9V batteries. Each battery will supply power to one of the altimeters used the recovery subsystem. New batteries will be used for each launch to ensure proper voltage available for the altimeters to set off the black powder charges. Figure 18 shows the type of 9V battery to be used to power the altimeters Figure 18: 9V Battery Black Powder 4F black powder will be used to deploy the drogue and main parachute. A sufficient amount of black powder must be used for proper deployment of the recovery subsystem. The amount of black powder mass needed for proper parachute deployment was calculated with the following equation: [9] Mb =.006(dc) 2 (Lc) Each variable is assigned: Mb - mass of black powder (g) dc - inner diameter of parachute compartment (in) LC - length of parachute compartment (in) For the main parachute: Mb = (0.006)(6 in) 2 (19.5 in) = g For the drogue parachute: Mb = (0.006)(6 in) 2 (15 in) = 3.24 g Table 14 shows the calculated mass (in grams) of the black powder required for the ejection of each parachute. Table 14: Calculated Black Powder Mass Parachute Amount of Black Powder (g) Main parachute Drogue parachute

40 Figure 19 shows the black powder that will be used in the parachute deployment subsystem. Figure 19: 4F Black Powder GPS Tracking The TeleGPS has a two pin JST PH series connector that connects to a single-cell Lithium Polymer cell (3.7V nominal). The device has on-board flash memory card with 2 MB of memory capacity used for recording flight data. It has an integrated GPS patch antenna; it is incapable receive a signal if installed inside a metal or carbon fiber compartment, but works excellently inside the launch vehicles airframe. Transmission and receiving frequencies operate under MHz. The device provides voice announcements during flight so that the team can stay focused on the rocket and still receive information on concurrent flight status. Figure 20 shows a photograph of the GPS tracking device that will be installed in the launch vehicle. Figure 20: Altus Metrum TeleGPS 39

41 Figure 21 gives an external view of the assembled avionics bay. Figure 21: Exterior Avionics Bay 40

42 Figures 22 and 23 provide an interior view of the assembled avionics bay. Figure 22: Interior Assembled Avionics Bay 41

43 Figure 23 shows an interior profile view of the electronics used in the avionics bay. Figure 23: Interior Profile View of Avionics Bay 42

44 Figure 24 provides an exploded view of the avionics bay. Figure 24: Exploded Avionics Bay 43

45 Mission Performance Predictions This sections lists and discusses the launch vehicles flight performance simulation data, the predicted weight of each major component, the predicted performance of the motor, the kinetic energy of each independent launch vehicle component as well as the launch vehicles predicted range. All simulation data, graphs, and information was obtained from OpenRocket (v15.03). Flight Simulation Results The current design of the launch vehicles is predicted to reach an apogee of 5294 ft. AGL and a maximum velocity of ft./s when using an Aerotech L1170-FJ motor. Engine Selection: L1170-FJ-P Simulation Controls Time step: 0.05 s (20.0 samples/second) Calculation Method: Extended Barrowman Simulation Method: 6-DOF Runge-Kutta 4 Geodetic calculations: Spherical approximation Launch Conditions Altitude: 600 ft. Relative humidity Temperature: 59 Fahrenheit Pressure: 14.7 psi Average Wind speed: 0 m/s Standard deviation: 0 m/s Turbulence intensity: 10% (medium) Launch guide angle: 0 Latitude: 34.7 N Longitude: E Launch Guide Data Launch guide length: 120 in. Velocity at launch guide departure: 64.6 ft./s Launch guide cleared at: 0.34 s User specified minimum velocity for stable flight: 52 ft./s Minimum velocity for stable flight reached at: 0.27 s Maximum Data Values Maximum accelerations: ft./s 2 Maximum velocity: 631 ft./s Maximum range: 8.72 ft. Maximum altitude: 5270 ft. 44

46 Recovery System Data Main parachute deployed at: 87.5 s o Velocity at deployment: 64.3 ft./s o Altitude at deployment: 771 ft. o Range at deployment: 7.7 ft. Drogue parachute at deployment: 18.3 s o Velocity at deployment: 37.6 ft./s o Altitude at deployment: 5270 ft. o Range at deployment: 7.1 ft. Time Data Time to burnout: 3.71 s Time to apogee: 18.4 s Optimal ejection delay: 14.8 s Landing Data Successful landing: Yes Time to landing: 155 s Range at landing: 7.7 ft. Velocity at landing: 10.2 ft./s Table 15 lists the predicted weights of the launch vehicle s major components as given by OpenRocket (v15.03). Table 15: Predicted Component Weight Component Predicted Weight (oz.) Nose Cone 36.8 Avionics Bay 16.2 Booster Section Recovery Section Payload Section

47 Figure 25 shows the velocity versus time graph of the launch vehicle during its flight. Figure 25: Total Velocity vs. Time Graph The above figure shows that the launch vehicle quickly gains speed in the first few seconds of flight, the slows down until it hits apogee, where the drogue parachute deploys and stabilized the launch vehicle to about 65 ft./s. Figure 26 gives the static stability margin of the launch vehicle versus flight time. As can be seen, the launch vehicle has a static stability margin of at least 2.0 at launch rod clearance, giving evidence that the launch vehicle will experience a safe and stable lift-off. Figure 26 show the relationships between the stability margin and the time of the flight. Figure 26: Static Stability vs Time Graph 46

48 Selected Motor Characteristics The Aerotech L1170-FJ has an average thrust of 1207 N. Figure 27 below illustrates the motor s thrust curve. Thrust increases very rapidly within the first 0.1 seconds of flight and decreases sharply for another 0.2 seconds. Thrust then slowly increases to a local maximum at about 1.7 seconds before slowly decreasing until burnout at approximately 3.7 seconds. Figure 27: Aerotech L1170FJ Motor Thrust Curve Figure 27: Aerotech L1170FJ Motor Thrust Curve The fully assembled launch vehicle at launch ready configuration weighs a total of lbs. The thrust to weight ratio of the launch vehicle is 6.5:1, meaning the motor will be able to safely overcome the weight of the launch vehicle at takeoff. 47

49 Table 16 lists the specifications for the Aerotech L1170-FJ motor. Table 16: Motor Properties of Aerotech L1170-FJ Properties Data Diameter (mm) 75 Length (mm) 665 Launch Weight (lbs.) 11 Empty Weight (lbs.) 4.83 Total Impulse (Ns) 4214 Average Thrust 1207 Maximum Thrust (N) 1473 Burn Time (s) 3.49 Vehicle Stability Figure 28 shows the location of the Center of Pressure (CP) and Figure 28 shows the location of the Center of Gravity (CG) of the launch vehicle, both with and without the Aerotech L1170-FJ. Figure 28: CP and CG of Launch Vehicle with Motor Figure 28: CP and CG of Launch Vehicle with Motor Figure 29 shows the locations of the CP and CG of the launch vehicle when not loaded with a motor. Figure 29: CP and CG of Launch Vehicle without Motor 48

50 Table 17 lists the predicted stability margin of the launch vehicle, with and without a motor. OpenRocket (v15.03) made use of the Barrowman equations in order to calculate the CP and stability of the launch vehicle. Table 17: Predicted Stability Margins Launch Vehicle CG (in. from top) CP (in. from top) Stability With Motor Without Motor Kinetic Energy Table 18 lists the kinetic energy for each independent section over several simulations. The kinetic energy was determined using the formula K = 1/2 mv^2. For safe landing, the respective kinetic energy of each section may not exceed 75 ft-lbf. Table 18: Kinetic Energy of Launch Vehicle by Sections Launch Vehicle Section Simulation #1 (ft.-lb f ) Simulation #2 (ft.-lb.ft f ) Simulation #3 (ft.- lb.ft f ) Booster Section Avionics Bay Recovery Section Nose Cone and Payload Section As shown by Table 18, the kinetic energy of each section falls well under the 75 ft.-lbf requirement. 49

51 Drift from Launch Pad Table 19 lists the predicted maximum range of the launch vehicle under different wind speed conditions. As shown by Table 20, the maximum range increases as wind speed increases. For launch day, wind speed is expected to be no greater than 15 mph, meaning that the launch vehicle should drift no further than ft. Table 19: Wind Speed and Drift Wind Speed (mph) Max Range (ft.)

