Cornell Rocketry Team. NASA Student Launch Competition CORNELL ROCKETRY TEAM

Transcription

1 CORNELL ROCKETRY TEAM Presentation Centennial Challenge MAV Participant NASA Student Launch Competition

2 LAUNCH VEHICLE

3 GENERAL DIMENSIONS Airframe Tubing: OD = 3.98 in ID = 3.9 in Couplers: OD = 3.9 in ID = 3.76 in Motor Mount Tube: OD = 2.28 in ID = 2.15 in (54 mm) Bulkheads and CR: Thickness = 3/32 in

4 DESIGN CHARACTERISTICS Weight: oz. (18.8 lb.) Stability: CG: 42.5 in CP: 54.9 in 3.12 calibers Predicted Apogee: 5,280.3 ft.

5 MOTOR SELECTION Cesaroni K740 C-Star 54 mm, 4 grains Total Impulse: 1874 Ns Avg. Thrust: 740 N Thrust-Weight Ratio: 740 N 18.8 lb 4.45N/lb = 8. 8 Rail-Exit Velocity: 47.6 ft/s (first rail button exit) 61.0 ft/s (vehicle exit)

6 MASS STATEMENT Total Mass: oz (18.8 lb) Mass Margin: Max: 33.2 lb Percent Difference = 75% Section Component Mass (oz.) PEM Nosecone 19.1 Coupler Tracking Electronics 15 Bulkhead 1.4 PEM Airframe 4.9 PEM Mass 30 PEM Coupler 10.7 Main Parachute Section Bulkhead 1.5 Main Parachute Airframe 12.6 Main Parachute Shock Cord 12 Switchband 0.7 Main AV Bay 9.5 Forward Bulkheads 4.4 Aft Bulkheads 4.4 Avionics 10.2 Ballast Mass 16 Subtotals (oz.) Booster Section Booster Airframe 21.7 Fins Mouter Mount Tubes 13.8 Centering Rings 4.8 Drogue 2 Shock Cord 14.4 Epoxy 10 Bulkhead 1.6 Coupler 0.6 Empty Motor Mass 22 Propellant Mass TOTAL (oz) 301.8

7 RECOVERY SYSTEM Parachute Parachute Diameter Drag Coefficient (in) Drogue Main /16 Tubular Nylon Shock cord 25 ft for the Main Parachute 30 ft for the Drogue Parachute Shock cords mounted to bulkheads epoxied in airframe Drogue deployment at apogee, and Main deployment at 700 ft Drogue drag coefficient updated such that subscale model matches measured descent velocity. Main drag coefficient from vendor.

8 FLIGHT CHARACTERISTICS Section Mass (oz) Parachute Diameter (in) Velocity at Landing (ft/s) Kinetic Energy at Landing (ft-lb) Kinetic Energy at Main (ft-lb) Kinetic Energy at Drogue (ft-lb) PEM Main Parachute Booster Section Descent Rates at Landing and Kinetic Energy at Key Phases Wind Speed (mph) Altitude (ft) Drift (ft)

9 TEST PLANS Test Procedure Purpose Procedure Full-scale vehicle launch A successful launch demonstrates that the vehicle can reach the target altitude and land safely. Use the launch checklist to prepare the launch vehicle for flight. Wire all avionics prior to arrival at the launch field. At the field, load black powder charges, the parachutes, and the motor. Airframe tubes will be dropped from a height of 10 ft with no parachute. Full-scale Ground Test A successful test indicates no cracks in the airframe. A successful test is one where both the booster section and the PEM separate from the launch vehicle. Drop a piece of airframe tubing from a stairwell 2 stories high. Make sure no one enters the base of the stairwell during test. Load black powder charges for the Drogue and Main Parachutes. Pack parachutes, in addition to a mock motor to seal the booster. Using 30 ft of wire, ignite the charges manually using a 9V battery.

10 SUBSCALE ANALYSIS Predicted Apogee: 1137 ft Actual Apogee: 1079 ft Vertical Velocity: 22.0 ft/s Underestimated density of the Filament Wound Fiberglass Launched in windy conditions: mph MARSA 54L altimeter malfunction, PerfectFlite StrattoLogger success Wires to Drogue and Main Parachute ejection charges switched 54 in main, 18 in drogue

11 SUBSCALE TEST (OCT. 24, PENN YAN, NY)

12 SUBSCALE TEST (OCT. 24, PENN YAN, NY)

13 RECOVERY SYSTEM TESTS Ground Testing for the subscale: An Identical Test will be used for the full-scale before launch

14 INTERFACES The nosecone will be riveted to coupler epoxied to the PEM to prevent interference with component internal to the PEM Threaded T-nuts will be epoxied to the inside of the avionics bay to facilitate machine screw rivets Two in holes in the switch band allow access to arm the altimeters

15 REQUIREMENTS VERIFICATION Requirement Verification Method Status Capable of withstanding impacts from launch and recovery. Maintain an acceptable stability margin. Utilize black powder charges to deploy the Drogue and Main Parachutes Reach a target altitude of 5,280 ft, and not exceed an altitude of 5,600 ft. Symmetrical Fin Alignment needed for stable flight profile on launch. Sufficient bulkhead strength for stresses due to parachute deployment and recovery. Use commercially available altimeters to implement a dual-deployment recovery system. ANSYS Simulation Drop Test Measure actual center of gravity after construction is complete. Subscale Ground Testing Full-scale Ground Testing Subscale Test Full-scale Test Construct Fin Jig and use a protractor to measure the angle between fins before placement. ANSYS Simulation Subscale Test Full-scale Test. Subscale Test Analysis complete (passed) Pending Pending Test complete (passed) Pending Analysis complete (passed) Pending Pending Analysis complete (passed) Test complete (passed) Pending Test complete (MARSA 54L: failed) (PerfectFlite StrattoLogger: passed)

16 HAZARD ANALYSIS Severity Probability Catastrophic Critical Marginal 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 High Risk Moderate Risk Low Risk Minimal Risk Level of Risk Highly Undesirable. Documented approval from the RSO, NASA SL officials, team faculty adviser, team mentor, team president, and team safety officer. Undesirable. Documented approval from team faculty adviser, team mentor, team president, team safety officer, and sub-team lead. Acceptable. Documented approved by the team president and sub-team lead responsible for operating the facility or performing the operation. Acceptable. Documentation approval not required, but an informal review by the sub-team lead directly responsible for operating the facility or performing the operation is highly recommended.

