team 502: psyche - return sample of hypothesized surfaces ...€¦ · web view2020-10-30 ·...
TRANSCRIPT
9/25/2020
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Team 502: Psyche - Return Sample of
Hypothesized Surfaces - Storage
Marcus C. Hatchett;Michael J. Macedo;Luke J. Remillard;Robert W. Zube
FAMU-FSU College of Engineering 2525 Pottsdamer St. Tallahassee, FL. 32310
Abstract
The abstract is a concise statement of the significant contents of your project. The abstract should
be one paragraph of between 150 and 500 words. The abstract is not indents.
Keywords: list 3 to 5 keywords that describe your project.
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Disclaimer
Your sponsor may require a disclaimer on the report. Especially if it is a government sponsored project or confidential project. If a disclaimer is not required delete this section.
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Acknowledgement
These remarks thanks those that helped you complete your senior design project. Especially those who have sponsored the project, provided mentorship advice, and materials. 4
Paragraph 1 thank sponsor! Paragraph 2 thank advisors. Paragraph 3 thank those that provided you materials and resources. Paragraph 4 thank anyone else who helped you.
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Table of ContentsAbstract................................................................................................................................ii
Disclaimer..........................................................................................................................iii
Acknowledgement..............................................................................................................iv
List of Tables.....................................................................................................................vii
List of Figures..................................................................................................................viii
Notation..............................................................................................................................ix
Chapter One: EML 4551C...................................................................................................1
1.1 Project Scope.............................................................................................................1
1.2 Customer Needs.........................................................................................................1
1.3 Functional Decomposition.........................................................................................1
1.4 Target Summary........................................................................................................1
1.5 Concept Generation...................................................................................................1
Concept 1.....................................................................................................................1
Concept 2.....................................................................................................................1
Concept 3.....................................................................................................................1
Concept 4.....................................................................................................................1
Concept n+1.................................................................................................................1
1.6 Concept Selection......................................................................................................2
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1.8 Spring Project Plan....................................................................................................2
Chapter Two: EML 4552C..................................................................................................3
2.1 Spring Plan.................................................................................................................3
Project Plan..................................................................................................................3
Build Plan....................................................................................................................3
Appendices..........................................................................................................................4
Appendix A: Code of Conduct............................................................................................6
Appendix B: Functional Decomposition.............................................................................7
Appendix C: Target Catalog................................................................................................8
Appendix A: APA Headings (delete)..................................................................................8
Heading 1 is Centered, Boldface, Uppercase and Lowercase Heading...............................8
Heading 2 is Flush Left, Boldface, Uppercase and Lowercase Heading.........................8
Heading 3 is indented, boldface lowercase paragraph heading ending with a period.8
Appendix B Figures and Tables (delete).............................................................................9
Flush Left, Boldface, Uppercase and Lowercase..........................................................10
References..........................................................................................................................11
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List of Tables
Table 1 The Word Table and the Table Number are Normal Font and Flush Left. The
Caption is Flush Left, Italicized, Uppercase and Lowercase........................................................10
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List of Figures
Figure 1. Flush left, normal font settings, sentence case, and ends with a period...............9
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Notation
NASA National Aeronautics and Space Administration
JPL Jet Propulsion Laboratory
°C Degrees Celsius
AU Astronomical Unit of Measure
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Chapter One: EML 4551C
1.1 Project Scope
Project Description
The purpose of this project is to design a storage unit to be utilized on the NASA/JPL
mission to Psyche. Psyche is a metallic asteroid, believed to be the remnants of a planet torn
apart by asteroids, leaving behind nothing but the exposed core. This storage unit will be a key
piece of exploration equipment used to collect samples from Psyche. Due to the nature of the
mission and the small amount of information known about Psyche, the unit will be designed with
all possible environments in mind. This unknown world forces our team to think outside the box
and create a unit with a high level of versatility. Additionally, coordination with a separate end-
effector team is crucial to achieving our end goal of a modular system which works together to
perform the task at hand.
Key Goals
The primary goal of this project is to design a storage unit for the NASA/JPL mission to
Psyche. The storage unit should be capable of accepting samples from the asteroid and protecting
them as they are transported from the asteroid back to Earth aboard a return vehicle. The unit
should be designed such that it works in conjunction with an end effector, as specified by Team
501. Due to the unknown environment present on Psyche, this storage unit will need to be
capable of performing its stated function in several different environments and climates.
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Market
The primary market for this project is the NASA/JPL Psyche Mission. Secondary
markets include other NASA or JPL missions that benefit from a well-designed storage unit, as
well as missions performed by other organizations. This unit could also be used for small scale
mining, sampling, or transportation operations on Earth. In areas where manned operation is
infeasible, such as radiation zones or hazardous mines, this storage unit could be used in
conjunction with a transport vehicle and sampling device to move samples towards a safe
location for inspection.
Assumptions
The following assumptions were made based on discussions with our sponsor, our project
manager, and Team 501:
The Storage unit will be removed from and returned to the return vehicle. This will be
accomplished by the rover team, and will involve lifting the storage unit, mounting it to the
rover, transporting it to various locations on the asteroid, returning it to the return vehicle,
removing it from the rover, and placing it in the return vehicle. Methods of manipulation and
mounting may be fleshed out with the rover team.
It’s also assumed that the Psyche surface will be excavated by a separate end-effector
unit. This end-effector will be different from the end-effector being designed by Team 501 and
will specialize in core sampling.
The gravity on Psyche will be present but very weak. This is a small asteroid and has a
gravitational pull of 0.06m/s, which is 1/27th that of the moon.
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Psyche is considered a Type M (Metallic) asteroid. As such, no life is expected to be
found on it, so no measures are needed to preserve life.