52 IV. Safety Safety Officer Responsibilities The Citrus College Rocket Owls safety officer, Hunter, will ensure that the safety plan is followed and up to date. He will make sure that the team members, as well as the participants of the outreach events, are safe during all activities conducted or facilitated by the Rocket Owls as part of the NASA Student Launch. The safety officer s responsibilities are: Certify that the safety plan corresponds with federal, state, and local laws. Address the team members with any safety concerns. Inform team members of potential hazards and appropriate mitigation techniques for the upcoming week at the team s weekly meeting. Ask team members to express any safety concerns during the weekly meetings. Train team members on the correct use of Personal Protective Equipment (PPE). Ensure all team members understand and sign the team safety contract (see Appendix D). Facilitate all hazardous chemicals and machinery accessed by team members and make certain that all safety precautions are followed before and after usage. Explain proper usage before using of any new equipment and/or materials. Read and keep a Material Safety Data Sheet (MSDS) for each hazardous chemical, and safeguard that information in a binder, along with safety check lists and protocols. Ensure that the safety binder is always accessible to all team members. Identify safety violations and eliminate the hazard appropriately. Have detailed knowledge of the TRA code for High-Powered Rocketry. Inform the team advisor, mentor, and members if the safety plan is violated by a team member. Oversee testing and construction to ensure that risks are mitigated. Provide a plan for proper storage, transportation and use of energetic devices. Ensure all participants in the outreach events are safe throughout all activities. 51

53 There are multiple risks that pose as safety hazards to people and property. The following qualitative assessment chart shows the different categories for each safety hazard, based on its likelihood and impact level. Table 20: Project Risk Qualitative Assessment Likelihood Impact Level 1-High 2-Medium 3-Low A-High 1A 2A 3A B-Medium 1B 2B 3B C-Low 1C 2C 3C Items marked in red pose a serious threat to the completion of the project. They are to be identified and mitigated effectively and as early as possible. Items marked in yellow are less of a threat than items marked in red, but are still to be monitored and prevented. Items marked in green are the least threatening but should still not be entirely ignored. The impact levels for each assessment are defined below. Rating 1-High Table 21: Impact Level Definitions Definition High impact risks are identified by having a major impact on the teams continuation of the project and would require substantial resources to resolve. 2-Medium Medium impact risks are identified as having a moderate impact on the team s continuation of the project. Medium impact risks could be solved with modest effort and resources. 3-Low Low impact risks are identified as having a minor impact on the teams continuation of the project and would require minimal resources to resolve 52

54 Table 22 defines the likelihood levels of each risk. Rating A-High B-Medium C-Low Table 22: Likelihood Definitions Definition Occurrence of risk is extremely likely Occurrence of risk is possible Occurrence of risk is very unlikely The following table lists and describes the causes and effects of various specific risks that could pose a threat to the completion of the project. Each risk is given a risk score both before and after mitigation. Table 23 outlines Project Risks and Mitigations Risk Cause Effect Insufficient building time Unable to Launch Table 23: Project Risks and Mitigations Pre- RAC Lack of time management among the team members, unclear roles and responsibilities of team members, lack of motivation/dedication among team members. Unsafe and unpredictable weather, forgotten components of the launch vehicle or RSO, team leader or safety officer deem launch vehicle unsafe for launch. A rushed construction of the launch vehicle, ultimately leading to a weaker design and decreased build quality. Delayed test launch causing team calendar events to be pushed back and resulting in the team being behind schedule. 53 1A 2A Mitigation The team will stay on task and follow the outlined schedule Multiple back up launch dates will be scheduled and weather reports will be consistently checked leading up to the launch time. A launch checklist has been created to avoid leaving important items behind. The rocket will be inspected by the safety officer and the team mentor prior to launch day. Post- RAC 1C 2C

55 Insufficient writing time Late shipments from manufacturer Low funds Low resources Loss of team members Lack of time management among the team members, unclear roles and responsibilities of team members, lack of motivation/dedication among team members. A manufacturer may have not finished a part in time for the teams use, or said part could be lost in the mail. Inadequate budgeting. Funds spent on unnecessary materials not required for construction. Inadequate budgeting. Funds spent on unnecessary materials not required for construction. Loss of interest, overwhelming workload, lack of work, failure to complete multiple assignments by deadline A rushed completion of the document resulting is poor editing, possible misinformation and/or insufficient information A delay in the construction of the launch vehicle and/or the payload. Depletion of money required to purchase necessary materials for construction Depletion of materials required for construction Increase in average workload per team member resulting in complications and recalculations of work distribution. 1B 1B 2B 2B 2B All team members have been and will be assigned specific sections to complete by specific deadlines. Failure to complete assignments by deadlines will result in penalties within the team. Penalties decided by the team members. Orders to manufacturers have already been placed. Backup plans for the fabrication of specific parts will be created. Extra fundraising events will be held in order to increase the team budget. Materials the team predicts may malfunction/break will be order in small packs of x amount. The lost team members work will be voluntarily acquired by team members and/or evenly distributed among the rest of the team. 2C 3C 3B 2C 2C 54

56 Preliminary Checklists The safety officer is responsible for writing, maintaining and enforcing the use of the preliminary checklists for all the procedures leading up to and including the launch. The checklists were created to ensure maximum efficiency for all launch procedures and maximum safety for all team members, spectators, equipment and the environment. Therefore, the use of the checklists will we heavily enforced by the safety officer. The checklists are broken up into several categories separated by different stages in the launch process. Each checklist will require two signatures plus the signature of the safety officer. The table below shows the checklist that will be used prior to the launch day to ensure all of the required equipment is packed and ready for travel to the launch site. Table 24: Preliminary Safety Checklist (Pre-Launch Day) Required Items Verified by Verified by Date Time of Verification Wireless Drill and bits Soldering iron (De-)soldering equipment Hot glue gun Saw Screw driver set Dremel Dremel bits Adjustable wrench Exacto knife Heavy duty file Wire strippers Multimeter Batteries (tested) Extra altimeters Laptop and TeleGPS LiPo battery charger E-matches Tape Scissors Rocket Epoxy 5 minute Epoxy Super glue Extra shear pins Final Verification by Safety Officer 55

57 Extra rail buttons Motor hardware Sand paper Recovery wadding Battery connectors Jst connector Heat shrinks Safety glasses Safety gloves The following table is a checklist of all the required steps to be taken by the team to ensure a time efficient set up and launch. Table 25: Preliminary Checklist (Location Setup) Required Steps Verified by Verified by Date 1. Unload rocket and equipment 2. Establish base of operations 3. Set up work station 4. Layout rocket section for setup Time of Verification The following table shows the preliminary checklist for the assembly of the drogue parachute bay to prepare it for launch. Drogue Bay Setup will require: Clamp Drogue parachute Shock chords Masking tape Duct tape Quick links Nylon table tie 18 Nomex parachute protector Shock chord protector Safety glasses Safety gloves Final Verification by Safety Officer 56

58 Table 26: Preliminary Checklist for Drogue Parachute Bay Time of Required Steps Verified by Verified by Date Verification 1. Ensure harnesses are secured with quick links to the drogue and avionics bay. 2. Visually and manually verify the absence of snags inside the drogue bay. 3. Ensure proper packaging of the drogue parachute. 4. Properly loop shock chords and ensure that they are secure with masking tape. 5. Insert prepared shock chords along with drogue parachute into the drogue bay. Final Verification by Safety Officer The following preliminary checklist will be used during the final assembly of the avionics bay Avionics Bay Setup will require: Multi-meter Pre-weighed black powder 9-V batteries Screwdrivers (Philips and flathead) Duct tape E-matches Safety glasses Safety gloves 57

59 Table 27: Preliminary Checklist for the Avionics Bay Required Steps Verified by Verified by Date Time of Verification 1. Check that all batteries have a 9-V charge. 2. Ensure all wires are properly attached. 3. Ensure all electrical components are secured and fastened. 4. Verify arming switches work properly and activate all required systems. 5. Grease and secure bulkheads. 6. Insert black powder into ejection canisters and seal with duct tape. Final Verification by Safety Officer The following preliminary checklist will be used during the final setup of the main parachute bay to prepare it for launch. Main Bay Setup requires: Clamp Drogue parachute Shock chords Masking tape Duct tape Quick links Nylon cable tie 24 Nomex parachute protector Shock chord protector Safety glasses Safety gloves 58

