Picorover Design

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	System Design How Picorover system is defined		Date: 2009-Apr-23 Revision: 2.0 Prepared by: Joshua Tristancho Revised by:
Date: 2009-Feb-13	Revision: 1.0	Prepared by: Joshua Tristancho	Revised by: Andres Petilo
Date: 2009-Apr-23	Revision: 2.0	Prepared by: Joshua Tristancho	Revised by:

^{edit functional committments}

The system PicoRover is divided by three zones of functional commitments:

SHIELD FUNCTIONAL COMMITMENTS: A set of exposed subsystems.
CORE FUNCTIONAL COMMITMENTS: A set of critical subsystems in order to survive.
PAYLOAD FUNCTIONAL COMMITMENTS: A set of non critical subsystems but important for the mission.

Scientific Drivers

Principles and laws which make feasible to wing GLXP prizes with open access resources:

Photoelectric effect: [1] Solar Cells.
High power density batteries: [2].
Thermoelectric effect:[3] Thermal feeding.
Piezoelectric effect: [4] Micro force sensor.
Electromagnetic induction effect: [5] Transformer.
High integration level: [6] Embedded component.
High density NAND memory:[7] Example of pendrive.
Photodiode:[8] Example of HD camera.
Accelerometer:[9] (IMU) Inertial Measurement Unit.
Gyroscope:[10] Angular rate.
Synthetic Aperture Radar: [11] Example of nano-SAR.

^{Edit Scientific Drivers}

System schematics

Data flow

Data Flow Diagram

Selected Components and Bandwidth

Picorover Parameters

Picorover External Parameters

Parameter	Type	Bits	Range	Unit	Nominal	Bandwidth
Thermal Feeding Voltage	float	32	0 to 5,000.0	Volts	0 V (To be defined)	0.1 Hz
Radar Distance Density	float array	2x100x32	0 to 30 0.1 to 10.0	meters kilograms/cubic decimeter	0 m 1.200 kg/dm3	0.1 Hz
Foot Print Force	float array	10x32	0 to 4,500.0	grams	0.0 g	40 Hz
External Temperature	float	32	73 to 473 (-200 to +200)	Kelvin (degree Celsius)	398K (125 ºC)	0.1 Hz
HD Camera	Streaming	?	?	?	?	?
Radio Link Ranging	float	32	0 to 100,000.0	meters	0.0 m	0.1 Hz
Horizont Angle	float	32	0 to 6.238185 (0 to 360º)	radians (degrees)	0 rad (0º)	1 Hz

^{edit external parameters}

Picorover Internal Parameters

Parameter	Type	Bits	Range	Unit	Nominal	Bandwidth
Solar Feeding Voltage	float	32	0 to 4.000	Volts	2.731 V	1 Hz
Battery Voltage	float	32	0 to 4.000	Volts	3.300 V	1 Hz
Emergency Battery Voltage	float	32	0 to 4.000	Volts	3.000 V	1 Hz
Chassis Temperature	float	32	218 to 488 (-55 to +125)	Kelvins (degree Celsius)	298K (25 ºC)	1 Hz
Free Memory	long	64	0 to 9,223,372,036,854,775,807	bytes	4 Gb	1 Hz
Local Time	double	64	±5.0E−324 to ±1.7E308	seconds	Refered to the launch moment	1000 Hz
Core to Shield Angle	float	32	0 to 6.238185 (0 to 360)	radians (degrees)	0 rad (0 º)	40 Hz
Body Acceleration	float array	3x32	-10 to +10 (-98.1 to 98.1)	Earth gravities (meters/square second)	0.17 g (1.6677 m/s2)	60 Hz
Body Angular Rate ^{Main motor rpm} ^[1]	float array	3x32	0 to 6.981317 (0 to 400)	radians/second (degrees/second)	0 rad/s (0 º/s)	40 Hz
Target Pitch Angle	float	32	0 to 6.238185 (0 to 360)	radians/second (degrees/second)	0 rad/s (0 º/s)	40 Hz
Target Roll Angle	float	32	0 to 6.238185 (0 to 360)	radians/second (degrees/second)	0 rad/s (0 º/s)	40 Hz
Current Mode	int32	32	(To be defined)		DEFAULT	40 Hz
Labeling Illumination	Boolean	32	0 or 1		FALSE	40 Hz

