Critical Design Review

CDR
Document ID:

LEVITATE
A HIGH-ALTITUDE BALLOON PROJECT
Team Leader
Muhammad Zulfadli bin Abdul Ghafar
Members
Anuar bin Mohamad Nazri
Chin Bing Yao
Choo Jacqueline
Lai Mei Ling
Muhammad Syukri bin Mohamed Shamsuddin
Muhammad Naim bin Shamsudin
Nabil bin Muhamad Usamah
Nazreen Shah bin Nasip

Version:

Issue Date:

23/11/2014

Document Type:
Spec

CHANGE RECORD
Version
0

Date
23/11/2014

Changed Chapter
-

Remarks

Table of Contents
1.0 INTRODUCTION ............................................................................................................................ 6
1.1 Mission Goal ............................................................................................................................. 6
1.2 Experiment Objective ............................................................................................................... 6
1.3 Concept of Operations ............................................................................................................. 7
1.4 Team Organization ................................................................................................................... 8
1.4.1 Management Team ....................................................................................................... 8
1.4.2 Technical and Engineering Team .................................................................................. 8
1.5 Funding Support ....................................................................................................................... 9
2.0 MISSION REQUIREMENT .......................................................................................................... 10
2.1 Mission Timeline................................................................................................................... 10
3.0 SYSTEM OVERVIEW .................................................................................................................. 10
4.0 SUBSYSTEM DESIGN & REVIEW................................................................................................ 13
4.1 Payload & Computer System ................................................................................................ 13
4.2 Structure System .................................................................................................................. 17
4.2.2 The main structure shape ........................................................................................... 17
4.2.3 Components Layout .................................................................................................... 19
4.3 Thermal System ................................................................................................................... 21
4.4 Communication System........................................................................................................ 22
4.4.1 Video Transmission (Standalone) ............................................................................. 22
4.5 Balloon & Navigation System ............................................................................................... 27
4.5.1 Balloon Trajectories Prediction ................................................................................... 27
5.0 TESTING PLAN .......................................................................................................................... 32
5.1 Payload & Computer System ................................................................................................ 32
5.1.1 Power System (Voltage Regulator and Battery) ....................................................... 33
5.1.2 Components Testing ................................................................................................. 34

Arduino Microcontroller Setup ..................................................................................... 34

BMP180 + LM35 + SD card (Integrated Program) ......................................................... 35

Adxl330 3-axis Accelerometer (Program) .................................................................. 36

5.2 Structure System .................................................................................................................. 37

5.3 Thermal System .................................................................................................................... 38
5.4 Communication System ....................................................................................................... 41
5.4.1 CanSat Experiment ....................................................... Error! Bookmark not defined.
3

5.4.2 SPOT GPS Device ............................................................ Error! Bookmark not defined.

5.4.3 Transmitter (NTX2) ....................................................... Error! Bookmark not defined.
5.4.4 Live feed video test ................................................................................................... 41
5.5 Balloon & Navigation System ............................................................................................... 42
5.5.1 Parachute Testing...................................................................................................... 42
6.0 PROTOTYPE & ANALYSIS .......................................................................................................... 44
6.1 Payload & Computer System ............................................................................................... 44
6.2 Structure System .................................................................................................................. 46
6.2.1 Drop Test ................................................................................................................... 46
6.2.3 Float Test ................................................................................................................... 47
6.2.4 Impact Test ................................................................................................................ 48
6.3 Thermal System ...................................................................................................................... 49
6.4 Communication System ............................................................ Error! Bookmark not defined.
6.5

Balloon & Navigation System ............................................................................................ 51

6.5.1 Parachute testing result .............................................................................................. 51

7.0 RISK MANAGEMENT ................................................................................................................. 53

7.1 Current Risks ......................................................................................................................... 53
7.1.1 Payload & Computer System .................................................................................... 53
7.1.2 Structure System ....................................................................................................... 56
7.1.3 Thermal System......................................................................................................... 57
7.1.4 Communication System........................................................ Error! Bookmark not defined.
7.1.5 Balloon & Navigation ......................................................................................................... 58
8.0 PROJECT SCHEDULE.................................................................................................................. 59
9.0 PROJECT BUDGET ..................................................................................................................... 60
9.1 Subsystem Budget ............................................................................................................... 60
9.1.1 Payload and Computer System ................................................................................... 60
9.1.2 Structure & Thermal ................................................................................................... 60
9.1.3 Communication ........................................................................................................... 62
9.1.4 Balloon & Navigation .................................................................................................. 63
9.2 Project Budget ..................................................................................................................... 63
8.0 OUTREACH PROGRAM ............................................................................................................. 64
9.0 REFERENCES ............................................................................................................................. 64
10.0 APPENDIX ............................................................................................................................... 64
4

10.1 Appendix A: Gantt chart (Subsystem) .................................................................................. 65

10.2 Appendix B:Result of BMP180 + LM35 + SD card Testing.................................................... 67
10.3 Appendix C: Coding (Payload & Computer system) ............................................................. 68
10.3.1 BMP180 + LM35 + SD card (Integrated Program) ................................................... 68
10.3.2 Adxl330 3-axis Accelerometer ............................................................................. 71
10.3.3 JPEG Camera ........................................................................................................... 73
10.4 Appendix D: Power details of on-board components.......................................................... 76

1.0 INTRODUCTION

1.1 Mission Goal

To be able to launch a high altitude balloon into the stratosphere level and collect data required by the
stakeholders and successfully retrieve it upon landing

1.2 Experiment Objective

1. To be able to reach a minimum altitude of 10,000m from sea level.
2. To be able to capture photos or video of the horizon at 3 different atmosphere
layer; troposphere, first stratosphere and second stratosphere.
3. To determine the maximum altitude of the balloon with the respective payload
weight given the fixed balloon parameters.
4. To record altitudes, pressures and corresponding temperatures at 3 different
atmosphere layer; troposphere, first stratosphere and second stratosphere.
5. To accomplish the requirement given by the stakeholders ( collect gravitational
force data when descending)

1.3 Concept of Operations

Building High Altitude Balloon is to perform certain operation and aim to achieve missions at near space
area. It brings the payload up to about 30km above the sea level. During the period, all the data required
to be measured will be captured and stored in a functional system. High Altitude Balloon generally
consists of electronic equipment including camera, radio transmitter, GPS receiver or navigation system.
When the balloon reaches about to the targeted altitude, it will burst due to pressure different. After that,
parachute must be deployed completely and transforms into descent operation. For parachute and
payload in stratosphere, the drop velocity will be faster due to lower air density. Under stratosphere
region, the parachute will achieve a terminal velocity which is estimated to be 3.2 m/s.
Before launching the balloon, helium gas will be pumped to the balloon. It takes approximately 20 minutes
to fill up the whole balloon. During the moment, final inspection or checking process will be carried out to
make sure the system works properly. The connection between the payload, balloon and parachute via
rings will be checked so that they are in secured condition. The structure subsystem is the main housing
for the entire payload and the communication system. The structure is designed to withstand high impact
and unfavorable conditions that might arise during landing.
Once the balloon is released to the air, it will keep ascending. Communication system is the only system to
track the balloon. The core components of the communication system are transmitter inside the payload
and a receiver at ground. Communication system relates closely to the payload and computer system in
tracking the payload and the balloons trajectory during flight. Computer system acts as the brain of the
mission by controlling all on-board sensors and camera (payload) including that of the communication
system.
Upon launching, the balloon travels through different levels of atmosphere with different temperature
and pressure conditions. And with the drastic change in temperature and pressures at different
atmosphere levels that the payload is exposed to, there is a high risk of system malfunction. Therefore,
thermal system is important to ensure the temperature in the box is regulated and maintained at the
optimum temperature for the on-board system to function and perform at its best. Various tests and
research has been done before the suitable thermal system is identified and finalized that best suits the
purpose of this mission.
In order to retrieve the payload, the trajectory of the balloon can be estimated by doing flight simulation.
The weather update is crucial because it greatly influence the trajectory of the balloon during ascent and
descent operations. In addition, the software that is going to be utilized takes into account of the weather
forecast including wind direction and wind magnitude. Usually the accuracy is high when the estimated
date is closed to present time. Hence, the estimation of the weather has to be checked time by time for
better result.