60 Table 28: Preliminary Checklist for Main Parachute Bay Required Steps Verified by Verified by Date Time of Verification 1. Ensure harnesses are secured with quick links to the main and avionics bay. 2. Visually and manually verify the absence of snags inside the main bay. 3. Ensure proper packaging of the main parachute. 4. Properly loop shock chords and ensure that they are secure with masking tape. 5. Insert prepared shock chords along with main parachute into the main bay. Final Verification by Safety Officer The following preliminary checklist will be used during the final assembly of the fins to prepare them for launch. Table 29: Preliminary Checklist for the Fins Required Steps Verified by Verified by Date Time of Verification 1. Manually confirm that the fins are secure and properly bonded to the body. 2. Visually confirm that the fins are not in any way damaged. Final Verification by Safety Officer 59

61 The following preliminary checklist will be used during the launch pad preparation. Launch Pad Setup will require: E-matches Electrical tape Scissors Writing equipment Certification card Safety glasses Safety gloves Table 30: Preliminary Checklist for the Launch Pad Time of Required Steps Verified by Verified by Date Verification 1. Carry the rocket to the launch pad 2. Align the rail buttons with the guide rails. Position the rocket for launch 3. Lift the rocket into vertical position 4. Arm launch vehicle electronics 5. Install and secure igniters into motor 6. Connect igniters to launch system equipment 7. Confirm electrical continuity 8. Move away to a safe distance from the launch pad for the duration of the launch process Final Verification by Safety Officer 60

62 Preliminary Personnel Hazard Analysis A hazard is a potential threat to one s health, life, property or environment. In order to better analyze and assess potential hazards and their severity, the team created the risk matrix shown in Table 2 below. The matrix combines the probability and the severity of a hazard and determines how critical a hazard can be. The criticality is shown using the following color code: red for catastrophic, yellow for critical, green for marginal, and white for negligible. Table 31: Risk Matrix Probability Severity 1-Catastrophic 2-Critical 3-Marginal 4-Negligible A-Frequent 1A 2A 3A 4A B-Probable 1B 2B 3B 4B C-Occasional 1C 2C 3C 4C D-Remote 1D 2D 3D 4D E-Improbable 1E 2E 3E 4E 61

63 Table 32 below provides the way the levels of hazard severity were defined. Table 32: Severity Definitions Severity Values Definition Catastrophic 1 Permanent injury or loss of life; irreversible damage of facilities, systems, or associated hardware; irreversible or severe environmental damages that violate state or government laws and regulations Critical 2 Severe injury; major damages to facilities, system or associated hardware; reversible damages that cause a violation of laws or regulations Marginal 3 Moderate injury; moderate damages to facilities, equipment, or systems; moderate environmental damages that can be repaired and do not cause violations of any laws or regulations Negligible 4 Minor injury that can be treated immediately via first aid treatment; negligible environmental damages that do not violate any laws or regulations 62

64 Table 33 below outlines the way that risk is classified into categories that represent their frequency. Each hazard has a probability of occurrence that ranges from improbable (E) to frequent (A). Table 33: Likelihood of Occurrence Definitions Description Values Definition Frequent A High likelihood to occur immediately or expected to be experienced continuously Probable B Expected to occur frequently Occasional C Expected to occur occasionally Remote D Unlikely to occur frequently Improbable E Very unlikely to occur NAR/TRA Safety Procedures All team members are to acknowledge and follow the NAR High Power Rocketry Safety Code. Rick Maschek, the teams mentor has many years of experience and is very familiar with the handling of rockets and rocket motors. He will inform the team of any risks and hazards that the team members have not identified. His responsibilities are as follows: Ensure the team is following the NAR High Power Rocketry Safety Code Assist in the purchasing, transporting and handling of high power rocket motors Oversee the handling of hazardous materials and procedures Ensure proper installation of the rockets recovery device Ensure proper wiring of all ejection charge igniters Accompany the team to Huntsville, Alabama for the competition 63

65 Table 34 introduces the NAR Safety Code and the team s compliance statements. Table 34: NAR/TRA Safety Code and Compliance NAR Code Compliance 1 Certification: I will only fly high powered rockets or possess high powered rocket motors that are within the scope of my user certification and required licensing 2 Materials: I will use only lightweight parts for the nose, body, and fins of my rocket. 3 Motors: I will only use certified, commercially-made rocket motors, and will not tamper with these motors or use them for any purposes except those recommended by the manufacturer. I will not allow smoking, open flames, or heat sources within 25 feet of these motors 4 Ignition System: I will launch my rockets with an electrical launch system, and with electrical motor igniters that are installed in the motor only after my rocket is at the launch pad or in a designated prepping area. My launch system will have a safety interlock that is in series with the launch switch that is not installed until my rocket is ready for launch, and will use a launch switch that returns to the "off" position when released. 5 Misfires: If my rocket does not launch when I press the button of my electrical launch system, I will remove the launcher's safety interlock or disconnect its battery, and will wait 60 seconds after the last launch attempt before allowing anyone to approach the rocket in question The team will abide by the NAR certification laws. The team and its members are obliged to use correct materials Only rocket motors certified by TRA/NAR will be purchased and handles by TRA certificated members of the team. Rocket motors will be stored in appropriate locations. The team leader and safety officer are responsible for ensuring that the integration at the launch site is performed following the NAR safety code The Range Safety Officer (RSO) will have the final say over all misfires that may occur at the launch site. The team members will follow all final rulings of the RSO 64

66 6 Launch Safety: I will use a countdown before launch, and will ensure that everyone is paying attention and is a safe distance of at least 15 feet away when I launch rockets with D motors or smaller, and 30 feet when I launch larger rockets. If I am uncertain about the safety or stability of an untested rocket, I will check the stability before flight and will fly it only after warning spectators and clearing them away to a safe distance. When conducting a simultaneous launch of more than ten rockets I will observe a safe distance of 1.5 times the maximum expected altitude of any launched rocket. 7 Launcher: I will launch my rocket from a stable device that provides rigid guidance until the rocket has attained a speed that ensures a stable flight, and that is pointed within 20 degrees of a vertical angle. If the wind speed exceeds 5 miles per hour, I will use a launcher length that permits the rocket to attain a safe velocity before separation from the launcher. I will use a blast deflector to prevent the motor's exhaust from hitting the ground. I will ensure that dry grass is cleared around each launch pad in accordance with the accompanying Minimum Distance table, and will increase this distance by a factor of 1.5, clearing that area of all combustible material if the rocket motor being launched uses titanium sponges in the propellant 8 Size: My rocket will not contain any combination of motors that total more than 40,960 N-sec (9208 pound-seconds) of total impulse. My rocket will not weigh more at liftoff than one-third of the certified average thrust of the high-power rocket motor intended to be ignited at launch The rocket will be presented to the RSO, who will determine if the rocket is safe to launch All launches will occur at the launch site(s) listed in Table 32 and under appropriate launch conditions. Launchers at other launch sites besides those listed in the proposal will not be allowed. The RSO will determine if the rocket is safe to launch The team leader will be responsible to ensure the rocket follows these constraints 65

67 9 Flight Safety: I will not launch my rocket at targets, into clouds, near airplanes, nor on trajectories that take it directly over the heads of spectators or beyond the boundaries of the launch site, and will not put any flammable or explosive payload in my rocket. I will not launch my rockets if wind speeds exceed 20 miles per hour. I will comply with the Federal Aviation Administration airspace regulations when flying, and will ensure that my rocket will not exceed any applicable altitude limit in effect at that launch site 10 Launch Site: I will launch my rocket outdoors, in an open area, and in safe weather conditions with wind speeds no greater than 20 miles per hour. I will ensure that there is no dry grass close to the launch pad, and that the launch site does not present risk of grass fires. 11 Launcher Location: My launcher will be 1500 feet from any occupied building or from any public highway on which traffic flow exceeds 10 vehicles per hour, not including traffic flow related to the launch. It will also be no closer than the appropriate Minimum Personnel Distance from the accompanying table from any boundary of the launch site 12 Recovery System: I will use a recovery system such as a parachute in my rocket so that all parts of my rocket return safely and undamaged and can be flown again, and I will use only flame-resistant or fireproof recovery system wadding in my rocket 13 Recovery Safety: I will not attempt to recover my rocket from power lines, tall trees, or other dangerous locations, or fly it under conditions where it is likely to recover in spectator areas or outside the launch site, nor attempt to catch it as it approaches the ground The RSO will have the final say regarding the rocket being allowed to be launched All launches will occur at the launch site(s) listed in Table 32 and under appropriate launch conditions. Launchers at other launch sites besides those listed in the proposal will not be allowed. The RSO will determine if the rocket is safe to launch All launches will occur at the launch site(s) listed in Table 32 and under appropriate launch conditions. Launchers at other launch sites besides those listed in the proposal will not be allowed. The RSO will determine if the rocket is safe to launch The team leader as well as the Safety Officer will lead oversight about the team's recovery system and that all requirements are met. The safety officer will ensure that the team members follow this requirement 66

