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Ambrose_ICRA_2008_v02

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					   Crew Mobility
for Lunar Surface Exploration




                            Dr. Rob Ambrose
                                NASA-JSC
                                May 2008
                         Topics for this Morning



 Lunar Architecture Team
    Lunar Challenges
    Landing Sequences


 Rover Configurations
    Un-Pressurized Rovers
    Small Pressurized Rover


 Recent Work
    Chariot Prototype
    SPR Cabin Design




                                                   2
              Challenges of the Lunar Southpole




 The Good News
    Many interesting scientific sites.
    Peaks of “perpetual light”.
    Easier transportation access.
    Potentially moderate temperatures.
    Long term Earth communication.
 The Bad News
    Very rough terrain.
    Very complicated lighting.




                                                  3
          Lessons (Still Remembered) from Apollo




 1/6 G Driving Dynamics
    Limited Apollo speed.
    Beware of pitch mode oscillations.
    Consider alternatives to seats?
    Beware of passive suspension.
    Beware of Dust.


 Engine Ejecta
    Not a problem for Apollo.
    Descent / ascent engines will fire.
    Vicinity will be “sand blasted”.


                                                   4
Landing Simulation (JPL Radar Data)
                  So What’s the Big Idea?
       Lunar Outpost Surface Systems (Conceptual)

Integrated Cargo Pallet (ICP)
( Supports / scavenges from                 10 kW Arrays (net)
      crewed landers )




   ISRU                         Logistics
  Oxygen                         Pantry         Habitation
                                                                 Habitation
Production                                       Element
                                                                  Element
   Plant
                                                                               Unpressurized
                                                                                   Rover     Small Pressurized
                                                                                               Rover (SPR)



 ATHLETE                                                         1969, Apollo 11
  Mobility
 System (2)
                                                      Common Airlock
                                                        With Lander
                                                                                                             6
                                                   Multi Lander Sequence (Early Habitation)
                             2500
                                                                                                                                                                                      Core Hab             RPLM#2
                                                             TS3 Hold                                                                                                                 & PSU                & PSU                                        #     - Crew Size
                                                            Opportunity
                                                                                                                                                                                                                                                        #     - Mission Duration

                             2000

                                                                                                                                                                      RPLM#1
                                                                                                                                                                      & PSU
Cumulative Days on Surface




                                                                     OPS
                                                                     Plant &
                                                                     Tools                                                                                                                                                                                    DPLM

                             1500                  OTSE
                                                                         CT                                                                                                                                                                      DPLM
                                                                                                                                                                                                                                                                             4
                                                                                                                                                                     OPS                                                            DPLM                                    30
                                                                      OTSE                                                                                           Plant &
                                                                                                                                                                     Tools                                            DPLM                                       0    4
                                           Core Hab &                                                                                                                                                                                                            0   180
                                                                                                                                                                                       RPLM#2
                                           PSU                                                                                                                                                         DPLM &
                                                                     MMPU                                                                                                              & PSU
                             1000                                                     QuickTime™ and a
                                                                                                                  QuickTime™ and a
                                                                                                        TIFF (Uncompressed) decompressor
                                                                                                           are needed to see this picture.




                                                                            TIFF (Uncompressed) decompressor
                                                                               are needed to see this picture.
                                                                                                                                     QuickTime™ and a
                                                                                                                           TIFF (Uncompressed) decompressor
                                                                                                                              are needed to see this picture.
                                                                                                                                                                     RPLM#1                            PSU                                          0    4
                                                                                                                  QuickTime™ and a
                                                                                                        TIFF (Uncompressed) decompressor
                                                                                                           are needed to see this picture.




                                                                                                                                                                     & PSU                                                                          0   180

                                                        CMC           SPR                                                                                                                                                              0    4
                                                                                                                                                                                                                                       0   180                  1284 total
                                                                                                                                                                                       Tri-
                                                                                                                                                                                       ATHLETE                           0     4                               surface days
                                                   MCT                                                                                                                Tri-             x2                                0    180
                              500                                     SPR                                                                                             ATHLETE
                                                                                                                                                                                                                 4
                                                                                                                                                                      x2                                  0
                                                               CMC                                                                                                                                        0     180
                                                    CDK
                                                                                                                                                                                          0       4
                                                                                                                                                                                          0      180                         Notes:
                                                                                                                                                                         0       4
                                      0      4          0       4
                                                                        0                                                                                       4
                                                                                                                                                                         0      125                                          • Unpressurized, Liquid, & Gas carriers not shown
                                      0      7          0      14       0                                                                                       28                                                           • Each Crewed Lander & Flight 1 has 500 kg of Science
                                0



                                                                                                                                                                                                                                                                                     7
                                    FY19          FY20               FY21                                                                                            FY22              FY23            FY24           FY25          FY26         FY27         FY28         FY29
                                                  Multi Lander Sequence (Early Mobility)
                             2500
                                                        TS2 Hold                                                                                                           Core Hab             RPLM#2
                                                       Opportunity                                                                                                         & PSU                & PSU                                        #     - Crew Size

                                                                                                                                                                                                                                             #     - Mission Duration

                             2000

                                                                                                                                                             RPLM#1
                                                                                                                                                             & PSU
Cumulative Days on Surface




                                                                                                                                                                                                                                                   DPLM

                             1500               OTSE
                                                                                                                                                                                                                                      DPLM
                                                                                                                                                               CT
                                                                                                                                                                                                                                                                  4
                                               MMPU                                                                                                                                                                      DPLM
                                                                                                                                                                                                                                                                 30
                                                                                                                                                            OPS
                                                                                         QuickTime™ and a
                                                                               TIFF (Uncompressed) decompressor
                                                                                  are needed to see this picture.