Psyche could experience temperatures as low as -114°C and as high as -75°C, based on
minimum and maximum orbital distances from the sun. Although temperature considerations
are not needed for the samples, the storage unit itself will need to be designed to operate in
extreme temperatures. (2)
Psyche is assumed to have no atmosphere. It is assumed to be a non-gaseous, metallic
asteroid. As such, it is assumed that the pressure on Psyche will be vacuum.
A rover will be capable of accommodating the power requirements of the storage unit
during sampling. If power should be required while off the rover, the return vehicle should be
capable of accommodating these needs, and an assumption can be made that the power
connection to the rover is sufficient to be used with the return vehicle as well.
The samples are not temperature sensitive, are not expected to harbor life and will not
need to be kept in a temperature-controlled environment. It is assumed that the state of the
sample will not be affected by the environmental conditions of Psyche or of Earth.
Stakeholders
The parties involved for this project are the National Aeronautics and Space
Administration (NASA), Arizona State University (ASU), Dr. Cassie Bowman (Sponsor/Psyche
Co-Investigator), Dr. Shayne McConomy (FSU Senior Design Professor), Dr. Patrick Hollis
(Engineering Advisor), Kimberly Rillon (Project Manager/ASU Student), Dr. Lindy Elkins-
Tanton (Principal Investigator of Psyche), and the FAMU-FSU College of Engineering’s Senior
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1.2 Customer Needs
The objective with meeting with our sponsor was to receive a list of needs that will help
us shape our storage unit to safely store Psyche specimens to be returned to earth. These
questions were asked over Zoom, a video conferencing software program. For identifying the
customer needs, the following questions were interpreted through discussions with our sponsor
Dr. Cassie Bowman and the project manager Kimberly Rillon which are shown below in Table
1.
Question Number Question Customer Answer Interpreted Need 1 Should we expect the
storage unit to encounter any corrosive materials?
Yes, corrosive materials should be planned for.
Materials incorporated into the final design can exhibit a resistance towards harmful substances.
2 How many separate compartments are required?
No specific number is defined but you may consider making a unit whose size can be changed with little other considerations.
The designers decide on a relevant number and create a system which can grow or shrink without substantially modifying the rest of the system.
3 Does the storage unit need to be able to withstand impact from flying debris?
There could be debris flying around but nothing too devastating.
The storage unit materials can withstand light impact from flying debris.
4 Does the storage unit need to protect samples from blunt impact?
Yes, it’s possible that the storage unit will encounter drops to Earth’s surface.
The storage unit can protect samples from surface impacts.
5 Will the rover return to the ship or just the storage unit?
This information is not yet decided on, you may want to
The storage unit can detach from the rover, though means
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consider both options in your design.
of transportation will lie outside of our project scope
6 Should we be concerned with temperature change?
Psyche will subject the unit to extreme temperatures which your team will need to deduce.
The unit can withstand extreme temperatures of Psyche.
7Is anything known about the atmospheric pressure on Psyche?
Psyche is assumed to have no atmosphere.
The unit may need a mechanism to compensate for pressure change such that it does not rupture.
8Should the storage unit be sealed?
The unit should prevent foreign particle contamination.
The storage unit can protect the core samples from the elements.
9Does the storage unit need to support weight from external addons?
Addons are possible. Components can be mounted on the unit.
10Are there maximum or minimum outside dimensions for the storage unit?
The storage unit size should be able to accommodate samples for all hypothesized surfaces on Psyche.
The storage unit has enough space for samples from all hypothesized surfaces of Psyche.
11What will the average specimen size be?
You would have to contact other Psyche project groups to see what their plans are.
The size of each storage compartment can be adjusted without major adjustments to the rest of the system
12Should the storage unit be capable of detaching from the rover?
Yes The storage unit can detach from the rover.
13How long is the storage system expected to remain on Psyche?
That hasn’t been decided yet, but you should plan for months to years.
The system can last for years.
Is the storage unit No, just worry about Primary focus can be
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14 expected to serve any other function?
storage. on storage capabilities.
15Will the storage unit ride on the inside or outside of the return vehicle?
The unit will be inside the return vehicle.
The unit is small enough to fit in the return vehicle.
Synthesis
Our final prototype needs to be capable of storing and protecting core samples taken from
a sparsely understood metallic asteroid known as Psyche. Although the environmental
characteristics of the asteroid are relatively unknown, it can be hypothesized that the storage unit
will be subjected to extreme cold and heat. Although the samples are not temperature or pressure
sensitive, the storage unit itself will need to function in this environment, so climate control will
need to be considered for the vital components. The unit will also need to be tough enough to
withstand possible damage from small meteorites, as the asteroid has no hypothesized
atmosphere. Overall, the unit needs to be tough, versatile, situationally independent, and needs to
protect the core samples from direct and incidental damage.
1.3 Functional Decomposition
Figure 1: Functional Decomposition Flowchart
The functional decomposition shown in Figure 1 represents the key components that will
be implemented in the storage unit. The functions of the storage unit are Hold Samples, Protect
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Samples, Integrate, and Control. Hold Samples concerns how well the storage unit stores
samples during the mission. The storage unit must be capable of housing not only the samples,
but the means of holding them individually. This means the storage unit must have room for
individual sample slots which in turn must have room for the individual samples. Protect
Samples concerns how comprehensively the storage unit will protect the samples from being
damaged once they are on board. This is important to ensure the safety of the samples on the
return trip such that they are in as close to as-found condition as possible once they are removed
for analysis. Integrate concerns how well the storage system and end-effector system work
together to store samples, and how well the storage system integrates with the rover. The storage
system cannot possibly do its job if it’s not securely mounted to the rover and receiving power.
It’s also imperative that the storage unit works flawlessly and autonomously with the end-
effector. Control pertains to the monitoring of the power system, interpretation of sensor
feedback to make any necessary adjustments to the actuators and motor and reading output of
pressure sensors in the individual slot containers to keep track of which sample slots are
occupied. If the control systems are not functioning correctly, the system is running blind.
