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Space Design
CUBIK
CubeSat Universal Bus Integrated Kit
Research and Design
22 November 2002
David Carton
Fadi Mantash
Julien Pierru
Ryan Reisman
Ankit Singhal
Robert Thompson
Bryan Tisinger
Table of Contents
Table of Contents………………………………..………………………………………...ii
List of Figures….………………………………..………………………………………..iv
List of Tables………..…………………………..………………………………………...v
List of Abbreviations…..………………………..………………………………………..vi
List of Symbols………………………………..…………………………………………vii
ii
3.4.3 Antennas………………………........................................................................31
3.5 Attitude Determination and Control System……………………….....................33
3.5.1 Orbit Attitude Stability………………………..................................................33
3.5.2 Causes of Attitude Instability………………………........................................34
3.5.3 Attitude Determination………………………..................................................36
3.5.4 Attitude Control……………………….............................................................37
3.5.5 ADCS Best Options……………………….......................................................40
3.5.6 ADCS Summary………………………............................................................41
3.6 Power……………………….................................................................................41
3.6.1 Power Generation…………………..................................................................41
3.6.2 Power Storage...............................………………………................................42
3.6.3 Power Regulation and Distribution...................................................................43
3.7 Documentation………………………..................................................................44
3.7.1 Documentation for TransOrbital, Inc………………………............................45
3.7.2 Documentation for the Users……………………….........................................45
3.8 Summary………………………............................................................................46
iii
List of Figures
iv
List of Tables
Table 4.1: Material Properties of the Alloys Considered for the Structural Elements......48
Table 4.8: Relative Weights for ADCS Determination of the Three Models.....………..62
v
List of Abbreviations
vi
List of Symbols
°C Celsius, degrees
cm Centimeters
a Coefficient of Thermal Expansion
$ Dollars (US)
“ Inch
kg Kilogram
m Meter
µm Micrometers
mm Millimeters
Q Proportional
∴ Therefore
l Wavelength
vii
Chapter 1: Introduction and Problem Definition
The impact of satellites on everyday life can be seen everywhere. From allowing
by providing access to Earth orbit. What advances might be developed if satellite design
and launching were simplified? Recent developments in satellite technology now have
the potential to answer the question. A new generation of small-scale satellites offers the
Since the launch of Sputnik on October 4, 1957, the domain of space has been
dominated by governments and big business. Because of the high cost of putting a
educational/research facilities must really on grant money to put a full scale satellite in
orbit. Costs can range into the millions of dollars (US) for a single launch. The cost is
often beyond the resources of grant contributors1. However, there is a solution. The cost
less2. “Piggy-backing” as a secondary payload forms the basis for creating the
picosatellite industry.
1
1.1.2 Picosatellite History
The need of greater public access to space science brought the original design of
the picosatellite to the forefront a few years ago. Research done at California Polytechnic
State University (Cal Poly) and Stanford University among others created a simple usable
design for a picosatellite that could be launched as a secondary payload on many major
satellite missions3. Companies such as One Stop Satellite Solutions Inc. (OSSS) market
these picosatellites as kits with predefined missions4. Customers have a limited range of
choices for missions and may not be able to afford to redesign the kits to fit a desired
mission. This need for versatility of missions for the customer is the focus of this project.
The project begins with defining the problem. Explaining the motivation for a
design solution is then presented. An overview of the project is given by discussing the
factors which should be addressed. An emphasis is placed on pairing the factors involved
in the project with the people who interact with the factors.
1.2.1 Introduction
Currently, the resources required to design and build a satellite are beyond those
available to many who wish to study and explore space. Providing a low-cost and
Inc., in conjunction with Virginia Tech, has proposed developing a satellite kit to address
the potential market for affordable space access. Taking advantage of recent
2
(CUBIK) senior design group intends to design and build a functional prototype based on
Robert Twiggs of Stanford University, in association with Cal Poly. The CubeSat is a
picosatellite measuring approximately 100 millimeter per side5. The entire satellite,
including payload, has a total mass of less than 1 kilogram. The small size and low mass
cost for a picosatellite employing the CubeSat architecture is within reach of many
construction are still prohibitive. The aim of the CUBIK project team is to design a
functional picosatellite kit which will be marketed to customers lacking the resources to
design and build a satellite. For example, a public school might purchase a CUBIK kit as
a means for teaching children about space. CUBIK kits equipped with a GPS receiver
would allow the students to track the satellite’s position in orbit and know when to listen
The CUBIK satellite kit is an affordable test platform for miniature space-rated
components such as gyros, momentum wheels, and position sensors. Currently, there are
3
1.2.2 Scope
bus system which meets the specifications of TransOrbital, Inc. TransOrbital has defined
code
• Launch vehicle
• Ground control
• Deployment system
• Payload function
• Manufacturing subcomponents
4
1.2.3 Disciplines
electrical must work cooperatively throughout the duration of the project to develop the
CubeSat bus. Aerospace engineers will be responsible for the attitude and position
sensors. Verifying the suitability of components for use in space is done by systems
engineers. Mechanical engineers will test the spacecraft’s mechanical structure. Finally,
the power subsystems and the communication subsystems will be designed and tested by
electrical engineers.
project. Computer scientists will be responsible for the flight computer, its software
selection.
The CUBIK project will involve many societal sectors. CUBIK is intended to
principal sector is the education community. The CUBIK kit is intended to allow high
schools, colleges, and science clubs to build and launch satellites. Inexpensive kit
satellites could also create more opportunity for aerospace students to operate “hands-on”
could create more interest in space technology and space research. Expendable
picosatellites could be used to safely test new satellite materials, solar cells or propulsion
5
devices without the concern of damaging an expensive satellite bus or jeopardizing a
mission.
The CUBIK project could have an impact on the business community as well.
CUBIK may allow small businesses the chance to launch satellites for commercial
purposes. CUBIK kits might create new satellite business. A picosatellite bus kit could
increase the number of annual commercial satellite orders. Currently, annual commercial
are ideally secondary payloads. No increase in rocket launches is anticipated. The most
significant concern is the impact on the space environment. The space environment
would be affected by the increased amount of space debris. Another environmental factor
would be the need for frequency bands for communications. Satellite communications
The actors involved in the design project are both individuals and institutions. The
The Virginia Tech CUBIK Design Team (The NeoCubists) is responsible for
developing a CubeSat based satellite kit. Advising the CUBIK team is Virginia Tech
professor, Dr. Chris Hall. In addition to offering technical guidance, Dr. Hall acts as
liaison between the CUBIK team and the project sponsor, TransOrbital, Inc.
TransOrbital, Inc. has requested a commercial product design based on the specifications
6
1.2.5 Needs, Alterables, and Constraints
The design objectives and limitations are defined by the needs, alterables, and
constraints (NACs). The NACs come various sources, including the Request for Proposal
(RFP) provided by TransOrbital, Inc. and the CubeSat specifications developed by Cal
Poly and Stanford University. Other NACs are imposed by the actors listed in Section
1.2.4.
Table 1 lists the needs, alterables, and constraints relevant to CUBIK design. The
goal is to create a satellite bus system kit based on CubeSat architecture. The bus needs to
by purchasers of the bus kit, therefore the bus will need to be stable with a range of
Designs for a universal bus must address power availability. The selection of bus
subcomponents will determine the power available for the payload, as well as power
generation and storage. The bus will need a computer to control electronics. The design
of computer and how the customers access it are project alterables. The design team must
decide the electronics functionality, considering economic factors and customer needs.
There are numerous constraints for the project. Power system constraints include
a stipulation that solar cells must occupy at least five of the six cube sides. An access port
must be included for battery testing and charging. An electrical “kill” switch must be
installed on the structure. There are also structural constraints. The bus interaction with
the launcher and other satellites is specified, including the minimum surface contact.
