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Team 502: Psyche - Return Sample of

Hypothesized Surfaces - Storage

Marcus C. Hatchett;Michael J. Macedo;Luke J. Remillard;Robert W. Zube

FAMU-FSU College of Engineering  2525 Pottsdamer St. Tallahassee, FL. 32310

Abstract

The abstract is a concise statement of the significant contents of your project. The abstract should

be one paragraph of between 150 and 500 words. The abstract is not indents.

Keywords: list 3 to 5 keywords that describe your project.

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Disclaimer

Your sponsor may require a disclaimer on the report. Especially if it is a government sponsored project or confidential project. If a disclaimer is not required delete this section.

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Acknowledgement

These remarks thanks those that helped you complete your senior design project. Especially those who have sponsored the project, provided mentorship advice, and materials. 4

Paragraph 1 thank sponsor! Paragraph 2 thank advisors. Paragraph 3 thank those that provided you materials and resources. Paragraph 4 thank anyone else who helped you.

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Table of ContentsAbstract................................................................................................................................ii

Disclaimer..........................................................................................................................iii

Acknowledgement..............................................................................................................iv

List of Tables.....................................................................................................................vii

List of Figures..................................................................................................................viii

Notation..............................................................................................................................ix

Chapter One: EML 4551C...................................................................................................1

1.1 Project Scope.............................................................................................................1

1.2 Customer Needs.........................................................................................................1

1.3 Functional Decomposition.........................................................................................1

1.4 Target Summary........................................................................................................1

1.5 Concept Generation...................................................................................................1

Concept 1.....................................................................................................................1

Concept 2.....................................................................................................................1

Concept 3.....................................................................................................................1

Concept 4.....................................................................................................................1

Concept n+1.................................................................................................................1

1.6 Concept Selection......................................................................................................2

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1.8 Spring Project Plan....................................................................................................2

Chapter Two: EML 4552C..................................................................................................3

2.1 Spring Plan.................................................................................................................3

Project Plan..................................................................................................................3

Build Plan....................................................................................................................3

Appendices..........................................................................................................................4

Appendix A: Code of Conduct............................................................................................6

Appendix B: Functional Decomposition.............................................................................7

Appendix C: Target Catalog................................................................................................8

Appendix A: APA Headings (delete)..................................................................................8

Heading 1 is Centered, Boldface, Uppercase and Lowercase Heading...............................8

Heading 2 is Flush Left, Boldface, Uppercase and Lowercase Heading.........................8

Heading 3 is indented, boldface lowercase paragraph heading ending with a period.8

Appendix B Figures and Tables (delete).............................................................................9

Flush Left, Boldface, Uppercase and Lowercase..........................................................10

References..........................................................................................................................11

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List of Tables

Table 1 The Word Table and the Table Number are Normal Font and Flush Left. The

Caption is Flush Left, Italicized, Uppercase and Lowercase........................................................10

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List of Figures

Figure 1. Flush left, normal font settings, sentence case, and ends with a period...............9

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Notation

NASA National Aeronautics and Space Administration

JPL Jet Propulsion Laboratory

°C Degrees Celsius

AU Astronomical Unit of Measure

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Chapter One: EML 4551C

1.1 Project Scope

Project Description

The purpose of this project is to design a storage unit to be utilized on the NASA/JPL

mission to Psyche. Psyche is a metallic asteroid, believed to be the remnants of a planet torn

apart by asteroids, leaving behind nothing but the exposed core. This storage unit will be a key

piece of exploration equipment used to collect samples from Psyche. Due to the nature of the

mission and the small amount of information known about Psyche, the unit will be designed with

all possible environments in mind. This unknown world forces our team to think outside the box

and create a unit with a high level of versatility. Additionally, coordination with a separate end-

effector team is crucial to achieving our end goal of a modular system which works together to

perform the task at hand.

Key Goals

The primary goal of this project is to design a storage unit for the NASA/JPL mission to

Psyche. The storage unit should be capable of accepting samples from the asteroid and protecting

them as they are transported from the asteroid back to Earth aboard a return vehicle. The unit

should be designed such that it works in conjunction with an end effector, as specified by Team

501. Due to the unknown environment present on Psyche, this storage unit will need to be

capable of performing its stated function in several different environments and climates.

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Market

The primary market for this project is the NASA/JPL Psyche Mission. Secondary

markets include other NASA or JPL missions that benefit from a well-designed storage unit, as

well as missions performed by other organizations. This unit could also be used for small scale

mining, sampling, or transportation operations on Earth. In areas where manned operation is

infeasible, such as radiation zones or hazardous mines, this storage unit could be used in

conjunction with a transport vehicle and sampling device to move samples towards a safe

location for inspection.

Assumptions

The following assumptions were made based on discussions with our sponsor, our project

manager, and Team 501:

The Storage unit will be removed from and returned to the return vehicle. This will be

accomplished by the rover team, and will involve lifting the storage unit, mounting it to the

rover, transporting it to various locations on the asteroid, returning it to the return vehicle,

removing it from the rover, and placing it in the return vehicle. Methods of manipulation and

mounting may be fleshed out with the rover team.

It’s also assumed that the Psyche surface will be excavated by a separate end-effector

unit. This end-effector will be different from the end-effector being designed by Team 501 and

will specialize in core sampling.

The gravity on Psyche will be present but very weak. This is a small asteroid and has a

gravitational pull of 0.06m/s, which is 1/27th that of the moon.

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Psyche is considered a Type M (Metallic) asteroid. As such, no life is expected to be

found on it, so no measures are needed to preserve life.

Psyche could experience temperatures as low as -114°C and as high as -75°C, based on

minimum and maximum orbital distances from the sun. Although temperature considerations

are not needed for the samples, the storage unit itself will need to be designed to operate in

extreme temperatures. (2)

Psyche is assumed to have no atmosphere. It is assumed to be a non-gaseous, metallic

asteroid. As such, it is assumed that the pressure on Psyche will be vacuum.

