habisat - university of colorado boulder

Colorado State University -1 - July 26, 2008

Colorado Space Grant Consortium

HabiSAT

HabiSAT is a low cost way to geographically and environmentally map

unknown environments. The payload measures temperature,

humidity, atmospheric pressure and seismic activity as well as photographs

the descent into the landing site.

Students: John Lucas

Christopher Reed Christina Watanuki Zachary Wiggins

Advisor:

Dr. Azer Yalin

Colorado State University Colorado Space Grant Consortium

March 24, 2009



Contents

1.0 Abstract. ..................................................................................................................................................3

2.0 Mission Requirement and Description....................................................................................................3

3.0 Payload Design. ......................................................................................................................................3

4.0 Test Results. ............................................................................................................................................6

5.0 Mission Results. ......................................................................................................................................8

6.0 Conclusion. .............................................................................................................................................9

7.0 Potential Follow-on Work.......................................................................................................................9

8.0 Benefits to NASA and Scientific Community. .....................................................................................10

Appendix A: Product Specifications...........................................................................................................11

Appendix B: Camera Control Code ............................................................................................................17

Appendix C: Landing Test Control Code ..................................................................................................19

Appendix D: Stepper Motor Control Code .................................................................................................21

Appendix E: Data Logging Control Code...................................................................................................23

Appendix F: Cost Budget............................................................................................................................24

Appendix G: Figures...................................................................................................................................26



1.0 Abstract___________________________________________________________

The purpose of the DemoSAT program is to allow a team of students to design and develop a payload that could be beneficial to the scientific community and NASA if completed on a larger scale. DemoSAT payloads launch on a high-altitude balloon that has the potential of reaching 30.48 km. The primary mission objective of Colorado State University’s 2008 DemoSAT team was to develop a payload that could function as a self-sufficient sensor package that upon landing would deploy and collect ambient environmental data. This application could be useful in low cost surface weather mapping on extra terrestrial surfaces. In contrast to a rover mission, which is extremely costly and is constrained to a single location, several less expensive “weather stations” could be deployed over a large region to provide remote data. The remote lander would have the ability to collect and transmit environmental data including: aerial photography of the landing site, temperature, pressure, relative humidity, as well as seismic activity. The remote lander would have the ability to survive atmospheric entry, detect its landing, and deploy its sensors into ambient surface conditions. In order to make a surface weather mapping array mission a viable alternative to a rover mission, the lander must be cost effective, light weight, and durable. It must also record accurate data, and be able to obtain a wide range of data in a way to compete with a rover. These requirements add design complexity and are the source of most of the challenges of the project. A prototype lander was built, tested, and launched on a mock mission. The lander was able to complete all required goals aside from an unexpected mechanical failure which prevented it from deploying properly after landing. In future prototypes, changes in the mechanisms which caused this failure would be reconciled. The first mission proved the lander concept but showed that the design needs improvement.

2.0 Mission Requirement and Description__________________________________________

This mission required that the payload would be able to meet certain design and manufacturing constraints. The limiting constraints were mass and financial budgets. The initial mass requirement was that the payload would weigh no more than 2.0 kg, which later increased to 2.5 kg closer to launch. The project budget was $1,000. In order for the payload design to survive the high-altitude balloon launch, other factors had to be considered. HabiSAT needed to be able to survive a 35mph (15.6 m/s) impact at landing and 15 g’s of acceleration during balloon burst. High-altitude elements required the payload to be able to withstand -80 °C ambient temperature and eight torr (1.06 kPa) pressure. In order to be able to launch there also needed to be a mechanical interface to attach the payload to the 2.4 mm diameter braided nylon/Dacron flight cord. The tube used needed to have a maximum inner diameter of 6.4 mm and be free of any burrs that could be dangerous to the integrity of the flight cord.