Aluminum is recommended for the body of the bus, so that the satellite has the same
7
thermal expansion characteristics as the launch mechanism developed by Stanford
University.
Category Element
Ease of manufacture
Programming language
Retirement capability
Orbit
8
1.2.6 Relevant Elements
Several subsystems of the CUBIK design interact. The subsystem interactions are
requirements of each subsystem. For example, power is a principal concern for CUBIK.
The available power determines the versatility of the payload and the bus. The more
power the bus can provide, the more functional the payload can be. More available power
provides for longer transmission times for the communication system, more computer
structure, the flight computer, software, communication subsystem and the attitude and
position sensors. The communications interact with the computer and make demands on
the power system. The thermal radiation from the electronics might interact with the
Cost is a relevant element. The budget determines the type of materials and
systems which can be utilized in the design. Cost impacts prototype construction and the
manufacturing of the finish product. Finally, retail cost is important. The product must be
1.3 Summary
Access to space is limited by cost and technical factors. Many academic and small
business groups lack the resources to design, build and launch a satellite. Picosatellite
technology provides a low-cost alternative for groups wishing to launch a satellite. The
CubeSat architecture pioneered at Stanford University has the potential to be adapted for
9
commercial markets. A standardized satellite bus kit based on CubeSat would provide an
The goal of the CUBIK project is to design a picosatellite kit design based on the
CubeSat architecture. The design will incorporate both the requirements listed by the
TransOrbital, Inc. request for proposal and the Stanford University CubeSat specification
document. The following chapters continue the problem definition discussion, further
addressing the needs, alterables, constraints, relevant elements interactions, and actors
10
Chapter 2: Value System Design
The Value System Design (VSD) process relates needs and constraints with the
CUBIK design objectives. VSD organizes the CUBIK project objectives into a hierarchy,
as seen in Figure 2.1. The main objective is to design a universal affordable CubeSat bus
kit. The three top-level objectives under the main objective are: maximize performance,
minimize cost, and maximize simplicity. Table 2.1 lists the sub-level objectives for the
project.
The VSD process includes determining measures of effectiveness (MOE) for each
objective. MOEs quantify the design of the sub-level objectives. In addition, the MOEs
Design Universal
Affordable CubeSat
Bus
Legend:
Maximize
Minimize
11
Table 2.1 Project Objectives and Their Relevant Subsystems
Objective Description Relevant Subsystems(s)
Maximize Performance
Maximize power efficiency Power, payload
Minimize power consumption of Bus---(max Power, communication, attitude and control,
power to payload) computer
Minimize mass of bus Structure, power
Maximize payload volume Structure
Max stability
Attitude and control, computer, power, structure
Max communication range Power, communication, payload
Minimize interference with other satellites Structure, computer, power
Maximize versatility for customer Structure, computer, software, communication,
experiment power
Maximize computer efficiency Power, payload
Maximize structure
Minimize thermal effects Structure, power, communication, computer
Minimize radiation effects Computer, communication
Minimize Cost
Minimize research and development costs Computer, communications, power, structure,
attitude and control
Minimize production costs All
Minimize use of public domain codes Software
Maximize Simplicity
Maximize clarity of documents for user All
Maximize simplicity of computer interface to Computer, software
program the kit
Maximize the simplicity of interfaces All except structure and attitude and control
between bus and payload
sublevels, which can be viewed in Figure 2.2 below. Measures of effectiveness are a way
quantities and units. The performance of the mass and structure of the CubeSat are
12
Performance
Pointing
Error Temp.
Stability Thermal Effects
(m) (°C)
Power Potential
Gain CubeSat Activation
Communications
(dB) Time (s)
Interference
CPU Coefficient
Speed of Thermal
Computer
(MHz) Expansion
wattage. The power consumption of the bus needs to be minimized whereas the power
efficiency must be maximized. The bus mass must be minimized to have an effective
design. There is a mass constraint of <1 kilogram. The lower the mass of the bus, the
more available mass there is for the payload. Similarly, the there is a constraint that half
13
the internal volume of the bus must be reserved for the payload. The internal volume
There are other performance objectives, each with its own MOEs. Results from a
stability test will determine the effectiveness of the CUBIK structure. The performance of
power gain. The computer efficiency is quantified by bus speed and data storage. The
potential to cause interference with other CubeSats is gauged by activation delay time in
seconds. Finally, the sensitivity of the electronics to both thermal and radiation effects
One of the objectives of CUBIK is to minimize the cost. The sub-level objectives
under the cost objective are presented in Figure 2.3. To minimize the cost, there are three
sub-level objectives: minimize research and development, minimize the production cost,
and use existing software code. The sub-level objectives are summarized in Table 2.2.
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Cost
Research and
Development Price Production Cost
Costs ($) Expenses ($)
Design
Cost Amount of Software
Licenses which must Cost
($) be purchased ($)
Legend
MOE
Maximize
Minimize
Minimize research and development cost: To minimize the cost, research and
development cost needs to be minimized. CUBIK relies on built and tested parts rather
than parts designed specifically for only this design. Space-rated off-the-shelf
components can help to lower the cost function for the project.
Minimize the production cost: Once the design of the CUBIK is delivered to
TransOrbital, the company should be able to manufacture the kit at the minimum possible
to the user. The design will use “freeware” such as Linux. In addition, the use of industry
15
If ƒ denotes the cost function, there are three expressions. The three expressions
form are: ƒ Q A, ƒQB, ƒ Q (1/C) ∴ƒ Q(AB/C). The cost function for CUBIK is:
ƒ = k(AB/C) (1)
The CUBIK system is designed for use by non-technical and amateur users.
Therefore, we want to make to make the system as simple as possible for users not
experienced with space technologies. There are three objectives for simplifying the use of
clear and have a minimum of technical terms. Testing will be necessary to determine the
the documents. A first estimate of the simplicity before beta-testing will be done through
the use of the 80/20 document rule. Eighty percent of the document will actually contain
16
Simplicity
Clarity
of 80/20 User
Rule Computer Skill GUI
Documents Interface
Level Required
Computer
Programming Beta-test
Manufacturing Time
Interface Difficulty (s)
Legend
MOE
Maximize
Minimize
Maximize User Interface Simplicity: The computer interface which the customer
uses to program the CUBIK system must be simple and easy to use. Beta-testing will be
the final test for simplicity and ease of use. Use of standard connection (serial port, USB,
etc.) and a basic Graphical User Interface (GUI) will help with ease of use.
between the CUBIK system and the user’s payload is important. Use of standard
connection types and use of generic I/O types are methods with help to achieve the goal
of simplifying the connection between the CUBIK bus and the payload. An estimation of
17
the availability of the connection type will provide the first measure of effectiveness for
weight of importance for each of the objectives in respect to all others. Then a matrix is
formed from those relative weights and normalized. The results of this process are shown
in Table 2.3.
The most mission critical of the performance goals are the minimization of
thermal and radiation effects. These objectives were given higher weights due to the
potential of radiation and thermal damage causing the destruction of the CUBIK kit. Cost
18
goal weights show maximization of simplicity of interfaces between bus and payload to
2.3 Summary
The Value System Design process determines the objectives of the design and
maximize the performance of the design, to minimize its cost and to maximize its
chart which is used to weigh the measures of effectiveness relative to each other. The
results are instrumental for developing the solutions presented in the next chapter, system
synthesis.
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Chapter 3 System Synthesis
3.1 Structure
synthesis aims to develop feasible alternatives for the mechanical elements not already
used in construction, the internal structure of the bus, and any control or subsystem
caused by the interactions between the structure and the environment. Interactions will
take the form of loading, vibrations, and thermal effects on the structure.
