Stabilized Experiment Platform for Near Space Research Abstract: Many universities, private, and government organizations regularly

conduct near space research using weather balloons as an inexpensive means to reach the upper atmosphere. A stabilized platform attached to the weather balloon would greatly broaden the types of science payloads carried on-board for atmospheric scientists and other researchers. This project focuses on the development of a platform that can be oriented in a selected direction and maintain that direction for the duration of the experiment by compensating for the motion of the balloon and any other attached payloads. Introduction: The NevadaSAT program at the University of Nevada, Reno provides a test platform for students and other members of the academic community to perform research in the upper atmosphere. The current NevadaSAT launch configuration consists of a weather balloon connected to a parachute followed by the communication and science/student payloads, all connected by string. Using string to connect to the anchor (balloon) allows a prohibitively high rotation rates (over 360/sec) and pitch angles of up to 45 (Poe, 2008), thus restricting the types of experiments possible to experiments that either sample very fast (camera) or are direction-independent. A stabilized platform that compensates for the rotation and swing of the payloads would allow experiments requiring a measuring device, camera, or antenna to be oriented in a specific direction to be conducted. Atmospheric scientists commonly collect data in two ways; by using aircraft and weather balloons to collect atmospheric samples and by using satellites to view the production of greenhouse gasses and measure solar radiation reflected off the Earth. By attaching a payload with sensors, that are normally restricted to satellites, to a weather balloon atmospheric scientists could collect all the necessary data in one experiment. Atmospheric scientists that track the production of greenhouse gasses would benefit the most from a less expensive alternative to satellites that they could conduct entirely themselves. A previous attempt to build a stabilized platform for balloon based experiments was done by UNR Masters student Blake Poe. His stabilized platform was able to orient to 23 of the selected direction with a greatly reduced rotation rate and pitch angle than is typically experienced in a balloon flight. Poes method used two motors and a gimbal structure to counter the motion of the balloon, thus maintaining the desired orientation. The platform was anchored to the balloon by a single string which greatly complicated the system (as noted previously) by not providing a reactive mass for the induced torques of the motors. This project will attempt to create a stabilized platform capable of meeting the previously set design requirements while operating in the actual conditions found in a typical balloon launch. Instead of controlling the reactive motion with motors, the proposed method is to rigidly attach to the balloon. The balloon has a significantly larger moment of inertia than the proposed payload and is a very effective reactive mass. Being able to react against the balloon allows the use of a powered gimbal device to better compensate for the motion of the balloon. Objective: This project will improve upon the design requirements outlined in Poes Masters thesis while subject to the actual rotation rate and pitch angle of a typical balloon flight. The payload shall maintain 15 from desired azimuth and elevation, capable of 360/sec spin rate (all axes), total mass of less than 3 kg, and operate at an external temperature of -60C. This project will have three key milestones. First, the

construction and field testing of a sensor payload capable of measuring the motion of the balloon during a typical balloon launch. Second, design and construct a platform capable of operating within the constraints. Finally, using the stabilized platform, develop a control algorithm to meet the design requirements. Plans for Research: The three key milestones are divided into smaller tasks as described below. Balloon Motion Sensor Payload: The sensor payload will have an onboard microprocessor, six-axis gyroscope/accelerometer, digital compass, data logger, GPS, and a motor to put a torque on the balloon. The sensor payload will then be flown on multiple balloon missions to collect data. This milestone will be broken up into the following subtasks: 1) Research components to find those suited for high altitude deployment and meet accuracy requirements. 2) Construct a housing to rigidly attach to the balloon and protect the other components. 3) Conduct test flights with measuring device. 4) Write a computer program that can interpret data and determine the design constraints. Stabilized Experiment Platform Construction: Once the design constraints are known, the designing and construction of the stabilized experiment platform will begin. This second milestone is broken in the following subtasks: 1) Create a test platform capable of replicating flight conditions in the laboratory. 2) Design and construct a prototype capable of meeting design constraints and design requirements. Control Algorithm Development and Testing: Using the developed stabilized platform, the control system can be developed to accurately and efficiently maneuver the stabilized platform to maintain a desired orientation. This task is split up into the following subtasks: 1) Design control algorithm for controlling platform motion. 2) Test platform in lab, and tune as necessary to meet design criteria. 3) Conduct test flight(s) on actual balloon mission. Timetable: Construct payload to measure balloon motion: August September 2012 Collect data of balloon motion: September 2012 Design platform, build platform: November December 2012 Develop and optimize platform controller: January February 2013 Laboratory Testing of Prototype: February March 2013 Flight Testing: March April 2013 Compile and Disseminate Results: May 2013 Plans for Dissemination of Results: This work will be presented at the GURA symposium and have a poster displayed on the University of Nevada, Reno Campus. Qualification of Student: Worked in Engineering Robotics Lab for 18 months and has constructed 20+ payloads and participated in 12 balloon launches. Previously conducted research by student has provided experience with microcontrollers and necessary programming skills for this project. Students emphasis in dynamics and aerodynamics in coursework will aid in designing of prototype.