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Figure 1: Functional Decomposition Flowchart
As seen in the chart, the Hold Samples subsystem has two basic functions, House
Individual Samples, and Hold Sample in Container. House Individual Samples refers to the
basic function of sequestering the samples from the other samples. While Hold sample in
Container refers to the function of preventing samples from leaving the container for any number
of reasons. This system is first on the priority list.
The next subsystem is Protect Samples, and it encompasses all subsystems that keep the
samples from incurring damage from the time they are deposited to the time they are removed
for analysis. Protect from Vibration refers to damage that could occur as the storage unit
traverses Psyche on the rover, or as the storage unit re-enters Earth’s atmosphere on the return
vehicle. Protect from Shock refers to any impact that could occur to the storage unit due to the
storage unit being dropped onto the rover or into the return vehicle. These sources of physical
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damage need to be designed around such that the samples are preserved until they reach their
destination. This system is second on the priority list.
The next subsystem is Integrate and refers to interactions between the storage unit and
the other systems that it relies upon to perform its function. The three functions in this
subsystem are Receive sample from end-effector, Connect with Rover Power, and Connect with
Rover Chassis. The storage unit needs to integrate with the end-effector, as it cannot receive the
samples without it. The storage unit must be able to accept the samples from the end-effector, in
a way that can be accomplished by the end-effector. This could relate to the angle of deposit, the
reach of the end-effector, or any number of other variables. The storage unit also needs to
integrate with the rover, but only for power and stability. The storage unit must have a way of
drawing power from the rover and must also have a means of securely attaching and easily
detaching from the rover. This system is third on the priority list.
Control is the fourth and final subsystem and refers to the data processing used by the
storage unit to send commands to the various motors, actuators, etc. which drive the functions of
the storage unit, the processing of sensor information in order to modify subsequent commands,
and the sensing of occupied storage slots. Command Drive Elements refers to the ability of the
system to modulate polarity and PWM to the various motors and actuators. Interpret Sensor
Feedback refers to the system’s ability to sense the environment and use this feedback to drive
the motors and various subsystems on the storage unit. Sense Empty Sample Slot refers to the
sensing of occupied sample slots so that the system can allocate slots for future samples. This
will also allow the system to keep track of where samples are deposited, and these samples can
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be paired with information regarding the location where the sample was taken from. This system
is fourth on the priority list.
The data presented in these charts is based off the acquired customer needs as well as
team decisions on the project goals. Since the scope of this project was only loosely defined by
our customer, our team was required to define some of the functions we wanted to accomplish.
Through intense discussion and planning, a set of functions was defined such that our storage
unit could accomplish all the requirements set forth by the sponsor and all the requirements
defined by our project scope. After the functions were defined, the breakdown of subsystems was
constructed such that each function was performed by the most capable subsystem. While some
functions could be accomplished by multiple subsystems, they were defined only under the most
capable subsystem to reduce project complexity. The smart integration table below shows which
functions could be accomplished by multiple subsystems, should a need arise.
Function Hold Samples
Protect Samples
Integrate Control
House Individual Samples X
Hold Sample in Container X
Protect from Vibration X X
Protect from Shock X X
Receive Sample from End-Effector
X X X
Connect to Rover Chassis X
Connect with Rover Power X X
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Interpret Sensor Feedback X
Command Drive Elements X X
Sense Empty Sample Slot X
Figure 2: Functional Decomposition Matrix
One reason for using multiple subsystems to accomplish the same function would be to
increase the reliability of that function. Should one responsible subsystem fail, a compromised
version of the respective function could still be accomplished by a separate subsystem. The
functions Protect from Vibration and Protect from Shock are shared by the Hold Sample and
Protect Samples subsystems for this reason. Another reason that functions should be performed
by multiple subsystems is if the function serves as a connection point between two different
subsystems. This is the case for many of the communication-based functions. The Command
Drive Elements and Connect with Rover Power functions affect both the Integrate and Control
subsystems, such that neither of those subsystems can ignore the functions. The Connect with
Rover Power function is shared because of the need to integrate with the rover’s power system
and have that power controlled for use by the storage unit. The Command Drive Elements
function will be shared so that after the control system determines any necessary values, they can
be relayed to the end-effector. The final function to be accomplished by multiple subsystems is
the Receive Sample from End-effector function. While this function will primarily be
accomplished by the Integrate subsystem, the Protect Samples subsystem will be included as the
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sample must be protected throughout the entire process, including the transition point between
the end-effector and the storage unit.
1.4 Target Summary
The main purpose of this project is to store and protect sample material of unknown
composition. The most critical functions of the project are focused on receiving samples,
containing samples, and protecting samples, such that they remain in their most natural form.
The critical targets and metrics involved in containing the samples are the sample slot inside
diameter, sample slot length, volumetric dimensions of the outside of the unit, and clamping
force applied to the sample. If the sample slot length and inside diameter are not correct, the
samples could either rattle around too much, risking destruction, or not fit in the unit. If the
volume of the unit was not considered carefully, then it may end up too small to store an
appropriate number of samples, or too large to fit on the rover. The clamping force applied to the
samples refers to the amount of pressure that should be maintained with the sample to keep it
stuck inside the sample slot and help reduce vibration incident upon the sample. If the amount of
force applied is too large, then we risk fracturing the sample, while too little force risks the
sample falling out of the container should an impact occur. The possibility of these shortcomings
makes these targets critical.
