Mars Rover PDR Team Rocket City Rover

Mars Rover PDR
Team Rocket City Rover
Presenter: Markus Murdy
1
Presentation Outline
●
Introduction
●
●
Systems Overview
●
●
Butt
Testing
●
●
Hopping, McFerrin, Thibaudeau
Integration
●
●
Krause, Murdy,
Rover Design
●
●
McFerrin
Rocket Design
●
●
Murdy
Suzuki
Project Management
●
Murdy
Presenter: Markus Murdy
2
Team Organization
Markus Murdy
Team Lead
Rocket Development
Junior, Aerospace Eng.
Dr. Francis Wessling
Faculty Advisor
Blake Krause
Descent Control
Rocket Development
Sophomore, Aerospace Eng.
Josh Thibaudeau
Rover Chassis/Drivetrain
Rocket Development
Sophomore, Aerospace Eng.
Ryo Suzuki
Rover Chassis/Drivetrain
Junior, Aerospace Eng.
Ali Butt
Software Development
Graduate Student, Aerospace Eng.
Ethan Hopping
Rover Avionics
Junior, Aerospace Eng
Trey McFerrin
Rover Avionics
Sophomore, Mechanical Eng.
Presenter: Markus Murdy
3
Acronyms
CNC
CONOP
EEPROM
FET
FOS
GPIO
LI-ION
MCU
NAR
NASA
OD
PCB
PWM
RBF
SHC
SPI
SRB
UAH
USART
Computer Numerical Control
Concept of Operations
Electrically Erasable Programmable Read-Only Memory
Field Effect Transistor
Factor of Safety
General Purpose Input Output
Lithium Ion
Microcontroller
National Association of Rocketry
National Aeronatics and Space Administration
Outside Diameter
Printed Circuit Board
Pulse Width Modulation
Remove Before Flight
Space Hardware Club
Serial Peripheral Interface
Solid Rocket Booster
University of Alabama in Huntsville
Universal Synchronous Asynchronous Receiver Transmitter
Presenter: Markus Murdy
4
System Overview
Trey McFerrin
5
Mission Summary
• Rover and Rocket
• Design, fabricate, test, and fly
• Rocket releases Rover above 1000 feet AGL
• Rocket and rover make controlled descent
• Rover performs ground maneuvers
• 10 foot straight
• 90 degree turn
• 10 foot straight
• Score
• Accuracy of ground maneuvers
• Design Reviews
Presenter: Trey McFerrin
6
Rocket Requirements
•
•
Tripoli/NAR rules in place (required motor retention, no
metallic objects on the exterior)
Apogee
•
•
•
Recovery
•
•
•
Must reach at least 1000 feet
Commercial altimeter must be used to determine apogee
All components of rocket must return safely under a recovery system
Maximum Descent Rate = <20 feet/second
Motors
•
•
•
•
Maximum motor class = K
Minimum Thrust to weight ratio = 5:1
No Clustering
No Staging
Presenter: Trey McFerrin
7
Rover Requirements
• Flight Operations
• Must be fully contained into the rocket before deployment
• Must return to ground safely with a recovery system
• Ground Operations
• Nominal Maneuvers:
• Travel 10 feet, turn 90 degrees, and travel 10 feet
• Required Maneuvers:
• Must travel at least 3 feet, turn, then travel 3 feet
• Place visible marker at landing and turn points
• 10 minute limit from touchdown
• No pyrotechnics
• Fully Autonomous
• 2 kg mass limit
Presenter:
8
System Level Trade and Selection
Rocket
Rover
• Tracked Vehicle
• Constant Diameter Body
• Proven Flight Heritage
• Possibility of Payload binding in
airframe
• Fairings
• Low ground clearance
• Two Wheel Chassis
• Payload Volume Flexibility
• Fairings ejected away from payload,
low jamming risk
• Payload Canister
• Inflatable Wheel Option
• Additional Ground Clearance
• Different ConOps
• Adjustable Traction
• Rocket ejects canister at apogee
• Puncture Risk
• More moving parts, reduced payload
volume flexibility
• Square Foam Wheel Option
Pro
Con
Criteria
•
• Additional traction from treads
Green
Bullet
• Competition Heritage
• Ease of Fabrication
• Foam corners provide additional
bounce for navigating terrain
Presenter: Trey McFerrin
9
Rocket
Physical Layout
Payload Fairing
(Contains Rover)
Dual Flight Computers
Dual Recovery System
6”
Payload Section
Motor
79”
Square Foam Wheels
Chassis
10”
13.7”
Dual Motors
Presenter: Trey McFerrin
10
System Concept of Operations
2
3
1.