17 HAZARD ANALYSIS: LAUNCH VEHICLE Hazard Cause Effect Pre RAC Parachute Altimeter failure or The launch vehicle will 1A deployment failure (not due to insufficient ejection charges). Insufficient black powder in ejection charges. Premature ignition of ejection charges prior to flight. parachutes become tangled in shock cord. Incorrect black powder calculation or an incorrect amount is added before launch. A gust of wind increases the pressure in the avionics bay, causing an altimeter to register a false lift-off. An electrical failure in the altimeter sends a current spike through an igniter. strike the ground at a high velocity, damaging the vehicle and posing a danger to personnel. A parachute is not ejected and the launch vehicle lands at high velocity, damaging the vehicle and posing risk to personnel. Tethered vehicle sections separate, launching part of the vehicle as a projectile. 2D 1D Mitigation Verification Post RAC Shock cord will be packed Checking the altimeter 1D with an accordion fold, and redundant altimeters will be used. Black powder charges will be calculated beforehand. All ejection charges will be ground tested. The static ports of the avionics bay will be covered with tape until it is loaded on the launch pad. Also, once charges have been placed in the vehicle, safety protocol dictates that the rocket must not be pointed toward any individuals. settings is included in the launch checklist. The design includes redundant altimeters. A launch is prohibited until a successful ground test is accomplished. The checklist dictates how much black powder is to be added. Team members will be reminded before launch of safety protocols. The checklist will include entries for the placing and removing tape over altimeter static ports. 2E 1E

18 Premature separation of vehicle sections Deployment of Main Parachute at Apogee Motor retention failure. Bulkhead failure. A drag separation resulting from a failure in the shear pins occurs, or shear pins are not installed. The altimeters are wired or set up incorrectly. A parachute deploys during ascent, possibly destroying a bulkhead and leading to a risk of injury to personnel. The launch vehicle drifts significantly, outside of the launch field. The threads or epoxy The motor falls without connections of the motor a parachute and poses a retention ring and the aft danger to personnel. centering ring fail. The steel washers holding the motor are bent out of shape. Insufficient surface preparation or epoxy on bonded surfaces. The launch vehicle splits into two untethered sections. One section may not have a parachute, resulting in risk to personnel. 2D 2C 3D 1C Three shear pins will be used to connect each section that will separate. The altimeters in the avionics bay will be wired beforehand. All wires will be labeled. Retention rings will be machined using designs from SolidWorks to assure proper dimensions. Ground testing will determine if the motor retention ring can withstand the force from an ejection charge. The launch checklist includes installing shear pins. The launch checklist makes sure that the directions of all wires are double checked. The full-scale test will use this motor retention system. Ground testing will also be done beforehand with the system installed. Surfaces will be sanded before epoxy is added. A piece of coupler tubing will After construction, each bulkhead will be pulled on to determine integrity. 1E be cut and mounted in front The full-scale vehicle will of bulkheads for extra strength. be demonstrate that bulkheads are fastened properly. 2E 2E 3E

19 AGSE FULL SYSTEM ASSEMBLY Payload Enclosure Mechanism (PEM) Autonomous Retrieval Mechanism (ARM) Igniter Insertion System System Volume: 2.36 x 2.26 x ft Weight: 115 lb (including Launch Vehicle) Launch Pad with Winch Rotational System

20 PAYLOAD ENCLOSURE MECHANISM (PEM)

21 KEY DESIGN FEATURES Bracket Holds door open prior to payload insertion. Buckle Holds door closed throughout flight. Motor/rope system Pulls bracket in. Pulls door closed. Funnel Locks payload in place for flight. Dimensions: Total length: 23 in. 12 in nosecone. 7 in airframe. 6.4 in door. 4 in coupler. Total mass: 1.55 lbs.

22 STRUCTURAL COMPONENTS Bracket begins bent outward, supporting door in open position. Later, it bends inward to allow the door to close. Two hinges join the door with the airframe, and allow door to rotate freely. Buckles hold the door closed. Female end has been modified (elongated) to account for curved path of male end s approach.

23 ROPE SYSTEM Selected motor: Pololu 20 mm 73:1 metal gearmotor. 180 rpm. One motor operates two ropes: Bracket rope (shown in blue) pulls in bracket so that door can close. Door rope (shown in red) pulls door closed. Motor shaft has increased-radius section to pull door rope at a faster rate.

24 FUNNEL A wider mouth allows for error in placement of the payload. Removable spring boxes hold torsion springs which clip onto the endcaps of the payload, preventing payload exit. 3D printed (objet).

25 COMPLETED TESTS Hinges and brackets where both shown to perform their functions properly. The buckle failed to close, leading to modifications. The motor showed sufficient output torque to pull the ropes firmly. Different rope lengths were tested, and successful lengths were noted. The torsion springs held the payload inside the funnel with forces ranging from 0.4 lb to 0.8 lb.

26 PLANNED TESTS Test Planned date Buckle Test 1/18/2016 Rope system test independen t of other systems Method of Testing The male end of the buckle will be attached to the inner face of the door while the female end of the buckle will be attached to the inner diameter of the airframe. The door will then be closed and then CRT will attempt to open the door without releasing the buckle. If the door remains closed the test will be a success. 1/20/2016 The motor system will be mounted inside the PEM, but the electrical leads will be manually controlled through the open end of the coupler (the bulkhead will be fixed inside after testing is complete). The rope system will be tested with the lengths of initial slack in door rope that were found to be successful in previous tests (1.4 in and lengths close to this). Rope system test with electrical 1/20/2016 The above tests will be repeated with the buckle in place, and with the motor powered through the banana plugs. CRT will verify that an electrical signal is received upon the door closing. CRT will also verify that the rope system offers sufficient force to pull the buckle systems and buckle closed. Only the rope lengths selected based on the results of the above test will be used in this test. Expected Result The door will be securely closed and will not open unless CRT releases the buckle manually. The door will close consistently for some lengths of initial slack in door rope. The door will close in each trial, locking the buckle closed. The electrical signal signifying that the door has closed will be received in each trial.