3.1.1 Material
There are four constraints imposed on the choice of material. First, the material
should have thermal expansion properties similar to Aluminum 7075-T73, the material
used in the P-POD CubeSat launcher3. Similar expansion properties for the launcher and
satellite reduce the possibility of a launch failure due to reduced tolerances. Second, all
materials should be approved by NASA for use in space and allowed as acceptable
payload onboard any U.S., European, or Russian launch vehicle. Use of hazardous
materials will limit launch opportunities. Third, the material should be easily worked.
The CUBIK design objectives include maximizing the ease of manufacture for
TransOrbital, Inc. The fourth constraint pertains to minimizing the mass used for the
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structure. Since the structural elements will likely account for the bulk of the allowable
bus mass of <1 kg, the material should have low density relative to strength.
Aluminum is the material recommended by Cal Poly, and used in every CubeSat
project which has been researched thus far. Aluminum is typically chosen to provide the
strength of a metal and to avoid the outgassing encountered by plastics in vacuum. Metals
such as aluminum are affected less by radiation exposure and temperature extremes than
are plastics and composites. The CUBIK team will use a metal, possibly Aluminum
7075-T73, for the structural components. There are other metals which have either low
Three alternative choices of metal are stainless steels, magnesium alloys, and other
• Magnesium AZ31
All three types of metal have properties which may meet the above constraints. All three
The CubeSat architecture designed at Stanford University uses four posts and six
panel faces as the outer structural elements. There are many variations of this
configuration, if chosen for the CUBIK bus. For example, the thickness of the panels is
not specified. Different sheet thicknesses are being considered for the panels to reduce
21
particular, aluminum sheets are commercially available from some metal wholesalers in
panels in order to lower the over all mass while allowing more access for payload and bus
sensors. Similarly, there are alternatives to using solid posts. Square metal tubing and L-
Half the internal volume must be available to accommodate the payload. The
volume constraints dictate an efficient layout of electronics and other systems into the
existing form factor. The PC/104 form factor has dimensions which make it an acceptable
22
Figure 3.2 PC/104 form factor dimensions13.
Internal components will require fasteners which secure them to the structure. The
structural components will also need to be fastened together. Options for fastening
include epoxies, bolts and nuts, screws, clips, and welds. Cost, ease of manufacture, mass
and suitability for use in space for each fastener type will be considered.
springs, and a “remove before flight” pin5. However, the particular locations of these
mechanical control elements are not specified. The locations may be adjusted to shift the
center of mass or to simplify the manufacturing process. Similarly, pin and switch
selection depend on mass, ease of manufacture, and cost. Alternatives exist for the
polymer material for the standoff foot required for the ends of the posts.
rods, wire coils, or circuit boards affixed to the panels. Sensors may require mountings on
23
the surface of the panels or may need access holes through the panels in various
locations.
cases, thermal regulation by the structure will involve thermal conduction and thermal
radiation.
Thermal regulation schemes being considered for CUBIK include using the
structure as a heat sink and increasing the absorption of thermal radiation by interior
surfaces. Increasing the contact area of the bus/payload with the structure will provide for
spectrum extending from the wavelengths 0.1 to 100 µm. This band includes infrared and
visible wavelengths14. The interior surfaces may be painted black to increase absorption
in this band of the spectrum. Thermal analysis of the design is explored in later chapters.
The flight computer on board is the hardware associated with the controls and the
functionality of CUBIK. During flight time, the computer is responsible for the power
control, communication and data storage. The flight computer detects the commands
from the ground station and passes it on to the flight computer interface. The flight
computer can be divided into two main components: the control unit and data storage.
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3.2.1 The Control Unit
Some primary responsibilities of the control unit are to detect commands from the
ground station, control power regulation, and to format data for downlink and output
• Motorola
• Hitachi
• Intel
The CU should be able to initiate the system after deployment. Hence, the PROM is
The data storage is yet another important aspect of the flight computer. The type
of processor or controller used will affect the type of memory used for the BUS.
perform a specific function. We then use an external memory chip to store the data from
the experimental payload, should we require storing it on board and not down-linking
back to the ground station. The decision on the selection of the memory will be bounded
25
• Be operational in the temperature range of -55 to 120 degrees Celsius
The above restrictions limit the brands of memory which can be employed on CUBIK.
The flight computer software (FCS) loaded on the on board flight computer
coordinates and commands every action of the satellite. The main component of the FCS
is the operating system (OS). The OS is the root of the system and gives command to all
the subsystems of the spacecraft, namely the communications, ADCS, power, and
payload. All these subsystems are controlled by the FCS through drivers. The OS is also
supposed to handle real time operations, which requires the OS to be a Real Time
The RTOS is the interface between all the subsystems of the spacecraft and the
Central Processing Unit (CPU). The possibilities for the RTOS are numerous and depend
on the architecture of the CPU. The alternatives for the CPU are either to use a micro
controller or a microprocessor. The most widely known Open Source RTOS is Linux and
is available for both the microprocessor and the micro controller. Other RTOS exist, such
as QNX for 32 bits microprocessors. These RTOS are Open Source, which means that
their source code is available to the customer and can be changed according to the
26
customer’s need. This type of license is called GNU Public License (GPL) under which
The term used to describe the use of RTOS for non-desktop or server use is
embedded technology. All the previously mentioned RTOS have embedded technology
management unit (MMU), thus the OS has to be designed specially for this case. Many
alternative RTOS exist for specific micro controllers so that their choice depends on the
actual type and brand of the micro controller. However, Linux has an extended embedded
technology and even a Linux RTOS written for micro controllers, uClinux. Both of these
Linux systems allow a wide range of micro controllers. The specially written Linux OS is
not originally real time, however a software “add-on” can be made to the OS to make it a
RTOS.
The microprocessor is a CPU more capable than the micro controller, it exists a
large variety of microprocessors with different architecture that the OS have to handle
differently. However, a number of OS are real RTOS. These include Linux for every
type of architecture possible, ranging from Intel to Alpha, RISC, and SPARC. The other
possibility is QNX.
The FCS will manage all of the subsystems, so each piece of equipment in a
27
subsystem must be controllable by the FCS. The FCS commands the different devices in
the subsystems through drivers, which are little programs written and installed in the FCS
that convert the commands from the FCS to a language understood by the devices. These
drivers are specific to a particular device. To write these drivers' codes, different
languages can be used, such as C/C++ or ADA. The only requirement, for simplicity and
efficiency, is that the languages have to be Object Oriented, since only such languages
have tools performance enough to permit the creation of such complicated software.
Most of the Open Source RTOS have an integrated C/C++ compiler, so there is no need
3.4 Communication
main aim of a communication system is its ability to receive information from a ground
station and transmit data or information to a ground station. The Cubic communication
Armature radio frequencies are used because they are free and easy accessibility. There
exists commonly available equipment supporting these frequencies with a huge network
3.4.1 Transponders
board. Due to their varied functional requirements, most transponders must be custom-
28
designed to be able to function according to what the user wants. Two major types
considered are linear and FM transponders. The major companies producing these
(typically 40 - 100 kHz) in one band, convert them to another band using a mixing
process and amplify the converted signal for transmission back to Earth. The signal
received by the satellite referred to as the uplink signal and the signal transmitted to earth
• Linear mode allows more than one station to use the transponder at a time.
• Little power is used when the transponder is not in use. We cannot always turn
• Doppler shift is handled by the ground station which means we have to worry less
• More complex ground stations than with FM and are more costly in some cases
• Congestion might occur on transponder since it allows more than one station to
transmit and receive information back and forth from the earth to the satellite.
