FOREST FIRE DETECTION

SATELLITE
(TEAM ORION)
6 September 2022
MEMBER’S NAME 1. UMMI ATHIRAH BINTI CHE OMAR (012-2246910)
(CONTACT NUMBER) 2. NUR AISYAH BINTI MOHAMAD SHARIFF (016-2512300)
3. ANON A/L EH BOON (011-25638949)
4. MAXIMUS ALEXANDER LOPEZ (011-10096312)
5. MOHD DZAIHAZRUN IRFAN BIN ZAINAL (014-9611959)
ADVISOR’S NAME (CONTACT DR. SARJIT SINGH JUNIOR (012-5287758)
NUMBER)
INDUSTRIA MENTOR’S NAME TS. DR. NG WEIJIANG
INSTITUTION UNIVERSITY SAINS MALAYSIA
1.0 INTRODUCTION

Team Orion is composed primarily of students majoring in Aerospace Engineering from the School of
Aerospace Engineering (SAE), USM. This team is assisted by a supervisor and an industrial mentor. To
achieve the 3 objectives and 2 bonus challenges set forth by the organizers require a multi-disciplinary
approach to create an integrated system capable of completing those tasks. Using a system’s
engineering approach, 5 major subsystems were identified and it was decided that team members
would hold multiple roles according to each one’s interest, strengths, and experience. The overall
organizational chart and roles of the members are shown in figure 1.1.

Figure 1.1 Orion’s Organization Chart

This report for the Preliminary Design Review (PDR) explains the complete prototype’s design in detail.
However, this prototype is designed based on the requirements set by organizer for the initial
prototype. The actual GerhanaSAT and its modules have different requirements as set by organizer. The
prototype is divided into few main subsystems which are sensor subsystem (payload), on board data
handling subsystem (OBDH), electrical power subsystem (EPS), communication subsystem (COM),
mechanical and structure subsystem and ground system subsystem.

In this PDR report, there are 12 sections which are the: Introduction, Overview, Sensor Subsystem,
OBDH Subsystem, EPS, Communication Subsystem, Mechanical & Structural Subsystem, Ground Station
Subsystem, Integration and Test, Concept of Operation, Project Management & Resource and Summary.
Section 1.0 introduces the team’s members and their roles in the team. It also lays out the outline of the
PDR report. Section 2.0 explains about the overview for the whole report where it is divided into three
aspects which are the mission overview, requirements overview and design overview. Next, section 3.0
shows the trade study of sensors and actuators for the prototype. Section 4.0 explains about how the
data will be handled for the prototype. Section 5.0 details the electrical part of the prototype and the
power source of the electrical system. Section 6.0 touches on the communication between the
prototype and ground station. Section 7.0 displays the structure and mechanical design of the
prototype. Section 8.0 shows the operation of the ground system. Section 9.0 demonstrates the way
tests will be done for the prototype and it’s subsystems. Section 10.0 emphasizes the operation’s
concept of the prototype during the demonstration day. Section 11.0 provides the management, cost
and schedule of the team for this competition. Lastly, section 12.0 concludes the PDR report.

2.0 OVERVIEW

2.1 Mission overview

Changes made since proposal submission: In the initial proposal stage, team Orion proposed to build a
fire detection system as an innovative challenge for this competition. However, considering the
operation of the prototype will be in a big scale and the sensors that needed to be used are expensive,
the team decided to change the innovative mission from fire detection satellite into a reforestation
rover.

Deforestation is creeping deeper into the forest. The increase of deforestation can lead to many
destructions such as climate change, loss of habitat and increase in greenhouse gasses. Therefore to
overcome this problem team Orion will be taking on the challenge of developing a mechanism and
system for reforestation at the same time completing the other challenges given by the organizers. A
part for an automatic seed dispenser will be added to the prototype. By using an automatic seed
dispenser with the rover, it can be sent into the forest for reforestation purposes.

This project has 3 broad mission objectives and 2 bonus mission to meet all the challenge requirements.
They are as listed below:

1. To develop telemetry subsystem and ground station with 2-way transmission of sensory data and
telecommands.
2. To develop an autonomous obstacle avoiding rover with docking capability.
3. To develop a mechanism and system for disseminating seeds for reforestation activities.
4. To design a parachute for a 5g load deployment.
5. To design an antenna for the satellite module and the ground station.

2.2 Requirements Overview

The requirement for this competition can be divided into 4 types of requirements. The first one are
operational requirements as show in table 2.1 which explain the requirements from the organizer for
how the prototype should work in general. Next, technical requirements as in table 2.2 give the
requirement for prototype’s mass and size. Table 2.3 will describe the constraints for the prototype.
Lastly, the requirement for each subsystem in the prototype is shown in table 2.4.

Table 2.1 Operation requirements

Requirement Factors affecting Description

requirement

Performance 1.Mission objective 1. Team need to accomplish all three main challenges
which is the telemetry and command challenge, rover
challenge and innovative challenge.
2. Ground station must receive real-time data.
3. Sensors must measure temperature, humidity and
pressure.
4.Prototype needs to receive command to raise the
Malaysian flag.
5. Prototype must detect light and dock with the docking
station within 30 minutes.

Responsiveness 1.Communications 1. The operating frequency range allowed is between

architecture 433MHz to 435MHz.
2.The data must be transmitted in real-time at 1 second
intervals for 2 minutes to the ground station which is
located at least 2km away
3.Prototype must use Long Range Radio (LoRa) for
communication.

Table 2.2 Technical requirements

Requirement Factors affecting Description

requirement

Maximum Mass 1.Mechanical & 1. For PDR and Critical Design Review (CDR):
Structure -Prototype: 125g
2.Sensors -Prototype + Modules: 175g
2. For Demonstration:
-GerhanaSAT: 100g
-GerhanaSAT + Modules: 150g

Maximum 1.Mechanical & 1. For PDR and Critical Design Review (CDR):
Dimension Structure -Prototype: 70 x 70 x 70 mm
2.Sensors -Prototype + Modules: 100 x 100 x 100 mm
2. For Demonstration:
-GerhanaSAT: 32 x 32 x 32 mm
-GerhanaSAT + Modules: 90 x 90 x 90 mm
Table 2.3 Constraints

Constraints Factors affecting Description

requirement

Cost 1. Material 1. The total cost to build prototype must not exceed
2. Sensors RM1500.

Table 2.4 Subsystems’ Requirements

Subsystem Requirement

Sensor Subsystem Collecting data (temperature, pressure, humidity)

Move the rover toward the light source and dock with the docking
station

OBDH Subsystem Collect data every 5 second for 2 minutes

For redundancy’s sake, the data shall be recorded and stored in the
OBDH subsystem without any corruption

Data shall also be transmitted in real-time at 1 second intervals for 2

minutes to the ground station

EPS Power source must be able to supply optimum power to payload and
other components

Electrical system must operate in good condition during the challenges

Communication and Ground Must operate at 433MHz to 435MHz frequency

Station Subsystem

Must receive command and send data to ground station at a minimum

distance of 2km

Mechanical & Structure Can accommodate the total weight of sensors and other components
Subsystem

Material must be lightweight and high strength

2.3 Design overview

The electrical design part consists of 1 temperature and humidity sensor, 1 pressure sensor, 4 servo
motor, 1 Global Positioning System (GPS) and 1 LoRa. This electrical system will be powered by a 11.1 V
and 650mAh battery. As a backup, a solar panel will be added to this system to support the battery. In
figure 2.1, the overview of electrical system for the prototype described. The power source will connect
to the microprocessor which is STM32. Then, STM32 will connect to other components.

Fig 2.1 Overview of electrical system

For the mechanical design, the design is broken into few parts before combining them into one
complete prototype. The parts are the module’s body part, rover part, parachute part, parachute
dropping part and flag rising part. A preliminary design of each part is decided after trade studies are
done. Then all the preliminary design for each part combined to build the complete mechanical
structure’s design. The overview of mechanical design shown in figure 2.2
 Figure 2.2 Prototype’s Design

2.4 Concept operation overview

The operation of this prototype divided into 3 different operation which are telemetry and
telecommand operation, rover docking operation and seed dispenser operations. Figure 2.3 show the
overview of the telemetry and telecommand operation. The operation requires the prototype to be
brought into the sky by a drone. Figure 2.4 describes the rover docking operation that will be done in a
black box. The seed dispense operations are explained in figure 2.4.
Figure 2.3 Telemetry and telecommand operation

Figure 2.4 Rover docking operation

 Figure 2.5 Seed dispense operation

3.0 Sensor Subsystem

Payload is loads or things carried by a vehicle exclusive of what is necessary for to do its operation. After
reviewing the mission, there are a few sensor that considered as payloads which are temperature
sensor, humidity sensor, pressure sensor, light detection sensor, obstacle avoidance sensor and motor.
Trade study for each sensor is done in this section to figure out the best sensor to be used.

3.1 Temperature sensor

During telemetry and command challenge, the prototype need to measure its surrounding temperature
and send the data to the ground station therefore in table 3.1 show the trade study of pressure sensor.
From the specification of three type of temperature sensor which are LMT88, DHT11 and DHT22. The
chosen sensor is DHT22 as it has suitable temperature range to detect surrounding’s temperature. It is
most accurate between the sensors.