                                                             QuickTime™ and a                               QuickTime™ and a
                                                   TIFF (Uncompressed) decompressor               TIFF (Uncompressed) decompressor
                                                      are needed to see this picture.                are needed to see this picture.




                                                                                         QuickTime™ and a
                                                                               TIFF (Uncompressed) decompressor
                                                                                  are needed to see this picture.




                                                                                                                                                            Plant &                                        DPLM
                                                                                                                                                                                                                                                      0    4
                                                                                                                                                            Tools           OPS                                                                           180
                                                                                                                                                                                                                                                      0
                                                SPR                                                                                                                         Plant &
                             1000                                                                                                                                           Tools                                                        0    4
                                                                                                                                                            RPLM#1                          DPLM &
                                                                                                                                                            & PSU                                                                        0   180
                                                                                                                                                                                            PSU
                                                                                                                                        Core Hab
                                                                                                                                        & PSU                               RPLM#2                                          0    4
                                                SPR                                                                                                                         & PSU                                           0   180                  1235 total
                                                                                                                            MCT                                                                               0     4                               surface days
                                                                                                                                             Tri-           Tri-
                                                                                                                                                                                                              0    180
                              500                                                                                                            ATHLETE        ATHLETE
                                                                                                                                             x2             x2                                        4
                                                                                                                                                                                               0
                                                 CMC                                                                                   CCK                                                     0     180

                                                                                                                                                                                0      4
                                                                                                                                                                                      180                         Notes:
                                                                                                                                                                                0
                                      0    4      0                                                                                      4
                                                                                                                                                   0   4        0     4                                           • Unpressurized, Liquid, & Gas carriers not shown
                                      0    7      0                                                                                     14         0   14       0     90                                          • Each Crewed Lander & Flight 1 has 500 kg of Science
                                0



                                                                                                                                                                                                                                                                          8
                                    FY19       FY20                                                                                          FY21           FY22            FY23            FY24           FY25          FY26         FY27         FY28         FY29
Extreme Mobility




                   9
                              UPR Concept



 Cabin mounts on UPR Chassis


 Hatch for Docking with Habitat
    IV Transfer of crew
    Reduced dust in cabin.
    Expands habitat.


 Suit Port for EVA
    Fast egress.
    Reduces dust in cab.




                                            10
                              SPR Concept



 Cabin mounts on UPR Chassis


 Hatch for Docking with Habitat
    IV Transfer of crew
    Reduced dust in cabin.
    Expands habitat.


 Suit Port for EVA
    Fast egress.
    Reduces dust in cab.




                                            11
                     UPR Lander Packaging




 Packing with Habitat
  Modules
    Many Habitat options on
     central plane.
    Two UPR’s can pack on deck
     sides.
 UPR Deployment
    Crane or Davit deployment.
    With or without EVA help.




                                            12
             UPR Folding Wheels




Suspension
Folding
Bracket




                                  Design Benefits
                                  •Reduced Stow Volume
                                  •Produces Flat Stow Deck
                                  •Locks Suspension for Flight
                                  •Provides EVA Repair Point
                                                                 13
             SPR & ATHLETE Lander Packaging




 ATHLETE on Lander
    ATHLETE legs folded for
     launch
    ATHLETE slides/walks off
     lander deck
 SPR on ATHLETE on Lander
    SPR packed with “belly” flat on
     ATHLETE frame.
    SPR stands up and drives off
     ATHLETE.




                                              14
            SPR’s Directly on Lander Packaging




 Two SPR’s on Lander
    Various geometries are
     possible.
    Room is available for extra
     chassis
 SPR Deployment
    Crane or Davit deployment.
    With or without EVA help.




                                                 15
          A Layered Approach to Safety


Enough Cartoons,
Now For Some Real Robots……




                                         16
                Chariot- NASA’s UPR Prototype


 Primary Configurations
    Un-Pressurized Rovers        (In Testing)
    Small Pressurized Rovers     (In Design)

 Technologies
      Novel chassis kinematics
      Active/Passive suspension
      Upright crew accomodations
      Chassis leveling
      Small Pressurized Rover Ops

 Technology Collaborations
      EVA (Advanced Suits & Suitports)
      Thermal Control
      ISRU
      Power
      Surface Communications
                                                 17
Redundant Kinematics




                       18
High Speed Driving




                     19
Active Suspension




                    20
Crew Accommodations




                      21
Night Driving




                22
Dozing




         23
Robotic Driving




                  24
EVA Mounting and Dismounting




                               25
                           SPR Design Work

Mobile Habitation
   ATHLETE Based habitats can move between multiple landing sites.

Crew Mobility
   Chariot based rovers with cabins expands crew range and safety.




                                                                      26
SPR Design Work




                  27
                             SPR Design Work



 SPR Mass
    2500 Kg Dry Cabin Mass
    3000 Kg Cabin w/ Crew
    4000 Kg with chassis


 Features
    ~10 cubic meters IV
    PLSS Based ECLSS
    Water wall radiation shield
    Water/Ice wall thermal mass
    Two suitports on aft bulkhead
    Extended range battery (100 kW-Hr)



                                               28
SPR Design Work




                  29
SPR Design Work




                  30
SPR Design Work




                  31
SPR Design Work




                  32
While NASA’s lunar program is starting with the best from Apollo,
we are also challenging assumptions about crew mobility.

          Should there be two seats?
          Should they be side by side seats?
          Should there be seats?
          Should rovers steer “like a car”?
          Should rovers have 4 wheels?
          How active should active suspension be?
          What are the right control modes for lunar operations?

Early prototypes of un pressurized and small pressurized rovers
offer entirely new exploration techniques that will be relevant for
future, long range planetary exploration.




                                                                      33

				
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