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F I N A L TECHNICAL REPORT
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JET P R O P U L S I O N L A B O R A T O R Y C A L I F O R N I A INSTITUTE O F T E C H N O L O G Y
JPL C O N T R A C T
950656
V O L U M E Ill P R E L I M I N A R Y D E S I G N AND SYSTEM DESCRIPTION
SYSTEM DESCRIPTION
BOOK 1 A N D PERFORMANCE CHARACTERISTICS
A P R I L 1964
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FOREWORD
As p a r t of the continuing p r o g r a m of u n m a n n e d e x p l o r a t i o n of s p a c e , and t o i n c r e a s e the e f f e c t i v e n e s s of the m a n n e d s p a c e p r o g r a m f o r e x p l o r i n g the m o o n , the J e t P r o p u l s i o n L a b o r a t o r y of the C a l i f o r n i a I n s t i t u t e of Technology i s s u e d s i x - m o n t h ' s t u d y c o n t r a c t s to i n v e s t i g a t e the f e a s i b i l i t y of a s m a l l , u n m a n n e d , lightweight, r e m o t e l y c o n t r o l l e d r o v i n g v e h i c l e t o b e i n c o r p o r a t e d i n the s u r v e y o r s p a c e c r a f t t o e x t e n d i t s d a t a - g a t h e r i n g c a p a b i l i t i e s on the l u n a r s u r f a c e . Specifically, the s t u d y p r o g r a m w a s t o d e t e r m i n e the f e a s i b i l i t y of a 1 0 0 - l b S u r v e y o r L u n a r Roving V e h i c l e (SLRV) s y s t e m i n g a t h e r i n g s u f f i c i e n t s c i e n t i f i c i n f o r m a t i o n by s u r v e y i n g the l u n a r s u r f a c e n e a r the S u r v e y o r s p a c e c r a f t landing point t o c e r t i f y t h e a r e a , i n t e r m s of s p e c i f i c h a z a r d s , a s a potential Apollo LEM landing s i t e .
T h i s F i n a l T e c h n i c a l R e p o r t , s u b m i t t e d i n five v o l u m e s , p r e s e n t s the r e s u l t s and c o n c l u s i o n s of the s t u d y p r o g r a m conducted b y The Bendix C o r p o r a t i o n u n d e r J P L C o n t r a c t No. 950656. The v o l u m e s a r e o r g a n i z e d t o c o r r e s p o n d to the s p e c i f i c objectives of t h e p r o g r a m : to conduct an a n a l y s i s , t o g e n e r a t e a p r e l i m i n a r y d e s i g n , and to f a b r i c a t e and d e m o n s t r a t e a n e n g i n e e r i n g t e s t m o d e l in s u p p o r t of t h e o v e r - a l l p r o g r a m o b j e c t i v e s . T h e r e s u l t s of B e n d i x ' s study show t h a t the SLRV c o n c e p t i s not only f e a s i b l e , but can m a k e s u b s t a n t i a l contributions to the unmanned e x p l o r a t i o n The SLRV c h a r of t h e m o o n i n s u p p o r t of t h e m a n n e d Apollo p r o g r a m . a c t e r i s t i c s , the p r o b l e m s , and the i n i t i a l t r a d e - o f f s have b e e n d e t e r m i n e d i n s u f f i c i e n t d e t a i l to p e r m i t the definition of s p e c i f i c o b j e c t i v e s and c r i t e r i a f o r a follow-on d e v e l o p m e n t p r o g r a m . P r o g r a m c o n c l u s i o n s and r e c o m m e n d a t i o n s a r e i n c l u d e d i n Volume V.
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LIST OF VOLUMES
VOLUME I - PROGRAM SUMMARY VOLUME II - MISSION AND SYSTEM STUDIES
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VOLUME Ill
SYSTEM DESCRIPTION Book 1 - System Description and Performance Character istics Book 2 - Validation of Preliminary Design VOLUME I V - RELIABILITY VOLUME V
- PRELIMINARY DESIGN AND
- SYSTEM EVALUATION
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INTRODUCTION SYSTEM DESCRIPTION 2.1 SUMMARY O F MISSION AND SYSTEM REQUIREMENTS 2. 1. 1 2. 1 . 2 2.2 S u m m a r y of Mission R e q u i r e m e n t s S u m m a r y of S y s t e m R e q u i r e m e n t s
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SYSTEM INTEGRATION 2.2.1 2.2.2 2.2.3 2.2.4 2.2.5 2.2. 6 2.2.7 2.2. 8 2.2.9 2.2.10 2.2.11 S LR V C onf i g u r a t i o n Ground S u p p o r t Equipment (GSE) Ground O p e r a t i n g Equipment (GOE) Vehicle Weight, Balance and P o w e r R T G and Vehicle I n t e g r a t i o n T h e r m a l Control Subsystem Integration TV C a m e r a Integration Structure Integration Antenna I n t e g r a t i o n P e n et r o m et e r I n t e g r a t i o n E l e c t r o n i c Pack-aging I n t e g r a t i o n
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MOBILITY 2 . 3. 1 2. 3. 2 2. 3. 3 Description S t e e r i n g and Mobility C o n t r o l Traction Drive Mechanism
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STRUCTURES 2.4. 1 2.4. 2 Description Material Studies
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DEPLOYMENT FOLDING AND E R E C T I O N MECHANISMS 2.6. 1 2. 6 . 2 T V C a m e r a E r e c t i o n and S u p p o r t S t r u c t u r e S t e e r a b l e Antenna E r e c t i o n and S u p p o r t S t r u c t u r e
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2.16.1 Requirements 2 . 1 6 . 2 GSE D e s i g n Concept 2. 16. 3 R e c o m m e n d a t i o n s f o r GSE I m p l e m e n t a t i o n
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PERFORMANCE CHARACTERISTICS AND LIMITATIONS
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LIST O F ILLUSTRATIONS Figure Title Page 2-8 2-91 2-10 2-11/ 2-12 2-1312-14 2- 15 2- 15 2- 16 2- 16 2-17 2- 18 2-21 2-22 2 - 3 11 2-36 2-37 2-38 2-4 112-42 2-431 2-44 2-45 2-471 2-48 2-5 1 2-52 2-53 2-54 2-56 2-58 2-59 2-61 2-63 2-64 2-73 2-79 2-80 2-82 2-84 2.2-1 Integrated Vehicle Assembly 2.2-2 S L R V S y s t e m Block D i a g r a m 2.2-3 S L R V Wiring D i a g r a m 2. 2-4 T h e r m a l Box S c h e m a t i c 2. 2-5 Vehicle H a r d w a r e T r e e 2. 2-6 S u r v e y o r Modification H a r d w a r e T r e e 2. 2-7 GOE H a r d w a r e T r e e 2. 2-8 GSE H a r d w a r e T r e e 2.2-9 F un c ti o na 1 Sp e c i f i c at i o n T r e e 2.2-10 S L R V - S u r v e y o r Compatibility P r o b l e m A r e a 2.2-11 L o c a t i o n of S u r v e y 0r-Mounte d E q u i p m e n t 2.2-12 Reference Axes Orientation f o r SLRV 2. 2-13 SLRV S t r u c t u r e A s s e m b l y 2. 2-14 T V C a m e r a Erection Mechanism 2. 2-15 T h e r m a l Box C o n s t r u c t i o n 2 . 2 - 1 6 ( a ) SLRV Deployment Subsystem, Sheet 1 2. 2- 1 6 ( b ) S L R V D e p l o y m e n t S u b s y s t e m , Sheet 2 2. 2 - 1 6 ( c ) P e n e t r o m e t e r C i r c u i t D i a g r a m 2. 2- 17 Antenna E r e c t i o n Assembly 2. 2 - 1 7 ( a ) I n t e g r a t e d C i r c u i t Module 2. 2- 18(a) C o m m a n d R e c e i v e r A s s e m b l y A r r a n g e m e n t 2. 2 - 1 8 ( b ) C o m m a n d R e c e i v e r A s s e m b l y C u t a w a y View 2. 2- 19 C o r d w o o r C i r c u i t Module 2. 2-20 E x a m p l e s of M i c r o w a v e Printed C i r c u i t s 2. 2 - 2 1 ( a ) E l e c t r o n i c s C o m p a r t m e n t A r r a n g e m e n t 2. 2 - 2 1 ( b ) E l e c t r o n i c s C o m p a r t m e n t A r r a n g e m e n t , E x p l o d e d View 2. 2-22 S e c o n d - S t a g e Module 2. 2 - 2 3 T V Electronics Assembly 2. 2-24 T V E l e c t r o n i c s Assembly Detail 2.7-1 P e n e t r o m e t e r S u b s y s t em C o n f i g u r a t i o n 2.9-1 Driving Display, P a t h Prediction 2.9-2 Vehicle Control Console 2.10- 1 C o m m a n d D e c o d e r Block D i a g r a m 2.10-2 Command Format
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LIST O F ILLUSTRATIONS (CONT. ) Figure Title T e l e m e t r y P r o c e s s o r Block D i a g r a m T e l e m e t r y Word and F r a m e F o r m a t s D a t a T r a n s m i t t e r Block D i a g r a m C o m m a n d R e c e i v e r Block D i a g r a m G e n e r a l S c h e m a t i c of R F C i r c u i t r y S- Band O m n i d i r e c t i o n a l Antenna S - B a n d o m n i d i r e c t i o n a l Antenna Conve r t e r - R e g u l a t o r Block D i a g r a m T e l e v i s i o n F u n c t i o n a l Block D i a g r a m F u l l S c a l e Model of T V S u b s y s t e m GOE C o n f i g u r a t i o n f o r S i n g l e - S t a t i o n O p e r a t i o n Survey Control Console DSS C o n f i g u r a t i o n f o r S L R V S t a n d y - b y S t a t u s Mo nit o r i n g SLRV P r e l a u n c h Operational P r o f i l e D S I F GOE I n s t a l l a t i o n and O p e r a t i o n a l P r o f i l e GSE-SLRV H a r d w a r e T r e e Functional T e s t Group Functional Block D i a g r a m SLRV Mobility T e s t F i x t u r e Functional T e s t Group Equipment Configuration O p t i c a l Alignment T e s t S e t u p Page
2-10-3 2.10-4 2.10-5 2.10-6 2.10-7 2.10-8 2.10-9 2.11-1 2.12-1 2.12-2 2 . 14-1 2. 14-2 2.14-3 2.16-1 2.16-2 2.16-3 2.16-4 2.16-5 2.16-6 2. 1 6 - 7
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LIST O F TABLES Table Title S L R V C o m p o n e n t Weights ( O p e r a t i n g C o n f i g u r a t i o n ) SLRV Component Weights (Stowed C o n f i g u r a t i o n ) C e n t e r of G r a v i t y and I n e r t i a T a b l e f o r S t o w e d a n d Ope r a t i n g C o n f i g u r a t i o n s C o n v e r t e r Output P o w e r D i s t r i b u t i o n ( A ) C o n v e r t e r Output P o w e r D i s t r i b u t i o n ( B ) D e s i g n Weight S u m m a r y T e m p e r a t u r e Data Ground O p e r a t i n g E q u i p m e n t and F a c i l i t i e s f o r SLRV Missions AMR Schedule of A c t i v i t i e s Key SLRV P e r f o r m a n c e C h a r a c t e r i s t i c s Page
2.2-1 2.2-2 2. 2 - 3 2. 2. 2. 2. 2. 2-4 2-5 12-1 13-1 14-1
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SECTION 1 INTRODUCTION T h i s v o l u m e of the F i n a l Technical R e p o r t p r e s e n t s the r e s u l t s of the P h a s e I SLRV s t u d y p r o g r a m in a c c o r d a n c e with two s e c t i o n s of A r t i c l e I of the S t a t e m e n t of Work of J P L C o n t r a c t No. 950656, Modification No. 1. Section 2 h e r e i n i s in r e s p o n s e to Section (a) (1) (ii) of t h e C o n t r a c t , w h i c h states: " P r e p a r e a p r e l i m i n a r y d e s i g n and s y s t e m d e s c r i p t i o n f o r t h e p r o p o s e d c o n f i g u r a t i o n , which s h a l l i n c l u d e , b u t n o t n e c e s s a r i l y be l i m i t e d t o , the following: Configuration, including a l l s u b s y s t e m s and i n s t r u m e n t a t i o n Weight b r e a k d o w n , including c e n t e r of g r a v i t y and m o m e n t s of i n e r t i a P o w e r profile Ope r a t i o n a l s e que nc e Ground o p e r a t i o n a l e q u i p m e n t " S e c t i o n 3 h e r e i n i s i n r e s p o n s e t o Section ( a ) ( 1 ) ( v ) of the C o n t r a c t , which s t a t e s : "Analyze the p e r f o r m a n c e c h a r a c t e r i s t i c s and l i m i t a t i o n s of the proposed design. "
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SECTION 2
SYSTEM DESCRIPTION T h e SLRV s y s t e m i s c o m p o s e d of t h e L u n a r Roving V e h i c l e (SLRV) t h e S u r v e y o r S p a c e c r a f t m o d i f i c a t i o n s , the G r o u n d O p e r a t i n g E q u i p m e n t (GOE), a n d t h e Ground S u p p o r t E q u i p m e n t ( G S E ) . T h e s e e l e m e n t s a r e o p e r a t e d in c o n junction with t h e S u r v e y o r S p a c e c r a f t , the DSIF, a n d t h e C e n t a u r l a u n c h v e h i c l e . T h e v e h i c l e i s a f o u r - t r a c k e d a r t i c u l a t e d d e s i g n and i s d i v i d e d into two m a i n sections. The aft section contains the radioisotope t h e r m o e l e c t r i c gener a t o r ( R T G ) , t h e d i r e c t i o n a l a n t e n n a , and t h e o d o m e t e r . T h e f o r w a r d s e c t i o n c o n t a i n s t h e e l e c t r o n i c e q u i p m e n t , the p e n e t r o m e t e r , t h e o m n i d i r e c t i o n a l a n t e n n a , t h e R F r a n g i n g a n t e n n a , the TV s y s t e m , a n d f o u r d i g i t a l s o l a r a s p e c t sensors. In t h e stowed c o n f i g u r a t i o n , the v e h i c l e r e s t s on a s e t of mounting b r a c k e t s ( h i n g e s ) in a n e a r v e r t i c a l p o s i t i o n , c o n s t r a i n e d a g a i n s t a d e p r e s s e d s p r i n g - l o a d e d e j e c t o r . T h e mounting b r a c k e t s a r e d e s i g n e d s u c h t h a t one s e t i s f i x e d t o t h e S u r v e y o r s p a c e c r a f t s t r u c t u r e a n d t h e o t h e r s e t i s fixed t o t h e vehicle s t r u c t u r e . T h e s e b r a c k e t s s e r v e a s p r i m a r y load c a r r y i n g m e m b e r s d u r i n g t h e l a u n c h a n d landing o p e r a t i o n s a n d a s h i n g e s d u r i n g t h e d e p l o y m e n t procedure. T h e L u n a r Roving V e h i c l e o p e r a t e s i n d e p e n d e n t l y of t h e S u r v e y o r s p a c e c r a f t , c o m m u n i c a t i n g d i r e c t l y with t h e g r o u n d c o n t r o l s t a t i o n . T h e s t e e r i n g c a p a b i l i t y i s provided by d i f f e r e n t i a l l y c o n t r o l l i n g t h e s p e e d of t h e f o u r i n d e p e n d e n t l y - p o w e r e d t r a c k s , a n d by a n a r t i c u l a t e d s t r u c t u r e w h i c h p i v o t s n e a r t h e c e n t e r of g r a v i t y . T h e p o w e r is s u p p l i e d b y a R T G . T h e v e h i c l e i s d e s i g n e d t o s u r v i v e the e n v i r o n m e n t s of l u n a r night. P r o v i s i o n is m a d e f o r continuous t r a n s m i s s i o n of t e l e m e t r y d a t a b a c k t o t h e e a r t h . T h e e x p e r i m e n t a l i n f o r m a t i o n i s o b t a i n e d with a TV s y s t e m , a p e n e t r o m e t e r , an i n c l i n o m e t e r , and a n o d o m e t e r . Navigation is a c c o m p l i s h e d b y a d e a d - r e c k o n i n g s y s t e m . R F ranging s u p p l i e s r a n g e i n f o r m a t i o n with r e s p e c t to t h e S u r v e y o r . Vehicle t r a v e l c o n s i s t s of s h o r t s t e p s i n t e r r i t o r y e x a m i n e d by T V d u r i n g v e h i c l e s t o p s . S t e e r i n g is c o n t r o l l e d f r o m the g r o u n d s t a t i o n , u s i n g a n ope r a t 0 r - d i r e c t e d , c o m p u t e r - i m p l e m e n t e d p r o c e d u r e .
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T h e g r o u n d o p e r a t i n g e q u i p m e n t a t the Deep S p a c e I n s t r u m e n t a t i o n F a c i l i t y DSIF) a n d S p a c e F l i g h t O p e r a t i o n s F a c i l i t y ( S F O F ) p r o v i d e s o p e r a t i o n al c o n t r o l of the v e h i c l e in l o c a t i n g and s u r v e y i n g potential landing s i t e s , and a n a l y s i s and d i s p l a y of the d a t a . T h e f u n c t i o n r e q u i r e s s e v e r a l o p e r a t o r s a n d equipment s u b s y s t e m s .
2 . 1 SUMMARY O F MISSION A N D SYSTEM REQUIREMENTS
T h e d e s i g n p r e s e n t e d in t h i s v o l u m e s a t i s f i e s a s e t of s y s t e m r e q u i r e m e n t s which in t u r n s a t i s f y a s e t of m i s s i o n r e q u i r e m e n t s . Both t h e s e s e t s of r e q u i r e m e n t s a r e s u m m a r i z e d h e r e s o t h a t t h e r e l a t i o n of t h i s v o l u m e t o t h e o v e r - a l l r e p o r t c a n be c l e a r l y e s t a b l i s h e d .
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S u m m a r y of M i s s i o n R e q u i r e m e n t s Landing Site D i a m e t e r and A c c e p t a b i l i t y
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M e a s u r e m e n t d a t a s h a l l p e r m i t t h e identification and l o c a t i o n of 19 4 0 - m e t e r d i a m e t e r c e r t i f i e d landing p o i n t s within a s i t e having a d i a m e t e r of 3200 m e t e r s and including t h e S u r v e y o r touchdown point.
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C e r t i f i e d Landing P o i n t Spacing
C e r t i f i e d L E M landing p o i n t s s h a l l be a m a x i m u m of 5 2 8 m e t e r s a p a r t and n o m i n a l l y l o c a t e d a t t h e a p e x e s of c o n t i g u o u s e q u i l a t e r a l t r i a n g l e s . T h e c e n t e r of the c o m p l e x of landing p o i n t s s h a l l d e f i n e t h e c e n t e r of t h e 32001 meter site.
2 . 1. 1. 3
Landing P o i n t Identifications
T h r e e n a t u r a l o r a r t i f i c i a l l a n d m a r k s s h a l l b e identified within t h e s i t e , s p a c e d no l e s s t h a n 1500 m e t e r s a p a r t and l o c a t e d r e l a t i v e t o e a c h o t h e r w i t h a n a c c u r a c y of 20 m e t e r s . E a c h of t h e c e r t i f i e d L E M l a n d i n g p o i n t s s h a l l b e l o c a t e d r e l a t i v e t o a t l e a s t one of t h e s e l a n d m a r k s with a n a c c u r a c y of 20 m e t e r s . O r i e n t a t i o n of t h e landing point p a t t e r n in l u n a r c o o r d i n a t e s s h a l l be p r o v i d e d . The l a n d m a r k s m u s t be identifiable by t h e L E M c r e w d u r i n g d e s c e n t to the l u n a r s u r f a c e f r o m a s l a n t r a n g e of up t o 4400 m e t e r s a n d a m i n i m u m d e p r e s s i o n angle of 29O. A r t i f i c i a l l a n d m a r k s m u s t r e t a i n t h e i r identifying c h a r a c t e r i s t i c s f o r a p e r i o d of not l e s s t h a n one y e a r .
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2 . 1. 1 . 4
Soil B e a r i n g S t r e n g t h M e a s u r e m e n t s
I
M e a s u r e m e n t s of t h e s o i l c h a r a c t e r i s t i c s s h a l l be of sufficient a c c u r a c y to v e r i f y t h a t t h e l a n d i n g points h a v e a n e q u i v a l e n t l i n e a r d y n a m i c s o i l b e a r i n g s t r e n g t h g r a d i e n t of a t l e a s t 1 2 p s i p e r foot f o r d e p t h s up t o 50 c m a t i m p a c t v e l o c i t i e s of up to 3 m e t e r s p e r s e c o n d .
2. 1. 1. 5
Slope M e a s u r e m e n t s
M e a s u r e m e n t s d a t a s h a l l be s u f f i c i e n t l y a c c u r a t e t o v e r i f y t h a t t h e l a n d i n g p o i n t s c o n t a i n e f f e c t i v e s l o p e s no g r e a t e r t h a n 1 2 O o v e r a n y a r e a g r e a t e r t h a n 10 m e t e r s i n d i a m e t e r . An effective s l o p e i s d e f i n e d a s t h e g e n e r a l s u r f a c e s l o p e o v e r a n a r e a too l a r g e f o r t h e L E M t o s t r a d d l e , p l u s t h e c o m b i n e d e f f e c t s of s u p e r i m p o s e d h e i g h t s , d e p r e s s i o n s , and s u r f a c e s i n k a g e .
2 . 1 . 1. 6
Protuberances
M e a s u r e m e n t s s h a l l b e of sufficient a c c u r a c y to v e r i f y that t h e l a n d ing p o i n t s c o n t a i n no effective p r o t u b e r a n c e s g r e a t e r t h a n 50 c m . An e f f e c t i v e p r o t u b e r a n c e i s defined as t h e s u r f a c e and s u b s u r f a c e r e l i e f within a h o r i z o n t a l d i s t a n c e of a p p r o x i m a t e l y 10 m e t e r s which m i g h t c a u s e t h e b o t t o m i n g o r t i l t i n g of t h e L E M . E f f e c t i v e p r o t u b e r a n c e s m a y r e s u l t f r o m s i n g l e o b j e c t s , s u c h as b l o c k s , o r c o m p l e x c o m b i n a t i o n s of h e i g h t s , d e p r e s s i o n s , a n d s u r f a c e s i n k a g e .
2 . 1. 1. 7
Confidence in A c c e p t a b i l i t y of C e r t i f i e d Landing P o i n t s
T h e d a t a d e r i v e d f r o m all m e a s u r e m e n t s within e a c h c e r t i f i e d landing point m u s t p r o v i d e a 0 . 99 c o n f i d e n c e t h a t 100% of t h e l a n d i n g point a r e a s a t i s f i e s t h e a c c e p t a b i l i t y c r i t e r i a s t a t e d above.
2 . 1. 1. 8
M i s s i o n P r o b a b i l i t y of S u c c e s s
T h e p r o b a b i l i t y of achieving t h e p r i m a r y m i s s i o n o b j e c t i v e s h a l l be 0 . 50. T h i s p r o b a b i l i t y i n c l u d e s t h e l a u n c h v e h i c l e and S u r v e y o r S p a c e c r a f t s u c c e s s p r o b a b i l i t i e s a n d i s a p p l i c a b l e t o a t o t a l of eight SLRV m i s s i o n s .
2 . 1. 2 2. 1. 2. 1
S u m m a r y of S y s t e m R e q u i r e m e n t s Landing P o i n t P a t t e r n
T h e d e s i r e d p a t t e r n of c e r t i f i e d p o i n t s in t h e s i t e i s shown in F i g u r e 3 - 1 of V o l u m e 11. T e r r a i n c o n d i t i o n s m a y not allow t h e c e r t i f i c a t i o n of p o i n t s p r e c i s e l y i n t h e i n d i c a t e d p a t t e r n , but t h e p a t t e r n c a n b e a d j u s t e d w h e r e n e c e s s a r y with c l o s e r s p a c i n g between p o i n t s .
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2. 1.2. 2
Landing P o i n t Spacing and L o c a t i o n A c c u r a c y
Although t h e p a t t e r n of points m a y be a l t e r e d t o c o m p e n s a t e f o r t e r r a i n condidtions, the m a x i m u m allowable d i s t a n c e between a n y two a d j a c e n t points i s 5 2 8 m e t e r s f r o m c e n t e r to c e n t e r .
A l l landing points s h a l l be l o c a t e d with a n a c c u r a c y of 20 m e t e r s ( 3 r ) with r e s p e c t to one of t h e L E M navigational a i d m a r k s ( s p e c i f i e d b e l o w ) .
2. 1. 2. 3
Landing P o i n t D i a m e t e r
C o n s i s t e n t with t h e above point l o c a t i o n a c c u r a n c y , t h e landing points shall h a v e a m i n i m u m s u r v e y e d and c e r t i f i e d a c c e p t a b l e a r e a c o n t a i n e d within a d i a m e t e r of 40 m e t e r s .
2 . 1. 2. 4
Landing P o i n t Identification
T h e SLRV m u s t be c a p a b l e of e i t h e r l o c a t i n g a n d identifying n a t u r a l m a r k s o r e m p l a c i n g t h r e e a r t i f i c i a l m a r k s t o s e r v e a s navigational a i d s t o the L E M c r e w . T h e m a r k s m u s t have t h e v i s u a l q u a l i t i e s s p e c i f i e d in Appendix A of Volume 11. Minimum s p a c i n g between a n y two m a r k s s h a l l b e 1500 m e t e r s . E a c h m a r k s h a l l be l o c a t e d with r e s p e c t t o t h e o t h e r two with a n a c c u r a c y of 20 m e t e r s .
2 . 1. 2. 5
Landing P o i n t C e r t i f i c a t i o n Data
The landing point c e r t i f i c a t i o n d a t a r e q u i r e m e n t s s u m m a r i z e d below a r e those derived to satisfy the soil bearing s t r e n g t h , effective protuberance, a n d e f f e c t i v e s l o p e m e a s u r e m e n t s s p e c i f i e d i n S e c t i o n 2. 1 . 1.
2 . 1. 2 . 6
Effective P r o t u b e r a n c e D a t a
All s u r f a c e d i s c o n t i n u i t i e s of 20 c m o r m o r e c h a n g e i n e l e v a t i o n within t h e landing point s h a l l be i d e n t i f i e d with a n a c c u r a c y of 5 c m m i n i m u m .
2. 1 . 2 . 7
Effective Slope D a t a
The s y s t e m s h a l l b e c a p a b l e of p r o v i d i n g e l e v a t i o n , p r o t u b e r a n c e , and b e a r i n g s t r e n g t h d a t a s o t h e r e is a 99% c o n f i d e n c e t h a t t h e r e a r e no e f f e c t i v e s l o p e s of 1 2 O o r g r e a t e r i n a c e r t i f i e d l a n d i n g point.
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2. 1. 2. 8
Soil B e a r i n g S t r e n g t h Data
Soil b e a r i n g s t r e n g t h is defined a s t h e f o r c e p e r unit a r e a t h a t t h e s o i l will s u p p o r t at a given l e v e l of sinkage. T h e t e s t c o l l e c t e d d a t a should be c a p a b l e of e x t r a p o l a t i o n to a r e a s l a r g e r t h a n 0. 30 m e t e r i n d i a m e t e r . M e a s u r e m e n t s f o r b e a r i n g s t r e n g t h s h a l l be t a k e n a t a m i n i m u m of 45 l o c a t i o n s d i s t r i b u t e d o v e r the landing point. T h e d a t a m e a s u r e m e n t r a n g e s h a l l b e sufficient to be c o r r e l a t e d t o b e a r i n g s t r e n g t h of 0 . 5 t o 1 2 p s i with a t o l e r a n c e of & 2 0 % within t h i s r a n g e . T h e d e p t h of m e a s u r e m e n t s s h a l l be a t l e a s t 50 c m u n l e s s a f o r c e of 2 1 2 l b / i n . is e n c o u n t e r e d .
2. 1 . 2. 9
Mobility
T h e S L R V s h a l l be c a p a b l e of t r a v e r s i n g t h e s u r f a c e m o d e l s s p e c i f i e d in E P D - 9 8 , R e v i s i o n 1 , c o m m e n s u r a t e with a 0 . 5 p r o b a b i l i t y of s u c c e s s f u l l y c e r t i f y i n g 19 a c c e p t a b l e landing points and identifying o r e m p l a c i n g t h r e e m a r k s .
2. 1. 2. 10 D a t a T r a n s m i s s i o n
D a t a t r a n s m i s s i o n s h a l l be c o m p a t i b l e with t h e DSIF c a p a b i l i t i e s a s s p e c i f i e d in J P L T e c h n i c a l M e m o r a n d u m No. 33-83.
2. 1. 2 . 1 1 R e l i a b i l i t y
T h e S L R V s y s t e m r e l i a b i l i t y shall b e c o m m e n s u r a t e with 0 . 5 p r o b a b i l i t y of s u c c e s s f u l l y c e r t i f y i n g 19 a c c e p t a b l e landing points a n d identifying o r emplacing t h r e e m a r k s .
2. 1 . 2 . 1 2 P h y s i c a l and E n v i r o n m e n t a l C o n t r a i n t s
T h e SLRV s h a l l be c o m p a t i b l e with t h e p h y s i c a l and e n v i r o n m e n t a l c o n s t r a i n t s s p e c i f i e d in S e c t i o n 2 of Volume 11.
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T h e SLRV s y s t e m h a s b e e n d e s i g n e d t o be c o m p a t i b l e with t h e s p a c e c r a f t and e n v i r o n m e n t a l c o n s t r a i n t s d e l i n e a t e d in the following d o c u m e n t s :
1.
E n g i n e e r i n g P l a n n i n g Document No. 98, R e v . 1: " R e q u i r e m e n t s f o r a Roving Vehicle f o r t h e S u r v e y o r S p a c e c r a f t " , J e t P r o p u l s i o n L a b o r a t o r y P a s a d e n a , C a l i f o r n i a , 18 N o v e m b e r 1963. T e c h n i c a l M e m o r a n d u m No. 33-83: "System C a p a b i l i t i e s and Development Schedule of the Deep S p a c e I n s t r u m e n t a t i o n F a c i l i t y " , J e t P r o p u l s i o n L a b o r a t o r y , P a s a d e n a , C a l i f o r n i a , 2 M a r c h 1962. HAC S p e c i f i c a t i o n N o . 235903, R e v . C: " S u r v e y o r B a s i c Bus (2100 l b ) P a y l o a d I n t e r f a c e R e q u i r e m e n t s " , Hughes A i r c r a f t C o m p a n y , El Segundo, C a l i f o r n i a , 21 June 1963.
2.
3.
T h e exploded view of the v e h i c l e i s shown in F i g u r e 2. 2-1.. T h e s,ystem block d i a g r a m of the SLRV is shown in F i g u r e 2. 2-2. T h e s i g n a l flow within the 'vehicle i s shown i n F i g u r e s 2 . 2 - 3 a n d 2. 2 - 4 . T h e i n t e g r a t e d s y s t e m c o n s i s t s of d e f i n e d i t e m s which c a n be r e p r e s e n t e d by t h e H a r d w a r e T r e e s shown in F i g u r e s 2 . 2 - 5 t h r o u g h 2 . 2 - 8 . When t h e functional o r g a n i z a t i o n of t h e e q u i p m e n t i s c o n s i d e r e d t h e s y s t e m c a n b e r e p r e s e n t e d by t h e F u n c t i o n a l Specification T r e e shown in F i g u r e 2. 2 - 9 . 2. 2. 1 SLRV Configuration
The SLRV c o n f i g u r a t i o n i s shown in F i g u r e 2. 2-1 a n d w e i g h s 100 l b includi Surveyor-mounted equipment. This vehicle has an aluminum alloy t r u s s -type s t r u c t u r e . The t r u s s network provides the interconnecting s t r u c t u r e f o r the a r t i c u l a t e d joint. the R T G p o w e r s u p p l y , t h e e l e c t r o n i c c o m p a r t m e n t s t r u c t u r e , T V c a m e r a , a n t e n n a , and the a t t a c h m e n t i n t e r f a c e to t h e S u r v e y o r S p a c e c r a f t . The TV c a m e r a is m o u n t e d on t h e t o p of t h e v e h i c l e s t r u c t u r e on a s p r i n g - l o a d e d s u p p o r t m a s t . D u r i n g f l i g h t t h i s a s s e m b l y i s folded and l a t c h e d n e a r t h e TV c a m e r a to a s t o w a g e fitting on t h e SLRV with a n e x p l o s i v e l a t c h pin
The d i r e c t i o n a l a n t e n n a is a t t a c h e d t o t h e s t r u c t u r e at t h e r e a r of t h e v e h i c on a s u p p o r t m a s t . During flight t h i s a n t e n n a a s s e m b l y is folded and s e c u r e d with l a t c h p i n s . A s t o r e d - e n e r g y power s p r i n g r a i s e s the a n t e n n a a f t e r t h e v e h i c l e h a s deployed f r o m the S u r v e y o r .