A rover will be capable of accommodating the power requirements of the storage unit

during sampling. If power should be required while off the rover, the return vehicle should be

capable of accommodating these needs, and an assumption can be made that the power

connection to the rover is sufficient to be used with the return vehicle as well.

The samples are not temperature sensitive, are not expected to harbor life and will not

need to be kept in a temperature-controlled environment. It is assumed that the state of the

sample will not be affected by the environmental conditions of Psyche or of Earth.

Stakeholders

The parties involved for this project are the National Aeronautics and Space

Administration (NASA), Arizona State University (ASU), Dr. Cassie Bowman (Sponsor/Psyche

Co-Investigator), Dr. Shayne McConomy (FSU Senior Design Professor), Dr. Patrick Hollis

(Engineering Advisor), Kimberly Rillon (Project Manager/ASU Student), Dr. Lindy Elkins-

Tanton (Principal Investigator of Psyche), and the FAMU-FSU College of Engineering’s Senior

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1.2 Customer Needs

The objective with meeting with our sponsor was to receive a list of needs that will help

us shape our storage unit to safely store Psyche specimens to be returned to earth. These

questions were asked over Zoom, a video conferencing software program. For identifying the

customer needs, the following questions were interpreted through discussions with our sponsor

Dr. Cassie Bowman and the project manager Kimberly Rillon which are shown below in Table

1.

Question Number Question Customer Answer Interpreted Need 1 Should we expect the

storage unit to encounter any corrosive materials?

Yes, corrosive materials should be planned for.

Materials incorporated into the final design can exhibit a resistance towards harmful substances.

2 How many separate compartments are required?

No specific number is defined but you may consider making a unit whose size can be changed with little other considerations.

The designers decide on a relevant number and create a system which can grow or shrink without substantially modifying the rest of the system.

3 Does the storage unit need to be able to withstand impact from flying debris?

There could be debris flying around but nothing too devastating.

The storage unit materials can withstand light impact from flying debris.

4 Does the storage unit need to protect samples from blunt impact?

Yes, it’s possible that the storage unit will encounter drops to Earth’s surface.

The storage unit can protect samples from surface impacts.

5 Will the rover return to the ship or just the storage unit?

This information is not yet decided on, you may want to

The storage unit can detach from the rover, though means

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consider both options in your design.

of transportation will lie outside of our project scope

6 Should we be concerned with temperature change?

Psyche will subject the unit to extreme temperatures which your team will need to deduce.

The unit can withstand extreme temperatures of Psyche.

7Is anything known about the atmospheric pressure on Psyche?

Psyche is assumed to have no atmosphere.

The unit may need a mechanism to compensate for pressure change such that it does not rupture.

8Should the storage unit be sealed?

The unit should prevent foreign particle contamination.

The storage unit can protect the core samples from the elements.

9Does the storage unit need to support weight from external addons?

Addons are possible. Components can be mounted on the unit.

10Are there maximum or minimum outside dimensions for the storage unit?

The storage unit size should be able to accommodate samples for all hypothesized surfaces on Psyche.

The storage unit has enough space for samples from all hypothesized surfaces of Psyche.

11What will the average specimen size be?

You would have to contact other Psyche project groups to see what their plans are.

The size of each storage compartment can be adjusted without major adjustments to the rest of the system

12Should the storage unit be capable of detaching from the rover?

Yes The storage unit can detach from the rover.

13How long is the storage system expected to remain on Psyche?

That hasn’t been decided yet, but you should plan for months to years.

The system can last for years.

Is the storage unit No, just worry about Primary focus can be

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14 expected to serve any other function?

storage. on storage capabilities.

15Will the storage unit ride on the inside or outside of the return vehicle?

The unit will be inside the return vehicle.

The unit is small enough to fit in the return vehicle.

Synthesis

Our final prototype needs to be capable of storing and protecting core samples taken from

a sparsely understood metallic asteroid known as Psyche. Although the environmental

characteristics of the asteroid are relatively unknown, it can be hypothesized that the storage unit

will be subjected to extreme cold and heat. Although the samples are not temperature or pressure

sensitive, the storage unit itself will need to function in this environment, so climate control will

need to be considered for the vital components. The unit will also need to be tough enough to

withstand possible damage from small meteorites, as the asteroid has no hypothesized

atmosphere. Overall, the unit needs to be tough, versatile, situationally independent, and needs to

protect the core samples from direct and incidental damage.

1.3 Functional Decomposition

Figure 1: Functional Decomposition Flowchart

The functional decomposition shown in Figure 1 represents the key components that will

be implemented in the storage unit. The functions of the storage unit are Hold Samples, Protect

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Samples, Integrate, and Control. Hold Samples concerns how well the storage unit stores

samples during the mission. The storage unit must be capable of housing not only the samples,

but the means of holding them individually. This means the storage unit must have room for

individual sample slots which in turn must have room for the individual samples. Protect

Samples concerns how comprehensively the storage unit will protect the samples from being

damaged once they are on board. This is important to ensure the safety of the samples on the

return trip such that they are in as close to as-found condition as possible once they are removed

for analysis. Integrate concerns how well the storage system and end-effector system work

together to store samples, and how well the storage system integrates with the rover. The storage

system cannot possibly do its job if it’s not securely mounted to the rover and receiving power.

It’s also imperative that the storage unit works flawlessly and autonomously with the end-

effector. Control pertains to the monitoring of the power system, interpretation of sensor

feedback to make any necessary adjustments to the actuators and motor and reading output of

pressure sensors in the individual slot containers to keep track of which sample slots are

occupied. If the control systems are not functioning correctly, the system is running blind.