68 Table 35 shows each motor type s minimum safety distances for the cleared area and personnel. Installed Total Impulse(Newton- Seconds) Table 35: Minimum Distance for Launch Safety Equivalent High-Power Motor Type Minimum Diameter of Cleared Area (ft.) Minimum Personnel Distance (ft.) H or smaller I , J , , K , , L , , M , , N , O Minimum Personnel Distance (Complex Rocket) (ft.) Hazard Recognition The team will meet to discuss safety rules and procedures at the beginning of all project-related activities, including vehicle and payload construction, rocket testing and launching. The Safety Officer, Hunter, will update the team on all safety-related information, including but not limited to the proper usage of any new materials and/or equipment, safety protocols, and the overview of the MSDS. If any safety risks are observed by any team members, the team will take action to remove those risks and will inform the Safety Officer who will aid in the process. The members are required to keep up with any regulation changes within the team s safety manual. The team s safety manual will include the following topics: Lab Safety Material Safety Procedures Safety Protocols for Equipment Operation Launch Safety Procedure MSDS information PPE Regulations A binder that includes protocols, the safety manual, and MSDS forms will be kept at all times in the lab room, where all of the team s rocketry-related activities will take place, thus making it easy for the team members to refer to safety-related materials before handling dangerous or hazardous materials. 67

69 Pre-launch Briefing: A pre-launch briefing will be held before any launch. Topics of the briefings will include an overview of the rules and safety procedures, as well as any safety rules launch site-related safety protocols. In addition, before any launch event, the team will make sure to review the components of the practical checklist to ensure that all necessary steps are taken for a safe and successful launch. Rocketry Laws and Regulations: The Citrus College Rocket Owls understand the need to comply with the safety laws and regulations when operating unmanned rockets and handling motors. As such, the team will ensure that the following are followed at all times: The Federal Aviation Regulations 14 CFR subchapter F part 101 subpart C regarding amateur rocket operations Amateur Rockets, Code of Federal Regulations 27 Part 55: Commerce in Explosives Fire prevention, NFPA 1127 Code for High Power Rocket Motors. Details of the team s plan of complying with the above listed laws and regulations are provided below. The team will abide by the following regulations during any rocket launch activities: The operated rocket will be unmanned The operated rocket will be launched on a suborbital trajectory The operated rocket will not cross into the territory of a foreign country without prior agreement between the United States and the country of concern The rocket will not create a hazard to persons, property, or other aircraft The team will also abide by the following guidelines regarding the operation of class 2-high power rockets and class 3-advanced high-power rockets: No person shall operate a rocket: At any altitude where clouds or obscuring phenomena of more than five-tenths coverage prevails At any altitude where the horizontal visibility is less than five miles Into any cloud Between sunset and sunrise without prior authorization from the FAA Within 9.26 kilometers (5 nautical miles) of any airport boundary without prior authorization from the FAA In controlled airspace without prior authorization from the FAA The team will not operate an unmanned rocket excluding a Class 1 Model Rocket unless prior knowledge has been provided to the FAA ATC facility nearest to the place of intended operation no less than 24 hours before and no more than three days before beginning the operation. The Citrus College Rocket Owls will provide the name and address of the operator or the name and address of the designated event launch coordinator, as well as the date and time the activity will begin, the radius of the affected area of the ground in nautical miles, the location of the center of the affected area in latitude and longitude coordinates, the highest affected altitude, the duration of the activity, and any other information requested by the ATC facility. 68

70 The team mentor will handle any and all explosives used by the team. The Code of Federal Regulations 2 Part 55: Commerce in Explosives will be closely followed by the mentor during handling of explosives, as shown below: Unless exempted by law, federal permits are needed to transport, ship, cause to be transported, or receive explosive material. Permit must keep complete and accurate records of the acquisitions and dispositions of explosive material Obtaining a Federal license or permit does not permit any one from violating any state or local ordinance No person shall store any explosive material in any matter that violates applicable regulations Finally, the team will abide by the NFPA 1127 Code for High Power Rocket Motors by complying with the following: Material that is explosive and flammable will not be stored in a detached garage or outside Explosive material will be stored in a noncombustible container All storage of explosive will be with accordance with federal, state, and local laws Igniters will not be stored with explosives Plan for Rocket Motor/Energetic Devices Storage, Transportation, and Purchase: The purchase, storing, transportation, and use of rocket motors and energetic devices will be handled by the team s mentor Rick. Motors will only be purchased by online vendors which have been certified by TRA/NAR. Motors will stay disassembled and packaged until the day of launch. If they are to be removed from the original packaging, they will be packaged in a container that will be labeled clearly. The chosen motor and the fuel we will be utilizing, Ammonium Perchlorate Composite Propellant (APCP), will be transported to the launch site via postal service. The motor will be ordered and delivered to the launch site. The rocket motor will only be handled by a TRA/NAR certified member. 69

71 Table 32 lists the possible hazards for the facilities to be used and their corresponding mitigations Facility Hazard Pre- RAC Citrus College Computer lab Computer damage Table 36: Facility Hazard Analysis and Mitigation 4E Cause Effect Mitigation Post- RAC Spilled food or drinks, broken pipes Lost or corrupted data, damaged facilities The lab will solely be used for technical aspects of the project that require computers as well as team meetings. Drinks and food will not be allowed within close proximity of the computers. 4E Launch Sites 1. Rocketry Organization of California (ROC) 2. Friends of Amateur Rocketry (FAR) 3. Mojave Desert Advanced Rocketry Society (MDARS) Rogue rocket 2D Launch without proper preparations and considerations Bodily harm, damage to rocket Before any launches, a certified team member will ensure and confirm with the checklist created by the team. At all times NAR High Powered Rocket Safety Code will be followed. The Range Safety Officer (RSO) will have final say about the safety of the rocket and the launch site. 2E 4E Cal Poly Pomona Wind Tunnel Malpractice use of the wind tunnels 4D Lack of proper care, inadequate preparation for activities Inability to launch, bodily harm All activities will be supervised by trained Cal Poly personal. 4E 70

72 Citrus College Machine Shop Physical injury, skin or eye irritation 2D Lack of safety equipment, inadequate training with tools or equipment Bodily harm Proper safety equipment will be worn at all times. This includes but is not limited to gloves, masks, goggles and strong shoes. Only trained members will operate the machinery and power tools. 2E 71

73 MSDS is used to understand the potential hazards of the materials mentioned in Table 6 below. Table 33 also outlines the preliminary risk levels, as well as the Pre-RAC and Post-RAC scores for each material. Materials Hazard Pre- RAC Wood Fiberglass Acetone Cuts, scrapes and splinters Hazardous fume inhalation and High flammabil ity Table 37: Material Hazards Analysis and Mitigations 4B 4D 2C Cause Effect Mitigation Post- RAC Unsafe wood handling Lack of safety equipment utilization Use of acetone without proper considerations Bodily harm The team will wear gloves and safety goggles at all times when handling wood Skin and eye irritation Lung, eye, and throat irritation The team will wear gloves, masks, and goggles at all time when working with fiberglass. If fiberglass comes in contact with skin, the area will be washed under cold water for at least 15 minutes. The team will use acetone in designated, well vented areas, away from potential ignition sources 4C 4E 3D Epoxy Irritability 4C Misuse of epoxy Skin, eye, and throat irritation The team will wear appropriate safety gloves and masks when working with epoxy. 4D Black Powder Premature ignition 1E Misuse of black powder Bodily harm, facility damage Only the team mentor, Rick, will handle black powder 2E Solder Hightemperatur e metal 2B Misuse of solder, use without proper considerations Burns, respiratory irritation The team will wear appropriate safety gloves and masks when working with solder and the soldering iron. 3C 72

74 Paint Irritability 3C Use of paint without proper considerations Throat and eye irritation The team will wear protective respiratory masks while painting in well-ventilated areas only. 4C Batteries Battery leakage 3C Chemical burns, skin irritation The team will store batteries in cool, dry places to avoid overheating, and disconnect the batteries after use. 3D Super glue Irritability 3B Misuse of superglue, lack of safety equipment utilization Eye and skin irritation The team will wear gloves and eye protection when handling super glue. 3D 73