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In o r d e r t o f a c i l i t a t e d e p l o y m e n t , the SLRV is h i n g e d t o t h e S u r v e y o r s t r u c t u r e a n d c o m p r e s s e d a g a i n s t the deployment s p r i n g s . T h e s p r i n g l a t c h i n g m e c h a n i s m s u p p o r t s the v e h i c l e t o m i n i m i z e t h e l a u n c h v i b r a t i o n l o a d s . A s u p p o r t , a l s o p r o v i d e d f o r holding t h e SLRV struts a n d t r a c k s d u r i n g t r a n s i t , will b e r e m o v e d p r i o r t o SLRV d e p l o y m e n t . D e p l o y m e n t c o m m a n d s w i l l b e r e c e i v e d by t h e SLRV t h r o u g h a n u m b i l i c a l which i s l o c a t e d n e a r the d e p l o y m e n t s p r i n g s . T h e m o b i l i t y s u b s y s t e m of t h e SLRV i n c l u d e s f o u r t r a c t i o n d r i v e s . E a c h t r a c k is i n d i v i d u a l l y p o w e r e d by a t r a c t i o n d r i v e m o t o r . D i f f e r e n t i a l s p e e d c o n t r o l of t h e s e t r a c t i o n m o t o r s is u s e d f o r s t e e r i n g . T h e s t e e r i n g is a c c o m m o d a t e d by a n a r t i c u l a t e d body s t r u c t u r e u s i n g a floating pivot. T h e e l e c t r o n i c c o m p a r t m e n t contains all of t h e f u n c t i o n a l e l e c t r o n i c s units f o r o p e r a t i n g t h e SLRV e x c e p t f o r t h e T V c a m e r a . T h e s e e l e c t r o n i c units a r e p a c k a g e d on t h e u n d e r s i d e of t h e t h e r m a l p l a t e which f o r m s t h e t o p of t h e e l e c t r o n i c s c o m p a r t m e n t . T h i s p l a t e is o n e of the e s s e n t i a l e l e m e n t s in t h e r m a l c o n t r o l . A l s o m o u n t e d in t h e e l e c t r o n i c c o m p a r t m e n t n e a r the c e n t e r of t h e vehicle i s the p e n e t r o m e t e r for making the soil m e a s u r e m e n t s . T h e r m a l c o n t r o l of t h e e l e c t r o n i c s c o m p a r t m e n t is a c h i e v e d b y t h e u s e of s p e c i a l insulator t h e r m a l radiation shields, r e s i s t o r h e a t e r s , and t h e r m a l coatings. P o w e r f o r the SLRV i s s u p p l i e d by t h e RTG which i s mounted on the b a c k half of t h e v e h i c l e s t r u c t u r e .
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T h e v e h i c l e h a s b e e n d e s i g n e d s o t h a t t h e r m a l e l e c t r i c a l and m e c h a n i c a l i n t e r f e r e n c e s with S u r v e y o r h a v e been m i n i m i z e d . T h e v e h i c l e l i e s within t h e outline s p e c i f i e d in t h e payload envelope e x c e p t f o r a n a p p a r e n t i n t e r f e r e n c e in a r e a A shown in F i g u r e 2. 2 - 1 0 . In this a r e a , t h e c l e a r a n c e a p p e a r s to h a v e b e e n v i o l a t e d by a p p r o x i m a t e l y 2 i n . at one point. B e c a u s e of the l a c k of d e t a i l of t h e S u r v e y o r s t r u c t u r a l m e m b e r positions, i t i s not a l t o g e t h e r c e r t a i n t h a t t h e r e i s i n t e r f e r e n c e . The interference i s between the vehicle directional a n t e n n a a n d e j e c t i o n s u p p o r t m e c h a n i s m a n d the S u r v e y o r c r o s s s t r u c t u r e members.
2. 2. 2
G r o u n d S u p p o r t E q u i p m e n t (GSE)
T h e i n t e g r a t e d SLRV s y s t e m r e q u i r e s a s e l e c t i o n of a p p r o p r i a t e GSE which will f u n c t i o n e f f e c t i v e l y with t h e v e h i c l e a n d with t h e GOE. T h i s GSE p r o v i d e s f o r f u n c t i o n a l c h e c k o u t , s e r v i c i n g , handling, a n d t r a n s p o r t a t i o n a c t i v i t i e s i n v o l v e d d u r i n g p r e p a r a t i o n of t h e SLRV f o r l a u n c h . In addition, f u n c t i o n a l and m e c h a n i c a l s u p p o r t i s p r o v i d e d f o r the i n s t a l l a t i o n a n d o p e r a t i o n of t h e GOE.
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F i g u r e 2 . 2 - 1 S L R V Configuration Concept
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E L E C T R O N I C BOX ASSY T h e r m a l Plate In s u i a t i o n Command Receiver Solar Aspect S e n s o r E l e c t r o n i c s
I
-Straps - S t r u c t u r e Sub A s s y ( F r o n t ) - S t r u c t u r e Sub A s s y ( R e a r ) -Suspension -Deployment Interface -Steering Lock - A n t e n n a E r r e c t i o n Mech. - T . V. E r r e c t i o n Mech.
I
G RT
1
- T r a c t i o n Drive Unit - Track Frame Assy
-
Idler Sprocket
P r e - S t r e s s e d Rim
Transmitter T / M P r o c e s s o r (With S e n s o r s ) Converter Penetrometer Voltage R e g u l a t o r Command Decoder Mobility C o n t r o l R F Ranging Inclinometer Umbilical
- S e c t o r Stop A s s y -Odometer
I
T-V C a m e r a Assy Mounting P o s t
I Solar Aspect Sensors
I
Antennas R F Ranging
t
F i g u r e 2. 2 - 6
Omni Directional Directional
S u r v e y o r Modification H a r d w a r e T r e e
IIIl 1
2- 15
BSR 9 0 3
4
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BSR 9 0 3
-
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III/ 1
2 - 17
BSR 903
SURVEY'CR
F i g u r e 2. 2 - 10 S L R V - S u r v e y o r C o m p a t i b i l i t y Problem A r e a
2 - 18
BSR 903
T h e m a j o r i t e m s of t h e GSE s y s t e m a r e l i s t e d below: 1.
2.
SLRV F u n c t i o n a l T e s t G r o u p S L R V T r a n s p o r t a t i o n , Handling a n d Shipping E q u i p m e n t SLRV S e r v i c i n g E q u i p m e n t SLRV Alignment and C a l i b r a t i o n E q u i p m e n t SLRV P r e - l a u n c h Checkout Equipment G r o u p Surveyor/SLRV Umbilical Function T e s t Set S u r v e y o r Deployment M e c h a n i s m T e s t F i x t u r e S u r v e y o r Modification Shipping C o n t a i n e r s R F Ranging T r a n s p o n d e r T e s t S e t GOE F u n c t i o n a l T e s t E q u i p m e n t G r o u p GOE Handling, T r a n s p o r t a t i o n , a n d Shipping E q u i p m e n t SLRV S i m u l a t o r .
3. 4. 5.
6.
7.
8.
9. 10. 11.
12.
T h e s e i t e m s and t h e i r f u n c t i o n s a r e d i s c u s s e d in S e c t i o n 2 . 15
2. 2 . 3
G r o u n d O p e r a t i n g E q u i p m e n t (GOE)
T h e GOE p e r f o r m s t h e functions of v e h i c l e c o n t r o l , p e r f o r m a n c e m o n i t o r i n g , and c o l l e c t i o n a n d a n a l y s i s of s u r v e y d a t a when t h e SLRV is o p e r a t i n g o n t h e l u n a r s u r f a c e . T h i s equipment i s s e l e c t e d i n conjunction w i t h t h e v e h i c l e t o p r o v i d e a d e q u a t e c o n t r o l of t h e v e h i c l e a n d t o f a c i l i t a t e t h e flow, u s e , a n d s t o r a g e of l u n a r d a t a . T h i s equipment w i l l c o n s i s t of only t h a t e q u i p m e n t n e c e s s a r y t o s u p p o r t t h e e x i s t i n g and p l a n n e d DSIF a n d S F O F f a c i l i t i e s . T h e e q u i p m e n t at t h e Goldstone D e e p S p a c e S t a t i o n (DSS) will c o n s i s t of a D a t a R e c o n s t r u c t i o n Unit, a T V Data P r o c e s s o r , and a TV m o n i t o r . T h e e q u i p m e n t at t h e S F O F Will c o n s i s t of a n Input S i g n a l M o n i t o r C o n s o l e , a Data R e c o n s t r u c t i o n Unit, A TV Data P r o c e s s o r , a Vehicle S y s t e m M o n i t o r i n g and C o n t r o l C o n s o l e , a Vehicle C o n t r o l C o n s o l e , S u r v e y C o n t r o l C o n s o l e , a C o m m a n d D e c o d e r u n i t , a C o m m a n d Word G e n e r a t o r , and photom e t r i c a n a l y s i s e q u i p m e n t . F u n c t i o n a l d e s i g n i n f o r m a t i o n o n t h e above e q u i p m e n t i s found i n S e c t i o n 2 . 14.
III/ 1
2-19
BSR 903
2. 2 . 4
Vehicle Weight, B a l a n c e , a n d P o w e r
The t o t a l o p e r a t i n g weight of t h e v e h i c l e is 9 1 . 8 7 l b . The s t o w e d t o t a l weight of t h e SLRV i s 100 l b including S u r v e y o r m o u n t e d e q u i p m e n t . The SLRV u s e s a t r a n s p o n d e r a n d t h e t r a n s p o n d e r a n t e n n a on the S u r v e y o r S p a c e c r a f t f o r navigation. A l s o l e f t behind with the S u r v e y o r S p a c e c r a f t will be the deployment m e c h a n i s m s , the r a d i a t i o n h e a t s h i e l d , a n d the u m b i l i c a l cabling. T h e t o t a l SLRV weight l e f t with the S u r v e y o r S p a c e c r a f t is 8. 13 l b . F i g u r e 2 . 2 - 1 1 shows the l o c a t i o n of S u r v e y o r m o u n t e d e q u i p ment. F i g u r e 2 . 2-12 s h o w s the r e f e r e n c e a x e s o r i e n t a t i o n u s e d f o r t h e c e n t e r of g r a v i t y a n d m o m e n t s of i n e r t i a c a l c u l a t i o n s f o r t h e SLRV. T a b l e 2 . 2 - 1 g i v e s a b r e a k d o w n of the c o m p o n e n t s on the SLRV i n t h e o p e r a t ing c o n f i g u r a t i o n a n d the weights f o r e a c h component. T a b l e 2. 2 - 2 g i v e s t h e weight breakdown f o r t h e c o m p o n e n t s left on t h e S u r v e y o r S p a c e c r a f t . The l o c a t i o n of the c e n t e r of g r a v i t y h a s b e e n c a l c u l a t e d for t h e v e h i c l e i n i t s o p e r a t i n g c o n f i g u r a t i o n a n d i n the f o l d e d - f o r - s t o w a g e c o n f i g u r a tion. This i n f o r m a t i o n , t o g e t h e r with the m o m e n t s of i n e r t i a a b o u t t h e s e c e n t e r of g r a v i t y l o c a t i o n s , i s s u m m a r i z e d i n T a b l e 2. 2-3. The power f u r n i s h e d by the c o n v e r t e r f o r e a c h c o m p o n e n t of t h e v e h i c l e s y s t e m h a s the a p p r o p r i a t e v o l t a g e l e v e l s r e q u i r e d by t h e i n d i v i dual equipment u n i t s . T h i s h a s been done to e l i m i n a t e i n e f f i c i e n t power c o n v e r t e r s a t e a c h unit. E q u i p m e n t a n d o p e r a t i o n a l functions h a v e b e e n c h o s e n to m a i n t a i n power c o n s u m p t i o n below the c a p a c i t y of t h e p o w e r s u b s y s t e m . Table 2. 2-4 s h o w s the c o n s t a n t power r e q u i r e m e n t s f o r e a c h unit, t h e m a x i m u m additional power t h a t c a n b e r e q u i r e d by e a c h unit, a n d v a r i o u s c o m b i n a t i o n s of l o a d s which cannot b e s u p p l i e d b e c a u s e t h e c o m b i n e d l o a d e x c e e d s the supply. In T a b l e 2 . 2 - 5 a r e p r e s e n t e d i n d e t a i l the power r e q u i r e m e n t s f o r e a c h e q u i p m e n t unit s p e c i f i e d by voltage l e v e l . On the pad a n d d u r i n g the e a r t h - m o o n t r a n s i t , t h e t r a c t i o n d r i v e a s s e m b l i e s , the TV, the t r a n s m i t t e r , a n d v a r i o u s o t h e r u n i t s do not c o n s u m e all of the power g e n e r a t e d by the R T G . In o r d e r t o p r e v e n t o v e r heating within the e l e c t r o n i c units a n e n e r g y d i s s i p a t i n g r e s i s t o r h a s b e e n a d d e d t o the a s s e m b l y . T h i s r e s i s t o r is s i t u a t e d on the d e p l o y m e n t t i e down a n d r a d i a t e s t o s p a c e .
2 - 20
III/ I
BSR 903
R F RANGING ANTENNA
RF RANGING UNIT IN COMPARTMENT
DEPLOYMENT STRUCTURE
F i g u r e 2. 2- 11 L o c a t i o n of S u r v e y o r - M o u n t e d E q u i p m e n t
III/ 1
2-21
BSR 9 0 3
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2- 22
1111 1
BSR 9 0 3
TABLE 2 . 2 - 1 SLRV C O M P O N E N T WEIGHTS (OPERATING CONFIGURATION)
Electronics Mobility Control Reciever Omni-Directional Antenna Transmitter Directional Antenna Elect. Directional Antenna & S e r v o s D i r . , Ant. Boom & Mech. Navigation a n d Control R F Ranging R F Ranging Antenna Inclinometer Odometer Sun S e n s o r Elect. Sun S e n s o r & Hardware
Sun S e n s o r & Hardware
(12.1)
0.5 1.4
1.0
3.2
0.5
4.0
1.5
8.3 3.5 0.5
1.0
0.4
1.5
.35 .35 .35 .35 (2.75)
0. 25
Sun Sensor & Hardware Sun S e n s o r & Hardware Data Handling C o m m a n d Decoder Telemetry Power Supply RTG Converter Experiments Penetrometer Television C a m e r a a n d Motor C a m e r a Support & Mech. Mobility Track 1 Track 2 Track 3 Track 4 S t e e r i n g Lock Cabling T h e r m a l Control T h e r m a l Box Thermal Plate Structure Body Half 1 Body Half 2 Suspension System 1 Suspension System 2 Contingency Operating Vehicle Totals
2.50 (24.6) 20.9 3.7 (2.6) 2.6 (8.45) 7. 63 .82 (12.9) 3.0 3.0
3.0
3.0 0.9 (4.5) (4.50) 2.25 2.25 (7.424) 2. 85 3. 129 .720 .720 3.75 91.87
11111
2-23
BSR 903
TABLE 2.2-2 SLRV FINAL C O M P O N E N T WEIGHT (STOWED CONFIGURATION) Units Spacecraft Deployment Weight (8. 13) 3.63 0.5
U r n b i l i c a1
Transponder T r a n s p o n d e r Antenna Transponder Support Coaxial C a b l e Radiation H e a t S h i e l d
1.0
0.2 0.5 0.5 2.50
TABLE 2 . 2 - 3 C E N T E R O F GRAVITY A N D INERTIA T A B L E FOR STOWED AND OPERATING CONFIGURATIONS C e n t e r of G r a v i t y ( R e f . F i g u r e 2 . 2 - 1 2 )
X -
Y
Z -
Operating Stowed I n t e r i a About c g
. -
39.58 35.38 ( s l u g s -ft 2 )
-.026
1.11
6.89
5.38
Ixx
Operating Stowed 3.62
I YY
3.76 2. 5 1
Iz z
3.78 3. 52
1. 70
2-24
III/ 1
~
BSR 903
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2-25
BSR 903
2.2. 5 RTG a n d Vehicle I n t e g r a t i o n
2 . 2. 5. 1
Thermal Interfaces
The r a d i a t i g n d e s i g n c o n s i d e r e d o p t i m u m f o r t h e R T G m a y i m p o s e t h e r m a l c o n t r o l p r o b l e m s o n t h e o t h e r p a r t s of t h e v e h i c l e . During t h e l u n a r day, h e a t m u s t b e d i s s i p a t e d f r o m t h e i n s t r u m e n t a t i o n p a c k a g e , a n d t h e r m a l r a d i a t i o n s h i e l d i n g is r e q u i r e d . However , d u r i n g l u n a r night c o n d i t i o n s , t h e r m a l e n e r g y m u s t be s u p p l i e d t o t h e i n s t r u m e n t a t i o n p a c k a g e f o r t e m p e r a t u r e c o n t r o l . T h u s , i t is d e s i r a b l e t o u s e t h e t h e r m a l r a d i a t i o n f r o m t h e R T G t o s a t i s f y t h i s d e m a n d d i r e c t l y r a t h e r t h a n u s i n g t h e e l e c t r i c a l power (which is l i m i t e d i n q u a n t i t y ) as a h e a t s o u r c e . During p r e l a u n c h , c o o l e d a i r w i l l b e s u p p l i e d t o t h e s h r o u d t o c o o l t h e SLRV. During t r a n s i t , t h e R T G c a n d i s s i p a t e h e a t t o s p a c e a f t e r t h e s h r o u d is e j e c t e d which will o c c u r a p p r o x i m a t e l y 3 . 5 m i n u t e s f r o m l a u n c h . A s p e c i a l t h e r m a l s h i e l d will a l s o a i d i n p r o t e c t i n g t h e S u r v e y o r s p a c e c r a f t f r o m t h e h e a t of t h e R T G .
2. 2. 5. 2
Electrical Interface
The R T G i s b a s i c a l l y a c o n s t a n t p o w e r d e v i c e , a n d s e r i o u s p e r formance degradation c a n r e s u l t to the t h e r m o e l e c t r i c g e n e r a t o r i f numerous l o a d v a r i a t i o n s a r e i m p o s e d . T h i s d o e s not p r e c l u d e p e r i o d i c l o a d c h a n g e s , but r a d i c a l l y f l u c t u a t i n g l o a d s c a n c a u s e d e t r i m e n t a l t h e r m a l c y c l i n g of t h e t h e r m o e l e c t r i c m a t e r i a l . T h i s is p r e v e n t e d by p r o p e r d e s i g n of t h e p o w e r c o n v e r t e r a n d r e g u l a t o r . Another c o n s i d e r a t i o n i n c o n v e r t e r r e g u l a t o r d e s i g n is t o e n s u r e t h a t t h e g e n e r a t o r i s not o p e n c i r c u i t e d f o r long p e r i o d s , s i n c e t h i s w i l l r e s u l t i n l o s s of P e l t i e r c o o l i n g a t t h e h o t j u n c t i o n with no c u r r e n t flow. I n a d d i t i o n , t h e g e n e r a t o r s u r f a c e m u s t r a d i a t e a g r e a t e r t h e r m a l flux, s i n c e no c o n v e r s i o n t o e l e c t r i c i t y is o c c u r ring with a n open-circuit condition. The e l e c t r i c a l i n t e r f a c e b e t w e e n t h e R T G a n d t h e c o n v e r t e r r e g u l a t o r c o n s i s t s of two i n s u l a t e d l e a d s .
2 . 2. 5. 3
Power Integration with S u b s y s t e m s
S u b s y s t e m i n t e g r a t i o n i n v o l v e s t h e l o a d r e q u i r e m e n t s of all s u b the o p e r a t i o n of t h e R T G a n d i t s c o n t r o l , a n d t h e o p e r a t i o n of t h e systems, c o n v e r t e r - r e g u l a t o r a n d its c h a r a c t e r i s t i c s .
2 - 26
III/ 1
.
Mode 1 Mobility Voltage And Tolerance
Mode 2 Communications Receiver And Antenna
Mode 3 Penetrometer
Control
Motor
Transmitter
Transmitter
Transmitter Antenna
Television
Motor
Transmitter
R F
Inrl
R 1 n gi n g
__.. 1.
4.5VDC
t - 5%
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1. 13A
13A
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7 . 5 VDC
t 0.1%
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1. 9B 3.9
4.43 ( 6 .O C )
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0.01
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0.63'
4
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t - 10%
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Variable Load Constant
Load
1. 8
8.0
7.36
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7.36
6 . OB
4.02
4.43 (6.OC) 0.07
7.36
3.2
0.2
(t. I8WAC)
___-
1. 1 3
1.4
1. 13
..__
3. 17
1. 13
1.9
Subsystem Total
2.0 ( t .18WAC)
8.0
8.49
1.4
8.49
6. O B
7 . 19
4. 50 ( 6 .O F )
8.49
3.2
1.9
III/ 1
BSR
TABLE
CONVERTER OUTPUT P C
Navigation
nata Handling Command Decoder
Load Regulators
Conditio’
Sensor
Proc.
F-Fixed S -Switch V -Varia’
____
_.._
0.03A
0. I
A
1.49A
].IA
. . . .
F
0. 0 4 5 A
____
0.22
A
----
____
0.5 A
F,S
!
0. 14A
.___
____ ____ ____
2.94
._._
V
=-= I
I
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____
._-_
____ ____
1. 323
F.S
.___ __._
____
1.1
I
I
i
0.395
I
0.1
I
t
0.395
0.1
2.94
1. 1
1 . 323
3
2-5
ER DISTRIBUTION (B)
Total Power Fixed Mode Mode Mode
1.13
1. 13
1. 1 3
1. 13
0. 385
0. 385
0.385
0. 385
1.1
1.1
1.1
1.1
1.338
1.338
1. 338
1. 338
0.52
0.52
0. 5 2 (2. 27)
0 . 52
.._.
(2.02)
._._
6. 0 5
6. 0 5
6.05
1.2
I. 2
1.2
2. 92 2.92 +.18wAC) (t. l8WAC) 1.265 1.365
2. 92
(t. 18WAC)
2.92
(+. 18M’AC)
1. 365 (2. 215) 10.44
1. 365
4.44
14. 24
10.44
0.63
0.64
0 . 64
0. 64
3. 728 . 18WAC) 31.068 27. 268 27.268
3
2-27 I 2 -28
BSR 903
The c o n v e r t e r s u p p l i e s a l l the d e s i r e d v o l t a g e l e v e l s t o all the i n f o r m a t i o n s u b s y s t e m s . T h e s o u r c e s of p o s s i b l e i n t e r f e r e n c e a r e R F I g e n e r a t i o n a n d l i n e voltage modulation. C o n d u c t e d R F I will be r e d u c e d with f i l t e r s on the c o n v e r t e r input a n d c o n v e r t e r outputs. T h i s a l s o r e d u c e s l i n e r a d i a t i o n . A s o u r c e of r a d i a t i o n R F I i s the m a g n e t i c c o m p o n e n t s ; t h e s e will be m o u n t e d within a s t e e l c o n t a i n e r . A n o t h e r s o u r c e of i n t e r f e r e n c e between s u b s y s t e m s r e s u l t s f r o m , modulating l o a d s ; e a c h l o a d w i l l be a l l o w e d a m a x i m u m l i n e r i p p l e voltage. P r e s e n t l y t h e r e a r e t h r e e ( 2 ) the A / D c o n v e r t e r a r e a s of c o n c e r n : ( 1 ) the TV c o n v e r t e r a t 20 kcp, r e f e r e n c e , a n d ( 3 ) mobility. The a r e a of i n t e r f e r e n c e due t o m o m e n t a r y o v e r l o a d s o r p e r m a n e n t o v e r l o a d s is a l s o i m p o r t a n t . T h e c h a r a c t e r i s t i c of the R T G a n d the d e g r e e of o v e r l o a d m a y r e d u c e the output v o l t a g e s s u c h t h a t d e t e c t i o n a n d r e m o v a l of the o v e r l o a d is v e r y difficult, e s p e c i a l l y i f the l o g i c is a l s o l o s t . 2. 2. 5 . 4 Mechanical Interfaces
The RTG i s p a c k a g e d on the aft s e c t i o n of t h e v e h i c l e a s shown i n F i g u r e 2 . 2 - 1 . When s t o w e d a b o a r d t h e S u r v e y o r , i t w i l l p r e s e n t a m a x i m u m a r e a f o r r a d i a t i o n to s p a c e , I t w i l l a l s o b e i n s u l a t e d f r o m t h e s t r u c t u r e of the SLRV a f t s e c t i o n . This i n s t a l l a t i o n is shown i n F i g u r e 2. 2 - 1 3 ( c ) . 2.2.6 T h e r m a l Control Subsystem Integration
The t h e r m a l c o n t r o l on the SLRV i s a p a s s i v e s y s t e m . T h i s c o n t r o l i s a c h i e v e d by u s e of a n i n s u l a t e d e l e c t r o n i c s c o m p a r t m e n t , t h e r m a l radiation shields, and selective thermal coatings. T o obtain t h e r m a l c o n t r o l , the e l e c t r o n i c package i s i n s u l a t e d -_ f r o m , b u t i n c l o s e p r o x i m i t y t o t h e RTG. 'l'he e l e c t r i c a l h e a t d i s s i p a t i n g c o m p o n e n t s a r e m o u n t e d onto the s p e c i a l l y d e s i g n e d t h e r m a l . p l a t e of t h e e l e c t r o n i c package. T h e mounting plate is i n s u l a t e d f r o m t h e r e s t of t h e s t r u c t u r e . The s i d e s , f r o n t , r e a r , a n d bottom of t h e p a c k a g e h a v e r a d i a t i o n s h i e l d s , a n d t h e r m a l coating a r e u s e d on all t h e s u r f a c e s .
III/ 1
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2. 2. 7
TV C a m e r a I n t e g r a t i o n Mechanical Considerations
2.2.7. 1
The TV m u s t be m o u n t e d r i g i d l y t o t h e s t r u c t u r e on the f r o n t of the vehicle s o a s t o look f o r w a r d d u r i n g running a n d be a b l e t o e x a m i n e t h e t r a c k t r e a d a t c l o s e r a n g e . C o n s i d e r a t i o n of the s t r u c t u r e d e s i g n w a s given s o that the c a m e r a would be l o c a t e d 35 i n . above the g r o u n d d u r i n g o p e r a t i o n on the l u n a r s u r f a c e a n d a l s o be f r e e t o t u r n f 200° in a z i m u t h a n d t15O a n d -45' i n e l e v a t i o n . In o r d e r t o s t o w t h e SLRV i n t h e c o n f i g u r a t i o n shown i n F i g u r e 2. 2 - 1 the TV c a m e r a is m o u n t e d on a folding boom. T h e c a m e r a i s e r e c t e d by a t o r s i o n s p r i n g upon c o m m a n d a n d r e l e a s e d by a r e d u n d a n t e x p l o s i o n s q u i b a c t u a t o r . The TV i n t e r f a c e on the TV boom with the v e h i c l e s t r u c t u r e is shown i n F i g u r e 2. 2-14.
2. 2. 7. 2
Electrical Interfaces
T h e e l e c t r i c a l i n t e r f a c e s between the e l e c t r o n i c s c o m p a r t m e n t a n d the TV s u b s y s t e m c o n s i s t of a c a b l e of 5 0 l e a d s . T h e s e l e a d s a r e shown in t h e S L R V e l e c t r i c a l i n t e r f a c e drawing ( F i g u r e s 2. 2 - 3 a n d 2. 2-4).
2. 2. 7. 3
Thermal Interfaces
T h e T V c a m e r a i s p h y s i c a l l y s e p a r a t e d f r o m t h e r e s t of t h e S L R V t h e r m a l c o n t r o l s y s t e m . T h e r e f o r e , t h e t h e r m a l c o n t r o l m u s t be i n t e g r a t e d with t h e m e c h a n i c a l packaging of t h e TV e l e c t r o n i c s ( F i g u r e 2 . 2-15).
2. 2 . 8
2. 2. 8. 1
Structure Integration Mechanical C o n s i d e r a t i o n s
The v e h i c l e s t r u c t u r e m u s t be c a p a b l e of s u p p o r t i n g the o t h e r s u b s y s t e m s u n d e r the e n v i r o n m e n t s s p e c i f i e d in S p e c i f i c a t i o n HAC 239503, Rev. C , S u r v e y o r B a s i c S p a c e c r a f t . The p r i m a r y s t r u c t u r e i s a r i v e t e d a l u m i n u m a l l o y t r u s s as shown i n F i g u r e 2. 2-13 (a, b, a n d c ) . On t h i s s t r u c t u r e , folding m e c h a n i s m s a r e p r o v i d e d f o r the a n t e n n a designs. A folding a n d l o c k m e c h a n i s m is a l s o p r o v i d e d f o r the TV s u p p o r t m a s t . T h e s e d e v i c e s a r e s h o w n i n F i g u r e 2 . 2 - 1 4 .
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A locking d e v i c e is i n c l u d e d in the SLRV s t r u c t u r e t o a l i g n the two body s e c t i o n s i n t h r e e positions.
Support s t r u t s a r e p r o v i d e d for a t t a c h i n g t h e t r a c t i o n d r i v e units to t h e p r i m a r y s t r u c t u r e . The m e c h a n i c a l i n t e r f a c e i s shown i n F i g u r e 2 . 2 - 1 . The e l e c t r i c a l i n t e r f a c e with the t r a c k s a n d d r i v e m o t o r s is shown i n the e l e c t r i c a l interface drawing ( F i g u r e 2.2- 3). 2. 2 . 8 . 2 Deployment C o n s i d e r a t i o n s
The deployment m e c h a n i s m is shown i n F i g u r e 2. 2-16. It c o n s i s t s of hinging the SLRV t o the S u r v e y o r s t r u c t u r e a n d holding it c o m p r e s s e d a g a i n s t a deployment s p r i n g by m e a n s of a s q u i b a c t u a t e d pinned l o c k e d f i t t i n g . The s u p p o r t h i n g e s a t t a c h t o the r e a r of the SLRV a n d to t h e S u r v e y o r s p a c e c r a f t s t r u c t u r e t o t a k e t h e m a j o r l o a d s a n d p r o v i d e a pivot f o r deployment. P r o v i s i o n f o r a c t i v a t i n g t h e deployment m e c h a n i s m is m a d e t h r o u g h t h e S L R V - S u r v e y o r u m b i l i c a l c o n n e c t o r . Upon r e c e i p t of the c o m m a n d , the s q u i b a c t u a t o r r e l e a s e s t h e pinned l o c k fitting a n d a l l o w s the e j e c t o r s p r i n g t o r o t a t e the v e h i c l e through i t s d e p l o y m e n t a r c . The s i n g l e a c t i o n r e l e a s e w i l l a l s o s e p a r a t e the umbilical c o n n e c t i o n f r o m t h e S u r v e y o r . The u m b i l i c a l plug f o r the SLRV will be l o c a t e d a d j a c e n t t o the u p p e r tiedown r e l e a s e f i t t i n g on the S u r v e y o r S p a c e c r a f t f r a m e . The u m b i l i c a l plug will be e n g a g e d by i n s t a l l a t i o n of the SLRV i n S u r v e y o r a n d r e l e a s e d by s e p a r a t i o n of the SLRV. P r e s e n t d e s i g n c a l l s for only six e l e c t r i c a l l e a d s i n t h e plugf o u r to c o n t r o l SLRV deployment a n d two f o r c o m m a n d a n d t e l e m e t r y s i g n a l s . The d e p l o y m e n t s i g n a l s will be t h e on-off t y p e t o a c t i v a t e s q u i b c i r c u i t s using power f r o m the SLRV. It m a y be d e s i r a b l e f o r r e l i a b i l i t y t o a d d backup c i r c u i t s u s i n g S u r v e y o r power. T h e c o m m a n d a n d t e l e m e t r y l e a d s would p r o b a b l y be s h i e l d e d . I t a p p e a r s p o s s i b l e f r o m t h e SLRV block d i a g r a m to c o n n e c t a t a point between t h e SRLV t e l e m e t r y p r o c e s s o r a n d t r a n s m i t t e r , t h u s supplying p r o c e s s e d s i g n a l s t h r o u g h the u m b i l i c a l t o t h e S u r v e y o r f o r r e l a y both during p r e l a u n c h on the p a d a n d i n t r a n s i t .