^{edit internal parameters}

↑ Conversion factor to be specified

Subsystem List

SHIELD	Subsystem	Component list	Weight	Cost
	Power Accumulating	2 Light weight capacitors	2	$2.00
	Thermal Feeding	2 Thermoelectric cells	20	$70.00
	Shield Transferring	Not applicable for Picorover1.3degrees	0	$0.00
	Shield Heating	1 Thermoelectric cell	10	$35.00
	Terrain Scanning	1 PicoSAR	10	$3,000.00
	Terrain Feeling	12 Micro force sensors	12	$1,404.00
		SUBTOTAL	54.00 grams	$4,511.00
CORE	Subsystem	Component list	Weight	Cost
	Solar Feeding	4 Solar cells	0.23	$10.00
	Power Storing	2 Lithium Ion batteries	140	$20.00
	Emergency Power Source	10 LiPo coin batteries	105	$50.00
	Core Transferring	Not applicable for Picorover1.3degrees	0	$0.00
	Core Heating	1 Thermoelectric cell	10	$35.00
	Temperature Sensing	1 Temperature sensor	0	$0.00
	Data Storing	1 USB pendrive 1 Host USB Controller	2.65	$35.00
	Aligning	Not applicable for Picorover1.3degrees	0	$0.00
	Processing	1 MCU Microcontroller	1	$50.00
	Referencing	1 IMU Inertial Measurement Unit]] To be replaced by a non-ITAR sensitive component	7	$670.00
	Attitude Controlling	1 Attitude Stepper Motor 1 MCU Microcontroller 1 IMU Inertial Measurement Unit	0 included in Processing and Referencing	$200.00
	Mission Managing	1 MCU Microcontroller	0 included in Processing	$0.00
	Thrust Controlling	1 Thrust Stepper Motor 1 MCU Microcontroller 1 IMU Inertial Measurement Unit	0 included in Processing and Referencing	$0.00
	Shielding	1 Lead Shield	133.12	$1.00
		SUBTOTAL	399.00 grams	$1071.00
PAYLOAD	Subsystem	Component list	Weight	Cost
	Downlink Transferring	1 Transceiver	1.28	$22.71
	Recording	1 HD Camera 1 Cleared window	145 5.0	$2,000 $7.10
	Labeling	1 GLXP label 1 White LED	0	$0.00
	Ranging	1 Processor	0 included in Downlink Transferring	$0.00
	Uplink Transferring	1 Transceiver	0 included in Downlink Transferring	$0.00
		SUBTOTAL	151.28 grams	$2,029.81

		TOTAL	604.28 grams	$7,611.81

^{edit subsystem list}

Component List

353	HD Camera	Blueprint 353
ANR26650	Lithium Ion Battery
APR18650	Lithium Ion Battery
C8051F340	MCU Main Control Unit To be replaced by Z430-RF2500
CL12	Light weight capacitor
CR2477	Lithium Coin Battery
DCBT-24AX	Transceiver To be replaced by Z430-RF2500
FR2505S	Cleared window	Blueprint FR2505S
G1-1.0-127-1.27	Thermoelectric Cell	Blueprint G1-1.0-127-1.27
HT201-H	Micro force sensor
KU204G	USB Pendrive
ONI-23503-300-10-80	IMU Inertial Measurement Unit To be replaced by ???
PL15S-020	Attitude Stepper Motor	Blueprint PL15S-020
T002A	Thrust Stepper Motor	Blueprint T002A
TASC27	Solar cell
VDIP2	MCU-USB Host
VNC1L	Host USB Crontroller To be replaced by VDIP2
XR-E	White LED
Z430-RF2500	MCU Transceiver	Blueprint Z430-RF2500

^{edit component list}

Part Tree

In progress

Picorover

SHIELD SUBSYSTEM

Subsystem	Component list	Size	Drawing
Power Accumulating	2 Light weight capacitors
Thermal Feeding	2 Thermoelectric cell	34x31x3.2 mm	G1-1.0-127-1.27
Shield Transferring	Not applicable for Picorover1.3degrees
Shield Heating	1 Resistor
Terrain Scanning	1 PicoSAR
Terrain Feeling	12 Micro force sensors

^{edit part tree shield subsystem}

CORE SUBSYSTEM

Subsystem	Component list	Size	Drawing
Solar Feeding	4 Solar cells
Power Storing	2 Lithium Ion batteries
Emergency Power Source	10 LiPo coin batteries
Core Transferring	Not applicable for Picorover1.3degrees
Core Heating	1 Thermoelectric cell
Temperature Sensing	1 Temperature sensor To be replaced by Z430-RF2500	32x20x2 mm	Z430-RF2500
Data Storing	1 USB pendrive - 1 Host USB Controller To be replaced by VDIP2	61x23x8 mm 14.2 grams 34x12x2 mm 1.7 grams
Aligning	3 Sensors	44x29x13 mm D17.9 mm -	T002A 94V-0
Processing	1 MCU Microcontroller To be replaced by Z430-RF2500	32x20x2 mm 1.8 grams	Z430-RF2500
Referencing	1 IMU Inertial Measurement Unit
Attitude Controlling	1 Attitude Stepper Motor	67x15x15 mm D15x10.5 mm 15.4 grams	PL15S-020
Mission Managing
Thrust Controlling		44x29x13 mm D17.9 mm 19.4 grams	T002A 94V-0
Shielding		D85/D76/D64x26 mm 60.9 grams Window D54 mm Bearing D45 mm	Al 0.1 mm

^{edit part tree core subsystem}

PAYLOAD SUBSYSTEM

Subsystem	Component list	Size	Drawing
Downlink Transferring	1 Transceiver	32x20x2 mm	Z430-RF2500
Recording	1 HD Camera 1 Cleared window	Elphel Camera 43.5x40.5x136.052 mm Computar Lens D41.6x48.8 mm Window D71.355x15 mm sphere96	Elphel 353 FR2505S
Labeling	1 GLXP label 1 White LED		GLXP label
Ranging	1 Transceiver	32x20x2 mm	Z430-RF2500
Uplink Transferring	1 Transceiver	32x20x2 mm	Z430-RF2500