Table 3.1 Temperature sensor’s trade study table

LMT88 DHT11 DHT22

Details

The LMT88 device is a A low-cost digital

A basic, ultra low-cost
precision analog output temperature and
digital temperature and
CMOS integrated-
 circuit temperature humidity sensor. It uses humidity sensor. It uses
sensor a capacitive humidity a capacitive humidity
sensor and a thermistor sensor and a thermistor
to measure the to measure the
surrounding air and spits surrounding air, and
out a digital signal spits out a digital signal
Temperature range (oC) -55 to 130 0 to 50 -40 to 80
Humidity range (%) - 20 to90 0 to 100
o
Sensitivity 4C 1oC 0.1oC
- 1% 0.1%
Voltage input 2.4 to 5.5 V 3 to 5.5 V 3 to 6 V
Current input 7µA 0.5 to 2.5 mA 1 to 1.5 mA
Chosen No No Yes

3.2 Humidity sensor

As DHT22 sensor can detect humidity too, it also chosen as humidity sensor in order to limit the number
of component used and mass. Other than that, as shown in table 3.1 its accuracy also more accurate
than DHT11.

3.3 Pressure sensor

There are two types of pressure sensors that can be used for prototype which are BMP180 and BMP280.
From their specification BMP280 is chosen since its accuracy is higher than BMP180. The specification of
BMP180 and BMP280 is in table 3.2.

Table 3.2 Pressure sensor’s trade study table

BMP180 BMP280
Details

An absolute barometric
Digital barometric
pressure sensor
pressure sensor of
especially designed for
Bosch Sensortec, with a
mobile applications
very high performance,
which enables
applications in advanced
mobile devices, such as
smart phones, tablet PCs
and sports devices.
Pressure range (hPa) 300 to 1100 300 to 1100
Temperature range (oC) -40 to 85 -40 to 85
Sensitivity 1 Pa 0.16 Pa
0.1oC 0.01oC
 Voltage input 1.8 to 3.6 V 3.3 to 5 V
Current input 1.1 to 20 µA 0.6 mA
Chosen No Yes

3.4 Light detection sensor

Light detection sensor is used during the rover docking challenge to detect the light direction. Therefore,
rover needs to have at least four light detection sensor to get the light direction. From table 3.3, the
price of Light Dependent Resistor (LDR) have lower price. Hence it is chosen for the light detection
sensor.

Table 3.3 Light Detection sensor’s trade study table

LDR sensor Digital Light Intensity

sensor
Details

LDR sensor module is used BH1750FVI digital light

to detect the intensity of intensity module is a digital
light. It is associated with light intensity sensor
both analog output pin and integrated circuit used for
digital output pin labeled as a two-wire serial bus
AO and DO respectively on interface.
the board.
Voltage input 3 to 5 V 3 to 5 V
Current input 7.1 mA 0.12 mA
Usage Usually use in prototyping Usually use in prototyping
Price RM1.16 RM8.90
Chosen Yes No

3.5 Obstacle avoidance sensor

Since during the rover docking challenge there will be some obstacles that the rover need to be face, an
obstacle avoidance sensor need to be put in the rover. There are two sensors that can be considered
which are infrared sensor and ultrasonic sensor. In table 3.4 shows their speciation and from the table,
team decide to use infrared sensor. This is because the size and weight of infrared sensor is smaller and
lighter than ultrasonic sensor. Even though the distance range of ultrasonic sensor is longer but
considering the size of black box use for the challenge, the rover does not need a long distance range of
obstacle detection.
Table 3.4 Obstacle Avoidance sensor’s trade study table

Infrared sensor Ultrasonic sensor

Details

Infrared obstacle The compact ultrasonic

detection sensor is super sensor module detects
easy to use. It comes objects using ultrasonic
with on board waves, which are
potentiometer to adjust transmitted and received
the sensitivity. with only one piezoelectric
disc.
Voltage input 3 to 5 V 5V
Current input 45 mA 15 mA
Size (mm) 32 x 14 x 2 45 x 20 x 15
Weight (g) 3 10
Distance range(cm) 2 to 30 2 to 400
Measuring angle (o) 35 30
Chosen Yes No

3.5 Actuators

Motors will be used as actuators to moves the rover. There are 3 type of motors that can be considered
as actuators which are direct-current (DC) brushed motor, servo motor (SG90) and stepper motor. Table
3.5 show, the specification of each motor. After evaluating their characteristic, servo motor chosen as it
is the lightest and can connect directly with microcontroller.

Table 3.5 Actuator’s trade study table

DC brushed motor Servo motor Stepper motor

Details

Brushed DC electric A servo motor is a type Stepper motors are DC

motor is an internally of motor that motors that move in
commutated electric can rotate with great discrete steps. They
motor designed to be precision. Normally this have multiple coils that
run from a direct type of motor consists are organized in groups
current power source of a control circuit that called "phases". By
and utilizing an electric provides feedback on energizing each phase
brush for contact the current position of in sequence, the motor
the motor shaft will rotate, one step at a
time.
Angle of rotation 360o 360o 360o
Torque High Medium High
Efficiency High (70-80%) Medium Low
Cost Low Low Low
Weight Medium Light Medium
Control Need motor driver to Can connect directly Need motor driver to
connect with with microcontroller connect with
microcontroller microcontroller
Chosen No Yes No

4.0 ON-BOARD DATA HANDLING (OBDH)

4.1 Design considerations and requirements

The minimum requirement for the data that needs to be collected are humidity, pressure, and
temperature data of the surrounding environment. The data should be transmitted to the ground
station with 1 second delay. As part of the OBDH subsystem, an internally redundant system where the
collected data will be written and stored is also added. It is required that the data be recorded and
stored without any corruption. The overall block diagram for the OBDH subsystem is presented in figure
4.1.

LoRa (UART) Antenna

STM32F103C8T6
BMP280 (12C)

DHT22 (12C) Ground Station

SD card
adapter SD CARD (SPI)
(SPI)

Fig 4.1 Block diagram for the OBDH subsystem

4.2 Flight software

The software that will be implemented is Arduino IDE. Programming languages in Arduino are C or C++.
Arduino was developed as open-source hardware and software from the beginning. The default baud
rate in Arduino is 9600 bps (bits per second). Other baud rates can be specified as well, such as 4800,
14400, 38400, 28800, etc. Table 4.1 shows the trade studies between Arduino IDE and STM32cubeIDE.

Table 4.1 Trade study for the flight software

Specification Arduino IDE STM32CubeIDE
Image

Programming language C/C++ C/C++

Open source Yes Yes
Third party library Yes No
Data rate 9600 bps 9600 bps
Coding complexity Average Complex
Features -serial monitor -Central Processing Unit (CPU) core
-programmer function peripheral register
-user preferences -fault analyzer
-burn bootloader -serial wire viewer interface
-fix encoding and reload
-board selection and
management
Operating system Windows and macOS Windows and macOS

4.3 Processor

The processor that will be used is the STM32 Blue pill since the requirement to use the exact processor
which is the STM32F103C8T6 as the main motherboard of the prototype. The trade studies between the
STM32 Blue pill and Arduino Nano also show that STM32 is great to be used for development and
complex task since the processor is more advance than the Arduino Nano. Table 4.2 shows the trade
studies for both the different types of processors which are the STM32F103C8T6 and Arduino Nano.

Table 4.2 Trade studies for the processor.

Specs/properties STM32F103C8T6 ARDUINO NANO

Image

Architecture ARM Cortex M3-32 bit AVR RISC 8 bit

Clock frequency 72 MHz 16MHz
Flash memory 64 KB 32 KB
RAM 20 KB 2 KB
Number analog channels 10 8
Number of PWM channels 15 6
Number of IO 32 24
Number of USART bus 3 1
On board RTC Yes No
Operating voltage 2.7V to 3.6V 5V
Weight Light Moderate
Task management Complex task Simple task

4.3 Data storage

The data storage system is included within the OBDH subsystem where collected sensory data is stored
on-board on a removable memory card in addition to telemetry data being sent to the ground station.
Figure 4.2 depicts the micro-SD card that will be used which is the Toshiba 16GB micro-SD together with
the micro-SD card adapter which is shown in figure 4.3.

Fig 4.2 Micro-SD card

Fig 4.3 Micro-SD card adapter

5.0 ELECTRICAL POWER SUBSYSTEM

5.1 Electrical part

The prototype’s electrical system includes electronic components as listed in table 5.1. These
components were chosen based on its specifications for the sensor subsystem, communication
subsystem and power subsystem. These components will be connected with each other as shown in the
electrical block diagram in figure 5.1. The components will be connected to the microcontroller which is
STM32 Blue Pill. Table 5.2, describe in which challenges the components will be used and how it is used.
Table 5.1 Electrical Components List

No Components Function Unit

1 Pressure and Altitude Sensor (BMP 280) To measure pressure 1
2 Temperature and humidity sensor (DHT 22) To measure 1
temperature and
humidity
3 Light dependent resistor (LDR) sensor To detect light 4
(GL55)
4 GPS (GY-NEO6MV2) To detect the location 1
of the rover
5 Servo motor (SG 90) As an actuators for 4
rover, seed dispenser
and flag raise
6 STM32 Blue Pill As a microcontroller 1
7 LoRa (SX1278) To communicate with 1
the ground station
8 Infrared Sensor To detect object and 1
obstacle
9 Solar Charger Controller (MPPT) To charge battery 1
10 0.5 W Polycrystalline Solar Panel Backup power source 1
11 9 V and 800 mAh Lithium Polymer Battery Main power source 1
12 3.3 Volt Voltage Regulator To regulate voltage into 1
3.3 volt
13 5 Volt Voltage Regulator To regulate voltage into 2
5 volt
14 3.6 Volt Voltage Regulator To regulate voltage into 1
3.6 volt
15 MIcroSD Card To store data 1
16 TTL Connector To connect STM32 to 1
ArdunoIDE
 Fig 5.1 Electrical Block Diagram

Table 5.2 Usage of components’ table

Challenges Component Description

Telemetry and -Temperature & Humidity 1. Temperature & Humidity sensor
command sensor (DHT22) and Pressure & Altimeter sensor
-Pressure & Altimeter detect surrounding’s temperature,
sensor (BMP280) humidity and pressure then the data
-2 servo motor (SG90) will be transmit to ground station. At
-LoRa (SX1278) the same time, the data will aslo store
-MicroSD card + adapter in the microSD card.
2.Ground station will give command to
raise flag through LoRa. Then the
servo motor will move to raise the
flag.
3.Ground station will give command to
open load and parachute’s
compartment through LoRa. Then the
servo motor to open the load and
parachute’s door compartment then

Rover docking -LDR sensor (GL55)
-Infrared sensor
-2 servo motor (SG90)
Innovation -3 servo motor (SG90)
- GPS
the load will be release.
1. LDR will detect the light then STM
32 will give command to the servo
motor to move towards the light
2. Infrared sensor will detect objects in
front of the rover, then the rover
move a little to avoid the object
1. Rover will move and as it moves
STM32 will give command for the
servo motor connected to the seed
dispenser to rotate 45o once every 30
second
2. GPS will track the rover position and
send the rover’s location to the
ground station

5.2 Power source part

The main power source for the system is battery. After comparing all the battery in market, three most
suitable candidates are alkaline battery, nickel-mate hydride battery and lithium polymer battery. In
table 5.2, the advantages and disadvantages for each of the battery to compare them.