Another important aspect of the project is the protection of the samples taken. If the
samples aren’t properly protected, they risk being destroyed before they arrive on Earth for
analysis. This would mean a large amount of information is lost along with a substantial financial
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investment, as the samples are no longer in their most desirable state. For this reason, the targets
of allowable shock force and vibration are considered critical to the project. The allowable shock
force pertains to the force which the unit should be able to absorb without transmitting force to
the samples, should it be dropped, or flung around inside the return vehicle. Creating a unit
which can withstand shock, to a certain extent, allows for the possibility that something goes
wrong either on Psyche, the return vehicle, or Earth. The target for allowable amount of vibration
pertains to the many situations where vibration could rattle the samples into pieces. The two
scenarios that will be considered carefully are the transportation of the container around Psyche,
and transportation of the container back to Earth. While the unit rides around on the rover, it is
likely that the rover will be traversing uneven terrain, and while the rover can be assumed to
travel at low speeds, bumps and large vibrations will still occur, which could damage the
samples. Also, along its journey back to earth, the unit could experience a large amount of
vibration from re-entry of Earth’s atmosphere, as well as other potential sources, making
vibration a critical part of analysis.
The remaining targets and metrics are critical to allow the unit to function correctly with
the other pieces of the sampling system. When working with the rover, the target clamping force
of the mounting apparatus should be strong enough to maintain contact with the rover. The other
target critical in rover integration is to draw the correct amount of power from the rover to run
the systems. If too much power is taken from the rover, then we risk depleting the power supply,
while if too little power is drawn from the rover, the necessary functions of the storage unit may
not be achievable. The other part of the mission that the storage unit needs to integrate with is the
end-effector, which will be depositing samples into the unit. To integrate properly, the end-
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effector needs to know where it can deposit the next sample. A target was defined for the input
force of the inserted sample, measured with a metric of Newtons. This target defines the amount
of force required for the end-effector to insert a sample into the sample slot. This target becomes
critical so the storage unit can sense when a sample is being inserted and when a sample is fully
inserted.
The final critical targets are related to the drive elements and the weight of the system. In
order to correctly drive all the necessary components of the storage unit, an output must be
created and sent to the respective components. This target will be measured via a voltage and
must be enough to correctly control all the components of the storage unit. This output value is
critical to ensure the storage unit performs correctly. The weight of the storage unit is also
critical as each kilogram sent to space adds to the cost of the mission, and the rover may only be
able to support a certain amount of weight. The weight of the unit will be measured in kilograms
and the target will refer to the dry weight of the unit, or the weight of the unit without any
samples inserted.
Targets/Metrics Derivation
Our targets and metrics were derived by dissecting each of our functions into its
fundamental purpose and then conceptualizing how this purpose can be measured and tested.
These measurements were found to be either physically quantifiable or psychological. The use of
industry standards was also helpful while going through this process. After generating our list of
targets and metrics, we discussed which of them were fit to be deemed critical to our project’s
overall success. Out of our 23 targets, 13 of them were chosen to be mission critical. Whether a
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function and its respective target and metric was deemed mission critical is indicated in our
catalog, which is in Appendix C.
For targets pertaining to holding the samples like the volume of the entire unit and the
individual slots, we project that the unit will have the capability of storing 30 cylindrical samples
of size 125 mm (length) by 25 mm (diameter). This led to sizing the slots and finding that their
combined target volume is around 54% of the proposed maximum volume of the entire unit. We
are also targeting that any forces used in the purpose of clamping or holding the samples will not
exceed 20 N.
The protection targets are associated with protecting the samples from absorbing shock
and vibrational stresses. It was deemed that our storage unit should be able to handle impacts
from the height of the average American which is 5 feet 7 inches. We want our storage unit to be
able to protect the samples if the storage unit was dropped on earth. The maximum mass of the
storage unit was determined to be no more than 10 Kg. Calculating the impact force from the
height of 5 feet 7 inches was determined to be 95.5 N. The storage unit will be built to at least
handle this impact force. Vibrational stresses were determined to decrease by 30-50 % when
Nasa or private space organizations included damping material.
Targets in the Integrate function were derived through the usage of both analogous and
technical techniques. The input force target of 4.45 N was chosen to represent that roughly a
pound of force will be necessary to insert the samples into their slots. A clamping force of 60
Newtons is our target to keep the unit stationary on the rover. Also, regarding integration with
the rover, a 130W power connection was decided on the basis that many electronic devices adapt
power using a 130W power brick.
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Targets in the Control section were derived by wanting to achieve a faster response time
then input. We determine that ideally, we want 10 – 100 mv to 1 mv. The response time between
the sensor feedback and PWM change was determined to be 2 ms. This is to give the motor
enough time to switch a filled sample container to an empty sample container. The command
drive for small DC motors typically ranges from 0-5 V depending on the speed of the motor. The
sense empty slot designation was determined that it would output 100 mV.
Targets in the Supplementary section were derived by consulting the spec sheet for the
choice of microcontroller for the system, the Arduino Mega 2560. Based on the spec sheet, the
onboard SRAM was 8 Kb, the processor clock speed was 16 MHz, and the flash memory was
256 Kb. It was also decided that additional storage could be useful for storage of data pertaining
to sample origin, accompanying sample slot, and a backup of the system code such that the
micro-controller could be re-flashed in the case of data corruption.
Methods of Validation
Most of our systems will be tested using various simulation programs. Stress analysis of a
conceptual design will be conducted using Computer-Aided Design (CAD) software and Finite
Element Analysis (FEA). Dimensioning of the storage unit and the sample slots will be
validated using CAD. The electrical inputs and outputs will be tested using a high precision
multimeter. The sensitivity of the outputs will be validated by using a high precision multimeter
to measure input voltages from sensors and output voltages from the microcontroller and
comparing them. Input-output response time will be measured using timer functions within the
Arduino IDE. Finally, the system computing specs will be tested once the system is built. If a
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more powerful microcontroller or more supplemental storage is needed, the system will be
compensated accordingly.