3.0 Payload Design_____________________________________________________________



Structural Multiple concepts were generated and explored with the aid of CAD to verify volume and mass properties. Hand calculations were compared to FEA of impact at 30g’s in order to verify structural integrity. Thermal considerations of known flight conditions were all simulated in FEA. 6061 Aluminum was chosen for the frame of HabiSAT due to its strength to weight ratio. The craft’s panels were made of foam coated in carbon fiber. This combination provided insulation as well as strength. A torsion spring system was chosen to deploy the panels. The springs were held in torsion during the flight by a ratcheting system which was autonomously released upon landing. The final assembly of HabiSAT showing the spring deployment system is shown in Figure 4. Control and Data Handling

HabiSAT recorded pressure, accelerations, temperature and humidity which it recorded to a U12

HOBO data logger. The pressure sensor used was a Newark MPX5700A free scale

semiconductor with a pressure reading range of 0 to 700kPa and sensitive enough to measure

expected pressure changes during flight. Specifications on the pressure sensor are available in

Appendix A.1. Accelerations were recorded using a Sparkfun ADXL330 three-axis

accelerometer that could read up to 3 g’s with complete data sheet available in Appendix A.2.

This is sensitive enough to measure seismic activity in an unknown environment. Temperature

and humidity were measured using sensors included in the HOBO. The data sheet for the U-12

HOBO is found in Appendix A.3.

The control system was designed to accomplish several objectives. It needed to sense conditions

during its accent and descent within the atmosphere and perform tasks based on these

requirements. Tasks included: capturing pictures of the landing area at varying rates depending

on altitude, sensing a landing, opening its panels after landing, and recording atmospheric

conditions both during and after landing.

To accomplish the task of capturing photos of the landing area at varying rates, pressure readings

were taken by a microcontroller. An indicated pressure corresponds to a known altitude. The

microcontroller was programmed to take pictures at higher rates at lower altitudes to offer higher

detail as the environment changed more quickly. Once the payload had landed, the

microcontroller received a signal to hibernate as the camera would be facing the ground and be

of no further use. This block and circuit diagram can be seen in Figure 5. Code for the

microcontroller can be seen in Appendix B.

Landing was sensed using pressure and acceleration measurements. Another microcontroller

monitored pressure and acceleration and performed two tests with this data. The first was a

gradient test. Two measurements of each the x, y, and z axis, as well as pressure, were recorded,

each separated by a period of time. If each new measurement did not match its old

measurement, the test would fail and the microcontroller would perform the test again. If the test

passed, the second test looked for expected values. Knowing the zero-g voltage outputs of the



accelerometer, as well as the expected pressure of the landing zone, acceleration and pressure

readings were compared to expected values. If they were not within their expected ranges, the

microcontroller would start over with the first test. If both tests passed, a high signal would be

sent from the microcontroller to both the microcontroller of the camera (indicating that it

hibernate), as well as the microcontroller responsible for deploying the panels. This block

diagram can be seen in Figure 6. Code for the microcontroller can be seen in Appendix C

The microcontroller responsible for opening the panels and exposing the sensors to ambient

conditions managed a stepper motor that disengaged a ratcheting draw bridge that held the panels

closed. This controller would search continuously for the high signal from the microcontroller

that sensed the landing. Once that signal was obtained, a loop of code was initiated to rotate the

stepper motor in a prescribed direction, speed, and duration which allowed the ratchet to be

disengaged and torsion springs to open the panels. If one wanted to reset the motor to its original

location, a button could be pressed that sent the controller to a loop of code which ran the stepper

in the opposite direction for the same period of time. This block and circuit diagram can be seen

in Figure 7. Code for the microcontroller can be seen in Appendix D.

While temperature and relative humidity measurements were recorded from sensors within the

data logger, pressure and acceleration had to be fed into the logger from external sensors.

However, since only two external ports were available on the data logger, and four

measurements needed to be recorded into them (pressure, x,y,z-acceleration), a unique solution

had to be remedied. In response, all three acceleration axis were recorded into one port on the

data logger while pressure was read into the second. This was accomplished by routing the

acceleration signals through n-channel MOSFETs which were used as switches via a

microcontroller which sent signals to each of the MOSFET gates at 1 Hz intervals. This meant

that the acceleration port of the data logger received a signal from a different axis every second.

The data logger was then programmed to record signals from its ports at 1 Hz intervals. This

allowed for every third data point recorded at the acceleration port to be the same axis. From

there, data for each axis could easily be extracted. This block diagram can be seen in Figure 8.