27 Test Planned date Method of Testing Expected Result Enter Funnel Test Insert Torsion Spring Test Exit Torsion Spring Vibration Testing 1/18/2016 The funnel without springs will be attached to airframe. A payload will be placed outside of the funnel and the airframe will be actuated. 1/19/2016 The funnel with springs will be attached to airframe. The airframe will be placed in the vertical position with payload partially inserted into funnel, resting on torsion springs. Mass will be incrementally added to the payload until the payload overcomes the spring force and slides through funnel. The payload will be positioned correctly inside funnel with the payload directed into narrowest cylinder of the funnel. The amount of force needed to compress torsion springs and allow payload to enter the funnel will be well below the maximum force the payload will exert during launch. 1/20/2016 The funnel with springs will be attached to airframe. The The force needed to deform the airframe will be positioned in an upside-down vertical position spring legs and escape the funnel will with the payload fully inserted into the funnel. Mass will be incrementally added to the payload until the weight overcomes the spring locking force, deforms the spring legs, be well above the maximum force the payload will exert on the springs during flight. and the payload slides out of the funnel. 1/22/2016 The payload will be inserted completely into the funnel in the completed PEM. The PEM door will be closed and the PEM will be shaken by hand for five minutes. The PEM door will remain closed throughout the duration of vibration testing, and the payload will remain in the funnel at the conclusion of testing.

28 INTEGRATION AND INTERFACES Electrical interface The leads for the PEM motor will exit the launch vehicle through banana plug sockets in the airframe. The plugs will pull out of the PEM as the launch vehicle rotates to the vertical. The motor system will be activated by an electrical signal from Payload Manipulation. Copper tape on the door will provide a signal when the door is closed. Launch vehicle interface A coupler on either end will join the PEM to the nosecone and the rest of the launch vehicle. The nosecone will be riveted onto the PEM. The airframe below the PEM will be shear pinned onto the PEM. A fixed centering ring in the nosecone coupler will support a removable bulkhead separating the PEM components from the nosecone contents. Payload Manipulation interface 6 in of door space have been allotted for claw entry. There is a clear path to the back of the PEM throughout these 6 in.

29 VERIFICATION PLAN AND STATUS Requirement The system shall autonomously seal once payload has been inserted. Design Features to Satisfy Requirements A rope system will be operated by a motor to pull the bracket in and pull the door closed. Verification Method The motor system in the PEM will receive a signal once the payload has been inserted, and will begin pulling the door closed. A buckle will hold the door in the sealed position. The system shall All AGSE procedures (including The PEM system uses a motor that load and secure retrieving and securing the payload) has an rpm sufficient to close the the payload within are designed to take less than 10 PEM door in under 10 seconds. 10 minutes of the minutes. beginning of any activity. The payload shall Vibration testing by securing the be secured within the launch vehicle. A funnel system inside the PEM will be able to secure the payload, as shown in the slope and force calculations in the analysis section. payload within the funnel and shaking the PEM for 5 minutes will show that the payload remains secure during flight. Verification Status Testing has shown that a rope system operated by a motor is able to pull the bracket in and pull the door closed, provided appropriate rope lengths. The full rope system has not yet been timed. This test will be performed once the final rope system is assembled in the PEM. Vibration testing will occur once the funnel system and door locking mechanism has been assembled in the PEM.

30 Requirement The system shall allow error in placement of the payload. The system shall constrain movement of payload inside of the compartment. Design Features to Satisfy Verification Method Requirements The funnel system in the PEM is wider Tests using different payload where the payload enters so that if the placements will be performed to payload is placed imprecisely, it will still verify that the payload still slides slide into the funnel. In addition, the into the funnel. curvature of the airframe will act to align the payload for entry into the funnel. The PEM contains a funnel which the payload will slide into to constrain its movement. In addition a torsion spring locking mechanism is used to secure the payload within the funnel. The system shall keep The torsion springs will contain the the payload payload within the funnel until a user constrained removes the spring boxes from the indefinitely, until user funnel. action is taken. The system shall remain sealed after the payload has been constrained. The system shall remain functional during all vibration caused by launch. A buckle system will ensure that PEM will remain sealed after they payload has been constrained. All structures inside the PEM will be firmly attached to airframe walls, using either epoxy or screws. Vibration testing should show that the payload is not released from the funnel. Vibration testing should show that the door does not open without user action, and that the payload remains inside the funnel. A visual test should show that the buckle locks properly and vibration testing should show that the door does not open while the payload is constrained. Vibration testing will verify that no structures come loose in flight conditions. Verification Status Preliminary testing with funnel prototype shows variation in placement of the payload does not adversely affect the securing of the payload. Further testing with final component must be completed. Vibration testing will occur once the funnel system and door locking mechanism has been assembled in the PEM. Vibration testing will occur once the funnel system and door locking mechanism has been assembled in the PEM. This will be tested once the PEM assembly has been built. This will be tested once the PEM assembly has been built.

31 HAZARD ANALYSIS: PAYLOAD ENCLOSURE MECHANISM Hazard Cause Effect Pre- RAC Door opens while the launch vehicle is in flight PEM motor cannot pull door completely closed Rope system gets tangled or caught The buckle Internal elements of the system does not PEM are exposed to very securely lock harsh conditions, and the the door while launch vehicle is no longer it is in launch. aerodynamic. Insufficient torque. Improper placement of ropes. PEM door does not close; AGSE and launch cannot proceed without intervention The motor system jams, and PEM door does not close; AGSE and launch cannot proceed without intervention 1C 1C 1B Mitigation Verification Post- RAC A locking mechanism that can withstand significant force in tension was selected. A motor with appropriate output torque was chosen and is being rigorously tested under a range of conditions. Rope system is designed such that the ropes do not cross paths with each other, bracket, funnel, or other structures that may restrict their motion. The lengths of rope are being selected based on repeated tests. CRT will perform tests 1E attempting to pull the door open. The door should never open. The motor should never fail to close the door in any future trial conditions that resemble the actual launch conditions. 1E The ropes should not jam 1E during future testing. Any trials that show otherwise will be followed by revision of design.