Target and Metric Summary
The target and metrics were generated to create methods to achieve each function within
our functional decomposition. These targets and metrics were found by thinking critically how to
test certain functions and research on industry standards. Three functionless targets were found
dealing with the onboard processor speed, ram capacity, and data storage capacity. These targets
and metrics will help ensure our storage unit is able to communicate with the end effector at an
efficient rate. The measurement tools needed to validate measurements within our project are a
ruler, multimeter, vernier calipers, CAD, and Arduino. The target catalogue for our project can
be found below. This catalogue includes all discussed critical targets, metrics, and their method
of validation.
1.5 Concept Generation
Brainstorming
Brainstorming is the primary method in which concepts were generated for the Psyche
storage unit. The team gathered in a zoom meeting to discuss different ideas for the storage unit
and worked through sketches using the annotate function on zoom to illustrate ideas. The team
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also drew ideas out on paper to help explain their concepts to help everyone understand their
creative thinking. Ideas were then expanded on by each team member to introduce as many
solutions as possible. Note there was no judgment on anyone's ideas during the brainstorming
session.
Biomimicry
Clever animals have created structures to help store food to help them survive their
environment. We looked towards nature to help develop concepts to store specimens in our
storage unit. A good example was how bees store honey in hexagon honeycomb structures which
gave inspiration to possible structural concepts which could be used to provide support and
damping to the system. We also looked at kangaroo pouches which inspired ideas for a storage
unit using a pouch like system. We turned to nature for ideas for the attachment system for the
storage unit. Cockle burrs are spike-like plants that inspired us that velcro could be a possible
means to attach and detach the storage unit from the rover. We also used the human body as
inspiration with our rolling mat idea. The mat has joints like a finger, and tendon-like cords
which allow it to roll up after a sample has been stored using only a pair of DC motors.
Morphological Chart
The final method used for idea generation was the morphological chart. When we could
not come up with any more ideas, we turned to the morphological chart to help reach the 100
concept goal. The morphological chart was generated using a row-column structure to list Team 502 28
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numerous ideas for each subsection of the project. The generated ideas were then combined in
various ways to create concepts encompassing all subsystems of the storage unit. The
morphological chart was used to generate approximately 10 concepts.
Morphological Chart
Storage
Unit
Components
Physical
Solution
1 2 3 4
Lid Shape Cylindrical Rectangular No lid
Shape of Unit Cylindrical Cubic Spherical Rectangular
Prism
Damping
System
Foam Lining Rubber Lining Loaded Spring
Rover
Attachment
System
Automatic
Bolting
(internal
system)
Automatic
Bolting
(external
system)
Velcro
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Attachment Systems
1. Rotational Rod in Slot: This method attaches the unit to the rover using 4 rods on the unit
that can be inserted into slots mounted on the rover. The slots will be stationary, with 0
degrees of freedom and capable of accepting the rods mounted to the storage unit. The
rods will be mounted on the bottom of the storage unit, to a disk which rotates, extending
the rods into the slot or retracting them back into the storage unit.
2. Set Screw:
3. Velcro:
4. Hook Clamp:
Appendix A – Ideas
5. Cardboard box
6. Plywood box
7. Build portal to Psyche
8. Hollow metal box
9. Hollow metal box with lid
10. Metal box with built in cylindrical sample slots
11. Hollow Composite box
12. Hollow Composite Box with lid
13. Composite box with built in cylindrical sample slots
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14. Composite box with velcro attachment system
15. Metal Box with Velcro attachment system
16. Metal box with electro magnetic attachment system
17. Metal box with clamp on attachment system
18. Metal box with drawer like compartments
19. Metal box with a pouch like system
20. Storage unit with a garage like compartments
21. Electromagnet mounting system
22. Peg and set screw mounting system
23. Magnetic locking/unlocking mechanism
24. Sample slots have flared top for easier sample insertion
25. Top of storage container remains on during mission
26. Individual storage slots have spring loaded openings for insertion
27. Locking system accessible on top of storage unit
28. Pull handle up releases mechanism, down locks mechanism
29. Sample slots pull samples into slots using rubber gear
30. Sample slots use IR sensor to detect samples inserted
31. Sample slots use pressure sensor to detect sample inserted
32. Sample slots use impedance sensor to detect sample insertion
33. Container is damped using expanding foam after all samples inserted
34. Samples are damped magnetically
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35. The sample slots are damped magnetically
36. Sample slots filled with malleable substance which surrounds and damps the samples
37. Container functions as minimalistic frame for sample slots(reduces weight)
38. Container uses adhesive to stick to rover. Release agent used to detach.
39. Mechanical “velcro” used to mount container to rover
40. Onboard water supply is used to freeze container to rover
41. Storage unit picked up with magnetic end effector which is also used to magnetically
dismount the container from the rover
42. gear protrudes from center/bottom of container. Is accepted into body of rover. Once
gear is in hole and container is flush with rover body, dial on top of container is turned
which turns and raises gear simultaneously. Gear comes into contact with underside of
rover body and clamps container to rover. Dial turned opposite direction to extend gear
and move back into position for removal.
43. Sample slots arranged into rotating cassette
44. Cassette turns after column of samples deposited. Allows for minimal number of deposit
slots that must be accounted for by end-effector team and less mobility of arm
45. Box container where holes are on the sides of box to store samples. The samples are
pushed in by the end effector.
46. Honeycomb style sample slots within container to house individual samples
47. Honeycomb style damping between sample slots and unit wall to absorb impact force
48. Counter balances on sample slots to damp vibration
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49. Large magnet used to keep storage unit attached to rover
50. Magazine style storage system where samples get pushed in on top of each other
51. Use cylindrical pipe to store samples vertically. A spring can be placed on the inside such
that samples are pushed down without being dropped.