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Figure 1: Functional Decomposition Flowchart

As seen in the chart, the Hold Samples subsystem has two basic functions, House

Individual Samples, and Hold Sample in Container. House Individual Samples refers to the

basic function of sequestering the samples from the other samples. While Hold sample in

Container refers to the function of preventing samples from leaving the container for any number

of reasons. This system is first on the priority list.

The next subsystem is Protect Samples, and it encompasses all subsystems that keep the

samples from incurring damage from the time they are deposited to the time they are removed

for analysis. Protect from Vibration refers to damage that could occur as the storage unit

traverses Psyche on the rover, or as the storage unit re-enters Earth’s atmosphere on the return

vehicle. Protect from Shock refers to any impact that could occur to the storage unit due to the

storage unit being dropped onto the rover or into the return vehicle. These sources of physical

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damage need to be designed around such that the samples are preserved until they reach their

destination. This system is second on the priority list.

The next subsystem is Integrate and refers to interactions between the storage unit and

the other systems that it relies upon to perform its function. The three functions in this

subsystem are Receive sample from end-effector, Connect with Rover Power, and Connect with

Rover Chassis. The storage unit needs to integrate with the end-effector, as it cannot receive the

samples without it. The storage unit must be able to accept the samples from the end-effector, in

a way that can be accomplished by the end-effector. This could relate to the angle of deposit, the

reach of the end-effector, or any number of other variables. The storage unit also needs to

integrate with the rover, but only for power and stability. The storage unit must have a way of

drawing power from the rover and must also have a means of securely attaching and easily

detaching from the rover. This system is third on the priority list.

Control is the fourth and final subsystem and refers to the data processing used by the

storage unit to send commands to the various motors, actuators, etc. which drive the functions of

the storage unit, the processing of sensor information in order to modify subsequent commands,

and the sensing of occupied storage slots. Command Drive Elements refers to the ability of the

system to modulate polarity and PWM to the various motors and actuators. Interpret Sensor

Feedback refers to the system’s ability to sense the environment and use this feedback to drive

the motors and various subsystems on the storage unit. Sense Empty Sample Slot refers to the

sensing of occupied sample slots so that the system can allocate slots for future samples. This

will also allow the system to keep track of where samples are deposited, and these samples can

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be paired with information regarding the location where the sample was taken from. This system

is fourth on the priority list.

The data presented in these charts is based off the acquired customer needs as well as

team decisions on the project goals. Since the scope of this project was only loosely defined by

our customer, our team was required to define some of the functions we wanted to accomplish.

Through intense discussion and planning, a set of functions was defined such that our storage

unit could accomplish all the requirements set forth by the sponsor and all the requirements

defined by our project scope. After the functions were defined, the breakdown of subsystems was

constructed such that each function was performed by the most capable subsystem. While some

functions could be accomplished by multiple subsystems, they were defined only under the most

capable subsystem to reduce project complexity. The smart integration table below shows which

functions could be accomplished by multiple subsystems, should a need arise.

Function Hold Samples

Protect Samples

Integrate Control

House Individual Samples X

Hold Sample in Container X

Protect from Vibration X X

Protect from Shock X X

Receive Sample from End-Effector

X X X

Connect to Rover Chassis X

Connect with Rover Power X X

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Interpret Sensor Feedback X

Command Drive Elements X X

Sense Empty Sample Slot X

Figure 2: Functional Decomposition Matrix

One reason for using multiple subsystems to accomplish the same function would be to

increase the reliability of that function. Should one responsible subsystem fail, a compromised

version of the respective function could still be accomplished by a separate subsystem. The

functions Protect from Vibration and Protect from Shock are shared by the Hold Sample and

Protect Samples subsystems for this reason. Another reason that functions should be performed

by multiple subsystems is if the function serves as a connection point between two different

subsystems. This is the case for many of the communication-based functions. The Command

Drive Elements and Connect with Rover Power functions affect both the Integrate and Control

subsystems, such that neither of those subsystems can ignore the functions. The Connect with

Rover Power function is shared because of the need to integrate with the rover’s power system

and have that power controlled for use by the storage unit. The Command Drive Elements

function will be shared so that after the control system determines any necessary values, they can

be relayed to the end-effector. The final function to be accomplished by multiple subsystems is

the Receive Sample from End-effector function. While this function will primarily be

accomplished by the Integrate subsystem, the Protect Samples subsystem will be included as the

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sample must be protected throughout the entire process, including the transition point between

the end-effector and the storage unit.

1.4 Target Summary 

 

The main purpose of this project is to store and protect sample material of unknown

composition. The most critical functions of the project are focused on receiving samples,

containing samples, and protecting samples, such that they remain in their most natural form.

The critical targets and metrics involved in containing the samples are the sample slot inside

diameter, sample slot length, volumetric dimensions of the outside of the unit, and clamping

force applied to the sample. If the sample slot length and inside diameter are not correct, the

samples could either rattle around too much, risking destruction, or not fit in the unit. If the

volume of the unit was not considered carefully, then it may end up too small to store an

appropriate number of samples, or too large to fit on the rover. The clamping force applied to the

samples refers to the amount of pressure that should be maintained with the sample to keep it

stuck inside the sample slot and help reduce vibration incident upon the sample. If the amount of

force applied is too large, then we risk fracturing the sample, while too little force risks the

sample falling out of the container should an impact occur. The possibility of these shortcomings

makes these targets critical. 