32 Hazard Cause Effect Pre- RAC Payload fails to Misalignment of slide into funnel payload to funnel mouth. Payload fails to fully enter funnel Payload falls out of funnel once the ejection charge event in the section below occurs. Insufficient force to overcome torsion springs. Spring locking mechanism does not have sufficient force to secure payload and leg of torsion spring is deformed. Payload is able to move within the PEM, causing variability in flight. Only part of payload is secured inside funnel, giving payload more freedom to move and causing slight variability in flight. Payload is free to move within PEM during flight after initial acceleration. 2D 3C 3C Mitigation Verification Post- RAC Funnel will have a sufficiently wide mouth to allow for variation in placement of payload. Funnel will have sufficiently steep slope so payload will not become jammed within funnel. Tests will be conducted to ensure consistent payload placement within funnel The torsion springs chosen will have sufficiently low torque to allow the payload to enter the funnel with the aid of launch acceleration if necessary. Tests will be conducted to ensure torsion springs can withstand the forces the payload will experience during flight. If necessary, spring legs will be reinforced to increase the amount of force the springs can withstand. Tests will show that payload is consistently positioned properly into the funnel when the launch vehicle is raised. 2E Repeated tests will 3E show that the force exerted by gravity and launch vehicle acceleration will be sufficient to overcome the spring force. Repeated tests will show that the forces exerted by the payload during flight will not exceed the force needed to bend the spring legs. 3E

33 PAYLOAD MANIPULATION

34 SYSTEM CAD

35 TRIPOD Overview: The tripod legs are made of square hollow 6061 aluminum tube The feet are machined out of 6061 aluminum stock Max Stress: psi Max Deformation: in

36 MOTOR ATTACHMENT The linear actuator will be mounted in the lower right component using a set crew to secure it in place. The rotational motor will be mounted to the top component shown in the lower right picture. The L shaped component will join the rotation motor mount to the lever locking hinge which will allow the angle to be adjusted.

37 MOTORS Rotational Motor Rotates linear actuator and claw to retrieve and deposit payload. 150 RPM Estimated time to complete task: 30 s Linear Actuator Extends to retrieve payload 12 in stroke length 2 in/s speed Estimated time to complete task: 30 s

38 CLAW ATTACHMENT DEVICE The claw attachment device was designed to increase the flexibility between the linear actuator and the claw so that the claw can capture the payload at a variety of angles. The springs allow the device to rotate while always returning to a known equilibrium location. 3D printed Max stress: psi Springs

39 CLAW SCOOPS Prototypes of the claw scoops can be seen below They are all 3D printed and very similar in design Testing will determine which claw scoop can capture and secure the payload best.

40 INTEGRATION 5 mw red laser pointer 4 Lasers will be used to align the ARM with the PEM and payload. 2 touch sensors will be placed on the 2 claw scoops to ensure that both reach the ground before the linear actuator stops extending. Claw attachment device will allow for the claw to rotate to accommodate this.

41 TIME TO COMPLETE TASK Rotation of the linear actuator and claw: 30 s Linear actuator extension and retraction: 30s Claw payload capture and deposit: 20s Total time: 80 s

42 MASS STATEMENT Part Name Volume (in^3) Mass (lb.) Motor Linear Actuator Interface Hinge Motor Connection Tripod Mounting Plate Tripod Leg (*3) Tripod Leg Mount (*3) Tripod Foot (*3) Total: Total Mass: 9.95 lbs Other Parts: Mass (lb) Linear Actuator 2.5 Large Motor Claw motor Claw w/ attachment device Tripod leveling foot Lever locking hinge Fasteners 0.93 Laser pointers 0.5 Total: 6.309

43 TESTS The level lock hinge test was done to ensure the hinge could hold the weight of the motors and claw. The foam friction test was used to determine which foam should be used to line the claw scoops. The initial claw prototype successfully passed a proof of concept test.

44 VERIFICATION Requirement Verification Method Status ARM must capture the payload ARM must accurately place the payload within the PEM without need for gravity assist. The claw can capture and contain the payload The ARM s motors have precise feedback control to ensure it is able to accurately place the payload Proof of concept testing complete Will be verified upon assembly

45 HAZARDS: PAYLOAD MANIPULATION System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC Payload Manipulation Claw motor failure One or more of the internal motor components break The claw is unable to open or close preventing it from capturing the payload 2D The motor will be purchased from a reputable manufacturer and extensively tested prior to the mission The claw motor has been tested in a prototype claw and it worked. Multiple trials of this have been performed with success. Future testing will determine the maximum force of the claw. 2E Payload Manipulation Linear actuator failure One or more of the internal actuator components break The actuator is unable to extend to reach the payload or place it into the PEM 2D The actuator will be purchased from a reputable manufacturer and extensively tested prior to the mission. The linear actuator will be tested both individually and integrated into the system in worse than expected conditions. 2E Payload Manipulation Actuator rotational motor failure One or more of the internal actuator components break The ARM is unable to turn, which prevents it from retrieving or inserting the payload 2D The motor will be purchased from a reputable manufacturer and extensively tested prior to the mission. The actuator rotational motor has been tested in worse than expected conditions with success. More testing will occur in the final setup to confirm its functionality. 2E

46 System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC Payload Manipulation Varying levels of power applied to the motors Old batteries supply less power than expected The motors operate at slower speeds and possibly actuate to different distances 3C The batteries power will be checked prior to running the mission and motors will have electrical feedback to turn the proper amount independent of speed. Battery life tests will be preformed on the system to gain knowledge of how long the batteries last for each component. 3E Payload Manipulation ARM tips over Wind exerts an external force causing the ARM to tip The ARM is unable to complete its mission as it is no longer properly aligned 2D The ARM will be mounted to a tripod with leveling feet to stabilize it. Calculations show that it will not tip without external forces. Testing will be done to ensure that it cannot be tipped easily from external forces. Tests will be done on the full ARM system to determine the minimum tipping force and ensure that is beyond what will be seen in the mission. 2E Payload Manipulation ARM hits personnel during its rotation Personnel too close to ARM during operation Personnel incurs minor injuries 3C Personnel must stand far away from the ARM during all operation During all tests personnel must be no closer than 5 ft from the ARM when it is operational and this distance may be adjusted if later testing proves it necessary. 3E Payload Manipulation Claw closes on hand Personnel puts hand in closing claw Personnel incurs minor injuries 3C Personnel must stand far away from the ARM during all operation and must not stick appendages in the claw during operation. During all tests personnel must be no closer than 5 ft from the ARM when it is operational and this distance may be adjusted if later testing proves it necessary. 3E

47 System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC Payload Manipulation 3D printed material shatters causing litter in the environment A 3D printed component undergoes a large force. Potential for small fragments of plastic that cannot be entirely cleaned up. 3D All components have been designed to handle greater forces than they will be expected to see during the mission. Testing will confirm that all components can handle expected forces without damage. 3E