52. Attach Yeti cooler to the rover to store samples (might be over budget)
53. Perform remote analysis of samples on Psyche and store data on hard drive.
54. Use levitation to trap samples near the rover
55. Add cargo pockets to the rover (the best type of pocket)
56. Use non-newtonian fluid to damp samples from impact and vibration
57. Use foam with negative poisson’s ratio to damp vibration and protect from impact
58. Drop samples into a resin matrix that could be solidified after all samples are collected
59. Use 3-D printer to print a shell or protective matrix around each sample
60. Wrap each sample in cloth to damp from vibration and impact
61. Encase samples in wax
62. Wrap samples in bubble wrap
63. Store samples in box full of packing peanuts
64. Use storage rack similar to that of a beaker storing system to separate samples
65. Use system similar to that of the movie “The Cube” to store samples
66. Use large magnet that samples can attach to
67. Line the insides of the sample slots with heat shrink to encase samples
68. Heat samples using current and push them into a wooden or plastic box
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69. Use automated system wrap sample in clingwrap
70. Use a tool roll type system to roll samples into a padded bundle
71. Shove samples into ballistics gel
72. Pack samples in play-do
73. Tie samples to string and drag them behind the rover (also, spray paint “Just Married” on
the back)
74. Store samples in cork block
75. Encase samples in silicone
76. Wrap the samples in a rubber rope/tube with an adhesive on the outside so that the
wrapped samples stick to each other
77. Store Samples in Tuperware containers
78. Use ratcheting system to secure samples into individual slots
79. Use belt system to pull samples into slots
80. Use Wheel system to pull samples into slots
81. Use Belt with tension system to secure samples into slot
82. Use hydraulic cylinders to lock the unit in place on the rover
83. Use a side release buckle to attach storage unit to rover
84. Use set screw(s) to attach storage unit to system
85. Construct a LEGO storage device
86. Construct a Mega Bloks storage device
87. Use caterpillars to make silk cocoons around the samples for protection
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88. Cylindrical shaped unit with a cylindrical lid. Foam lined damping system and automatic
internal bolting system.
89. Cylindrical shaped system with a rectangular lid. Rubber lined damping system and
automatic external bolting system.
90. Cylindrical shaped system with no lid. Loaded spring damping system and velcro attach-
detach system.
91. Rectangular shaped unit with a rectangular shaped lid. Foam lined damping and
automatic external bolting system.
92. Rectangular shaped unit with a cylindrical shaped lid. Loaded spring damping and velcro
attachment systems.
93. Rectangular shaped unit with no lid. Rubber lined damping and automatic internal bolting
system.
94. Spherical unit with a cylindrical shaped lid. Spring loaded damping system and an
automatic external bolting system.
95. Spherical unit with no lid. Foam lined damping system and a velcro attach-detach system.
96. Spherical unit with a rectangular lid. Rubber lined damping system and an automatic
internal bolting system.
97. Cubic shaped unit with a rectangular lid. Foam lined damping system and an automatic
internal bolting system.
98. Cubic shaped unit with a cylindrical lid. Rubber lined damping system and an automatic
external bolting system.
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99. Cubic shaped unit with no lid. Spring loaded damping system with a velcro attach-detach
system.
100. Cylindrical container with individual cylindrical sample slots inside. Sample slots
lines with damping foam to reduce vibration. Space between slots and the external wall
will also be filled with foam to protect from impact. Storage unit attaches to the rover
using the pin in slot method where four rods are attached to a cylindrical disk which
rotates, pushing the rods into stationary holes on the rover. Funnels will be used to direct
the samples into the individual slots. Entire storage unit will be topped with a lid that
covers all of the slots and is opened and closed using a servo type motor.
101. Cubic container with individual cylindrical sample slots inside. Sample slots lines
with damping foam to reduce vibration. Space between slots and the external wall will
also be filled with foam to protect from impact. Storage unit attaches to the rover using a
clamping system where a spring loaded mechanism locks the unit down and can be
unloaded to release the unit. Funnels will be used to direct the samples into the individual
slots. Entire storage unit will be topped with a lid that covers all of the slots and is opened
and closed using a servo type motor.
102. Sectioned rubber mat with slots for samples to lay in. Rubber mat is rolled out
like a many jointed finger and samples are placed in the slots. Rubber mat has “tendons”
running its length which are attached to electric motors which roll the mat up. The slots
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in the mat are c-shaped and run width-wise down the mat such that the samples must be
pushed with sufficient force to seat in the slot. The samples are then able to be rolled up
without falling out of the slots.
103. Use an enclosed cubical box with a hole in the top where sample slots are to be
filled. A track system will be utilized inside the unit such that the sample slots follow a
path to be loaded in a particular order. The end-effector can be utilized to turn a dial on
the top of the storage unit to move the individual sample slots so an empty one appears
under the fill hole after the previous slot has been filled. The inside of the unit and each
individual slot will be lined with a foam to help reduce vibration and felt impact force.
The unit will attach to the rover using a set screw style attachment system.
104. Use a rectangular box with drawers that are segmented to contain specimen rods
in each segmented slot. The end effector would slide the rods into each segmented
section. The specimens would be held down with loops that can be tightened with a string
that the end effector pulls on. The box and drawers would be dampened with damping
material to prevent vibrations from breaking the samples. The unit will attach to the rover
using a set screw style attachment system.
105. Rectangular container with individual cylindrical sample slots inside. Sample
slots lined with rubber to reduce vibration. Space between slots and the external wall will
also be filled with rubber to protect from impact. Storage unit attaches to the rover using
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a pin in slot method where a rotating disk with four rods will be attached to the bottom of
the unit and when the disk is rotated by the end-effector via a handle on top of the unit,
the rods will extend into stationary slots mounted on the rover. Funnels will be used to
direct the samples into the individual slots. Each individual sample slot will be topped
with a rubber seal, similar to the seal used on drink cup lids where the straw is pushed
through, that the end-effector must push the sample through.
106. Rectangular box with rectangular opening on the top surface. Inside the box is a
magazine type, spring loaded system. The samples are loaded into the box much like
bullets into a magazine for a pistol. The samples stagger from side to side as they’re
inserted and the spring loading naturally reduces vibration in the system and damps
shock.