29
• New users can be recruited using their existing equipment.
supporting on board the satellite to the user. It will also very according to the type of
antenna we use and the amount of overall power we can allocate to this device.
The function of the GPS receiver is to determine the position of the satellite in
space and transmit this to user to be able to determine precise position. There are
numerous GPS receivers that could be used but the ones with the lower power
consumptions.
GPS receivers with low power consumptions include Royal Tech REB-2100,
REB-2000 and RGM-3000. The advantages of REB-2100 and (REB-2000) are twelve
parallel channels for data transfer, 0.1 seconds reacquisition time and compact size (30 X
externally on the satellite. The advantages of REB-3000 are twelve parallel channels,
built in path antenna and high sensitivity to GPS satellite signal and 20% lower power
30
consumption than the other two. The disadvantage compared to the other two is a $10
The main computer could do the job of GPS receiver system providing less
accurate information. A GPS receiver system is important with a disadvantage being its
cost. In conclusion a decision has to be done on how accurate we need our satellite
position with respect to how much budget is available. In other words how much we want
3.4.4 Antennas
waves. The antenna plays an important role in working the satellite. It is the first part of
your communication system that will receive the signal and the last one to transmit it.
The types of antennas that could be used are circular polarized antennas and single plane
antenna. Some of the brands making good antennas for satellite use are KLM, M2,
Circular antennas suitable for CUBIK come in two dimensions: 2m or 70cm. The
antennas are phased so that the signal normally rotates to the right, meaning the antenna
is right hand polarized. The circular polarized antennas are about $500, however the
Single plane antennas can mounted vertically or horizontally when operating the
satellite. There are two main types, quarter wavelength (l/4) and half wavelength (l/2).
The wavelength refers to the size of the antenna. A half wavelength antenna has better
signal reception than a quarter wavelength antenna. However consumes more power than
31
a quarter wavelength antenna. These antennas are very cheap and are easier to deploy
once in space than a circular antenna. They also take much less space and are smaller in
size. The problem with those antennas is if the satellite is spinning the signals will fade in
and out.
In terms of the number of antennas needed on the satellite we can have one
antenna for uplink of information and two for downlink of information. Another way is to
have two antennas for uplink of information and two for downlink of information. The
reason for having two antennas for downlink is because transmitting consumes more
power. One antenna cannot do the job efficiently and it would require more time to send
information with one antenna rather than two. Having two antennas for uplink would
make the receiving more efficient with the drawback being the extra weight and cost.
There are two deployment mechanisms possible for the antennas available on the
CUBIC are a crucial part in the successful of our satellite. If the deployment does not
work the satellite will have no communication capability. One solution is to wrap up the
antenna around the satellite structure and release the antenna by a spring mechanism after
the satellite has been launched into space and receives the ground command to release the
antenna. This mechanism is used for circular antennas. Another deployment mechanism
is a nylon line attached to the tip of the communication antenna, then a nichrome wire is
winded in a spiral and the nylon line is threaded into it. The nichrome wire is then heated
by an electric, which this causes the nylon wire to melt and release the antenna. The
communication antenna is then deployed by its own elasticity. This mechanism is used
for single plane antennas. The advantage of this is the possibility of having the wire stuck
is less than the first method since we have the antenna inside the cube. The disadvantage
is that a smaller antenna has to be used since it must be stored inside the cube.
32
3.5 Attitude Determination and Control System
orientation with respect to some external object and keeps the satellite in a desired
satellite without attitude control, the determination acquires the satellite’s orientation and
can control the payload and communications systems to operate at times where the
orientation is correct for useful data collection and transmission. The two systems are
A satellite can have three forms of attitude stability in orbit. The first form is no
stability. When a satellite has no attitude stability it is free to rotate in orbit on all three
axes at once. Free rotation is called tumbling. When tumbling, there is a small possibility
that the tumble will prevent alignment of sensors and communication to a useful
orientation. Some missions and communication systems may not require a particular
orientation and therefore will not need ADCS. For example a mission which is to
transport ashes into space will not need ADCS in the satellite carrying the ashes.
requires that one axis be maintained at a particular orientation. The satellite can spin
around that axis, which is a method to maintain the stability. A mission requiring single-
axis stability may be one with a sensor located on the face perpendicular to the spin
33
the one axis of stability in a controlled manner to allow it to change orientation to the
desired direction. Some methods of one axis stability, such as gravity gradient control,
will not allow this. With gravity gradient stability, the single-axis of stability is forced to
The third form of attitude stability is three axes stability. Three axes stability
requires that all three orthogonal axes be maintained in orientation with respect to an
external object (say the earth surface). Three axes stability can be required by a mission
that uses a sensor to take continuous real time readings. Some methods of three axes
There are several forces which work to destabilize the attitude of satellites15.
Electromagnetic flux as the satellite travels through the magnetic flow lines can cause
34
torques if the satellite contains circuitry or a relatively large ferro-magnetic component.
case of selling the CubeSat CUBIK kit for amateurs to put in their payload,
Rotating machinery (pumps, tape recorders, rotating sensors, etc.) create torques
that can perturb both stability and pointing accuracy. Liquid sloshing creates torques due
to fluid motion and variation of center-of-mass location. Also uncertain will be the final
center-of-gravity due to the placement of the payload installed by the customer who
purchases the CubeSat CUBIK kit. Volumetrically off-centered center of gravity can
components will cause vibrations that can limit the control response frequencies of the
attitude control system. Since the frequencies of the payload are unknown during design,
entering/leaving eclipse. For the CUBIK design, thermal shocks are only a consideration
appendage.
The various causes of attitude instability on the satellite can only be fully
determined with full knowledge of the third party payload. Assumptions must be made
and a constraint must be set on the payload, depending on the final type of ADCS used.
The assumptions and limitations are determined in the system analysis phase.
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3.5.3 Attitude Determination
space with respect to one or more outside objects. Sensors are used to determine the
attitude. RFP requirements state that at least one Sun sensor be included in the CUBIK
design. The Sun sensor alone is insufficient to determine the attitude of the satellite.
Considering a tumbling satellite, the Sun sensor will only tell if the sensor is pointing to
the sun at any moment, the orientation of all orthogonal faces remains unknown. The
faces remains unknown. For some types of missions tumbling is not a concern. For
example a mission to study the Sun would need its sensors on the Sun sensor face.
Missions studying the Earth, Moon or space will require more attitude determination.
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Table 3.1: Attitude Determination Sensors15
Sensor Sensor Determination Sensor Limitation
Sun Sensor Angle of Sun to Sensor Requires unobstructed view, Loss of data
during eclipse period in LEO
Star Sensor Mode 1: Scanner: Determines attitude from Sensor is blinded by Sun, Moon, Earth
multiple crossing of star in field of view. and Planets that may cross the field of
Used in spinning satellite. view.
Mode 2: Tracker: Tracks star to determine
attitude. Used in 3 axis stabilized satellite
Horizon Infrared signature of Earth horizon: Requires clear field of view. Need to
Sensor account for seasonal variations in LEO
Type 1: Pipper: Narrow field of view uses
angles for determination. Used on spinning
satellite.
Type 2: Scanning: Rotates lens or mirror to
get angles for determination. Used on
spinning and non-spinning satellites.
Magnetometer Measures size and direction of Earth Lower accuracy due to changes in
magnetic field for determination magnetic field. Operation must be cycled
when using magnetic torques for control.
GPS Receiver Uses difference of position of two (or more) Accuracy related to distance between
receivers to determine attitude. receivers.
Gyroscope Measures speed and angle of rotation for Requires other sensors for attitude
determination determination.
sensor with a Horizon sensor and a Star sensor will give high accuracy (< 0.1o)10 attitude
cost. Optimization analysis will need to determine the optimal configuration for an
The pointing options for the missions determine the method of attitude control.