48 LAUNCH PAD (LP)

49 SYSTEM CAD

50 LP REQUIREMENTS Requirement Verification Method Status LP must actuate the launch vehicle from horizontal to 85 degrees from the horizontal LP must support the launch vehicle at all points during operation IGS must interface with LP and safely install the igniter into the rocket motor The winch and cable will pull the rail into its actuated position The frame and supports ensure a stable LP at all times IGS linear actuator, described below, will install the igniter Proof of concept testing complete Will be verified upon assembly Proof of concept testing complete

51 SYSTEM OVERVIEW System Mass: lb Bounding Box: x x (all units inches) LP volume: 40.4 ft 3 Full System Volume: ~59.0 ft 3

52 STRUCTURAL FRAME Overview: Frame is made of 8020 T-slotted aluminum (6105 T5 alloy) and Al 6061 T6 mounting plates FEA has shown the frame to be robust Maximum stress: psi Maximum deflection:.07 in All factors of safety > 2.35 Further tests: Static stability Subsystem test

53 ROTATION Utilizes a Warn 2000 DC Utility Winch Capable of pulling up to 2000 pounds Estimated rotation time <10 seconds Rotational bearings reduce friction Rail contact with bump stop at 85 degrees closes circuit, sends signal to cut power with winch Winch dynamic brake can hold rail at 85 degrees Bump Stop

54 ROTATION TESTING Proof of concept test conducted by retrofitting launch pad to work with winch system Winch was easily capable of rotating a 30 pound mass (located at approx. CG of launch vehicle) Further testing is needed with this year s launch pad to solidify time of rotation Based on proof of concept test, time estimate is currently at <10 seconds Further testing will be complete by 2/1/16 Analysis on threaded connection in rotational assembly shows very high factors of safety (>16) Winch

55 IGNITER SYSTEM (IGS)

56 IGS OVERVIEW Progressive Automations PA-14P actuator 18 in stroke, 2 in/sec extension speed Estimated igniter insertion time: 10 seconds Precision machined guide block maintains igniter alignment Teflon inserts reduce friction with tube assembly Components primarily 6061 and 6062 aluminum alloy for strength and reduced weight

57 IGS TESTING AND ANALYSIS Linear actuator verification testing conducted with custom mock motor. Testing ensured design is viable and all verification metrics were passed. Test also reaffirmed decision to decrease guide block machining tolerance to enhance alignment, and to add Teflon inserts to reduce friction. Analysis on the L-Bracket of the IGS shows a maximum stress of 192 psi internally and a 13.4 psi stress on the fasteners. With an expected load of less than 4 lb, this gives factors of safety >100 Final system testing will be complete by 2/1/16

58 HAZARDS: LP & IGS System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC IGS Linear actuator mechanical failure Actuator becomes mechanically jammed or mechanical components break Linear actuator cannot move igniter into rocket motor; launch vehicle unable to launch 1D Linear actuator will be purchased from a reputable commercial manufacturer Actuator will be tested to ensure functionality after repeated use Actuator will be fixed to the LP to prevent damage by external forces Actuator testing shows that the actuator is reliable and can be operated repeatedly and continuously without error. 1E IGS Linear actuator electrical failure Insufficient power provided to run actuator Wires short out or become disconnected Linear actuator cannot move igniter into rocket motor; launch vehicle unable to launch 1D Battery voltage will be checked before AGSE operations Wires will be soldered and strength of connection will be tested to prevent disconnects Repeated tests show that the actuator s electrical components are robust 1E IGS Misaligned igniter IGS not assembled properly; loose joints create igniter misalignment Igniter cannot be inserted into motor or hits fuel grain walls 1D Prior to launch, all fasteners and joints will be checked to ensure proper torque is applied. All fasteners must tightly secure components before AGSE operations begin No loose bolts or screws after verification check 1E

59 System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC IGS IGS tube assembly jam Tube assembly becomes stuck on blast deflector or guide block Igniter cannot be moved into rocket motor; launch vehicle unable to launch 1D Teflon inserts will be added to guide block on blast deflector Actuator will be coded to retract and re-extend igniter if it becomes stuck Before competition, the igniter will be tested many times successively. If the tube gets stuck, more mitigation will be employed. 1E IGS Tube assembly pinching hazard Hands or fingers can be pinched when the tube assembly slides through the guide block Minor personnel injury 3C During all full system tests, no one is permitted to touch or be near the moving actuator. Tight machining tolerances will reduce potential pinch Prior to testing or launch, ensure no personnel are near the system. 3D IGS Rocket motor exhaust blockage Igniter insertion tube blocks motor exhaust Overpressurization of rocket motor; motor destroyed; motor CATO 1C Insertion tube will use thin destructible materials (cardboard) so that it can be expelled and/or destroyed by motor exhaust to prevent blockage The inserted igniter will be visually inspected to be sure that it does not block significantly more area than a lone igniter would. 1E IGS Ignition failure Igniter is placed too far away from the top of the fuel grain Rocket motor does not ignite 1C Linear actuator will have sufficient stroke length to place the igniter at the top of the fuel grain Potentiometer in the actuator will provide feedback on the igniter position to ensure it is accurately placed The igniter has been tested and demonstrates that its stroke length is sufficient to insert the igniter. 1E

60 System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC LP Rotational system mechanical failure Mechanical components of rotational system break or deform beyond use Launch rail cannot rotate; launch vehicle unable to launch 1D Hand calculations were performed to ensure high factors of safety before any components were machined or used in testing. Proof of concept testing has occurred, rotating the launch rail along with 30 pounds of mass. No systems failed or showed signs of failure or yielding. Further testing will be conducted in the final launch pad configuration to confirm that not mechanical components deform or yield in use. 1E LP Rotational system electrical failure Battery does not hold sufficient charge to power winch, or electrical connections become disconnected Launch rail cannot rotate; launch vehicle unable to launch 1D Winch battery level will be monitored. Electrical connections will be checked before use Fully charged battery will be used before actual competition; performance and wire checks will become part of setup checklist. Proof of concept testing has powered the winch using the competition battery, and it was capable of providing enough power. 1E LP LP tips over after actuation High winds, improper support Total system failure, potential damage 1D The area of the LP base is such that the center of mass lies well within the supports. Testing without stakes will be conducted to ensure stability The LP will be staked to the ground during launch procedures. Push test will confirm that the LP can operate indoors as well. 1E LP LP tips during actuation Center of mass of the system falls outside support structure System fails to actuate, launch vehicle cannot launch 1A A rail support has been added to the LP system which extends the support structure significantly Full-system testing will show that the LP does not tip during actuation 1E