2.
3.
4.
5.
6.
7.
Launch
Apogee, Recovery deployment
Deployment of Rover
Landing of rover and rocket
Rover travels 10 feet
Rover turns 90 degrees
Rover travels additional 10 feet
6
5
7
1
4
Presenter: Trey McFerrin
11
Rocket Design
Markus Murdy and Blake Krause
12
Overview of Rocket (Numbers)
Mission Profile
Fins
Apogee
2300 ft
Number
4
Payload Deployment
1100 ft
Root Chord
16in
Inspiration
Space Launch System
Tip Chord
10in
Motor
Aerotech K1499
Height
4.5in
Sweep Angle
45 deg
Offset
3in
Stability (dimensions from tip)
Center of Pressure (no fins)
21.5in
Center of Pressure (fins)
43.75in
Center of Gravity
34.5in
Stability (Separation)
1.49 (9.25in)
Physical Specs
Length Overall
79.5in
Fairing Diameter
7.2in
Fairing Length
10in
Airframe Diameter
6in
Airframe Length
55in
Launch Weight
19.5 lbs
Presenter: Markus Murdy
13
Overview of Rocket (Layout)
Fiberglass Fairing~0”-30”
Carbon Fiber Airframe~30”-76”
Carbon Fiber Parachute Pods~44”-79”
Nose Cone~
0-10”
Large Diameter
Section~10-20”
Small Diameter
Section~10-20”
Pod Nose
Fairing Separation Cone~41”
Plane~30”
Transition from 7.2OD to
6.2OD~20-23”
Fairing Separation
Charge~1”
Rover Descent
Control~ 5-11”
Mars Rover~
12-27”
Fairing Inside
Coupler~ 22-36”
Given Dimensions are from the tip of the nose
Flight
Computers
~ 43-51”
Presenter: Markus Murdy
Carbon Fiber
Fin Set~ 61-76”
Boat tail/Motor
Retainer ~ 76-79”
Rocket Descent Internal Motor
Control~ 55-78” Support~ 55-78”
Motor
14
Rocket ConOps
Apogee:
T+12 Seconds
Altitude: 2300ft
Motor Burnout:
T+0.9 Seconds
Recovery Deployment:
T+12.5 Seconds
Dual Parachutes from
rear of SRBs
Rover Deployment:
T+50 Seconds
Fairing Separation and Rover
Separation/Deployment
Altitude: 1100ft
Landing:
T+100 Seconds
Liftoff:
T+0 Seconds
Weight: 19.5 lbs
Presenter: Markus Murdy
15
Rocket Materials
•
Nosecone
–
•
–
Fiberglass
LTM45 Carbon Fiber Prepreg
•
Fairings
‒
‒
•
Adhesives used
Main Airframe and
Parachute Pods
–
•
●
Fiberglass
Polycarbonate (rover pedestal)
Fins
–
Polycarbonate
Integrated Motor Retainer and Boat Tail
•
Epoxy
–
LTE45 (composites matrix)
–
3M DP100 (attachments)
Rail Buttons
–
Large Rail Buttons (15/15 Rail)
–
CNC turned aluminum button in-house
Motor retention
–
Integrated Motor Retainer/Boat Tail
–
2 part assembly
–
Male part is fixed in the airframe
–
Female part screws onto the bottom
–
Injection molded in-house
Presenter: Blake Krause
16
Rocket Recovery System
●
●
●
Parachutes will be sewn in-house to meet desired
specifications
Overall diameter 5.25ft, Spill Hole diameter 1.5ft
Harness
–
Parachute
Swivel
Quick
Link
From calculations, maximum deceleration is 10m/s^2,
recovery system must withstand 250lbf with Factor of Safety
–
Commercially available ½” tubular Nylon (1000lb test, FOS 4)
–
Each parachute has 8ft of shroud line from chute to #500 ball
bearing Swivel (500lb test, FOS 2)
–
20ft of shock cord from swivel to hardpoint on rocket
–
Shock cord will be mounted to airframe part of integrated boat
tail motor retainer with ¼” Quick Links (880lb Test, FOS 3.5)
and ¼” Forged Eye-Bolt (500lb test, FOS 2)
–
Parachute protection will be provided by Nomex sheets
Presenter: Blake Krause
Shock
Cord
Quick
Link
17
Rocket Recovery System Deployment Method
●
●
•
Altimeter controlled ejection
●
First Deployment at apogee
●
Back up Deployment at 1500ft
Drogue
Primary
Secondary
PerfectFlite Stratologger
–
Both boards can fire both charges
–
Independent 9V Batteries
Main