III/ 1
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BSR 903
2.2.9 2. 2. 9. 1
Antenna I n t e g r a t i o n Mechanical Interface
T h e t r a n s m i t t i n g a n d r e c e i v i n g a n t e n n a s a r e m o u n t e d o n folding b o o m s t o stow i n the a v a i l a b l e envelope a n d p r o v i d e the d e s i r e d o p e r a t i o n a l height a f t e r deployment. T h e s e units a r e e r e c t e d by t o r s i o n s p r i n g s a n d l o c k e d into p o s i t i o n m e c h a n i c a l l y . The deployment c o m m a n d i n i t i a t e s t h i s a c t i o n i m m e d i a t e l y following the e r e c t i o n of t h e TV by the d e l a y e d s p r i n g of a redundant s q u i b a c t u a t o r . The d i r e c t i o n a l a n t e n n a i n t e r f a c e i s shown i n F i g u r e 2. 2 - 1 7 . . 2. 2. 9. 2 Electrical Interfaces
T h e e l e c t r i c a l i n t e r f a c e s t o the t r a n s m i t t i n g , r e c e i v i n g , a n d R F r a n g i n g a n t e n n a s a r e shown i n the e l e c t r i c a l i n t e r c o n n e c t i n g d i a g r a m , F i g u r e 2.2.- 3.
2. 2 . 10
P e n e t r o m e t e r Integration
T h e p e n e t r o m e t e r is l o c a t e d with i t s b o t t o m f a c e a t the 10. 75-in. g r o u n d c l e a r a n c e h e i g h t a n d f r e e f r o m all o b s t r u c t i o n . T h i s unit i s l o c a t e d c l o s e t o the c g t o p e r m i t u s e of the m a x i m u m s i z e h e a d on the p e n e t r o m e t e r . The l o a c a t i o n is a l s o s e l e c t e d s o t h a t t h e p e n e t r o m e t e r m e a s u r e m e n t s a r e not m a d e i n the t r a c k path. F i g u r e 2. 2 - 1 s h o w s t h e m e c h a n i c a l i n s t a l l a t i o n of the equipment.
2. 2 . 10. 1 E l e c t r i c a l C o m m a n d Signal
T h e c o m m a n d s i g n a l r e q u i r e d t o i n i t i a t e a s i g n a l p h a s e of o p e r a tion of the p e n e t r o m e t e r w i l l be a 28-volt p o s i t i v e p u l s e with a t i m e d u r a tion of 10 m i l l i s e c o n d s o r g r e a t e r . Two o t h e r c o m m a n d p u l s e s will be n e c e s s a r y ; one t o p r o v i d e a n o v e r r i d e s i g n a l t o s t o p a n d r e t r a c t t h e p r o b e during the o p e r a t i o n c y c l e , a n d a n o t h e r to i n i t i a t e the e x p l o s i v e c h a r g e destroying the tube. Voltage R e q u i r e m e n t s T h e p e n e t r o m e t e r m e c h a n i s m r e q u i r e d two v o l t a g e s u p p l i e s including one 28-volt s u p p l y f o r t h e DC m o t o r a n d one r e g u l a t e d 6 - v o l t supply for t h e i n s t r u m e n t a t i o n a n d c o n t r o l c i r c u i t s .
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The p e n e t r o m e t e r p a c k a g e s i z e is 5 - 1 / 2 in. w i d e , b y 4 - 7 / 1 6 in. d e e p , b y 8 in. high. The p e n e t r o m e t e r is d e s i g n e d to r e s t on t h e bottom of t h e e l e c t r o n i c s c o m p a r t m e n t a n d t o be f a s t e n e d t o t h e c o m p a r t m e n t t o p p l a t e . A 0. 825-in. d i a m e t e r h o l e m u s t be p r o v i d e d in the bottom of the c o m p a r t m e n t to p e r m i t p a s s a g e of the p r o b e tube. T h i s h o l e l o c a t i o n i s a p p r o x i m a t e l y on t h e c e n t e r l i n e of t h e p e n e t r o m e t e r p a c k a g e a n d n e a r t h e S L R V cg.
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2 . 2 . 11
E l e c t r o n i c Packaging Integration
E l e c t r o n i c p a c k a g i n g i s c o v e r e d i n d e t a i l at t h i s p o i n t , b e c a u s e it i n v o l v e s e l e m e n t s of m a n y h a r d w a r e s u b s y s t e m s . T h e e l e c t r o n i c p a c k a g e s u t i l i z e m i c r o m o d u l e s f o r a p p r o x i m a t e l y 8 0 % of a l l c i r c u i t r y t o m i n i m i z e weight a n d e n h a n c e r e l i a b i l i t y . P r o v e n c o m p o n e n t s a n d materials a r e u s e d t h r o u g h o u t t h e d e s i g n . 2.2.11.1 Electronic Compartment
T h e s e l e c t i o n of t h e packaging f o r t h e SLRV e l e c t r o n i c s , principally the telecommunications and television, h a s been influenced b y t h e s e v e r e weight l i m i t a t i o n s o n t h e s y s t e m . T h e r m a l a n d v i b r a t i o n r e q u i r e m e n t s w e r e a l s o c o n s i d e r e d , b u t w e r e not a s s i g n i f i c a n t a s t h e p r o b l e m of weight c o n t r o l . T h e e l e c t r o n i c c i r c u i t r y w a s d i v i d e d into t h r e e groups: 1. 2. D i g i t a l a n d low power c i r c u i t r y Analog a n d high power c i r c u i t r y R F o r microwave circuitry.
3.
M i c r o m i n i a t u r i z a t i o n of c i r c u i t s i n t h e a b o v e g r o u p s i s p r o g r e s s i n g i n t h e following h a r d w a r e a r e a s : 1. S o l i d s t a t e c i r c u i t m o d u l e s of s t a n d a r d c o n f i g u r a t i o n s u c h as logic gates, operational a m p l i f i e r s , e t c . H y b r i d c i r c u i t r y such a s s p e c i a l t h i n - f i l m d e p o s i t i o n t o customel’s specification Special connectors, wiring techniques, and c i r c u i t boards
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s u r f a c e s and t h e r m a l insulation d e v i c e s . Using digital TV, P C M t e l e m e t r y , and c o m m o n modulation, m u c h of t h e S L R V c i r c u i t r y is c o m p o s e d of low p o w e r l e v e l d i g i t a l components, principally “flip-flops. ” The logic switching r a t e s a r e low, s o t h a t f r e q u e n c y of s w i t c h i n g r e s p o n s e p r e s e n t s no p r o b l e m .
III/ 1
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A s t u d y of e x i s t i n g m i c r o m o d u l e s o r h y b r i d d e s i g n s f o r the S L R V c i r c u i t r y i n d i c a t e s m i c r o m o d u l e s p r e s e n t l y a v a i l a b l e o f f e r e d the following advantages:
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Reliability t e s t data available P e r m i t flexibility of d e s i g n s i n c e c i r c u i t c h a n g e s do not r e q u i r e m a j o r tooling c h a n g e s
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A high d e g r e e of m a i n t a i n a b i l i t y
4. L e s s c o s t , d e v e l o p m e n t t i m e , a n d t e s t i n g t i m e .
In s o m e c a s e s , a p e n a l t y i n weight a n d s i z e m u s t be a c c e p t e d when u s i n g a s t a n d a r d d e s i g n r a t h e r t h a n c u s t o m o r h y b r i d d e s i g n s . H o w e v e r , a weight a n a l y s i s i n d i c a t e s t h a t t h e p e n a l t y f o r SLRV is not s i g n i f i c a n t . A t y p i c a l module is shown i n F i g u r e 2 . 2 - 1 7 ( a ) . T h i s is a T e x a s I n s t r u m e n t s m i c r o l o g i c c i r c u i t . F i v e m i c r o c i r c u i t s a r e shown welded t o g e t h e r a n d p o t t e d into a module s i z e of 0 . 5 i n . x 0 . 5 i n x 0 . 2 5 i n . Module leads u t i l i z e t a p e r e d p i n s i n t e r c o n n e c t e d into p r i n t e d c i r c u i t b o a r d s a s shown i n F i g u r e 2 . 2 - 18 ( a a n d b) . T h e module w i l l t h e n be s o l d e r e d t o t h e p r i n t e d c i r c u i t b o a r d f o r unit a s s e m b l y . T h e u s e of t a p e r p i n s w i l l p e r m i t integration testing p r i o r to soldering. P r e s e n t l y , T I logic p o s s e s s e s the m a x i m u m "design m a t u r i t y " , a n d e x t e n s i v e r e l i a b i l i t y t e s t d a t a a r e a v a i l a b l e . T h e m o d u l e s h a v e b e e n t e s t e d t o 125O C which e x c e e d s the t h e r m a l r e q u i r e m e n t s f o r S L R V .
A p p r o x i m a t e l y 7 5 to 8071of a l l c i r c u i t s w i l l u s e m i c r o m o d u l e s . H o w e v e r , m i c r o m o d u l e s f o r m a n y a p p l i c a t i o n s a r e not now a v a i l a b l e , p a r t i c u l a r l y f o r high f r e q u e n c y o r p o w e r c i r c u i t r y . Cordwood m o d u l e s w i l l be u s e d f o r t h e s e a p p l i c a t i o n s . F i g u r e 2 . 2 - 1 9 s h o w s a t y p i c a l c o r d wood module. T h e s a m e module s i z e a n d f o r m f a c t o r i s u s e d a n d t h e m o n i t o r i n g on the c i r c u i t b o a r d r e m a i n s t h e s a m e . 2.2.11.2 Radio F r e q u e n c y a n d M i c r o w a v e P a c k a g i n g
The t e l e c o m m u n i c a t i o n s u b s y s t e m u s e s both VHF a n d U H F c i r c u i t r y . Since conventional c o a x i a l f i t t i n g s a n d c o m p o n e n t s a r e l a r g e and heavy, printed microwave c i r c u i t techniques f o r space application r e s u l t in s i z e a n d weight r e d u c t i o n a n d e l e c t r i c a l p e r f o r m a n c e t h a t c o m p a r e s f a v o r a b l y with c o a x i a l t e c h n i q u e s . With t h i s a p p r o a c h , the
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m i c r o w a v e p r i n t e d c i r c u i t i s of p l a n a r f o r m ; in m a n y i n s t a n c e s , a n e n t i r e c i r c u i t c a n be d e p o s i t e d o n a s i n g l e s h e e t of d i e l e c t r i c m a t e r i a l . T h e c i r c u i t p e r f o r m a n c e of m i c r o w a v e p r i n t e d c i r c u i t s u s i n g " s t r i p l i n e " is d i s c u s s e d i n Vol 111, Book 2 , S e c t i o n 1 0 . T h e i n c o r p o r a t i o n of s t r i p l i n e i n t h e c o m m a n d r e c e i v e r is shown in F i g u r e 2 . 2 - 1 8 (a a n d b ) . T h e r e c e i v e r d i p l e x e r , f i l t e r , m i x e r , and l o c a l o s c i l l a t o r m u l t i p l i e r c h a i n a l s o employ this design technique. S t r i p l i n e u s e s c o p p e r - c l a d l a m i n a t e b o a r d s . It i s n e c e s s a r y t h a t t h e b o a r d s h a v e a high d i e l e c t r i c c o n s t a n t , low d i s s i p a t i o n f a c t o r , a n d e x c e l l e n t h o m o g e n e o u s p r o p e r t i e s . A l s o , a m i n i m u m c o e f f i c i e n t of t h e r m a l e x p a n s i o n is r e q u i r e d , when 8 0 t o 90% of c o p p e r f r o m one s i d e of t h e l a m i n a t e is r e m o v e d . Copper c l a d s h e e t s a r e now a v a i l a b l e with t h i c k n e s s t o l e r a n c e s a s c l o s e a s f 0 . 0 0 2 i n . r e s u l t i n g in a u n i f o r m d i e l e c t r i c c o n s t a n t . I n a d d i t i o n , t h e s e s h e e t s a r e a v a i l a b l e with a v e r y small l o s s t a n g e n t ( R e n o l i n e P , f o r e x a m p l e , t a n = 0 . 0 0 0 1 a t 10 kMc m a k i n g t h e d e s i g n of n a r r o w (1%) b a n d p a s s filters p o s s i b l e . In t h e c a s e w h e r e s i z e r e d u c t i o n i s a p r i m e o b j e c t i v e while c i r c u i t l o s s is r e l a t i v e l y unimportant (the v a r a c t o r multipliers driving t h e T WT and hybrid), m a t e r i a l s with a wide r a n g e of d i e l e c t r i c c o n s t a n t s c a n b e p u r c h a s e d ( S t y c a s t m a n u f a c t u r e d by t h e E m e r s o n a n d C u n n i r y C o r p o r a t i o n , E (range) = 3 to 25). T h e f a b r i c a t i o n of t h e p r i n t e d m i c r o w a v e circuit is a c c o m p l i s h e d by p h o t o g r a p h i c m e t h o d s . The d e s i r e d l a y o u t i s d r a w n o n my-lar at a n e n l a r g e d s c a l e ( u p t o 4 t o 10 t i m e s a c t u a l s i z e ) . A t o l e r a n c e of 0 . 0 0 2 i n . is m a i n t a i n e d o n t h e m a s t e r a r t d r a w i n g . T h e c i r c u i t i s t h e n t r a n s f e r r e d t o Ruby S t u d n i t e , a l a c q u e r - c o a t e d m y l a r b a s e f i l m f o r u s e with o r t h o - c h r o m a t i c f i l m . Utilizing b l a d e s , t h e c i r c u i t is c u t a w a y f r o m t h e R u b y S t u d n i t e , l e a v i n g a n o v e r s i z e d c i r c u i t n e g a t i v e . T h e c i r c u i t is then photographically reduced to actual size for etching. A light-sensitive a c i d r e s i s t a n t m a t e r i a l is s p r a y e d on t h e s h e e t , a n d t h e c i r c u i t i m a g e is t r a n s f e r r e d f r o m t h e p r i n t i n g negative by e x p o s u r e t o a n u l t r a v i o l e t l i g h t s o u r c e . T h e p r i n t e d a n d developed s h e e t p a s s e s t h r o u g h a f e r r i c c h l o r i d e e t c h a n t t h a t e t c h e s c o p p e r not p r o t e c t e d by t h e a c i d r e s i s t a n t m a t e r i a l . T h e e t c h e d c i r c u i t is t h e n c l e a n e d a n d t h e p r i n t e d b o a r d gold p l a t e d . Gold p l a t i n g p r o v i d e s good surface e l e c t r i c a l c o n d u c t i v i t y a n d a p r o t e c t i v e f i n i s h . An e x a m p l e of a m i c r o w a v e p r i n t e d c i r c u i t a n d t h e p a c k a g i n g t e c h n i q u e s is shown i n t h e p h o t o g r a p h s , F i g u r e 2 . 2 - 2 0 . P h o t o g r a p h B shows the s t r i p l i n e f o r a m i s s i l e r e c e i v e r . T h e c i r u i t includes diplexing, f i l t e r i n g , a n d u l t r a - s e n s i t i v e video d e t e c t i o n . Note t h e i n d r u m s e a l w i r e
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protection against R F I leakage surrounding the package and various c i r c u i t c a v i t i e s . P h o t o g r a p h A shows t h e p r i n t e d c i r c u i t f r o m the D P N - 6 1 R a d a r Homing S y s t e m . The c i r c u i t incorporates the diplexing, bandpass f i l t e r i n g , low p a s s f i l t e r i n g , d i r e c t i o n a l c o u p l e r , m i c r o m i n , video d e t e c t o r s , i s o l a t e d DC r e t u r n , a n d m a x i m u m e n v i r o n m e n t p a c k a g i n g concepts.
2 . 2 . 1 1 . 3 E l e c t r o n i c F u n c t i o n a l Unit A s s e m b l y
F i g u r e 2 . 2 - 18 (a a n d b) show a n e l e c t r o n i c f u n c t i o n a l u n i t a s s e m b l y . High h e a t d i s s i p a t i o n e l e m e n t s of t h e unit a r e m o u n t e d d i r e c t l y on a t h e r m a l h e a t s i n k o r p l a t e . T h i s p l a t e , i n t u r n , is m o u n t e d o n t h e e l e c t r o n i c c o m p a r t m e n t t h e r m a l plate ( s e e F i g u r e 2 . 2 - 2 1 ( a and b). After a s s e m b l y a n d c h e c k o u t , e a c h functional unit ( t r a n s m i t t e r , r e c e i v e r , c o m m a n d p r o c e s s o r , e t c . ) w i l l b e potted with a n epoxy f o a m r e s u l t i n g i n a n i n t e g r a l unit not s u s c e p t i b l e t o shock a n d v i b r a t i o n .
2 . 2 . 11.4 Electronics Compartment F i n a l Assembly
T h e e l e c t r o n i c s c o m p a r t m e n t c o n s i s t s of a t h e r m a l c o n t r o l s u r f a c e t o which all e l e c t r o n i c functional u n i t s a r e m o u n t e d . A t h e r m a l box with s u p e r - i n s u l a t i o n c o m p l e t e l y e n c l o s e s t h e f o u r s i d e s a n d b o t t o m c?f the e l e c t r o n i c s c o m p a r t m e n t . (See F i g u r e 2 . 2 - 2 1 ( a a n d b). T h e s u p e r - i n s u l a t i o n m a t e r i a l i s m a n u f a c t u r e d by Union C a r b i d e , Lincie D i v i s i o n , a n d c o n s i s t s of m u l t i p l e l a y e r s of a l u m i n u m f o i l . A s i m i l a r The t e c h n i q u e i s u s e d on t h e T V s u b s y s t e m d e s c r i b e d e l s e w h e r e . insulation on the e l e c t r o n i c s compartment isolates the c o m p a r t m e n t f r o m t h e r e s t of t h e S L R V s t r u c t u r e a n d p e r m i t s all t h e r m a l c o n t r o l t o be a c c o m p l i s h e d by t h e d e s i g n of t h e t h e r m a l p l a t e . I n t e r c o n n e c t i o n b e t w e e n f u n c t i o n a l u n i t s i n the e l e c t r o n i c s c o m p a r t m e n t w i l l be m a d e by a multiple l a y e r t a p e c a b l e h a r n e s s . T h i s c a b l e h a r n e s s w i l l be e i t h e r s o l d e r e d ( o r , p e r h a p s welded) i n p l a c e at e a c h functional unit. When t h e i n t e r c o n n e c t i o n s h a v e b e e n m a d e i n the e l e c t r o n i c s c o m p a r t m e n t , t h e c o m p a r t m e n t could be p o t t e d with a low d e n s i t y epoxy f o a m t o r e d u c e t h e "oil canning" e f f e c t . T h e u s e of o v e r - a l l f o a m i n g i s optional, depending on weight, vibration, and maintainability trade-offs d u r i n g P h a s e 11.
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2 . 2 . 11. 5 T V E l e c t r o n i c s P a c k a g i n g
T h e TV e l e c t r o n i c s p a c k a g e c o n s i s t s of f o u r f u n c t i o n a l m o d u l e s and a n interconnection m a t r i x :
1. 2.
3.
D/A c o n v e r t e r and deflection a m p l i f i e r s E n c o d e r , s y n c g e n e r a t o r , two b r i d g e a m p l i f i e r s R o b e r t s g e n e r a t o r , H and V sweeps and controls P o w e r s u p p l y , video a m p , t h r e s h o l d a n d g a i n c o n t r o l s module Interconnection m a t r i x .
4.
5.
E a c h m o d u l e is c o m p l e t e l y f u n c t i o n a l a n d c a n be t e s t e d i n d e pendently of the o t h e r e l e c t r o n i c s . The technique e m p l o y e d i n t h e p a c k a g i n g of t h e TV e l e c t r o n i c s is r a t h e r unique i n t h a t it i n c o r p o r a t e s t h e f l e x i b i l i t y of p r i n t e d c i r c u i t r y with t h e option of s o l d e r i n g o r welding. T h e e l e c t r o n i c s w i l l be c o m p r i s e d a l m o s t e n t i r e l y of i n t e g r a t e d c i r c u i t s f r o m s e v e r a l m a j o r v e n d o r s , v i z . , Signetics, General Instrument, and Texas Instrument. T h e s e m i c r o e l e c t r o n i c packages a l l h a v e a c o m m o n l e a d b r e a k o u t of 50 t h o u s a n d t h s o n c e n t e r . This f e a t u r e of t h e c o m p o n e n t s p e r m i t s t h e p r o p o s e d packaging c o n c e p t ; i. e . , the p r i n t e d c i r c u i t l a m i n a t e c o n s i s t s of a b a s e m a t e r i a l t h a t h a s been p e r f o r a t e d with 2 5 t h o u s a n d t h s s q u a r e h o l e s o v e r its e n t i r e s u r f a c e p r i o r to l a m i n a t i o n . T h i s c o n c e p t is s h o w n i n F i g u r e 2. 2-22. The p r i n t e d c i r c u i t is d e s i g n e d a r o u n d t h e g r i d s t r u c t u r e . A f t e r the c i r c u i t is e t c h e d , a t o o l m a d e to t h e s h a p e of t h e i n d i v i d u a l m i c r o c i r c u i t s t h a t w i l l be employed is i n s e r t e d i n the g r i d s t r u c t u r e which t u r n s up the end of t h e etched c i r c u i t p r o v i d i n g a 25 t h o u s a n d t h s t a b o n t h e c o n d u c t o r ' s s i d e of t h e p r i n t e d b o a r d . T h e c o m p o n e n t l e a d s a r e p r e f o r m e d to fit t h e g r i d s t r u c t u r e . The components a r e installed and the 1 e a d s s o l d e r e d o r welded to the 2 5 t h o u s a n d t h s t a b . C i r c u i t functions t h a t c o n s i s t of m o r e t h a n o n e e t c h e d c i r c u i t b o a r d w i l l be joined by r i s e r w i r e s i n s e r t e d i n s l o t s a r o u n d the o u t e r
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p e r i p h e r y ; t h i s technique w i l l p r o v i d e a lightweight m e a n s of i n t e r s t a g e i n t e r c o n n e c t i o n s a n d a l s o a m e a n s of u s i n g voids c a u s e d by i r r e g u l a r s h a p e d components. Layouts of the e t c h e d p a n e l s a r e s u c h t h a t p r o t r u d i n g components w i l l i n t e r m e s h with voids o n t h e a d j a c e n t panel. T h i s w i l l r e d u c e c o n s i d e r a b l y the o v e r - a l l p a c k a g e volume. E a c h functional e t c h e d p a n e l a s s e m b l y w i l l h a v e a flat r i b b o n type etched c a b l e a t t a c h e d . T h i s w i l l p r o v i d e a n e f f i c i e n t m e a n s of p e r f o r m i n g e l e c t r i c a l t e s t s a t m o d u l e l e v e l a n d a l s o p r e v e n t d a m a g e due to probing o r a t t a c h m e n t of l e a d s d u r i n g t e s t ( F i g u r e 2. 2-23). At the f i n a l i n t e g r a t i o n of t h e e l e c t r o n i c s into t h e c a m e r a s t r u c t u r e , the r i b b o n c a b l e s w i l l be attached to a w i r i n g m a t r i x . T h i s lightweight m a t r i x is l o c a t e d at the r e a r of t h e vidicon tube providing e a s y a c c e s s f o r w i r i n g . T h i s c o n c e p t e l i m i n a t e s the n e e d f o r c o n n e c t o r s o r i n t e r s t a g e c a b l i n g , e n h a n c i n g the o v e r - a l l r e l i a b i l i t y while r e d u c i n g the weight c o n s i d e r a b l y . The m o d u l e s i z e a n d c o n f i g u r a t i o n s w e r e s e l e c t e d s o as to obt a i n the m a x i m u m u s e of voids c a u s e d by i r r e g u l a r s h a p e d c o m p o n e n t s i n the c a m e r a , s u c h a s the o p t i c a l t r a i n s , vidicon, d r i v e a n d c o n t r o l m o t o r s , which have r e s t r i c t i o n s i n p l a c e m e n t due to t h e i r m e c h a n i c a l f u n c t i o n s . T h i s technique not only o f f e r s m i n i m u m o v e r - a l l v o l u m e a n d m i n i m u m weight, but a l s o p r o v i d e s a v a r i a b l e m e a n s of c o m p e n s a t i n g weight a n d balance enhancing o v e r - a l l s y s t e m flexibility ( F i g u r e 2 . 2 - 2 4 ) . Module T e m p e r a t u r e C o n t r o l C o n s i d e r a t i o n s L a r g e a r e a s of c o n d u c t o r f o i l w i l l b e r e t a i n e d a d j a c e n t to high h e a t d i s s i p a t i n g c o m p o n e n t s a n d w i l l extend to t h e o u t e r e d g e of the e t c h e d panel b o a r d s . T h e e t c h e d panel b o a r d s w i l l be i n s e r t e d into a s l o t t e d m e t a l s t r u c t u r e providing a low r e s i s t a n c e path f o r h e a t t r a n s f e r . M o i s t u r e a n d Handling C o n s i d e r a t i o n s
A f t e r i n s p e c t i o n , the a s s e m b l e d m o d u l e s w i l l be c o v e r e d with a p r o t e c t i v e coating t h a t w i l l p r o v i d e a m o i s t u r e b a r r i e r , m e c h a n i c a l bond, a n d a n i m p r o v e d t h e r m a l path. I t w i l l a l s o p r e v e n t c o n t a m i n a t i o n o r d a m a g e due to handling. T h i s technique is p r e s e n t l y being u s e d by Raytheon on m o d u l e s t h a t m u s t be t e s t e d u n d e r e x t r e m e conditions p r i o r to potting. By applying s e v e r a l l a y e r s of t h i s c o a t i n g , s u b s e q u e n t potting o p e r a t i o n s can be c o m p l e t e l y e l i m i n a t e d p r o v i d i n g f u r t h e r r e d u c t i o n i n t h e o v e r - a l l weight.
2-62
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2. 3 2. 3 . 1
MOBILITY Description
T h e p r e l i m i n a r y d e s i g n is a f o u r - t r a c k e d v e h i c l e with s y m m e t r i c a l floating pivot a r t i c u l a t e d body. S t e e r i n g i s a c c o m p l i s h e d by d i f f e r e n t i a l s p e e d c o n t r o l of the t r a c t i o n m o t o r s . T h e t r a c k s a r e individually p o w e r e d a t the rim. T h e d r i v e m e c h a n i s m u t i l i z e s a h e r m e t i c a l l y s e a l e d DC t o r q u e m o t o r a t t a c h e d to a n u t a t o r t r a n s m i s s i o n . S u b s y s t e m p r e l i m i n a r y design p a r a m e t e r s a n d c h a r a c t e r i s t i c s a r e s u m m a r i z e d below: 1. Vehicle A r r a n g e m e n t : a. b. c. d. e.
No. of t r a c k s - 4 F l o a t i n g pivot a r t i c u l a t e d c h a s s i s T r a c k b a s e - 30 in. ( c e n t e r t o c e n t e r ) T r a c k s p a n - 25 in. ( c e n t e r t o c e n t e r ) U n d e r c a r r i a g e c l e a r a n c e - 10. 7 5 in.
2.
Tracks
T r a c k s c o n s i s t of a p r e s t r e s s e d m e t a l r i m , c o v e r e d with a f o a m e d s i l i c o n r u b b e r t r e a d , w r a p p e d on one p o w e r e d wheel and one idler. a. b. c. d. e. f.
2. 3 . 2
T r e a d w i d t h - 3 in. P o w e r e d hub d i a m e t e r - 5 in. I d l e r hub d i a m e t e r - 5 in. L e n g t h b e t w e e n c e n t e r of i d l e r a n d power hubs - 18 in. P r e f o r m e d r a d i u s of r i m - 3 in. T r e a d t h i c k n e s s - 1 / 4 in. ( n o t including m e t a l r i m )
S t e e r i n g and Mobility Control
S t e e r i n g w i l l b e a c c o m p l i s h e d by r e l a t i v e r o t a t i o n of the two v e h i c l e s e g m e n t s a b o u t a floating pivot point a n d e x e c u t e d b y m e a n s of t o r q u e d e v e l o p e d by d i f f e r e n t i a l s p e e d c o n t r o l of t h e t r a c t i o n m o t o r s .
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O t h e r c h a r a c t e r i s t i c s follow : Mode of C o n t r o l
-
"bang-bang''
S t e a d y - s t a t e s t e e r i n g conditions
-
(a) straight ahead (b) hard right (c) hard left
Vehicle n o m i n a l t u r n r a d i u s is 60 in. t o t h e c e n t e r of body.
A l o c k m e c h a n i s m h a s b e e n p r o v i d e d i n o r d e r to l o c k the v e h i c l e in t h e s t r a i g h t a h e a d , h a r d r i g h t , a n d h a r d l e f t positions.
The c o n t r o l r e q u i r e m e n t s f o r t h e S L R V t r a c t i o n d r i v e m e c h a n i s m ( T D M ) h a v e b e e n e s t a b l i s h e d a s follows : E a c h TDM s h a l l be c a p a b l e of o p e r a t i n g up to a t o r q u e 1. l i m i t of 220 in. - o z . At t h i s t o r q u e , the TDM w i l l b e a u t o m a t i c a l l y s h u t down, a n d w i l l r e q u i r e a n e a r t h c o m m a n d to r e a c t i v a t e it. The s u m of t h e p o w e r s b e i n g c o n s u m e d by the f o u r TDMs will b e l i m i t e d to 8 w a t t s . If the 8 w a t t t o t a l i s e x c e e d e d , the v e h i c l e will be a u t o m a t i c a l l y s h u t down and r e q u i r e a n e a r t h c o m m a n d to r e a c t i v a t e it.
2.
F i g u r e 2: 13, Section 2 , Book 2 , s h o w s o p e r a t i o n a l c.onditions of S L R V 3. TDMs. The c o n t r o l s y s t e m w i l l p r o v i d e f o r t h r e e c o n s t a n t ' v e h i c l e s p e e d s w h i c h m a y be c o m m a n d e d f r o m the e a r t h . T h e s e s p e e d s ( r e f e r r e d to a s N1, N 2 , N3) a r e a s follows:
N1 = 0. 16 m p h
N o r m a l o p e r a t i n g s p e e d of S L R V when i t i s o n f l a t a n d r e l a t i v e l y s m o o t h s u r f a c e s , o r u p s l o p e s on h a r d s u r f a c e s . H i g h e s t s p e e d of steady state turn.