1.4 Team Organization

1.4.1 Management Team
Project Advisor
Dr. Norilmi Amilia binti Ismail

Project Leader
Muhammad Zulfadli bin
Abdul Ghafar

Financial Manager
Lai Mei Ling

Secretary 1
Chin Bing Yao

Secretary 2
Choo Jacqueline

Corporate Communication
- Nazreen Shah bin Nasi
- Muhammad Syukri bin
Mohamed Shamsuddin

Safety Officer
Nabil bin Mohamad Usamah

Rescue Team
- Anuar bin Mohamad Nazri
- Muhammad Naim bin
Shamsudin

1.4.2 Technical and Engineering Team

Communication
Team
Computer System
& Payload Team

Lai Mei Ling

Muhamad Syukri bin Mohamed Shamsuddin
Nabil bin Mohamad Usamah
Anuar bin Mohamad Nazri

Structure Team

Muhammad Naim bin Shamsudin

Muhammad Zulfadli bin Abdul Ghafar

Thermal Team

Choo Jacqueline

Balloon &
Navigation Team

Chin Bing Yao

Nazreen Shah bin Nasip

1.5 Funding Support

This project is financially supported using resources from the School of Aerospace
Engineering, Universiti Sains Malaysia (USM). Apart from the resources available
from the school, we are also looking for stakeholders from industries, individuals,
academicians and other academic institutions. Up to this stage of the project, we
have successfully acquired our first stakeholder, Dr. Norizham Abdul Razakand, Dr.
Parvathy from the School of Aerospace Engineering. Dr. Norizham hopes to collect
gravitational force measurement during the flight while Dr. Parvathy wished to
collect data of the air content of the upper atmosphere for Air Pollution Index
(API). They both will provide any necessary sensors for the respective purposes.
Besides working on securing stakeholders for this project, we are also in the
process of acquiring donations and support through crowd funding campaign via
Pozible website at this link http://www.pozible.com/project/187780. Total fund
from the website is about RM 104.

2.0 MISSION REQUIREMENT

2.1Mission Timeline

Time, t (secs)
0.0
3514.2
6240.5
6241.0
8865.1
10264.0

Phenomenon
Balloon Launch!
Collection of data begins
Entering Stratosphere level
Balloon burst
Burst Altitude : 93211.9 ft
Descending begins
G-force measurement begins
Parachute deploys
Payload tracking begins
Payload landed
Search & Rescue begins

10

3.0 SYSTEM OVERVIEW

System integration is vital to ensure the mission is successful and the objectives are
achieved. Among the subsystems involves in this mission are Payload & Computer system,
Structure, Thermal, Communication and last but not least Balloon and Navigation system.
Each of these subsystems is important to ensure the success of the mission. The main
functions and the importance of each subsystem are presented in the chart below
together on how these subsystems are integrated to produce a larger system that drives
the mission.

Payload & Computer System

- acts as the main system that collect and
stored data
- the system that governs the
performance of on-board components
(sensors,camera etc)

Structure System

Thermal System

- the system that is protecting the onboard components from damage upon
landing

- the system that is responsible for

regulating the temperature inside
the box during the whole mission to
ensure the performance of on-board
components and systems

- acts as the main housing for other

systems ( house for integration)

Levitate
System

Balloon & Navigation

- the system that acts as the main engine of
the project
- provide lift for the mission to the upper
atmosphere
- important for estimated balloon location
and its trajectory during ascending and
descending

Communication System
- the system that is responsible on
communicating with ground station
- important to to trasmit and received data
during the entire mission
- useful for tracking purposes upon landing

11

With the subsystem description above, the top level (most critical) subsystem is identified to be
the payload & computer system and communication system although other subsystems are of
equally importance. These subsystems govern the most important part of the mission namely the
data collection and storage, transmitting of the video and image capture throughout the mission.
These two subsystems are considered to be the heart of the mission. Prediction and damage
analysis have been made for all subsystems and the results are obvious that the failures of both
of these subsystems are defined as mission failure or unsuccessful.
Therefore, in order to avoid mission failure, it is of outmost importance that these two
subsystems are heavily tested and inspected before launching. Various tested will be conducted
on each of the component of these subsystems to ensure their reliability, capability, performance
and efficiency at various temperatures and conditions. Risks that are associated with these
subsystems have been identified and management plan for the risks has been made.

12

4.0 SUBSYSTEM DESIGN & REVIEW

4.1Payload & Computer System
i)

Micro Controller

The chosen micro controller is Arduino MEGA. The main reason Arduino MEGA is
selected is due to its price and the number of I/O pins. Arduino MEGA acts as the
main onboard data handler and will be powered using a 12V power system. The
Arduino MEGA will be test to run along with other payload component in two
different conditions:
-

Normal room temperature condition (to test the functionality of Arduino

MEGA)
Worst case condition , -40 Celsius (to test whether the system can work well
during the mission phase)

Figure 1: Arduino Mega Micro Controller

ii)

Camera

Two cameras will be used throughout the mission phase. One camera will be used
to capture image basis of time interval while the other camera will be used to
record live feed video using FPV system. The two cameras chosen are TTL Serial
JPEG Camera and Mobius Action Camera.

Figure 2: TTL Serial JPEG

13

Figure 3: Mobius Action Camera

The TTL Serial JPEG camera needs to work with Arduino while the Mobius Action
camera is a stand-alone camera that comes with its own power supply. The testing of
these cameras will only include normal condition. The operating temperature for both
cameras is only between 0 60 degree Celsius. Therefore, adequate and proper
thermal control mechanism is crucial to maintain the temperature within this
allowable range.

iii)

Sensors
The list of chosen sensors and its function is as follows:

Adxl330

Since Adxl330 is a 3 axis accelerometer which provides 3 pin output for the
microcontroller to read. The main purpose of the Adxl330 is used to determine
the ascending and descending rate of the balloon. The calibration of the z-axis
pin is planned.

BMP180

As for BMP180, it reads the pressure of the surrounding and the temperature
while with the pressure it is programmed to calculate the altitude of the
BMP180. The test for the maximum pressure and thermal for the BMP is
planned.

SD Card

SD card is used to store the result and picture collected though the journey of
the balloon. The thermal test proved that the SD card start to fail at -12.50
Celsius.

TTL Serial JPEG Camera

The cameras havent been integrated into the board, however it is planned
with guide from the internet library.
14

Table 1: Selected Sensors for the Mission

BMP 180 Use to measure the pressure
at the highest altitude

ADXL 335 Use to measure the

acceleration experienced by the payload

MQ2 Gas sensor to detect Hydrogen

level

MQ7- Gas sensor to detect CO level

DHT11- Use to measure air humidity level

LM35- Use to measure temperature

Since BMP180, MQ2, MQ7, and DHT11 sensor will need to be placed
outside of the box structure, it is important to test the component at the
worst temperature during the mission phase. From the datasheet of each
sensor, the temperature range for these sensors is around -40 to 60 degree
Celsius. Each individual component will test at first, follow up by the
complete assembly subsystem test.

15

iv)

Power System
Battery
The selected battery is Energizer Ultimate Lithium AA (8 pieces) to produce 12
V of output voltage to be supplied to the micro controller. Each battery
consists of 1.5 V and it is very reliable as it produces a highest value of power
to weight ratio compared to other type of power sources. The weight which is
1/3 less than a standard weight of alkaline batteries contributes a huge
advantages as weight of total system is really crucial to be analyzed.
Advantages of using the battery are as follows:
I.
II.
III.
IV.
V.

Perform in extreme temperatures from -40C to 60C.

Hold power for 15 years when not in use.
Due to the higher voltage, it has more energy than alkaline.
The batteries have a very long storage time and can be used in very
cold condition.
Very impressive at high current.

Voltage Regulator
Voltage regulator is used to regulate and maintain a constant voltage level to
its suitable range. The chosen voltage regulator is LM 2596 as the efficiency is
among the highest compared to others which are up to 80%. The voltage
regulator could provide the input voltage ranging from 4.2V to 40 V and output
voltage of 1.25 V to 37 V which is very compatible to the chosen micro
controller. The wide temperature range proves that the voltage regulator could
function well in any extreme temperature and unexpected condition.

16

4.2Structure System
4.2.1 Requirements and objectives
The requirements and objectives of our main structure are:
High strength-to-weight ratio
High buoyancy
Good stability
Resistant from impact and load when hitting the ground
The location of the payload inside the main structure is fixed and steady
even though the main structure undergoes slightly high impact and load
4.2.2 The main structure shape
The shape design of the main structure is confirmed to be a cuboid shape which is
made up from polystyrene material. The reason this shape is chosen because:

Cuboid shape is the most ideal and famous shape used by most high altitude
balloon team globally
Easy to obtain
Easy to locate all the payload and subsystems because of the flat surface at
the base
Cuboid has a good strength of a structure which is the ability to maintain its
original shape and integrity when forces are applied to it.

Where = Pressure
= Force
= Area
The surface area at the base of the cuboid is higher, so from equation
above, the pressure exerted on the surface will be lower.

Cuboid has a good stability of a structure which is the ability to maintain its
original position and orientation when the force is applied.