Table 5.2 Table of comparison for alkaline battery, nickel-mate hydride battery and lithium polymer
battery

Alkaline Battery Nickel-Metal Hydride Lithium Polymer Battery (Li-

Battery (Ni-MH)
Advantages -Have different varieties -High capacity, up to 11,000
of rates mAh
-Low cost -Contains no toxic materials
-Easy to get and -Rechargeable
purchase -Used in a high-energy-
usage devices
Disadvantage -Un-rechargeable -Expensive than the average
s -Does not last long alkaline battery
-Discharge quickly -Tend to cut power
suddenly when run out of
charge
-Self-discharge quickly.
Po)
-Much lighter than other
batteries
-Rechargeable
-High discharge rates
-Affordable
-Risk of exploding or
catching fire if overcharged,
overheated or damaged

After looking at the comparison, lithium polymer battery as in figure 5.2 is the best choice since it is
lightweight, rechargeable and affordable to buy.
 Fig 5.2 Li-Po battery

After listing and calculating each component’s power consumption in the prototype, the total power
consumption for the prototype is 7.66 W as shown in table 5.3. To accommodate the battery with
specification 9 volt and 800 mAh which have power 7.23 W and 0.5 W solar panel chosen.

Table 5.3 Prototype’s power consumption

Components Voltage Current Unit Power

Pressure and Altitude Sensor 3.6 V 4 µA 1 1 x 10-5 W
(BMP 280)
Temperature and humidity 5V 2.5mA 1 0.0125 W
sensor (DHT 22)
Light dependent resistor (GL55) 5V 7.1mA 4 0.1 W
GPS (GY-NEO6MV2) 5V 40mA 1 0.2 W
Servo motor (SG 90) 5V 45mA 4 1W
STM32 Blue Pill 3.3 V 26.6mA 1 0.09 W
LoRa (SX1278) 3.3 V 10.8mA 1 0.036 W
Infrared Module 5V 45mA 1 0.225 W
MPPT Solar Charger Controller 5V 1A 1 5W
MicroSD card adaptor 5V 100mA 1 1W
Total Power 7.66 W

The battery does not have enough power to supply all electronic components, so solar panel are added
to the system as a backup. Table 5.4 shows the characteristic of solar panels that can be considered to
be used in the prototype. Polycrystalline solar panels are chosen as it is low cost compared to
monocrystallline solar panels but it still has a higher efficiency compared to thin-film solar panels. Solar
panels with specification of 0.5 W and area of 60 mm x 60 mm was chosen. Its efficiency calculates form
the power and area is 13.88%. The calculation for solar panel efficiency show below:

Power
Efficiency= ×100 %
Area

0.0005
Efficiency= × 100 %=13.89 %
0.0036
To help the solar panel charge the battery, an MPPT solar charger controller is added to the power
subsystem. To accommodate the battery with specification 9 volt and 800 mAh which have power 7.23
W and 0.5 W solar panel.

Table 5.4 Table of solar panel’s trade study

Type Monocrystalline Solar Polycrystalline Solar Thin-Film: Amorphous

Panels (Mono-SI) Panels (p-Si) Silicon Solar Panels (A-
SI)
Image

Efficiency 20% 15% 7%

(Approximately)
Advantages -High efficiency rate -Low cost -Low costs
-Optimized for -Easy to produce &
commercial use flexible
-High life-time value
Disadvantages -Expensive -Sensitive to high -Shorter warranties &
temperatures lifespan
-Lower lifespan
-Less space efficiency
Chosen No Yes No

6.0. COMMUNICATION SUBSYSTEM

There are a few rules that must be during the challenge which were set by the organisers. The prototype
must be capable of transmitting telemetry data from on board sensors to the ground station over a
minimum distance of 2km at 1-minute intervals. The ground station must also be able to send a
telecommand to the prototype to raise a flag.

6.1 Communication Methodology

There are specific steps that demonstrate how the data will be transmitted to the prototype or ground
station. Diagrams 6.1 and 6.2 illustrate the transmission of data from the ground station to the
prototype (Uplink) as well as the transmission of data from the prototype to the ground station
(Downlink).
 The data being
Ground Source of coding The prototype
transferred to
station gives being read by receives the
prototype from
command. Lora Module. data.
antenna.

Ground
station Source of coding The data being The prototype
receives the being read by transferred to ground collected and
data. Lora Module. station from antenna. send the data.

Fig 6.2 Block diagram for the process of receiving and sending data.

6.2 Estimated wavelength

The distance between identical points (adjacent crests) in adjacent cycles of a waveform signal
propagated in space or along a wire is defined as the wavelength. The number of wave cycles per second
is referred to as the wavelength. Because wavelength is inversely related to frequency, they serve the
same purpose therefore the shorter the wavelength, the higher the frequency of the signal. This
equation 6.1 and 6.2 below use the estimated frequency 433 MHz which the specification frequency
from LoRa to determine the estimated wavelength that will be used in the project.

c
Wavelength , Λ=
f
m
299792458( )
s (6.1)
Wavelength , Λ= =0.692 m
433 MHz

Where,
Speed of light,c = 299792458 m/s
Estimated operating frequency = 433MHz

Therefore, since the antenna that will be used is the quarter wave antenna the wavelength will be ¼ its
wavelength as per equation 6.2
1 1
Quarter Wavelength , Λ= ( Wavelength )= ( 0.692 m )=0.17 m (6.2)
4 4
6.3 Estimated Bandwidth

In Malaysia, the allowable LoRa frequency is between 191MHz to 192MHz as Malaysia is located at
AS923-S1 region. As shown in table 6.1 details of default channels of LoRa in Malaysia.

Table 6.1 Table of LoRa default’s channel

Modulation Bandwidth Channel Nb Channels

(kHz) Frequency
(Mhz)
LoRa 125 923.2-923.4 2

6.3 DIY RF Antenna

6.3.1 Ground Station

Satellite communications continue to be a key technique for transmitting information around the world
to a growing number of mobile base stations. Ground station antennas with advanced capabilities are
being developed to meet these demands, as well as other new scientific and commercial challenges. The
prototype and ground station will be using a DIY RF antenna that will be designed. Table 6.3.0 is a
comparison of antenna types to be for this project.

Table 6.2 Antenna options to be considered for this project

Quarter Wave Half Wave Dipole Parabolic Dish

Yagi-Uda Antenna
Antenna Antenna antenna

Design &
Overview

- Since appeared - One of most basic - Consisting of two or - The most common
 differently in relation resonance more parallel resonant shape is shaped like a
to a dipole, this type structure used in antenna elements dish and is commonly
of antenna is antenna arranged in an end-fire referred to as a dish
commonly referred to technology. array antenna or parabolic
as a monopole -It is the foundation -these elements are dish.
antenna. of almost all typically metal rods -The main benefit of a
-It has a single antenna shapes acting as half-wave parabolic antenna is
radiating element and and is sometimes dipoles. its high directivity. It
then relies on the used as a reference -Made up of a single directs radio waves in
ground or ground antenna alongside driven element that is a narrow beam or
simulating system for the isotropic omni- connected to a radio receives radio waves
the rest of the directional radiator. transmitter and/or from only one
antenna’s receiver via a direction.
functionality. transmission line. -Has some of the
highest gains of any
antenna type, allowing
them to produce the
narrowest
beamwidths.
Size Medium Medium Medium Large
Material Copper Copper Aluminium Aluminium
Frequency VHF/UHF VHF/UHF VHF/UHF VHF/UHF
Impedance 50Ω 50Ω 50Ω 50Ω

Bandwidth 38 MHz 30 MHz 420-450 MHz 900 MHz

Radiation
Omni-directional Omni-directional Directional Directional
area

Medium (Lower than

Cost Low Low Medium
parabolic dish antenna)

- The efficiency of the -High gain. -Minor lobe reduction

-Input impedance is
antenna gets better -High directivity. -Power waste is
not sensitive.
due to longer -Ease of handling and reduced.
-Matches well with
antenna. maintenance. -The equivalent focal
transmission line
-Easy to build and -Less amount of power. length is better.
impedance.
install. Passive -Broader coverage of -Feed can be placed in
-Has reasonable
Advantages monopoles are cheap frequencies. any location that is
length.
to make and rugged. convenient.
-Length of the
-Relatively high
antenna matches
reactive impedance
with size and
over most of its
directivity.
frequency range.
 - Equally poor -Not very effective -Noise sensitive. -Some of the power
radiation in all due to single -Responsive to that gets reflected from
directions. element. atmospheric effects. the parabolic reflector
- Can have -It can work better is obstructed.
Disadvantag
impedances vary by only with a -Big in size and have to
es
orders of magnitude, combination. be adjust to get a
making it difficult to better gain.
calibrate.