Third party payload requirements are unknown and are assumed to be restrictive. Cost
factors of the attitude control system used are constrained by the given cost limit.
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Optimization during system analysis considers the options available vs. the cost. Options
available have differing attitude control characteristics. For example, gravity gradient
stabilization limits the two faces perpendicular to the boom to pointing at or directly
away from the Earth. Propellant for attitude control of the satellite is not allowed in the
Request For Proposal. Those options requiring propellant are not considered. The
Control actuators are determined by the method used and can be combined to
achieve greater control and/or accuracy. One option is to use no control. No control will
allow the satellite to spin at any rate on all axes simultaneously. Third party payload type
will be limited to those types not requiring any attitude stability. For example omni
directional transmission or local study of electromagnetic field strength does not require
attitude stability.
38
A gravity gradient boom will passively point one axis of the satellite toward the
Earth center of gravity. The boom requires no power beyond the deployment of the
boom. The boom can stabilize both pointing to and pointing away from the Earth. The
Reaction wheels are torque motors with high inertia rotors. Momentum wheels are
reaction wheels with a nominal (minimum) spin rate to provide a nearly constant angular
momentum. Angular momentum provides gyroscopic stiffness to two axes while the
motor torque controls the pointing around the third axis. Wheels have a saturation speed.
The restriction of a saturation speed means cyclic disturbances can cause the wheel to
reach a maximum speed, after which there is no more control over the cyclic disturbance.
Usually thrusters are used to de-spin the wheels. Thrusters are not an option allowed for
CUBIK in the RFP. Magnetic torques may be used to achieve the same result if analysis
shows that spin saturation may be a problem in the required 1 year lifespan. Wheels can
provide one or three axes of stability depending on how many wheels (one or three non-
coplanar) are used. Reaction wheels may be used instead of propellant to create a spin-
stabilized satellite. Reaction and momentum wheels interact with the spacecraft
comparison to reaction and momentum wheels, control-moment gyros are high cost and
high mass. Due to cost and mass constraints they may not be used for three-axes stability.
interact with the spacecraft structure, the power system and the flight computer.
39
Magnetic torques use magnetic coils or electromagnets to produce dipole
moments that react with the Earth’s magnetic fields. Magnetic torques are effective in
LEO where the magnetic field strength is strongest. Magnetic torques can be used for
interact with the spacecraft structure, the power system, the flight computer, and all
for attitude determination and control. The TransOrbital RFP requirement of no back-ups
and control for the third party payload results in the assumptions of versatility in the
CUBIK system and manageability of the number of options. The assumptions are: no
boom deployment to advert necessity of permission for such; three wheels or three
magnetic torques maximum, leaving out redundant and backup systems; no more than
three actuators of any combination; no star sensors due to ability to be blinded by other
emissive/reflective objects.
The assumptions result in the combinations of: Sun and Horizon; Sun and
Magnetometer; Sun and Horizon and Magnetometer sensors for attitude determination.
The possible options for attitude control are in three groups: no stability, one-axis
stability, and three-axes stability. The option of no stability does not require actuators.
One-axis stability can use one gyro to create spin stabilization, one momentum/reaction
wheel to stabilize the axis or two to create spin stabilization, one magnetic torque to align
40
to North/South attitude axis or two torques to create spin stabilization. Three-axes
torques.
The options which will be used will be determined by system analysis in terms of
performance, cost and mass. Performance will be secondary to cost and mass. Given the
constraints on mass and cost, one alternative of CUBIK system may feature only attitude
3.6 Power
Power for the CubeSat will be generated by photovoltaic cells, also known as
solar cells. The request for proposal specifically asked for the use of solar panels
covering at least five of the six sides of the satellite. Solar power is a good choice due to
its reliability and relatively low cost. The choice of exactly what brand and type of solar
cell to be used will be made based on a balance between efficiency and cost.
solar cells. The request for proposal specifically asked for the use of solar panels
covering at least five of the six sides of the satellite. Solar power is a good choice due to
its reliability and relatively low cost. The choice of exactly what brand and type of solar
cell to be used will be made based on a balance between efficiency and cost.
41
3.6.2 Power Storage
The solar cells will only be producing power for a portion of the orbit period due
to the satellite moving in and out of direct sunlight. For this reason the satellite will need
to be able to store energy for use during the periods when it is in eclipse. Due to size
constraints, the satellite is limited in the types of energy storage it can accommodate.
Small flywheels or batteries are the best alternatives due to their size. A flywheel stores
kinetic energy by being spun up by a motor, and later releases that energy by spinning
down and generating power through the motor. A battery uses chemical reactions to
release energy and recharges by reversing the process. Batteries are reliable and have
been used extensively in spacecraft. Three types of batteries being considered are, nickel
Flywheels have been used to reliably store energy, and are becoming more
popular for use in small satellites. A possible drawback is that flywheels create a torque,
but this torque could possibly be incorporated into the attitude determination and control
system (ADCS). Size is another drawback to the use of flywheels, but small flywheels
Nickel cadmium (NiCd) batteries are popular, and depending on the battery can
while charging, and could be used as part of the thermal control when the satellite is in
direct sunlight. Nickel cadmium batteries have a lower power density than nickel metal
hydrides and lithium ion batteries. Power density is a measure of amount of energy
stored per kilogram. One major drawback to the use of NiCd batteries is a memory
effect, meaning that if they are recharged before fully discharging, they will “remember”
42
the level to which they last discharged and will not discharge past that point later.
Another drawback is that cadmium is a toxic material and could pose a health risk if the
Nickel metal hydride batteries have approximately %50 more storage capacity
than NiCd batteries due to a higher power density. Nickel metal hydride batteries are
about equal to NiCd batteries in the amount of charge/discharge cycles they can handle.
Unlike NiCd batteries, nickel metal hydride batteries have a minimal memory affect.
They are also exothermic during charging which could pose a problem by creating extra
heat during the period when the temperatures of the satellite are at their highest. Nickel
metal hydrides also tend to have a high self discharge rate, sometimes as high as %5 of
The third type of batteries being considered are lithium ion batteries. These
batteries have up to %50 more storage capacity than even nickel metal hydrides. The
extra storage capacity is due to the extremely high power density of lithium. Lithium ion
batteries tend to have a longer battery life than NiCd or nickel metal hydride batteries.
They also can withstand up to 1200 charge/discharge cycles, and have a minimal memory
effect. The only drawback is that lithium ion batteries have a high internal resistance,
which means that they cannot deliver high currents. Power requirements will have to be
distributed among the other subsystems and the batteries. When power is regulated the
voltage is stepped up or down to the voltage required by the load. Proper power
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regulation can also prevent problems such as fluctuating voltage, voltage sag, and surge
problems. Micrel, National Semiconductor, and Ricoh all have lists of potentially usable
voltage regulators in their line of integrated circuits. The cost of these integrated circuits
is minimal, typically less than fifty cents, allowing selection based solely on the needs of
the satellite. Selection of a power regulation integrated circuit will be postponed until the
details of the power supply and power requirements have been defined.
3.7 Documentation
documented. Clear, concise, and easy to understand directions for manufacturing and
using the kit must be provided. The documentation falls into two categories: instructions
for TransOrbital, Inc. and instructions for customers of the kit. TransOrbital needs
documentation to the extent that the company can readily produce the subsystems for
sale. Users of the kit must be provided with an easily understood operating manual.
Alternatives for documenting the specifications and instructions for both TransOrbital,
Inc. and the CUBIK users need to be generated. Some examples of ways to document
include:
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3.7.1 Documentation for TransOrbital, Inc.