Charge Installation
–
Pack latex glove finger with appropriate black powder amount
–
Twist emath leads, insert emath into black powder pile
–
Tie off glove finger
–
In parachute compartment, navigate ematch leads through bulkhead ports
–
Tape emath leads to prevent contaminate, note either drogue or main
Presenter: Blake Krause
18
Rocket Recovery System Deployment Method
•
•
Arming Process
•
Check to ensure no one is in the immediate blast area
•
Turn on PerfectFlite, install ematch drogue leads in screw top headers, then install
ematch main leads in screw top headers
•
Check that each ematch has good continuity
•
Insert Remove Before Flight Pin
•
Do Not Point blast end of parachute pod at anything other than ground
Safety
•
Absolutely no open flames in charge prep area
•
Same person installs charges each time
•
E-match leads are twisted until installed in the headers
•
Pulling the Remove Before Flight Pin is the last item on the launch checkout
●
Charge Sizing (FFFFG Black Powder)
●
For 2in ID tube, 25in long:
●
𝑁 = 𝑃𝑉
●
Calculations are derived from NASA Advanced Rocketry Workshop Handbook
16𝑝𝑠𝑖∗337𝑖𝑛
𝑅𝑇 = (
3
𝑖𝑛∗𝑙𝑏𝑓
266 𝑙𝑏𝑚 ∗3307°𝑅
)(454𝑔𝑟𝑎𝑚𝑠
Presenter: Blake Krause
1𝑙𝑏𝑓)
=2.8 grams
19
Rocket Motor Selection
●
●
●
Primary motor: AeroTech K1499
●
75mm, 2 grains, adjustable nozzle
●
On Campus Availability
●
Thrust to Weight Ratio: 18.7:1
●
Faster liftoff for windy conditions
Backup motor: Cesaroni J410-RL
●
38mm, 6 grain
●
Thrust to Weight: 5.11:1
●
Smaller liftoff G-load (6 vs 20)
Flight simulations
–
Open Rocket and RockSim
–
Estimated Apogee
–
K1499 = 2200 ft
–
J410
= 1180 ft
Presenter: Blake Krause
20
Rover Design
Joshua Thibaudeau, Ethan Hopping, Trey McFerrin
21
Rover Design Overview
Top View (with component callouts)
Axle Subassembly
(Inflatable option)
Front View (with dimension callouts)
Motor subassembly and mounting fixture
Presenter: Joshua Thibaudeau
22
Rover Design Overview (Assembly)
Front View showing wheels at different
rotation angles (foam wheel option)
Isometric View (foam wheel option)
Top View with Chassis, Motor
Assembly, and Axle/Gear Assembly
(inflatable option)
Presenter: Joshua Thibaudeau
23
Rover Mechanics
●
●
●
Polycarbonate Rover Chassis
●
Impact Resistance
●
Availability and Machinability
Electronics Mounting
●
Prototype: PCBs mounted to open plates on chassis (as in rendering)
●
Final Unit: PCBs enclosures added
Drive Gear Ratio
●
●
●
Found through experimentation with prototype
Wheel Options to be Evaluated
●
Inflatable Wheels
●
Square Foam Wheels (as in renderings)
Rover Mass is estimated at 1.4 kg
Presenter: Joshua Thibaudeau
24
Motors, Drivetrain
Black & Decker Electric Screwdrivers
• Easily sourced and Replaced
• Designed for durability
• Integrated Planetary Gearbox
• Flight heritage
• Appropriate speed range for rover
Image Credit: Target
• Reasonable Power Requirements
• Product powered from alkaline batteries
Voltage (V)
6
Stall Current (A)
No-Load Current (A)
3
0.5
Motor, Drivetrain Specifications
Presenter: Ethan Hopping
RPM
Torque (in-lbs)
120
20
25
Electrical Block Diagram
3.3V
Regulator
6V
RBF
6V Rail
3.3V Rail
Data/Control
MCU
Hotwires
Magnetometer
Motor
Controllers
Rotary
Encoders
Motors
Pressure
Sensor
Non-corruptible EEPROM memory is built into MCU
Presenter: Ethan Hopping
26
Rover Ground Operations
String spools
Mass 1
Stage 1
• Release parachute
• Drop first marker
• Drop first mass anchor
Marker 1
String 1
10 ft.