The ground station antenna was chosen to be a quarter wave antenna. The design that simple to build
yet have good frequency range. The radiation that covers all the direction is a great deal to send
telecommand to the prototype. The antenna will be designed to be attachable to the ground station
module and as compact yet powerful as possible to ensure the success of data transmission and
reception.

6.3.2 Prototype
When considering having a quarter wave antenna to be the antenna for the prototype the size of the
quarter wave antenna can be considered as too large. The table 6.3 summarizes antenna types to be
considered for use on the prototype.

Table 6.3 Antenna options to be considered for use on the prototype

Half Wave Dipole
Yagi-Uda Antenna Turnstile Antenna Coil-Loaded Antenna
Antenna

Design &
Overview

- One of most - Consisting of two or -Consisting of two identical -Is made up of one or
basic resonance more parallel dipole antennas mounted more conducting
structure used in resonant antenna at right angles to each wires wound in the
antenna elements arranged in other and fed in phase shape of a helix.
technology. an end-fire array quadrature and the dipole -The most common
-It is the -these elements are currents are 90° out of type of helical
foundation of typically metal rods phase. antenna is monofilar,
almost all antenna acting as half-wave -When mounted while antennas with
 shapes and is dipoles. horizontally, the antenna two or four wires in a
sometimes used -Made up of a single resembles a turnstile, helix are called bifilar
as a reference driven element that hence the name. or quadrifilar,
antenna alongside is connected to a -The antenna has two respectively.
the isotropic radio transmitter modes of operation. The -Directional helical
omni-directional and/or receiver via a antenna emits horizontally antennas are typically
radiator. transmission line. polarised radio waves mounted over a
perpendicular to its axis in ground plane while
normal mode. The omnidirectional are
antenna radiates circularly not.
polarised radiation along -The feed line runs
its axis when in axial from the bottom of
mode. the helix to the
ground plane. Helical
antennas can work in
one of two modes:
normal or axial.

Size Medium Medium Small Small

Frequency Copper Aluminium Stainless Steel/Copper Copper

Material VHF/UHF VHF/UHF VHF/UHF VHF/UHF

Impedance 50Ω 50Ω 50Ω 50Ω

Bandwidth 30 MHz 420-450 MHz >50 MHz 144 MHz

Radiation
Omni-Directional Directional Omni-Directional Directional
Pattern
Cost Low Medium Low Low
-Input impedance -High gain. -Stacking is used to -Design is
is not sensitive. -High directivity. achieve high gain. straightforward.
-Matches well -Ease of handling and -The super-turnstile -Has the highest
with transmission maintenance. generates a high-gain directivity.
line impedance. -Less amount of output. -Has an
-Has reasonable power. -Has improved directivity. increased/better
Advantages length. -Broader coverage of bandwidth.
-Length of the frequencies. -Able to do circular
antenna matches polarisation.
with size and -Can also be used in
directivity. the HF and VHF
bands.

Disadvantage -Not much -Noise sensitive. -The radiation power is -Antenna is larger and
s effective due to -Responsive to 3dB below the maximum
single element. atmospheric effects. radiation of a half wave requires more space.
 -It can work better dipole radiating the same -Efficiency decreases
only with a power.
combination. with number of turns.

The turnstile antenna was chosen as the prototype antenna from the options presented above. The
turnstile antenna has a high gain to receiving telecommand from ground station. The size of prototype
also is a great match for the turnstile antenna which do not need an antenna too large nor too small. To
achieve maximum performance when running the challenge, the antenna will be attached to the lower
or side plane of the prototype.

7.0 MECHANICAL AND STRUCTURAL SUBSYSTEM

7.1 Design consideration and requirement:

There are constrains for the design need to be followed as set by the organizers. The constrains
requirement already covered in section 2.2. Where for the preliminary design report stage and
critical design report constrain for size is 100mm X 100mm X 100mm and the mass is 175gram.
7.2 Result of preliminary design and analysis

Table 7.1 shows the trade studies of diverse types of rovers. This trade study helps to choose
the best rover design to be reduced for the preliminary design. Trade studies help the analysis
of the pros and cons of a rover and its performance.

Table 7.1 Table for trade study of rover

Prototype Wheeled rover Track rover Legs rover Shrimp rover

Prototype
image

Details Most common The track design Legs robot can Upgraded version
structure for a robot allows the vehicle overcome most of of wheeled rover
designed for a simple to move on rough the obstacles and but it can
structure, to move terrain such as easy to maneuver overcome most
quickly, easily bumpy surfaces. it. obstacle-like stairs
controlled, spin on and large rock.
the spot, or turn
 around in small
places.
Comparative Wheeled rovers are Widely used in Legs robots are Shrimp rover can
analysis common in robotic heavyweight one of the most be categorized as
areas since they are vehicles such as advanced a hybrid rover
easy to control. They trucks and loaders technologies that since it has legs
are super choice to or any battle tank. have been and wheel in its
use but only for This structure is adapted in the mechanism. This
certain type of used because it robotic field. This rover differs from
surfaces. It is also helps them to robot uses a the wheel rover
simpler in design and distribute the spider-like shape where there is
the controlling weight among the that enables it to front and back
mechanism. contact surface climb or overcome wheeled leg that
area, so less any kind of make it can climb
Advantages pressure happens obstacle. Even any stairs or high
-low cost of on it. It is also the though this type of obstacle and
production best option to rover/robot is far surfaces.
-maneuverability choose to solve more advanced
-can go at high speed surfaces obstacle than other types, it Advantages
-simplicity such as snowy, is quite - maneuverability
bumpy, or rocky complicated in -traction
Disadvantages surfaces. many aspects. -can overcome
-cannot drive over obstacles
obstacle Advantages Advantages -can move at high
- may lose traction or -power efficiency -closer to organic speed
slip. -good traction or natural terrain
-ground impact -can overcome Disadvantages
(low pressure on large obstacles -complex in
the ground) production
Disadvantages -hard to
Disadvantages -very complex in determine the
-low speed terms of the sizing and the
-complex/longer mechanical, mass
positional. electrical and the
coding
-high-cost
production.

Assessments Easy to maneuver The pressure and The design seems The front and
of features and simple to use as weight distribution great, and the legs back leg wheel-leg
a beginner. of the track and the mechanism makes mechanism.
design is it easy to
aesthetically neat. overcome any
obstacle.
Tradeoff Cost-low-cost Cost-low cost Cost- high-cost Cost-high-cost
studies production Performance- good production production
-cost Performance – good Mass- lightweight Performance -
- Mass- lightweight (using PLA 3D Performance- high
performance Complexity- simple printing which is excellent Mass- heavy
-mass Size - small light) Mass- Complexity -
-complexity Complexity- Complexity – complex
(how realistic average in complex
it is to be complexity since it
done in a still needs to be
short assembled.
amount of
time)
Chosen No Yes No No
preliminary
design

Design selected it track rover since we considering the requirement of the sizing and the mass where it
need to be small and only 175g in weight. Thus, track design is most suitable since the chain can be
adjusted to the desirable length. Track design is also more efficient to be used when the surface area of
the rover is small since it has larger contact of the surface area than the other type of design. The design
will be used for the team is as shown in figure 7.1 (a) and (b).

Prototype
frame

Rover
chain

Platform/
chasis

(a)
 Isometric
Top view view

side
view Front view

(b)

Fig 7.1 Isometric view and drawing for rover

7.3 Tabular form for mass distribution

Table 7.2 shows the allocation of masses in the prototype. This table helps us to determine the best
mass allocated in the prototype so it can follow the desired mass that had been set.

Table 7.2 Table of mass for each electrical component

Component Mass per item /g Quantity Total mass

Pressure and altitude 1 1 1
(BMP280)
Temperature and 6.1 1 6.1
humidity (DHT22)
Light dependent 3.0 4 12.0
resistor
(GL55 LDR
photoresistor)
GPS 5.1 1 5.1
(GY-NEO6MV2 GPS
Module)
STM32 Blue Pill 9.4 1 9.4
(STM32F103C8)
Lora module and 4 1 4
antenna (SX1278)
Infrared Module - IR 3.0 2 6.0
 Obstacle Avoidance
Sensor

L7805CV 5V Voltage 1.6 4 6.4

Regulator [TO-220] +
heatsink (5V)

L7805CV 5V Voltage 2.0 4 8.0

Regulator [TO-220] +
heatsink (3.3 V)

Solar Panel 11.7 1 11.7

MicroSD card + 4.7 1 4.7
Adapter
Battery 20 1 20
Servo motor 9.6 4 38.4
Total 122.85

7.4 Seed dispenser

Design consideration and requirement

The design of the seed dispenser was done by considering the mass limit that is set which is 175g and
also not exceeding the dimension that mentioned in section 2.2. The design is made impossible as
possible but still manages to carry out its function well.

Table 7.3 shows the trade studies for the seed dispenser that will be used for innovative challenge part.
These trade studies help us to design the best seed dispenser that we can produce without violating the
requirements.

Table 7.3 Table for trade study for seed dispenser

Prototype Prototype 1 Prototype 2

Prototype images

Details The prototype uses the waterwheel
mechanism where it will drop the seed
from the rover as it rotates.
Comparative This mechanism uses human force to
The prototype has a secure rotatory
partition that enables the seed
release only at the bottom of the
rotation.
This prototype has a seed tank that is
analysis push the seed dispenser to allow it to
plant the seed properly. This prototype
has a press wheel that allows the seed
to be spread evenly and there is also a
plate at the back to make sure the soil
is spread evenly after the seed is
planted. Is also use the rotatory
partition tank to make sure the seeds
are planted separately.
Advantages:
-easy application
-simple
-suitable for vegetables planting
connected to the round secured
partition. At the bottom of the seed
sowing wheel/partition tank, there is
a hole that helps the seed to be
released at certain distance and only
a certain number of seeds can be
spread at a time. The rotation of the
partition tank/seed sowing wheel will
be controlled by the servo motor
where it will be attached to a servo
motor and the partition tank will only
rotate by the servo motor at a certain
distance by command from the
ground station.