The documentation for TransOrbital, Inc. must be converted to a form which can
be easily understood and utilized. TransOrbital could be provided with a Microsoft Word
have to include assembly drawings, results of all the testing such as thermal and
vibration, and the source code for all software elements. Using a CD could be a feasible
solution because assembly drawings would be easy to download from a compact disc. A
Microsoft Word document including all drawings, codes, and test results is also feasible
because Word is a standard program. The important factor is that the documentation for
TransOrbital must be detailed enough so the company can manufacture the subsystems
for sale. Whichever type of documentation accomplishes this goal most efficiently will
be a viable option.
Customers of the kit must be provided with an operating manual. The manual
should come in a universal form or forms, which most users would be able to exploit.
The user could be provided with a compact disc which would include the dimensioned
subsystem schematic drawings and list of components, and software interface and
operating specifications. All this data could be formatted using Microsoft Word and
Excel. Microsoft programs are feasible because they are universal, allowing for a
45
A video could be provided for the users to show them how to work the interfaces
or install the payload. Instead of producing the operating manual on a compact disc, it
could be done in the conventional way as a paper copy. The types of documentation
mentioned above are all feasible solutions. The critical aspects of the documentation to
the user include easy readability, non-complicated wording, and minimal use of
3.8 Summary
The System Synthesis chapter reviewed the six main subsystems of CUBIK, in
addition to documentation. The chapter described alternative methods for achieving the
objectives of each subsystem. In relation to the objectives and constraints, the viability of
feasible solutions for each subsystem and attends to the feasibility issues of each
alternative.
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Chapter 4: System Analysis
respect to three design models: Minimum Cost, Maximum Performance, and Maximum
solutions for each subsystem are examined and analyzed with respect to each design
model. A “best choice” for each design concept will be chosen. Picking a “best choice”
provides a simple way to model the system analysis. The three design concepts are not
final designs; rather they are basic concepts which are subsequently used to provide
4.1 Structure
The structure subsystem goals are to provide structural support for the bus
components, control elements, and payload and mitigating hazardous effects from the
environment such as shocks and thermal radiation. The main structure subsystem
components are: the structural elements, internal structures, and control elements. The
system analysis for the structure subsystem compares the alternatives in relation to our
three design models: minimum cost, maximum performance, and maximum simplicity.
Alternatives presented in Chapter 3 which violate design constraints are abandoned at this
stage.
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4.1.1 Material
The three materials considered for the external structural elements were
aluminum, magnesium and stainless steel alloys. The material properties shown in Table
4.1 were compared with Aluminum-7075, the structure material for the P-POD launcher.
Magnesium alloys and stainless steel alloys were found to have unacceptable material
properties which make aluminum the material of choice. In particular, the thermal
expansion coefficient, a, for stainless steels was low relative to Al-7075. This introduces
the possibility of reduced tolerances between the P-POD launcher and the CUBIK rails,
leading to ejection failures. Stainless steels also unsuitable because they are relatively
massive compared with the aluminum and magnesium alloys. Research uncovered that
Table 4.1 Material Properties of the Alloys Considered for the Structural Elements
Material Density Coefficient of Relative Relative
3
(kg/m ) Thermal Availability Machinability
Expansion
(µm/m-°C)
Aluminum 2700 23.6 Excellent Excellent
Magnesium 1770 26.0 Poor Poor
Stainless Steel 7900 16.6 Excellent Good
All three design models will use aluminum alloy external structural elements.
Aluminum alloys are available in many forms, from numerous suppliers. Aluminum
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4.1.2 Structural Elements
Preliminary design models are based on the CubeSat schematic provided by Stanford
University and prototypes created by other CubeSat project teams. Those designs consist
the low cost model, the structural elements would consist of solid sheet aluminum panels
The maximum performance model employs square tube posts in order to lower
mass and increase strength. Similarly, the panels would not be solid sheets. Panels would
fabricate and assemble, and minimally interfere with other subsystems. The maximum
simplicity model employs L-shaped posts which allow fitting unmodified PC104 boards
inside the structure. This post design reduces structural mass compared to using solid
The internal structure alternatives are to use the PC104 form factor or to use a
custom design. The advantages of using the PC104 form factor include the ability to
The minimum cost and maximum simplicity models use the PC104 form factor.
The maximum performance model uses a custom designed internal structure. Custom
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designed internal structures require more engineering but will allow the internal volume
The flight computer subsystem is the brain of the CUBIK bus. The flight
computer optimizes and regulates the performance of the electronics in the bus.
electronic components is maintained by the computer, the common interface among all of
the bus subsystems. The mission is controlled by the flight computer. In particular, the
computer interprets commands from the ground station. The computer also stores all
The flight computer is comprised of three main units: a storage unit, a processing
unit and a control unit. Figure 4.1, shows the typical interactions of the three units.
The other subsystems send signals to the flight computer and the computer
interprets the signal and sends an appropriate response either back to the subsystem or to
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4.2.1 The Storage Unit
The experimental data along with the critical data needed for the functioning of
CUBIK are stored in the storage unit. The storage unit is only accessible through the
flight computer and the flight computer software. Storage needs depend on the
experimental payload and the volume of data that the payload collects. A greater amount
Depending on the storage needs, the following types of memory devices can be
used: RAM/ROM, flash memory, or memory sticks. Table 4.2 summarizes memory
characteristics.
The processing unit is the most important component of the flight computer. All
the processing for the experimental data and the processing for the commands is done by
A choice of the processor for the processing unit will depend on the amount of
computation that the payload experiment needs to perform. For a fairly simple
experimental payload a processor with relatively low processing speed will work just
fine, but on the other hand, for a payload which needs pretty complex and fairly large
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Again, the power supply limits the kind of processor that can be used for the
CubeSat. A faster processor means large power consumption. The following table helps
you to understand the differences between the different processors that Intel has
The control unit communicates with the electronics subsystems, sending and
receiving computer commands from the ground station and subsystems. The control unit
also manages the power among the subsystems by distributing the power among them
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4.3 Flight Computer Software
since it coordinates and commands every action of the spacecraft. Choice of FCS affects
the performance and reliability of the spacecraft. The FCS is composed of an OS and
alternatives for the microprocessor architecture are: Linux, an open source UNIX based
system, and QNX. Microcontroller architectures use uClinux. The characteristics of the
operating systems are shown in Table 4.4. Windows CE, which is a Windows RTOS
software licensing considerations, Windows CE is not a suitable OS for the low cost
model of CUBIK.
Specifically, the OS core can be lightened to contain only the necessary software
components, such as the OS kernel, the integrated C/C++ compiler and necessary
53
functions. Linux supports a wide range of processor architectures, which makes it a
suitable choice for different designs and performance levels. Furthermore, Linux is
distributed under a GPL license, not a commercial license, which makes it an inexpensive
OS. As a result of its licensing and flexibility, Linux fits the requirements of both the low
The QNX OS has the same characteristics and performance as the Linux OS with
the exception that only part of the source code is open source. Moreover, unlike Linux,
QNX does not have an integrated compiler. An integrated compiler is helpful for
software development and helps ensure software compatibility with the hardware. The
compiler for QNX is commercially available. Due to the additional cost of the QNX
software available on the internet. This OS is the choice for all the models which use
microcontrollers.
The FCS uses an assembler to change the programming language into assembly
code, which is then read and understood by the processor. The programming language is
telemetry formatting and spacecraft devices handling. Object oriented languages have
tools to achieve these tasks. The programming language alternatives considered are
C/C++ and ADA. The languages have similar characteristics as well as performance;
however C/C++ is more popular among developers and amateur programmers. For this
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4.4 Communications
The communication subsystem goals are: receive information from the ground
station, and transmit data from the satellite to ground. The main communication
Antennas
Flight
Computer Transponder
GPS
Receiver
4.4.1 Transponders
This section presents the advantages and disadvantages for each type of
transponder alternative relative to the three design concepts. The two choices under
consideration are FM transponders and linear transponders. Table 4.5 summarizes the
two transponders.