N2 = 0. 105 mph
Alternative operational speed f o r rough s u r f a c e operation. L o w e s t speed of s t e a d y s t a t e t u r n .
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N3 = 0 . 0 3 m p h
C r e e p e r s p e e d f o r climbing l a r g e o b s t a c l e s . Mobility c o n t r o l w i l l c o n s i s t of v e h i c l e s e n s o r s , l o g i c , and p o w e r c o n t r o l e l e c t r o n i c s t o c o n t r o l individual t r a c t i o n m o t o r s and the v e h i c l e s t e e r i n g lock. T h e input a n d output r e q u i r e m e n t s of t h e m o b i l i t y c o n t r o l s u b s y s t e m a r e l i s t e d below: A. E a r t h C o m m a n d Inputs t o Mobility C o n t r o l 1. 2. Forward Reverse stop Straight Right Left
7. 8.
3. 4. 5.
9.
10. 11.
Speed Abort Abort Abort Abort
Track Track Track Track
1 2 3
4
6.
B.
Vehicle F e e d b a c k Inputs 1. 2. 3. 4. 5. Vehicle S p e e d S t r a i g h t Ahead H a r d Right Hard Left Speed - T r a c k i
6.
7. 8.
9.
Speed - T r a c k 2 Speed - T r a c k 3 Speed - T r a c k 4 Steering Position
C. Outputs f r o m Mobility Control to P o w e r T r a n s m i s s i o n
1. 2. Power - Track 1 Power - Track 2 Power - Track 3 Power - T r a c k 4
5.
6.
7. 8.
3.
4. D.
Direction Direction Direction Direction -
Track Track Track Track
1 2 3 4
Outputs f r o m Mobility Control to T e l e m e t r y 1-4
-
A b o r t T r a c k 1 , 2, 3 , o r 4
E.
Outputs f r o m Mobility Control to Vehicle C h a s s i s L o c k 1. Lock
2.
Unlock
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2. 3 . 3
Traction Drive Mechanism
The t r a c t i o n d r i v e m e c h a n i s m includes a DC torque m o t o r and n u t a t o r t r a n s m i s s i o n . A decoupling m e c h a n i s m i s included t o p r o v i d e " f r e e - w h e e l i n g " c a p a b i l i t y i n the e v e n t of f a i l u r e . A l s o , v e l o c i t y feedback provisions yield information t o the s t e e r i n g a r r a n g e m e n t . Lubrication and t h e r m a l design a r e tailored to the l u n a r environment. T h e o v e r a l l t r a c t i o n m e c h a n i s m shown i n F i g u r e 2. 2-16 (a and b ) is c o m p r i s e d of the following e l e m e n t s :
1. t y p e - 1321).
A low s p e e d , high t o r q u e DC c o m m u t a t e d m o t o r ( I n l a n d
2. A n u t a t o r t r a n s m i s s i o n with a g e a r r e d u c t i o n of 8 7 / 1 . f l e x i b i l e m e m b e r of t h e n u t a t o r i s a b e l l o w s w h i c h a l s o acts as a hermetic seal.
T h e s t r u c t u r e of the t r a c t i o n d r i v e c o n t a i n s t h e s u p p o r t 3. b e a r i n g f o r the t r a c k r o l l e r s and a s h i e l d t o p r o t e c t t h i s b e a r i n g a n d the final g e a r f r o m d u s t o r other contamination.
The
4. I n t e r p o s e d on a n o n r o t a t i n g m e m b e r of t h e n u t a t o r d r i v e i s a n e x p l o s i v e a c t u a t o r which, when e x c i t e d f r o m a n e x t e r n a l s o u r c e , w i l l p e r m a n e n t l y decouple t h e output m e m b e r of t h e t r a n s m i s s i o n f r o m the d r i v e l i n e .
B r a k i n g o r p a r k i n g c a p a b i l i t y is i n h e r e n t l y p r o v i d e d by 5. residual friction torque i n the D C m o t o r and t r a n s m i s s i o n reflected t h r o u g h the o v e r - a l l t r a n s m i s s i o n r a t i o . T h e h e r m e t i c c h a m b e r i s p r e s s u r i z e d with a n a r t i f i c a l 6. a t m o s p h e r e ( a p p r o x i m a t e l y 1 p s i a ) , a n d all m e m b e r s i n t h i s c h a m b e r a r e p r e l u b r i c a t e d . T h e p r e s s u r i z e d g a s w i l l a l s o f u n c t i o n as a t h e r m a l c o n d u c t o r to i m p r o v e h e a t t r a n s f e r c h a r a c t e r i s t i c s .
7. The final reduction g e a r s and b e a r i n g s are l u b r i c a t e d with V e r s i l u b e G-300 s i l i c o n e g r e a s e ; t h e y a r e a l s o t r e a t e d w i t h d r y f i l m lubricants.
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2.4
STRUCTURES Description
2. 4. 1
T h e p r i m a r y s t r u c t u r e m e e t s the o b j e c t i v e s of r e l i a b i l i t y , high s t r e n g t h - to-weight r a t i o , and m a x i m u m s t r u c t u r a l d a m p i n g . T h e s t r u c t u r e i s a tubular t r u s s m a d e p r i m a r i l y f r o m 2024-T4 aluminum. S q u a r e tubing is u s e d throughout to f a c i l i t a t e m o u n t i n g of e q u i p m e n t . T h e t u b e s a r e joined b y r i v e t i n g , r a t h e r t h a n welding, t o i n c r e a s e the s t r u c t u r a l d a m p i n g . F i g u r e s 2. 2-13 show the o v e r - a l l s t r u c t u r e design.
2. 4. 2
M a t e r i a l Studies
M a t e r i a l s f o r the v e h i c l e s t r u c t u r e h a v e b e e n s e l e c t e d p r i m a r i l y on the b a s i s of s t r e n g t h - t o - w e i g h t r a t i o a n d f a b r i c a t i o n e a s e . As stated previously, aluminum has been selected f o r this purpose. T o avoid t h e p o s s i b i l i t y of cold w e l d i n g in the floating pivot, a c o a t i n g of a l u m i n u m oxide will b e u s e d on the c i r c u l a r s e g m e n t s a g a i n s t which the joint s t r a p s a r e r e s t i n g . Teflon or other similar m a t e r i a l s m a y b e s u b s t i t u t e d f o r the a l u m i n u m oxide if this a p p e a r s d e s i r a b l e b a s e d o n cold w e l d i n g s t u d i e s now in p r o g r e s s .
T h e d e p l o y m e n t s u b s y s t e m ( s e e F i g u r e 2. 2-16 ( a and b) p e r f o r m s t h e following functions :
1. S u p p o r t s t h e SLRV within the S u r v e y o r d u r i n g t r a n s i t , within the p r e s c r i b e d v o l u m e a n d the cg l o c a t i o n , with m i n i m u m m o d i f i c a t i o n s to b e b a s i c S u r v e y o r b u s . 2. P r o v i d e s a t h e r m a l r a d i a t i o n s h i e l d to m i n i m i z e r a d i a t i v e h e a t t r a n s f e r b e t w e e n SLRV a n d Surveyor.
3 . P r o v i d e s a u x i l i a r y s u p p o r t for the SLRV s t r u t s and t r a c k s ; t h i s s u p p o r t will b e r e m o v e d o n c o m m a n d p r i o r to d e p l o y m e n t .
4. Deploy the SLRV on r e c e i p t of e a r t h c o m m a n d .
5. R e l e a s e the tiedowns of the T V c a m e r a a n d a n t e n n a s which hold t h e m i n the s t o w e d p o s i t i o n d u r i n g t r a n s i t .
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The SLRV d e p l o y m e n t s e q u e n c e a f t e r S u r v e y o r h a s l a n d e d on the m o o n i s a s follows: 1. U n f a s t e n the s t r u t tiedown m e c h a n i s m and TDA l o c k s . m e c h a n i s m w i l l fall f r e e of the SLRV and S u r v e y o r . The
2. D i s c o n n e c t the u p p e r two c o n n e c t o r s ; v e h i c l e will then b e f o r c e d by s p r i n g s to r o t a t e about l o w e r s u p p o r t hinge. T h e v e h i c l e will d i s c o n n e c t c o m p l e t e l y f r o m the S u r v e y o r at a n o m i n a l p o s i t i o n of 30' b e t w e e n the x - a x i s of SLRV a n d the l o c a l h o r i z o n t a l .
3. C o n c u r r e n t with 2. above, the s t e e r a b l e a n t e n n a will be d i s c o n n e c t e d a t the tiedown a d then w i l l p a r t i a l l y e r e c t p r i o r to the v e h i c l e contacting the l u n a r s u r f a c e .
4 D i s c o n n e c t the TV tiedown a n d whip a n t e n n a s tiedowns. .
5. Under c e r t a i n c o n d i t i o n s , the v e h i c l e h a s to b e m o v e d a m i n i m a l d i s t a n c e ( o n t h e o r d e r of 1 m e t e r ) a w a y f r o m S u r v e y o r b e f o r e c o m p l e t i n g e r e c t i o n of the s t e e r a b l e antenna. T h e v e h i c l e is now f u l l y deployed.
2.6
FOLDING AND E R E C T I O N MECHANISMS
Due t o s t o w a g e s p a c e l i m i t a t i o n s a n d s e v e r e v i b r a t i o n a l e n v i r o n m e n t , it i s n e c e s s a r y to fold a n d t i e down s u c h i t e m s as t h e TV c a m e r a a n d s t e e r a b l e a n t e n n a d u r i n g flight a n d t h e n r e l e a s e a n d e r e c t t h e m a f t e r l u n a r landing a n d SLRV d e p l o y m e n t .
2.6. 1
TV C a m e r a E r e c t i o n and S u p p o r t S t r u c t u r e
T h e TV c a m e r a s u b s y s t e m c o n n e c t s to a s u p p o r t m a s t w h i c h a t t a c h e s to a s p r i n g - l o a d e d pivot joint p o s i t i o n e d as s h o w n i n F i g u r e 2. 2-1. T h e s t r u c t u r a l r e q u i r e m e n t s d e m a n d e d b y the L R V a c c e l e r a t i o n , v i b r a t i o n , and t h e r m a l e n v i r o n m e n t s a r e s a t i s f i e d by a c a m e r a m a s t of 2 3/8.in. d i a m e t e r 0..005-in. gauge s t a i n l e s s s t e e l tubing a b o u t w h i c h i s wound a 0. 025-in. t h i c k l a y e r of phenolic f i b e r g l a s s . D u r i n g flight t h i s a s s e m b l y is folded a n d l a t c h e d n e a r the TV c a m e r a to a stowage f i t t i n g on the SLRV. When the e x p l o s i v e l a t c h pin i s w i t h d r a w n , the p o w e r s p r i n g in the pivot j o i n t r a i s e s the c a m e r a m a s t
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with a s p r i n g r a t e of 12 in. - l b / r a d . The s p r i n g i s p r e l o a d e d t o a n a n g u l a r d e f l e c t i o n of 6 5 O . T h i s s t o r e d e n e r g y will a c c e l e r a t e the c a m e r a m a s t t o a v e l o c i t y of 3 r a d / s e c a t the e r e c t e d position. O n c e the e r e c t e d p o s i t i o n is obtained, a locking m e c h a n i s m p r e v e n t s f u r t h e r motion. T h e 3 r a d / s e c a n g u l a r r a t e d o e s not c r e a t e enough t o r q u e t o u p s e t the SLRV.
2. 6. 2
S t e e r a b l e Antenna E r e c t i o n and S u p p o r t S t r u c t u r e
T h e a n t e n n a s u p p o r t m a s t m u s t b e c a p a b l e of s u r v i v i n g the SLRV a c c e l e r a t i o n and v i b r a t i o n e n v i r o n m e n t . T h i s is a c c o m p l i s h e d by a 0. 016-in. t h i c k a l u m i n u m tube 1 inch i n d i a m e t e r w r a p p e d with 0. 030-in. t h i c k phenolic f i b e r g l a s s . The s u p p o r t m a s t i s a t t a c h e d to a pivot at the r e a r of the SLRV a t one end and to the h o u s i n g f o r the a n t e n n a r o l l g i m b a l d r i v e m e c h a n i s m a t the o t h e r . D u r i n g t r a n s i t to the m o o n , a tiedown l u g a t t a c h e d n e a r the a n t e n n a c e n t e r of mass c o n n e c t s to t h e v e h i c l e . A c r a d l e - b r a c k e t a t the top of t h e v e h i c l e confines the l a t e r a l m o t i o n of t h e m a s t while stowed. V e r t i c a l m o t i o n is m i n i m i z e d by p r e - l o a d i n g the m a s t i n the s t o w e d position. A s p r i n g m e c h a n i s m r a i s e s i t to t h e final position in a t w o - s t e p s e q u e n c e . At the f i n a l position, a p o s i t i v e l o c k s e c u r e s t h e m a s t . As the SLRV l e a v e s S u r v e y o r , t h e a n t e n n a w i l l b e p a r t i a l l y e l e v a t e d a n d s t o p p e d n e a r the t o p of the v e h i c l e . D e l a y i n g full a n t e n n a deployrrierit with t h e intermediate s t o p will p r e v e n t d a m a g e t o the a n t e n n a which could o c c u r i f the vehicle l a n d e d with the a n t e n n a in the s t o w e d p o s i t i o n ; i t a l s o e l i m i n a t e s the p o s s i b i l i t y of a n t e n n a d a m a g e due to s t r i k i n g S u r v e y o r . T h e tiedown l u g a n d the i n t e r m e d i a t e s t o p w i l l b e s e c u r e d with e x p l o s i v e l a t c h pins. When t h e s e l a t c h pins a r e w i t h d r a w n , s t o r e d e n e r g y i n t h e power s p r i n g (8 in. - l b / r a d . , p r e l o a d e d 300) w i l l r a i s e t h e antenna. T o avoid e x c e s s i v e m o m e n t u m f r o m o v e r t u r n i n g the v e h i c l e ,
a s n u b b e r h a s b e e n a d d e d to d i s s i p a t e e n e r g y o v e r t h e l a s t 5 0 of t r a v e l .
1111 1
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.
2 . 7 PENETROMETER 2. 7. 1 Description
The p e n e t r o m e t e r s u b s y s t e m is shown s c h e m a t i c a l l y i n F i g u r e 2. 2-16 and p h y s i c a l l y i n F i g u r e 2. 7-1. T h e h e a r t of t h e p e n e t r o m e t e r m e c h a n i s m is a p r e f o r m e d , longitudinally s p l i t , t h i n - w a l l e d tube which is flattened a n d r o l l e d on a s p o o l f o r s t o r a g e with a m i n i m u m e x p e n d i t u r e of weight and s p a c e . T h e c o n i c a l p e n e t r o m e t e r point a t t a c h e d t o t h e tube c a r r i e s a load c e l l t o m e a s u r e the f o r c e r e q u i r e d t o d r i v e t h e p r o b e into the l u n a r s o i l . The p e n e t r a t i o n depth is m e a s u r e d by r e c o r d i n g the a m o u n t of tube which is payed out at a n y point i n t h e p e n e t r a t i o n p r o c e s s . T h e p e n e t r o m e t e r h a s b e e n d e s i g n e d i n a c c o r d a n c e with the S L R V d e s i g n r e q u i r e m e n t t o m e a s u r e f o r c e v e r s u s p e n e t r a t i o n t o a depth of 50 c m i n a s o i l having a g r a d i e n t of 8 p s i p e r f t . The tube is d r i v e n by a s e t of f r i c t i o n d r i v e r o l l s w h i c h a r e p o w e r e d t h r o u g h a s p u r g e a r t r a i n by a s m a l l p e r m a n e n t m a g n e t DC m o t o r . T h e tube is s t o r e d i n i t s f l a t t e n e d s t a t e by winding i t on a tube s t o r a g e d r u m which is tensioned by a n e g a t o r m o t o r d r i v e . T h e payout of t h e t u b e i s m o n i t o r e d by a n a n g u l a r p o t e n t i o m e t e r which s e n s e s t h e r o t a t i o n of t h e tube s t o r a g e d r u m . A w o r m g e a r is e m p l o y e d t o r e d u c e the a n g u l a r r o t a t i o n of t h e p o t e n t i o m e t e r t o l e s s t h a n one t u r n f o r t h e e n t i r e t r a v e l of t h e tube ( i . e . , 76 c m ) . C a m s m o u n t e d on t h e w o r m g e a r a c t i v a t e limit s w i t c h e s which c o n t r o l t h e e x t e n d e d a n d r e t r a c t e d p o s i t i o n s of t h e p e n e t r o m e t e r p r o b e . T h e l e a d w i r e s t o the load c e l l a r e s t o r e d on a s e c o n d d r u m a l s o d r i v e n by a lightweight n e g a t o r m o t o r . T h e p e n e t r o m e t e r o p e r a t e s upon c o m m a n d with a u t o m a t i c c o n t r o l s t o limit e x t e n s i o n , r e t r a c t i o n , a n d o v e r l o a d . An o v e r l o a d l i m i t s w i t c h m o u n t e d i n t h e l o a d c e l l r e v e r s e s the m o t o r a n d r e t r a c t s t h e t u b e i n the e v e n t t h a t a 1 0 - l b p e n e t r o m e t e r l o a d is exceeded. 2. 7. 2 Operation Upon r e c e i p t of t h e a p p r o p r i a t e c o m m a n d s i g n a l , t h e p e n e t r o m e t e r m e c h a n i s m w i l l be a c t i v a t e d , a n d t h e p r o b e t u b e w i l l be p r o j e c t e d f r o m the v e h i c l e a n d into the s o i l . A s t h e p r o b e p e n e t r a t e s t h e s o i l , the l o a d c e l l w i l l s e n s e the point of c o n t a c t , a n d t h e payout p o t e n t i o m e t e r w i l l r e c o r d the depth of p e n e t r a t i o n . At a depth of 20 i n . , a l i m i t s i g n a l is g e n e r a t e d which a u t o m a t i c a l l y w i t h d r a w s t h e p r o b e u n t i l a s e c o n d l i m i t
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s i g n a l is g e n e r a t e d a n d the p r o b e s t o p s within the envelope d i m e n s i o n s of t h e m e c h a n i s m . A s a f e t y f a c t o r i n t h e f o r m of a p r e d e t e r m i n e d load s e t t i n g is p r o v i d e d within t h e load s e n s i n g point t o w i t h d r a w t h e p r o b e i n t h e e v e n t of a n o v e r l o a d s o as t o p r e v e n t d a m a g e t o t h e p r o b e o r tipping of t h e v e h i c l e . T h e r a t e of p e n e t r a t i o n a n d r e t r a c t i o n w i l l be 1/ 2 i n . / s e c . 2. 7. 3 Interface Definition
The following i n t e r f a c e s e x i s t between the p e n e t r o m e t e r s u b s y s t e m a n d the S L R V o r the ground control station. 2. 7. 3 . 1 C o m m a n d S i g n a l T h e c o m m a n d s i g n a l r e q u i r e d t o i n i t i a t e a s i n g l e p h a s e of o p e r a t i o n of the p e n e t r o m e t e r w i l l be a 28-volt positive-going p u l s e w i t h a t i m e d u r a t i o n of 10 m i l l i s e c o n d s o r g r e a t e r . Two o t h e r c o m m a n d p u l s e s w i l l be n e c e s s a r y ; one t o p r o v i d e a n o v e r r i d e s i g n a l t o s t o p a n d r e t r a c t t h e p r o b e d u r i n g the o p e r a t i o n c y c l e , a n d a n o t h e r t o i n i t i a t e t h e e x p l o s i v e c h a r g e destroying t h e tube i n c a s e of hang-up. 2. 7. 3 . 2 Voltage T h e p e n e t r o m e t e r m e c h a n i s m r e q u i r e s two voltage s u p p l i e s : one 28-volt supply f o r the DC m o t o r , a n d one r e g u l a t e d 6-volt s u p p l y f o r the i n s t r u m e n t a t i o n a n d c o n t r o l c i r c u i t s .
2. 7. 3 . 3 M e c h a n i c a l
T h e p e n e t r o m e t e r p a c k a g e s i z e is 5 - 1/ 2 i n . w i d e by 4 - 7 / 16 i n . d e e p by 8 i n . high. T h e p e n e t r o m e t e r i s d e s i g n e d t o r e s t on the b o t t o m of t h e e l e c t r o n i c s c o m p a r t m e n t a n d be f a s t e n e d t o t h e t o p p l a t e of t h e c o m p a r t m e n t . A 0 . 825-in. d i a m e t e r h o l e is p r o v i d e d i n t h e bottom of the c o m p a r t m e n t to p e r m i t p a s s a g e of t h e p r o b e tube. T h i s h o l e l o c a t i o n is a p p r o x i m a t e l y on the c e n t e r l i n e of t h e p e n e t r o m e t e r p a c k a g e a n d n e a r t h e c e n t e r of g r a v i t y of t h e v e h i c l e . 2. 7. 3 . 4 D a t a T r a n s m i s s i o n The load a n d d i s p l a c e m e n t s i g n a l s g e n e r a t e d by the p e n e t r o m e t e r a r e s a m p l e d a t a r a t e of 21 r e a d i n g s p e r s e c o n d f o r e a c h a n a l o g s i g n a l . T h e r e q u i r e d a c c u r a c y f o r d a t a t r a n s m i s s i o n is 1 / 2 of 1 p e r c e n t f o r both analog s i g n a l s .
2-74
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2. 7. 4 P h y s i c a l C h a r a c t e r i s t i c s a n d C o n s t r a i n t s T h e p h y s i c a l c h a r a c t e r i s t i c s of t h e p e n e t r o m e t e r s u b s y s t e m s h a l l be as follows:
2. 7 . 4 . 1 S i z e
T h e m a x i m u m envelope d i m e n s i o n s f o r the p e n e t r o m e t e r a n d r e l a t e d e l e c t r o n i c e q u i p m e n t s h a l l b e 5 - 1/ 2 in. x 4 - 7 / 16 in. x 8 i n .
2. 7 . 4. 2 Weight
T h e p e n e t r o m e t e r weight a s a d e s i g n g o a l s h a l l not e x c e e d 2. 75 l b . 2. 7 . 4. 3 Power
T h e p o w e r r e q u i r e m e n t s of the m e c h a n i s m to fulfill the s o i l m e a s u r e m e n t function s h a l l not e x c e e d 5 t o 6 w a t t s . E x a c t p o w e r l e v e l s a r e difficult to p r e d i c t a c c u r a t e l y since t h e y depend on f r i c t i o n a l e f f e c t s . T h e p o w e r r e q u i r e d f o r p e n e t r a t i o n into the s o i l is a p p r o x i m a t e l y 0. 6 w a t t . T h e r e m a i n d e r of the p o w e r is a s s o c i a t e d with f r i c t i o n a l l o s s e s .
2. 7 . 4 . 4
Vehicle C o n s t r a i n t s
T h e S L R V p e n e t r o m e t e r will t o l e r a t e s i d e l o a d s up t o 2 lb i n t h e f u l l y e x t e n d e d condition. T o a v o i d d a m a g e to the p e n e t r o m e t e r , the r o v i n g v e h i c l e m u s t b e r e s t r i c t e d t o s l o p e s which w i l l not p e r m i t a 2-lb s i d e load to develop (approximately) 8O on a z e r o friction s u r f a c e ) .
2. 8 NAVIGATION
T h e n a v i g a t i o n s u b s y s t e m i s c o m p r i s e d of a n i n c l i n o m e t e r , a s o l a r a s p e c t , a n R F r a n g i n g u n i t , a n d a n o d o m e t e r . T h e t e l e v i s i o n c a m e r a is a l s o u s e d f o r navigation p u r p o s e s but i s not a n e x p l i c i t p o r t i o n of the navigation s u b s y s t e m . 2. 8. 1 I n c l i n o m e t e r T h e i n c l i n o m e t e r is u s e d to s e n s e deviations f r o m t h e l o c a l v e r t i c a l of t h e SLRV p i t c h a n d r o l l a x e s . T h i s i n f o r m a t i o n is u s e d f o r
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t r a n s f o r m a t i o n of the s o l a r a s p e c t s e n s o r m e a s u r e m e n t s t o the l o c a l r e f e r e n c e plane a n d to p r o v i d e s u r f a c e s l o p e m e a s u r e m e n t s . An a c c u r a c y of 10 a r c - m i n u t e s on t h e l u n a r s u r f a c e is r e q u i r e d f o r e a c h body axis m e a s u r e m e n t in both s t a t i c a n d d y n a m i c conditions. T h e i n c l i n o m e t e r is c o m p r i s e d of two l i n e a r a c c e l e r o m e t e r s m o u n t e d about the v e h i c l e p i t c h and r o l l a x e s . E a c h a c c e l e r o m e t e r is a n open-loop d e v i c e i n c o r p o r a t i n g a f l o a t e d pendulous g i m b a l with i n s t r u m e n t b a l l b e a r i n g s u s p e n s i o n a n d wide r a n g e m i c r o s y n - t y p e pickoff. E a c h i n c l i n o m e t e r is c o m p r i s e d of two a c c e l e r o m e t e r s a n d a s s o c i ated electronics. T h e a c t i v e r a n g e of e a c h a c c e l e r o m e t e r is t 30° on the l u n a r s u r f a c e . A m e a s u r e m e n t a c c u r a c y of 10 a r c - m i n u t e s o v e r a + 1 5 O r a n g e is p r o v i d e d . T h e a c c e l e r o m e t e r n a t u r a l f r e q u e n c y h a s b e e n s e l e c t e d a t one c p s , a n d the a n t i c i p a t e d damping is 0. 7 of the c r i t i c a l v a l u e . E a c h i n c l i n o m e t e r output s i g n a l h a s a r a n g e of 0 to 5 VDC c o r r e s p o n d i n g to the t 30° r a n g e . T h e c o m p l e t e t w o - a x i s unit e l e c t r o n i c s occupy 2 c u b i c i n c h e s and weigh 20 g r a m s . T h e t o t a l i n c l i n o m e t e r weight is 1. 0 1b; t o t a l power input is 1. 76 w a t t s at 28 VDC.
2 . 8. 2 S o l a r A s p e c t S e n s o r
The s o l a r a s p e c t s e n s o r is the p r i m a r y s e n s o r f o r the v e h i c l e a z i m u t h . T h e d i g i t a l d e v i c e which h a s b e e n s e l e c t e d is c o m p r i s e d of f o u r sensing heads and a s s o c i a t e d electronics. Each sensing head employs d u a l r e t i c l e detection e l e m e n t s t o encode the s o l a r a z i m u t h a n d e l e v a t i o n l i n e s into eight l e v e l s , providing 1 / 2 O r e s o l u t i o n i n s o l a r a z i m u t h a n d elevation. At b i n a r y c o d e c r o s s i n g s , a n a c c u r a c y of & 1 / 4 O is a c h i e v e d . T h e f o u r s e n s i n g h e a d s a r e a r r a n g e d s u c h t h a t c o m p l e t e c o v e r a g e of t h e h e m i s p h e r e is p r o v i d e d . Data a r e p r e s e n t e d i n p a r a l l e l f o r m c o n t i n u o u s l y in two 8 - b i t b u f f e r r e g i s t e r s . E a c h d e t e c t o r h e a d i n c o r p o r a t e s a n identification c e l l f o r coding of t h e s o l a r m e a s u r e m e n t s t o a p a r t i c u l a r h e a d . T o t a l s u n s e n s o r w e i g h t is a p p r o x i m a t e l y 2 - 1 / 4 lb. T h e t o t a l p o w e r r e q u i r e d i s 295 m i l l i w a t t s .
2 . 8. 3 R F Ranging Unit
A n R F r a n g i n g unit employing a n a c t i v e t r a n s p o n d e r on the S u r v e y o r s p a c e c r a f t is u s e d to p r o v i d e continuous r a n g e i n f o r m a t i o n between SLRV a n d S u r v e y o r . T h e r a n g i n g f u n c t i o n is p e r f o r m e d u s i n g
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i n t e r f e r o m e t e r y . Two C W low f r e q u e n c y s i g n a l s of 80 kc a n d 2 Mc a r e u s e d to f r e q u e n c y m o d u l a t e a VHF c a r r i e r a t 145 M c . A v e r t i c a l whip with a z i m u t h a l p a t t e r n s y m m e t r y is u s e d as the SLRV r a d i a t o r . T h e s i g n a l i s r e c e i v e d a t the S u r v e y o r with a n o t h e r whip a n t e n n a a n d is t r a n s l a t e d to 125 M c . T h e 125-Mc s i g n a l is r e t r a n s m i t t e d t o t h e SLRV through t h e S u r v e y o r whip with the aid of a d i p l e x e r . T h e 125-Mc s i g n a l r e c e i v e d a t the SLRV is s e p a r a t e d f r o m the t r a n s m i t t e d s i g n a l by a n o t h e r d i p l e x e r a n d d e m o d u l a t e d by a limiting I F s t r i p a n d d i s c r i m i n a t o r , producing 8 0 - k c a n d 2-Mc b a s e b a n d outputs. P h a s e c o m p a r i s o n of t h e s e two s i g n a l s with a p p r o p r i a t e c r y s t a l r e f e r e n c e s p r o d u c e a n output p r o p o r t i o n a l to r a n g e . P h a s e detection a c c u r a c y is s u f f i c i e n t to p r o v i d e r a n g e m e a s u r e m e n t s to within f 1 m e t e r . 2. 8 . 4 O d o m e t e r T h e o d o m e t e r is b a s i c a l l y a "fifth w h e e l " with a 5. 75-in. d i a m e t e r a n d 1. 0 - i n . width. It is a t t a c h e d to the o u t s i d e c e n t e r of one of the f o u r t r a c t i o n d r i v e s by m e a n s of a leaf s p r i n g . T h e leaf s p r i n g is u s e d to apply a s l i g h t p r e s s u r e on the o d o m e t e r to e n s u r e c o n t a c t with a rough s u r f a c e . T r a v e l l e d d i s t a n c e is m e a s u r e d by counting r e v o l u t i o n s of the o d o m e t e r wheel. T h i s is a c c o m p l i s h e d with a r e e d s w i t c h which p u l s e s 18 t i m e s p e r r e v o l u t i o n o r e v e r y 2 . 5 5 c m of v e h i c l e t r a v e l . T h e s e p ~ l s e s r e u s e d to s t e p a s h i f t r e g i s t e r which in t u r n is i n t e r r o g a t e d a 6 t i m e s / s e c by the t e l e m e t r y s u b s y s t e m . T h e r e g i s t e r m a y L e i-eset by c o m m a n d f r o m the g r o u n d c o n t r o l l e r .
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2.9
CONTROL AND DISPLAY
The SLRV i s r e m o t e l y c o n t r o l l e d f r o m t h e ground by a v e h i c l e o p e r a t o r . The o p e r a t o r i s l o c a t e d at t h e ground c o m m a n d / d i s p l a y c o n s o l e i n a r e a l -time c l o s e d - l o o p m a n n e r . T h e v e h i c l e o p e r a t e s i n a discontinuous (STOP-GO) f a s h i o n . A t a n y p a r t i c u l a r s t o p p i n g p o i n t , one o r m o r e v i d e o p i c t u r e s of t h e i m m e d i a t e foregound a r e t a k e n f o r t h e o p e r a t o r ' s b e n e f i t . I n t e r p r e t i n g t h e s e p i c t u r e s w i t h r e s p e c t t o his o v e r a l l s h o r t t e r m a n d l o n g t e r m objectives, the o p e r a t o r s e l e c t s a tentative path for the next t r a v e l s t e p of 3 m e t e r s o r l e s s . A u x i l i a r y s y m b o l s s u p e r i m p o s e d on t h e TV p i c t u r e i n d i c a t e t h e r e l a t i v e g e o m e t r y of t h e p i c t u r e , v e h i c l e o r i e n t a t i o n , a n d TV c a m e r a pointing f o r t h e o p e r a t o r ' s b e n e f i t .