Stage 2
• Drop second marker
• Turn 90 degrees
• Drop second mass anchor
String 2
Mass 2
Rotary encoders
Stage 3
• Ground
operations
complete
• Stop, wait
Marker 2
10 ft.
Presenter: Ethan Hopping
27
Motor Control
Presenter: Trey McFerrin
28
Angle Measurement: Magnetometer
• Purpose: Determine the orientation of the rover against the
earth’s magnetic field
• Selection: HMC5883L
• Characteristics:
• Resolution: 4.35 milliGauss
• Earth’s magnetic field is approximately 300 milliGauss
• Max sampling rate: 160 hz
• I2C output
• Flight heritage on past UAH Space Hardware Club projects.
• Calibration:
• A hard iron calibration will counter the effects of the motors’ permanent
magnets.
• If soft iron distortions are noticed, the magnetometer will be moved further
from interfering materials. If the problem persists, a soft iron calibration
may be implemented.
Presenter: Trey McFerrin
29
Pressure Sensor
• Purpose: Detect Launch/Landing
• Selection: MS5611
• Characteristics:
• Accuracy: 13.5 feet
• Resolution: 0.33 feet (at up to 100 hz sampling rate)
• SPI or I2C Interface
• Flight Heritage on past Space Hardware Club projects
Presenter: Trey McFerrin
30
MCU
• Purpose: Track flight sequence, Control ground operations
• Selection: Atmel ATxmega256A3BU
• 8 bit
• Flight Heritage on past Space Hardware Club projects
• Built in Hardware Modules Used
• 1x I2C (Magnetometer)
• 1x SPI (Pressure)
• 1x USART (debug)
• 1x Timer/Counter (Motor Controller)
• 8x GPIO (5x Hotwires, 1x SPI Chip Select, 2x Encoder)
Presenter: Trey McFerrin
31
Rover Power: Battery Selection
–
–
Requirements:
–
Capacity: 1034 mA-hr
–
Nominal Voltage: 6.0V
–
Surge Current: 5.8A
Battery Selection: 4x SF123A Li-ion cells (series-parallel)
Characteristics:
-
Capacity: 2700 mA-hr (2.61 times margin)
-
Nominal Voltage: 6.0V
-
Surge Current: 6.0A
-
Single Use
-
Meets Requirements
-
Readily Available
-
Flight Heritage on past UAH Space Hardware Club projects
Mounting method
–
–
-
Selection Rationale:
-
–
6V
Mounted to PCB via battery holder with retention clip
GND
Protection circuits
●
Short Circuit Protection: Fuse
●
Over-discharge protection unnecessary for non-rechargeable cells
Presenter: Trey McFerrin
32
Rover Power: Power Budget
Device
Motors (x2)
Hotwires
MCU
Pressure Sensor
Magnetometer
Rotary Encoder
Current (mA)
6000
2000
20
1
5
5
Time (s)
600
20
3600
3600
600
600
Time (hr)
0.167
0.006
1.000
1.000
0.167
0.167
Duty Cycle
100%
100%
100%
100%
100%
100%
Capacity Needed
Capacity Available
Capacity Margin
Presenter: Trey McFerrin
Capacity (mA*hr)
1000.0
11.1
20.0
1.0
0.8
0.8
1034
2700
2.61
Source
Experimental
Experimental
Datasheet
Datasheet
Estimate
Estimate
mA*hr
mA*hr
mA*hr
33
Rover Power: Distribution
–
6V Rail
–
–
Supplied directly from batteries
Powers:
–
Motors
–
Hotwires
–
–
3.3V Rail
–
–
–
Supplied by Linear Regulator from 6V bus
Powers:
–
MCU
–
Sensors
Connections: 15A Anderson Powerpoles
–
–
–
Controlled by TO-220 MOSFETs
Battery Board to Motor Controllers, MCU
Motor Controllers to Motors
Remove Before Flight Switch
–
Connects battery to voltage rails
Presenter: Trey McFerrin
34
Rover Markers
●
●
Markers are Expo Dry-Erase Marker Caps
●
Lightweight
●
High Visibility
Release via Hotwire
Image Credit: Expomarkers.com
Presenter: Trey McFerrin
35
Software Overview
• Detect Launch
• Determine altitude relative to ground reading
• Detect Rover Deployment
• Detect Rover Landing
• Release Parachute
• Initiate Ground Operations
• Guide rover through ground operations
• Calculate traveled distance and turn angle
• Control Motors
• Provide fault tolerance in event of momentary power loss
• Store ground pressure and flight state in non-corruptible EEPROM
memory
Presenter: Ethan Hopping
36
Software Flowchart
State 2: Deployment Detect
State 0: Power up, Integration
Batteries Installed
Measure Deployment
Switch State
No power until removal of
RBF
While
Deployment switch closed
False
True
Measure Deployment