75 Table 38 below shows the equipment required for construction and any possible hazards they may cause in addition to any mitigation procedures the team can take to prepare for said hazards. Table 38: Equipment Hazards Analysis and Mitigation Materials Hazards Pre- RAC Cause Effect Mitigation Post- RAC Power Tools Misused tools 3B Physical injury 3D Lack of proper care when tools are in use All team members will wear appropriate safety gear as well as be properly trained on how to use all power tools Machinery Machines in operation Rocket Motor Premature ignition 1D 2D Lack of safety precautions taken Misuse of black powder Physical injury Physical injury, property damage Team members will abide by all rules that correspond to the machinery being used, and they will not be allowed to work alone or under fatigue. Rocket motors will be handled by the team s Tripoli Rocketry Level 1 certified members or the team mentor, Rick. All other team members will remain a safe distance from the launch 3E 3E 74

76 Preliminary Failure Modes and Effect Analysis The systems of the proposed launch vehicle and its internal components have been analyzed in order to identify the cause and possible effect of any failures and malfunctions. Mitigations were decided to reduce the possible risk of these failures. Table 39 lists the possible failures of the launch vehicle with their corresponding mitigations. Table 39: Launch Vehicle Hazard Failure Modes and Effect Analysis Risk Pre- RAC Cause Effect Mitigation Post- RAC Unstable flight 2D Mass distribution is greater in the aft section of the rocket Unstable flight OpenRocket simulations will identify and confirm the center of mass 2D Fins fall loose 2B Fins are not properly attached to the body of the motor mount and/or do not have equal radial spacing Unstable flight and potential launch vehicle damage Fins slots in the airframe and epoxy will be used to secure the fins onto the wall of the motor mount. The grain of the wood will be perpendicular to the body of the rocket 1D Launch vehicle components separate prematurely 1D Insufficient amount of shear pins or faulty altimeters Failure to reach target altitude and damage to the rocket and other components Calculations and ground ejection tests will be used to determine and verify the necessary amount of shear pins and black powder. Tests will be conducted to ensure that the altimeter is functioning properly. Static port holes will be correctly sized to ensure proper altimeter readings 1E 75

77 Launch vehicle components fail to separate 1D Nonessential amount of shear pins or insufficient pressure in parachute bay Absence of parachute deployment and ballistic descent of the launch vehicle Calculations and ground ejection tests will be used to determine and verify the necessary amount of shear pins and black powder 1E Airframe shreds 1D Miscalculation of the tensile strength of the airframe Damage to launch vehicle Blue tube will be used 1E 76

78 Table 36 lists the possible failure modes of the payload and the corresponding mitigations. Risk Nuts, bolts, and washers become loose Table 40: Payload Failure Modes and Effect Analysis Pre- Cause Effect Mitigation Post- RAC RAC 1D Nuts, bolts, and 3E washers have not been tightened correctly Platforms will move around in the container, causing the payload to become unstable Correct sizing of the nuts and washers will be used. The nuts and washers will be tightened manually Threaded rod snaps 2D Payload mass is too high to sustain Rover ignites 2C Faulty battery, low-quality components Loss of payload, damage to rocket, launch vehicle component free-fall Loss of rover, potential damage to property Calculations will be made in order to find the optimal strength required from the threaded rods in order for the payload deployment system to function as designed. The rover will be tethered to the payload bay, which will prevent components enter free-fall The team will only use commercially available batteries and components for the rover. 3E 2E 77

79 Table 41 lists the failure modes of the propulsion system and the corresponding mitigations Risk Table 41: Propulsion Failure Modes and Effect Mitigations Pre- Cause Effect Mitigation Post- RAC RAC Motor failure 1D Faulty motor, rocket is too heavy, motor impulse is too low Motor explodes during ignition Motor igniter not reaching the end of the motor Motor mount failure Failure to reach target altitude, unstable flight, loss of motor casing 1D Faulty motor Loss of rocket and/or motor 2C 1D Failure to properly measure the length of the motor Motor retainer was not properly reloaded Failure to complete motor burnout Loss of rocket Only commercially available motors will be used, which will be chosen after analysis of OpenRocket simulations Only commercially available motors will be used Length of the motor will be measured and the location will be marked on the outside of the rocket to ensure proper length and placement of the igniter Motor retainer will prevent the motor from penetrating into the body of the rocket, rocket will be inspected by safety officer and team mentor before launch 1E 1E 2E 1E Premature burnout 3C Faulty motor Failure to reach target altitude Only commercially available motors will be used 3E 78

80 Improper transportation or mishandling Motor ignition failure 1D 3D Motor was left in dangerous conditions Faulty motor, disconnected matches Unusable motor, failure to launch Failure to launch Motors will be handled by certified members and/or the team mentor according to guidelines outlined in the motor handling and storage section Only commercially available E- matches will be used 1E 3E 79

81 Table 38 lists the recovery failure modes and their corresponding mitigations Risk Table 42: Recovery Failure Modes and Effect Analysis Pre- Cause Effect Mitigation Post- RAC RAC Damage to the 1E airframe and payload, loss of rocket Rapid descent 1C Parachute is the incorrect size Parachute deployment failure Parachute separation 1C 1C Parachute does not deploy, parachute deploys late Parachute disconnects from the U-bolt Loss of launch vehicle, extreme damage to airframe, fins, and other components Damage to the launch vehicle and all components Multiple calculations, including OpenRocket simulations, will be used to determine and estimate the best descent rate with the optimal parachute Parachute will be packed properly, RRC2+ altimeters will be tested before any launch to ensure they properly deploy the parachute Parachute will be properly secured to the bulk plates with quick links and welded eye bolts, various tests will be conducted to ensure parachute remains attached 1E 1E Torn parachute 2D Poor quality of parachute, mishandling of parachute Rapid descent, damage to launch vehicle Parachute will be inspected before each launch. Only commercially available parachutes will be used 2E 80

82 Parachute burns 1C Lack of parachute protection Slow descent 2C Parachute size is too large Rapid descent, damage to launch vehicle Rocket drifts out of intended landing zone, loss of rocket The parachutes will be equipped with a SUNWARD Nomex Blanket for flame resistance Multiple calculations, including OpenRocket simulations, will be used to determine and estimate the best descent rate with the optimal parachute 3D 2D 81

83 Environment Concerns The environment has many hazards that can be detrimental to a successful launch. Safety measures will be taken to minimize the effects of the project on the environment. Table 39 shows the possible environmental hazards and the precautions that will be taken to minimize their effect. Hazards Dangerous weather conditions Table 43: Environmental Hazards and Mitigations Pre- Cause Effect Mitigation Post- RAC RAC 2C N/A Inability to The team will plan 3E launch, damage to ahead and check electronics and weather conditions launch vehicle for the launch day. The team will keep pocket electronics and parts away from weather hazards when not in use Clouds 2C N/A Inability to launch The team will plan ahead and check the forecast for set launch days Muddy ground 3D Rain Inability to launch, possible injury to team members due to failing or getting stuck in mud Humidity 3D N/A Inability to light motor or black powder The team will check the forecast for heavy rains and reschedule if necessary The team will keep the e-matches, motors, and black powder stored in a safe location away from the humidity 4E 4E 4E Bodies of water 1E N/A Loss of launch vehicle and damage to electronics The team will check the landscape to make sure there are no large bodies of water near the launch site 4E 82

84 Aircraft overhead 1A N/A Inability to launch The team will check the skies for any overhead aircraft and wait until they pass if necessary 4A UV damage 2A Sun Inability to launch, damage to electronics, and possible explosions Heat stroke and dehydration Obstacle to successful rocket retrieval A wild animal is encountered Motor overheats/explodes 1D Sun Unconsciousness and possible bodily harm 1D N/A Damage to rocket and/or loss of rocket 1C N/A Injury to team members, possible death 2D Sun Injury to team members, damage to launch vehicle and electronics The team will work in shaded areas and keep all components from being exposed to the sun for too longs The team's work will be conducted in a shaded area and water will be available at all times The rocket will be launched in an unpopulated area away from trees, telephone/power lines, highways or moving vehicles to ensure its safe retrieval The team will pay close attention to the surrounding environment, including any poisonous or threatening wildlife, that may be in the area The team will keep the motor in a cool area before launch 2E 4D 4D 3C 4E 83

85 Motor launch creates a wildfire 1D Motor, launch area Property damage, possible death The team will only perform a launch in designated areas away from dry bushes or grass 1E 84