A p r e d i c t i o n t e c h n i q u e is used d u r i n g v e h i c l e m o t i o n t o m i n i m i z e d y n a m i c c o n s i d e r a t i o n s of t h e s t e e r i n g c o n t r o l p r o b l e m . T h e p r e d i c t i o n i s a c c o m p l i s h e d by computing i n f a s t t i m e and d i s p l a y i n g i n r e a l - t i m e t h e p r e d i c t e d r e s p o n s e of t h e v e h i c l e t o t h e c u r r e n t i n s t a n t a n e o u s c o m m a n d s t i c k s e t t i n g . The p r e d i c t i o n w i l l u s e a n i n i t i a l c o n d i t i o n p a r a m e t e r s e t d e r i v e d f r o m t h e p r o c e s s e d n a v i g a t i o n i n f o r m a t i o n and r e c e n t c o m m a n d s s e n t t o t h e v e h i c l e . The p r e d i c t i o n i s updated at a r a t e of two t i m e s p e r s e c o n d , c o r responding t o the c o m m a n d i n p u t r a t e . T h e v e h i c l e p o s i t i o n i s p r e d i c a t e d and d i s p l a y e d f o r a t o t a l of t h r e e m e t e r s a h e a d of t h e i n s t a n t a n e o u s v e h i c l e position.
F i g u r e 2. 9 - 1 i l l u s t r a t e s t h e c o m p l e t e d i s p l a y . T h e p a s t p o s i t i o n of t h e v e h i c l e is shown a s t w o l i n e s , behind t h e i n s t a n t a n e o u s p r e s e n t p o s i t i o n o f t h e v e h i c l e , which i s shown by a n a p p r o p r i a t e r e c t a n g l e . The p r e d i c t e d p o s i t i o n of the d i s p l a y , u s i n g t h e c u r r e n t v e h i c l e s t e e r i n g c o m m a n d s , is shown on the r e m a i n d e r of t h e d i s p l a y f o r a t o t a l l e n g t h of 3 m e t e r s beyond t h e p r e s e n t p o s i t i o n . By a l i g n i n g t h e p r e d i c t e d v e h i c l e t r a c k p a t h w i t h t h e o v e r a l l d e s i r e d p a t h , t h e v e h i c l e c a n be c a r e f u l l y c o n t r o l l e d along t h e d e s i r e d path. In addition t o n o r m a l v e h i c l e o p e r a t i o n , c a p a b i l i t y f o r a l t e r n a t e m o d e s of v e h i c l e o p e r a t i o n s w i l l b e p r o v i d e d , p e r m i t t i n g i r r e g u l a r t u r n s a n d s l o w s p e e d o p e r a t i o n f o r o b s t a c l e c r o s s i n g and c l i m b i n g . T h e s e a l t e r n a t e m o d e s of o p e r a t i o n w i l l be u s e d i n s i t u a t i o n s w h e r e i n n o r m a l v e h i c l e o p e r a t i o n i s e i t h e r impossible o r difficult. Typical e x a m p l e s might b e driving t h e vehicle b a c k w a r d s , c r o s s i n g a c r e v i c e , and c l i m b i n g a l a r g e o b s t a c l e . O p e r a t i o n i n a l t e r n a t e m o d e s i s e x p e c t e d t o c o n s t i t u t e o n l y a m i n o r p e r c e n t a g e of t h e t o t a l operation.
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O t h e r d i s p l a y i n f o r m a t i o n a n d c o n t r o l functions w i l l b e a v a i l a b l e to the v e h i c l e o p e r a t o r , i n addition to that r e q u i r e d f o r s t e e r i n g c o n t r o l . T h e s e a r e d e s c r i b e d b r i e f l y h e r e and i n g r e a t e r d e t a i l in S e c t i o n 13, Book 2. F i g u r e 2. 9 - 2 i l l u s t r a t e s the o p e r a t o r ' s c o n t r o l a n d d i s p l a y c o n s o l e . T h e o p e r a t i o n a l m o d e i n d i c a t o r s d i s p l a y the m i s s i o n s t a t u s . A w a r n i n g i n d i c a t o r p r o v i d e s a vehicle m a l f u n c t i o n i n d i c a t i o n . Vehicle body inclinations a r e p r o v i d e d to i n d i c a t e d a n g e r o u s s t a b i l i t y c o n d i t i o n s . A c u r s o r , c u r s o r m o d e c o n t r o l s , and d i s p l a y c o n t r o l s allow o p e r a t o r c o m m u n i c a t i o n s with the c o m p u t e r a n d d i s p l a y . A c l o s e d - c i r c u i t T V m o n i t o r is a v a i l a b l e f o r i n f o r m a t i o n c o n t r o l p u r p o s e s . C o n t r o l s f o r pointing the v e h i c l e T V c a m e r a f o r d r i v i n g p u r p o s e s a r e p r o v i d e d . T h e o p e r a t o r g e n e r a t e s s t e e r i n g c o m m a n d s f o r the v e h i c l e t h r o u g h u s e of the s t e e r i n g c o m m a n d s t i c k . M a n u a l vehicle m o b i l i t y c o n t r o l s a r e a l s o at the d i s p o s a l of the o p e r a t o r . 2. 10 TELECOMMUNICATION DESCRIPTION T h e h a r d w a r e i t e m s of the S L R V t e l e c o m m u n i c a t i o n s u b s y s t e m a r e :
1.
Data Handling Command Decoder Telemetry Processo r
2. 3.
Data Link T r a n s m i t t e r Command Receiver Antennas Om nidi r e c t i o n a l Directional
4.
2. 10. 1 Data Handling T h e m a j o r units of d a t a handling equipment a r e the c o m m a n d d e c o d e r a n d t h e t e l e m e t r y p r o c e s s o r . T h e block d i a g r a m of the c o m m a n d d e c o d e r is shown i n F i g u r e 2. 1 0 - 1 . T h r e e s u b s y s t e m d e c o d e r s a r e u s e d , the T V d e c o d e r , the c o m m u n i c a t i o n s a n d p e n e t r o m e t e r d e c o d e r , a n d the m o b i l i t y d e c o d e r . E a c h of the
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s u b s y s t e m d e c o d e r s is c a p a b l e of decoding 32 c o m m a n d s giving o v e r a l l s u b s y s t e m c a p a b i l i t y of 96 c o m m a n d s , Only 7 1 c o m m a n d s a r e r e q u i r e d f o r o p e r a t i o n of SLRV. T h e d i s t r i bution of the c o m m a n d r e q u i r e m e n t s among t h e s u b s y s t e m i s given below: TV - 21 c o m m a n d s C o m m u n i c a t i o n - 15 c o m m a n d s P e n e t r o m e t e r - 3 commands Mobility - 32 c o m m a n d s Two r e d u n d a n t a d d r e s s d e c o d e r s a r e p r o v i d e d to e n h a n c e r e l i a b i l i t y . T h e y a r e s w i t c h e d w h e n e v e r i t e r r r u p t i o n of t h e c o m m a n d t r a n s m i s s i o n o c c u r s and t h e i r s t a t u s is m o n i t o r e d v i a t e l e m e t r y . T h e c o m m a n d w o r k f o r m a t is s h o w n i n F i g u r e 2. 10-2. T h e c o m m a n d s a r e t r a n s m i t t e d a t 48 b i t s p e r s e c The t r a n s m i s s i o n ond r a t e , t h u s p r o v i d i n g one c o m m a n d e v e r y 0 . 5 s e c o n d . is continuous w i t h f i l l - i n b i t s t r a n s m i t t e d between c o m m a n d s . C o m p l e m e n t of a d d r e s s a n d t h e c o m m a n d a l l o w s a high d e g r e e of e r r o r d e t e c t i o n . When e r r o r s a r e d e t e c t e d , t h e c o m m a n d d e c o d e r is i n h i b i t e d a n d t h e f a c t t e l e m e t e r e d to earth. T h e c o m m a n d d e c o d e r is c o n s t r u c t e d u s i n g 248 T I , s e r i e s 5 1 i n t e g r a t e d c i r c u i t s , a n d , h a s t h e following p a r a m e t e r s : Size: 2 " x 2 - 1 / 4 " x 1-1/2"
Weight: Power:
0. 25 lb
1. 1 w a t t s a t 3 volts.
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T h e t e l e m e t r y p r o c e s s o r b l o c k d i a g r a m is shown in F i g u r e 2. 10-3. F o u r m o d e s of o p e r a t i o n a r e specified:
1. N o r m a l T V m o d e a t 122, 880 b i t s / s e c
2. D e g r a d e d T V m o d e at 960 b i t s / s e c 3. T e l e m e t r y m o d e a t 960 b i t s / s e c
4. P e n e t r o m e t e r m o d e a t 960 b i t s / s e c .
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T h e t e l e v i s i o n p r o v i d e s a s e r i a l d a t a input t o t h e t e l e m e t r y p r o c e s s o r . n o r m a l t e l e m e t r y m o d e , the following s a m p l i n g is provided: 65 high l e v e l points 12 low l e v e l points 4 5 b i n a r y points
In
In the p e n e t r o m e t e r m o d e 7 high l e v e l points a r e s a m p l e d . W o r k f o r m a t a n d f r a m e f o r m a t f o r v a r i o u s m o d e s a r e given i n F i g u r e 2. 1 0 - 4 . Two r e d u n d a n t A / D c o n v e r t e r s a r e p r o v i d e d f o r r e l i a b i l i t y . T h e c o n v e r t e r s a r e of a r a m p type c a p a b l e of 9 b i t encoding, in 8. 3 m i l l i s e c o n d s . T r i p l i c a t e d m a j o r i t y l o g i c is u s e d in dividing c l o c k c h a i n s a n d c o u n t e r s . The telemetry p r o c e s s o r u s e s TI, s e r i e s 51 integrated c i r c u i t s and National S e m i c o n d u c t o r INCH ( I N t e g r a t e d C H o p p e r ) c i r c u i t s f o r s w i t c h i n g , a n d h a s the following p a r a m e t e r s : Size:
4 " x 3. 8 7 5 " x 3. 125"
Weight: Power:
2. 5 ,lb 3 watts.
2 . 10.2 D a t a L i n k T r a n s m i t t e r
T h e block d i a g r a m of t h e d a t a t r a n s m i t t e r i s given i n F i g u r e 2 . 1 0 - 5 . It o p e r a t e s in S - B a n d . T h e t r a n s m i t t e r is c o m p l e t e l y s o l i d s t a t e e x c e p t f o r the travelling wave tube. A r e f e r e n c e o s c i l l a t o r signal is d e r i v e d f r o m the r e c e i v e r . T h e r e c e i v e r o s c i l l a t o r is a c r y s t a l c o n t r o l l e d V C O a n d w i l l lock on t o the DSIF t r a n s m i t t e r , t h u s p r o v i d i n g a t r a n s p o n d e r m o d e o f o p e r a tion f o r t h e c a r r i e r . T h e c o n s t a n t r a t i o (22 1 / 2 4 0 ) b e t w e e n r e c e i v e d a n d t r a n s m i t t e d s i g n a l s i m p l i f i e s t h e a c q u i s i t i o n p r o c e d u r e . T h e input r e f e r e n c e s i g n a l of 19 Mc a n d is p r o v i d e d a t 1 m w p o w e r l e v e l . A t r a n s i s t o r i z e d x5 m u l t i p l i e r w i l l c o n v e r t t h e r e f e r e n c e s i g n a l t o 95 Mc, a p o w e r l o s s of 2 d b w i l l o c c u r . T h e v a r a c t o r x3 s t a g e is d r i v e n with 3 m w . A c o n v e r s i o n e f f i c i e n c y of -5 d b is r e a l i z e d . T h e m o d u l a t o r is a s i n g l e - s t a g e t r a n s i s t o r a m p l i f i e r , whose p h a s e r e s p o n s e is c o n t r o l l e d by a b i a s e d v a r a c t o r . A
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Figure 2 . 1 0 - 4 Telemetry Word and Frame Formats
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f i n a l R F a m p l i f i e r s t a g e w i l l s u p p l y the p o w e r n e c e s s a r y to d r i v e the X8 v a r a c t o r m u l t i p l i e r . The R F output power n e c e s s a r y i s 1 3 . 5 mw to a r r i v e a t t h e r e q u i r e d 2 mw input power a t 2295 Mc f o r t h e T W T . T h e v a r a c t o r .X8 is d i v i d e d in two s e c t i o n s : t h e l u m p e d c o n s t a n t X2, a n d t h e s t r i p l i n e X4. T h e output of t h e TWT is f e d through an R F s w i t c h to a s q u a r e h y b r i d . T h e h y b r i d w i l l be p a r t of the s t r i p l i n e package. T h e h y b r i d w i l l provide a m i n i mum of 40 db of i s o l a t i o n between t h e r e c e i v e r and t r a n s m i t t e r p o r t s . T h e u s e of h y b r i d h a s t h e a d d i t i o n a l advantage of a c h i e v i n g s i m u l t a n e o u s l y a n e q u a l p o w e r s p l i t a n d a 90° p h a s i n g between the o u t p u t s t o be fed t o t h e two e l e m e n t s of t h e c r o s s e d - b e n t d i p o l e a n t e n n a . T h e c r i t i c a l c o m p o n e n t s s e l e c t e d a r e Hughes 314H TWT tube w i t h a Watkins J o h n s o n W J 237 u s e d as a backup a n d a M i c r o w a v e A s s o c i a t e s MAH322B1 v a r a c t o r . U s e of s t r i p l i n e t e c h n i q u e s f o r R F c i r c u i t r y to m i n i m i z e weight h a s a l s o b e e n s e l e c t e d . T h e t r a n s m i t t e r h a s t h e following p a r a m e t e r s : S i z e : 4" x 8 " x 4" Weight: 2. 9 lb
I
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Power: 8 . 4 8 watts. 2.10.3 Command R e c e i v e r T h e block d i a g r a m of t h e r e c e i v e r is shown i n F i g u r e 2. 1 0 - 6 . Modul a t i o n c h a r a c t e r i s t i c s of P M C a r r i e r , F S K S u b c a r r i e r , a n d 4 8 bps s p l i t p h a s e d a t a , h a v e b e e n s e l e c t e d . H o w e v e r , to e l i m i n a t e a n y p o s s i b i l i t y of i n t e r a c t i o n s between S u r v e y o r a n d S L R V c o m m a n d s , t h e FSK s u b c a r r i e r f r e q u e n c y is 5 k c i n s t e a d of 2. 3 k c a s f o r S u r v e y o r . The r e c e i v e r u s e s stripline f o r R F filtering, a balanced m i x e r , and t i m e s 6 m u l t i p l i e r which f u r n i s h e s the 2062. 8-Mc L O s i g n a l .
IF a m p l i f i c a t i o n is a c c o m p l i s h e d a t 4 7 Mc a n d 9. 5 Mc. A c h a i n of m u l t i p l i e r s which r e c e i v e s i t s power f r o m a 9. 55-Mc VCO, p r o v i d e s 38. 2 MC f o r t h e s e c o n d m i x e r , 343. 8 Mc f o r t h e s t r i p l i n e unit, a n d 9. 5 5 Mc f o r
the phase detector. The phase detector, operational amplifier, and VCO f o r m a p h a s e l o c k e d loop. N o p r o v i s i o n f o r f r e q u e n c y s e a r c h is p r o v i d e d s i n c e t h i s is a v a i l a b l e f r o m t h e ground.
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T h e b a s e b a n d s i g n a l f r o m the phase d e t e c t o r is f i l t e r e d , l i m i t e d , and detected in a multivibrator-type discriminator. The resultant split p h a s e P C M s i g n a l is f i l t e r e d a n d l i m i t e d i n a n o v e r d r i v e n a m p l i f i e r a n d p a s s e d t o t h e d e c o d e r as d a t a . Receiver p a r a m e t e r s are: Size: 1 - 1 / 2 " x 6 " x 4" 1 lb 1. 3 w a t t s .
Weight: Power:
2.10.4 Antennas
T w o c o m m u n i c a t i o n a n t e n n a s on SLRV a r e r e q u i r e d t o m e e t t h e f u n c t i o n a l r e q u i r e m e n t . T h e g e n e r a l s c h e m a t i c of a n t e n n a i n t e r c o n n e c t i o n is shown i n F i g u r e 2. 10-7. A s q u a r e h y b r i d d u p l e x e r is u s e d b e t w e e n t h e t r a n s m i t t e r and the r e c e i v e r a t the omnidirectional antenna. An R F t r a n s f e r s w i t c h is u s e d to a l t e r n a t e t h e t r a n s m i t t e r b e t w e e n t h e o m n i d i r e c t i o n a l and a d i r e c t i o n a l antenna. T h e o m n i d i r e c t i o n a l a n t e n n a configuration is shown i n F i g u r e 2. 1 0 - 8 . I t w i l l h a v e a c o v e r a g e c o n e of - 12 1 . 5 O giving a t 3 - d b gain a t the c e n t e r t and - 6-db l o s s a t 121.50. C o n s t r u c t i o n c o m p r i s e s two bent, c r o s s e d , q u a d r a t u r e - f e d d i p o l e s m o u n t e d a b o v e a n a p p r o p r i a t e l y d i m e n s i o n e d groundplane: a c i r c u l a r p o l a r i z a t i o n is r e a l i z e d . T h e weight of the a n t e n n a is a p p r o x i m a t e l y 8 oz. T h e d i r e c t i o n a l 17-db gain a n t e n n a c o n s t r u c t i o n is shown i n F i g u r e 2. 1 0 - 9 . T h e a n t e n n a is c o n s t r u c t e d f r o m p e r f o r a t e d a l u m i n u m 0 . 0 5 " t h i c k . I t is 18 I ' i n d i a m e t e r , h a s a b e a m width of ZOO a t 3 - d b p o i n t s , a n d h a s c i r c u l a r p o l a r i z a t i o n . A t w o - c r o s s e d - d i p o l e feed is u s e d . T h e d i s h w e i g h s 8 o z a n d t h e f e e d w e i g h t s 5 oz.
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F i g u r e 2. 10-8 S - B a n d O m n i d i r e c t i o n a l Antenna
III/ 1
2-93
.
ROLLED BEAD RIM
BSR 9 0 3
\
SOCKET FOR MOUNTING PR IMAR Y F E E D
/
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. .
; 1
0
,
MOUNTING GIMBALS
4
/3 /
4.50
I-
SCHEME
-
0.375 0.375
4
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',
F i g u r e 2 . 10-9
17 d b P o i n t e d A n t e n n a
2-94
III/ 1
2 . 1 1 PRIMARY P O W E R S U P P L Y
T h e S L R V p o w e r supply w i l l c o n s i s t of a r a d i o i s o t o p e t h e r m o e l e c t r i c g e n e r a t o r (RTG), a p o w e r c o n v e r t e r , and a s h u n t p o w e r r e g u l a t o r . T h e RTG c o n v e r t s h e a t to e l e c t r i c power through t h e n a t u r a l d e c a y of a r a d i o i s o t o p e and a s e r i e s of t h e r m o c o u p l e s . T h e power c o n v e r t e r is a s t a t i c t r a n s i s t o r c o n v e r t e r w h i c h t r a n s f e r s the input p o w e r to a l l t h e s u b s y s t e m s a t t h e d e s i r e d v o l t a g e s . T h e p o w e r r e g u l a t o r m a i n t a i n s RTG p o w e r a t a c o n s t a n t l e v e l a n d o u t p u t v o l t a g e s within t h e d e s i r e d t o l e r a n c e f o r a l l n o r m a l m o d e s of o p e r a t i o n . T h e RTG w i l l p r o v i d e 3 8 . 8 w a t t s at t h e end of m i s s i o n w i t h a p o w e r contingency a l l o w a n c e of 3 . 1 w a t t s . The p o w e r r e g u l a t o r w i l l m a i n t a i n t h e RTG output v o l t a g e at 6 v o l t s throughout t h e c o m p l e t e m i s s i o n . T h e DC-DC p o w e r c o n v e r t e r t r a n s f e r s t h e p o w e r to t h e l o a d s a s shown in F i g u r e 2. 11-1, and T a b l e 2 . 2 - 5 . T h e RTG weights 2 1 lb. and t h e c o n v e r t e r w e i g h s 3 . 7 lb. 2. 12 TELEVISION
A f u n c t i o n a l d i a g r a m of t h e t e l e v i s i o n is shown i n F i g u r e 2. 12-1.
GALILEAN TELESCOPE SHUTTER
4 POSITION
I
NON-L INEAR HIGHLIGHT SENSITIVITY VIDICON PRE-AMPLIFIER &LIGHTSENSOR SWEEP OR 256 LINES AMPLIFIER AMPLIFIER /
k,J 1
f =7
t
GAIN ADJUSTMENT
-
I
1
IT ROBERTS
0.96 k c TO 122.88 kc OUTPUT BIT RATE
f =22
SCENE HIGHLIGHT ILLUMINATION 325 CANDLES/FOOT~ TO 32s CANDLES/FOOT~
L
ELEVATION
F i g u r e 2. 12- 1 T e l e v i s i o n F u n c t i o n a l Block D i a g r a m
III/ 1
2-95
BSR 903
L
u
L
l .
P
Y
P 2 Q
3
h
8
2-96
11111
BSR 903
T h e o p t i c a l e l e m e n t s of t h e s y s t e m p r o v i d e t h r e e f i e l d s of view a n d c o n s i s t of a G a l i l e a n t e l e s c o p e which i s m o u n t e d in f r o n t of the fixed l e n s having a 22. 5 - d e g r e e f i e l d of view. The t e l e s c o p e is r o t a t e d 180 d e g r e e s (t9Oo) to o b t a i n e i t h e r n a r r o w (10 d e g r e e ) o r a wide (50 d e g r e e ) f i e l d of view. In the m i d d l e position the t e l e s c o p e is not u s e d a n d the fixed f i e l d of view ( 2 2 . 5 d e g r e e ) of t h e camera s e e s b e t w e e n the convex a n d c o n c a v e l e n s of the G a l i l e a n t e l e s c o p e . Continuously v a r i a b l e f - s t o p s f r o m f / 7 to f / 2 2 , a r e p r o v i d e d . S h u t t e r s p e e d s f r o m 50 ms to a maximum t i m e at t h e o p e r a t o r option a r e a l s o provided. A p a r t i a l l y s i l v e r e d m i r r o r p l a c e d b e tween the iris a n d the s h u t t e r r e f l e c t s a s m a l l p e r c e n t a g e of t h e light t o a photo diode which is u s e d f o r both light m e a s u r e m e n t a n d , i f d e s i r e d , automatic exposure.
1
1
A vidicon having e l e c t r o s t a t i c focus a n d d e f l e c t i o n and long r e t e n tivity c h a r a c t e r i s t i c s is u s e d a s the b a s i c light t r a n s d u c e r . A highlight s e n s i t i v i t y of 0 . 1 f t - c a n d l e - s e c o n d is a v a i l a b l e i n t h i s unit. T h e vidicon is r e a d o u t by d i g i t a l l y g e n e r a t e d sweep w a v e f o r m s w h i c h have a s t a i r c a s e f o r m . D u r i n g e a c h f l a t p o r t i o n of the h o r i z o n t a l s w e e p w a v e f o r m , the vidicon b e a m is t u r n e d on f o r a 3 - ~ s e c e r i o d a n d a n e l e m e n t a l a r e a of the p vidicon f a c e p l a t e is r e a d o u t . T h e n u m b e r of e l e m e n t s r e a d o u t c a n be v a r i e d f r o m (256)2 to (512)2. T h e readout r a t e c a n be v a r i e d f r o m 100, 000 e l e m e n t s p e r s e c o n d to 200 e l e m e n t s p e r s e c o n d s i m p l y by changing the i n put c l o c k r a t e . T h i s f l e x i b i l i t y e n c o m p a s s e s t h e r a n g e r e q u i r e d f o r e n coding d a t a r a t e s of 0 . 96 kilobit p e r s e c o n d o r 122. 88 k i l o b i t s p e r s e c o n d a t 2 , 3, or 4 b i t s p e r e l e m e n t , a t e i t h e r ( 2 5 6 ) 2 e l e m e n t s o r (512)2 e l e m e n t s p e r frame. R o b e r t ' s modulation c a n be u s e d with a n y of the f o r e g o i n g c o m b i n a t i o n s a t the d i s c r e t i o n of t h e o p e r a t o r .
T h e c o m b i n a t i o n of 4 b i t s p e r e l e m e n t encoding, (512)2 e l e m e n t s p e r f r a m e r e a d o u t , and 122.88 kilobits p e r s e c o n d d a t a r a t e c o n s t i t u t e s the high p e r f o r m a n c e m o d e of the s u b s y s t e m . T h e f r a m e t i m e under t h e s e c o n d i t i o n s is 8 . 3 s e c o n d s . T h e combination of 2 b i t s p e r e l e m e n t encoding, (256)2 e l e m e n t s p e r f r a m e r e a d o u t , a n d 0. 96 kilobit p e r s e c o n d d a t a r a t e c o n s t i t u t e s the e x t r e m e e m e r g e n c y mode. T h e f r a m e time under t h e s e c o n d i t i o n s is 137 s e c o n d s . T h e e x p o s u r e c a p a b i l i t y of the v a r i a b l e s h u t t e r a n d i r i s and t h e s e n s i t i v i t y of the vidicon a r e s u c h that 0. 2 4 s e c o n d is the r e q u i r e d e x p o s u r e t i m e at f / 2 2 a n d at a m a x i m u m l u n a r s u r f a c e l u m i n a n c e of 325 c a n d l e s / f t 2 A n e x p o s u r e t i m e of 2 4 s e c o n d s may be s a f e l y a s s u m e d as f e a s i b l e without a n y p i c t u r e d e g r a d a t i o n ( t h e m a x i m u m e x p o s u r e t i m e as l i m i t e d by the
.
III/ 1
2-97
BSR 903
v i d i c o n f a c e p l a t e is m u c h l o n g e r b u t would r e q u i r e e x p e r i m e n t a l v e r i f i c a t i o n ) . T h e highli h t l u m i n a n c e l e v e l r e q u i r e d a t t h i s long e x p o s u r e t i m e is 0. 325 c a n d l e s ft T h u s t h e highlight d y n a m i c r a n g e of t h e s u b s y s t e m is 103:l. T h e t o n e s c a l e c a p a b i l i t y of t h e s y s t e m is s u c h a s to a r t i c u l a t e t e n 3 - d b g r e y l e v e l s e x c e p t w h e n o p e r a t i n g i n t h e e m e r g e n c y m o d e o r w i t h long e x p o s u r e times.
2.
The p o w e r r e q u i r e m e n t s of t h e t e l e v i s i o n s u b s y s t e m v a r y d e p e n d i n g on t h e o p e r a t i n g m o d e . T h e m i n i m u m is 2. 88 w a t t s r e q u i r e d f o r s t a n d b y during l u n a r d a y a n d f o r n i g h t t i m e s u r v i v a l . T h e m a x i m u m is 5. 2 w a t t s r e q u i r e d while r e a d i n g out. The a n g u l a r f r e e d o m in a z i m u t h is - 200 d e g r e e s a n d i n e l e v a t i o n is + t 15 d e g r e e s a n d - 6 0 d e g r e e s . T h e position of t h e l i n e of s i g h t is c o n t r o l l e d by e l e v a t i o n a n d a z i m u t h d r i v e s w h i c h h a v e r e a d o u t c a p a b i l i t i e s of - 0 . 2 4 8 4d e g r e e peak, r e s p e c t i v e l y . The s u b s y s t e m p o s s e s s e s a semiactive t h e r m a l control s y s t e m w h i c h m a i n t a i n s the i n t e r i o r t e m p e r a t u r e i n t h e r a n g e of t 125OF t o - 40°F n o n - o p e r a t i n g a n d t 125OF t o t 5 0 0 F o p e r a t i n g .
A view of a f u l l s c a l e m o d e l of t h e S L R V - T V s u b s y s t e m is shown i n F i g u r e 2. 12-2.
T a b l e 2 . 12-1 g i v e s a w e i g h t s u m m a r y f o r t h e d e s i g n . T A B L E 2. 1 2 - 1 DESIGN WEIGHT SUMMARY
Element Camera proper F i e l d changing o p t i c s Elevation and azimuth d r i v e s Remaining s t r u c t u r e Total
Weight (1b) 2. 8 9 0.90 2. 37 1.47 7. 6 3 l b
2-98
IIIl 1
BSR 9 0 3
F i g u r e 2. 12-2 Full Scale Model of T V Subsystem
1111 1
2-99
BSR 9 0 3
2 . 1 3 THERMAL CONTROL T h e t h e r m a l c o n t r o l m e t h o d c h o s e n f o r S L R V is e s s e n t i a l l y p a s s i v e . S p e c i f i c a l l y , c o n t r o l is a c h i e v e d v i a i n s u l a t e d e l e c t r o n i c c o m p a r t m e n t s , t h e r m a l r a d i a t i o n s h i e l d s , r e s i s t a n c e h e a t e r s , and a p p l i c a t i o n of s e l e c t i v e t h e r m a l c o a t i n g s a t the m o r e s e n s i t i v e a r e a s . T h i s m e t h o d of c o n t r o l is i n h e r e n t l y r e l i a b l e and l i g h t in weight. T e m p e r a t u r e s h a v e been c a l c u l a t e d a t m a n y p o i n t s throughout t h e S L R V f o r s e v e r a l d i f f e r e n t p h a s e s of t h e m i s s i o n ; i n c l u d i n g t r a n s i t , l u n a r d a y o p e r a t i o n , a n d l u n a r night. L u n a r d a y o p e r a t i o n w a s f u r t h e r b r o k e n down to e a r l y m o r n i n g o p e r a t i o n ( s u n 1 3 O a b o v e h o r i z o n ) , m i d - m o r n i n g o p e r a t i o n ( s u n 4 5 O above h o r i z o n ) , m i d - d a y ( s u n a t z e n i t h ) , and m i d - a f t e r n o o n . S o m e allowance w a s m a d e f o r t h e v e h i c l e p o s i t i o n r e l a t i v e to the s u n r a y s . T e m p e r a t u r e s c a l c u l a t e d a r e s u m m a r i z e d i n T a b l e 2 . 1 3 - 1. T h e r m a l c o n t r o l of t h e e l e c t r o n i c s c o m p a r t m e n t w i l l b e a c c o m p l i s h e d w i t h a m e t a l i c p l a t e to which a l l e l e c t r o n i c c o m p o n e n t s a r e mounted. On the s i d e s and bottom of t h e c o m p a r t m e n t h e a t t r a n s f e r w i l l b e v i r t u a l l y e l i m i n a t e d by use of s u p e r i n s u l a t i o n . C o n t r o l within t h e e l e c t r o n i c c o m p a r t m e n t w i l l be a c h i e v e d by p r o v i d i n g a s i n g l e t h e r m a l path t h r o u g h t h e top p l a t e . T h e t h e r m a l path through the t h e r m a l p l a t e is f u r t h e r m o d i f i e d by a p p l y i n g t h e i r c o a t i n g s to the o u t e r s u r f a c e . D u r i n g t h e l u n a r night, a u x i l i a r y h e a t e r s w i l l be u s e d to m a i n t a i n m i n i m u m a c c e p t a b l e t e m p e r a t u r e s . T h e TV c a m e r a package t h e r m a l c o n t r o l w i l l b e s i m i l a r to t h a t d e s c r i b e d above f o r t h e e l e c t r o n i c c o m p a r t m e n t in t h a t i t w i l l u s e a s i n g l e t h e r m a l plate and be e n c l o s e d w i t h s u p e r i n s u l a t i o n . T h e r m a l i n s u l a t i o n is l o c a t e d b e t w e e n t h e RTG a n d t h e S u r v e y o r S p a c e c r a f t to m i n i m i z e t h e t h e r m a l input to t h e s p a c e c r a f t .