Another important aspect of the project is the protection of the samples taken. If the

samples aren’t properly protected, they risk being destroyed before they arrive on Earth for

analysis. This would mean a large amount of information is lost along with a substantial financial

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investment, as the samples are no longer in their most desirable state. For this reason, the targets

of allowable shock force and vibration are considered critical to the project. The allowable shock

force pertains to the force which the unit should be able to absorb without transmitting force to

the samples, should it be dropped, or flung around inside the return vehicle. Creating a unit

which can withstand shock, to a certain extent, allows for the possibility that something goes

wrong either on Psyche, the return vehicle, or Earth. The target for allowable amount of vibration

pertains to the many situations where vibration could rattle the samples into pieces. The two

scenarios that will be considered carefully are the transportation of the container around Psyche,

and transportation of the container back to Earth. While the unit rides around on the rover, it is

likely that the rover will be traversing uneven terrain, and while the rover can be assumed to

travel at low speeds, bumps and large vibrations will still occur, which could damage the

samples. Also, along its journey back to earth, the unit could experience a large amount of

vibration from re-entry of Earth’s atmosphere, as well as other potential sources, making

vibration a critical part of analysis. 

The remaining targets and metrics are critical to allow the unit to function correctly with

the other pieces of the sampling system. When working with the rover, the target clamping force

of the mounting apparatus should be strong enough to maintain contact with the rover. The other

target critical in rover integration is to draw the correct amount of power from the rover to run

the systems. If too much power is taken from the rover, then we risk depleting the power supply,

while if too little power is drawn from the rover, the necessary functions of the storage unit may

not be achievable. The other part of the mission that the storage unit needs to integrate with is the

end-effector, which will be depositing samples into the unit. To integrate properly, the end-

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effector needs to know where it can deposit the next sample. A target was defined for the input

force of the inserted sample, measured with a metric of Newtons. This target defines the amount

of force required for the end-effector to insert a sample into the sample slot. This target becomes

critical so the storage unit can sense when a sample is being inserted and when a sample is fully

inserted.

The final critical targets are related to the drive elements and the weight of the system. In

order to correctly drive all the necessary components of the storage unit, an output must be

created and sent to the respective components. This target will be measured via a voltage and

must be enough to correctly control all the components of the storage unit. This output value is

critical to ensure the storage unit performs correctly. The weight of the storage unit is also

critical as each kilogram sent to space adds to the cost of the mission, and the rover may only be

able to support a certain amount of weight. The weight of the unit will be measured in kilograms

and the target will refer to the dry weight of the unit, or the weight of the unit without any

samples inserted.

Targets/Metrics Derivation

Our targets and metrics were derived by dissecting each of our functions into its

fundamental purpose and then conceptualizing how this purpose can be measured and tested.

These measurements were found to be either physically quantifiable or psychological. The use of

industry standards was also helpful while going through this process. After generating our list of

targets and metrics, we discussed which of them were fit to be deemed critical to our project’s

overall success. Out of our 23 targets, 13 of them were chosen to be mission critical. Whether a

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function and its respective target and metric was deemed mission critical is indicated in our

catalog, which is in Appendix C.

For targets pertaining to holding the samples like the volume of the entire unit and the

individual slots, we project that the unit will have the capability of storing 30 cylindrical samples

of size 125 mm (length) by 25 mm (diameter). This led to sizing the slots and finding that their

combined target volume is around 54% of the proposed maximum volume of the entire unit. We

are also targeting that any forces used in the purpose of clamping or holding the samples will not

exceed 20 N. 

The protection targets are associated with protecting the samples from absorbing shock

and vibrational stresses. It was deemed that our storage unit should be able to handle impacts

from the height of the average American which is 5 feet 7 inches. We want our storage unit to be

able to protect the samples if the storage unit was dropped on earth. The maximum mass of the

storage unit was determined to be no more than 10 Kg. Calculating the impact force from the

height of 5 feet 7 inches was determined to be 95.5 N. The storage unit will be built to at least

handle this impact force. Vibrational stresses were determined to decrease by 30-50 % when

Nasa or private space organizations included damping material.

Targets in the Integrate function were derived through the usage of both analogous and

technical techniques. The input force target of 4.45 N was chosen to represent that roughly a

pound of force will be necessary to insert the samples into their slots. A clamping force of 60

Newtons is our target to keep the unit stationary on the rover. Also, regarding integration with

the rover, a 130W power connection was decided on the basis that many electronic devices adapt

power using a 130W power brick.

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Targets in the Control section were derived by wanting to achieve a faster response time

then input. We determine that ideally, we want 10 – 100 mv to 1 mv. The response time between

the sensor feedback and PWM change was determined to be 2 ms. This is to give the motor

enough time to switch a filled sample container to an empty sample container. The command

drive for small DC motors typically ranges from 0-5 V depending on the speed of the motor. The

sense empty slot designation was determined that it would output 100 mV.

Targets in the Supplementary section were derived by consulting the spec sheet for the

choice of microcontroller for the system, the Arduino Mega 2560. Based on the spec sheet, the

onboard SRAM was 8 Kb, the processor clock speed was 16 MHz, and the flash memory was

256 Kb. It was also decided that additional storage could be useful for storage of data pertaining

to sample origin, accompanying sample slot, and a backup of the system code such that the

micro-controller could be re-flashed in the case of data corruption.

Methods of Validation

Most of our systems will be tested using various simulation programs. Stress analysis of a

conceptual design will be conducted using Computer-Aided Design (CAD) software and Finite

Element Analysis (FEA).  Dimensioning of the storage unit and the sample slots will be

validated using CAD. The electrical inputs and outputs will be tested using a high precision

multimeter. The sensitivity of the outputs will be validated by using a high precision multimeter

to measure input voltages from sensors and output voltages from the microcontroller and

comparing them. Input-output response time will be measured using timer functions within the

Arduino IDE. Finally, the system computing specs will be tested once the system is built. If a

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more powerful microcontroller or more supplemental storage is needed, the system will be

compensated accordingly.

Target and Metric Summary

The target and metrics were generated to create methods to achieve each function within

our functional decomposition. These targets and metrics were found by thinking critically how to

test certain functions and research on industry standards. Three functionless targets were found

dealing with the onboard processor speed, ram capacity, and data storage capacity. These targets

and metrics will help ensure our storage unit is able to communicate with the end effector at an

efficient rate. The measurement tools needed to validate measurements within our project are a

ruler, multimeter, vernier calipers, CAD, and Arduino. The target catalogue for our project can

be found below. This catalogue includes all discussed critical targets, metrics, and their method

of validation.