107. Cylindrical container with individual cylindrical sample slots inside. Sample slots
lined with silicone to reduce vibration. Space between slots and the external wall will be
filled with a honeycomb type absorber to reduce impact force felt by the samples. Storage
unit attaches to the rover using velcro. Funnels will be used to direct the samples into the
individual slots. Each individual sample slot will be topped with a rubber seal, similar to
the seal used on drink cup lids where the straw is pushed through, that the end-effector
must push the sample through.
High Fidelity Concepts
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108. Cylindrical container with individual cylindrical sample slots inside. Sample slots
lines with damping foam to reduce vibration. Space between slots and the external wall
will also be filled with foam to protect from impact. Storage unit attaches to the rover
using the pin in slot method where four rods are attached to a cylindrical disk which
rotates, pushing the rods into stationary holes on the rover. Funnels will be used to direct
the samples into the individual slots. Entire storage unit will be topped with a lid that
covers all of the slots and is opened and closed using a servo type motor.
High Fidelity #1 - Dial-A-Sample
1.6 Concept Selection
1.8 Spring Project Plan
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Chapter Two: EML 4552C
2.1
Spring Plan
Project Plan.
Build Plan.
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Appendices
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Appendix A: Code of Conduct
1 Mission Statement
Our team is committed to satisfying the needs of our sponsor and stakeholders while
adhering to the culture and values of their institution as well as we would our own. We will
accomplish this by pushing the limits of current technology, which in turn will pave the way to a
more vibrant, technologically advanced tomorrow.
2 Team Roles
To designate roles for the project, each team member provided some information about
their interests and areas of higher proficiency in the various realms of mechanical engineering.
Roles were then generated and designated as shown below:
Mechanical Systems Engineer: Mechanical systems engineers are responsible for
designing and interpreting mechanical systems. This role is currently assigned to
Marcus Hatchett.
Controls System Engineer: Controls Systems Engineers are responsible for
linking any relevant systems together to work as one. They are responsible for
designing and implementing controllers. This role is currently assigned to Marcus
Hatchett, Michael Macedo, and Luke Remillard.
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Design Engineer: Design engineers are responsible for the functional and
aesthetic design of the system. They will use CAD software to aid them in their
work. This role is currently assigned to Luke Remillard.
Thermal Systems Engineer: Thermal systems Engineers are responsible for
designing and implementing a system that controls the temperature of the storage
system. This Role is currency assigned to Robert Zube.
Fluids Engineer: Fluids engineers will be responsible for any fluid motion
required by the project. This could include anything from aerodynamics to fluid
transport throughout the system. This role is currently assigned to Robert Zube.
Materials Engineer: Materials engineers will be responsible for determining the
appropriate material to be used in each aspect of the system. They will be required
to select materials based on several requirements set forth by each specific
application. This role is currently assigned to Robert Zube.
Systems Engineer: The role of systems engineer will be used to effectively
coordinate with the other team involved in this project. This will involve
communication with the other team as well as being responsible for data and
target management between the two. This role is currently assigned to Kimberly
Rillon.
Project Manager: The project manager is responsible for delegating roles and
keeping track of deadlines for future assignments. They will also schedule the
deadlines within the Basecamp app. This role is currently assigned to Kimberly
Rillon.
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If other duties are required, the topic will be presented at a scheduled group meeting
where team members will collectively decide who is best suited for the role. This decision will
be based on relevant factors including but not limited to each team members knowledge in the
specific area of the role, and each team member’s current workload within the project. It is also
expected that each team member remains fluid within their role and helps their colleagues
whenever possible. These roles are subject to change based on individual performance within
each role. Should a change be desired, the issues must be brought up at a scheduled meeting
where team members will discuss necessary changes.
3 Methods of Communication
Methods of communication with team members will be facilitated through Microsoft
Teams, email, Zoom, Basecamp, and group messaging applications. All communication with
advisors, sponsors, and other collaborators outside of the team will be done so in a professional
manner via email, Zoom, Basecamp, or other virtual meeting software.
Communication that concerns the joint effort between teams 501 and 502 will be
conducted via the same methods yet be separate from the inner-team communications. Through
coordination with team 501, these meetings will be conducted at least once per week on
Thursdays after being dismissed from Senior Design. In some cases, the need for more meeting
time between our groups may be necessary.
Important information and tasks given in both the regular and joint team meetings will be
recorded during each meeting. This will be completed every meeting to the best of our ability.
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4 Dress Code
All members of team 502 are expected to dress appropriately to all team and
collaborative functions. These scenarios include but are not limited to the following:
Presentations: Business Professional
Sponsor/Advisor Meetings: Business Casual
Team Meetings: Casual
Inter-team Meetings: Casual
5 Work Schedule
Team 502 will plan to meet weekdays starting at 6:30pm ET and work as needed to
accomplish the task at hand. This start time is flexible. A minimum of nine meeting hours a week
is desired. Team 502 will meet bi-weekly on Wednesdays with our project advisor, Dr. Cassie
Bowman, from 6:00pm to 6:30 pm ET. Team 502 will also meet weekly, on Thursdays at 6:30
ET with Team 501 to discuss cross compatibility as well as other inter-team topics.
6 Attendance Policy
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Attendance will be mandatory for all scheduled meetings and collaborations. Should a
team member be unable to attend a meeting, they should inform all other members at earliest
possible convenience and state the reason for why they cannot attend. Attendance of all
scheduled meetings will be recorded as part of the meeting minutes to ensure team members are
active. Should a team member be unable to attend, the reason (if available) should be recorded
with the attendance of each meeting.
7 Ethics and Honesty Policy
The members of this team will uphold a respectful attitude towards all colleagues and
outside collaborators. The acts of lying and cheating will not be tolerated. Each team member is
expected to avoid conflict with other team members as well as outside collaborators. Team
members are expected to avoid legal issues such as plagiarism and copyright. If any legal or
other conflict should arise, the team member(s) involved should alert the rest of the team
immediately and contact the appropriate people as soon as possible.