Code for the microcontroller can be seen in Appendix E.

Power

One battery was to supply the power required to run the camera, heaters, motor and circuit

boards. The electronics of the payload were designed to run off of 5V so a 7.4V battery was

selected in order to have a safety factor for cold temperatures decreasing the effective voltage of

the battery. Research had shown that using a Lithium Polymer battery had longer life and was

able to maintain its voltage better at low temperature than other battery types so a rechargeable

LiPo battery was used on HabiSAT. The other battery used in this project was one self contained

inside of the HOBO and supplied the power for the data logging as well as temperature and

humidity sensors. It was rechargeable and maintained its efficiency to -20 °C.



Thermal

Thin film Birk Stock 2" X 2" Kapton® heaters were used to heat the two circuit boards. The

heaters were designed to run with 28V for a power output of 40W. Since the battery supplies

only 7.4V the efficiencies were cut in half. Thermal epoxy was used to coat the heaters and back

of the board.

Rubber weather stripping was also added to the frame in order to create a better seal between the

panels and aluminum to decrease the amount of ambient air transferring into the payload.

Budgets

Finances for the project required that a $1,000 budget be met. HabiSAT went $114.51 dollars

over budget, a large part due to three separate and complete deployment systems being

constructed which had not been estimated for during financial planning. Complete budget

information can be seen in Appendix F and a general graphical representation in Figure 9.

Meeting the mass requirement was difficult and HabiSAT was ultimately approximatley 0.5lbs

(0.23kg) overweight. This was still acceptable for launch but should have been taken into greater

consideration during the design phase of the project.

4.0 Test Results________________________________________________________________

Drop Test

The drop test required that the payload survive a drop from approximately 6.0 m onto a hard

surface. In order to complete the drop test, HabiSAT was dropped from the top of a second flight

of stairs. Damage from this test included slight bending in the aluminum frame. All internal

components survived the drop but the panels had to be slightly altered in order to work with the

newly bent frame. A couple of weld joints also broke and had to be re-welded.

Whip Test

The whip test was designed to simulate the accelerations that the payload would experience

during the balloon burst. In order to accomplish this, HabiSAT was attached to a rope and swung

around erratically. Pictures from this test are shown in Figure 10. The payload was also pulled

tight on the rope and then quickly whipped in towards the other end of the rope. HabiSAT

showed no damage from this test. There was not a way to know how many g’s the payload

actually experienced during this test since the accelerometers only measure up to 3g’s. However,

the accelerometers were maxed out.



Pitch Test

The pitch test was designed to simulate the worst case scenario of a payload being dragged along

the ground by the parachute after landing. HabiSAT was initially gently rolled down a flight of

concrete steps. Due to its shape the payload had to be thrown and kicked down the stairs in order

to complete the flight of stairs. No visible damage was done to the external or internal

components of HabiSAT during the pitch test.

Cold Test

The cold test was required of payloads to ensure that they would successfully run in the possible

-80°C ambient temperatures. In order for HabiSAT to remain fully functional the internal

temperatures of circuit boards and the battery should not drop below -20 °C. This test was

completed by placing the payload in a cooler with dry ice and a fan blowing on it. Multiple

thermocouples were placed on various places inside and outside HabiSAT and monitored.

Results from the test are shown below in Figure 11. Pictures from the cold test set up are shown

in Figure 12.

Thermocouple #7, which dropped below -20 °C was located outside the payload and was unable

to get cold enough to accurately simulate high altitude temperatures. Thermocouple #2 and #5

did not work correctly. This was believed to have been caused by a charge on the thermocouples.

Temperature sensitive components included the two circuit boards connected to thermocouples

#0 and #2 had low temperature of approximately -4 °C. This was considered expectable as these

components were rated at -20°C. The battery voltage was also monitored during the cold test and

its output voltage dropped rapidly at lower temperatures. It was decided to place the battery in

contact with a heater to counteract this result.

Pressure Test

A pressure test was completed on HabiSAT in order to ensure that the control of the pressure

sensor was fully functional. The design of HabiSAT depended heavily on pressure gradients.