2.14
DSIF /SFOF
G r o u n d o p e r a t i n g e q u i p m e n t (GOE) p e r f o r m s t h e f u n c t i o n s of v e h i c l e c o n t r o l , p e r f o r m a n c e m o n i t o r i n g , a n d c o l l e c t i o n a n d a n a l y s i s of s u r v e y d a t a . G r o u n d o p e r a t i n g f a c i l i t i e s s u p p o r t i n g S L R V o p e r a t i o n s w i l l c o n s i s t of a c o m b i n a t i o n of e x i s t i n g and planned DSIF a n d SFOF f a c i l i t i e s a u g m e n t e d by SLRV mission-dependent equipment. T h i s s e c t i o n s u m m a r i z e s the DSIF/ SFOF c o n f i g u r a t i o n r e q u i r e d to s u p p o r t t h e S L R V a n d t h e S L R V m i s s i o n d e p e n d e n t equipment t h a t m u s t b e a d d e d . A d d i t i o n a l d e t a i l r e g a r d i n g D S I F / S F O F c o n f i g u r a t i o n t r a d e - o f f s a n d s p e c i a l p u r p o s e S L R V G O E may be found i n Book 2, Volume 111, S e c t i o n 13.
2-100
IIIl 1
T A B L E 2. 1 3 - 1 T E M P E R A T U R E DATA
L u n a r Day (May) ( O F )
L u n a r Night
(OF)
NODE
Transit(OF) D i r e c t i o n a l Antenna E l e c t r o n i c s Mtg P l a t e Penetrometer Transmitter Inclinometer Odometer Structure Front Structure Rear S t r u c t u r e R e a r Bottom Front Strut T r a c k Hub
4
5 16
138 128 123 138 133 12 1 143 260 3 15 116
- 108
22 25 40 31 23 32 188 2 78 -52
17
21 22 26 31 33 37 43
-
Front
108
-68
46
54 56
T r e a d Top - Front T r a c k Hub - R e a r T r e a d Top - Rear TV C a m e r a
19 1
- 142
-62
103
195
- 114
Note:
All t e m p e r a t u r e s a r e equilibrium values.
IIIl1
2-101
BSR 9 0 3
TABLE 2. 1 4 - 1 GROUND OPERATING EQUIPMENT AND F A C I L I T I E S FOR SLRV MISSIONS
Location
Mission Dependent (contr S u r v e y o r CDC ( H u g h e s )
tor provided) SLRV ( B e n d i x )
i s s i o n IndeDendent ( J P L Kisting o r P l a n n e d
rovided) Additional ReRuirement
1. C o m m a n d s u b s y s t e m modified f o r r e m o t e e l e c t r i c a l input i n t o t h e command r e g i s t e r and provisions for remote transmit control.
SFOF
1. V e h i c l e C o n t r c Cons ole 2. S u r v e y C o n t r o l Console 3. V e h i c l e S y s t e n Monitoring and Control Console 4. Data Recons t r u c t i o n Unit 5. TV D a t a . Proc e ss o r 6. Input S i g n a l Monitoring C o n s o l 7. A u t o m a t i c c o r mand Word Gener ator 8. C o m m a n d Decoder 9. P h o t o g r a m metric analysis e q u i p m e nt 10. P h o t o m e t r i c analysis equipmcnt A. C o m p u t e r p r o g r a m s peculia] t o SLRV o p e r a tions.
1. C o m p u t e r C o m p l e x Dperating i n Mode 11-A. 2. T a p e r e c o r d e r s m d reproducers. 3. T i m e r e f e r e n c e
1 , lcdlc r o w a v e t e r m i n a l e q u i p m e n t t o r e c e i v e SLRV digital data.
2. D i g i t a l d a t a link t o t r a n s m i t SLRV c o m m a n d d a t a t o G o l d s t o n e a t 48 b i t s p e r s e c o n d .
4. SFOF Media Conversion Equipment modified f o r SLRV d i g i t a l TV input. 5. SFOF S t o r a g e / Retrieval and Photographic P r o c e s s i n g Systems 6. X - Y P l o t t e r s 7. M i s s i o n S t a t u s Displays 8. S u r v e y o r l a n d i n g a r e a photo m o s a i c 9. Closed circuit TV S y s t r m s 10. M i s s i o n C o n t r o l fac i l i t i e s 11. S F O F r o n t r o l a n d monitor facilities 12. D S I F r o n t r o l a n d monitor facilitir s 13. S L R V S p a c e Science A r e a 14. S L R V P e r f o r m ance Analysis A r e a 15. M i c r o w a v e link f r o m Goldstone to t h e BEDF 1. 210' S - b a n d antenna 2. GSDS S - b a n d r e c e i v e r with wide band phase detector 3. GSDS S - b a n d t r a n s m i t t e r s with phase modulator 4. T i m e r e f e r e n c e 5. T a p e r e c o r d e r 6. S t a t i o n r o n t r o l and monitoring facilities. 1. Mic r o w a v e t e r m i n a l e q u i p m e n t t o t r a n s m i t SLRV digital data. 2. D i g i t a l d a t a t e r m i n a l t o r e c e i v e SLRV c o m m a n d data f r o m t h e SFOF.
G o l d s t one D SS
1. C o m m a n d s u b s y s t e m modified for r e m o t e rnput into a s e p a r a t e SLRV SCO. 2 . TM p r o c e s s o r a d j u s t e d f o r SLRV d a t a r a t e and f o r m a t .
1. D a t a r e c o n s t r u c t i o n unit. 2 . TV Data Processor 3. T V Monitor
2 - 102
III/ 1
BSR 903
L i m i t a t i o n s of the 100-lb S L R V t e l e c o m m u n i c a t i o n s s y s t e m p r e c l u d e the r e c e p t i o n of t e l e m e t r y d a t a with a n 8 5 ' g r o u n d a n t e n n a while the v e h i c l e is moving. T h e r e f o r e , the c o r r e s p o n d i n g D S I F / S F O F o p e r a t i o n a l c o n f i g u r a tion is l i m i t e d to the u s e of the Goldstone 210' a n t e n n a f o r d a t a a c q u i s i t i o n . T r a n s m i s s i o n of t e l e m e t r y to a n 8 5 ' ground a n t e n n a v i a the v e h i c l e ' s d i r e c t i o n a l a n t e n n a is p o s s i b l e with the vehicle stopped. T h u s v e h i c l e s t a t u s w i l l be m o n i t o r e d d u r i n g s t a n d b y o p e r a t i o n s f r o m the D e e p S p a c e S t a t i o n s (DSS) a t W o o m e r a and J o h a n n e s b u r g . 2.14.1 O p e r a t i o n a l Configuration
A p r e l i m i n a r y D S I F / S F O F o p e r a t i o n a l c o n f i g u r a t i o n using only the G o l d s t o n e D e e p S p a c e S t a t i o n (DSS) is shown in F i g u r e 2 . 14-1. T a b l e 2 . 1 4 - 1 s h o w s t h e e s t i m a t e of the d i s t r i b u t i o n of r e q u i r e d e q u i p m e n t a n d f a c i l i t i e s f o r the c o n f i g u r a t i o n of F i g u r e 2. 14-1.
In g e n e r a l , a l l c o m m a n d g e n e r a t i o n , d a t a c o l l e c t i o n , a n d d a t a a n a l y sis w i l l o c c u r a t the SFOF. T h e Goldstone DSS will be u s e d to t r a n s m i t c o m m a n d s , r e c e i v e a n d r e l a y d a t a , and p r o v i d e a backup d a t a r e c o r d i n g a n d c o m m a n d g e n e r a t i o n c a p a b i l i t y . Sufficient d a t a p r o c e s s i n g should be i n c l u d e d a t Goldstone to p e r m i t l o c a l m o n i t o r i n g of d a t a quality. 2.14. 1. 1 D a t a Handling D a t a f r o m the SLRV a r e r e c e i v e d a t the DSS in the f o r m of s p l i t p h a s e P C M / P M with no s u b c a r r i e r . T e l e m e t r y a n d TV d a t a a r e r e c e i v e d a l t e r n a t e l y a t r a t e s of 960 bps a n d 122. 88 kbps r e s p e c t i v e l y . Both f o r m s of d a t a a r e r e c o v e r e d a n d r e c o n s t r u c t e d a t the DSS using the e x i s t i n g wide-band p h a s e d e t e c t o r plus a s p e c i a l p u r p o s e S L R V d a t a r e c o n s t r u c t i o n unit. R e s h a p e d d i g i t a l d a t a a r e t h e n r e l a y e d to the SFOF in r e a l - t i m e v i a the e x i s t i n g m i c r o w a v e link. A t the S F O F the raw d a t a f r o m t h e m i c r o w a v e link a r e a g a i n r e c o v e r e d and r e c o n s t r u c t e d and T M d a t a a r e r o u t e d d i r e c t l y to the c o m p u t e r c o m p l e x while TV d a t a a r e r o u t e d to a s p e c i a l p u r p o s e TV d a t a p r o c e s s o r . On-line u t i l i z a t i o n of t h e S F O F c o m p u t i n g c o m p l e x w i l l be r e q u i r e d t o s u p p o r t SLRV o p e r a t i o n s i n the a r e a of t e l e m e t r y f r a m e a n d w o r k s y n c h r o n i z a t i o n a n d d e c o m m u t a t i o n . The r e c o m m e n d e d o p e r a t i n g m o d e is 11-A as d e s c r i b e d in E P D - 2 3 . SLRV t e l e v i s i o n d a t a w i l l be r o u t e d by t h e d a t a r e c o n s t r u c t i o n unit to a s p e c i a l p u r p o s e TV d a t a p r o c e s s o r which w i l l e s t a b l i s h frame a n d l i n e s y n c , r e m o v e t h e R o b e r t s ' modulation f r o m t h e v i d e o , a n d p r o v i d e d a r k c u r r e n t c o r r e c t i o n of the video s i g n a l if n e c e s s a r y .
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Outputs f r o m t h e TV d a t a p r o c e s s o r w i l l c o n s i s t of d i g i t a l s i g n a l s s p e c i f y i n g t h e position of t h e p r e s e n t p i c t u r e e l e m e n t , a n a l o g v i d e o , and a n unblanking signal. These signals will be routed to a vehicle control console, s u r v e y c o n t r o l c o n s o l e , input s i g n a l m o n i t o r c o n s o l e , a n d t o t h e SFOF m e d i a c o n v e r s i o n e q u i p m e n t f o r s c a n c o n v e r s i o n a n d p e r m a n e n t photo r e c o r d i n g . Ref e r e n c e d a t a f o r e a c h T V f r a m e w i l l be d e r i v e d by t h e c o m p u t e r f r o m t h e t e l e m e t r y f r a m e s p r e c e d i n g t h e T V f r a m e a n d r o u t e d to the n e c e s s a r y d i s p l a y s and photo r e c o r d i n g equipment. T h e planned SFOF photo r e c o r d i n g , p r o c e s s i n g , a n d s t o r a g e a n d r e t r i e v a l f a c i l i t i e s (as d e s c r i b e d i n J P L s p e c i f i c a t i o n s F O T 5 - 7 2 0 and F O T 5 - 7 3 0 ) will p r o v i d e p e r m a n e n t a r c h i v a l s t o r a g e of S L R V TV d a t a , n e g a t i v e o r positive t r a n s p a r e n c i e s f o r off-line p h o t o m e t r i c a n d p h o t o g r a m m e t i c a n a l y s i s , a n d c o p i e s of S L R V TV i m a g e s f o r m e m b e r s of t h e s c i e n t i f i c community. 2.14.1. 2 Control Consoles
F o u r control consoles a r e presently anticipated to support SLRV ope r a t i o n s :
1. 2.
3.
Vehicle C o n t r o l C o n s o l e , s e e F i g u r e 2. 9 - 2 S u r v e y C o n t r o l C o n s o l e , s e e F i g u r e 2. 1 4 - 2 Vehicle S y s t e m s Monitoring a n d C o n t r o l C o n s o l e Input S i g n a l Monitor C o n s o l e .
4.
A l l vehicle control (driving) functions a r e handled a t the vehicle c o n t r o l c o n s o l e . T h e m a i n d i s p l a y is a c o m p o s i t e of c o m p u t e r g e n e r a t e d s y n t h e t i c d a t a and TV v i d e o . N e c e s s a r y n a v i g a t i o n d a t a a r e shown as r a n g e a n d b e a r i n g t o t h e n e x t d e s t i n a t i o n . T h e c o m p o s i t e d i s p l a y is g e n e r a t e d by r e a r - p r o j e c t i n g a video i m a g e f r o m a positive t r a n s p a r e n c y and synthetic d a t a f r o m a C R T on a c o m m o n viewing s c r e e n . T h e p o s i t i v e t r a n s p a r e n c y is produced by a s e l f - c o n t a i n e d photo r e c o r d e r , r a p i d p r o c e s s o r , a n d p r o j e c t o r unit which m a k e s t h e v i d e o d a t a a v a i l a b l e f o r d i s p l a y within 10 s e c o n d s a f t e r t r a n s m i s s i o n is c o m p l e t e . T h e C C T V m o n i t o r t o t h e l e f t of t h e m a i n d i s p l a y will be connected to t h e SFOF C C T V s y s t e m a n d is i n t e n d e d s p e c i f i c a l l y to p e r m i t t h e o p e r a t o r to m o n i t o r t h e f o l l o w i n g i t e m s :
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S c a n c o n v e r t e d S L R V T V photos Navigation s t a t u s p l o t Vehicle s y s t e m s s t a t u s display.
2.
3.
V e h i c l e m o b i l i t y c o m m a n d s a r e g e n e r a t e d by o p e r a t i o n of e i t h e r t h e main s t e e r i n g c o n t r o l o r t h e a u x i l i a r y m o b i l i t y c o n t r o l s . T h e m a i n s t e e r i n g c o n t r o l is a s e v e n - p o s i t i o n , self - c e n t e r i n g c o n t r o l s t i c k . In t h e n o r m a l d r i v i n g m o d e , t h e position of t h i s c o n t r o l s t i c k w i l l c a u s e h y b r i d c o m m a n d s to be e n c o d e d a n d t r a n s m i t t e d t o t h e v e h i c l e a t 0. 5 - s e c o n d i n t e r v a l s . Auxiliary mobility c o n t r o l s will be provided to implement a l t e r n a t e m o d e s of v e h i c l e m o b i l i t y c o n t r o l . T h e c u r s o r c o n t r o l i s p r o v i d e d t o p e r m i t t h e o p e r a t o r t o s c a l e f e a t u r e s o n t h e m a i n d i s p l a y in conjunction with h i s h a z a r d identification t a s k . T h e s u r v e y c o n t r o l c o n s o l e is a t w o - p o s i t i o n unit a c c o m m o d a t i n g t h e functions of s u r v e y d a t a c o l l e c t i o n , quick-look d a t a a n a l y s i s , a n d n a v i gation position fixing v i a l a n d m a r k sighting. T h e m a i n d i s p l a y a t t h e q u i c k look s u r v e y a n a l y s i s position i s i d e n t i c a l t o t h e m a i n d i s p l a y a t t h e v e h i c l e c o n t r o l console e x c e p t f o r d i f f e r e n t s y n t h e t i c d a t a . T h e c u r s o r c o n t r o l ( j o y s t i c k ) is a g a i n u s e d to s c a l e t h e v i d e o p i c t u r e but t h i s t i m e t o d e t e r m i n e t h a t t h e a r e a is a c c e p t a b l e f o r L E M landing. T h e d i s p l a y in t h e c e n t e r of t h i s c o n s o l e i s a navigation s t a t u s plot c o n s i s t i n g of a t r a n s p a r e n t c h a r t showing the r e q u i r e d d a t a l o c a t i o n s within a point ( o r t h e r e q u i r e d point l o c a t i o n s within the s i t e ) a n d the p r e s e n t p o s i t i o n a n d h e a d i n g of t h e v e h i c l e .
The vehicle s y s t e m s monitoring and c o n t r o l console will p e r m i t s t a t u s m o n i t o r i n g a n d c o n t r o l o v e r t h e v e h i c l e ' s d i r e c t i o n a l a n t e n n a . In g e n e r a l , t h e r e q u i r e d d i s p l a y s w i l l c o n s i s t of c o m p u t e r d r i v e n s t a t u s a n d warning lights, analog m e t e r indicators, and n u m e r i c displays. A c o m p u t e r c o n t r o l l e d page p r i n t e r a n d p e r h a p s a n o s c i l l o g r a p h i c r e c o r d e r m a y b e r e q u i r e d to supplement this console. T h e input s i g n a l m o n i t o r c o n s o l e is c o n c e r n e d w i t h o p e r a t i o n of t h e d a t a r e c o n s t r u c t i o n unit a n d T V d a t a p r o c e s s o r .
2 . 14. 1. 3 S L R V C o m m a n d G e n e r a t i o n P r o c e d u r e s
C l o s e d - l o o p d r i v i n g a n d e f f i c i e n t u s e of m i s s i o n t i m e r e q u i r e a f a s t , a u t o m a t i c c o m m a n d g e n e r a t i o n p r o c e d u r e u n d e r t h e c o g n i z a n c e of t h e
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M i s s i o n D i r e c t o r . A S u r v e y o r CDC c o m m a n d s u b s y s t e m modified f o r r e m o t e c o m m a n d w o r d e n t r y c a n be u s e d a t t h e SFOF t o g e n e r a t e c o m m a n d w o r d s i n t h e same f o r m a t as f o r S u r v e y o r . R e f e r r i n g to F i g u r e 2. 1 4 - 1 , a n a u t o m a t i c m o d e is a d d e d to t h e p r e s e n t c o m m a n d e n t r y f a c i l i t i e s of the CDC, r e f e r r e d t o a s n o r m a l m o d e in F i g u r e 2 . 14-1. T h e automatic command e n t r y mode u s e s a n automatic command w o r k g e n e r a t o r to a s s e m b l e 1 0 - b i t c o m m a n d w o r d s f o r p r e s e n t a t i o n t o t h e CDC p r o g r a m m e r . T h e w o r d g e n e r a t o r r e c e i v e s i n p u t s f r o m t h e v e h i c l e control console, the s u r v e y control console, the vehicle s y s t e m s console, a n d t h e c o m p u t e r c o m p l e x v i a t h e 7288 d a t a c h a n n e l . T h e s e i n p u t s a r e monitored in a c c o r d a n c e with the selected a u t o m a t i c mode and the a p p r o p r i a t e c o m m a n d is e n c o d e d and p r e s e n t e d t o t h e CDC e a c h half s e c o n d . T h e CDC a u t o m a t i c a l l y t r a n s m i t s e a c h c o m m a n d p r e s e n t e d a t t h e o u t p u t of t h e w o r k g e n e r a t o r a n d w i l l n o t of i t s e l f i n s e r t f i l l - i n c o m m a n d s . C o m m a n d s e n t e r e d a u t o m a t i c a l l y a r e l i m i t e d to t h o s e p e r t a i n i n g to v e h i c l e c o n t r o l , a n t e n n a pointing a n d s w i t c h i n g , TV o p e r a t i o n a l c o n t r o l , a n d p e n e t r o m e t e r o p e r a t i o n a l c o n t r o l . O t h e r s a r e e n t e r e d into t h e CDC i n t h e n o r m a l m a n n e r . T h e s e f o u r c a t e g o r i e s w i l l be e s t a b l i s h e d as s e p a r a t e m o d e s t o b e c h a n g e d only upon a u t h o r i z a t i o n of t h e M i s s i o n D i r e c t o r . In a d d i t i o n , a HOLD m o d e w i l l b e i n c l u d e d which w i l l p r e v e n t t r a n s m i s s i o n of o p e r a t i o n a l c o m m a n d s to t h e v e h i c l e v i a t h e a u t o m a t i c c o m m a n d w o r d g e n e r a t o r . T h i s HOLD m o d e could a l s o be u s e d t o s t o p t h e v e h i c l e i n t h e e v e n t of e m e r g e n c y . A c h a n g e between n o r m a l a n d a u t o m a t i c c o m m a n d e n t r y m o d e s s h o u l d r e q u i r e t h e a u t h o r i z a t i o n of t h e S L R V M i s s i o n D i r e c t o r . C o m m a n d s g e n e r a t e d by t h e CDC a t t h e SFOF a r e r e l a y e d i n t h e f o r m of d i g i t a l d a t a a t 48 b i t s p e r second t o a n o t h e r CDC a t G o l d s t o n e v i a a new l a n d l i n e d a t a l i n k . T h e CDC a t Goldstone should be notified ( F i g u r e 2 . 14-1) t o i n c l u d e a n a d d i t i o n a l S C O and m i x e r as w e l l a s a s w i t c h t o s e l e c t e i t h e r t h e S u r v e y o r , S L R V , o r both SCO's. T h e s e s i m p l e m o d i f i c a t i o n s t o t h e CDC c o m m a n d s u b s y s t e m s at SFOF a n d G o l d s t o n e would p r o v i d e a v e r s a t i l e c o m m a n d g e n e r a t i o n f a c i l i t y s u i t a b l e f o r both S u r v e y o r a n d S L R V mis s i o n s . 2.14.1. 4 Data Analysis Equipment
A d d i t i o n a l e q u i p m e n t m u s t be p r o v i d e d a t the S F O F to p e r m i t p h o t o g r a m m e t i c a n a l y s i s and p e r h a p s p h o t o m e t r i c a n a l y s i s of S L R V TV d a t a . The r e q u i r e m e n t f o r p h o t o g r a m m e t i c a n a l y s i s e q u i p m e n t i n s u p p o r t
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of landing point v e r i f i c a t i o n w i l l r e q u i r e one o r m o r e a n a l y t i c p l o t t e r s y s tems of t h e A P - C o r A P - 2 v a r i e t y . P r o c e d u r e s f o r d e t a i l e d p h o t o m e t r i c a n a l y s i s of SLRV TV d a t a a r e not y e t d e f i n e d ; a m i c r o d e n s i t o m e t e r m a y be required.
2 . 14. 2
Standby S t a t u s Monitoring Configuration
A DSS c o n f i g u r a t i o n f o r S L R V standby s t a t u s m o n i t o r i n g is shown i n F i g u r e 2. 1 4 - 3 . T h i s c o n f i g u r a t i o n w i l l be r e q u i r e d a t e a c h of t h r e e D e e p S p a c e Stations! No a d d i t i o n a l SFOF c a p a b i l i t y is r e q u i r e d f o r t h i s o p e r a t i o n beyond the e x i s t i n g c a p a b i l i t y f o r r e c e i v i n g t e l e m e t r y d a t a v i a the t e l e t y p e n e two r k.
2.15 OPERATIONAL SEQUENCE
The o p e r a t i o n a l s e q u e n c e is g e n e r a t e d to d e t a i l SLRV e x p e c t e d e x p e r i ence during three significant periods:
1. AMR O p e r a t i o n s
2. T r a n s i t O p e r a t i o n s
3. L u n a r Operations.
AMR o p e r a t i o n a l s e q u e n c e is b a s e d upon e s t i m a t e s of l o c a l r e q u i r e m e n t s , S u r v e y o r r e q u i r e m e n t s , and 011 Bendix p l a n s f o r S L R V t e s t i n g . T r a n s i t o p e r a t i o n a l s e q u e n c e is b a s e d upon A t l a s - C e n t a u r a n d S u r v e y o r o p e r a t i o n s w i t h the p o s s i b l e a d d i t i o n of S L R V i n - t r a n s i t c h e c k o u t , if d e s i r a b l e a n d if p e r m i t t e d . L u n a r o p e r a t i o n a l s e q u e n c e is b a s e d e n t i r e l y upon l u n a r s u r f a c e o p e r a t i o n r e q u i r e m e n t s a n d t h e c a p a b i l i t i e s and p e r f o r m a n c e c h a r a c t e r i s t i c s of t h e S L R V . 2.15. 1 AMR A b a s i c s c h e d u l e of a c t i v i t i e s a t A M R h a s b e e n g e n e r a t e d ( T a b l e 2 . 1 5 - 1 ) to s e r v e as a b a s i s f o r o p e r a t i o n planning. T h i s s c h e d u l e a l l o w s 64 d a y s at AMR b e f o r e l a u n c h . S o m e v a r i a b i l i t y i n t h e d a t e s a s s i g n e d f o r t e s t completion is a l l o w e d . T h e l a t e r p o r t i o n of t h e s c h e d u l e is a r r a n g e d to m i n i m i z e t h e d u r a t i o n of o p e r a t i o n w i t h t h e RTG f u e l c a p s u l e i n s t a l l e d .
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TABLE 2.15-1 AMR SCHEDULE O F ACTIVITIES Time ( d a v s before launch) -64 R e c e i v e d a t AMR Re c e iv ing Ins pe c t ion C o m p l e t e S i m u l a t e d Mobility T e s t C o m p l e t e C o m m a n d and C o n t r o l T e s t C o m p l e t e T e l e m e t r y Test Complete P o w e r T e s t s Complete Experiment T e s t s Complete Navigation E q u i p m e n t T e s t s C o m p l e t e Optical Alignment and Calibration Complete T e l e m e t r y Calibration Complete Final A s s e m b l y and Flight P r e p a r a t i o n Complete RTG F u e l I n s t a l l a t i o n C o m p l e t e F i n a l Confidence T e s t C o m p l e t e Pyrotechnic Installation Complete Final P r e p a r a t i o n for Surveyor Installation Complete I n s t a l l a t i o n a n d C h e c k o u t with S u r v e y o r C o m p l e t e S u r v e y o r Weight a n d B a l a n c e C o m p l e t e Fairing Installation Complete F i n a l Confidence C h e c k C o m p l e t e Move t o L a u n c h P a d M a t e with C e n t a u r C o m p l e t e P r e l a u n c h Confidence T e s t C o m p l e t e I n i t i a t e S y s t e m M o n i t o r i n g D u r i n g Countdown Launch
- 58 - 54
- 52 - 47 - 45 - 43 - 40
- 25 - 20
-1 5
-13 -11
-10
-10 -8 -7
-6
-5 -5
-3
-2
-2
0
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An o p e r a t i o n a l s e q u e n c e h a s been p r e p a r e d t o c o v e r the e x p e c t e d a c t i v i t i e s of A m . T h i s s e q u e n c e (Section 2. 16 of t h i s volume) is a f u n c tional flow and I t i m e s c a l e is shown. However, the functional flow i n f o r D m a t i o n is c o n s i s t e n t with the above b a s i c s c h e d u l e . 2.15. 2 T r a n s i t
A s t a n d a r d s e q u e n c e of e v e n t s has b e e n published ( E P D - 180) which c o v e r s the e x p e c t e d o p e r a t i o n s of A t l a s / C e n t a u r , S u r v e y o r , a n d S F O C . T h e t r a n s i t o p e r a t i o n a l s e q u e n c e of the SLRV is m i n o r c o m p a r e d with t h i s s t a n d a r d s e q u e n c e but i t is e x p e c t e d that the t e l e m e t r y ( T / M ) d a t a f r o m t h e S L R V c a n be r e l a y e d to e a r t h as a p o r t i o n of the s c h e d u l e d e n g i n e e r i n g i n t e r r o g a tion p r o c e d u r e s . C o m m a n d inputs to the SLRV a n d T / M outputs, both t h r o u g h the u m b i l i c a l c o n n e c t o r have b e e n provided to f a c i l i t a t e the d a t a t r a n s f e r . T h e S L R V T / M c a n s c a n the e n t i r e S L R V T / M d a t a (3840 b i t s ) a n d c a n r e a d o u t t h e s e d a t a to t h e DSIF within 4 s e c o n d s .
2. 15. 3 L u n a r O p e r a t i o n s L u n a r o p e r a t i o n s a r e p o s s i b l e i m m e d i a t e l y a f t e r touchdown. De p l o y m e n t , checkout, a n d m i s s i o n o p e r a t i o n s should t a k e p l a c e as soon as p r a c t i c a l to m a x i m i z e the s y s t e m i n f o r m a t i o n output. A s a r e s u l t of the d i f f e r e n c e in t h e r m a l conditions while t r a v e l i n g t h r o u g h s p a c e a n d a f t e r touchdown, a d e p l o y m e n t window probably e x i s t s . D e p l o y m e n t w i l l be c o m m a n d e d to coincide with the a c t u a l o p t i m u m condition a s d e t e r m i n e d f r o m T / M d a t a . T h e i n i t i a l checkout s e q u e n c e is d e t a i l e d is the following listing: Initail Checkout S e q u e n c e Touchdown S u r v e y o r "GO" ( i n f o r m a t i o n f r o m S u r v e y o r s e n s o r s i n d i c a t e s "OK t o deploy'') S L R V '%Or' ( g r o u n d d e c i s i o n b a s e d on s e n s o r t r e n d s ) C o m m a n d "Initial Deploy" (Via S u r v e y o r ) C o m m a n d "Second Deploy" ( V i a S u r v e y o r ) V e r i f y "Second Deploy" ( V i a S u r v e y o r )
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A c q u i r e e a r t h link E x e r c i s e e a r t h link Command "Release T V and Antenna" ( V i a SLRV T / M ) Exercise T V C o m m a n d "Short R a n g e L o o k - A r o u n d " (A c o m p u t e r p r o g r a m m e d s e q u e n c e of c l o s e - i n T V e x p o s u r e s to e x a m i n e w h e e l s i n k a g e , a n tenna p o s i t i o n , v e h i c l e d a m a g e , S u r v e y o r c o n d i t i o n , S u r v e y o r vehicle i n t e r f e r e n c e , local s u r f a c e condition) Command " P e n e t r o m e t e r T / M mode" C o m m a n d "Penetrometer Start"
Complete P e n e t r o m e t e r a c t i o n and t r a n s m i t C o m m a n d "Regular T / M m o d e " Initiate " E x e r c i s e Mobility" (A p r o g r a m m e d s e q u e n c e of o p e r a t i o n s and T V e x p o s u r e s which w i l l d e m o n s t r a t e t h e o p e r a t i o n of e a c h f u n c tion of e a c h m o b i l i t y e l e m e n t a n d of t h e s u n s e n s o r s and i n c l i n o m e t e r ) Initiate " F i r s t Look" (An o p e r a t o r - d i r e c t e d s e r i e s of 3 - m e t e r s t e p s e n c i r c l i n g t h e S u r v e y o r a t a r a d i u s of 20 m e t e r s w i t h f r e q u e n t TV e x p o s u r e o u t to t h e h o r i z o n . ) Decision - S e l e c t t h e 3 2 0 0 - m e t e r s i t e Decision - S e l e c t t h e s u r v e y p a t t e r n Decision - S e l e c t t h e 1 s t s u r v e y p o i n t
G o the 1 s t point.
3-Meter Step Sequence
All t r a v e l o c c u r s in s t e p s of 3 - m e t e r o r s h o r t e r l e n g t h s . E a c h s t e p is i n i t i a t e d with t h e a n t e n n a s w i t c h a t "OMNI", Mobility ' ' O F F " , TV "OFF".
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1. 2.
3.
Compute a n t e n n a r e q u i r e d pointing a n g l e s C o m m a n d a n t e n n a b e a r i n g angle C o m m a n d a n t e n n a e l e v a t i o n angle V e r i f y a n t e n n a pointing C o m m a n d s w i t c h to d i r e c t i o n a l a n t e n n a Verify TV status C o m m a n d TV d a t a m o d e C o m m a n d TV e x p o s e ( f o r d r i v e ) a n d t r a n s m i t D e c i s i o n (See A below if additional T V v i e w s a r e r e q u i r e d )
4.
5.
6.
7.
8.
9.
10. C o m m a n d " T / M d a t a m o d e "
11. C o m m a n d "switch to omniantenna" C o m m a n d "-drive" Stop a f t e r 3 - m e t e r r u n .
12.
13.
A . If a d d i t i o n a l TV v i e w s a r e r e q u i r e d at t h i s point, i n t r o d u c e the following as m a n y t i p - e s a s n e c e s s a r y .
a.
b. c. d. S e l e c t r e q u i r e d T V pointing a n g l e s and F O V G e n e r a t e pointing c o m m a n d s a n d F O V c o m m a n d P o s i t i o n TV in a z i m u t h P o s i t i o n TV in e l e m a t i o n
~
e . A d j u s t FOV
f.