17

Parachute

s
M

Figure 4: Easy to push over during landing

Parachute
s
M

Figure 5: Difficult to push over during landing

=
Where = Moment
= Force
= Perpendicular distance

The cuboid that has a long side at its base will have a smaller bending
moment that will increase the ability of the structure to maintain its original
position so the structure is difficult to push over by the wind force acting on
the parachute.

18

4.2.3 Components Layout

GPS

USM
Logo

Mobius
Camera

ca

Video
Tx

Arduino
Mega

Power
system

TTL
Camera

Accelerometer

Figure 6: Inside Components Compartment

For the inside component compartment, Arduino mega is placed at the center so
that it is easier to connect all the others component to that microcontroller. The
TTL camera and Mobius camera are placed at the side of the main structure which
is the right side is for TTL camera and the left side is for Mobius camera which is
the standalone camera that will capture the view together with the USM logo.
Besides that, the spot GPS and accelerometer are placed near to the Arduino
mega.

19

Cloverleaf
Antenna

MQ2

MQ7

DHT11

Pressure
Sensor

Figure 7: Outside (Top part) Components Compartment

For outside component compartment which is at the top of the main structure, we will install the
cloverleaf antenna to increase the strength of the signal because the signal strength can be
affected when there is something or objects that block the signal such as the main structure itself
when it is installed inside the main structure. Not only the cloverleaf antenna, we are also going
to install the MQ2, MQ7, DHT11 and pressure sensor on the outside at the top of the main
structure. MQ2 is the gas sensor to detect hydrogen level, MQ7 is the gas sensor to detect the CO
level, DHT11 is used to measure air humidity level and pressure sensor that will measure the
pressure. So, all these sensors need to install outside the main structure because the gaseous,
pressure and the air humidity level definitely different between inside and outside the main
structure.

20

4.3Thermal System
After the preliminary design review, several details are finalized and determined,
necessary items were purchased and testing was carried out. Finalized design of the
thermal system will make use of hand warmers/heat packs as the source of heat and
Aluminium foil as reflector to regulate the temperature inside the payload box.
Tests were carried out to determine the number of heat packs/hand warmers and
the layers of reflector needed for the mission. In the meantime, analysis on the heat
released by the on-board system was calculated based on the power requirements of
each component of the on-board system. The details and results of the analysis are shown
in Appendix D. With the total power consumption of on-board system of about 8W, heat
calculation is performed using the equations below.
= ()
= T
With the above equation the estimated heat released by the on-board system is
86.4kJ.Therefore, with an initial temperature of about 35 degree Celsius, the number of
heat packs needed are determined. However, the results from this calculation will have to
be verified through testing.
At the same time, the analysis that were previously done on the mission timeline is
revised from time to time to make sure the changes are taken into consideration when
carrying out the tests and if necessary, the thermal system design will be modified to
cater for these changes. Based on the updated details about the mass of payload, the rate
of change of temperature and ascent rate estimation in each atmosphere level was
recorded in the table below.
Table 2 Rate of Change of Temperature at Different Level of Atmosphere
Atmospheric Level
Rate of change of
temperature
Rate of Ascent
( with a payload of 1.5 kg)

Troposphere
-8C/km
( -ve refers to decreasing
temperature)

Stratosphere

29.284 minutes

3.66 minutes

1C/km

21

4.4Communication System
*antenna selection*

4.4.1 Video Transmission (Standalone)

Figure 8: Security Bo Tong Yi Ge 1.5W 1.2G Wireless Video Transmission

Description:
Model
Dimension
Weight

Specification

Cost

Video Transmitter (Yellow)

Digital 1.5W
7.3 4.1 1.4cm
90g
Transmission frequency:
HC1: 1080 HC2: 1120 HC3:
1160 HC4: 1200 (MHz)
Frequency control: Control
of digital phase-locked loop
frequency locking each lock
point.
Transmitting signals: video,
audio synchronous
transmission
Linear transmission
distance: 500-1000m (Stock
antenna)
Voltage: DC + 12V
Current: 500mA

Video Receiver (Silver)

JS1200
11.5 6.0 2.0cm
160g
Receiving frequency: 0.9 1.2GHz
Received signal: audio,
video, image synchronous
transmission
Receiving sensitivity: 85dBm
Video input level: 1Vp-p
Audio input level: 1Vp-p
Operating Temperature: 20 ~ + 50 C / -4 ~ + 122
H
Operating Humidity: 85%
RH
Voltage: DC + 12V
Current: 500mA

RM190
22

Figure 9: 1.2GHz Four leaf clover antenna clover antenna mushrooms (TX antenna)
Description:
Gain: 2dBi-2.5dBi
Directivity: Omni directional
Best for closing transmitter for video
Note Bobby: <1.5
Cost: RM22

Figure 10: KBT Genuine 1.2G/1.3G 14dB panel antenna, Luomei Bai Tong Baxter
Description:
Gain: 14dBi
Dimension: 220x190x45 mm
Frequency range: 1.1-1.3 GHZ
Typical lobe angle: E: 70 H: 60
VSWR: less than 1.5
Impedance: 50 ohms
Maximum power: 50 watts
Polarization: Vertical
Weight: 800g
Cost: RM82
23

Wireless Calculation

Fixed Parameters:

Transmitter Power: 31.76 dBm = 1500mW

Receiver Sensitivity: -85 dBm
Receiver Cable Loss: 2dBi
Assumed distance: 25km (from ground station to balloon)

1. Free Space Path Loss (FSPL)

= ( ) + ( ) + .
= () + () + .
= .
2. Fade Margin
=

= +
+

= 31.76 + 2 121.98 + 14 2
= 76.22
= . ()
= . (Normal Link)

EXCELLENT LINK: >22dB

GOOD LINK: 14~22dB
NORMAL LINK: <14dB

3. TX & RX Antenna Gain

24


= + +
+ + . + () ()
= . . + + . + . + .
= # PROVEN

= + +
+ + . + () + ()

= . . + + . + . + .
=

# PROVEN

Using this calculation and the TX and RX system, to obtain excellent link which is more than 22dB
between receiver and transmitter, the optimum distance will be at most 5.4km where the fade
margin is equal to 22.088dB.
The maximum distance available for the link to connect between receiver and transmitter is
68.6km, where the fade margin is equals to 0.010dB.

Interface planning

25

Choosing frequency

900 MHz
+ Signal will go easy around and penetrate walls and trees because of the low frequency.
+ Works with 2.4 GHz RC transmitters
+ DIY antennas are easy to make because of the low frequency but the size are big
- Used by cellphone companies
- Picture quality not as good as 5.8 GHz (Because of lower frequency)
- 'Old' technology
- Medium range

1.2 GHz (1200 MHz)

+ Signal will penetrate walls and trees because of the low frequency
+ DIY antennas are easy to make because of low frequency but are big
+ Works with 2.4 GHz RC transmitters if use special filters.
- Stay away from these frequencies:
1227.60 1575.42 MHz - GPS
962 - 1213 MHz - for navigation of airplanes
- Picture quality not as good as 5.8 GHz (Because of lower frequency)
That's the theory I have tested both 1.2 GHz and 5.8 GHz with the same camera but we could
not see any difference!
- Medium/long rang

2.4 GHz (2400 MHz)

+ Used for long range FPV flights
+ Best technology
+ Much antenna's to choose from
- Wont penetrate walls and trees as good as 900MHz and 1.2 GHz
- Frequency is crowded.
- Medium/long range (longer range then 1.2 GHz)

5.8 GHz (5800 MHz)

+ Perfect for short range
+ Works with 2.4 GHz RC transmitters
+ Easy to setup
- Shorter range when the air is humid or when flown close to clouds.
- Frequency is crowded
- DIY antennas are small but need to be made really precisely for good effect.
- Short range/Medium range

26

4.5Balloon & Navigation System

4.5.1 Balloon Trajectories Prediction
Balloon trajectories prediction is the essential prediction in this project. This is due
to the location of the balloon and in order to retrieve the payload. Generally, two
main programs will be used based on the suggestion by previous team member,
which are CUSF Landing Prediction by University of Cambridge and Balloon Track
Program by University of Wyoming. Both of these prediction programs are made
on Global Forecast System (GFS) of model National Oceanic & Atmospheric
Administration (NOAA). The detail of the location prediction is shown in the
following:
1. CUSF Landing Prediction
CUSF Landing Prediction is considered as an option for users. It has been
used widely to carry out experiments or project operations. This is an
online program whereby the users can obtain the output information by
inputting the required parameters. Figure 1 shows the users interface of
the program.