86 V. Payload Criteria Objective of the Payload The objective of the payload is to safely transport and deploy an autonomous rover capable of traversing multiple varieties of terrain. When recharging is necessary, the rover will deploy a set of solar panels. The payload bay will have to withstand a high amount of force caused by the motor ignition. The rover must have the ability to be deployed without becoming trapped in the deployment system. Upon deployment, the rover will navigate through any terrain the vehicle lands upon. Payload Mission Success Criteria The primary object of the payload design is to meet NASA s list of requirements for the deployable rover outlined in the Student Launch Handbook. The payload experiment must meet the following criteria: Be safely housed inside the internal structure of the launch vehicle during flight Be able to remotely deploy for the internal structure of the launch vehicle after landing Be able to autonomously move five feet away from the launch vehicle Deploy a set of foldable solar panels after moving five feet away Payload Systems The payload consists of two separate systems. The first is the deployment system for the rover and the second is the rover itself. The current leading designs for these systems and their subsystems are described in this section along with their design alternatives. Evaluations of the pros and cons for each alternative design are also provided. Rover Deployment System The objective of the rover deployment system (RDS) is to safely house the rover during the flight of the launch vehicle, then be able to remotely deploy the rover after the launch vehicle has landed. The RDS should be robust with the ability to successfully deploy the rover regardless of the launch vehicle s orientation and position after landing. The RDS should also have a durable and reliable locking mechanism preventing a premature deployment midflight. Figure 26 demonstrates the alternative designs to the rover deployment system. 85

87 Rover Deployment System Alternative 1 Alternative 2 Alternative 3 Leading Alternative Spring Deployment System Door Deployment System Piston Deployment System Threaded-Rod Deployment System Single Door One Threaded Rod Two Doors Two Threaded Rods Figure 30: Alternative Rover Deployment System Designs Alternative 1: Spring Deployment System The Spring Deployment System (SDS) consisted of three phases. The first phase involves a remote activation sent to the rocket via a radio signal after landing. This initiates phase two, which is the unlocking of the payload bay. Phase two immediately leads to phase three, which is the separation of the shells of the payload bay. Once phase three is complete, the rover would be free from the launch vehicle, allowing for the rover to carry out its mission. The design of the SDS centers around two tubes, with one fitting inside the other. Each tube has a fixed bulkhead and a moveable plate with a large spring placed in between the bulkhead and the plate. The rover is to be placed in between the two plates with boards fitting both above and below the rover. The boards will be slightly longer than the length of the rover and serve as braces to take the force of the springs off the rover. When the payload separates after landing, the boards will fall out with the rover. To secure the two tubes of the payload bay, the bulkhead on the outer tube will feature two slots where two offshoots of the inner tube could slide through. Each offshoot will have a square nut secured in place where a threaded rod could be screwed into. The side of the bulkhead of the outer tube, opposite of the spring, will have two motors connected to two threaded rods that would screw into the square nuts secured to the inner tube offshoots. Both motors will be controlled by a microcontroller which will activate the motors after a remote signal is sent. All systems will be powered by commercially available batteries. Phase one will begin when the signal is sent, which will initiate phase two. Phase two will unscrew the threaded rods from the square nuts mounted inside of the offshoots of the coupler tube. This will then free the coupler 86

88 tube and release the compressed springs which will allow the rover to be pushed out of the body tube and coupler tube, and land on the ground. SDS Pros The Spring Deployment System was designed to be extremely durable as a housing for the rover. The springs on either side of the rover were placed to serve as not only the deployment system, but also as a shock absorption system for the rover. Also, by having the RDS made of an inner and outer tube, the payload bay would be double layered making it a strong structure that would not be compromised on landing. SDS Cons The locking mechanism of the SDS must be able to resist the force of the springs trying to separate the payload bay, as well as not be vulnerable to the vibrations of the launch vehicle s motor. Since the SDS concentrates all its potential energy on two threaded rods passing through two square nuts mounted into blue tube, it leaves a strong possibility for the SDS to snap under extreme forces. A malfunction of the SDS could potentially cause multiple extreme safety hazards. 87

89 Figure 31 shows a side view of the Spring Deployments System alternative with the two sections pulled apart and rover inserted inside. Figure 31: Spring Deployment System Alternative 88

90 Alternative 2: Door Deployment System (DDS) The design of the Door Deployment System (DDS) centers around a chosen number of doors located on the payload bay. The door(s) would be opened by respective servo motors located on the outer edges of the door(s) with 3D printed hinges that would allow for a 90 o swing angle of the door(s) without any external structures. For safety and to insure a successful launch, the door(s) would have featured two locks located on the outer edges of the door(s), opposite of the hinges. The locks would act as deadbolts controlled by a servo motor. Both the motors for the locks and the motors for the door(s) would be controlled by a single microcontroller located at the bottom of the payload bay. A radio receiver would be connected to the microcontroller so that a remote trigger can initiate RDS. All systems would be powered by commercially available batteries. Single-Door Deployment System (SDDS) One variant of the door system is a single-door deployment system, or SDDS. The SDDS will consist of a single door, which the rover will be able to deploy out of. SDDS Pros The DDS easily accommodates a two-wheel rover design by allowing the rover to drive straight out of the payload bay. For the opening of the doors, only smaller and less powerful motors are needed which saves space and energy. SDDS Cons After the rocket has successfully landed and the payload bay has settled, a challenge the DDS will face is not knowing the orientation of the payload bay once the deployment initiates. Ideally, the doors would be flush with the outer body, however due to imperfections in the materials this will affect the aerodynamics of the rocket. This creates forces which make the calculations of the rocket unpredictable. This unpredictability would make it impossible to calculate the altitude, since the doors would not close entirely every time. It is difficult to seal them, potentially compromising the structural integrity of the doors. Double-Door Deployment System (DDDS) A different variant of the door system is a double-door deployment system, or DDDS. With the DDDS, two doors will be located on opposite sides of the payload bay. Each door will have an internal angle of about 100 o, which will allow the rover to have a larger wheel diameter while not compromising the structural integrity of the payload bay. 89

91 DDDS Pros As the orientation of the payload bay post-landing is unpredictable, a second door will allow for more flexibility regarding the direction of deployment for the rover. The second door will also allow for an alternate deployment route should the rocket land with an orientation that forces the first door to make full-contact with the ground. DDDS Cons As with the SDDS, the imperfections in the material design will affect the aerodynamics of the rocket, which will create forces that will make the calculations of the rocket unpredictable. Due to the system having a supplementary door, the forces on the rocket and therefore the unpredictability of the calculations will be increased. The compromise to the structural integrity of the rocket will also increase two-fold. Figure 32 shows the side view of the Doors Deployment System alternative with two doors. Figure 32: The Doors Deployment System Alternative 90

92 Alternative 3: Piston Deployment System (PDS) The Piston Deployment System is composed of a piston that will deploy the rover through a 2- phase process. The design of the PDS centers around two tubes, with one fitting inside the other. Each tube has a fixed bulkhead and a moveable plate with a large spring placed in between the bulkhead and the plate. The rover is to be placed in between the two plates with boards fitting both above and below the rover. The boards will be slightly longer than the length of the rover and serve as braces to take the force of the piston off the rover. When the payload separates after landing, the boards will fall out with the rover. Phase one involves a remote activation sent to the rocket via a radio signal after landing. The signal will eject the piston and push the plate forward. This will in turn push the rover forward. Phase two is the unlocking of the payload bay. The payload will be unlocked by pushing the inner tube towards the bottom of the payload bay through the outer tube, which will separate the two. The rover will be pushed towards the opening made by separating the two tubes. Once phase two is complete, the rover will be free to deploy the launch vehicle, allowing for the rover to carry out its mission. The piston will be ejected through a set of black powder charges. When the activation signal is received, the black powder will be ignited and eject the piston. The piston will in turn push the inner plate and inner tube outward, which will release the rover. PDS Pros The piston is composed of light materials, with the black powder also being lightweight. This will reduce the overall weight of the rocket. The ejection will be relatively quick and have a high amount of force. This will allow a heavier system to be deployed at a faster rate. PDS Cons The piston can be damaged during ejection, which will release hot gas. The hot gas may damage some of the electronics it comes into contact to, which includes the rover. The rapid ejection may also cause structural damage to the rocket. Leading Alternative: Threaded-Rod Deployment System (TDS) The Threaded-Rod Deployment System is composed of a chosen amount of stepper motors which spin respective threaded rods. The rod(s) spin through the middle of the payload bay. The stepper-motor(s) are secured to the bottom bulkhead of the payload-bay and are controlled by a single microcontroller. The threaded rod(s) run through a plate and a second bulkhead which serves as the upper boundary of the payload bay and separates the nose cone from the payload bay. The plate and upper bulkhead each have a hex nut embedded in the bulkhead which prevents any movement of the hex nut. This allows for the plate and bulkhead to move when the threaded rod(s) spin. The upper bulkhead and inner plate will be pushed outwards, which will unlock the payload bay and push the rover out of the top. 91