Budget: Microcontroller Payload will require a microcontroller to perform all in flight calculations and control servos. Platform Construction Material The platform will need to be robust enough to protect components from multiple landings and the low temperatures of the upper atmosphere. The frame will be constructed mainly from aluminum and insulating foam. Servos The platform will require servos to move the payload to counter the motion of the balloon and attached payloads. Sensors The platform will require a 3 axis gyroscope, 3 axis accelerometer, and GPS. Electrical Equipment The platform will require electrical components such as a max stream radio, batteries and basic electrical components (wire, resistors, ect.). Parachutes The payload will need a parachute to control the rate of descent after the balloon pops. Weather Balloons Weather balloons filled with be used to carry and test the payload. Hydrogen Used to fill weather balloons. Gasoline For transportation to launch and landing locations Total

$200 $200

$100 $200 $300 $100 $200 $100 $100 $1500

Works Cited Poe, Blake. Design and Performance of a Stabilized Pointable Stratospheric Balloon System. Masters Thesis, University of Nevada, Reno, 2008.

April 5, 2012 To Whom It May Concern: I wish to express my strong endorsement for the application of Andrew Smith, who seeks a support under the UNR GURA program. Mr. Smith is pursuing a B.S. degree in Mechanical Engineering and I am very eager to support his application for this opportunity and honor, and contribute to his success in this proposed endeavor. I have known him since 2010, when he began involvement in extracurricular highaltitude ballooning activities. Since then, he worked with me on a GURA research project on the use of Dropesondes (small airborne sensors dropped from aircraft to measure the weather) in parachute research. Additionally, he has been employed to assist in our related ballooning research. He is planning to attend graduate school here at UNR, and he would be an excellent choice for a GURA award. Mr. Smith is a non-traditional student in that he comes from a successful (and continuing in the National Guard) military background. He is pro-actively working to gain research experience to better prepare him for advanced study in graduate school, in similar areas of research. Over the past two years, Andy has increasingly impressed me with his developing skills, his leadership abilities, and his personal ambitions to do quality work on problems of significance. I have quickly come to expect more and more from hima quality that will serve him well as he progresses. The specific project which Mr. Smith is proposing has potential applications in numerous areas involving remote sensing from airborne and spaceborne platforms. Over the past year of working in our group, he came to become familiar with the M.S. thesis topic of a former student, and has formulated a set of good ideas on how to improve upon the prior art of low-cost stabilized instrument platforms on balloons. I have read and agreed to this proposal, which is solely his idea and will be his responsibility to develop. I pledge to continue to serve as research advisor, provide access to the necessary laboratory and field equipment needed to support his work, and to facilitate his interactions with the broader technical community in this area (such as through the American Institute of Aeronautics and Astronautics, AIAA). I strongly support Andy Smith and his proposal of this project to GURA program. His skills, combined with his strong work ethic, will make this scholarship an ideal vehicle to recognize his achievements and further encourage and prepare him as he advances towards the professional world. I commit myself to assisting him through this process with both my time and the resources I have available in my laboratory. Sincerely,

Jeffrey C. LaCombe Associate Professor of Metallurgical and Materials Eng. University of Nevada, Reno P.S. If I may be of additional assistance in this matter, or if you have any further questions, please do not hesitate to contact me. My phone number is (775) 784-1797, and I can also be reached via email at lacomj@unr.edu.

College of Engineering
University of Nevada, Reno Department of Mechanical Engineering/312
College of Engineering

DATE: April 5, 12 TO: General Undergraduate Research Award (GURA) Selection Committee FROM: Eric L. Wang, Associate Professor RE: Recommendation for Andrew Smith This is a letter of support for Andrew Smiths General Undergraduate Research Award (GURA) application. If he is awarded the grant, I agree to mentor and support Andy to maximize the likelihood that he completes the proposed research project entitled Stabilized Experiment Platform for Near Space Research. I will make the equipment necessary to complete this project available for Andys use. I have known Andy for about three years as his instructor in 3 courses and through his participation in several Nevada Space Grant activities and previous GURA and EPSCoR research projects. Last year, Andy wrote and received a GURA grant and more than exceeded my expectations. His work ethic and quality of work has made him a prime recruit for graduate school (he has already stated his intention to stay at UNR for his MS degree). While his GURA project last year was in support of one of my Doctoral students research, this year Andy is proposing to work on a topic that can easily become the basis for his own graduate (MS) research once he graduates (expected May 2013). I have mentored one previous GURA recipient, Gabe Herz (2009-2010 GURA recipient) am currently co-mentoring both Andy and Shandor Korda. Of the three students, Andy is by far the best. I strongly feel that Andy will make an excellent recipient of a GURA. The scope of the proposed project is both reasonable and academically challenging.

Sincerely,

Eric L. Wang, Ph.D. Associate Professor, Mechanical Engineering University of Nevada, Reno eric.wang@unr.edu

College of Engineering University of Nevada, Reno/312 Reno, Nevada 89557 -0312 (775) 784-6931 office (775) 784-1701 fax http://www.engr.unr.edu/me