V e r i f y pointing a n g l e s a n d F O V
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g.
h.
C o m m a n d TV e x p o s u r e a n d t r a n s m i t Decision. Note: T h e s e a d d i t i o n a l v i e w s a r e o b t a i n e d in o r d e r t o d e f i n e p o s s i b l e h a z a r d s , t o s e e k o u t g e n e r a l r o u t e s , t o a i d in climbing obstacles, etc.
When a s t o p ( e i t h e r on a t r a v e r s e o r as a p a r t of a s i t e s u r v e y ) is u s e d only to o b t a i n d r i v e i n f o r m a t i o n , t h e n the s e q u e n c e of o p e r a t i o n s is as d e s c r i b e d a b o v e . When t h e s t o p is u s e d t o o b t a i n s u r v e y d a t a , as is done within a point o r i n m a k i n g s i d e o b s e r v a t i o n s d u r i n g a t r a v e r s e b e t w e e n p o i n t s , then t h e s e q u e n c e is t h a t which is d e s c r i b e d below. T h e s u r v e y P O s i t i o n s (L, M, N, . . . . . ) a r e p r e d e t e r m i n e d TV v i e w s , e s s e n t i a l to t h e s u r v e y , which t h e c o m p u t e r w i l l c a l l f o r a s r e q u i r e d . T h e c o m p u t e r w i l l be i n s t r u c t e d t o modify t h e pointing and F O V as o c c a s i o n e d by t h e t e r r a i n . T h e i n i t i a l conditions h e r e a r e i d e n t i c a l w i t h t h o s e s p e c i f i e d a b o v e f o r t h e o r d i nary 3-meter step. Sequence f o r 3-Meter Step with Survey Activity
1. C o m p u t e a n t e n n a r e q u i r e d
2. 3.
pointing a n g l e s
Command antenna bearing angle Command antenna elevation angle
4. V e r i f y a n t e n n a pointing
5.
C o m m a n d s w i t c h to d i r e c t i o n a l a n t e n n a
6. V e r i f y TV s t a t u s
7.
C o m m a n d T V point to s u r v e y p o s i t i o n (L)
8 . G e n e r a t e TV b e a r i n g a n d e l e v a t i o n pointing a n d F O V c o m m a n d s
9.
10.
C o m m a n d T V b e a r i n g a n d e l e v a t i o n a n d F O V pointing c o m m a n d s
V e r i f y pointing a n g l e s a n d F O V
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11. 12. 13.
C o m m a n d TV d a t a m o d e C o m m a n d TV e x p o s e a n d t r a n s m i t R e p e a t i t e m s 7 t h r o u g h 12 f o r s u r v e y p o s i t i o n s
(M, N , .
. .. )
as r e q u i r e d
(If t h e s u r v e y s t o p is to include p e n e t r o m e t e r m e a s u r e m e n t s o r s i n k a g e o b s e r v a t i o n , then i t e m s 14 t h r o u g h 17 a n d / o r i t e m s 18 t h r o u g h 21 m a y be i n t r o d u c e d . )
14. 15. C o m m a n d TV e x a m i n e t r a c k C o m m a n d TV b e a r i n g a n d e l e v a t i o n and FOV
16. V e r i f y pointing a n g l e s a n d F O V
17.
C o m m a n d TV e x p o s e a n d t r a n s m i t Command p e n e t r o m e t e r T / M mode
4
18.
19.
20.
C o m m a n d p e n e t r o m e t e r start C o m p l e t e p e n e t r o m e t e r and t r a n s m i t C o m m a n d TV d a t a m o d e C o m m a n d T V t o d r i v e position V e r i f y TV pointing a n g l e C o m m a n d T V e x p o s e (for d r i v e ) a n d t r a n s m i t D e c i s i o n (See A below if a d d i t i o n a l TV v i e w s a r e r e q u i r e d ) C o m m a n d T / M d a t a mode C o m m a n d T V to d r i v e position C o m m a n d s w i t c h t o omniantenna
21. 22. 23. 24. 25. 26. 27. 28.
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29.
30.
Command drive S t o p a f t e r 3 0 - m e t e r run.
A. If additional TV v i e w s a r e r e q u i r e d a t t h i s point, i n t r o d u c e t h e following a s m a n y t i m e s as n e c e s s a r y .
a. S e l e c t r e q u i r e d TV pointing a n g l e s a n d F O V
b.
c.
G e n e r a g e pointing c o m m a n d s a n d F O V c o m m a n d P o s i t i o n TV in a z i m u t h P o s i t i o n T V in elevation
d.
e. Adjust F O V
f.
g. h.
V e r i f y pointing a n g l e s a n d F O V Command TV expose and t r a n s m i t Decision Note: T h e s e additional views a r e obtained in o r d e r to b e t t e r define p o s s i b l e h a z a r d s , t o s u p p l e m e n t m a p p i n g o p e r a t i o n s , t o s e e k o u t g e n e r a l r o u t e s , to aid i n c l i m b i n g obstacles, etc.
2.16
GROUND S U P P O R T EQUIPMENT
G r o u n d s u p p o r t e q u i p m e n t (GSE) is e x t e n s i v e l y c o v e r e d i n t h i s s e c t i o n s i n c e t h e r e is no a d d i t i o n a l d i s c u s s i o r ! i n Book 2 . A G S E plan f o r S L R V h a s b e e n p r e p a r e d b a s e d on i n f o r m a t i o n g a i n e d d u r i n g t h e P h a s e I s t u d y . Both t h e p r e - l a u n c h o p e r a t i o n a l p r o f i l e f o r t h e S L R V a n d t h e i n s t a l l a t i o n and support plan f o r DSIF equipment are included. Recommendations a r e made f o r P h a s e I1 i m p l e m e n t a t i o n of t h e s u p p o r t s y s t e m r e q u i r e m e n t s .
2 . 16. 1
Requirements
The b a s i c r e q u i r e m e n t s w h i c h d e f i n e t h e G S E e l e m e n t s a r e d e v e l o p e d through a n o p e r a t i o n s a n d m a i n t e n a n c e a n a l y s i s of t h e p r e - l a u n c h plan
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f o r SLRV a n d of the i n s t a l l a t i o n a n d o p e r a t i o n of the DSIF g r o u n d o p e r a t i n g e q u i p m e n t . T h i s a n a l y s i s p r i m a r i l y involves a s t e p - b y - s t e p definition of the s e q u e n t i a l e v e n t s which t a k e p l a c e f r o m f i n a l a c c e p t a n c e at the f a c t o r y t h r o u g h m i s s i o n c o m p l e t i o n . S u p p o r t r e q u i r e m e n t s a r e then i d e n t i f i e d f o r e a c h o p e r a tional a c t i v i t y . F i g u r e s 2. 1 6 - 1 and 2. 16-2 i l l u s t r a t e the o p e r a t i o n a l p r o f i l e s f o r t h e SLRV a n d DSIF e q u i p m e n t s . Refinement of the p r o f i l e s w i l l continue t h r o u g h P h a s e I1 until e v e r y i t e m of GSE h a s been d e f i n e d a n d until t h e p r o f i l e s r e p r e s e n t a n a c c u r a t e d e s c r i p t i o n of the o p e r a t i o n c o m p a t i b l e w i t h S L R V design and final mission plans.
2.16. 1. 1 S L R V P r e - L a u n c h O p e r a t i o n P r o f i l e
T h e SLRV p r e - l a u n c h o p e r a t i o n a l p r o f i l e ( F i g u r e 2. 16- 1) follows the p r e l i m i n a r y s e q u e n c e s e s t a b l i s h e d f o r the S u r v e y o r S p a c e c r a f t . T h e S L R V a n d the m o d i f i c a t i o n s r e q u i r e d f o r S u r v e y o r w i l l be d e l i v e r e d to Hughes A i r c r a f t Corporation i n Culver City, California f o r initial installation a n d i n t e g r a t i o n . In a c c o r d a n c e with the S u r v e y o r p r e - l a u n c h plan, the a s s e m b l e d s p a c e c r a f t s y s t e m w i l l then be s u b j e c t e d to c o m b i n e d s y s t e m t e s t s a n d s i m u l a t e d launch pad a c t i v i t i e s with the C e n t a u r S t a g e a t G e n e r a l D y n a m i c s in S a n Diego, C a l i f o r n i a . Following t h e s e t e s t s , the individual s y s t e m s w i l l be d i s a s s e m b l e d a n d shipped to AMR f o r f i n a l checkout, C a l i b r a t i o n , r e a s s e m b l y , a n d l a u n c h . Two c o m p l e t e s y s t e m s follow t h r o u g h t h i s s e q u e n c e ; h o w e v e r , one i s h e l d a t the launch s i t e a s b a c k - u p in c a s e of f a i l u r e in t h e f i r s t flight unit. T h e SLRV i s a s s e m b l e d a n d a c c e p t a n c e t e s t e d at Bendix i n i t s f i n a l f l i g h t c o n f i g u r a t i o n e x c e p t f o r explosive d e v i c e s a n d the RTG f u e l c a p s u l e . I n s t a l l a t i o n of the f u e l c a p s u l e at t h e l a s t p o s s i b l e m o m e n t p r i o r to l a u n c h is n e c e s s i t a t e d a s a r e s u l t of the l i m i t e d r a d i o a c t i v e h a l f - l i f e . T h e p r e l i m i n a r y d e s i g n i n c l u d e s a life expectancy of a p p r o x i m a t e l y s e v e n t e e n d a y s in a d d i t i o n to a n i n e t y - d a y m i s s i o n c a p a b i l i t y . T o a c c o m m o d a t e t h i s l i m i t a t i o n a n d s t i l l r e t a i n a c c u r a c y in s i m u l a t i o n of the power s o u r c e , a n e l e c t r i c h e a t e r e l e m e n t is i n i t i a l l y i n s t a l l e d in the RTG. All t e s t i n g is a c c o m p l i s h e d using t h i s h e a t e r until fina1 r e p l a c e m e n t with the a c t i v e e l e m e n t at AMR. T i m i n g f o r the f i n a l i n s t a l l a t i o n is s o m e w h a t c r i t i c a l , in t h a t the s e v e n t e e n - d a y , e x c e s s - i i f e p e r i o d m u s t b e a d h e r e d to, including t r a n s i t time to t h e moon. An a d d i t i o n a l r e q u i r e m e n t of t h e RTG d e s i g n which m u s t be o b s e r v e d is t h a t of l i m i t i n g the n u m b e r of h e a t i n g and cooling-down c y c l e s . T h i s r e q u i r e m e n t is s a t i s f i e d i n the p r e - l a u n c h plan by providing s t a n d b y p o w e r to the e l e c t r i c h e a t e r continuously through a l l o p e r a t i o n s , including shipment.
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A n a l t e r n a t e a p p r o a c h t o w a r d s s o l u t i o n of t h e RTG s u p p o r t p r o b l e m h a s been c o n s i d e r e d but t e m p o r a r i l y r e j e c t e d b e c a u s e of e s t i m a t e d t e s t c o r r e l a t i o n d i f f i c u l t i e s . T h i s plan s u g g e s t s u s e of a t e s t o r d u m m y RTG unit w i t h f i n a l r e p l a c e m e n t of the c o m p l e t e a c t i v e RTG a t t h e launch s i t e . A f i n a l a p p r o a c h t o w a r d s t h e s e p r o b l e m s w i l l be s e l e c t e d d u r i n g P h a s e I1 as m o r e i n f o r m a t i o n on t h e RTG b e c o m e s a v a i l a b l e . A f t e r c o m p l e t i n g f l i g h t a c c e p t a n c e t e s t s a t Bendix, t h e S L R V is s h i p p e d to Hughes A i r c r a f t C o r p o r a t i o n . A f u n c t i o n a l checkout is a c c o m p l i s h e d with t h e S L R V f u n c t i o n a l t e s t e q u i p m e n t g r o u p a t Hughes, p r i o r to i n t e g r a t i o n with t h e S u r v e y o r S p a c e c r a f t . T h e s t r u c t u r a l m o d i f i c a t i o n s and t h e R F r a n g i n g t r a n s p o n d e r a r e i n s t a l l e d on t h e s p a c e c r a f t a n d c h e c k e d out b e f o r e a s s e m b l y of t h e S L R V . The integration s e q u e n c e s include a mechanical i n t e r f a c e check, a n umbilic a l function c h e c k p r i o r t o m a t i n g , and c o m p a t i b i l i t y t e s t of t h e R F r a n g i n g equipments. A f t e r m a t i n g , f u n c t i o n a l t e s t s a r e p e r f o r m e d u s i n g t h e S u r v e y o r S y s t e m t e s t equipment a s s e m b l y (STEA) supplemented with SLRV cont r o l and monitoring e q u i p m e n t . F u n c t i o n a l t e s t s of the S L R V a f t e r i n t e g r a tion w i t h the s p a c e c r a f t a r e l i m i t e d to m o n i t o r i n g of g e n e r a l h o u s e k e e p i n g d a t a . Deployment c a p a b i l i t y is v e r i f i e d t h r o u g h m a n u a l r e l e a s e of p u l l p i n s i n s t a l l e d in l i e u of e x p l o s i v e d e v i c e s . I n t e g r a t i o n of t h e S L R V / S p a c e c r a f t S y s t e m w i t h t h e C e n t a u r S t a g e a t S a n Diego p r i m a r i l y i n v o l v e s S u r v e y o r i n t e r f a c e s ; h o w e v e r , s o m e s p e c i f i c SLRV s u p p o r t p r o b l e m s m u s t be a c c o m m o d a t e d s u c h as c o n t i n u a t i o n of t h e RTG e l e c t r i c power s o u r c e a n d h e a t r e m o v a l . S y s t e m t e s t s a r e p e r f o r m e d u s i n g the Hughes s u r v e y launch o p e r a t i o n s t r a i l e r (SLOT) s u p p l e m e n t e d w i t h SLRV control and monitor equipment. A f t e r c o m p l e t i o n of c o m b i n e d s y s t e m t e s t s a t G e n e r a l D y n a m i c s , t h e C e n t a u r , the S u r v e y o r , a n d t h e S L R V a r e d i s a s s e m b l e d a n d a r e p a c k e d f o r s h i p m e n t to AMR. Upon r e c e i p t of t h e S L R V a t AMR, a c o m p l e t e c h e c k of c a l i b r a t i o n a n d a l i g n m e n t s i m i l a r to t h a t p e r f o r m e d d u r i n g a c c e p t a n c e t e s t s a t Bendix is i n i t i a t e d . T h i s t e s t is p e r f o r m e d in t h e s p a c e c r a f t c h e c k out facility. C r i t i c a l o p t i c a l m e a s u r e m e n t s a r e p e r f o r m e d f o r t h e f i n a l t i m e b e f o r e launch to o b t a i n a c c u r a t e c a l i b r a t i o n d a t a . T h e S L R V f u n c t i o n a l t e s t s w i l l include d y n a m i c t e s t s of m o b i l i t y f u n c t i o n s on t h e m o b i l i t y t e s t f i x t u r e . It may be r e q u i r e d t h a t t h e t e s t a r e a b e R F s h i e l d e d s i n c e t r a n s m i s s i o n of c o m m a n d s a n d t e l e m e t r y to a n d f r o m t h e S L R V i s i n c l u d e d a s p a r t of the t e s t p r o c e d u r e . T e m p e r a t u r e c o n t r o l e q u i p m e n t w i l l a l s o b e
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SLRV Functional T e s t S e n s o r Alignment and Calibration Packing and Shipping S u r v e y o r Modification Functional Test Installation of Mods on S u r v e y o r Spacecraft Installation of SLRV on S u r v e y o r Spacecraft Uncrating and Receiving Inspection Integrated SLRVISurveyor Functional T e s t s D i s a s s e m b l e SLRV f r o m Surveyor I n s t a l l R T C F u e l Capsule Evacuate R T C and F i l l with I n e r t Gas Install Pyrotechnic Devices In SLRV and a t Deployment Interfaces GSE Functional T e s t s Integrate SLRV Supplementary Control a n d Monitor CSE with Surveyor S y s t e m T e s t Equipment Assembly (STER) Integrate SLRV Supplementary Control and Monitor CSE wlth Surveyor Launch Operations T r a i l e r (SLOT) I n s t a l l a c / o Blockhouse SLRV Monitor Console Calibrate CSE Wt. Balance and C / C T e s t Checkout Surveyor Umbilical Functions P r i o r to Mating SLRV SLRV Cooling (Required Continuously)
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CSE-Requirements
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3 4 5
6 7 8 9
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16 17 18 19 20 21 22 23 24 25 26 27
SLRV Functional T e s t Equipment Croup SLRV S e n s o r Alignment and Calibration Equipment SLRV Weight, Balance and C e n t e r of Gravity Stand SLRV Handling Equipment SLRV Shipping Container T r a n s p o n d e r T e s t Set Deployment Mechanism T e s t F i x t u r e T r a n s p o n d e r Shipping Container Deployment Mechanism Shipping Container Installation T o o l s ( C o m m o n ) Surveyor/SLRV Umbilical Function Test Set. Supplementary Control and Monitor Equipment f o r Integration wlth S u r v e y o r S T E A and SLOT SLRV Cooling Equipment R T C E l e c t r i c Heater P o w e r Supply Vacuum P u m p I n e r t G a s P r e s s u r i z a t i o n Equipment R T C F u e l Shipping Container RTG F u e l Functional T e s t Equipment Squib T e s t e r ( G F E ) SLRV Block House Monitor Console Special Calibration Equipment SLRV T r a n s p o r t a t i o n Dolly Squib Shorting Plugs Deployment M e c h a n i s m Pull P i n s Optical Alignment Facility S p a r e s Shipping Containers S u r v e y o r S p a c e c r a f t Cooling (HAC)
F i g u r e 2. 16- 1 SLRV Prelaunch Operational Profile
2-121/2-122
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F i g u r e 2. 1 6 - 2
DSIF GOE I n s t a l l a t i o n and O p e r a t i o n a l P r o f i l e
2
BSR 903
r e q u i r e d to d i s s i p a t e h e a t f r o m the S L R V s t r u c t u r e . T h e SLRV c h e c k o u t f a c i l i t y should p r o v i d e a s u i t a b l e , non-explosive a r e a f o r r e c e i v i n g , unc r a t i n g , a n d v i s u a l i n s p e c t i o n , a c l e a n r o o m a r e a and a bonded s t o r e s a r e a f o r s t o r a g e of s p a c e p a r t s . F r o m the checkout a r e a , the S L R V is m o v e d into the e x p l o s i v e s a f e a r e a a n d is p r e p a r e d f o r final m i s s i o n c o n f i g u r a t i o n . T h e RTG f u e l c a p s u l e is r e c e i v e d a n d functionally t e s t e d at t h i s t i m e a n d is i n s t a l l e d i n the SLRV, r e p l a c i n g the e l e c t r i c h e a t e r e l e m e n t . When the h e a t i n g e l e m e n t is r e p l a c e d , the RTG h e r m e t i c s e a l m u s t be b r o k e n d u r i n g the o p e r a t i o n with s u b s e q u e n t e v a c u a t i o n of a t m o s p h e r e , p r e s s u r i z a t i o n with a n i n e r t g a s , a n d r e s e a l i n g . T h e u n i t is then s u b j e c t e d to a f i n a l g r o s s functional c h e c k to a s s u r e p r o p e r o p e r a t i o n of the RTG with the a c t i v e f u e l . E x p l o s i v e d e v i c e s which have b e e n s u b j e c t e d to individual n o - f i r e t e s t s a r e i n s t a l l e d a t t h i s point a n d the S L R F is p r e p a r e d a n d i n t e g r a t e d into the f l i g h t - r e a d y S u r v e y o r S p a c e c r a f t . R e m a i n i n g p r o c e d u r e s p r i o r to launch follow s t a n d a r d S u r v e y o r s e q u e n c e s including s p a c e c r a f t weight, b a l a n c e , c g check, f a i r i n g i n s t a l l a tion, confidence c h e c k s , on-pad mating, a n d s y s t e m m o n i t o r i n g d u r i n g countdown p r o c e d u r e s . Cooling air for the SLRV m u s t be s u p p l i e d by S u r v e y o r GSE p r i o r to m a t i n g on the pad and by C e n t a u r a i r conditioning e q u i p m e n t d u r i n g pad checkout. SLRV functions which r e q u i r e m o n i t o r i n g a f t e r i n s t a l l a t i o n with S u r v e y o r include g e n e r a l housekeeping d a t a s u c h a s p o w e r supply v o l t a g e s a n d t e m p e r a t u r e s . The S L O T a n d the S T E A a r e s u p p l e m e n t e d a s at Hughes A i r c r a f t C o r p o r a t i o n with s p e c i f i c SLRV c o n t r o l and m o n i t o r ing e q u i p m e n t . SLRV s t a t u s w i l l be m o n i t o r e d d u r i n g launch pad p r o c e d u r e s by a s p e c i a l S L R V blockhouse m o n i t o r c o n s o l e . T h i s c o n s o l e is i n t e r c o n n e c t e d with the s u p p l e m e n t a r y S L R V c o n t r o l and m o n i t o r e q u i p m e n t included in the S L O T . All o n - p a d checkout of the SLRV is p r o v i d e d t h r o u g h the S L O T / S u r v e y o r R F link. N o d i r e c t i n t e r f a c e s between GSE a n d the SLRV e x i s t . 2. 16. 1. 2 DSIF G r o u n d O p e r a t i n g E q u i p m e n t I n s t a l l a t i o n a n d O p e r a t i o n a l Profile F i g u r e 2. 16-2 i l l u s t r a t e s the b a s i c c o n c e p t f o r the a c t i v i t i e s i n v o l v e d i n i n s t a l l a t i o n a n d o p e r a t i o n of G O E . C o m p l e t e d e t a i l s of the i n t e g r a tion s e q u e n c e s w i l l be f i l l e d in d u r i n g P h a s e I1 a s f i r m h a r d w a r e c o n f i g u r a tions become available.
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T h e m a j o r e l e m e n t s of G O E a r e shown a t the l e f t of t h e d i a g r a m . A f t e r a c c e p t a n c e t e s t s of t h e i n d i v i d u a l e q u i p m e n t s a t Bendix, t h e m a j o r e l e m e n t s will be s h i p p e d to t h e SFOF a t J P L f o r i n t e g r a t i o n w i t h e x i s t i n g e q u i p m e n t f a c i l i t i e s . In a c c o r d a n c e w i t h e s t a b l i s h e d p o l i c i e s f o r DSIF e q u i p m e n t , a l l o p e r a t i n g e q u i p m e n t s w i l l be i n i t i a l l y i n t e g r a t e d a n d o p e r a t i o n a l l y v e r i f i e d a t J P L b e f o r e i n s t a l l a t i o n a t a s s o c i a t e d DSS. A d d i t i o n a l e q u i p m e n t not unique to the SLRV m i s s i o n a n d r e f e r e n c e d a s m i s s i o n independent e q u i p m e n t is provided under J P L c o g n i z a n c e a n d is i n t e g r a t e d i n t o t h e s y s t e m c o n c u r r e n t with the S L R V G O E . T h i s e q u i p m e n t is r e q u i r e d to c o m p l e t e t h e s y s t e m net but is not the d i r e c t r e s p o n s i b i l i t y of t h e S L R V c o n t r a c t o r . Howe v e r , SLRV m i s s i o n r e q u i r e m e n t s m a y h a v e a n e f f e c t on d e t e r m i n i n g i t s n e c e s s i t y and p e r f o r m a n c e c h a r a c t e r i s t i c s . Initial c h e c k o u t a n d f u n c t i o n a l i n s t a l l a t i o n of the S L R V G O E a t S F O F r e q u i r e s t h e s u p p o r t of c o n s i d e r a b l e t e s t e q u i p m e n t . Much of t h i s e q u i p m e n t c a n be g e n e r a l p u r p o s e l a b o r a t o r y e q u i p m e n t but t h o s e s p e c i a l i t e m s n e c e s s a r y w i l l be s u p p l i e d a s GSE by t h e S L R V c o n t r a c t o r . A S i n t e g r a t i o n of the G O E e l e m e n t s w i t h SFOF e q u i p m e n t p r o g r e s s e s , l e s s of t h e i n d i v i d u a l G S E is r e q u i r e d s i n c e c o m p l e m e n t a r y G O E i t e m s p r o v i d e t h e i r own i n t e r f a c e s . U l t i m a t e l y , a f i n a l s y s t e m d e m o n s t r a t i o n a t SFOF c a n be s u p p o r t e d b y a S L R V s i m u l a t o r a n d a s e t of i n t e r f a c e e q u i p m e n t s i m u l a t i n g t h e DSS f u n c t i o n s . A f t e r a c c e p t a n c e of f u n c t i o n a l e l e m e n t s a t J P L , t h o s e r e q u i r e d f o r i n s t a l l a t i o n a t v a r i o u s r e m o t e DSS a r e p a c k a g e d a n d s h i p p e d t o t h e r e s p e c t i v e s i t e s . An i n t e g r a t i o n s e q u e n c e a t r e m o t e s i t e s i s r e q u i r e d which u s e s s p e c i a l GSE f o r f u n c t i o n a l i n t e r f a c e s . A f t e r a f i n a l s y s t e m f u n c t i o n a l c h e c k o u t , the D S I F n e t w o r k is i n t e g r a t e d a n d f u n c t i o n a l c o m p a t i b i l i t y d e m o n s t r a t i o n s a r e p e r f o r m e d using t h e S L R V s i m u l a t o r . Following t h i s , a c o n s i d e r a b l e amount of o p e r a t o r t r a i n i n g is r e q u i r e d to v e r i f y t h e o p e r a t i o n a l f u n c t i o n s of t h e GOE s y s t e m . T h e s e d e m o n s t r a t i o n s a n d t r a i n i n g e x e r c i s e s should be s u p p o r t e d t h r o u g h r e m o t e o p e r a t i o n of t h e S L R V s i m u l a t o r on a specially prepared test course. Simulated mission functional t e s t s will be p e r f o r m e d to v e r i f y m a n / m a c h i n e functional r e l a t i o n s h i p s of e q u i p m e n t a n d o p e r a t o r . Both operational and o p e r a t o r maintenance functions will be performed. The S L R V s i m u l a t o r w i l l be u s e d d u r i n g t h e s i m u l a t e d m i s s i o n t e s t s . A m o n g o t h e r things, the t e s t s w i l l v e r i f y o r e v a l u a t e by d e m o n s t r a t i o n of t h e f o l lowing:
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1.
E a s e of o p e r a t o r c o n t r o l Positive control a s s u r a n c e SLRV n a v i g a t i o n a l p r o b l e m solving O p e r a t o r proficiency M a i n t a i n a b i l i t y of equipment M i s s i o n p r o b l e m solving.
2.
3.
4.
5.
6.
S i m u l a t e d m i s s i o n t r a i n i n g a n d confidence t e s t s w i l l e n s u r e t h a t the a c t u a l o p e r a t o r c a n p e r f o r m h i s a s s i g n e d function r e m e m b e r i n g w h a t h e h a s p r e v i o u s l y s i g n a l e d , v i s u a l i z i n g the e x a c t m o d e of the SLRV w i t h r e g a r d to position of t r a c k s , s p e e d , a t t i t u d e , a z i m u t h , a n d r a t e of t u r n i n g . I t a l s o t r a i n s the g r o u p to w o r k a s a t e a m to e n s u r e t h a t the o p e r a t o r s c o o r d i n a t e SLRV r e q u i r e m e n t s . T h e e q u i p m e n t i s now i n a condition f o r o p e r a t i o n r e a d i n e s s . I t w i l l be continuously c y c l e d f o r a s s u r a n c e m o n i t o r i n g a n d c a l i b r a t i o n . During countdown the e q u i p m e n t w i l l be t u r n e d on a n d c h e c k o u t f o r a c t i v e u t i l i z a t i o n w i l l be p e r f o r m e d . 2. 1 6 . 2 GSE Design C o n c e p t
T h e GSE items r e q u i r e d f o r s u p p o r t of the SLRV s y s t e m e l e m e n t s i d e n t i f i e d i n the o p e r a t i o n a l p r o f i l e a r e g r o u p e d f o r convenience i n the h a r d w a r e t r e e , F i g u r e 2. 16-3. T h r e e c a t e g o r i e s of e q u i p m e n t a r e shown: ( 1 ) t h a t e q u i p m e n t r e q u i r e d to s u p p o r t the SLRV vehicle a n d i t s s u b s y s t e r n s , ( 2 ) t h a t r e q u i r e d t o s u p p o r t the m o d i f i c a t i o n s to b e m a d e to the S u r v e y o r S p a c e c r a f t , a n d ( 3 ) t h a t equipment r e q u i r e d t o s u p p o r t the i n s t a l l a t i o n a n d o p e r a t i o n of the DSIP G O E . T h e s e c a t e g o r i e s a r e f u r t h e r e x p a n d e d to show the individual i t e m s r e q u i r e d f o r functional c h e c k o u t , a n d m a i n t e n a n c e , s h i p p i n g , handling, a n d t r a n s p o r t a t i o n of the e n d i t e m s , s e r v i c i n g , and alignment and calibration.
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GSE f o r the SLRV SLRV F u n c t i o n a l T e s t G r o u p
T h e SLRV f u n c t i o n a l t e s t group i n c l u d e s t h e e q u i p m e n t r e q u i r e d t o t e s t , c a l i b r a t e , a l i g n , a n d fault i s o l a t e t h e e l e c t r o n i c a n d e l e c t r o m e c h a n i c a l functions of the v e h i c l e s y s t e m . A f u n c t i o n a l block d i a g r a m of t h e i n t e g r a t e d t e s t s e t up i s shown i n F i g u r e 2. 16-4. E l e c t r o n i c a n d e l e c t r o m e c h a n i c a l i n t e r f a c e s b e t w e e n the c h e c k out e q u i p m e n t a n d t h e SLRV a r e shown at the r i g h t h a n d s i d e of the d i a g r a m . T h e s e i n t e r f a c e s include the following functions:
1.
2.
Command Telemetry R F ranging SLRV p o w e r M e c h a n i c a l i n t e r f a c e s w i t h the t r a c t i o n d r i v e m e c h a n i s m s (TDM)
3.
4.
5.
6.
7.
S t i m u l a t i o n of t h e s u n s e n s o r s T V tar g e t s S u r v e y o r /SLRV u m b i l i c a l f u n c t i o n s T e s t c o n n e c t o r s on v a r i o u s s u b s y s t e m c o m p o n e n t s M e c h a n i c a l i n t e r f a c e s w i t h the p e n e t r o m e t e r a n d i n c l i n o meter.
8.
9.
10.