93 TDS Pros The Threaded-Rod Deployment System has the advantage of exerting a low amount of impact on the rover during deployment. This design allows for a slow, controlled deployment which will help prevent damage that might occur with a piston or black powder deployment. The TDS also provides a durable airframe structure as well as a strong and durable locking mechanism preventing possible premature deployment during the launch vehicle s flight. TDS Cons The threaded rods in this design takes up space in the middle of the payload bay where the rover will be housed. There is also less protection for the rover from the forces it may experience during motor burnout and parachute deployment. By only having two threaded rods, the system also suffers a stability issue where the rods swivel out of alignment which can create inefficiencies in the system or stall the deployment entirely. One Threaded-Rod (OTR) One possible version of the TDS design is to have a single threaded rod running through the middle of the payload bay. The threaded rod would be spun by a single motor at the bottom of the payload bay controlled by a microcontroller. In order to accommodate the rover, a spacing would have to be made either in the middle of the rover, or by shifting the rover slightly to one side of the payload bay where a slot can be more easily made through the rover. OTR Pros The OTR is the simplest version of the Threaded-Rod Deployment System, requiring no coordination between two or more motors, thus preventing a possible failure due to the system stalling. OTR Cons By having a single threaded-rod running through the middle of the payload bay, the design of the rover will be more restricted. This becomes especially true if a threaded-rod with a greater diameter is used. Two Threaded-Rods (TTR) A second possible version of the TDS is two have two threaded-rods running through the middle of the payload bay which will push a plate which will in turn push the rover. Each rod will be rotated by a separate stepper motor which will be kept in sync by a single microcontroller. 92

94 TTR Pros By having two threaded-rods, the deployment system is more stable, meaning that the plate being pushed out is less likely to be pushed out unevenly which would potentially cause the system to fail. The TTR design also provides the advantage of being able to space the motors further apart allowing more flexibility when placing the rods through or around the rover. TTR Cons While two threaded-rods are more stable than one, the rods are still prone to bending which can cause the system to stall. This design also adds more mass to the payload bay with both the additional rod and the additional stepper motor. Figure 33 shows the TTR deployment system in a horizontal orientation. Figure 33: Two Threaded Rod Deployment System (Leading Alternative) 93

95 Rover Design The objective of the rover is to remotely deploy from the internal structure of the launch vehicle, then autonomously move 5ft from the launch vehicle where it will deploy a set of foldable solar panels. In order to accomplish this mission, the rover should be able to correctly orient itself after the launch vehicle has landed then be able to navigate through the surrounding terrain. The terrain has the potential of consisting of loose dirt, mud, rocks, and slopes requiring the rover to have enough torque and traction to overcome these obstacles. Figure 30 demonstrates the alternative designs to the rover. Rover Design Alternative 1 Traditional Rover Leading Alternative Two-Wheel Rover Stability Object Avoidance and Navigation Solar Panel Deployment Extra Wheel Camera with Image Processing System Spring Deployment Lower Center of Mass Ultrasonic Sensor Motor Deployment Gyroscope with Deployable Legs Figure 34: Alternative Rover Designs 94

96 Chassis Design The chassis of the rover serves as the foundation that the systems of the rover are built on and is designed to be optimal in ensuring mission success while also utilizing the space provided for it in the payload bay. Alternative 1: Traditional Rover The traditional rover design uses a linear vehicle frame that can have either four or six wheels. Due to the cylindrical shape of the payload bay, the frame of the rover would be rectangular with the wheels located on the longer sides of the chassis. The design has a distinct front and would have solar panels located at the top of the rover. The Traditional Rover would be loaded in the launch vehicle with the front of the rover facing straight up, towards the nose cone. Traditional Rover Pros The Traditional Rover design is both stable and efficient, with the best versatility for navigating different terrains. The design also allows for the system to power off while the solar panels recharge the onboard battery. Traditional Rover Cons The orientation of the rover after it is deployed from the rocket is unknown and can be difficult to control. Should the rover be upside-down, the rover would have to somehow upright itself. The space inside the rocket is also very limited and this design does not effectively utilize the volume of the payload bay. This rover design would also require more safety measures to be taken to prevent damage to the rover from shocks, vibrations, and extreme forces it may experience during the flight and landing of the launch vehicle. Leading Alternative: Two-Wheel Rover The Two-Wheel Rover design (TWR) uses two wheels secured to a chassis in the middle. All components as well as the frame for the rover are kept within the diameter of the wheels. This design requires a stability system which would allow it to balance and maneuvers around its environment. The TWR would be housed in the payload bay with the sides of the wheels parallel to the ground as the launch vehicle is on the launch pad. Two-Wheel Rover Pros By keeping the components and body frame of the rover within the wheel diameter, the TWR design better conforms to the shape of the rocket. This allows the rover to better utilize the space inside the payload bay as well as gives the potential for maximizing the wheel diameter for the rover. The TWR also has the advantage of being able to easily upright itself so that the solar panels can be deployed facing the sky. 95

97 Two-Wheel Rover Cons The TWR design can be less efficient when manuring over hilly terrain or areas where traction is limited. The design also requires balancing system, making it less stable which would be non-optimal for sensors or other scientific equipment that may need to be kept still. Furthermore, if the rover is to recharge using the solar panels, then the rover would need a way to keep the solar panels facing upwards while powered down. Rover Stability The Two-Wheel Rover design presents the challenge of finding a way to help stabilize the rover so that the solar panels are oriented upwards upon deployment and to ensure navigation systems function properly. Alternative 1: Additional Wheel One possible alternative to helping stabilize the rover is to add a third smaller wheel in the middle of the rover that is slightly offset so that the rover does not tip. This would work by moving the center of mass of the rover towards the third wheel so that the rover is predisposed to leaning towards the additional wheel. Additional Wheel Pros This design is both simple and effective requiring no extra programming to function. The additional wheel can also help conserve power during the rover s mission and allows for the rover to stay balanced when power down while the solar panels recharge the rover s battery. Additional Wheel Cons A third wheel is not optimal for terrain where traction is limited or where the rover will have to navigate up slopes. If the rover were to tip over and roll down a slope, the rover would have to be able to right itself up again. Space inside the payload bay is also limited and a third wheel would extend away from the center of the rover, and outside of the wheels diameter. Alternative 2: Lower Center of Mass (LCM) The rover can be made to keep a fixed orientation by lowering the center of mass of the rover so that any rotation in the middle of the rover can be quickly corrected for by gravity. LCM Pros The LCM design is both simple and effective, and ensures that even when the rover is powered down, that the rover is always in the correct orientation. Should the rover 96

98 somehow be flipped at any point, the rover will automatically correct itself allowing it to continue its mission. LCM Cons The LCM design requires an offset center of mass which can affect the flight trajectory of the launch vehicle. Also, while this design is simple, it is most effective for flat surfaces and can make navigating up an incline more difficult for the rover. This is because when going up a slope, the center of mass for the rover will be behind the wheel towards the bottom of the slope. Leading Alternative: Gyroscope with Deployable Legs The Two-Wheel Rover design can be designed to be self-balancing by adding a gyroscope, which will continuously update a microcontroller on the orientation of the rover so that it can correct for any tilt in the chassis with the DC motors. When the rover is ready to deploy the solar panels, a pair of mechanical legs will be deployed from the chassis of the rover to ensure that the rover remains fixed in place without the aid of the gyroscope. Gyroscope Pros By having the rover continuously self-balance with the gyroscope, the orientation of the rover will quickly and easily be fixed and adjusted if the rover were to roll down a hill or be flipped due to some unknown cause. Gyroscope Cons With the rover having to continuously self-balance, more power is consumed by the rover during navigation due to the constant adjustments needed to be made. Additionally, the rover will pivot, which can be detrimental to function of any sensors placed on the rover. Object Avoidance and Navigation During the rover s mission, the rover may experience obstacles which could potentially compromise the mission by preventing the rover from moving any further. In order to prevent this possible setback, the rover must be equipped with an object avoidance system so that the rover can successfully navigate around any obstacles which might obstruct its path. Camera with Image Processing System The rover will be able to detect and maneuver away from any obstacles it may encounter within a field of view while utilizing a camera and an image processing system. This will be accomplished through visual stimulation. 97

