tokyo tech nano-satellite cute-1.7 + apd flight operation...
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Tokyo Tech Nano-Satellite CUTE-1.7 + APD Flight
Operation Results and the Succeeding Satellite
Jun. 28
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Ken Fujiwara, Kuniyuki Omagari, Thomas Iljic, Shinji Masumoto, Yasumi Konda, Tomio Yamanaka, Yohei Tanaka, Masaki Maeno, Taihei Ueno, Hiroki Ashida, Junichi Nishida, Yusuke Hagiwara, Kota Fujihashi, Takuro Ikeda, Shinichi Inagawa, Yoshiyuki Miura, Saburo Matunaga
Tokyo Institute of Technology, Laboratory for Space Systems
Introduction
2003.62003.6 TokyoTech CUTE-I Launch
CubeSat Project (10cm cubed picoCubeSat Project (10cm cubed pico--satellite)satellite)
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20042004~~
Plesetsk RussiaCUTE-I 10cm cubed, 1kg weight
- Acquisition of satellite bus technologies
CUTE-I
1. New design methodology
� Very low-cost development
� Short-term development
� Intensive use of COTS components
2. Share orbital demonstration opportunities
� Providing universal connectivity to the satellite
Tokyo Tech 2Tokyo Tech 2ndnd satellitesatelliteCuteCute--1.71.7
Contents
Cute-1.7 + APD:
– Development
• Missions
• Subsystems
– Flight Report
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– Flight Report
• Accomplished missions
• Encountered troubles
Cute-1.7 + APD #2:
– Modification
• Missions and Design
– Launch information
• Vehicle, date
Missions
1. Satellite bus development using COTS devices
2. Attitude control experiment
3. Amateur radio service
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3. Amateur radio service
4. Tether deployment experiment
5. APD sensor demonstration
6. Nano-satellite Separation System demonstration
PDA-based OBC
COTS-based PDA as the main computer:
• Advantages to accelerate the development
– High computing performance
– Easy software development
– Many external interfaces
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– Many external interfaces
– Availability and low price
• Drawbacks of COTS devices
– Radiation tolerance
– Reliability
Hitachi PDA NPD-20JWLUS
B
CF
slo
t
SD
slo
t
DAQ, COMM
Camera, 1-wire I/F, APD,
SD Card (Data Storage)
Radiation test
Redundant use of two PDAs
Communication Devices
• COTS-based handheld transceivers
– Small though High performance
– Easy to use, available at low-cost
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• Communication channels
– 144MHz AFSK/GMSK for uplink
– 1200MHz GMSK for amateur service
– 430MHz AFSK/GMSK for downlink
– 430MHz CW for beacon
Attitude control mission
Spin upLow speed rotation
3-axes stability
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Low speed rotation
& earth pointing
Uplink : new control
methods
Initially :
No control
Uplink :control
method selection
Attitude determination and control system
• Attitude Sensors– Sun sensor: 5 planes (photodiodes)
– Gyro sensor: 3 axis
– Magnetic sensor: 3 axis
• Attitude determination algorithms– Geometrical
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– Geometrical
– REQUEST
• Actuator– Magnet torquer (0.037Am2): 3 axis
• Control algorithms– B-dot
• Camera – CMOS camera: 320x256 pixel
Tether Deployment Mission
Objective of this mission : fundamental tether deployment for future missions
By cutting the
nylon thread
holding a plate
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Initial velocity from the push-
out springs : 30cm/sec
(data obtained from micro
gravity experiment at MGLAB,
Japan)
10m copper tether Deployment detection by
sensors and camera
Objective: experiment and demonstrate a new Avalanche Photo Diodesensor to detect charged particles on orbit.
APD Mission (Science)
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APD by Tokyo Tech astronomy lab.
APD
Measures Low-E(E>3 kev) charged particles distributionsin SAA and aurora band
System Block Diagram
PDAPDA
Deploya-
SW
Power Distribution Circuit
SW Memory
Card
5.0V
3.3V
Li+ Bat
カメラカメラカメラカメラHeater
Other
Devices
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Data Acquisition
System
USB HUB
Magnetic
Sensor
Gyro
Sensor
Magnetic
Torquers
Sun
Sensor
Deploya-
bles
Satellite
DisposalUSB⇔⇔⇔⇔
RS232C
FM430
Tx
FM1200
Rx
FM144
Rx
CW430
Beacon
Communication System Controller
Solar
Arrays
WDTカメラカメラカメラカメラ
CameraHeater
Dosim-
eters
Components Allocation
Battery
Monopole Antenna
(4)
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APD
Unit
EPS Board
Comm. Board
Comm. Radio Box
PDA(2)
Magnetic
Torquers(3)
Sun Sensor(5)
DAQ,USB Hub,
Sensor Board, PDA SW
APD board
Battery
Magnetic Torquers
Control Board
( )
Specification
• Satellite
– Size:226x112x133mm
– Weight:3.6kg
– Power:3W
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• Separation mechanism
– Weight:2.5kg
– Deployment speed:0.3-0.6m/s
– Attitude disturbance:max. 0.4rad/s
Cute-1.7 + APD launch opportunity
Cute-1.7 + APD was launched as a subpayload on Feb 22, 2006 from the
Uchinoura Space Center (JAXA) in Kagoshima Prefecture.