Figure 11: Users Interface for the Prediction Program

27

Figure 12: Result of the Prediction

Figure 13: CUSF Landing Prediction by University of Cambridge

28

However, one of the drawbacks of this software is about the limitation of

timing. Furthermore, the program is only able to predict the landing
location within one week or 180 hours from the time on. This is because of
the weather prediction can only be predicted within available period.
Figure 4 shows the unavailability of the program which the input period is
more than 180 hours.

Figure 14: Prediction Unavailable in 16 December of 2014

2. Balloon Tracking Program

Figure 15: Parameters needed for the Prediction Program

29

Figure 16: Balloon Tracking Program by University of Wyoming

3. Combination of Both Prediction

Figure 17: Both Predictions by CUSF and Balloon Track Program

30

4. Wind Prediction

Figure 18: Wind prediction on Certain Day

Based on the two aforementioned softwares, the landing prediction is

considered as accurate. According to the research shows on the internet, these
two softwares play a very important role in the prediction of the landing location
of High Altitude Balloon with specific criteria that have been set up. In addition,
the previous team members had also recommended the both softwares due to the
successfully retrieve of the payload. Therefore, conclusion has been come out and
the decision has been made on using these two softwares.

31

5.0 TESTING PLAN

5.1Payload & Computer System
Component Test
Qualification at all payload component level is achieved using the following method:

Component
Functional
Test

Shock Test

Component
Functional
Test

Vibration
Test

Component
Functional
Test

Thermal
Vacuum and
Functional
Test

Subsystem Test
This level testing will be conducted inside the actual HAB box structure. All subsystem will
undergo functional testing to ascertain proper function under every mission condition.

Subsystem
Functional
Test

Shock Test

Subsystem
Functional
Test

Vibration
Test

Subsystem
Functional
Test

Thermal
Vacuum and
Functional
Test

32

5.1.1 Power System (Voltage Regulator and Battery)

Thermal Test
In order to conduct the thermal test for power system both component
should be done together to obtain the desired results. The complete
system should be placed in a room temperature first to achieve the best
data and been recorded. Then, the complete system of power system must
be placed in various temperatures to see how it works and how much it
varies from the optimum results.

Battery arrangement
Both series and parallel arrangement must be conducted to obtain the
output readings of voltage, current and resistance produced by each
arrangement. Based on the mission objectives, the most suitable value of
voltage, current and resistance must be selected from either series or
parallel arrangement.

33

5.1.2Components Testing

Arduino Microcontroller Setup

Read and buy from the Arduino.cc and purchases at one of the most trusted
supplier in Malaysia, Cytron.
Apparatus and procedure:
1. Arduino Board
2. USB cable wire
Procedure:
1.
2.
3.
4.

Download the new Arduino IDE on the computer at Arduino.cc

Install the software
Plug in the USB cable into the Computer with Arduino board
Run one example from the library sheet

5. Blink the permanent LED provided at Pin 13

6. Run

34

BMP180 + LM35 + SD card (Integrated Program)

Coding is provided below
Testing the sensor and Data logging capabilities
Apparatus:
1. Arduino Board
2. BMP180 (barometric pressure sensor)
3. LM35 (thermal sensor)
4. SD card shield
5. SD card
6. USB cable
Procedure:
1. Download the BMP180 library at GITHUB
https://github.com/adafruit/Adafruit_BMP085_Unified
2. Plug in all the cable and complete the wiring as show in example.

Figure 19: Complete Wiring

3. Using the Data logger code, BMP180 and LM35 example from the library
the code is integrated into one program.
4. Compile and fix any error and Upload it into the board.
5. Result *Refer to Appendix B*

35

Adxl330 3-axis Accelerometer (Program)

Testing the capabilities of the 3 axis accelerometer
Procedure and Apparatus:
1. Place the Adxl330 into the breadboard and wire it up
2. Plug in the USB cable from the board into computer and run the example
given in the library
3. Using the user Serial Monitor from the computer and monitor the analog
input from the accelerometer from the 3 axis.
4. Calibration is planned however it yet to be done since to focus on the other
sensors.

Figure 20: Analog input of Accelerometer from 3-Axis

JPEG Camera
1. Received
2. Still in progress however the library has been obtain
Thermocouple Wire
1. Received
2. Programming and calibration in progress
3. Substitute for LM35 due to its rate of sensing and operating temperature.
36

5.2Structure System
Several tests for the structure system will be done to test the limit of its
capability. The item that needs to be tested is similar to that during launch. The
following will be the test that we will conduct before launch day:

Drop test
The purpose of this test is to test the strength and toughness of the
main structure system. The main structure is dropped from a certain
height together with parachute system. The main structure is make
sure to has a weight about 2 kg before conduct the test by adding
others object which are not the payloads or components because they
will have a high risk for damage. The height of the drop will be ensured
reasonable enough so that there will plenty of periods for the
parachute to deploy safely. Our target height is about 60 meters from
ground level. This test is considered successful if the main structure
landed at its original position before launch and does not have any
damage.

Float test
The purpose of this test is to ensure that the main structure has a high
buoyancy ability and water resistant. The main structure is make sure
to has about 2 kg by putting anything inside it just for the sake of the
test. Before conducting the experiment, the main structure will be
wrapped completely by the plastic wrap. This experiment is considered
successful if the main structure does not sink and the water does not
get inside the main structure.

Impact test
The purpose of this test is to ensure that the main structure has a high
strength during landing even though the parachute is failed to deploy.
The main structure that has about 2 kg is drop at about 10 m without
parachute system. Before conducting the experiment, the main
structure will be covered with the safety vest. This experiment is
considered successful if the main structure does not have any damage
after the impact test.

37

5.3Thermal System
After the details of the mission are finalized, tests for thermal system can be carried
out. Thermal tests will be carried out in two different freezers of different temperatures (20 deg. C & -80 deg. C) to mimic the condition that the payload will experienced after
launch and the worst case scenario .Tests will be conducted in the Composite lab of School
of Aerospace Engineering and also the Petroleum lab at the School of Chemical Engineering.
The table below shows the tests that were planned for thermal system.
Table 3 Planned test for thermal system
Test

Description
To test heat packs capability to release heat
Temperature: Room Temperature (28 deg. C)
Duration: 3 hours
No. of heat pack: 1
Reflector : None
To test heat transfer rate between the box and the surroundings
Temperature: -20 deg. C
Duration: 3 hours
No. of heat pack: None
Reflector : None
To test heat packs capability to release heat
Temperature: -20 deg. C
Duration: 3 hours
No. of heat pack: 5
Reflector : None
To test heat packs capability to release heat
Temperature: -20 deg. C
Duration: 3 hours
No. of heat pack: 5
Reflector : Yes
To verify the prediction of temperature in the box
Temperature: -80 deg. C
Duration: 1 hour
No. of heat pack: 5
Reflector : Yes
To test the number of reflector necessary
Temperature: -20 deg. C
Duration: 3 hours
No. of heat pack: 5
Reflector : Yes (2 layers)
To verify the heat released of the on-board system
Temperature: Room Temperature (28 deg. C)
Duration: 3 hours
No. of heat pack: None
Reflector : Yes

Expected Results/Parameter

Heat release rate

Heat transfer rate

Heat release rate

Heat release rate

Difference in the rate
between two different
conditions

Heat release rate

Controlled
temperature in the
box

Temperature matches
the calculated
temperature

38

All the tests above were plan to be carried out in order for the thermal system to
determine the capabilities and efficiency of the heat pack to release heat at room
temperature and also in cold temperatures, the rate of heat transfer between the box and
its surroundings, the functionality of the heat pack at low temperatures for a period of
time and also to verify the prediction of the temperature in the box with respect to the
number of heat pack placed in it.
Set-up of thermal test
Materials/components involved with thermal testing includes the payload box,
heat packs, duct tape, cling wrap, temperature sensors, thermocouples, aluminium foil,
Arduino microprocessor and a computer. The set-up of the testing are shown in the
picture below.

Figure 20: The temperature sensor in the payload box connected to

the Arduino microprocessor inside the freezer

Figure 22: The computer and Arduino microprocessor that is

Outside the freezer(Payload is inside the freezer)

Figure 21: The arrangement of heat packs inside the payload box

Figure 23: Usage of thermocouple instead of the microprocessor

with the temperature sensor

39

Figure 24: The overall test set-up with the microprocessor and the thermocouple. Payload box is sealed with
cling wrap before placing it in the freezer

40

5.4 Communication System

5.4.4 Live feed video test
Currently, all the main items for the test session are sufficient. The test session has
started off by connecting all the components/items involved. Unfortunately, an
accident occurred when the video camera SJ4000 was plugged into wrong voltage
input of 12V. The required voltage was only 5V. As a result, the camera undergoes
a short circuit and we had try to revive it in many ways but we failed. Besides,
there are lack in wire connection between the video camera and the video
transmission. All the insufficient wires had been identified and we will replace the
video camera with Mobius camera, a much smaller and lighter camera. Therefore,
the test session was delayed to another time after CDR.
In the future before Flight Readiness Review (FRR), we will ensure that the live
feed video will work and then we will construct a range test of 2.4km, located at
the main road in front of USM.