1.5 Concept Generation

Brainstorming

Brainstorming is the primary method in which concepts were generated for the Psyche

storage unit. The team gathered in a zoom meeting to discuss different ideas for the storage unit

and worked through sketches using the annotate function on zoom to illustrate ideas. The team

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also drew ideas out on paper to help explain their concepts to help everyone understand their

creative thinking. Ideas were then expanded on by each team member to introduce as many

solutions as possible. Note there was no judgment on anyone's ideas during the brainstorming

session.

Biomimicry

Clever animals have created structures to help store food to help them survive their

environment. We looked towards nature to help develop concepts to store specimens in our

storage unit. A good example was how bees store honey in hexagon honeycomb structures which

gave inspiration to possible structural concepts which could be used to provide support and

damping to the system. We also looked at kangaroo pouches which inspired ideas for a storage

unit using a pouch like system. We turned to nature for ideas for the attachment system for the

storage unit. Cockle burrs are spike-like plants that inspired us that velcro could be a possible

means to attach and detach the storage unit from the rover. We also used the human body as

inspiration with our rolling mat idea. The mat has joints like a finger, and tendon-like cords

which allow it to roll up after a sample has been stored using only a pair of DC motors.

Morphological Chart

The final method used for idea generation was the morphological chart. When we could

not come up with any more ideas, we turned to the morphological chart to help reach the 100

concept goal. The morphological chart was generated using a row-column structure to list Team 502 28

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numerous ideas for each subsection of the project. The generated ideas were then combined in

various ways to create concepts encompassing all subsystems of the storage unit. The

morphological chart was used to generate approximately 10 concepts.

Morphological Chart

Storage

Unit

Components

Physical

Solution

1 2 3 4

Lid Shape Cylindrical Rectangular No lid

Shape of Unit Cylindrical Cubic Spherical Rectangular

Prism

Damping

System

Foam Lining Rubber Lining Loaded Spring

Rover

Attachment

System

Automatic

Bolting

(internal

system)

Automatic

Bolting

(external

system)

Velcro

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Attachment Systems

1. Rotational Rod in Slot: This method attaches the unit to the rover using 4 rods on the unit

that can be inserted into slots mounted on the rover. The slots will be stationary, with 0

degrees of freedom and capable of accepting the rods mounted to the storage unit. The

rods will be mounted on the bottom of the storage unit, to a disk which rotates, extending

the rods into the slot or retracting them back into the storage unit.

2. Set Screw:

3. Velcro:

4. Hook Clamp:

Appendix A – Ideas

5. Cardboard box

6. Plywood box

7. Build portal to Psyche

8. Hollow metal box

9. Hollow metal box with lid

10. Metal box with built in cylindrical sample slots

11. Hollow Composite box

12. Hollow Composite Box with lid

13. Composite box with built in cylindrical sample slots

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14. Composite box with velcro attachment system

15. Metal Box with Velcro attachment system

16. Metal box with electro magnetic attachment system

17. Metal box with clamp on attachment system

18. Metal box with drawer like compartments

19. Metal box with a pouch like system

20. Storage unit with a garage like compartments

21. Electromagnet mounting system

22. Peg and set screw mounting system

23. Magnetic locking/unlocking mechanism

24. Sample slots have flared top for easier sample insertion

25. Top of storage container remains on during mission

26. Individual storage slots have spring loaded openings for insertion

27. Locking system accessible on top of storage unit

28. Pull handle up releases mechanism, down locks mechanism

29. Sample slots pull samples into slots using rubber gear

30. Sample slots use IR sensor to detect samples inserted

31. Sample slots use pressure sensor to detect sample inserted

32. Sample slots use impedance sensor to detect sample insertion

33. Container is damped using expanding foam after all samples inserted

34. Samples are damped magnetically

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35. The sample slots are damped magnetically

36. Sample slots filled with malleable substance which surrounds and damps the samples

37. Container functions as minimalistic frame for sample slots(reduces weight)

38. Container uses adhesive to stick to rover. Release agent used to detach.

39. Mechanical “velcro” used to mount container to rover

40. Onboard water supply is used to freeze container to rover

41. Storage unit picked up with magnetic end effector which is also used to magnetically

dismount the container from the rover

42. gear protrudes from center/bottom of container. Is accepted into body of rover. Once

gear is in hole and container is flush with rover body, dial on top of container is turned

which turns and raises gear simultaneously. Gear comes into contact with underside of

rover body and clamps container to rover. Dial turned opposite direction to extend gear

and move back into position for removal.

43. Sample slots arranged into rotating cassette

44. Cassette turns after column of samples deposited. Allows for minimal number of deposit

slots that must be accounted for by end-effector team and less mobility of arm

45. Box container where holes are on the sides of box to store samples. The samples are

pushed in by the end effector.

46. Honeycomb style sample slots within container to house individual samples

47. Honeycomb style damping between sample slots and unit wall to absorb impact force

48. Counter balances on sample slots to damp vibration

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49. Large magnet used to keep storage unit attached to rover

50. Magazine style storage system where samples get pushed in on top of each other

51. Use cylindrical pipe to store samples vertically. A spring can be placed on the inside such

that samples are pushed down without being dropped.