LEDs integrated into the circuit boards allowed a visual confirmation of the program running as

it should be at different pressure gradients. Figure 13 below shows the logged data results from

the pressure test. The dashed green line represents the recorded voltage changes from the

pressure sensor. Inside the vacuum chamber, the pressure rapidly dropped then slowly increased.

Functional Test

In order to make certain that HabiSAT had the power to run the system for the full mission time,

a functional test was completed. The payload was turned on and left to run for the complete four

hours (maximum possible mission time). This test also showed the successful back-up



deployment control that if the acceleration and pressure check did not deploy the panels, after

four hours the panels would still open.

5.0 Mission Results_____________________________________________________________

HabiSAT was launched on July 26, 2008 out of Deer Trail, Colorado at approximately 8:10 AM.

Data recorded by the HOBO showed that the maximum altitude reached by HabiSAT was

approximately 89, 822 feet (27, 377.75 m) when the balloon burst. With the recorded pressure at

this altitude being 0.2603 psi (1794.7 Pa) this altitude calculation was fairly accurate since the

known altitude of 90,000 feet has a pressure of 0.26 psi. The internal temperature recorded by

the HOBO at maximum altitude was -10.615 °C. The graph in Figure 14 shows the calibrated

accelerations recorded by the HOBO.

In addition to accelerations, HabiSAT also successfully recorded temperature, humidity and

pressure readings. Pressure data was then used to calibrate the corresponding altitude. A

graphical representation of calibrated flight data can be seen in Figures 15 and 16. HabiSAT

logged 9,725 samples of data during the mission. The HOBO logger began logging at 7:40 AM

and the power to HabiSAT was turned on at approximately at 8:00 AM. Flight data as recorded

on the logger showed a balloon burst around 9:40 AM. Data from the HOBO is available in

Figure 17. The graph in Figure 17 charts logged data vs. time. The black line is temperature in

degrees Fahrenheit, blue is relative humidity (%), the solid green line which looks like

temperature and humidity is the pressure voltage reading. The last green line shows the voltage

input from the accelerometer. All three axes were imputed into this one signal so every third

recording was the same axis. Because of the large amount of data taken during this mission, only

graphical representations of calibrated data are included in the report.

HabiSAT continued to record data after landing showing it successfully surveyed the unknown

environment through the sensor package. The camera, however, only worked during ascent,

shortly during burst and momentarily afterwards. It did not successfully document images during

descent into the unknown landing site. A possible reason for this was that the battery got too cold

and did not produce enough voltage to power the camera. The camera did turn back on and

continue to take pictures after the payload was already recovered. A few pictures from the flight

are seen below in Figures 18-20.

HabiSAT landed approximately five miles from the launch site. Upon initial sight at recovery the

panel doors were still closed. Once it was determined that the motor was not running, HabiSAT

was turned upright. Doing so allowed the panel doors to open. This made it clear that the

deployment system did not work as designed. This failure is further explained in the conclusion.



6.0 Conclusion_________________________________________________________________

Flight data results as recorded by HabiSAT in comparison with those provided by Edge of Space

Sciences (EOSS) show a difference in altitude findings of 7,952 feet (2423 m). This difference

could be due to the inability to accurately calibrate the pressure sensor since only two known

data points were used. General flight data provided by EOSS for EOSS-130 can be seen in

Figures 21 and 22.

There were three failures from this mission. One being that the camera did not successfully

image the landing site. In the future, to prevent such a failure, a more tightly insulated payload

should be achieved to reduce the effects of low temperature on electronics.

There were two other known failures during flight. Epoxy that was used to attach the rotating

spindle to the ratchet mechanism froze and cracked upon landing. This caused the panels to open

when the payload was lifted upright by a team member. Previous to this, HabiSAT’s weight of

being on its side had kept the panels closed. In addition to this malfunction, the microcontroller

that controlled the motor did not work. The motor never turned on after landing. After the flight,

the microcontroller was retested and was able to function as expected. Since the microcontroller

was still securely in the IC socket, this failure was also expected to have occurred because of low

temperatures.