41

5.5Balloon & Navigation System

Testing 1

Prototype

Testing 2

Real parachute

Refabricate

If needed
Addition of hole, mounting to the balloon or
refabricate if something happened during
testing

Inspection

Ensuring balloon, parachute, mounting

and joints ready

Ready to
fly
5.5.1 Parachute Testing
1. Objectives
To ensure the designed configuration of the parachute will function
properly (deployment)
To estimate the deploy time of the parachute and landing time of the
payload
To determine the effect of the centre hole on the parachute
2. Apparatus and Material
Prototyped parachute made by plastic bag (with and without centre
hole)
Actual Fabricated Fabric Parachute (without centre hole)
Payload (about 1.5kg)
Stopwatch
Paper Ring
Nylon Rope

42

3. Procedure
i.
The prototyped plastic parachute (without centre hole) is prepared.
ii.
The Nylon rope is connected from the parachute to the paper ring
evenly.
iii.
The Nylon rope is connected from the payload to the paper ring evenly.
iv. The prototyped plastic parachute is thrown from 7th floor (Desasiswa
Utama) in height, about 22.4 meters.
v.
The time taken is started by using stopwatch once the parachute is
released to the air.
vi. The time is taken when the payload falls on ground.
vii. The experiment/testing is repeated by using prototyped plastic
parachute (without center hole) and actual fabricated Fabric parachute.
viii. The time taken is recorded and tabulated.
The test will be done again when the center hole is made on the fabric parachute.

43

6.0 PROTOTYPE & ANALYSIS

6.1Payload & Computer System
Breadboard Wiring and Schematic Diagram of LM35, SD Card shield, BMP180, ADXL330, camera
into Arduino mega 2560:

Figure 25: Breadboard Wiring Diagram

Diagram above show the connection of 5 components into the Arduino with power supply. The
lest is the BMP180 which sense the pressure and temperature of the surrounding and it required 4
connection which are the SDA(green), SCL(yellow), Ground and 3.3 volts power supply. Next is the SD card
shield which is more complicated compared to BMP180, where it required 6 connections which are MISO
(brown), MOSI (green), SCL (yellow), CS (blue), Ground and 5 volt power supply.
The Axl330 which is the 3 axis accelerometer required 5 connection into the board whereas the ground,
3.3volts, x-axis (pink), y-axis (yellow) and z-axis (blue). However, the camera still in progress where the
connection still in research for the integrated program. Finally the LM35 (thermal sensor) that required
only 3 pin which is the 5 volts, ground and Vout (light blue).

44

Figure 26: Schematic Diagram

45

6.2 Structure System

6.2.1 Drop Test

Drop test is done to make sure that our main structure can land at its original
position which is the position before dropping it. The main structure that has weight
about 2 kg together with the parachute system is drop at a high about 25 m. This
drop test is successfully done because our main structure landed as their original
position and does not push over by the wind force that acting on the parachute.

46

6.2.3 Float Test

Float test is done to make sure that the main structure has a high floating ability.
The weight of the main structure is about 2 kg. The main structure is wrapped first
with the plastic wrap to avoid water get inside our main structure. After that, a
long rope is attached with the main structure. It will make our job easier after the
main structure is thrown away on the water because we just need to pull the rope
to get back our main structure. As the result for this test, the main structure
floated well and the water does not get inside our main structure so, this test is
succeed.

47

6.2.4 Impact Test

Impact test is done to make sure that our main structure can resist the impact during landing
even though the parachute system is malfunction. The main structure that has weight about 2 kg
together with the safety vest is drop at a high about 10 m. This drop test is successfully done
because our main structure does not have any damages after the test.

48

6.3Thermal System
Test 1 and 3 has been conducted and the results are tabulated and discussed below.
Test 1 Results

Heat Pack Efficiency

45

Temeprature (deg C)

40
35
30
25
20
15
10
5
0
2.45 2.53

3.03 3.15 3.2 3.25 3.3 3.41 3.48 4.04 4.18 4.2

4.4 4.52 4.58 5.05

Time

The heat packs are tested at room temperature for about 3 hours to determine its efficiency and
the rate of change of temperature of the surroundings. The above graph is obtained when the
results from the testing is tabulated. The estimated results from this testing is that heat pack loses
its efficiency after 2.5 hours. However, this graphs shows otherwise. It shows that the heat packs
efficiency varies with time and is unpredictable. Although the results are not as what we have
expected, we still manage to estimate the rate of change of temperature of 1 heat pack that is
about 2 degrees increment about every 3hours. With that estimation at hand, we conducted
several other tests to verify its reliability.

49

Test 3 results

Temperature VS Time
35.00
30.00
25.00

Axis Title

20.00
15.00
10.00
5.00
0.00
-5.00
-10.00
-15.00
-20.00

Axis Title

Test 3 is conducted with 5 heat packs in the freezer to analyze and observe the efficiency of the
heat pack at -20degC temperature. The graphs show some irregularity, that the heat packs
efficiency is not a linear function with respect to time. However, from the graph what can be
deduce is that the heat pack does function by maintaining temperature inside the box to decrease
at a slower rate than it should. After 3 hours of data, the temperature is very well maintain at a
temperature higher than that of the freezer. The temperature inside the payload box maintain for
about 25 minutes at a temperature of -7 degrees Celsius just as predicted and expected based on
the results from Test 1.
Future tests will be conducted and will be involving reflector to improve the heat insulation of the
payload box.

50

6.5 Balloon & Navigation System

6.5.1 Parachute testing result
Height = 22.4m
Diameter of centre hole = 0.1m
Type of Parachutes

Time taken for payload to fall on ground

(s)
Plastic Parachute (without centre hole)
14
Plastic Parachute (with centre hole)
11.6
Fabricated Fabric Parachute (without
8
centre hole)
Type of Parachutes
Plastic Parachute (without centre hole)
Plastic Parachute (with centre hole)
Fabricated Fabric Parachute (without
centre hole)

Velocity (m/s)
1.6
1.93
2.8

Analysis
Based on the testing result, fabricated fabric parachute has a higher velocity compare
to both plastic parachutes. The contributed factors might affect this result is the
weather. During testing on plastic parachute, there was a strong wind blowing
whereas contrary goes to fabricated fabric parachute. The objective of the testing is to
determine the necessity of the centre hole on fabric parachute. If there is necessary,
the diameter of the centre hole has to be determined. Regarding to the situation, a
maximum diameter 10cm of centre hole can be made on the fabric parachute for
stability purpose. As a result, the velocity of the parachute will be slightly higher than
2.8 m/s as refer to the case study on plastic parachute.

51

Pictures from the testing (both plastic bag and fabric)

Figure 27: Parachute testing with prototype (plastic bag)

Figure 28: Parachute testing with fabricated nylon fabric

52

7.0 RISK MANAGEMENT

7.1 Current Risks
7.1.1 Payload & Computer System
i)
The effect of temperature on the battery capacity
We are using the ENERGIZER L91 Ultimate Lithium batteries as a power
system. However, from the datasheet of this battery, we found that the
amount of battery capacity decreases along with the decrease in
temperature. The batteries should work fine at 0 Celsius, but decline
linearly afterwards. Since the optimum operating temperature for the
batteries is around 20 to 40 Celsius, thermal subsystem play a very
important role in maintaining the temperature within the box. We will also
test the discharge rate of the batteries in different temperature so that the
information from the datasheet can be verified.

Figure 29: Graph of ENERGIZER L91 capacity against temperature

ii)

The wiring connection between Arduino and other payload components

The connection of all wire that involve sensors and power supply is held
merely by the use of a bread board. There will be a high chance that some
of the wire will be loose during launching or landing period. The first
alternative is to secure each connection using appropriate tape and
adhesive. If it is not possible and deemed not fit, the second option
includes the use of a proto breakout shield. The photo breakout shield
enables all the wire to be solder on top of the Arduino MEGA controller
board.

53

Figure 30:: MEGA Photo Breakout Shield

iii)

The minimum temperature at the stratosphere

To enable each and every payload component to work successfully, the
minimum temperature at the stratosphere must be known. In general, the
study of stratosphere indicates that the minimum temperature at this
region can be up to -60 Celsius. However, the data provided by the TSR,
Thailand Space and Aeronautic research suggest that the minimum
temperature will be around -35 Celsius while the data from MET, Malaysian
Meteorological Department suggest the temperature to be -80 Celsius.
Most of electrical component can still works at -40 Celsius with exception
of the batteries. Proper thermal insulating and temperature control will be
necessary to control this problem.

iv)

Camera lens covered with fog

The sudden drop in temperature will ended with a high risk for the camera
lens to be covered with fog or water droplets. This fog can decrease the
quality of image and video being captured by the camera. The solution
suggest is to use an Anti-fog spray that can prevent the lens from getting
blur or foggy.