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For the minimum cost model, the less expensive linear transponders would be the
best choice. Since this transponder is custom-designed, its cost would vary according to
the final design requirements. However, the best working design that would readily fit
depends on what is to be maximized. For example, if the goal was to maximize the
support for multiple users interfacing with the satellite, a linear transponder provides
maximum performance.
chips are readily available for purchase and simpler to use than linear transponder chips.
4.4.2 Antennas
This section presents the choice of antenna for each of the three design models.
When trying to minimize overall design cost, a single-plane antenna is chosen. As shown
in Table 4.6, single-plane antennas are less expensive. For example, the most expensive
single-plane antennas would generally cost one-third the price of a circular antenna.
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For the maximum performance model, the circular antenna provides higher a
quality of reception. Also, circular antennas are able to send and receive signals with a
Single-plane antennas are smaller in size compared to circular antennas. Despite needing
receivers. The GPS receivers being considered are listed in Table 4.7.
For the minimum cost design concept, the choice of a GPS receiver is not a major
factor since GPS receivers are similarly priced. For example, the RGM-2000 and RGM-
lower power and has 30% higher sensitivity to incoming signals than the other two.
For the maximum simplicity design model, the RGM-3000 would be the best
choice since it has an integrated path antenna. Built in path antennas allow operation
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Table 4.7 Communications Summary
Component Minimum Cost Maximum Maximum
Performance Simplicity
Transponder Linear Linear FM
4.5 Power
The power subsystem must efficiently generate, store, regulate, and distribute
power to the other subsystems. The power subsystem must also supply a constant power
through eclipse, and provide enough power to meet the average and peak loads.
There are four types of photovoltaic cells being considered: silicon, indium
phosphide, gallium arsenide, and multi-junction gallium arsenide. Silicon is the least
efficient with an efficiency rating of about 14%. Indium phosphide is the second least
efficient with a rating of about 18%. Gallium arsenide is the next most efficient with a
rating of 19%.Multi-junction gallium arsenide cells are the most efficient with a rating of
22% or more. The cost of the cells increases with the efficiency rating.
For the minimum cost model, inexpensive silicon photovoltaic cells are used to
generate power. The maximum performance design model uses high efficiency multi-
junction gallium arsenide solar cells to generate power. Since the complexity of the solar
cells is similar, the maximum simplicity design will use high efficiency multi-junction
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4.5.2 Energy Storage
Three different battery types are being considered for energy storage aboard
CUBIK: nickel cadmium, nickel metal hydride, and lithium-ion. As shown in Figure 4.3,
lithium-ion batteries are the most efficient of the three batteries. However, lithium-ion
batteries are also the most expensive. The nickel cadmium batteries are the cheapest, and
the nickel metal hydrides are priced between the lithium-ion and the nickel cadmium
batteries.
For the minimum cost model, the power is stored in inexpensive, widely available
nickel cadmium batteries. For the high performance and maximum simplicity models, the
more expensive but more efficient lithium-ion batteries are the choice for energy storage.
Attitude determination and control systems are directly influenced by the CUBIK
objectives and the needs of the customers. The CUBIK kit’s marketability is directly
affected by the form of attitude stability included with the kit. Marketability is increased
59
as the number of stable axes on the satellite is increased. Some forms of attitude
determination and control are not considered in the three design models.
Mass, size and cost of the various forms of attitude determination sensors
discussed in Chapter 3 are not known. Sensors for small satellites are not readily
available. Space tested components small enough to operate in the satellite are difficult to
find, which has led to an investigation of other potential sources of ADCS. Hobbyist
components used for control and determination of various types of remote controlled
models are being considered. Currently, the team is assuming suitable sensors are
available. The three CUBIK design models, coupled with this assumption, result in the
objective design would just contain a sun-sensor. For initial determination, the sun-
sensor alone can determine the attitude of the satellite with relation to the Sun, but not the
Earth. Further attitude determination will need to come from another system, such as
communication. Further cost reduction is obtainable by using the solar panels on the
satellite to form the sun-sensor. An algorithm can determine the direction of the sun by
analyzing the current created by the varying strengths of radiation on each face.
with one or more other sensors to give the greatest determination accuracy. Combining an
industry constructed sun-sensor and a horizon sensor will give pitch, roll and yaw
reference data with a potential accuracy of +/- 0.01o.15 Cost has yet to be determined, but
estimation from similar instruments for much large satellites indicates a possible cost of
$1000+.
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The simplicity model design is similar to the minimum cost design with the
exception that a professional sun-sensor is used instead of employing the solar cells. This
configuration does not require reconfiguring the determination algorithm if the solar cells
are modified by the customers. Potential accuracy is on the order of +/- 0.1o. Cost is
Attitude control actuators for small satellites are difficult to find. Currently, the
CUBIK team is awaiting information from Ikarus hobby gyroscope manufacturer about
their product in regards to its possible use in space. Other possible sources are currently
being investigated.
Omitting the attitude control function is required to achieve the minimum cost
design. The omission of attitude control is allowed in the RFP, but limits the number of
possible payloads CUBIK can carry. Not having an attitude control capability also
communications is the possibility of the satellite tumbling in a manner that will prevent
accuracy of +/- 180o on all axes. The lack of a control system can negatively impact the
accuracy. Three orthogonal momentum wheels give a pointing accuracy from +/- 1o to
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The maximum simplicity model is identical to the minimum cost model. The
three design models are tabulated in Table 4.8. The estimations in Table 4.8 are provided
Table 4.8 Relative Weights for ADCS Determination of the Three Models
Model Accuracy Cost Mission
Effectiveness
Minimum Cost 1 9 3
Maximum 9 1 9
Performance
Maximum Simplicity 3 7 3
4.7 Documentation
should be clear, concise, and easy to understand. There are a variety of methods for
documenting the specifications and instructions. The different alternatives are analyzed
The documentation for TransOrbital needs to include all the specifications so that
the company can readily produce the subsystems for sale. An inexpensive method for
PDF format. Recordable CDROMs are inexpensive and documents can be converted to
CAD files would be included. A simple method for documentation would also include
providing TransOrbital with a CD. The assembly drawings could be easily transferred
62
from the CD to a computer if TransOrbital needed to alter them or use them in any other
way.
Customers of CUBIK need the operating manual to be universal and easy to read.
stated before, CDROMs are inexpensive and provide an easy way to view the manual. A
video could be included with the manual to maximize the performance of the instructions.
An instructional video would cost more, but it would include clips which show the user
how to install the payload in the kit and how to remove any unnecessary components. A
simple method for documenting the instructions is to provide the users with a paper copy
of the operating manual. The manual allows for easy access because a computer would
not be necessary.
There are many choices for documentation of the CUBIK specifications and
operating procedures. Table 4.9 illustrates the best choices for each design model. The
table is a way to analyze how each choice would affect the CUBIK objectives.