52. Attach Yeti cooler to the rover to store samples (might be over budget)

53. Perform remote analysis of samples on Psyche and store data on hard drive.

54. Use levitation to trap samples near the rover

55. Add cargo pockets to the rover (the best type of pocket)

56. Use non-newtonian fluid to damp samples from impact and vibration

57. Use foam with negative poisson’s ratio to damp vibration and protect from impact

58. Drop samples into a resin matrix that could be solidified after all samples are collected

59. Use 3-D printer to print a shell or protective matrix around each sample

60. Wrap each sample in cloth to damp from vibration and impact

61. Encase samples in wax

62. Wrap samples in bubble wrap

63. Store samples in box full of packing peanuts

64. Use storage rack similar to that of a beaker storing system to separate samples

65. Use system similar to that of the movie “The Cube” to store samples

66. Use large magnet that samples can attach to

67. Line the insides of the sample slots with heat shrink to encase samples

68. Heat samples using current and push them into a wooden or plastic box

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69. Use automated system wrap sample in clingwrap

70. Use a tool roll type system to roll samples into a padded bundle

71. Shove samples into ballistics gel

72. Pack samples in play-do

73. Tie samples to string and drag them behind the rover (also, spray paint “Just Married” on

the back)

74. Store samples in cork block

75. Encase samples in silicone

76. Wrap the samples in a rubber rope/tube with an adhesive on the outside so that the

wrapped samples stick to each other

77. Store Samples in Tuperware containers

78. Use ratcheting system to secure samples into individual slots

79. Use belt system to pull samples into slots

80. Use Wheel system to pull samples into slots

81. Use Belt with tension system to secure samples into slot

82. Use hydraulic cylinders to lock the unit in place on the rover

83. Use a side release buckle to attach storage unit to rover

84. Use set screw(s) to attach storage unit to system

85. Construct a LEGO storage device

86. Construct a Mega Bloks storage device

87. Use caterpillars to make silk cocoons around the samples for protection

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88. Cylindrical shaped unit with a cylindrical lid. Foam lined damping system and automatic

internal bolting system.

89. Cylindrical shaped system with a rectangular lid. Rubber lined damping system and

automatic external bolting system.

90. Cylindrical shaped system with no lid. Loaded spring damping system and velcro attach-

detach system.

91. Rectangular shaped unit with a rectangular shaped lid. Foam lined damping and

automatic external bolting system.

92. Rectangular shaped unit with a cylindrical shaped lid. Loaded spring damping and velcro

attachment systems.

93. Rectangular shaped unit with no lid. Rubber lined damping and automatic internal bolting

system.

94. Spherical unit with a cylindrical shaped lid. Spring loaded damping system and an

automatic external bolting system.

95. Spherical unit with no lid. Foam lined damping system and a velcro attach-detach system.

96. Spherical unit with a rectangular lid. Rubber lined damping system and an automatic

internal bolting system.

97. Cubic shaped unit with a rectangular lid. Foam lined damping system and an automatic

internal bolting system.

98. Cubic shaped unit with a cylindrical lid. Rubber lined damping system and an automatic

external bolting system.

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99. Cubic shaped unit with no lid. Spring loaded damping system with a velcro attach-detach

system.

100. Cylindrical container with individual cylindrical sample slots inside. Sample slots

lines with damping foam to reduce vibration. Space between slots and the external wall

will also be filled with foam to protect from impact. Storage unit attaches to the rover

using the pin in slot method where four rods are attached to a cylindrical disk which

rotates, pushing the rods into stationary holes on the rover. Funnels will be used to direct

the samples into the individual slots. Entire storage unit will be topped with a lid that

covers all of the slots and is opened and closed using a servo type motor.

101. Cubic container with individual cylindrical sample slots inside. Sample slots lines

with damping foam to reduce vibration. Space between slots and the external wall will

also be filled with foam to protect from impact. Storage unit attaches to the rover using a

clamping system where a spring loaded mechanism locks the unit down and can be

unloaded to release the unit. Funnels will be used to direct the samples into the individual

slots. Entire storage unit will be topped with a lid that covers all of the slots and is opened

and closed using a servo type motor.

102. Sectioned rubber mat with slots for samples to lay in. Rubber mat is rolled out

like a many jointed finger and samples are placed in the slots. Rubber mat has “tendons”

running its length which are attached to electric motors which roll the mat up. The slots

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in the mat are c-shaped and run width-wise down the mat such that the samples must be

pushed with sufficient force to seat in the slot. The samples are then able to be rolled up

without falling out of the slots.

103. Use an enclosed cubical box with a hole in the top where sample slots are to be

filled. A track system will be utilized inside the unit such that the sample slots follow a

path to be loaded in a particular order. The end-effector can be utilized to turn a dial on

the top of the storage unit to move the individual sample slots so an empty one appears

under the fill hole after the previous slot has been filled. The inside of the unit and each

individual slot will be lined with a foam to help reduce vibration and felt impact force.

The unit will attach to the rover using a set screw style attachment system.

104. Use a rectangular box with drawers that are segmented to contain specimen rods

in each segmented slot. The end effector would slide the rods into each segmented

section. The specimens would be held down with loops that can be tightened with a string

that the end effector pulls on. The box and drawers would be dampened with damping

material to prevent vibrations from breaking the samples. The unit will attach to the rover

using a set screw style attachment system.

105. Rectangular container with individual cylindrical sample slots inside. Sample

slots lined with rubber to reduce vibration. Space between slots and the external wall will

also be filled with rubber to protect from impact. Storage unit attaches to the rover using

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a pin in slot method where a rotating disk with four rods will be attached to the bottom of

the unit and when the disk is rotated by the end-effector via a handle on top of the unit,

the rods will extend into stationary slots mounted on the rover. Funnels will be used to

direct the samples into the individual slots. Each individual sample slot will be topped

with a rubber seal, similar to the seal used on drink cup lids where the straw is pushed

through, that the end-effector must push the sample through.

106. Rectangular box with rectangular opening on the top surface. Inside the box is a

magazine type, spring loaded system. The samples are loaded into the box much like

bullets into a magazine for a pistol. The samples stagger from side to side as they’re

inserted and the spring loading naturally reduces vibration in the system and damps

shock.