Figure 31: Anti-fog spray

54

v)

Power System

Voltage Regulator

At certain range of altitude and temperature, the voltage regulator is not

performing well in terms of regulating the voltage used due to the affected
discharged rate by the batteries. Certain temperature might differ the discharging
rate of the battery as well as the input voltage of the voltage regulator. It is
suggested to conduct a thermal test to study the capability to function well at
certain temperature of the voltage regulator. By having this test, the surrounding
temperature around the voltage regulator can be optimized to its best working
temperature.

Battery

The arrangement of the battery must be decided either to be in series or parallel.

Referring to the theory, each arrangement has its own pros and cons depending
on the mission. For series arrangement, the voltage supplied to the payload would
be increased while in parallel arrangement, the current supplied to the payload
will be increased. The resistance in parallel arrangement will be slightly lower
compared to the series arrangement although the power output for both
arrangements is the same. Therefore, a test to investigate the suitable
arrangement for this mission should be done with respect to the requirements of
the payloads.
Arrangement

Series

Parallel

Voltage

= 1 + 2 + 3 + +

= 1 = 2 = 3 = =

Current

= 1 = 2 = 3 = =

= 1 + 2 + 3 + +

Resistance

= 1 + 2 + 3 + +

1
1
1
1
1
=
+
+
++
1 2 3

The selected battery, Energizer Ultimate Lithium can function well in temperature
range from -40C to 60C based on the provider products information. The battery
is also strongly suggested for its longer-lasting capability and more power can be
provided to the whole system. It is still a need to conduct a thermal test to ensure
that the battery can perform well in extreme and various temperatures.

55

7.1.2 Structure System

There are many risks when conducting the testing, which are drop testing,
float testing and impact testing. First, is the high impact of the main structure
during landing. The drop testing had been done together with the parachute
system. The height of the drop is ensure suitable enough so that the parachute can
deploy safely and reduce the impact of the main structure. Polystyrene cardboard
is used to make the compartment of the components as a cushion to absorb
impact during landing.
The next risk is the main structure landed not in its original position. The wind
force acting on the parachute can push over the main structure during landing. So,
the cuboid polystyrene that has a long side at its base is used rather than using the
cuboid polystyrene that has a short side at its base.
The book rope broke also one of our risks during conducting the drop test. Book
rope is used to attach the safety vest with the nylon string. Conducting the drop
test at a higher place can break the book rope so high strength book rope is used
and the stitches at the safety vest is ensure to be strong enough.
There is high possibility for the safety vest to tear during drop test. The safety
vest is used to cover the main structure that can increase the physical appearance
to ease the rescue process. During drop testing, the weight of the main structure is
about 2 kg so a high strength safety vest is used to support the weight of our main
structure.
The next risk is the water get inside the main structure during float testing. The
main structure will be thrown away on the water to analyze the floating ability.
Plastic wrap is used to wrap completely our main structure to make sure that the
water does not get inside the main structure even though the main structure
landed at any surfaces.
The last risk is the main structure has a severe damage during the impact testing
because the parachute system will not be applied during the testing. The main
structure will be dropped at a high about 10 m so the possibility that our main
structure will damage is definitely high. We have extra cuboid polystyrene that can
be used when our first cuboid polystyrene is damaged during this test.

56

7.1.3 Thermal System

After a few tests have been done, risks associated with the thermal system
are revisited for reassessment. There are new risks that surfaced as the
testing was conducted. Among the risks that surfaced at this stage of
7.1.3.1 Capability of heat packs
Heat packs are tested are their operating temperature, specs and also
behavior in different temperatures. From the tests, the results show the
inconsistency of the heat packs at releasing heat. Currently, thermal team
is still researching and understanding the capabilities and efficiency of the
heat pack at various temperatures with respect to time. This factor is very
important in order for the thermal team to predict the number of heat
pack required to regulate and maintain the temperature inside the box for
the mission.

7.1.3.2 Inaccurate prediction/calculation that leads to overheating problems

Heat released by the on-board system is calculated with simple
assumptions where linearity is in place. The results from the calculation will
further be verified through a series of tests to ensure the accuracy of the
calculated value and thus the sufficient amount of heat can be produced to
retain the temperature in the box.

57

7.1.5 Balloon & Navigation

7.1.5.1 Balloon and Parachute
One of the risks that might be encountered is about the unexpected
collision such as bird strike or any other substances that might cause the
balloon burst or parachute broken. This will result in failure of the project
in ascend or descent period. In term of balloon, when balloon burst before
the targeted altitude, the data will not be captured at that certain altitude.
In term of parachute, failure in deploying the parachute or parachute
broken will cause the payload to have a large impact when it is landed on
ground. The camera or other payload components will experience a severe
damage due to its high velocity without aid of parachute.
7.1.5.2 Rope Tangled Issue and Uneven Rope Length

The Nylon rope is used to connect the payload/balloon to the paper ring.
Due to the uneven tight pattern, the length of the rope will become
irregular. Hence, in term of payload, it becomes imbalance when it hangs in
the air. This will affect the stability of whole configuration. Plus, another
problem goes to entangled rope, there are eight Nylon ropes connected
from parachute to the paper ring and six Nylon ropes are linked from
payload to paper ring. However, the rope tends to be tangled when it is in
ascent or descent period.

58

8.0 PROJECT SCHEDULE

*Refer to Appendix A for Project Gantt chart*

59

9.0 PROJECT BUDGET

9.1Subsystem Budget
9.1.1 Payload and Computer System
No.

Item

Quantity

Cost

1.

Arduino Mega + Shield

Microprocessor

RM220.00

2.

Barometric Pressure
Sensor (BMP 180)

Sensor

RM35.00

3.

Accelerometer

Sensor

Stakeholder

MQ2 Gas sensor module

(hydrogen)
MQ7 Gas sensor (Carbon
Monoxide)
DHT11 Digital
Temperature and
Humidity Sensor

Sensor

RM18.00

Sensor

RM10.00

Sensor

RM14.00

7.

TTL Serial JPEG Camera

Camera

RM145.00

8.

SJ4000 HD CAM + 32gb

micro SD memory card

Video Camera

RM380.00

9.

Mobius Camera

Video Camera

RM300

10.

LM 2596

Voltage Regulator

RM18.00

8 x AA Batteries Holder
Case Box
Energizer Ultimate
Lithium

Battery holder

RM5.00

Battery

RM60.00

13.

SanDisk SD Card

Memory card

RM20.00

14.

Anti-Fog Fluid

Prevent fog at
camera

RM20.50

15.

Other components and

wires

etc.

16.

Shipping Allocation

RM35

4.
5.
6.

11.
12.

Description

TOTAL= RM1280.50

9.1.2 Structure & Thermal

60

No.

Item

1.

Heat Pack

2.

Plastic Wrap

Description

Thermal Source

Wrap the box

structure for
buoyancy
Act as carrier to
connect the
balloon with the
box
For main structure
(box)
Attachment
between
polystyrene

3.

Safety Vest

4.

Polystyrene Box &

Polystyrene Cardboard

5.

Araldite

6..

Duct tape

7.

Book rope

8.

Reflector

To seal the box

To attach safety
vest with nylon
string
To contain the
heat within the
payload box

Quantity

Cost

20

RM50.00

RM5.90

RM13.80

Free

Free

RM9.50

RM20.00

Free

TOTAL= RM99.20

61

9.1.3 Communication

No.

Item

Description

Quantity

Cost
Sponsored by USM

SPOT Satellite GPS

Messenger
uBLOX MAX-M8Q
Breakout with Quad-V
Antenna

GPS

GPS

3.

Uniden BC95XLT

Receiver

Available

Transceiver

RM130.27

4.

433MHz RF (UART)
Transceiver Module
NTX2B 434Mhz Radio
Module NTX2B-FA

Transmitter

Available

Security Bo Tong Yi
Ge 1.5W 1.2G
wireless video
wireless
transmitter
receiver wireless
surveillance
1.2GHz Four leaf
clover antenna
clover antenna
mushrooms (TX
antenna)
1.2GHz KBT flat
antenna for
audio/video
transmission
system (RX
antenna)

RM190.00

RM22.00

RM82.00

RM55

1.
2.

5.

Video Transmission

6.