61 System Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC LP Loose joining plates cause inconsistent behavior Failure to check plates consistently System behaves inconsistently, hard to ensure system is level 3C Before important procedures, each plate will be individually checked and retightened The plates will be double-checked before any important operation begins 3D LP Components or environment damaged by exhaust Blast deflector is insufficient to protect components and environment Components damaged, may be unable to function. Scorch marks left on grass 2C The blast deflector has been designed with high powered rocketry in mind and should be sufficient to protect components and the environment The full-scale launch before competition will show whether extra protection is needed 2E LP Personnel injured by rotating rail Personnel improperly warned of operation, personnel too close to system Potential softtissue injury 3C All personnel will be at least five feet away from the system during any autonomous operations Before any rotational operations, personnel will be warned and told to move away from the system 3E LP Winch pinching hazard Hands, hair get caught in rotating drum of winch Personnel injury 2D Stay at least 2 feet away when operating winch. Tie back long hair, roll sleeves up if if within 2 feet. Only those from the launch pad subteam will operate the winch, and all members will be asked to stay two feet away from the winch (The winch remote is capable of extending this far. 3D

62 AGSE ELECTRICAL

63 PAYLOAD MANIPULATION MODULE(PMM) Controls ARM and PEM to capture and secure payload Controlled by ATMEGA328P Monitors ARM position using rotary encoder, actuator internal potentiometer, and touch sensors Will be able to place all motors with.3 in precision

64 CENTRAL CONTROL MODULE(CCM) Controls powering, pausing, and sequencing of all other modules. Includes all necessary indicator lights, including the Go light and the Pause light Controlled by ATMEGA328P Connects to all other modules through common 6-pin interface

65 IGNITER INSERTION MODULE(IIM) Controls linear actuator to insert igniter Monitors position of actuator using internal potentiometer, allowing extension of actuator to be adjusted. Will be able to place igniter with.3 in precision Controlled by Arduino Mini

66 VERTICAL ACTUATION MODULE(VAM) Controls winch to actuate the launch rail to 5 degrees from the vertical Interfaces with existing winch remote to ease integration and allow manual operation for setup Stopped when circuit completed by launch rail touching bump stop Controlled by ATMEGA328P

67 ACTUATOR ANALYSIS Actuator position monitored using internal potentiometer Arrange potentiometer in a voltage divider configuration with a known resistance, and measure the voltage change Limited resolution of voltage measurement. 10 bit ADC = 1024 voltage levels Known resistance used in voltage divider affects resolution, had to determine optimal resistor 4.7k resistor proven to be optimal, allows for 99 distinct positions to be measured Relevant for IIM and PMM

68 ACTUATOR TESTING Proved that the H-bridge design could successfully control the actuator in both directions Both PMM and IIM design Measured precision with which current software could place actuator at target position Revealed that potentiometer resistance change is non-linear

69 WINCH TESTING Test whether the winch could be controlled through the remote electrically, instead of manually Was able to successfully control winch at full speed in both directions using a microcontroller attached to winch. Showed that the remote current was low enough to be easily and safely controlled by MOSFETs Approximately 260 ma

70 ROTATION MOTOR TESTING Determine precision with which the ARM rotation motor could be placed Multiple software strategies were evaluated to determine which gave the best results Strategy 1 Maximum Deviation: 18 Strategy 2 Maximum Deviation: 7 Strategy 3 Maximum Deviation: 2 Most successful strategy (Strategy 3) had an average deviation of only.8 Precision can be further improved with more software improvements

71 STATUS OF VERIFICATION Requirement Verification Method Status All modules power must be controlled from switches on CCM. All modules must be able to pause at any time during the AGSE procedure. The PMM and IIM must be able to place all motorized components within.3 inches of target positions. The VAM must be able to run the winch at full speed. Measure current draw of each module with the Power On signal low and measure again with the Power On signal high. Attempt to pause modules throughout each portion of the AGSE procedure. Test placing all motorized components at a series of target positions and measure error. Attempt to run winch using VAM, and measure the current draw to ensure it is at full speed. Passed Passed Testing has been completed for the rotational motor of the ARM. Actuator positioning must still be refined. Passed

72 HAZARDS: AGSE ELECTRICAL AGSE Electrical AGSE Electrical AGSE Electrical AGSE Electrical AGSE Electrical Batteries insufficiently charged Modules improperly connected Dangerous current spike Personnel burned during soldering Defects during PCB fabrication Overuse of batteries or forgetting to charge them Members who set up AGSE overlooked or accidentally removed a needed connection between modules Unexpected conditions cause higher than expected currents in the control systems Bad soldering technique leads to a team member being burnt Errors in PCB layout or during manufacturing lead to defects on a PCB One or more AGSE systems will be unable to perform their operations One or more AGSE modules will either be unable to perform or will perform erratically Critical electrical components may be damaged Personnel may be injured Modules may behave erratically or incorrectly 1B 1B 1D 4A 1C Low-power indicators Low power detection have been added to all systems have been modules and they will not tested for a range of indicate they are ready voltages for the procedure if lowpower is detected Mating polarized connectors have been added to each module making it impossible to reverse the connection and difficult to accidentally remove it. Ready signals are sent by each module that will only be received if they are connected. All components are rated for significantly higher current loads than expected during normal operation. The mating properties of the connectors have been tested and all ready signals have been tested All modules will be tested under worse than expected current conditions. Only properly trained and Soldering iron access experienced team will be restricted and members are allowed to supervised. handle soldering irons. All PCB designs will be reviewed by the subteam lead before being ordered. PCBs will only be ordered from reputable vendors. All PCBs will be thoroughly tested prior to competition to ensure that they perform as expected. 1E 1E 1E 4D 1E

73 COMMUNICATIONS

74 SYSTEM REQUIREMENTS The launch vehicle s flight data must be tracked throughout the mission. Such flight data includes speed, acceleration, rotation, acceleration, and position. All flight data must be stored locally in order to safeguard against the possibility of communications failure. The launch vehicle must be reliably located so as to enable easy recovery. The Ground Station software must be sufficiently robust so as to still operate in the absence of consistent position updates. A prediction algorithm must estimate the trajectory and landing site of the launch vehicle, consistently adjusting for newly received position data. Video and photos must be taken from the launch vehicle throughout its flight.