107. Cylindrical container with individual cylindrical sample slots inside. Sample slots

lined with silicone to reduce vibration. Space between slots and the external wall will be

filled with a honeycomb type absorber to reduce impact force felt by the samples. Storage

unit attaches to the rover using velcro. Funnels will be used to direct the samples into the

individual slots. Each individual sample slot will be topped with a rubber seal, similar to

the seal used on drink cup lids where the straw is pushed through, that the end-effector

must push the sample through.

High Fidelity Concepts

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108. Cylindrical container with individual cylindrical sample slots inside. Sample slots

lines with damping foam to reduce vibration. Space between slots and the external wall

will also be filled with foam to protect from impact. Storage unit attaches to the rover

using the pin in slot method where four rods are attached to a cylindrical disk which

rotates, pushing the rods into stationary holes on the rover. Funnels will be used to direct

the samples into the individual slots. Entire storage unit will be topped with a lid that

covers all of the slots and is opened and closed using a servo type motor.

High Fidelity #1 - Dial-A-Sample

1.6 Concept Selection

1.8 Spring Project Plan

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Chapter Two: EML 4552C

2.1

Spring Plan

Project Plan.

Build Plan.

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Appendices

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Appendix A: Code of Conduct  

1 Mission Statement

 

Our team is committed to satisfying the needs of our sponsor and stakeholders while

adhering to the culture and values of their institution as well as we would our own. We will

accomplish this by pushing the limits of current technology, which in turn will pave the way to a

more vibrant, technologically advanced tomorrow.

 

2 Team Roles

 

To designate roles for the project, each team member provided some information about

their interests and areas of higher proficiency in the various realms of mechanical engineering.

Roles were then generated and designated as shown below:

 

Mechanical Systems Engineer: Mechanical systems engineers are responsible for

designing and interpreting mechanical systems. This role is currently assigned to

Marcus Hatchett.

Controls System Engineer: Controls Systems Engineers are responsible for

linking any relevant systems together to work as one. They are responsible for

designing and implementing controllers. This role is currently assigned to Marcus

Hatchett, Michael Macedo, and Luke Remillard.

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Design Engineer: Design engineers are responsible for the functional and

aesthetic design of the system. They will use CAD software to aid them in their

work. This role is currently assigned to Luke Remillard.

Thermal Systems Engineer: Thermal systems Engineers are responsible for

designing and implementing a system that controls the temperature of the storage

system. This Role is currency assigned to Robert Zube.

Fluids Engineer: Fluids engineers will be responsible for any fluid motion

required by the project. This could include anything from aerodynamics to fluid

transport throughout the system. This role is currently assigned to Robert Zube.

Materials Engineer: Materials engineers will be responsible for determining the

appropriate material to be used in each aspect of the system. They will be required

to select materials based on several requirements set forth by each specific

application. This role is currently assigned to Robert Zube.

Systems Engineer: The role of systems engineer will be used to effectively

coordinate with the other team involved in this project. This will involve

communication with the other team as well as being responsible for data and

target management between the two. This role is currently assigned to Kimberly

Rillon.

Project Manager: The project manager is responsible for delegating roles and

keeping track of deadlines for future assignments. They will also schedule the

deadlines within the Basecamp app. This role is currently assigned to Kimberly

Rillon.

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 If other duties are required, the topic will be presented at a scheduled group meeting

where team members will collectively decide who is best suited for the role. This decision will

be based on relevant factors including but not limited to each team members knowledge in the

specific area of the role, and each team member’s current workload within the project. It is also

expected that each team member remains fluid within their role and helps their colleagues

whenever possible. These roles are subject to change based on individual performance within

each role. Should a change be desired, the issues must be brought up at a scheduled meeting

where team members will discuss necessary changes.

 

3 Methods of Communication 

 

Methods of communication with team members will be facilitated through Microsoft

Teams, email, Zoom, Basecamp, and group messaging applications. All communication with

advisors, sponsors, and other collaborators outside of the team will be done so in a professional

manner via email, Zoom, Basecamp, or other virtual meeting software.

Communication that concerns the joint effort between teams 501 and 502 will be

conducted via the same methods yet be separate from the inner-team communications. Through

coordination with team 501, these meetings will be conducted at least once per week on

Thursdays after being dismissed from Senior Design. In some cases, the need for more meeting

time between our groups may be necessary.

Important information and tasks given in both the regular and joint team meetings will be

recorded during each meeting. This will be completed every meeting to the best of our ability. 

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4 Dress Code

 

All members of team 502 are expected to dress appropriately to all team and

collaborative functions. These scenarios include but are not limited to the following:

Presentations: Business Professional 

Sponsor/Advisor Meetings: Business Casual 

Team Meetings: Casual 

Inter-team Meetings: Casual

 

5 Work Schedule

Team 502 will plan to meet weekdays starting at 6:30pm ET and work as needed to

accomplish the task at hand. This start time is flexible. A minimum of nine meeting hours a week

is desired. Team 502 will meet bi-weekly on Wednesdays with our project advisor, Dr. Cassie

Bowman, from 6:00pm to 6:30 pm ET. Team 502 will also meet weekly, on Thursdays at 6:30

ET with Team 501 to discuss cross compatibility as well as other inter-team topics.

6 Attendance Policy 

 

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Attendance will be mandatory for all scheduled meetings and collaborations. Should a

team member be unable to attend a meeting, they should inform all other members at earliest

possible convenience and state the reason for why they cannot attend. Attendance of all

scheduled meetings will be recorded as part of the meeting minutes to ensure team members are

active. Should a team member be unable to attend, the reason (if available) should be recorded

with the attendance of each meeting.   

7 Ethics and Honesty Policy

 

The members of this team will uphold a respectful attitude towards all colleagues and

outside collaborators. The acts of lying and cheating will not be tolerated. Each team member is

expected to avoid conflict with other team members as well as outside collaborators. Team

members are expected to avoid legal issues such as plagiarism and copyright. If any legal or

other conflict should arise, the team member(s) involved should alert the rest of the team

immediately and contact the appropriate people as soon as possible. 