Disadvantages Advantages
-the seed planting is irregular - more efficient
-heavy -more precise and in order
-need human force -suitable for tress planting
-Sizing and mass -lightweight

Disadvantages
-a bit complex since it needs to be
coded

Assessments of The plate that is used to spread the soil The order of the seed being released
features after the plant is planted. in certain distance.
Tradeoff studies Cost-low-cost production Cost- low-cost production
-cost Performance-not too good Performance-good
-performance Mass-heavyweight Mass-lightweight
-mass Complexity-simple Complexity- a bit complex (need to
-complexity (how be coded so it will move to desired
realistic it is to be distance before release the seed from
done in a short the seed sowing wheel.
amount of time)
Chosen preliminary No Yes
design

The design is mostly adapted from the prototype 2 from the trade analysis done. This design occupied
the seed tank and the seed sowing tank but in more simple form to reduce the mass. The seed dispenser
will be attached at the front of the prototype and the seed sowing tank will also attached to a servo
motor to enable the rotating mechanism of the seed sowing tank. Figure 7.2 (a) and (b) show the
isometric view of the seed dispenser and the drawing.
 Seed tank

Seed Motor
sowing
wheel

Hole

(a)

Top view Isometric view

Front view Side view

(b)

Fig 7.2 Assembly drawing and isometric view of the seed dispenser

7.4 3D Printing Material/filament

There are 3 candidates for material selection which are Polylactic acid (PLA), Acrylonitrile butadiene
styrene (ABS) and Nylon. Table 7.4 shows the trade studies of the material/filament that can be used to
make the rover and the prototype using 3D printing. These will help to find the best material to produce
the prototype that is strong and light.
Table 7.4 Table of trade study for material

Type of material PLA ABS NYLON

Tensile strength (MPa) 50 33 48
Strength Great Good low
Heat deflection 150 204
temperature (F)
Mass Lightweight Lightweight Lightweight
stiffness Great Good Low
Cost Low cost Low cost Low cost

The chosen material is PLA because PLA is tougher than ABS and Nylon. PLA is also the best choice to be
used to make a prototype due to its strength and stiffness. PLA is easier to print than ABS and Nylon.

7.5 Parachute

There are few designs of parachutes that can be considered which are round parachute, cruciform
parachute, Rogallo wings and ram air parachute. In table 7.5 describe in detail each parachute.

Table 7.5 Comparison of parachute design

Parachute Round Parachutes Cruciform Rogallo Wings Ram Air Parachutes

type Parachutes
Details Round parachutes The rectangular They’re commonly It is good for gliding
are purely a drag shape decreases used in paragliding and lifting.
device. There were oscillation and as rescue resembles a low-
a few issues with ends up resulting in parachutes. The aspect-ratio wing. It
this design that fewer landing wing design is is constructed
caused them to injury rates for the highly recognizable: entirely of fabric,
eventually fade jumpers and cargo two partial conic which allows it to
from regular use that dangle surfaces with both be stored and
which are helplessly below. cones pointing implemented in a
unsteerable and The bump at the forward, vaguely manner like regular
not super-likely to end is about 25% triangular or hang- parachutes. The
land lightly. softer than the glidery in wing has an airfoil
cruciform’s appearance. cross-section which
rounder cousin is sewn in a way to
maintain the shape
of a wing. Vents are
cut to help maintain
stability between
cells and stabilizer
panels add steering
to the canopy
design. Therefore, it
is suitable for sport
 application and
cargo delivery
Tradeoff Cost: Medium Cost: Medium Cost: Medium/High Cost: medium
studies Size: Medium Size: Medium Size: Medium Size: Medium
-cost Complexity: Complexity: Complexity: Very Complexity: Very
-complexity Medium Medium (Less complex complex
complex than
round parachute)
Chosen No Yes No No
Preliminary
Design

The cruciform is chosen as it is the easiest parachute to be made out of all those surveyed. It also has
better performance than round parachutes as it can reduce descent speed by as much as 30% and land
smoother that the round parachute.

The size of the parachute is computed by the formula:

2W
A= 2
Cd × r ×V
Where, W = 5 g (load mass)

A =9.1 ×10−3 m2 (The dimension is decided, and the area is calculated from it)

Cd = 1.75 (typical drag coefficient)

r = 1.229 kg/m^3 (

V = 2.24m/s (calculated from the formula given)

From the formula and parameters state velocity get 2.24 m/s. Therefore, the size of the parachute is as
in figure 7.4.

15 mm

100 mm

15 mm

100 mm

7.6 Load Dropping Mechanism
Prototype 1
A
The proposed design uses
permanent magnets
for grasping, and a novel
dual-impulsive release
mechanism, for
achieving drop. The gripper
can simultaneously lift up to
four
objects of arbitrary shape, in
fully autonomous mode,
with a
100% rate of success drops.
The mechanism of using
magnet and impulse.
Cost: High (need high power
servo motor)
Performance: Very good
Complexity: Complex
(include calculation of the
mass)
Size: Small
The design chosen is from prototype 2 and 3. A compartment will be made under the rover and the load
will be put in the compartment. The compartment have a door which locked by a rod that connected
with a servo motor. As the servo motor rotate the rod will be move to the left and unlocked the
compartment’s door.
Fig 7.3 Dimension of parachute
Prototype 2
The design used a
mechanism where the load
is hung on a rod. The load
will be hung on a rod using
string as it flies. The rod is
connected with a servo
motor.
The mechanism is easy.
However, a few problems
may come out as the load
given by organizer can be
metal and it hard to used
string and hang the metal
load. The parachute also
might open as the air hit it
as it is at outside
Cost: Low cost
Performance: Good
Complexity: Simple
Size: Small
Prototype 3
Compartment
Door
Lock
The compartment is
locked by a rod that
connects with the motor
in the compartment. As
the motor rotates 90
degrees the
compartment door will
be open.
It is simple. But by having
the motor in the
compartment and the
position of the motor
needs to be put where its
height is 23mm.
However, we do have
constraints in size.
Cost: Low cost
Performance: Good
Complexity: Simple
Size: Medium
Prototype 4
A hinge is used in order to
hold the load. The load is
hung using cables. This
mechanism is suitable for
heavyweight loads. A
fishing string is attached to
the hinge lock and the
other side of the string is
tied to a motor’s shaft. As
the shaft rotates the
fishing line wraps around
the motor’s shaft
Few problems may come
out as the load given by
organizer can be metal
and it hard to used string
and hang the metal load.
The parachute also might
open as the air hit it as it is
at outside. The size is also
big.
Cost: Low cost
Performance: Good
Complexity: Simple
Size: Big
7.7 Flag raise mechanism

Requirement: The requirement for this challenge is to raise Jalur Gemilang flag by command from the
ground station during the telemetry and telecommand challenge is held.

Table 7.7 shows different mechanism for flag raise and its trade analysis that help to determine the best
mechanism to be used to complete the flag raise challenge.

Prototype Prototype 1 Prototype 2

Prototype image Connected to
Flag
mechanism servo motor

Pole platform

Pole

Analysis/ The flag mechanism is like a normal
comparison flag raise mechanism, but the
rope/thread will be attached to a
servo motor instead of a winch and
when the servo motor rotates, the flag
will slowly raise to the top of the pole.
Tradeoff studies Mass: lightweight
Mass Performance: Good but it depends on
Performance the rope and pulley mechanism
complexity Complexity: simple
The mechanism involves the rotation of
the servo motor to raise the flag. This
mechanism work when the servo motor
is attached near the pole end at the p0le
platform and when the servo motor
rotates at certain angle such as 180-
degree angle, the pole will change
position from horizontal to vertically and
thus, the flag attach at the pole also
raises.
Mass: lightweight
Performance: Good and the raise of the
pole only depend on the rotation of
servo motor
Complexity: simple

Chosen No Yes
preliminary
design

Prototype 2 is chosen because it had a simpler mechanism which only involves the rotation of the servo
motor and the mass a lighter than prototype 1 since we don’t need to consider the weight of the thread.

8.0 GROUND STATION

Ground stations are surface-based facilities which are designed to provide real-time communication
with satellites. The hardware of this team’s ground station are laptop, microprocessor, transceiver and
antenna. The overview of the ground station show in figure 8.1. Ground station electrical connection
between hardware displayed in figure 8.2.

Fig 8.1 Overview of ground station control

 Fig 8.2 Electrical circuit diagram for ground station

8.1 Design

Starting off with the main design of the ground station, hardwares and other components should be
fixed on to a design to ease the operations and portability of the ground station.

Table 8.1 below shows the type of design to be used for the ground station. This trade study helps to
choose the best design to be reduced for the preliminary design.