75 SYSTEM OVERVIEW

76 TRACKING ELECTRONICS MODULE Purpose Collect and send real-time flight data to Ground Station Hardware Raspberry Pi 2 Sensors: Gyroscope Accelerometer GPS Camera External Interfaces XBee Pro 900 Radio to Ground Station

77 GROUND STATION Purpose Display real-time flight data to team Predict trajectory and landing site in case of failed communications Hardware Windows- or Mac- based laptop Software Custom GUI 2D Map (offline support) 3D Plot Data Readout Trajectory Prediction External Interfaces XBee Pro 900 Radio to Tracking Electronics Module

78 REQUIREMENTS SATISFACTION Requirement SRB must be traceable at a distance of 3 miles under various terrains and circumstances. SRB battery must last more than 8 hours of continuous transmissions. GRB must be traceable at a distance of 3 miles under various terrains and circumstances. GRB battery must last more than 6 hours of continuous transmissions. Design Features to Satisfy Requirement SRB has a transmit power of 100mW and has been rated by the manufacturer to be traceable at distances greater than 3 miles; a high-gain Yagi antenna will be used on the ground SRB has a rechargeable lithium-ion battery that has been rated by the manufacturer to last 8 hours GRB has a transmit power of 100mW and has been rated by the manufacturer to be traceable at distances greater than 3 miles; a high-gain Yagi antenna will be used on the ground GRB has a rechargeable lithium-ion battery that has been rated by the manufacturer to last 8 hours Verification Method SRB will be taken to multiple locations across varying terrains all three miles from the receiver, and the same handheld radio and directional antenna will be used to verify that the SRB s signal can still be picked up. SRB will be left to transmit for 8 hours, and transmission will be verified at the end of those 8 hours. GRB will be taken to multiple locations across varying terrains all three miles from the receiver, and the same handheld radio and directional antenna will be used to verify that the GRB s signal can still be picked up. GRB will be left to transmit for 6 hours, and transmission will be verified at the end of those 6 hours. Verification Status Not Verified. Not Verified. Not Verified. Not Verified.

79 REQUIREMENTS SATISFACTION 2 Requirement TEM battery must last more than 6 hours of continuous data collection and transmissions. TEM must be traceable at a distance of 2 miles under various terrains and circumstances. TEM must be able to continuously collect accelerometer, gyroscope, GPS, and camera data. TEM must be able to withstand launch-level forces while still maintaining all functionality. Design Features to Satisfy Requirement TEM will use a 5V 10,000 mah battery, and the TEM will enter a power-saving transmit mode when the rocket is idling The TEM is equipped with a 900MHz XBee radio that is capable of transmitting up to 28 miles LOS; a high-gain 11dBi Yagi antenna will be used on the ground The TEM will have secured wired connections to the accelerometer, gyroscope, and camera to ensure a consistent link All electronic connections will be firmly secured; only solid-state components are used to construct the TEM Verification Method Verification Status TEM will be left to collect and transmit Not Verified. for 6 hours, and functional ability will be verified at the end of those 6 hours. TEM will be taken to multiple locations all three miles from the receiver, and the Ground Station computer will be used to verify reception. TEM will be subjected to a variety of difficult conditions to ensure that all sensors continue to collect and store data. TEM will be subjected to launch-level vibrations in the lab, and will be tested in a full-scale test launch. Not Verified. Not Verified. Not Verified.

80 REQUIREMENTS SATISFACTION 3 Requirement A prediction algorithm must estimate the trajectory and landing site of the Launch Vehicle, consistently adjusting for newly received position data. Design Features to Satisfy Requirement Ground Station GUI includes software that will run such an algorithm, taking in only GPS data as it is known and user-input wind speed Ground Station software must Ground Station GUI has been still operate in the absence of designed to supplement received consistent position updates GPS data with a best estimate from a prediction algorithm Video and photos must be taken of the launch from the Launch Vehicle. Tracking Electronics Module (TEM) is equipped with a five-megapixel camera Verification Method A number of test simulations will be run against the software to ensure that acceptably accurate predictions for the Launch Vehicle s location are made. Verification Status Not Verified. The software will be subjected to a Not Verified. wide range of test conditions, simulating an optimal communications link, a suboptimal communications link, and a complete communications failure. The TEM s camera software will be tested to ensure that it is capable of meeting these basic requirements. Verified.

81 TESTING Component Test Type Test Method Expected Result Date Simple Radio Beacon Simple Radio Beacon Simple Radio Beacon Functionality Test Range Functionality Test Battery Life Durability Test The SRB will be taken to a variety of locations 3 miles from a central position, covering different types of terrains The signal from the SRB will be detectable and trackable using a handheld radio and Yagi antenna at all tested locations The SRB will be left to transmit for 8 The SRB will still transmit hours and tested at the end of that time to ensure that it still transmits normally The SRB will be subjected to launchscale shocks and vibrations to ensure that it will still function under such circumstances normally after being left on for 8 hours without an external power supply The SRB will continue to transmit after being subjected to launch-scale shocks and vibrations On or before January 20 On or before January 20 On or before January 22

82 TESTING 2 Component Test Type Test Method Expected Result Date GPS Radio Beacon GPS Radio Beacon GPS Radio Beacon GPS Radio Beacon Functionality Test Range Functionality Test Battery LIfe Functionality Test GPS Accuracy Durability Test The GRB will be taken to a variety of locations 3 miles from a central position, covering different types of terrains The GRB will be left to transmit for 6 hours and tested at the end of that time to ensure that it still transmits normally The reported position of the GRB will be compared to several known locations to ensure that the accuracy of the GRB is within 10 meters The GRB will be subjected to launch-scale shocks and vibrations to ensure that it will still function under such circumstances The signal from the GRB will be detectable and its packets decodable using a handheld radio and Yagi antenna at all tested locations The GRB will still transmit normally after being left on for 6 hours without an external power supply The GRB will report its position to within 10 meters for all tests On or before January 20 On or before January 20 On or before January 22 The GRB will continue to On or before January 22 transmit after being subjected to launch-scale shocks and vibrations