 

8 Amendment Policy

 

This code of conduct is subject to change at the discretion of Team 502. Should a change

be desired, the idea must be presented at a scheduled meeting where all four members of the

team are present. The proposed amendment will then be reviewed by all team members and each

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team member will then vote to either amend or reject the change. A 3-member majority will be

required to execute any changes.

 

 9 Decision Process

 

All decision regarding this project will be made as a team. Decisions which only affect

team 502 will be put to a vote during scheduled team meetings where a three fourths majority is

required to pass a decision. Decisions that affect both teams 501 and 502 will be discussed and

voted on during scheduled inter-team meetings. These decisions will also require a three fourths

majority to pass. All decisions which affect the sponsor and/or advisor will be discussed with the

respective parties before being made. In a situation like this, input from a senior party will

always weigh higher than our own opinions.

10 Statement of Understanding 

By including their signature below, each team member acknowledges their understanding

of the content presented in this code of conduct. 

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Luke Remillard

Appendix B: Functional Decomposition

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Appendix C: Target Catalog

Function Metrics Targets Method of

Validation

Critical/

Non-Critical

Hold Samples

House Individual

Sample

Max Outside

Height

0.325 m CAD Critical

Max Outside

Length

0.375 m CAD Critical

Max Outside

Width

0.375 m CAD Critical

Hold Sample in

Container

Sample slot

inside diameter

35 mm CAD Critical

Sample slot

outside

diameter

45 mm CAD Non-Critical

Sample slot

length

130 mm CAD Critical

Clamping force

applied to

sample

20N CAD Critical

Minimum 30 Sponsor Non-Critical

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number of

sample slots

designated

Protect Samples

Protect from

Shock

Shock

absorption

capability

95.5 Newtons

(N)

CAD Critical

Protect from

Vibration

Vibration

Damping

30-50 % CAD Critical

Integrate

Receive sample

from end-effector

Input force of

inserted sample

4.45 Newtons

(N)

CAD Critical

Connect with

rover power

Stable power

connection

130 Watts (W) Multimeter Critical

Connect to Rover

Chassis

Clamping force

of mounting

apparatus

60 Newton-

meters (Nm)

FEA Critical

Control

Interpret Sensor

Feedback

Response

sensitivity

10 - 100 mv Multimeter Non-Critical

Response time

between sensor

feedback and

2 Milliseconds

(ms)

Arduino IDE Non-Critical

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PWM change

Input from

sensors

0 - 100

Millivolts (mV)

Multimeter Non-Critical

Command Drive

Elements

Output sent to

motors

0-5 Volts (V) Multimeter Critical

Sense Empty Slot Empty

container

designation

100

Millivolts (mV)

Multimeter Non-Critical

Supplementary

No Applicable

Function

Maximum Dry

Weight of

Storage Unit

10 kilograms

(kg)

CAD and

calculations

Critical

MC Processor

Clock Speed

16 Megahertz

(MHz)

Spec sheets and

benchmarking

Non-Critical

MC SRAM 8 Kilobytes

(Kb)

Spec sheets and

benchmarking

Non-Critical

MC Onboard

Flash Memory

256 Kilobytes

(Kb)

Spec sheets and

benchmarking

Non-Critical

Additional

Flash Memory

16 Gigabytes

(Gb)

Spec sheets and

benchmarking

Non-Critical

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Appendix A: APA Headings (delete)

Heading 1 is Centered, Boldface, Uppercase and Lowercase Heading

Heading 2 is Flush Left, Boldface, Uppercase and Lowercase Heading

Heading 3 is indented, boldface lowercase paragraph heading ending with a period.

Heading 4 is indented, boldface, italicized, lowercase paragraph heading ending with a

period.

Heading 5 is indented, italicized, lowercase paragraph heading ending with a period.

See publication manual of the American Psychological Association page 62

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Appendix B Figures and Tables (delete)

The text above the cation always introduces the reference material such as a figure or

table. You should never show reference material then present the discussion. You can split the

discussion around the reference material, but you should always introduce the reference material

in your text first then show the information. If you look at the Figure 1 below the caption has a

period after the figure number and is left justified whereas the figure itself is centered.

Figure 1. Flush left, normal font settings, sentence case, and ends with a period.

In addition, table captions are placed above the table and have a return after the table

number. The second line of the caption provided the description. Note, there is a difference

between a return and enter. A return is accomplished with the shortcut key shift + enter. Last,

unlike the caption for a figure, a table caption does not end with a period, nor is there a period

after the table number.

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Table 1The Word Table and the Table Number are Normal Font and Flush Left. The Caption is Flush Left, Italicized, Uppercase and Lowercase

Leve

l of heading

Format

1 Centered, Boldface, Uppercase and Lowercase Heading

2 Flush Left, Boldface, Uppercase and Lowercase

3 Indented, boldface lowercase paragraph heading ending with a

period

4 Indented, boldface, italicized, lowercase paragraph heading ending

with a period.

5 Indented, italicized, lowercase paragraph heading ending with a

period.

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References

There are no sources in the current document.

Mcconomy, D. (2018, 09 10). 180910 Scope Customer Requirements. Tallahassee, FL, United States.

https://phys.org/news/2015-08-asteroid-belt.html#:~:text=The%20temperature%20of%20the%20asteroid,%C2%B0C)%20at%203.2%20AU. 

Used to interpolate the temperatures for the hypothetical location of Psyche.

https://solarsystem.nasa.gov/asteroids-comets-and-meteors/asteroids/16-psyche/in-depth/

Used to find the distance of Psyche from the Sun in astronomical units for temperature interpolation

https://www.arduino.cc/en/Main/arduinoBoardMega2560/ Accessed 10/29/2020

Used to determine specs of Arduino Mega 2560

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