Shipping Allocation for

video transmission

RM 213.31

TOTAL = RM 692.58

62

9.1.4 Balloon & Navigation

No

Item

Description

Quantity

Cost

Helium gas

It uses to inflate the

balloon

Volume of Tank:
6.4 3

Sponsored by
USM

Balloon

Parachute fabric

Tailor Service

Plastic Beg

Tapes
Cellophane
tapes
Duct Tape
Ring

Nylon rope
Soft (Testing)
Hard (Real)

It uses to generate lift

filled up with helium gas
To bring down the
payload
To sew the parachute and
cover for the main
structure
Handmade of parachute
for testing
Multi-purpose

Targeted use:
4.25 3
1 for testing
1 for launch day

Sponsored by
USM
RM 40.00
includes
shipping
RM 60.00

FREE

RM 25.00

Size: 1x5 3

As a medium to connect
4
parachute and the main
structure
To connect the parachute,
balloon and main
2
structure

RM 2.90

RM 3.90
RM 12.00

TOTAL =RM 143.80

9.2Project Budget
No.

Team

Cost

1.

Payload& Computer System

RM1280.50

2.

Structural and Thermal

RM 99.20

3.

Communication

RM 692.58

4.

Balloon &Navigation

RM 143.80

TOTAL PROJECT COST = RM 2216.08

63

8.0 OUTREACH PROGRAM

In order to ensure the community involvement in our project, we established a
blog/website where people/students can keep themselves updated with our project
progress. They can learn about the latest decision or modification we had made for our
project, giving comments and even ideas to make our project better! Heres the link to
our website, http://levitatehab.wordpress.com/

9.0 REFERENCES
1. Project Horus,High Altitude Balloon Project
http://projecthorus.org/
2. High Altitude Balloon Project PDR Report (October, 2013)
3. Parachute Calculator from Rocket Reviews
http://www.rocketreviews.com/index.php
4. Descent Rate Calculator from Rocket Reviews
http://www.rocketreviews.com/descent-rate-calculator.html
5. Linking an Arduino to a Radiometrix NTX2B Transmitter,UKHAS Wiki, UK High Altitude
Society
http://ukhas.org.uk/guides:linkingarduinotontx2
6. Building the Tracking Device for a High Altitude Balloon, TheHABLab
http://thehablab.com/blog/building-the-tracking-device-for-a-high-altitude-balloon-10

10.0 APPENDIX

64

10.1 Appendix A: Gantt chart (Subsystem)

Planned

LEGEND
Task Breakdown
Payload & Computer System Team
High Altitude Group Briefing
Task Allocation Among Payload Engineer
Information Gathering & Research
Payload Component Trade-off
Programming
Computer System Prototype
Purchasing of Payload Component
Configure & Test Component Connection
Launch : Retrieve & Distribute Data
Documentation
Structure Team
Define mission Objectives and Task
Allocation
Research on Structural Requirements
Expected Budget for Proposal
Finalize Item and Structural Configuration
Critical Design Review (CDR)
Flight Readiness Review (FRR)
Structural Project Work & Fabrication
Preparation for Final Presentation
Testing & Launching
Thermal Team
Project Introduction & Team Forming
Task Identification
Information Gathering & Research
Preliminary Design Review (PDR)
Detailed Design Review (CDR)
Thermal Testing
Launch
Documentation

W1

W2

W3

W4

Completed
W5

W6

W7

W8

W9

W10

W11

W12

W13

W14

W15

65

Task Breakdown
Communication System
Project Introduction & Team Forming
Identify Project & System Requirements
Design System Layout
Project Proposal
Intense Research on System & Electronics
Components
Preliminary Design Report (PDR)
Testing & Practical Hands On
Finalizing Components and System Design
Configuration
Critical Design Review (CDR)
Configure & Test Components
Project Launch Day

W1

W2

W3

W4

W5

W6

W7

W8

W9

W10

W11

W12

W13

W14

W15

Balloon & Navigation Team

Project Introduction & Team Forming
Task Allocation
Information Gathering & Research
Balloon & Parachute Conceptual Design
Preliminary Design Review
Balloon & Parachute Detail Design
Launch Day
Documentation

66

10.2 Appendix B:Result of BMP180 + LM35 + SD card Testing

67

10.3 Appendix C: Coding (Payload & Computer system)

10.3.1 BMP180 + LM35 + SD card (Integrated Program)
/*
The circuit:
* analog sensors on analog ins 0, 1, and 2
* SD card attached to SPI bus as follows:
** MOSI - pin 11
** MISO - pin 12
** CLK - pin 13
** CS - pin 3
*/
#include <SD.h>
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BMP085_U.h>
// On the Ethernet Shield, CS is pin 4. Note that even if it's not
// used as the CS pin, the hardware CS pin (10 on most Arduino boards,
// 53 on the Mega) must be left as an output or the SD library
// functions will not work.
constintchipSelect = 53;
Adafruit_BMP085_Unified bmp = Adafruit_BMP085_Unified(10085);
floattempO;
inttempPin = 1;
int p = 0;
voiddisplaySensorDetails()
{

sensor_t sensor;
bmp.getSensor(&sensor);
Serial.println("------------------------------------");
Serial.print ("Sensor:
"); Serial.println(sensor.name);
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" hPa");
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" hPa");
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" hPa");
Serial.println("------------------------------------");
Serial.println("");
delay(500);
}
void setup()
{
68

// Open serial communications and wait for port to open:

Serial.begin(9600);
Serial.print("Initializing SD card...");
// make sure that the default chip select pin is set to
// output, even if you don't use it:
pinMode(53, OUTPUT);
// see if the card is present and can be initialized:
if (!SD.begin(chipSelect)) {
Serial.println("Card failed, or not present");
// don't do anything more:
return;
}
Serial.println("card initialized.");
//pressure sensor test
Serial.println("Pressure Sensor Test"); Serial.println("");
/* Initialise the sensor */
if(!bmp.begin())
{
/* There was a problem detecting the BMP085 ... check your connections */
Serial.print("Ooops, no BMP085 detected ... Check your wiring or I2C ADDR!");
while(1);
}
/* Display some basic information on this sensor */
displaySensorDetails();
Serial.println("Pressure Sensor Detected");
Serial.println("Pre");
}
void loop()
{
sensors_event_t event;
bmp.getEvent(&event);
tempO = analogRead(tempPin);
// read the analog value from the lm35 sensor.
tempO = (5.0 * tempO * 100.0)/1024.0; // convert the analog input to temperature in
centigrade.
p = p+1;
if (event.pressure)
{
/* Display atmospheric pressue in hPa */
Serial.print("Pressure: ");
Serial.print(event.pressure);
Serial.println(" hPa");
/* Calculating altitude with reasonable accuracy requires pressure *
* sea level pressure for your position at the moment the data is *
* converted, as well as the ambient temperature in degress
*
* celcius. If you don't have these values, a 'generic' value of *
69

* 1013.25 hPa can be used (defined as SENSORS_PRESSURE_SEALEVELHPA *

* in sensors.h), but this isn't ideal and will give variable
*
* results from one day to the next.
*
*
*
* You can usually find the current SLP value by looking at weather *
* websites or from environmental information centers near any major *
* airport.
*
*
*
* For example, for Paris, France you can check the current mean *
* pressure and sea level at: http://bit.ly/16Au8ol
*/
/* First we get the current temperature from the BMP085 */
float temperature;
bmp.getTemperature(&temperature);
Serial.print("InsideTemperature: ");
Serial.print(temperature);
Serial.println(" C");
Serial.print("OutsideTemperature: ");
Serial.print((byte)tempO);
Serial.println("C");
/* Then convert the atmospheric pressure, and SLP to altitude
*/
/* Update this next line with the current SLP for better results */
floatseaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
Serial.print("Altitude: ");
Serial.print(bmp.pressureToAltitude(seaLevelPressure, event.pressure));
Serial.println(" m");
Serial.println("");
}
else
{
Serial.println("Sensor error");
}
// open the file. Note that only one file can be open at a time,
// so you have to close this one before opening another.
File dataFile = SD.open("test2.txt", FILE_WRITE);
// if the file is available, write to it:
if (dataFile) {
dataFile.print(p);
dataFile.print(". ");
dataFile.print("Pressure,hPa= ");
dataFile.print(event.pressure);
float temperature;
bmp.getTemperature(&temperature);
dataFile.print(" InsideTemperature,C= ");
dataFile.print(temperature);
70

dataFile.print(" OutsideTemperature,C= ");

dataFile.print(tempO);
floatseaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
dataFile.print(" Altitude,m= ");
dataFile.print(bmp.pressureToAltitude(seaLevelPressure, event.pressure));
dataFile.println("");
dataFile.close();
// print to the serial port too:
}
// if the file isn't open, pop up an error:
else
{
Serial.println("error opening compile.txt");
}
delay(1000);
}

10.3.2 Adxl330 3-axis Accelerometer

No calibration
Simple voltage read
/*
ADXL3xx
Reads an Analog Devices ADXL3xx accelerometer and communicates the acceleration to
the computer. The pins used are designed to be easily compatible with the breakout
boards from Sparkfun, available from:
http://www.sparkfun.com/commerce/categories.php?c=80
http://www.arduino.cc/en/Tutorial/ADXL3xx
The circuit:
analog 0: accelerometer self-test
analog 1: z-axis
analog 2: y-axis
analog 3: x-axis
analog 4: ground
analog 5: vcc
created 2 Jul 2008
by David A. Mellis
modified 30 Aug 2011
by Tom Igoe

71

This example code is in the public domain.