Overall, the mission was deemed a “successful failure”. The cracked epoxy in conjunction with

the failed motor controller ultimately allowed the deployment system to work. Cold temperatures

were a key factor in the unsuccessful aspects of HabiSAT. In order to prevent this in the future,

more accurate cold testing should be done and appropriate measures taken. The lowest

temperature that the payload was exposed to during the cold test was only -20 °C. If a

temperature chamber were available to the team in the future, it would be better known how the

payload would function at high-altitude temperatures.

7.0 Potential Follow-on Work____________________________________________________

Ways to enhance this project in the future include ideas that the HabiSAT team had originally

wished to accomplish along with this year’s project. Designing the payload to be self-sustainable

would be beneficial in better representing a system that could be used to survey areas where

additional power cannot be supplied. This could be done by adding solar panels to the system,

which would recharge batteries after deployment. Another way to follow up on this project

would be to transmit live data from the payload to a remote location.



8.0 Benefits to NASA and Scientific Community_____________________________

HabiSAT is an example of a low cost and low mass payload that can be used to map geography

and surface weather on other planets, moons, etc. In contrast, a rover is a high cost machine with

limited mobility. Launching and dropping multiple HabiSATs over a large area and allowing

them to measure environmental conditions and photograph the land would provide NASA and

the scientific community with a constant influx of extensive cost efficient data on extra terrestrial

surfaces.



Appendix A: Product Specifications

A.1 Pressure Sensor



A.2: Accelerometer



A.3 HOBO U-12 Data Logger

Temperature and Humidity Logger Specifications

Data Storage Capacity 43,000 12-bit Samples/Readings

Sampling Rate 1 Second to 18 Hours

Measurement Range Temperature: -20°C to 70°C (-4°C to 158°F) Humidity: 5% to 95% RH

Accuracy Temperature: ±0.35°C from 0°C to 50°C Humidity: ±2.5% RH from 10% to 90% (10°C to 50°C) **

Resolution Temperature: 0.03°C at 25°C (0.05°F at 77°F) Humidity: 0.03% RH

Drift Temperature: 0.1°C/year (0.2°F/year) Humidity: <1% per year; RH Hystersis 1%

Response Time (airflow: 1m/s)

Temperature: 6 Minutes, typical to 90% Humidity: 1 Minute, typical to 90%

Time Accuracy ±1 Minute per Month at 25°C (77°F)

Operating Temperature Logging: -20°C to 70°C (-4°F to 158°F) Launch/Readout: 0°C to 50°C (32°F to 122°F)

Battery Life Typically 1 Year

Battery 3-Volt CR-2032 Lithium Battery (User Replaceable)

Standards Compliance CE

Weight 46 g (16 oz)

Dimensions 58mm x 74mm x 22mm (2.3" x 2.9" x 0.9")

NOTES: * Maximum Values Varies from 1500 to 4500 footcandles (lumens/ft

2)

** Conditions Above 80% RH and 60°C(140°F) may cause additional error



A.4: Fiber Glass Composite



Appendix B: Camera Control Code

DEFINE OSC 8 OSCCON.4=1 OSCCON.5=1 OSCCON.6=1 ansel = 0 TRISB= %00000000 'port B outputs TRISA= %11111111 'port A inputs delay VAR byte open VAR word closed VAR word position VAR word i VAR word delay = 20 open = 6500 '6500 for 6.5 turns closed = 0 position = 0 portb=%00000000 main: for i = 1 to 28800 'change to 28800 for 4 hours pause 500 if (porta.2 == 1) then goto opening endif if (porta.3 == 1) then goto closing endif next i opening: if (position = open) then goto main else portb = 1 position = position + 1 pause delay endif if (position = open) then goto main else portb = 2 position = position + 1 pause delay endif if (position = open) then goto main else portb = 4 position = position + 1 pause delay endif if (position = open) then goto main else portb = 8 position = position + 1 pause delay endif goto opening



closing: if (position = closed) then goto main else portb = 8 position = position - 1 pause delay endif if (position = closed) then goto main else portb = 4 position = position - 1 pause delay endif if (position = closed) then goto main else portb = 2 position = position - 1 pause delay endif if (position = closed) then goto main else portb = 1 position = position - 1 pause delay endif goto closing end