83 TESTING 3 Component Test Type Test Method Expected Result Date Tracking Electronics Module Tracking Electronics Module Tracking Electronics Module Tracking Electronics Module Functionality Test The TEM will be taken to a variety Range of locations 2 miles from a central position, covering different types of terrains The signal from the TEM will be received and properly decoded by the ground station radio at all tested locations Functionality Test The TEM will be left on for 6 hours The TEM will still be capable of Battery Life as it cycles through its high- and low-power modes Functionality Test The reported position of the TEM GPS Accuracy will be compared to several known locations to ensure that the accuracy of the TEM s GPS unit is within 10 meters Functionality Test The TEM will be subjected to Accelerometer measured accelerations in different directions to ensure that the TEM s accelerometer accurately reports acceleration magnitude and direction transmitting after 6 hours of continuous operation The TEM will report its position to within 10 meters for all tests The TEM will report accurate acceleration information in each test On or before February 1 On or before February 1 On or before February 1 On or before February 1

84 TESTING 4 Component Test Type Test Method Expected Result Date Tracking Electronics Module Tracking Electronics Module Tracking Electronics Module Functionality Test Gyroscope Functionality Test Camera Functionality Test TEM Storage The TEM will be subjected to The TEM will report accurate measured rotations in both rotation information in each test directions (corresponding to the to directions of rotation along the launch vehicle s vertical axis) to ensure that the gyroscope accurately reports rotation magnitude and direction Once integrated into the nosecone of the launch vehicle, photos will be taken from the camera to ensure that the quality and field of view are acceptable The TEM will be left to record video and photos for 4 hours at the normal rate to ensure that the TEM does not run out of storage The camera will have an unobstructed view out of the nosecone, and the quality of the photos will not have degraded since the time of purchase The TEM is capable of storing 4 hours worth of photos and videos from the camera On or before February 1 On or before February 15 On or before February 1

85 TESTING 5 Component Test Type Test Method Expected Result Date Tracking Electronics Module Tracking Electronics Module Functionality Test Variable Refresh Rate Durability Test The ground station GUI will be used to alter the transmission rate of the TEM, and the actual transmission rate will be measured to ensure that the TEM is capable of transmitting at the requested rate The TEM will be subjected to launch-scale shocks and vibrations to ensure that it will still function under such circumstances The measured transmission rate On or before February 1 and programmed transmission rate will be identical The TEM will continue to collect and transmit data after being subjected to launch-scale shocks and vibrations On or before February 1

86 HAZARDS: COMMUNICATIONS Hazard Cause Effect Pre- RAC Mitigation Verification Post- RAC TEM Electronics Failure Insecure connections Loss of power to TEM or loss of essential component 2C Mating connectors will be used, and all soldered connections will be made securely TEM will undergo rigorous shock and vibration testing to simulate launch conditions 2E Battery Damage Batteries are allowed to discharge beyond acceptable levels Batteries no longer hold a full charge, often resulting in dramatically shorter life 2B Low voltage cutoff will be used in software, and all electronics will be completely powered down when not in use SRB, GRB will be programmed to turn off with too low battery voltage, and Communications lead will ensure that all components are unplugged when not in use 2E Bodily harm due to Yagi antennae Yagi antenna contacts team member or other personnel while in use Team member or other personnel sustains bodily injury 3C Yagi antennas will be used in an unpopulated area; Yagi antennas will be stored when not in use Communications lead will inform and enforce these best practices are followed during all tests and launches 3E

87 PROJECT PLAN

88 EDUCATIONAL ENGAGEMENT Event Semester Students In the past, CRT has worked with local middle schools to teach basic scientific and engineering concepts. We plan to continue this tradition by organizing different events with students in Ithaca We are estimating to reach a total of 690 students, including 185 middle school students Ithaca Math Circle Science Center Family Night Rocketry Day WHRHS Engineering Presentation Fall (3 weeks) 45 Fall (2 nights) 250 Fall 35 Winter 160 NanoDays Spring 100 Cornell Society of Hispanic Engineers Science Day Spring 100

89 EDUCATIONAL ENGAGEMENT 100% 90% 80% 70% 60% 50% 40% 30% 20% 10% 0% Percentage of NASA Goal Reached Grades 5-9 All Grades Completed Events Ithaca Math Circle # 1 Science Center Family Night # 1 Science Center Family Night # 2 Ithaca Math Circle # 2 Ithaca Math Circle # 3 Event Date Grades 5-9 All Grades 10/17/ /22/ /5/ /7/ /14/ Rocketry Day 11/14/ Watchung Hills Regional High School Engineering Presentation 1/7/ Total

90 EDUCATIONAL ENGAGEMENT Volunteer Training CRT Rocketry Day

91 TEAM BUDGET Budget Projected Expenses Airframe Expenses $2, PEM Expenses $ Payload Manipulation Expenses $ Launch Pad Expenses $1, AGSE Electrical Expenses $ Communications Expenses $ Business Team Expenses $16, Expense Summary Supplies on Hand -$ Total Projected Expenses $21, Projected Cost on Pad $3, Projected Income College and Department Contributions $15, Alumni Donations $ Corporate Sponsors $5, Gifts in Kind $ Fundraisers $3, Total Projected Income $24, manages a budget of $21,500 Projected Cost on Pad is $3, Projected Income for is $25,000 which should cover the cost of competition easily

92 TEAM BUDGET Current Expenses Current Income 11% 1% 3% 1% 7% Total Income: $20, % 14% 3% 4% 3% 72% Total Expenses: $21, % Airframe PEM Payload Manipulation Launch Pad AGSE Electrical Communications Business University Alumni Corporations Gifts in Kind Fundraising

93 FUNDING PLAN Based on the preliminary budget proposal, the funding required for this project is $21,500. Source of Funding Contribution Cornell University Organizations $15, Cornell University $15, Cornell Engineering Sesquicentennial Time Capsule $500 Alumni Donations $ The Dempsey Family $ The Shih Family $ Corporations $2, Boeing $2, Autodesk $ Chang Bioscience Inc. $ Global Promo, LLC. $ Gifts in Kind $ Accion Systems (Chopsaw) $ Uline (600 Industrial Latex Gloves) $48.00 Fruity Chutes Inc. (Product Discounts) $39.75 Marsa Systems (Product Discounts) $17.90 BigRedBee, LLC. (Product Discounts) $13.50 Pololu (Product Discounts) $4.00 Fundraising $1, Autodesk Challenge $ Apogee Components Video Competition $ Barski's Laser Tag Fundraiser $ Fall Semester Bake Sale $ The Yang Family $50.00 Grand Total Funds Received $20,546.15

94 FUNDING PLAN

95 SCHEDULE Machining has begun Fullscale under construction Final launch vehicle will be completed on February 1 st, 2016