The launcher was the JAXA M-V-#8.
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Cute-1.7 Telemetry Reception
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2006/4/23::::104 GSs- Japan: 40 stations- Foreign: 64 stations
OSCAR Number
10/3/2006 : CUTE-I, Cute-1.7 + APD got OSCAR-numbers
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CUBESAT-OSCAR-56(CO-56)Cute-1.7 + APD
(Feb. 22, 2006 launched)
CUBESAT-OSCAR-55(CO-55)CUTE-I
(Jun. 30, 2003 launched)
Over 1000 days operational
0.2ωx
ωy
An
gu
lar
Vel
oci
ty (
rad/s
)
Attitude Determination : Raw Gyro Data
Gyro data:
• Largest rotation about X axis
• Angular velocity, 0.28 rad/s
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-0.4
-0.2
0
0 50 100 150 200
ωy
ωz
An
gu
lar
Vel
oci
ty (
rad/s
)
Time (seconds)
XY
Z
Sun sensor data
The sun sensor data also showed the rotation about x axis. The
time cycle was about 30 seconds that correspond to gyro data
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Y
Z
Conducted missions and encountered problem
• Demonstration of PDAs as onboard computer
• Amateur radio cooperation
• Attitude sensor data acquisition
• Nano-satellite Separation System demonstration
EPS Battery Voltage
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2.5
3
3.5
4
4.5
5
2/14 2/24 3/6 3/16 3/26 4/5 4/15 4/25 5/5
EPS Battery VoltageEPS Main Bus Voltage
EP
S V
olt
age
Date
After 2 months operation:
• No reception to uplink command
• Increasing power consumption
• Radiation effect on communication
controller MPUDecreasing battery voltage
Cute-1.7 + APD #2 Project Outline
• Cute-1.7 + APD #1
– Transmitting non-modulated continuous wave
– Continuing recovery operation
• Cute-1.7 + APD #2
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– Conducting same missions except tether deployment
• Use of PDAs
• Attitude control
• Amateur radio service
• APD sensor demonstration
• Separation mechanism demonstration
– Using basically same bus components
– Applying some modifications to the 1st design
Modification: Radiation tolerant circuit
• Distributed auto-power reset functions
– Detect slight current increase caused by SEL
– Automatically restart unusual componentsAuto-power reset function
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Auto-
power
resetBattery EPS
SubsystemsAuto-
power
reset
Auto-
power
reset
Auto-
power
reset
Battery SW EPSCurrent Monitor Subsystems
Auto-reset signal
Cute-1.7 + APD #1 EPS system
Cute-1.7 + APD #2 EPS system
• Attitude determination algorithm– QUEST
– REQUEST
– Extended Kalman Filter (newly implemented)
• Attitude control algorithm
Modification: ADCS
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• Attitude control algorithm– B-dot
– Quaternion feedback (newly implemented)
• Magnetic torquer– Enhanced (tripled) magnetic dipole 0.112 [Am2]
• Camera– Increased resolution (640x480pixel)
Modification: Structure
• Size up
– 115x180x220mm
– Power generation increase
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• Simplified assembling procedure
• Frequent mission operation
Components Allocation
Battery
Magnet Torquers
Control Unit
DAQ, USBHub,
Sensor Unit
Comm. Control Unit CMOS Camera Unit
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Monopole Antenna (4)
Comm. Radio Box
EPS Control Unit
Sun Sensor (5)APD Sensor Unit
PDA (2)
Launch information
• Rocket– ISRO PSLV
• Orbit– Altitude: 635km, Sun synchronous
– Inclination: 97.89 deg
• Satellites:Oceansat 2 (India) -Main payload
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Oceansat 2 (India) -Main payload
AAUSAT II (Aalborg University)
CanX-2 (University of Tronto)
COMPASS-1 (University of Aachen)
Cute-1.7 + APD II (Tokyo Tech)
Delfi-C3 (Technical University of Delft)
SEEDS (Nihon University)
• Launch date– September, 2007 or later
From http://www.isro.org/pslv.htm
Summary
• Cute-1.7 + APD #1
– Developed to demonstrate a new design methodology
– Launched on Feb. 22, 2006
– Conducted part of its missions
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– Encountered SEL problem
• Cute-1.7 + APD #2
– Enhanced model of the first satellite
– Planned to be launched soon
Cute-1.7 + APD #2 project webpage:
http://lss.mes.titech.ac.jp/ssp/cute1.7/index.php
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Contact:
Thank you !
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Development schedule
Apr. Design review
May Radio tolerance test
Jul. Integration test
Aug. Vibration test 1
Nov. Vibration test 2
Dec. Thermal test
2006
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Dec. Thermal test
Jan. Vibration test 3
Feb. Vacuum test
Apr. Sensor calibration
May Interface test at VSSC, India
Jun. Long-term operation test (3 weeks)
Jul. Residual magnetic flux measurement
2007
Gyro data: Quaternion form
These results have shown that :
-The x axis has the largest rotation
- The average angular velocity is of 0.28[rad/s]
1 q1q2
q3q4
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-1
-0.5
0
0.5
0 50 100 150 200
q2 q4
Quate
rnio
n
Time (seconds)
XY
Z