99 Camera with Image Processing System Pros The camera and image processing system will be able to detect any obstacle the rover comes across without hindrance. The rover can detect an obstacle quicker than other detection systems that do not rely on visual data. Camera with Image Processing System Cons Utilizing the camera and image processing system in unison will increase the rover s power consumption. The memory and processing power that it would require would be high and an alternate microcontroller would be needed. Leading Alternative: Ultrasonic Sensor An ultrasonic sensor will allow the rover to detect and maneuver away from any obstacles it may encounter within a forward range. This will be accomplished via sound stimulation. Ultrasonic Sensor Pros The ultrasonic sensor will have a lower power consumption, allowing the rover to continue the mission for a longer duration. The sensor will not require a sizeable amount of processor and memory power and will be natively supported by the Arduino Uno microcontroller. Ultrasonic Sensor Cons The sensor will not be able to detect obstacles with a width of 1.77 inches and height of.6 inches. Opaque objects which do not block the rover, such as grass, will act as false positives. Solar Panel Deployment As the rover continues the mission, it will utilize the electricity in its battery. Over time, the battery s charge will diminish. The rover will need to recharge its battery. To accomplish this, the rover will be equipped with a solar panel system, which will include two solar panels. The solar panels will have a deployment system. The solar panel deployment system will activate when the rover is no longer able to support its electrical systems through the battery. Spring-Deployed Solar Panels System (SDSPS) One method to accomplish solar panel deployment is through the use of torsion springs and a servo motor. The springs will hold the solar panels in the desired position, which will be 98

100 determined by the servo motor. When the solar panels are not required, the servo motor will hold the springs in place, which will keep them in their default position. Once the battery is depleted, the servo motor will release the springs and deploy the solar panels. SDSP Pros For this alternative, the system will only require one motor to unlatch the solar panels, allowing the torsion springs to fully deploy the solar panels. Using one motor will also decrease the power consumption of the rover. SDSP Cons The deployment system is spring based and will have to be manually reset. This is not optimal, as the rover will not be able to continue the mission should the battery be depleted. Leading Alternative: Motor-Deployed Solar Panel System (MDSPS) In this design, the solar panels are folded on top of one another with a spindle attached to the outermost side of the solar panels. Each spindle is then connected to a servo motor which can rotate the spindle, thus deploying the solar panels. MDSPS Pros By having a motor control the rotation of each solar panel, the solar panels can easily be refolded or adjusted to better take advantage of the location of the sun. MSDSPS Cons The system will require a second motor which both occupies additional space on the rover chassis and adds extra mass to the rover. The second motor will also make the rover have a higher power consumption. 99

101 Current Leading Design The following section provides details for the current leading design based on the alternatives detailed in the previous section. This section is divided into two subsections based on the two major systems of the payload experiment. The first section is the rover deployment system which outlines the design of the system, the justifications for those designs, and how the system operates. The second section is the rover design which details the design of the rover and its subsystems, the justifications for those designs, and how those systems operate. Rover Deployment System The current leading design for the rover deployment system is based on the two threaded-rods variant of the Threaded-Rod Deployment System. For this section, this variant will simply be referred to as the Rover Deployment System (RDS). The RDS is composed of two stepper-motors with each motor spinning a threaded rod running through the middle of the payload bay. The stepper-motors are secured to the bottom bulkhead of the payload-bay and are controlled by a single microcontroller. Both threaded rods run through a plate and a second bulkhead which serves as the upper boundary of the payload bay and separates the nose cone from the payload bay. The plate and upper bulkhead each have a hex nut embedded in the bulkhead which prevents any movement of the hex nut. This allows for the plate and bulkhead to move when the threaded-rods spin. The RDS operates in two phases. The first phase is the remote activation of the system via a radio signal. The remote activation initiates phase two, which is the deployment of the rover. Stage two works by spinning the two threaded rods in sync which pushes the upper bulkhead outwards until it is no longer making contact with the threaded rods, thus unlocking the payload bay. While this is happening, the inner plate is simultaneously pushing the rover out of the top of the payload bay. Once the rover is fully pushed out of the payload bay, the deployment is complete, and the rover can begin its mission. Several measures have been taken in order to increase the durability of the system and ensure the protection of the rover. The first measure is to epoxy the stepper-motors to the bottom bulkhead of the payload bay as well as to epoxy the couplers which connect the stepper-motors to the threaded-rods. Since the threaded-rods are what secure the payload bay together, it is imperative that there are no weak points in the system. By using both screws and epoxy, the entire system will be able to resist any force which might act to pull it apart. Another measure taken is the addition of a silicon sheet with a spring attached to the two plates that border the rover. The combination of the silicon sheet and spring will serve to help absorb some of the forces experienced by the payload bay so that the rover will be less likely to be damaged during flight. The threaded-rod design for the Rover Deployment System has the disadvantage of stalling due to either the motors rotating out of sync or the rods twisting out of alignment. The first of these scenarios can be fixed through the use of a microcontroller and a motor driver ensuring that the two motors remain in sync even as the motors meet resistance. The second scenario is a problem caused by the threaded-rods not being permanently fixed on one end, and falling out of alignment. The plates and rover must slide out evenly to avoid a jam. This is solved by adding thin sanded boards along opposite sides of the payload bay running parallel to the threaded-rods. Cuts will be made in the sliding plates so that the boards can act as guiding rails, preventing the plates and therefore the rods from twisting. 100

102 Rover Design The current leading design for the rover uses a rectangular chassis with two wheels secured to the shorter sides of the chassis. All components of the rover will be contained within the diameter of the wheels so that the rover can easily fit inside the payload bay of the launch vehicle. In order to secure the rover inside the payload bay, the rover will be loaded with the sides of the wheels facing the bottom of the payload bay. The threaded-rods for the RDS will run between the spokes of the wheels without intersecting the main body of the payload bay. The rover will operate in three phases. The first phase of the rover is a remote activation of the rover via a radio signal. After receiving the signal, the rover will remain dormant for two minutes while the rover is deployed from the internal structure of the payload bay. After the two minutes has expired, the rover will begin phase two where it will autonomously move five feet away from the launch vehicle. During this phase, the rover will use an object avoidance system in order to prevent the rover from colliding with any obstacles which the rover cannot overcome. Once the rover has successfully navigated five feet away, the rover will stop. This begins stage three which is the deployment of the solar panels and legs. Once the legs and solar panels have fully been deployed, the rover has successfully completed its mission. The rover can be divided into three major subsystems. The first subsystem is the stability system which allows for the self-balancing of the rover. This is achieved through the use of a gyroscope connected to the microcontroller. With the input from the gyroscope, the microcontroller is able to make adjustments to the orientation of the rover through the DC motors which rotate the wheels. The second subsystem is the object avoidance and navigation system. The rover is able to detect and avoid objects by first identifying the obstacles with the ultrasonic sensor. Once an obstacle is detected, the rover will turn 30 o clockwise then attempt to continue its mission. If there is still an object obstructing the rover s path, the rover will repeat this process. The third subsystem is the solar panel and leg deployment system. This system activates once the rover has successfully moved five feet away from the launch vehicle and come to a stop. The legs will each be controlled by separate servo motors, which will simultaneously lower the legs to help balance the rover. At the same time, the two solar panels will fold out by the activation of another two servo motors which will each rotate a spindle attached to each of the solar panels. There will be a slight delay in the deployment of one of the solar panels which is folded under second. This will prevent the two solar panels from colliding. 101

103 Figure 35 shows an exploded labeled image of the rover with each leading design. Figure 35: Exploded Rover (Labeled) 102

104 Figure 36 shows an image of the rover with the labeled dimensions. All measurements are in inches. Figure 36: Rover (Labeled Dimensions) 103

105 Figure 37 shows a labeled image of the rover deployment system Figure 37: Rover Deployment System (Labeled) 104

106 Figure 38 shows the rover deployment system with the rover inserted Figure 38: Rover and Rover Deployment System 105

107 Figure 39 shows the rover inserted into the payload deployment system with the system having labeled dimensions. All units are in inches. Figure 39: Rover and Rover Deployment System (Labeled Dimensions) 106

108 Figure 40 shows an interior view of the rover and the rover deployment system inserted within the payload bay Figure 40: Interior Payload Bay 107

109 Figure 41 shows an internal view of the payload bay with the inner coupler inserted Figure 41: Internal Covered Payload Bay 108