Appendix C: Landing Test Control Code

DEFINE OSC 8 DEFINE ADC_BITS 10 DEFINE ADC_SAMPLEUS 50 OSCCON.4=1 OSCCON.5=1 OSCCON.6=1 TRISB=%00000000 'port B outputs TRISA=%11111111 'port A inputs ansel = 1 ADCON1.7 = 1 pressure VAR word xaccel VAR word yaccel VAR word zaccel VAR word pressure2 VAR word xaccel2 VAR word yaccel2 VAR word zaccel2 VAR word exppressure VAR word expaccel VAR word exppressure = 643 'bits at ft. collins altitude expaccel = 400 'bits at zero xacceleration gat VAR byte 'gradient test pressure tolerance gpt VAR byte 'gradient test accel tolerance gat = 20 gpt = 2 i VAR byte j VAR word 'dummy variable portb = %00000000 high portb.1 for j = 0 to 1800 'change to 1800 for half an hour pause 1000 next j low portb.1 check: for i = 0 to 1 'gradient test ADCIN 0, pressure ADCIN 2, xaccel ADCIN 3, yaccel ADCIN 4, zaccel pause 300 ADCIN 2, xaccel2 ADCIN 3, yaccel2 ADCIN 4, zaccel2 for j = 1 to 111 'CHANGE to 111 pause 1000 next j ADCIN 0, pressure2 if (((pressure2 - gpt) <= pressure) && ((pressure2 + gpt) >= pressure)_ && ((xaccel2 - gat) <= xaccel) && ((xaccel2 + gat) >= xaccel)_ && ((yaccel2 - gat) <= yaccel) && ((yaccel2 + gat) >= yaccel)_ && ((zaccel2 - gat) <= zaccel) && ((zaccel2 + gat) >= zaccel)) then 'payload has landed



else 'payload is moving HIGH portb.2 pause 500 LOW portb.2 goto check endif next i i = 0 for i = 0 to 1 'expected values test ADCIN 0, pressure2 ADCIN 2, xaccel2 ADCIN 3, yaccel2 ADCIN 4, zaccel2 if ((pressure2 >= exppressure) && (xaccel2 <= expaccel)_ && (yaccel2 <= expaccel) && (zaccel2 <= expaccel)) then pause 300 else HIGH portb.1 pause 500 LOW portb.1 goto check endif next i 'safety pause high portb.2 high portb.1 for i = 0 to 120 'change to 120 pause 1000 next i low portb.2 low portb.1 'satisfies both tests? HIGH portb.0 pause 2000 'CHANGE to larger value to exceed camera delay LOW portb.0 pause 2000 goto check end



Appendix D: Stepper Motor Control Code

DEFINE OSC 8 DEFINE ADC_BITS 10 DEFINE ADC_SAMPLEUS 50 OSCCON.4=1 OSCCON.5=1 OSCCON.6=1 TRISB=%00000000 'port B outputs TRISA=%11111111 'port A inputs portb = %00000000 ansel = %00000010 ADCON1.7 = 1 pressure VAR word h VAR word i VAR word j VAR word k VAR word high portb.4 for h = 1 to 300 'CHANGE to 300 for 5 minutes pause 1000 next h low portb.4 high portb.5 high portb.2 'turn on camera, this will need to be in each while loop if delay > 1 min pause 500 low portb.2 main: adcin 1, pressure while pressure <= 29 high portb.3 high portb.4 pause 200 low portb.3 low portb.4 for i = 1 to 30 pause 1000 adcin 1, pressure if (pressure > 29) then goto main endif next i wend while pressure > 29 && pressure <= 551 high portb.3 high portb.4 pause 200 low portb.3 low portb.4 for j = 1 to 58 pause 1000 adcin 1, pressure if (pressure <= 29 OR pressure > 551) then goto main endif next j wend



while pressure > 551 high portb.3 high portb.4 pause 200 low portb.3 low portb.4 for k = 1 to 10 pause 1000 adcin 1, pressure if (pressure <= 551) then goto main endif if (porta.0=1) then goto hybernate endif next k wend goto main hybernate: HIGH portb.5 pause 1000 LOW portb.5 pause 1000 goto hybernate end