*/
// these constants describe the pins. They won't change:
// analog input pin 5 -- voltage
constintxpin = A10;
// x-axis of the accelerometer
constintypin = A9;
// y-axis
constintzpin = A8;
// z-axis (only on 3-axis models)
void setup()
{
// initialize the serial communications:
Serial.begin(9600);
// Provide ground and power by using the analog inputs as normal
// digital pins. This makes it possible to directly connect the
// breakout board to the Arduino. If you use the normal 5V and
// GND pins on the Arduino, you can remove these lines.
}
void loop()
{
// print the sensor values:
Serial.print("x= ");
Serial.print(analogRead(xpin));
// print a tab between values:
Serial.print("\t");
Serial.print("y= ");
Serial.print(analogRead(ypin));
// print a tab between values:
Serial.print("\t");
Serial.print("z= ");
Serial.print(analogRead(zpin));
Serial.println();
// delay before next reading:
delay(500);
}

72

10.3.3 JPEG Camera

-havent tested yet
#include <Adafruit_VC0706.h>
#include <SD.h>
// comment out this line if using Arduino V23 or earlier
#include <SoftwareSerial.h>
// uncomment this line if using Arduino V23 or earlier
// #include <NewSoftSerial.h>
// SD card chip select line varies among boards/shields:
// Adafruit SD shields and modules: pin 10
// Arduino Ethernet shield: pin 4
// Sparkfun SD shield: pin 8
// Arduino Mega w/hardware SPI: pin 53
// Teensy 2.0: pin 0
// Teensy++ 2.0: pin 20
#define chipSelect 10
// Using SoftwareSerial (Arduino 1.0+) or NewSoftSerial (Arduino 0023 & prior):
#if ARDUINO >= 100
// On Uno: camera TX connected to pin 2, camera RX to pin 3:
SoftwareSerialcameraconnection = SoftwareSerial(2, 3);
// On Mega: camera TX connected to pin 69 (A15), camera RX to pin 3:
//SoftwareSerialcameraconnection = SoftwareSerial(69, 3);
#else
NewSoftSerialcameraconnection = NewSoftSerial(2, 3);
#endif
Adafruit_VC0706 cam = Adafruit_VC0706(&cameraconnection);
// Using hardware serial on Mega: camera TX conn. to RX1,
// camera RX to TX1, no SoftwareSerial object is required:
//Adafruit_VC0706 cam = Adafruit_VC0706(&Serial1);
void setup() {
// When using hardware SPI, the SS pin MUST be set to an
// output (even if not connected or used). If left as a
// floating input w/SPI on, this can cause lockuppage.
#if !defined(SOFTWARE_SPI)
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
if(chipSelect != 53) pinMode(53, OUTPUT); // SS on Mega
#else
if(chipSelect != 10) pinMode(10, OUTPUT); // SS on Uno, etc.
#endif
#endif
Serial.begin(9600);
73

Serial.println("VC0706 Camera snapshot test");

// see if the card is present and can be initialized:
if (!SD.begin(chipSelect)) {
Serial.println("Card failed, or not present");
// don't do anything more:
return;
}
// Try to locate the camera
if (cam.begin()) {
Serial.println("Camera Found:");
} else {
Serial.println("No camera found?");
return;
}
// Print out the camera version information (optional)
char *reply = cam.getVersion();
if (reply == 0) {
Serial.print("Failed to get version");
} else {
Serial.println("-----------------");
Serial.print(reply);
Serial.println("-----------------");
}
// Set the picture size - you can choose one of 640x480, 320x240 or 160x120
// Remember that bigger pictures take longer to transmit!
cam.setImageSize(VC0706_640x480);
// biggest
//cam.setImageSize(VC0706_320x240);
// medium
//cam.setImageSize(VC0706_160x120);
// small
// You can read the size back from the camera (optional, but maybe useful?)
uint8_timgsize = cam.getImageSize();
Serial.print("Image size: ");
if (imgsize == VC0706_640x480) Serial.println("640x480");
if (imgsize == VC0706_320x240) Serial.println("320x240");
if (imgsize == VC0706_160x120) Serial.println("160x120");
Serial.println("Snap in 3 secs...");
delay(3000);
if (! cam.takePicture())
Serial.println("Failed to snap!");
else
Serial.println("Picture taken!");
74

// Create an image with the name IMAGExx.JPG

char filename[13];
strcpy(filename, "IMAGE00.JPG");
for (inti = 0; i< 100; i++) {
filename[5] = '0' + i/10;
filename[6] = '0' + i%10;
// create if does not exist, do not open existing, write, sync after write
if (! SD.exists(filename)) {
break;
}
}
// Open the file for writing
File imgFile = SD.open(filename, FILE_WRITE);
// Get the size of the image (frame) taken
uint16_tjpglen = cam.frameLength();
Serial.print("Storing ");
Serial.print(jpglen, DEC);
Serial.print(" byte image.");
int32_t time = millis();
pinMode(8, OUTPUT);
// Read all the data up to # bytes!
bytewCount = 0; // For counting # of writes
while (jpglen> 0) {
// read 32 bytes at a time;
uint8_t *buffer;
uint8_tbytesToRead = min(32, jpglen); // change 32 to 64 for a speedup but may not
work with all setups!
buffer = cam.readPicture(bytesToRead);
imgFile.write(buffer, bytesToRead);
if(++wCount>= 64) { // Every 2K, give a little feedback so it doesn't appear locked up
Serial.print('.');
wCount = 0;
}
//Serial.print("Read "); Serial.print(bytesToRead, DEC); Serial.println(" bytes");
jpglen -= bytesToRead;
}
imgFile.close();
time = millis() - time;
Serial.println("done!");
Serial.print(time); Serial.println(" ms elapsed");
}
void loop() {
75

10.4 Appendix D: Power details of on-board components

No.

Item

Cost

Operating
Temperature (C)

1.

Arduino Mega + Shield

RM220.00

-40 to 85

0.028

Power
Consumption
(Watts)
0.2 to 0.5

2.

Barometric Pressure
Sensor (BMP 180)

RM35.00

-40 to 85

0.0009

0.165 mW

3.

Accelerometer ADXL3335

Stakeholder

-40 to 85

0.00127

0.33 W

4.

TTL Serial JPEG Camera

RM145.00

0.073

0.375

5.

Mobius Camera

RM250.00

< 47

0.038

2.7

6.

LM 2596

RM18.00

-40 to 75

0.020

0.071

-40 to 60

0.116

3.0

-25 to 85

0.0025

7.
8.
9.
10.
11.
12.

8 x AA Batteries Holder
Case Box
Energizer Ultimate
Lithium (8 Pieces)
SanDisk SD Card
MQ2 Gas sensor
module(Hydrogen)
MQ7 Gas sensor (Carbon
Monoxide)
DHT11 Digital
Temperature and
Humidity Sensor

RM5.00
RM60.00
RM20.00
RM18.00
RM10.00

Weight
(kg)

*in progress*
*in progress*
*In progress*

RM14.00

76

No.

Item

Cost

1.

SPOT Satellite GPS

Messenger

Sponsored by
USM

2.

uBLOX MAX-M8Q
Breakout with Quad-V
Antenna

3.

Uniden BC95XLT

4.

433MHz RF (UART)
Transceiver Module
NTX2B 434Mhz Radio
Module NTX2B-FA

5.

Video Transmission:
Security Bo Tong Yi Ge

Operating
Temperature (C)

Weight
(kg)

-30 to 60

0.1474

-40 to 85

0.010

-20C to 60C
(Normal)
-10C to 50C
(Close call)

0.170

-40 to 85

0.005

-20 to 70

0.0034

-20 to 50

0.075

RM 213.31

Available

RM130.27
Available

RM190.00

Total Power Consumption for on-board system

Power
Consumption
(Watts)
Standalone
Acquire 25mA /
Tracking 21mA /
Cyclic PSM Mode
9mA (from 5V line)

Ground Station

0.79 mW to
100mW
10 mW

1.5 W

7.84 W

77

78