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4.8 Summary
maximum performance model, and a maximum simplicity model. The analysis is easier
to understand when specific models are made from the alternative solutions. These design
models are presented here in Table 4.10. The minimum cost model is designed to be the
least expensive possible working model. The maximum performance model has the
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Table 4.10 Summary of the Three CUBIK Design Models
Subsystem Minimum Maximum Maximum
Cost Performance Simplicity
Model Model Model
Structure
Material Aluminum Aluminum Aluminum
Panels Solid sheet Perforated/Framework Solid sheet
Rails/Posts Extruded solid Square tube L-shape
Internal Structure PC104 Custom-designed PC104
Flight Computer
Software
Communications
Transponders Linear FM Linear
Antennas Single Plane Circular Single Plane
GPS Receiver REB-2000 & REB- RGM-3000 RGM-3000
2100
Power
Power Generation Silicon High efficiency multi- High efficiency multi-
junction Gallium junction Gallium
Arsenide Arsenide
Power Storage Nickel Cadmium Lithium Ion Lithium Ion
ADCS
Sensors Solar-cell sun sensor & Sun-sensor, horizon Sun-sensor
communication system sensor
Control No control 3 momentum wheels No control
Documentation
For TransOrbital PDF file on CD CD include CAD PDF file on CD
designs
For Users PDF format on CD Operating video Paper copy of manual
included with CD
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Chapter 5: The Future of CUBIK
operate with a variety of customer chosen payloads. The payload for CUBIK can be
anything from a simple science experiment run by high school students learning about
Chapter 1 gives a history of satellites and describes the scope of CUBIK. The chapter
also identifies the needs, alterables, and constraints for the project. Chapter 2 outlines
The main objective is to design a universal affordable CubeSat bus kit, where the three
top-level objectives under the main objective are: maximize performance, minimize cost,
and maximize simplicity. Chapter 3 reviews the six subsystems of CUBIK and describes
alternative methods for achieving the objectives of each subsystem. Chapter 3 also
discusses the feasibility of the alternatives in relations to the needs and constraints.
Chapter 4 developed three design concepts for CUBIK. These concepts were used as
contained in these chapters will be used necessary for further development of the CUBIK
design.
66
5.2 Future Plans
5.2.1 Structure
The next stage of development for the structure subsystem will be a review of the
review, the alternatives selected for each design model will be re-evaluated to determine
if the all the design objectives are met. Considerations will include the impact of the
availability and cost of structure components. This research will include manufacturing
costs associated with producing components, which are not commercially available. If
resources are available, arrangements will be made to purchase the materials necessary to
Computer aided design (CAD) of the structure will be the next stage of structure
development. The alternative design models will be tested using computer simulation
Testing the structural components and their interactions with other subsystems
will require the fabrication of design prototypes. Initial prototypes will be simple forms
which facilitate the design of the other subsystems and allow physically testing design
67
This semester the constraints and the alternatives for the flight computer were
reviewed. The various solutions for the problem at hand were discussed and examined.
Next semester the flight computer subsystem will be extended with decisions being made
about the kind of processor to be used, the kind of memory needed and the entire
computer architecture for the CubeSAT will be laid out. The alternate solutions will also
be revisited with the aim of excluding redundant solutions and including the alternatives
that are more likely to be used in the unit. Compatibility of the components will be a
We aim at building a working prototype for the CubeSAT by the end of the next
semester. Hence, after all the components are selected, they will be put together to form
the complete BUS for the CubeSAT. It is this period when the Operating system that will
drive the CubeSAT will be written and tested for proper functionality
subsystem of the CubeSat. From these requirements we were then able to identify
several different possible alternatives for the design that would fit the constraints. These
alternatives will be studied in greater detail in the next course of research which will lead
In the particular case of the FCS, we now know the tasks that the FCS will have to
carry out and we already have alternatives that handle these tasks. From these
alternatives, others will be added in the next research phase in order to have a greater
panel of possibilities to choose from. One of these new possibilities will be for us to
design our own RTOS. However, the phase of finding the alternatives will be short so
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that we could rapidly determine the RTOS for the final design and focused ourselves on
the development of the software and their installation in the spacecraft flight computer.
5.2.4 Communications
complete re-evaluation of each component in the system with respect to the problem
considerations will also be made regarding how the communication subsystem will affect
Once finished with the re-evaluation stage we will carry out an extensive research
on communication components to determine the best options from a point of view that
meets our requirements. The research will take into consideration cost, availability,
components. The consideration priorities will be discussed in details. The choice of the
alternative and the final component will be determined with regard to the interactions it
and circuits modeling the components chosen. Various theoretical tests will be
performed on the component regarding voltage and current capabilities. Interactions with
physical testing of the components will be performed. Different tests like communication
range, power requirements, heating, radiation effects and others will be performed.
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5.2.5 Power
Next semester the power subsystem will be going through a second iteration of the
design process, a prototyping phase, and then an integration phase. The second iteration
of the design process will decide which components are viable alternatives, and which
components appear to be most feasible. Costs and availability will be determined for
each alternative. The alternatives will be examined in relation to the components being
considered for the other subsystems and a final choice will be made on which alternatives
will be used. This process is planned to be completed within five to seven weeks.
Once specific components are chosen, the power subsystem will go through a
prototyping phase. During this phase the power subsystem will actually be designed and
prototyped. The prototyping phase is expected to take eight to ten weeks. During this
phase all bugs and compatibility issues must be worked out. The prototyping phase will
be limited by cost unless funding is obtained. Once a working prototype of the power
subsystem is finished, the process of integrating it into the satellite with the other
The next stage of development for the ADCS subsystems will begin with a re-
evaluation of ADCS in the problem definition. The re-evaluation will take into
consideration all that was determined since the first evaluation of the problem definition.
Considerations will include the impact of ADCS on other subsystems, cost, and on the
developed ADCS systems. The search will focus on systems that can meet the mass, cost
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and volume constraints of CubeSat. The CubeSat constraints may make it necessary to
consider the development of ADCS systems built especially for CubeSat and the pico-
satellite industry. When all available systems have been determined, the different options
will be evaluated in terms of the constraints, subsystem interactions and objectives. The
result of the evaluation will determine the final configuration for the ADCS system for
Control programming for the ADCS final configuration will be developed using
stability and control algorithms. Variables for the algorithms will be determined by
such as solar winds, eclipse effects and structural vibration caused by thermal and
radiation effects. The analyses may include computer simulation, electronic simulation
and physical prototype testing. Pointing error and transient response time will be the
5.2.7 Documentation
be recorded during the upcoming semester. Beginning with the optimization stage and
continuing into the decision stage, all data and specifications for components of each
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Once a final design is concluded upon, diagrams of each subsystem and their
internal components must be created. Diagrams can be created with a CAD program.
The specifications and diagrams will have to be organized into a clear and concise
manual which TransOrbital can utilize to produce the subsystems for sale. Late in the
semester, a choice will have to be made on what format to use for documentation for
TransOrbital.
manual for the customers will be made. A decision whether to produce the manual on
5.3 Summary
The next semester will be divided into phases. Each phase has been allotted an
estimated amount of time for completion. The first phase will be a second iteration of the
design process. Concurrent with that stage we will be determining cost and availability
components are chosen. During this stage, complete subsystem prototypes will be built
and tested. After costs and availability have been determined, we will begin optimizing
subsystem specifications and diagrams will be produced during the subsystem integration
phase. After a working prototype is constructed, a complete operating manual for the
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References
1 Isakowitz, S. J., Hopkins Jr., J. P., Hopkins, J. B., International Reference Guide
To Space Launch Systems (Reston, VA: American Institute of Aeronautics
and Astronautics, 1999).
6 Foley, T., "Financial Turmoil & Shakeouts Come to the Satellite Sector in 2002,"
Via Satellite's 2002 Satellite Industry Directory (Potomac, MD: PBI Media, LLC,
2002), pp. 1-6.
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14 Incropera, F. P., DeWitt, D. P., Heat and Mass Transfer (New York, NY: John
Wiley & Sons, Inc., 2002), pp. 700-756.
15 Wertz, J., Larson, W., Space Mission Analysis and Design, Third Ed. (El
Segundo, CA: Microcosm Press and Kluwer Academic Publishers, 1999)
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