Table 8.1 Trade study’s table for transceiver

Prototype Tripod Design Briefcase Design Open Design

Image

Details Commonly used for drones
and remote control aircrafts,
the tripod design ground
station is basically a tripod
Briefcase designed ground
station is a briefcase containing
hardwares required for the
ground station to perform
specific task. The hardwares are
The open design is commonly
used when it comes to
miniature sized ground station
that requires minimal hardware
for operations. Normally the
 mounted with the hardwares
and components like receiver,
transmitter, antennas and
even computers required for
the operations of the ground
station.
Comparative
analysis Advantages
- low production cost
- easy to move / portable
-simplicity
Disadvantages
-risk of hardware getting
damaged
mounted inside the briefcase
with either thick EPE foam
which have been cut to fit the
shape of the hardware or 3D
printed sockets that fits the
hardware.
Advantages
- portable ease
- high protection for hardware
Disadvantages
- costly to build due to the high
cost of the briefcase alone
- slightly heavy for its size
type of ground station is
mounted through a USB port
into a Portable
Computer/Laptop and users can
just carry it easily.
Advantages
- portable ease
- low cost production
Disadvantages
- risk of hardware getting
damaged

Assessments of A good and convenient design Despite the expensive A good and convenient design
features for a ground station but would production cost, it seems to be for a ground station but would
not be suitable for our ground the best design for this not be suitable for our ground
station because it’s too big of particular ground station as it’s station because it’s too big of a
a design to fit our small portable and can protect the design to fit our small hardware.
hardware. hardware well from exposure.
Tradeoff Cost-low-cost production Cost- high-cost production Cost- low-cost production
studies Performance – good Performance- good Performance- good
-cost Mass- lightweight Mass – slightly heavy Mass - lightweight
-performance Complexity- simple Complexity – simple Complexity – simple
-mass Size - big Size - small Size - small
-complexity
(how realistic it
is to be done in
a short amount
of time)
Chosen No No Yes
preliminary
design

Despite some of the flaw it may come with, it is decided that the open design will be chosen as the base
design for the ground station. It’s cheap, portable and most of all convenient and easy to be designed

8.2 Ground System Hardware

There are 2 major hardware required when it comes to this specific ground system. The ground station
that is required to be produced has to conduct 2 main mission which is to receive transmitted data from
the satellite prototype and also to transmit data or telecommands to prototype to perform specific task
 of raising the Malaysian flag and docking obstacles in the rover docking challenge. Due to this, the 2
major hardware for the ground system should be a transceiver and a microcomputer board.

8.2.1 Transceivers

When it comes to telemetry or telecommunications, 2 different hardware which are transmitter and
receiver are used. Each hardware has a specific function of transmitting and receiving data respectively
and is only limited to that singular function. For simplicity purpose, a transceiver is used chosen as the
hardware for telemetry and telecommand functions for this ground station. Transceiver is a hardware
that works with the functionality of a receiver and transmitter in a single package

Table 8.2 below shows the type of transceiver hardware used for the purpose of transmitting and
receiving data from the satellite prototype. This trade study helps to choose the best transceiver to be
reduced for the preliminary design.

Table 8.2 Trade study’s table for transceiver

Prototype LoRa SX1278 HC-12 UART Transceiver

Image
Details
 Voltage supply : 3.3-5V
 Operating frequency range: 433 MHz
 Accepted current: 10-12mA.
 256-bit FIFO TX / RX.
 RSSI channel detection function.
 Range of transmission open up to
5KM-15KM. (depending on model)
 Voltage supply : 3.2 V – 5.5 V
 Operating frequency range : 433.4
– 473.0 MHz,
 Accepted current: 16 mA
 No RSSI channel detection
 Range of transmission about
0.6KM – 1KM

Comparative
analysis Advantages Advantages
- reasonable voltage demand - reasonable voltage demand
- low cost/ affordable - affordable/ low cost
- long transmission rate (meets the required
minimum distance of 2KM) Disadvantages
- can code with default programming - costly
language - shortest range compared to the other
-simplicity prototypes

Disadvantages
-uses more complex encryption algorithm

Assessments of Easy to programme and simple to use and A less effective transceiver due to the short
features also this transceiver meets the requirements range it provides but other than that it’s an
in every aspects. overall good transceiver.
Tradeoff Cost-low-cost production Cost- high-cost production
studies Performance – good Performance- excellent
-cost Mass- lightweight Mass - lightweight
-performance Complexity- simple Complexity – moderate
-mass Size – small Size - small
-complexity
(how realistic it
is to be done in
a short amount
of time)

Chosen Yes No
preliminary
design

Although the HC-12 UART Transceiver performs a lot better, Lora SX1278 is chosen because its
specification meets the requirements in all aspects. Other than that it is also a cheaper and less complex
hardware to be integrated as a ground station.

8.2.2 Microcomputers
 For the telemetry and telecommands challenge, a transceiver alone cannot complete the task of
transmitting and receiving data. It is just merely a tool to carry out that specific function. In order for the
transceiver to even work, another important hardware which is a microprocessor needs to be integrated
to it. Microprocessor are small computer circuit chip that can be integrated to a standalone PC or work
on its own that contains its own CPU, memory and other peripherals.

Table 8.2 below shows different models of microcontroller hardware used for the ground station. This
trade study helps to choose the best microprocessor to be reduced for the preliminary design.

Table 8.2 Trade study’s table for microprocessor

Prototype Raspberry Pi 3 Model B+
Details The Raspberry Pi 3 Model
B+ is the latest
microprocessor product
in the Raspberry Pi 3
range.
 Broadcom
BCM2837B0, Cortex-
A53 (ARMv8) 64-bit
SoC @ 1.4GHz
Processor
 1GB of RAM
 2.4GHz and 5GHz
IEEE 802.11.b/g/n/ac
wireless LAN,
Bluetooth 4.2, BLE
 Extended 40-pin GPIO
header
 5V of operating DC
power required
 2.5A operating
current required
Arduino Nano NodeMCU ESP32 Arduino Mega 2560
The Arduino Nano is a A more powerful The Arduino Mega
small, complete, and standalone NodeMCU 2560 is a
breadboard-friendly with ESP32 on it. microcontroller
board based on the ESP32 is the big brother board based on
ATmega328 (Arduino of ESP8266. the ATmega2560
Nano 3.x).
 Tensilica LX6 Dual-  ATmega2560 8-
 ATmega328 8-bit Core bit @16MHz
Processor @ 16MHz Proccesor@240 Processor
MHz  256KB of flash
Processor
 512 KB of SRAM memory (8KB
 2KB of SRAM + 32KB
 4 MB of Flash used for
flash
Memory bootloader)
 1KB EEPROM  Wireless standard  8KB SRAM
 22 I/O pins(6 of 802.11 /g/n  4KB of EEPROM
which are PWM) frequency 2.4 GHz  54 Digital I/O
 Operating Voltage  Has data Pins provided(16
of 5V interfaces of which is PWM
 19mA current including UART / Output)
required I2C / SPI / DAC /  Operating
ADC Voltage of 5V
 Operating voltage
 19mA current
of 2.3-3.3V
required
 160 – 260mA
current required

Comparative Advantages Advantages Advantages Advantages

analysis -vast peripheral support.
The board comes with 40
GPIO Pins for interfacing
more hardware
-expensive
-Supports many types of
-cheapest of the other -processor has clocking - cheap
prototypes speed suitable for the -vast peripheral
-processor has a fast mission support
clock speed suitable for -cheaper option for a
the mission relatively high end
-can operated IDE microcomputer Disadvantages
 coding languages Software on any -supports various - slower clocking
(C, C++, C#, Ruby, Java, operating system interpretation of speed
Python etc.) programming languages -IDE only supports C
-Large board memory including C, C++, programming
-fastest clocking speed of Disadvantages Python, Java etc. language
all the prototyped - Only can be -smaller SRAM and
programmed using C ROM size compared
Disadvantages and C++ Disadvantages to the other
-does not have ROM or - smallest SRAM and -smaller ROM and prototypes
any other types of ROM of all the SRAM which may cause
internal storage prototypes let down during mission
embedded. An external operation
storage like a micro SD
card is required.
-overheating
Assessments Has the best specification One of the simpler Specification and quality Has more
of features out of all the other microcontrollers to be of this prototype is good disadvantages than
prototypes and wold used. Specification of and can definitely be advantage but can
definitely work perfect. the prototype would suitable for the main work well for the
suite for the mission. objective mission simple mission of
transmitting and
receiving data.
Would need better
specs for data
analysis.
Tradeoff Cost- Expensive Cost- very cheap Cost- very cheap Cost- affordable
studies Performance – excellent Performance- good Performance- good Performance - high
-cost Complexity- Easy to be Complexity- Average Complexity – average Complexity –
- used since it supports complexity since its IDE complexity complex due to the
performance various programming software can be fact it only works
-mass language and operating supported in various OS with C type
-complexity system. The only huge programming
(how realistic challenging part is the language
it is to be limited types of
done in a programming language
short that can be integrated
amount of with the hardware.
time)
Chosen No Yes No No
preliminary
design
 After assessing all the prototypes above, it is decided that Arduino Nano will be chosen as the
microprocessor that will be operating as the brain of the ground station since its specifications and price
best suited the requirements of the mission.

8.3 Ground Station Software

8.3.1 Integrated Development Environment (IDE)

An integrated development environment or commonly known as IDE is software for building

applications that combines common developer tools. Through IDE users are able to write codes, test
codes and set automation for a sequence or programme depending on the objective and requirements
of the users. The IDE comparisons chosen in the trade studies are based on its compatibility with the
chosen microprocessor which is the Arduino Nano.

Table 8.3 shows the different ground station IDE software that can be used. There are 4 ground IDE
software that can be used for the ground station which are Arduino IDE, PlatformIO, KtechLab and
Programino IDE. This trade studies also helps in the analysis of the pros and cons of its performance.