Appendix E: Data Logging Control Code

DEFINE OSC 8 OSCCON.4=1 OSCCON.5=1 OSCCON.6=1 ansel = 0 TRISB= %00000000 'port B outputs TRISA= %11111111 'port A inputs portb=%00000000 sample VAR word sample = 1000 main: high portb.0 pause sample low portb.0 high portb.1 pause sample low portb.1 high portb.2 pause sample low portb.2 goto main end



Appendix F: Cost Budget

Item Supplier Model Number Cost/unit #

units Shipping Total

O-Rings Ace Hardware O-rings $0.19 4 $0.05 $0.81

Steel Sheet Ace Hardware Steel Weldable 22GA $5.49 1 $0.00 $5.49

Fuel line Ace Hardware 1/8 ID $2.49 3 $0.50 $7.97

Fasteners Ace Hardware 55 N/A N/A $0.00 $6.55

Fasteners Ace Hardware 55 N/A N/A $0.00 $1.97

Fasteners Ace Hardware Miscellaneous N/A N/A $0.00 $3.72

Clip Ace Hardware 47861 N/A 1 $0.00 $1.27

Fasteners Ace Hardware Miscellaneous N/A 16 $0.00 $4.03

Hinges Ace Hardware V1805 $5.49 1 $0.00 $5.49

Battery All-Battery.com Li-Ion 18650 $27.99 1 $8.43 $36.42

Battery Charger All-Battery.com Smart charger $24.95 1 $0.00 $24.95

Heaters Birk Manufacturing 2"x2" 28V 40W $24.00 2 $5.39 $53.39

Pressure (2) Digi-key 480-1915-ND $23.95 1 $5.05 $29.00

PICs Donated N/A $0.00 2 $0.00 $0.00

Zip Ties Drake Hardware N/A $3.29 1 $0.00 $3.29

Epoxy Drake Hardware N/A $3.49 1 $0.00 $3.49

Carbon Fiber Fibre Glast 660-A $63.95 1 $16.95 $80.90

Carbon Fiber Fibre Glast 660-SWATCH $2.36 2 $0.00 $4.72

Epoxy Resin Fibre Glast System 2000 $31.95 1 $0.00 $31.95

Epoxy Hardener Fibre Glast System 2000/2120 $15.95 1 $0.00 $15.95

Hydraulic Plastic Ft Collins Plastics 1" HDPE $20.01 1 $0.00 $20.01

Plexi Glass Ft Collins Plastics 1/8" and 1/16" $34.46 1 $0.00 $34.46

Gear Box Hobby Town USA Planetary Gear Set $18.50 1 $0.00 $18.50

Insulating Foam Home Depot TG R-10 F250 $10.82 1 $0.72 $11.54

Screw Set Home Depot N/A $0.98 4 $0.00 $3.92

Socket Set Home Depot Socket Set $0.42 3 $0.00 $1.26

PVC Home Depot 1" x 2' $1.43 1 $0.00 $1.43

Metal Rod Home Depot N/A $7.29 1 $0.00 $7.29

Gorilla Glue Home Depot Gorilla Glue $6.95 1 $0.00 $6.95

Epoxy Adhesive Home Depot Epoxy $2.98 1 $0.00 $2.98

Fiber tools Home Depot Guard, Glass $5.38 1 $0.00 $5.38

Motor Jameco N/A $20.00 1 $5.74 $25.74

Dry Ice King Soopers N/A $11.56 1 $0.00 $11.56

Nozzles McMaster-Carr 1/8" NPT Male Pipe $5.00 1 $5.00 $10.00

Hydraulic Tubing McMaster-Carr 9388T1 $1.87 5 $4.75 $14.10

Hydraulic McMaster-Carr Screw, Nut, Barb, $17.33 N/A N/A $17.33



Mechanics Clamp

Barb Tube Fittings McMaster-Carr 1/8" NPT Male Pipe $5.00 1 $5.00 $10.00

Acme threaded rod McMaster-Carr 98935A703 $5.29 1 $5.25 $10.54

REFUND McMaster-Carr Bent Rod $5.29 1 $0.00 -$5.29

Torsional Springs McMaster-Carr N/A $5.90 6 $5.25 $40.65