8 Amendment Policy
This code of conduct is subject to change at the discretion of Team 502. Should a change
be desired, the idea must be presented at a scheduled meeting where all four members of the
team are present. The proposed amendment will then be reviewed by all team members and each
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team member will then vote to either amend or reject the change. A 3-member majority will be
required to execute any changes.
9 Decision Process
All decision regarding this project will be made as a team. Decisions which only affect
team 502 will be put to a vote during scheduled team meetings where a three fourths majority is
required to pass a decision. Decisions that affect both teams 501 and 502 will be discussed and
voted on during scheduled inter-team meetings. These decisions will also require a three fourths
majority to pass. All decisions which affect the sponsor and/or advisor will be discussed with the
respective parties before being made. In a situation like this, input from a senior party will
always weigh higher than our own opinions.
10 Statement of Understanding
By including their signature below, each team member acknowledges their understanding
of the content presented in this code of conduct.
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Luke Remillard
Appendix B: Functional Decomposition
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Appendix C: Target Catalog
Function Metrics Targets Method of
Validation
Critical/
Non-Critical
Hold Samples
House Individual
Sample
Max Outside
Height
0.325 m CAD Critical
Max Outside
Length
0.375 m CAD Critical
Max Outside
Width
0.375 m CAD Critical
Hold Sample in
Container
Sample slot
inside diameter
35 mm CAD Critical
Sample slot
outside
diameter
45 mm CAD Non-Critical
Sample slot
length
130 mm CAD Critical
Clamping force
applied to
sample
20N CAD Critical
Minimum 30 Sponsor Non-Critical
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number of
sample slots
designated
Protect Samples
Protect from
Shock
Shock
absorption
capability
95.5 Newtons
(N)
CAD Critical
Protect from
Vibration
Vibration
Damping
30-50 % CAD Critical
Integrate
Receive sample
from end-effector
Input force of
inserted sample
4.45 Newtons
(N)
CAD Critical
Connect with
rover power
Stable power
connection
130 Watts (W) Multimeter Critical
Connect to Rover
Chassis
Clamping force
of mounting
apparatus
60 Newton-
meters (Nm)
FEA Critical
Control
Interpret Sensor
Feedback
Response
sensitivity
10 - 100 mv Multimeter Non-Critical
Response time
between sensor
feedback and
2 Milliseconds
(ms)
Arduino IDE Non-Critical
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PWM change
Input from
sensors
0 - 100
Millivolts (mV)
Multimeter Non-Critical
Command Drive
Elements
Output sent to
motors
0-5 Volts (V) Multimeter Critical
Sense Empty Slot Empty
container
designation
100
Millivolts (mV)
Multimeter Non-Critical
Supplementary
No Applicable
Function
Maximum Dry
Weight of
Storage Unit
10 kilograms
(kg)
CAD and
calculations
Critical
MC Processor
Clock Speed
16 Megahertz
(MHz)
Spec sheets and
benchmarking
Non-Critical
MC SRAM 8 Kilobytes
(Kb)
Spec sheets and
benchmarking
Non-Critical
MC Onboard
Flash Memory
256 Kilobytes
(Kb)
Spec sheets and
benchmarking
Non-Critical
Additional
Flash Memory
16 Gigabytes
(Gb)
Spec sheets and
benchmarking
Non-Critical
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Appendix A: APA Headings (delete)
Heading 1 is Centered, Boldface, Uppercase and Lowercase Heading
Heading 2 is Flush Left, Boldface, Uppercase and Lowercase Heading
Heading 3 is indented, boldface lowercase paragraph heading ending with a period.
Heading 4 is indented, boldface, italicized, lowercase paragraph heading ending with a
period.
Heading 5 is indented, italicized, lowercase paragraph heading ending with a period.
See publication manual of the American Psychological Association page 62
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Appendix B Figures and Tables (delete)
The text above the cation always introduces the reference material such as a figure or
table. You should never show reference material then present the discussion. You can split the
discussion around the reference material, but you should always introduce the reference material
in your text first then show the information. If you look at the Figure 1 below the caption has a
period after the figure number and is left justified whereas the figure itself is centered.
Figure 1. Flush left, normal font settings, sentence case, and ends with a period.
In addition, table captions are placed above the table and have a return after the table
number. The second line of the caption provided the description. Note, there is a difference
between a return and enter. A return is accomplished with the shortcut key shift + enter. Last,
unlike the caption for a figure, a table caption does not end with a period, nor is there a period
after the table number.
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Table 1The Word Table and the Table Number are Normal Font and Flush Left. The Caption is Flush Left, Italicized, Uppercase and Lowercase
Leve
l of heading
Format
1 Centered, Boldface, Uppercase and Lowercase Heading
2 Flush Left, Boldface, Uppercase and Lowercase
3 Indented, boldface lowercase paragraph heading ending with a
period
4 Indented, boldface, italicized, lowercase paragraph heading ending
with a period.
5 Indented, italicized, lowercase paragraph heading ending with a
period.
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References
There are no sources in the current document.
Mcconomy, D. (2018, 09 10). 180910 Scope Customer Requirements. Tallahassee, FL, United States.
https://phys.org/news/2015-08-asteroid-belt.html#:~:text=The%20temperature%20of%20the%20asteroid,%C2%B0C)%20at%203.2%20AU.
Used to interpolate the temperatures for the hypothetical location of Psyche.
https://solarsystem.nasa.gov/asteroids-comets-and-meteors/asteroids/16-psyche/in-depth/
Used to find the distance of Psyche from the Sun in astronomical units for temperature interpolation
https://www.arduino.cc/en/Main/arduinoBoardMega2560/ Accessed 10/29/2020
Used to determine specs of Arduino Mega 2560
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