Table 8.3 Table of trade study’s for IDE

Prototype Arduino IDE PlatformIO Ktechlab Programino IDE

Details The Arduino IDE is an PlatformIO is an open KTechLab is an open Programino IDE is
open source software source, multiplatform, source IDE software for another open source
that helps users write cross-architecture, electronic and PIC software similar to the
code and upload it to multi-framework IDE microcontroller circuit Arduino IDE
the board. This tool for embedded boards and simulation.
software can be used system. It works as a circuit  Use the same
with any Arduino designer with auto- folder structure
board and is routing and a simulator as Arduino IDE
 Multi project
compatible with the of common electronic  Multi INO-File
workflow with
Arduino Nano. components. support
multiple panels.
 Multi-platform built  Website editor
 Allows to manage  Allows auto-routing
system for IoT available
sketches with and supports real-
 Able to operate  Code auto indent
multiple files time simulation and
without external OS  Free code
 Wide library to debugging
 PIO Unified zooming
provide multiple  Enables use of C,
Debugger available  Code Auto
sketch functions Assembly and high-
 Multiple completion
 Supports various level programming
architectures and available
programming languages
development  Able to
languages(C,C+  Provides a pictorial
platform customize syntax
+,C Header, format for
 Supports various
HTML JavaScript microcontroller highlighting
programming programming  Libraries import
etc) languages(C,C++,C  Supports various function to
Header, Python, file formats and Sketch folder (Lib
JavaScript etc) programming copy)
 languages(C,C++,C  Supports various
Header, HTML file formats and
JavaScrpit etc) programming
 Supports various languages(C,C+
programming +,C Header,
languages(C,C++,C HTML JavaScrpit
Header, HTML etc)
JavaScrpit etc)

Comparative
analysis Advantages Advantages Advantages Advantages
-open source in - easy to use - easy to use - easy to use
hardware programme due to programme due to programme due to
-don’t need to multiple languages multiple languages multiple languages
external programmer supported supported supported
(Burner) -do not need a specific -able to detect errors in - able to support
-programming ease OS to operate sketches or codes various programming
-open source in
-able to detect errors in -has circuit designing language
software
sketches or codes feature which will be - Can manage full
-IDE Software operate
on many OS usefully for hardware project without
Disadvantages project files in one
Disadvantages -Lack of hardware Disadvantages editor
- No understanding of support -difficult to be
the AVR integrated to any other
microcontroller. OS except for Linux Disadvantages
-Sketches and shields - No coding debugger
can be difficult to available
modify. -Lack of hardware
-No debugger included support
for checking scripts.

Assessments This software is the Features of the While the features will Just like the first
of features most convenient due software are great and fit well with the Arduino prototype, it lacks
to members can be integrated well Nano the software’s debugger which can
experience and with the Arduino Nano complexity to support save a large amount of
familiarity with the other OS except for time in programming
software but the Linux is a major setback. but overall it is a good
features are lacking software and can work
 compared to the other well with the Arduino
prototypes. Nano.
Tradeoff Cost - Free Cost- Free Cost- Free Cost- Free
studies Performance – Good Performance- Good Performance- Good Performance - Good
-cost Complexity- Easy to be Complexity – Easy to be Complexity- Average Mass - None
-performance used (due to used complexity at best Complexity -
-complexity familiarity with the Moderate
(how realistic software)
it is to be done
in a short
amount of
time)
Chosen No No No No
preliminary
design

After assessing, it’s concluded that the Arduino IDE software would be the best software to be
integrated in the ground station with the chosen microprocessor (Arduino Nano) because its features
can work well with the microprocessor and it’s the least complex software to be integrated.

8.3.2 Graphical User Interface (GUI)

Graphical User Interface or better known as GUI is a software of user interface that allows users to
operate hardware and electronic devices through graphical icons and audio indicator such as primary
notation, instead of text-based UIs, typed command labels or text navigation.

Table 8.4 shows the different ground station GUI software that can be used. There are 2 ground GUI
software that can be used and compared for the ground station which are LabView, My Open Lab and
PyLab_Works. This trade studies also helps in the analysis of the pros and cons of its performance.

Table 8.4 Table for GUI’s trade study

Prototype LabView My Open Lab PyLab_Works

Details LabVIEW (Laboratory Virtual
Instrument Engineering
Workbench) is a visual
programming language. It is a
system-design platform and
development environment that
was aimed at enabling all forms
of system to be developed.
MyOpenLab is a GUI and CDS
software platform for finished
elements (program
components) that can be linked
together. You can also
MyOpenLab with a house
builder compare the building
blocks used to build his house.
PyLab_Works is a free and
open source GUI type
software replacement for
Lab View + MatLab, written
in pure Python.
PyLab_Works is a visual
design package, much
easier to learn and to
extend than LabView.

 Has Multi-vendor
  Has a user-friendly drag and
drop kind of interactive
User Interface.
 Supports thousands of
inbuilt functions that range
from analysis and I/O etc.
 Has a modular design
making it easy to scale and
modulize programs.
 Plethora of tools that help
integrate and debug large
applications.
 Come with many tools
needed for many open
environment developments.
 Supports object-oriented
programming structures
and enables encapsulation
and inheritance to be
created modular and
extensible code.
 Able to compiled different
programming language.
Comparative
analysis Advantages
-Graphical programming is highly
interactive
instrument control which  Has a user-friendly drag and
offers comprehensive drop kind of interactive
Agilent and non-Agilent User Interface.
instrument control of your  Very Basic Type Graphical
LC, GC, LC/MS, GC/MS Controls and Displays are an
systems. integral part
 Provides the technical  Only supports Python
controls to securely acquire, programming language
process, report and store
data in laboratories that
must follow the compliance
guidelines of FDA 21 CFR
Part 11, EU Annex 11,
GAMP5 as well as ISO/IEC
17025 and EPA’s 40 CFR
Part 160.
 Able to set, automate
calculations and reduce
manual tasks to ensure
quality and accuracy.
 Enhanced data analysis
speed data review and
interpretation and perform
basic and complex analysis
to quickly identify key
information.
 Functionality can be easily
extend or add additional
capabilities with software
add-ons such as Sample
Scheduler, MatchCompare,
GPC, and ADFExport.
 Automated qualification
tool which helps perform
and identify software
qualification and
verification tasks to ensure
your software is operating
as intended.
 Java based programming
language supported
Advantages Advantages
- Ability to improve lab -it's free and open source, so
operations through better you can check or modify any
 - Has built in debugger to catch access to instruments and underlying algorithm
errors in the programme information with a client/server -every detail is designed from
configuration the user's point of view (and not
Disadvantages -do not need a specific OS to from the programmers point of
-Front panel design requires extra operate view) and therefor it is simple to
coding in the case of text-based understand the data presented
programming but in the case of
Graphical programming, no extra
Disadvantages Disadvantages
coding is required.
-Limitations in the GUI -programmable only with
Database communications is
development python
complicated as it does not do
-Only supports a single -No built in debugger to be able
binding. It does fine inserting
programming language to detect error
data into a database, but using
-Lacking a lot of features
the data, or manipulating it, is
necessary for ground system
challenging
-less access to the open source
library.
Assessments An average GUI when it comes to This GUI is commonly used in The least optimal GUI software
of features analysing the presented data. ground station and from the compared to the others. The
Require another external technical specifications. Would only advantage it has over its
software to do so. But overall can work well as a GUI for ground counterparts is the simplicity of
be used as a GUI software for station. However, the limitation using and designing it (provided
ground station in the GUI development can when only Python has no flaw).
Overall a poor GUI for the
cause some minor issue
ground system.
Tradeoff Cost - Free Cost- Free Cost- Free
studies Performance – Good Performance- Good Performance- Poor
-cost Complexity- Easy to be used Complexity – Easy to be used Complexity- Complex due to
-performance the programming language and
-complexity lack of features
(how realistic
it is to be done
in a short
amount of
time)
Chosen Yes No No
preliminary
design

After assessing all the GUI prototypes, it concluded that LabView would be the best software to be
integrated in the ground station for the graphical user interface with the because its features best suit
the requirements of the mission and it’s the least complex software to be integrated.

8.3.3 Data Analysis Software

With the IDE and GUI chosen, data analysis software is required to integrate and analyse data received.
The function of data analysis software is to line up, perform, and manage data analytics processes. It
enables users to make informed decisions faster analytics processes. It enables users to make informed
decisions faster. Table 8.5 shows the different data analysis software that can be used. There are 3 data
analysis software that can be used and compared for the ground station which are R, Excel and MatLab.
This trade studies also helps in the analysis of the pros and cons of its performance

Table 8.5 Table for data analysis software’s study

Type R Excel Matlab
Advantages Has wide library support Easy, good visualization Elegant matrix support
and good visualization and very flexible to be and good visualization
use
Disadvantages Steep curve for beginners Large datasets Expensive and
incomplete statistical
support
Open source Yes No No
Complexity Complex Easy Complex
Statistical Handling tremendous Compute large amount Interactive and highly
analysis amount of analysis, of data, defining customizable data
detecting trends, and variables, easy to make visualizatio.
organizing the data. the datasheet/pivot
table

9.0 INTEGRATION AND TEST

9.1 Overview
The prototype will be tested all throughout the building process to make sure it works as intended and
to evaluate the performance of the team’s prototype. Figure 9.1 show the flowchart of the integration
and testing process. The test can be divided into 3 levels which are subsystem level, integrated level and
environmental level. Table 9.1 shows the details of each level.
 Fig 9.1 Integrating and testing flowchart

Table 9.1 Integration and testing at different levels

Level Details
Subsystem Sensors
On-Board Data Handling (OBDH)
EPS
Communication (COM)
Flight Software
Mechanical
Integrated Mechanisms
Communication
Deployment
Descent testing
Environmental Drop test
Vibration test

9.2 Subsystem level testing

At this level all critical subsystem are tested to make sure that the prototype will not encounter any
problems during operations as an integration system. Table 9.2 describes things will be done for each of
subsystem testing.
Table 9.2 Subsystem level testing plan
Subsystem Description
Sensors 1. All sensors tested on the breadboard
2. Sensors calibrated until accuracy rate is high
3. Repeated testing
COM and OBDH 1. Test COM and OBDH on printed and breadboard
2. Ensure serial communication of each sensor is
correct
3. Data storage is tested with SD card
4. Ensure accuracy and speed of the data sent to
ground station is correct
5. Communication range is tested
6. Repeated testing
EPS 1. Ensure there are no current leakage
2. Ensure each sensor power demands are fulfilled
3. Ensure total power sufficient
4. Ensure each components functioned properly
Flight Software 1. Ensuring two-way transmission between ground control
system (GCS) and payload is successful within distance
2. Simulating the minimum 15 minutes performance of
GCS by conducting trail at open space
Mechanical 1. Ensure the seed dispenser, flag raising mechanism, and
load dropping mechanism works properly
2. Ensure the rover can move properly and the rover’s
structure can handle the torque
3. Ensure rover can handle the payload’s weight

9.3 Integrated level functional testing

In this level, the prototype is tested whether it is functioning well after the system is being fully
integrated. Table 9.3 shows the plans for the integrated level testing.