REFUND McMaster-Carr SPRINGS $5.90 6 -$35.40

Aluminum Sheet Metal Distributors N/A $25.19 1 $0.00 $25.19

HOBO Logger microDAQ.com U12-013 $125.00 1 $12.17 $137.17

HOBO software microDAQ.com BHW-LITE $39.00 1 $0.00 $39.00

Toggle Switch Mountain States Elec. SPST Toggle Switch $6.99 1 $0.00 $6.99

Button Switch Mountain States Elec. SPST Push Button $1.70 2 $0.00 $3.40

Audio Plugs Mountain States Elec. 2.5 mm plugs $1.84 4 $0.49 $7.85

IC Driver newark.com 06F9523 $2.48 2 $6.26 $11.22

Thermal Epoxy Omega.com OB-101-2 $8.00 1 $17.00 $25.00

Aluminum OnlineMetals.com 6061-T6 Bare Tube $9.12 4 $13.07 $49.55

Op-Amp Radioshack 324 Quad Op Amp $1.69 1 $0.00 $1.69

MOSFET Radioshack IRF-510 MOSFET $1.99 4 $0.00 $7.96

PC Board Radioshack UNIV PC BOARD $3.49 1 $0.00 $3.49

.1 MFD DISC Radioshack N/A $1.49 2 $0.00 $2.98

NPN Transistor Radioshack TIP120 NPN DARL $1.59 1 $0.00 $1.59

Mock Circuit Board Radioshack N/A $8.07 1 $0.00 $8.07

O-Rings R-N-R Plumbing

Supply N/A $13.69 N/A $0.00 $13.69

Duct Tape Safeway N/A $7.99 1 $0.00 $7.99

Cold Test Supplies Safeway N/A $18.18 1 $0.00 $18.18

Accelerometer sparkfun.com SKU# SEN-00692 $34.95 1 $5.96 $40.91

Camera wal-mart N/A $19.67 1 $1.32 $20.99

Media Card wal-mart 1GB $12.88 1 $0.00 $12.88

Iron on Transfer wal-mart N/A $8.07 1 $0.00 $8.07

AntiFreeze wal-mart N/A $9.47 1 $0.00 $9.47

Mixing Bottle wal-mart Bottle $1.87 1 $0.00 $1.87

TOTAL $999.51

A-Card Total 999.51

Zach Wiggins 30

John Lucas 25

Chris Reed 60

TOTAL 1114.51



Appendix G: Figures

Figure 1: Thermal FEA of Panel

Figure 2: Aluminum Frame



Figure 3: Hydraulics Drawing

Figure 4: HabiSAT Assembly



Accelerometer Pressure Sensor

Microcontroller

Figure 5: Camera Control

Figure 6 - Landing Test Control

Pressure Sensor

Microcontroller

Camera



Figure 7 - Stepper Motor Control

Micro Controller

Dual H-Bridge

Stepper Motor



Figure 8 - Data Logging Control

Accelerometer

Signal Buffer

MOSFET

Data Logger Pressure Sensor

Microcontroller



Figure 9: Financial Diagram

Figure 10: Whip Test

Figure 11: Cold Test Results



Figure 12: Cold Test

Figure 13: Pressure Test Results



Mission Accelerations

-20

-15

-10

-5

0

5

10

0 500 1000 1500 2000 2500 3000 3500

Sample Number

Accele

rati

on

(g

's)

X

Y

Z

Figure 14: Flight Acceleration Data

Figure 15: Calibrated Pressure and Altitude Data



Figure 16: Flight Temperature and Humidity Data

Figure 17: HOBO recorded data



Figure 18: Pre-burst Picture Figure 19: At Burst Picture

Figure 20: After Burst Picture



Figure 21: Balloon Flight Path (Blue actual, Red and Green predicted path)

Figure 22: Balloon Altitude

habisat - university of colorado boulder

Documents