Switch State
State 1: Launch Detect
Measure ground altitude,
store in memory
While
altitude < (ground +error
bound)
False
Proceed to Stage 3
True
Measure altitude
Proceed to Stage 2
Presenter: Ethan Hopping
37
Software Flowchart
State 4: Ground Operation
Drop Marker
State 3: Landing Detect
Drive Forward
Measure Distance Travelled
False
False
While
alititude >(ground+error
bound)
While distance< (10ft)
True
Measure Distance Travelled
Stop, Drop Marker
True
Begin Turn Sequence
Measure altitude
Measure Angle
While distance<(90 deg)
False
True
Measure Angle
Delay to ensure rover is
on ground within altitude
measurement uncertainty
End Turn Sequence
Drive Forward
Measure Distance Travelled
Cut Parachute
While distance< (10ft)
False
True
Measure Distance Travelled
Proceed to Stage 4
Program Stop
Presenter: Ethan Hopping
38
Rover Payload Integration Layout
●
The payload section will be two fiberglass fairings
●
Rover sits on two ‘half moon’ pedestals, one in each fairing
●
●
With the current foam wheels, the wheels will be compressed
into the rocket’s fairings. The volume these compressed wheels
will take up is less than the volume remaining in the fairing with
the mechanical assembly in place.
Parachute/Shock Cord is stowed in the larger diameter section
of the fairings above the Rover
Descent
Control
Rover
Presenter: Ali Butt
39
Rover Payload Integration Process
1.
Check battery charge status, string tension, condition of markers and weights
2.
Wrap/Tape rover wheels with embedded hot wire release device
3.
4.
With the fairings in the horizontal position, place the rover in the fairings,
making sure it is firmly seated on the pedestal
Place folded parachute/shock cord around the upper section of the rover, this
corresponds to the larger diameter in this section
5.
Connect hot wire release devices for wheel/ parachute release
6.
Close fairing blast cap nose cone with monofilament
7.
Insert inside shoulder section of fairings into rocket’s main airframe
8.
Place rocket at 45deg from vertical to check lateral stability
9.
10.
Lift rocket by fairings to check fairing/airframe connection, this reduces risk of
drag separation during ascent
Remove RBF switch once on pad
Presenter: Ali Butt
40
Testing
Ryo Suzuki
41
Rover Testing: Hardware
●
●
●
Ground testing of all competition aspects (angle, distance,
impact, safe descent) will be done on a variety of surfaces in
multiple conditions.
The system will be tested integrated with the rocket in a full
scale launch before competition.
At the full scale test the entire competition travel path will be
practiced from power up to measurement of angle and distance
traveled.
Presenter: Ryo Suzuki
42
Rover Testing: Avionics
• Power system
• Verify lack of excessive voltage sag during motor and hotwire operation
• Observe connection reliability through initial testing
• Ensure flight software correctly resets after momentary power loss
• Flight sequence
• Simulate launch in vacuum chamber. Ensure flight software
advancement through landing state.
• Ground Operations
• Angle measurement: Verify measured heading (magnetometer) against
external compass
• Distance measurement: Verify measured distance with measuring tape
• Software Sequence: Demonstrate full autonomous ground run with no
glitches
Presenter: Ryo Suzuki
43
Rocket Testing
●
Parachute Deployment Testing
●
●
●
Payload Deployment Testing
●
●
●
●
●
Ground test demonstrating proper ejection charge size/parachute
packing
Vehicle Roof Rack tests on quick ascent/descent in surrounding hills
Tethered drop with fairing/body tube assembly from 20ft shop
balcony
Rocket flight demonstrating fairing stability and proper airframe
separation
Ground fairing separation charge test demonstrating proper charge
sizing
Follow-up flights with mass simulator to demonstrate fairing
separation
Flight Tests
●
●
Flight tests at the Phoenix Missile Works Range in Childersburg, AL.