Table 9.3 Integrated level testing plan

Test Description
Mechanism 1. Designed to verify that the servo motor system
can move the rover, raise the flag and release the
payload and all mechanisms are working properly
2. Test the time requirement to raise flag and
release load
Communication 1. Designed to verify that the communication
subsystem run smoothly when installed on the
prototype
2. Measure effective vertical and horizontal
communication distance with 1Hz rate and
installed flight software program. The data shall
appear in GCS monitor
Deployment 1. Load deployment is tested at various altitude
 2. Parachute deployment is tested at various
altitude
3. Integration between sensors and servo
deployment system is tested in various
conditions
Descent testing 1. Design to verify that the parachute can open
and works during descent
2. Team plans to drop the load of 5 g from various
heights and observe the flight characteristic and
measure the descent rate of the payload

9.4 Environmental testing

The environmental testing will be done to check whether the prototype can withstand the environment
disturbance factors. Table 9.4 explains the plan for the test.

Table 9.4 Environmental testing plan’s table

Test Description
Drop test 1. Designed to verify that the load and attachment
points will survive the deployment and descent
process as the process can be rough depending
on wind conditions
Vibration 1. Designed to verify the mounting integrity of all
components, connections, structural integrity
and battery connections

10.0 CONCEPT OF OPERATION

10.1 Overview

Table 10.1 shows the sequence of events for the final stage demonstration.

Table 10.1 Mission sequence of events.

ARRIVAL
 Arrive at the launch location
 Set up of the ground system
 Check the satellite, rover and the seed dispenser
PRE-LAUNCH
 Software calibration command transmission to the payload from the ground station.
 Check the size and the weight of the prototypes + module.
 Check the parachute so it is still in good condition.
 Check all the mechanisms such as flag raising mechanism, parachute mechanism and seed
dispenser mechanism.
 Perform a drop test for the parachute and the payload.
  Check safety requirements.
GROUND SYSTEM SETUP

ASSEMBLY
 The payload will be stowed into the compartment.
 The parachute will be folded and placed in the compartment.
LAUNCH (TELEMETRY AND TELECOMMAND)
 Place the satellite prototype on the drone/balloon.
 Start data transmission using the electronic subsystem.
 The drone/balloon takeoff to a certain altitude with a horizontal 2km distance from the
ground station.
 Humidity, pressure and temperature data are collected and transmitted to the ground station.
 The ground station sends a command to raise the Jalur Gemilang flag.
 The flag is raised.
 The ground station sends a command to drop the payload that is attached to the parachute.
 The compartment of the parachute opens, and the payload is dropped.
 Time taken for the payload to reach the ground is recorded.
 The prototype is brought down.
 The SD card is taken out and the data recorded is analyzed.
ROVER DOCKING
 The rover prototype is placed inside a covered box.
 The rover tries to detect the light source provided.
 The rover moves toward the light.
 The rover moves toward the light and hits the light switch button at the docking station.
INNOVATION
 The seed dispenser is attached to the rover and the prototype.
 The rover is placed on the ground.
 The rover moves for 30 seconds and stops for 2 seconds before moving again for another 30
seconds.
 When the rover stops, the seed dispenser will drop the seeds.
FLIGHT RECOVERY
 The parachute and payload that had been dropped from the prototype during the telemetry
and telecommand challenge near the area where the prototype takes off is retrieved.
 Structural integrity of the prototype is inspected, and damages recorded.
DATA ANALYSIS
 Check the data received at the ground station which is sent by the satellite prototype.
 Check the data recorded by the SD card.
 Analyze the telemetry data.
 Check real-time data.
POST FLIGHT REVIEW
 Prepare the data file and post process the data into presentable figures.

10.2 Data analysis

The data received by the ground station from the satellite prototype will be presented and interpreted
using the Excel software. This helps with the analysis of data since it is much easier to analyze the data in
a manageable form. The required list of data, software and hardware is shown in table 10.2.

Table 10.2 Requirement for data analysis.

List of data to be analyzed Hardware Software

 Altitude -BMP280 Microsoft Excel
 Pressure
 temperature
 Humidity -DHT22 Microsoft Excel

11.0 Project management and resource

11.1 Cost

After clarifying the components needed for the prototype the total cost is calculated. The details of the
project’s cost are in table 11.1. All the components are purchased online so there are shipping costs that
is included. The additional shipping costs is listed out in table 11.2. Hence the total cost in building the
prototype by adding both the component and shipping cost is RM239.60. There is no cost for laboratory
and workshop’s rent as the work of prototype’s building is done in USM’s laboratory which is free of
charge.

Table 11.1 Table of components’ cost

N Components Unit Price per unit (RM) Price

o (RM)
1. Pressure and Altitude Sensor (BMP 280) 1 8.70 8.70
2. Temperature and humidity sensor (DHT 22) 1 14.10 14.10
3. Light dependent resistor (LDR) sensor 4 2.30 9.20
(GL55)
4. GPS (GY-NEO6MV2) 1 20.90 20.90
5. Servo motor (SG 90) 4 9.40 37.60
6. STM32 Blue Pill 1 34.50 34.50
7. LoRa (SX1278) 2 22.00 44.00
8. Infrared Sensor 1 1.50 1.50
9. Solar Charger Controller (MPPT) 1 7.40 7.40
10 0.5 W Polycrystalline Solar Panel 1 8.80 8.80
.
11 9 V and 800 mAh Lithium Polymer Battery 1 18.90 18.90
.
12 3.3 Volt Voltage Regulator 1 1.90 1.90
.
13 5 Volt Voltage Regulator 2 0.60 0.60
.
14 3.6 Volt Voltage Regulator 1 1.90 1.90
.
15 MIcroSD Card 1 1.50 1.50
.
16 TTL Connector 1 9.50 9.50
.
17 Arduino Uno 1 7.00 7.00
.
18 PLA Filament (200 gram) 2 16.80 33.60
.
Total 224.10

Table 11.2 Shipping cost’s table

No Shop’s Name Cost (RM)

1. SGROBOT (Shopee21111) 4.90
2. Cytron Official Store (Shopee) 4.90
3. Littlecraft (Shopee) 1.90
4. ElectricA (Shopee) 1.90
5. SYNACORP@STELECTRONICS (Shopee) 1.90
Total 15.50

Changes made since proposal submission: The total cost has been reduced from RM501.30 to
RM239.60 which involves a savings of RM261.70. The factors of the cost reduction are as below:

1. The changes of prototype’s mission for the innovation challenges from fire detection satellite to seed
dispenser’s rover.
2. After listing all the components that the team needs to purchase, sourcing of components online was
done carefully to find the cheapest price.
3. Team minimized the number of online shop from where components will be purchased from to
reduce shipping fees.

11.2 Schedule

The schedule is fixed throughout this competition which is shown through a Gantt chart in Appendix A.
The milestones for every phase during this competition are marked with a diamond symbol in the Gantt
chart. Supposedly according to the chart, the team should finish building the prototype in week 7.
However, as of the submission of this document, the team is in the early phase of building the prototype
in week 8. There are few factors for this delay in progress which are listed below:

1. The changes in the innovation mission caused team to redesign the prototype system and
corresponding analysis part.
2. The team had problems in the mechanical and structure subsystem, where the prototype’s dimension
exceeded the maximum value given by the organizer. Therefore, the design needed to be readjusted.
3. As all the components are bought online, there is a week’s waiting time for the shipping and arrival of
components.

11.3 Progress on building prototype

After finishing the analysis and trade study in building the prototype, team start to working on the
calibration progress. Things that have be done by the team on this progress are as below:
1. Buying the sensors needed
2. Testing the sensors using arduino first to see whether the sensor working
3. Install and connect STM32 Blue Pill into ArduinoIDE software as shown in figure 11.1

Fig 11.1 STM32 Blue Pill connect to interface and AduinoIDE

4. Install bootloader into ArduinoIDE in order to let STM32 Blue Pill can connect to the software without
interface as shown in figure 11.2.

Fig 11.2 STM connected to ArduinoIDE without interface

5. 3D-printed chassis main body structure. The printed part shown in figure 11.3
 Fig 11.3 3D printed part of prototype

5. Build parachute and test it as shown in figure 11.4 and figure 11.5

Fig 11.4 Parachute for testing

Fig 11.5 Parachute is tested

12.0 Summary

This summary briefly describes the current progress and development of the prototype. The overall
prototype’s design has been finalized and is currently being 3D printed. Since 3D printing takes times to
complete, currently only the chassis, platform, main frame body and the chain have been printed. After
clarifying the components that will be used for the prototype and ground system, the team bought
them. As the components arrived, they were tested. The testing is done to make sure the component
can achieve the mission objectives and collect the necessary data to fulfill the requirement for the
prototype. The components and sensors testing also enable team to test the coding that will used and
modified to suit the goals. The parachute was also tested. To conclude, the development of building is in
good progress even though a little bit behind the schedule which the prototype only 30 % of it building
progress. Team will pace up in building the prototype during CDR stage.
Appendix A