The 1 mile diameter field provides a large downrange area to aim
flight tests
4 flight weekends before competition, first weekend of each month
Presenter: Ryo Suzuki
44
Flight Operations
• Arrive at launch site
Preliminary • Unload equipment
Activities
• Motor Preparation
• Recovery Packing and Charge Installation
Pre-Launch • Final Rocket and Rover Avionics Checks
Integration • Integration of Rover into Payload Fairing
45
Presenter:
45
Flight Operations
Launch
pad
Launch
• Arming Recovery Charges
• Installation Motor Igniter
• Removal of RBF Pins ( 1 on Rover, 3 on Rocket)
• Ascent
• Rocket Recovery Deployment at Apogee
• Rover Deployment (1100 feet)
• Controlled Descent and Landing
• Rover Performs Autonomous Ground Operations
On ground
• Data Analysis, Verification of Altitude
Post Flight
46
Program Schedule
Electrical orders
received here
Presenter: Markus Murdy
47
Program Budget (Hardware)
Rover Hardware Budget
Item
3D Printing
Microcontroller
Pressure Sensror (Launch Detect)
Accelerometer (Landing orientation)
Rotary Encoders (Distance Measurement)
Magnetometer
MOSFET (hotwire control)
Motor Controllers
Motors+Drivetrain
Printed Circuit Boards
Battery
Dry Erase Markers (rover markers and
design work)
String (Distance Controller)
Fiberglass Resin
Total ( 10% margin)
Trade
UAH Machine Shop
Digi-Key
Digi-Key
Digi-Key
Digi-key
Digi-Key
Digi-Key
Digi-Key
Target
Sunstone PCB
Amazon
Description
ABS plastic Canister for Fortus 360
ATXMEGA128A1
BMP180 Pressure Sensor
ADXL345 Triple Axis Accelerometer
EMS22A Magnetic encoder, 3.3V
HMC5883L Magnetometer
BUK952R3-40E N-channel MOSFET
LMD18201 H-Bridge
Black & Decker Alkaline Screwdriver
4.5"x4.5" double layer pcb
123A (12 pack)
Amazon
Amazon
UAH Machine Shop
Expo Dry Erase Markers, 4 pack
Nylon Kite String
LTE45
Qty Sub Total Total Costs
1 $ 360.00
$ 360.00
6
$5.17
$31.02
4
$4.80
$19.20
4
$6.93
$27.72
4
$21.31
$85.24
4
$3.30
$13.20
16
$2.29
$36.67
4
$15.25
$61.00
4
$9.99
$39.96
4
$67.00
$268.00
1
$21.99
$21.99
1
1
1
$4.72
$7.95
$55.00
$4.72
$7.95
$55.00
$1134.74
Rocket Development Budget
Description
Certification Hardware
Launch Fees
Rocket Tubing
Rocket Motors:
Perfect Flight Module
Descent Control Rover
Descent Control Rocket
Total ( 30% margin)
Source
Apogee Rockets
Description
Misc. parts for fabrication
Rocketry Warehouse
Wildman Rocketry
PerfectFlite
UAH SHC
UAH SHC
6” G10 Airframe 48”
J1055 (Flight Testing Motors)
Stratologger altimeter
Stock Parachute
Stock Parachute
Presenter: Markus Murdy
Quantity
2
1 per day, 3 days
1
9
2
1
2
Price Each
$ 50.00
$ 50.00
$ 168.00
$ 70.00
$ 71.96
$ 12.00
$ 12.00
Total Costs
$ 100.00
$ 150.00
$ 168.00
$ 630.00
$ 143.92
$ 12.00
$ 24.00
$ 1,596.00
48
Program Budget (Travel and Summary)
Team Travel Budget
Description
Rate
Unit
Quantity
Hotel (3 rooms)
$
85.00
/Night∙Room
4 Nights∙3 Rooms
$ 1,020.00
Meals
$
60.00
/Day∙Person
5 Days, 10 people
$ 3,000.00
Van Rental
$
100.00
/Day
5 Days
$
500.00
$
4,520.00
Total
Team Budget Summary
Description
Expenses
Prototyping & Rover Hardware
$
1,134.74
Rocket Development
$
1,596.00
Travel
$
4,520.00
Total
$
7,250.74
Presenter: Markus Murdy
49
Summary
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Prototype Rover design is well underway for testing of:
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Wheels
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Drivetrain & Motor
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Motor Controllers
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Ground Navigation Systems
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2 team members flew at most recent rocket launch
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Finalize mold designs over winter break, cut molds in January
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Additional team members in process of building L1 cert rockets
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L1 certs at January launch, begin L2 cert work
Lots of assembly testing in January and February
Prototype rocket flight testing is targeted for January and
February launch windows
Presenter: Markus Murdy
50

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