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m o d u l a t e d s u b c a r r i e r is then a p p l i e d to t h e R F m o d u l a t o r o r c a n be d i r e c t e d to t h e S u r v e y o r s i m u l a t o r junction box f o r s i g n a l p r o c e s s i n g . T h i s l a t t e r function d u p l i c a t e s the S u r v e y o r i n t e r f a c e f o r c h e c k o u t of t h e SLRV via umbilical connections. The command R F signal g e n e r a t o r provides a m o d u l a t e d R F t e s t s i g n a l w h i c h i s a d j u s t a b l e i n f r e q u e n c y , output l e v e l , a n d m o d u l a t i o n l e v e l s o t h a t the v a r i o u s p a r a m e t e r s of t h e S L R V c o m m a n d r e c e i v e r a n d d e c o d e r s u b s y s t e m c a n be c o m p l e t e l y t e s t e d . T h e output f r o m the s i g n a l g e n e r a t o r i s a p p l i e d t o t h e R F j u n c t i o n p a n e l w h i c h p r o v i d e s a p p r o p r i a t e s w i t c h i n g , s a m p l i n g , a n d f i l t e r i n g . Connection to t h e SLRV c a n be p r o v i d e d e i t h e r h a r d w i r e o r through a n a i r l i n k via a n t e n n a c o u p ling. T h e t e l e m e t r y f r o m the SLRV i s s i m i l a r l y coupled v i a h a r d w i r e o r a n t e n n a l i n k a n d i s a p p l i e d t o the R F j u n c t i o n p a n e l . T h e m a i n R F p o w e r s i g n a l i s d i r e c t e d to a l o a d and a n R F p o w e r m e t e r . A p p r o p r i a t e l e v e l s a r e s a m p l e d a n d c o u p l e d to f r e q u e n c y a n d s p e c t r u m a n a l y s i s e q u i p m e n t , a n d to a t e l e m e t r y r e c e i v e r . T h e I F output of t h e r e c e i v e r is r e c o r d e d on m a g n e t i c t a p e f o r a p e r m a n e n t t e s t r e c o r d p r i o r to being d e m o d u l a t e d . T h e t e l e m e t r y p r o c e s s o r r e c o n d i t i o n s the s e r i a l b i t s t r e a m w h i c h is t h e n a p p l i e d to the S u r v e y o r C D C d e c o m m u t a t i o n e q u i p m e n t , a n d t h e T V d a t a p r o c e s s o r . T h e r e c o n d i t i o n e d d a t a a r e a l s o r e c o r d e d on m a g n e t i c t a p e f o r s u b s e q u e n t playback i f n e c e s s a r y . D e c o m m u t a t e d d a t a a r e a p p l i e d t o the t e s t s e q u e n c e p r o g r a m m e r w h e r e t h e y a r e s a m p l e d a n d c o n d i t i o n e d f o r a n a l o g a n d d i g i t a l d i s p l a y s . T V d a t a a r e a p p l i e d to the T V d a t a p r o c e s s o r a n d the s c a n c o n v e r t e r f o r p r o c e s s i n g , s t o r a g e , a n d d i s p l a y . O v e r - l a y s f o r the TV m o n i t o r a r e p r o v i d e d t o allow q u i c k - l o o k a n a l y s e s of p i c t u r e q u a l i t y a n d pointing a c c u r a c i e s . P e r m a n e n t r e c o r d s a r e a l s o p r o d u c e d i n the photo r e c o r d i n g e q u i p m e n t to e n a b l e c o m p l e t e a n a l y s i s of T V r e s o l u t i o n a n d to provide p e r m a n e n t t e s t r e c o r d s . An a r r a y of c h a r t r e c o r d e r s a n d d i g i t a l p r i n t e r s p r o v i d e p e r m a n e n t r e c o r d s a n d t i m e h i s t o r i e s of s e l e c t e d a n a l o g and d i g i t a l t e l e m e t r y d a t a . T e l e m e t r y i n p u t s a r e a l s o p r o v i d e d to the r e c o n d i t i o n e r via t h e S u r v e y o r s i m u l a t o r J b o x a n d t h e u m b i l i c a l c o n n e c t i o n . T h i s function p r o v i d e s a c h e c k of the S L R V / S u r v e y o r t e l e m e t r y i n t e r f a c e . Additional s i g n a l s m a y be p r o g r a m m e d t h r o u g h the u m b i l i c a l f r o m t h e S u r v e y o r s i m u l a t o r J box to s i m u l a t e d e p l o y m e n t c o m m a n d s . O u t p u t s f r o m t h e v e h i c l e a r e i n t e r c o n n e c t e d to the d i s p l a y c o n s o l e v i a t e s t c o n n e c t o r s w h i c h r e p l a c e explosive d e v i c e s .
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T h e SLRV DC p o w e r s o u r c e i s p r o v i d e d by u s i n g a n e l e c t r i c h e a t e r e l e m e n t which r e p l a c e s the a c t i v e RTG fuel c e l l . A p o w e r supply i n the t e s t s e t p r o v i d e s the e x t e r n a l power s o u r c e . T h i s a p p r o a c h i s b a s e d upon i n s t a l l a t i o n of the RTG m i n u s fuel ( o r a s i m u l a t e d R T G ) d u r i n g the f a c t o r y build-up p r o c e d u r e s of the SLRV a n d fueling i t a t the l a u n c h s i t e . The o v e r a l l s u p p o r t p r o b l e m t h r o u g h the p r e l a u n c h s e q u e n c e s i s c o m p l e x in t h a t it is n e c e s s a r y to k e e p the RTG f r o m cooling down w i t h i n a p r e d e t e r m i n e d n u m b e r of c y c l e s . I n a d d i t i o n , the i n s t a l l a t i o n a n d o p e r a t i o n of the e l e c t r i c h e a t e r a n d the u l t i m a t e i n s t a l l a t i o n of the r a d i o a c t i v e fuel d u r i n g p r e l a u n c h o p e r a t i o n s r e q u i r e t h a t the RTG t h e r m o c o u p l e s remain i n a n i n e r t a t m o s p h e r e . An a l t e r n a t e a p p r o a c h i s t o p r o v i d e s i m u l a t i o n of the RTG output c h a r a c t e r i s t i c s i n the t e s t s e t power s u p p l y . T h i s s i m u l a t i o n would be difficult a n d m i g h t p r o v i d e t e s t r e s u l t s t h a t would not c o r r e l a t e w i t h a c t u a l RTG p e r f o r m a n c e . A study of t h e s e s u p p o r t p r o b l e m s m u s t be c o m p l e t e d i n P h a s e I1 p r i o r t o m a k i n g a f i n a l d e c i s i o n . T h e i n t e r f a c e w i t h the SLRV TDM i s p r o v i d e d t h r o u g h a n e l e c t r o m e c h a n i c a l t e s t f i x t u r e . C o n t r o l of the f i x t u r e m e c h a n i s m i s o r i g i n a t e d a t the TDM f i x t u r e c o n t r o l p a n e l a n d r e a d o u t s a r e d i s p l a y e d at the c o n t r o l a n d m o n i t o r c o n s o l e . S i m u l t a n e o u s c o m p a r i s o n of f i x t u r e reference p a r a m e t e r s with vehicle t e l e m e t r y r e s p o n s e s a r e available a t the d i s p l a y p a n e l a n d s u b s e q u e n t a n a l y s i s i s p r o v i d e d t h r o u g h p e r m a n e n t r e c o r d s on c h a r t r e c o r d e r s . T h e m o b i l i t y t e s t f i x t u r e ( F i g u r e 2 . 1 6 - 5 ) c o n s i s t s of a b a s i c f r a m e and mounting p l a t e s f o r e a c h function of t e s t . T h e b a s i c f r a m e c o n s i s t s of two w e l d e d a n d a l i g n e d s t r u c t u r e s w h i c h c l a m p a t e a c h h a l f of the S L R V v e h i c l e . T h e m o b i l i t y t e s t f i x t u r e i s c a p a b l e of c h e c k o u t a n d c a l i b r a t i n g the following: 1. Traction drive mechanism Odometer m e c h a n i s m T r a c k pivoting c a p a b i l i t y S t r u c t u r e turning capability Command r e s p o n s e .
2.
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T h e s t r u c t u r e s t e e r i n g c a p a b i l i t y t e s t f i x t u r e c o n s i s t s of two f l a t p l a t e s a r t i c u l a t e d to r e a s s e m b l e the m o v e m e n t of t h e v e h i c l e T h e t r a c k d r i v i n g m e c h a n i s m f i x t u r e c o n s i s t of a f l a t p l a t e on w h i c h i s m o u n t e d f o u r t r a c k a s s e m b l i e s s i m i l a r to the SLRV t r a c k s . T h e s e t r a c k s a r e located directly under e a c h vehicle t r a c k and adjustable to m a i n t a i n a p r e - d e t e r m i n e d p r e s s u r e on e a c h t r a c k to s i m u l a t e the g r a vity e n v i r o n m e n t e x p e r i e n c e d on the l u n a r s u r f a c e . E a c h t e s t t r a c k i s pivoted about the c e n t e r d r i v e w h e e l w h i c h i s c o u p l e d to a m a g n e t i c b r a k e . T h i s c e n t e r pivot of the t e s t t r a c k m a i n t a i n s a n e q u a l l o a d d i s t r i b u t i o n on the v e h i c l e t r a c k . T h e c a l i b r a t i o n of the o d o m e t e r r e a d i n g is a c c o m p l i s h e d by a similar m e t h o d , u s i n g a s m a l l e r t e s t t r a c k . T h e c o m m a n d r e s p o n s e a n d pivoting c h e c k o u t s a r e a c c o m p l i s h e d by the t e s t c o n s o l e r e a d o u t , and m a n u a l o p e r a t i o n . T h e p e n e t r o m e t e r t e s t i s a c c o m p l i s h e d by p r o b i n g a known s o i l s a m p l e . T h i s t e s t r e q u i r e s t h a t the v e h i c l e a n d handling frame be mounted on a stand above a p r e - t e s t e d soil s a m p l e . T h e p e n e t r o m e t e r i s then o p e r a t e d by c o m m a n d f r o m the t e s t s e t , a n d r e c o r d i n g s n o t e d . S t i m u l a t i o n of t h e T V s e n s o r i s p r o v i d e d t h r o u g h u s e of illuminated TV t a r g e t s and t e s t patterns. System performance is evalua t e d v i a c o m p a r i s o n of photo r e c o r d i n g s of t h e t e l e m e t e r e d d a t a w i t h s t a n d a r d p a t t e r n s and g r e y s c a l e s . C a l i b r a t i o n a n d a l i g n m e n t of the T V pointing a c c u r a c i e s a n d f i e l d s of view a r e a c c o m p l i s h e d t h r o u g h a s y s t e m of o p t i c a l in s t r u m e n t a t i o n . T h e sun s e n s o r i s s t i m u l a t e d by a c o l l i m a t e d l i g h t s o u r c e l o c a t e d a t a p r e c i s e point e x t e r n a l to the v e h i c l e . T h e c o m p l e t e c a l i b r a tion, a l i g n m e n t , a n d a c c e p t a n c e t e s t i s a c c o m p l i s h e d by t h e o p t i c a l i n s t r u m e n t a t i o n a n d r o t a t i n g t i l t t a b l e . R e f e r e n c e a t t i t u d e s e s t a b l i s h e d by the o p t i c a l s y s t e m a r e c o m p a r e d to t e l e m e t e r e d i n f o r m a t i o n . P e r f o r m a n c e of the R F r a n g i n g e q u i p m e n t of t h e SLRV i s e v a l u a t e d by u s e of a s p e c i a l p u r p o s e t r a n s p o n d e r d e s i n g e d to s i m u l a t e a r a n g e of d i s t a n c e s . T h e R F s i g n a l s a r e f e d to a n d f r o m t h e S L R V through hardwire connections o r through an antenna link. Switching in the R F panel a l l o w s m e a s u r e m e n t of R F p o w e r , f r e q u e n c y , a n d s p e c t r u m .
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A c o m p l e t e s e l f - v e r i f i c a t i o n c a p a b i l i t y is p r o v i d e d i n the e q u i p m e n t g r o u p to e n h a n c e the confidence a n d r e l i a b i l i t y of the t e s t r e s u l t s . T h e R F s e l f - t e s t u n i t i n conjunction w i t h c o m m a n d d e c o d e r s a n d P C M s i m u l a t o r s a l l o w s c l o s u r e of the test e q u i p m e n t i n t e r f a c e l o o p s f o r a c o m p l e t e c h e c k o u t of the GSE o p e r a t i o n . I n a d d i t i o n , t h e self-test e q u i p m e n t w i l l b e d e s i g n e d t o p r o v i d e f a u l t i s o l a t i o n of t h e t e s t s y s t e m to r e p l a c e a b l e d r a w e r l e v e l s to i n c r e a s e m a i n t a i n a b i l i t y a n d a v a i l a b i l i t y .
P r e l i m i n a r y c o n f i g u r a t i o n s of the e q u i p m e n t r e q u i r e d to i m p l e m e n t the SLRV f u n c t i o n a l t e s t g r o u p a r e i l l u s t r a t e d i n F i g u r e 2. 16-6. T h e e l e c t r o n i c e q u i p m e n t h a s b e e n functionally s u b d i v i d e d f o r housing i n five console e n c l o s u r e s .
1.
T e s t control and monitor console S L R V i n t e r f a c e console D a t a p r o c e s s i n g console R e c o r d e r console Self t e s t c o n s o l e .
2.
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P r e l i m i n a r y i n v e s t i g a t i o n s show t h a t many- of the SLRV test f u n c t i o n s a r e similar o r d u p l i c a t e those r e q u i r e d f o r S u r v e y o r t e s t a n d checkout. Since the Surveyor equipment h a s been designed and fabricated, it r e q u i r e s only d u p l i c a t i o n . O t h e r SLRV t e s t functions d u p l i c a t e t h o s e being c o n s i d e r e d f o r SLRV GOE t o be i n s t a l l e d a t S F O F . I d e n t i c a l e q u i p m e n t s w i l l be u s e d f o r both p u r p o s e s w h e r e p o s s i b l e . P r e s e n t planning i s to extend t h e d e s i g n of t h e f u n c t i o n a l t e s t g r o u p t o the point of s o p h i s t i c a t i o n w h e r e i n t e s t d a t a c a n be r e c o r d e d , c o m piled, and u s e d i n computer programs to implement failure t r e n d analysis d u r i n g t h e l i f e of t h e SLRV. T e s t data a c c u m u l a t e d t h r o u g h o u t t h e f a c t o r y a n d p r e l a u n c h s e q u e n c e s w i l l be c o r r e l a t e d w i t h m i s s i o n r e c o r d e d d a t a to c o m p l e t e t h e time h i s t o r y . I t i s p o s s i b l e , t h r o u g h t h e s e a n a l y s e s , t h a t p r e d i c t i o n s of pending f a i l u r e s c a n be m a d e a n d d e g r a d e d m i s s i o n s e q u e n c e s S t u d i e s d u r i n g P h a s e I1 i n c o n i n i t i a t e d to p r o l o n g t h e e q u i p m e n t l i f e . j u n c t i o n w i t h GSE, r e l i a b i l i t y , a n d m a i n t a i n a b i l i t y e n g i n e e r s a s w e l l a s w i t h the SLRV a n d GOE d e s i g n e r s will be u n d e r t a k e n to i m p l e m e n t t h i s program.
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Figure 2.16-6 Functional T e s t Group Equipment Configuration
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P r e -Launch Checkout Equipment Group T h e p r e l a u n c h c h e c k o u t e q u i p m e n t g r o u p p r o v i d e s i t e m s of f u n c t i o n a l t e s t a n d m o n i t o r e q u i p m e n t n e c e s s a r y to s u p p o r t a c t i v i t i e s a f t e r i n t e g r a t i o n of t h e SLRV w i t h the S u r v e y o r S p a c e c r a f t a n d up u n t i l the t i m e of l a u n c h . P r e s u m a b l y t e s t i n t e r f a c e s w i l l not be a v a i l a b l e to t h e SLRV i t s e l f after the v e h i c l e h a s b e e n i n t e g r a t e d w i t h S u r v e y o r . A l l c o m m a n d a n d m o n i t o r functions r e q u i r e d f o r SLRV c h e c k o u t w i l l c o n s e q u e n t l y b e p r o c e s s e d t h r o u g h the S u r v e y o r /SLRV u m b i l i c a l c o n n e c t i o n s , a n d the GSE i n t e r f a c e w i l l be s t r i c t l y between S u r v e y o r e q u i p m e n t s . A m i n i m u m a m o u n t of c o n t r o l a n d m o n i t o r e q u i p m e n t w i l l be r e q u i r e d t o s u p p l e m e n t the S u r v e y o r S y s t e m t e s t e q u i p m e n t a s s e m b l y f o r i n t e g r a t e d s y s t e m tests. Duplicate s u p p l e m e n t a r y m o n i t o r a n d c o n t r o l e q u i p m e n t w i l l be p r o v i d e d f o r i n t e g r a t i o n w i t h SLOT f o r l a u n c h p a d c h e c k o u t . T h i s e q u i p m e n t w i l l i n t e r f a c e w i t h t h e SLRV b l o c k h o u s e m o n i t o r c o n s o l e which w i l l be u s e d d u r i n g countdown p r o c e d u r e s t o m o n i t o r SLRV condition. S u p p o r t of i n t e g r a t i o n s e q u e n c e s at AMR w i l l r e q u i r e t h e u s e of a s q u i b t e s t e r f o r c h e c k o u t of p y r o t e c h n i c s p r i o r t o i n s t a l l a t i o n i n the S L R V d e p l o y m e n t m e c h a n i s m . I t i s e x p e c t e d that t h i s t e s t e r i s a v a i l a b l e a n d n e e d not be d u p l i c a t e d . F i n a l d i s p o s i t i o n of t h e m e t h o d f o r handling the RTG w i l l d e t e r m i n e t h e u l t i m a t e GSE r e q u i r e m e n t s i n t h i s a r e a . T h e s u g g e s t e d a p p r o a c h r e q u i r e s t h a t a t e s t s e t b e a v a i l a b l e f o r c h e c k o u t of t h e RTG f u e l c e l l on r e c e i p t of t h e unit a t t h e l a u n c h s i t e a n d p r i o r t o i n s t a l l a t i o n . It is v i s u a l i z e d that this u n i t p r o b a b l y w i l l be a t h e r m a l m e a s u r i n g d e v i c e : p o s s i b l y a s t a n d a r d RTG t h e r m o c o u p l e unit. T h e f u e l c e l l would be p l a c e d i n t h e test s e t a n d output v o l t a g e and c u r r e n t m e a s u r e m e n t s would v e r i f y t h e t h e r m a l output of the r a d i o active f u e l . SLRV A l i g n m e n t a n d C a l i b r a t i o n E q u i p m e n t G r o u p T h i s g r o u p of e q u i p m e n t i n c l u d e s a w e i g h t , b a l a n c e , a n d c g test s t a n d , a r o t a t i n g t i l t t a b l e , and a s y s t e m of o p t i c a l i n s t r u m e n t s . T h e s e equipments a r e r e q u i r e d f o r supporting c r i t i c a l alignment adjustm e n t s and m e a s u r e m e n t s and for performing calibration p r o c e d u r e s which are n e c e s s a r y to supplement mission navigational techniques.
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T h e navigational c o n c e p t f o r the SLRV S y s t e m r e q u i r e d p r e c i s e knowledge of the r e l a t i v e a n g l e s between the i n c l i n o m e t e r , the s u n s e n s o r , a n d the T V c a m e r a . S o m e difficulty i s f o r e s e e n in r e t a i n i n g the r e q u i r e d a c c u r a c i e s between t h e s e s e n s o r s b e c a u s e of s t r u c t u r a l bending a n d m i s a l i g n m e n t s a s the v e h i c l e t r a v e r s e s v a r i o u s t e r r a i n s . T h e b a s i c SLRV s t r u c t u r a l d e s i g n w i l l r e d u c e t h e s e p r o b l e m s t o a m i n i m u m . Howe v e r , final a l i g n m e n t s a n d c a l i b r a t i o n p r o c e d u r e s m u s t b e p e r f o r m e d u n d e r p r e c i s e l y c o n t r o l l e d conditions to e n a b l e c o m p i l a t i o n of a c t u a l v e h i c l e p e r f o r m a n c e d a t a . T h e t r a n s f o r m a t i o n of d a t a t a k e n under e a r t h g r a v i t y f o r c e s to p r e d i c t e d conditions of l u n a r g r a v i t y i s of m a j o r c o n s e q u e n c e . T h e e q u i p m e n t c o n c e p t s d e s c r i b e d below w i l l be u s e d to a c c o m m o d a t e a s m u c h of the c a l i b r a t i o n a s p o s s i b l e i n a n e a r t h e n v i r o n m e n t ; h o w e v e r , a c o m p l e t e s t u d y of t h i s p r o b l e m w i l l be u n d e r t a k e n d u r i n g P h a s e 11. It i s p o s s i b l e t h a t the only f e a s i b l e solution m a y r e s u l t i n r e q u i r i n g a complete navigation c a l i b r a t i o n p r o c e d u r e p e r f o r m e d d u r i n g i n i t i a l checkout of the SLRV a f t e r d e p l o y m e n t on the l u n a r s u r f a c e . T h e c a l i b r a t i o n a n d a l i g n m e n t e q u i p m e n t ( F i g u r e 2. 1 6 - 7 ) can a l i g n a n d c a l i b r a t e the following SLRV s e n s o r s v i a optic m e a s u r e m e n t s : 1. TV camera Inclinometer Solar aspect sensor Antenna.
2.
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T h e f i x t u r e i s c o m p r i s e d of the s u r f a c e p l a t e c a p a b l e of o p t i c a l a l i g n m e n t to r e p r e s e n t the c o m m o n d a t a r e f e r e n c e point of all the c a l i b r a ting of the above e q u i p m e n t . A t t a c h e d t o t h i s p l a t e i s a r o t a t i n g a n d tilting t a b l e . T h e SLRV v e h i c l e w i t h a t t a c h i n g handling f r a m e i s m o u n t e d to a b a s e p l a t e on a d j u s t a b l e m a c h i n e d s u r f a c e b l o c k s ; a c c u r a t e a l i g n m e n t of the v e h i c l e is p e r f o r m e d o p t i c a l l y u s i n g s e n s i t i v e e q u i p m e n t c o l l i m e t e r s a n d t a r g e t s . T h i s e q u i p m e n t i s m o u n t e d o n s e i s m i c i s o l a t e d b l o c k s at the t h r e e t r u e p o s i t i o n points a n d b e a m e d i n a t the t a r g e t s m o u n t e d on the e q u i p m e n t t o a s s u r e the a b s o l u t e s t r a i g h t r e f e r e n c e l i n e . T h e b a s e p l a t e housing the v e h i c l e i s a d j u s t e d m e c h a n i c a l l y t h a t the v e r t i c a l c e n t e r l i n e of the c a m e r a i s m o u n t e d above the c e n t e r
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l i n e of a rotating t a b l e a n d a g a i n a l i g n e d o p t i c a l l y , u s i n g a t a r g e t o r b e n c h m a r k on the c a m e r a h o u s i n g . T r u e p o s i t i o n a n d r e a d o u t c a n be a c c u r a t e l y a s c e r t a i n e d by positioning the l e n s to O o on both e l e v a t i o n a n d a z i m u t h p l a n e s . B y r o t a t i n g a n d tilting the t a b l e to a n y d e t e r m i n e d a n g l e , c o m p a r i s o n of r e a d o u t by the t e s t s e t e q u i p m e n t c a n r e a d i l y a s s u r e the pointing a c c u r a c i e s of the c a m e r a . L e n s f o c u s i n g a c c u r a c y is c h e c k e d out by p l a c e m e n t of a T V t e s t p a t t e r n at a f i x e d d i s t a n c e f r o m t h e c a m e r a when the c a m e r a i s l o c k e d i n a t O o position: The inclinometer t e s t p r o c e d u r e is p e r f o r m e d s i m i l a r l y to the c a m e r a checkout w i t h the b a s i c s e t - u p of a l i g n m e n t . C o m p a r i s o n s of known pitch a n d r o l l a t t i t u d e s of the tilt t a b l e a r e m a d e w i t h the t e l e m e t e r e d inclinometer readouts. W i t h the v e h i c l e a l i g n e d to a t r u e h o r i z o n t a l O o p o s i t i o n a n d the v e r t i c a l c e n t e r l i n e of the s u n s e n s o r m o u n t e d to the c e n t e r l i n e of the t a b l e , a p e n t a p r i s m i s l o c a t e d on t h e s u n s e n s o r . B y s i g h t i n g f r o m the c o l l i m e t e r t h r o u g h the p e n t a p r i s m a s u n s i m u l a t o r c a n be l o c a t e d above the sun s e n s o r a n d f i x e d i n a p e r m a n e n t p o s i t i o n . T h e n by r o t a t i n g a n d t i l t i n g the t a b l e , t h e r e a d o u t f r o m t h e t e s t s e t c a n d e t e r m i n e t h e a c c u r a c y of a z i m u t h a n d z e n i t h p l a n e s of the sun s e n s o r s . T h e a n t e n n a c h e c k o u t p r o c e d u r e i s similar to the o t h e r a l i g n m e n t s , again mounting t h e v e r t i c a l c e n t e r of t h e a n t e n n a a b o u t the c e n t e r line of t h e t a b l e , fixing t r u e h o r i z o n t a l a n d a z i m u t h at Oo p o s i t i o n , a n d moving t h e t a b l e i n p o s i t i o n r e q u i r e d f o r t e s t . Keeping the b o r e s i g h t of the a n t e n n a a l i g n e d o p t i c a l l y a n d c o m m a n d i n g the a n t e n n a g i m b a l l i n g s y s t e m a s the r e f e r e n c e t a b l e i s t u r n e d a n d t i l t e d p r o v i d e s a m e a s u r e of a n t e n n a pointing c a p a b i l i t y . SLRV T r a n s p o r t a t i o n , Shipping, a n d Handling E q u i p m e n t T h i s g r o u p of e q u i p m e n t p r o v i d e s t h e c a p a b i l i t y f o r b a s i c handling, shipping, a n d t r a n s p o r t a t i o n of t h e S L R V a n d i t s s u b s y s t e m s . I n a c c o r d a n c e w i t h the o p e r a t i o n a l p r o f i l e de s c r i b e d p r e v i o u s l y , the SLRV w i l l be s h i p p e d a s a c o m p l e t e s y s t e m e x c e p t f o r i n s t a l l a t i o n of t h e RTG p o w e r s u p p l y f u e l .
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S p e c i a l p u r p o s e shipping c o n t a i n e r s m a y be r e q u i r e d w h i c h c a n s u p p l y p o w e r to t h e RTG e l e c t r i c h e a t e r e l e m e n t to k e e p it w a r m , a n d i n a d d i t i o n , p r o v i d e air conditioning t o cool the c o m p l e t e S L R V . S h i p m e n t of the RTG f u e l i m p o s e s a similar p r o b l e m of heat r e m o v a l a s w e l l a s that of s h i e l d i n g the r a d i o a c t i v i t y . It is e x p e c t e d t h a t shipping d e v i c e s a n d handling m e t h o d s f o r this w i l l be c o m p l e t e l y h a n d l e d by t h e A E C . S p e c i a l p u r p o s e handling e q u i p m e n t w i l l be r e q u i r e d t o a v o i d d a m a g e t o c r i t i c a l t h e r m a l s u r f a c e s and to f l e x i b l e s t r u c t u r a l m e m b e r s d u r i n g m o v e m e n t w i t h i n a test a r e a , a s s e m b l y , o r i n s t a l l a t i o n i n t o s h i p ping c o n t a i n e r s o r on the S u r v e y o r B u s . T h i s handling e q u i p m e n t w i l l u s e a t t a c h m e n t p o i n t s d e s i g n e d into the SLRV s t r u c t u r e w h i c h w i l l p r o v i d e t h e r e q u i r e d s t r e n g t h f o r s u p p o r t u n d e r the e a r t h e n v i r o n m e n t . T h e s e p o i n t s w i l l a l s o be u s e d a s the r e f e r e n c e f o r t h e S L R V / S u r v e y o r i n t e r f a c e s o t h a t m a s t e r tooling c a n be m a d e to c o n t r o l a n d c h e c k t h e m e c h a n i c a l f i t s . A b a s i c SLRV s u p p o r t f r a m e w i l l be p r o v i d e d a s handling e q u i p m e n t . T h i s s u p p o r t f r a m e a t t a c h e s d i r e c t l y to the SLRV s t r u c t u r e to p r o v i d e r i g i d i t y . T h e f r a m e i s d e s i g n e d t o pivot at the s a m e c e n t e r s of a r t i c u lating SLRV bodies; however, a rigid c r o s s m e m b e r provides support to p r e v e n t s a g at the j o i n t . T h i s b a s i c frame r e m a i n s w i t h the SLRV f r o m i n i t i a l a s s e m b l y to the t i m e of i n s t a l l a t i o n on t h e S u r v e y o r S p a c e c r a f t . All o t h e r handling, shipping, and transportation equipment a s well a s s p e c i a l t e s t f i x t u r e s w i l l a t t a c h to the b a s i c s u p p o r t f r a m e r a t h e r t h a n to t h e S L R V s t r u c t u r e . Service Equipment Group T h e S e r v i c e Equipment Group includes equipment p r i m a r i l y r e q u i r e d f o r s u p p o r t of the RTG power s u p p l y s u b s y s t e m . A s t a n d b y p o w e r s u p p l y w i l l be r e q u i r e d t o p r o v i d e p o w e r to t h e e l e c t r i c h e a t e r a t all t i m e s when the unit is not u n d e r t e s t . I n a d d i t i o n , a c o o l i n g s y s t e m w i l l be r e q u i r e d continuously to r e m o v e heat f r o m the S L R V . A t p r e s e n t , a f o r c e d a i r s y s t e m w i t h a c a p a c i t y of a b o u t 1 0 0 c f m is v i s u a l i z e d a s a d e q u a t e , h o w e v e r , it m a y be n e c e s s a r y to u s e p r e - c o o l e d air.
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I n s t a l l a t i o n o r r e p l a c e m e n t of t h e h e a t e r e l e m e n t i n t h e R T G , whether it b e the e l e c t r i c h e a t e r o r the a c t u a l fuel c e l l , r e q u i r e s evacua t i o n of the a i r a n d i n s e r t i o n of a n i n e r t a t m o s p h e r e . A v a c u u m p u m p and the i n e r t g a s p r e s s u r i z a t i o n e q u i p m e n t a r e c o n s e q u e n t l y p r o v i d e d a s p a r t of the s e r v i c e e q u i p m e n t p a c k a g e .
2.16. 2.2
GSE f o r S u r v e y o r M o d i f i c a t i o n
S e v e r a l i t e m s of s u p p o r t e q u i p m e n t a r e r e q u i r e d t o s u p p o r t m o d i f i c a t i o n a n d e q u i p m e n t s a d d e d to S u r v e y o r ; t h e s e a r e d i s c u s s e d i n t h e following p a r a g r a p h s . SLRV/Surveyor Umbilical Function T e s t Set T h i s t e s t s e t w i l l s i m u l a t e b a s i c f u n c t i o n s of the SLRV t o p r o v i d e a c h e c k o u t of the S u r v e y o r u m b i l i c a l c o n n e c t i o n s . A P C M t e l e m e t r y s i g n a l w i l l be p r o v i d e d t o s t i m u l a t e t h e S u r v e y o r p r o c e s s o r . Monitoring of the r e s u l t s w i l l b e a c c o m p l i s h e d by the S u r v e y o r S y s t e m t e s t equipment a s s e m b l y . T h e command functions c r o s s i n g the umbilical w i l l be decoded i n the t e s t s e t a n d d i s p l a y e d f o r the c o r r e c t i n d i c a t i o n . O t h e r u m b i l i c a l f u n c t i o n s w i l l s i m i l a r l y be c h e c k e d o u t by the t e s t s e t p r i o r to m a t i n g of the two s y s t e m s . D e p l o y m e n t M e c h a n i s m T e st F i x t u r e T h e d e p l o y m e n t m e c h a n i s m c o n s i s t s p r i m a r i l y of s t r u c t u r a l m e m b e r s which m a t e w i t h the SLRV a t t a c h m e n t p o i n t s . T h e t e s t f i x t u r e , c o n s e q u e n t l y , w i l l be m a d e up of c o m p o n e n t s m a d e f r o m m a s t e r t o o l i n g . T h e f i x t u r e w i l l be c a p a b l e of c h e c k i n g t h e S u r v e y o r a t t a c h m e n t i n t e r f a c e a s i n s t a l l e d on the s p a c e c r a f t . I n a d d i t i o n , t h e f i x t u r e w i l l i n c l u d e S L R V envelope dimensions so that c l e a r a n c e s a n d deployment p r o c e d u r e can be v e r i f i e d . Transponder T e s t Set The transponder t e s t s e t includes a signal generator f o r checkout of the r e c e i v i n g c o m p o n e n t s of the t r a n s p o n d e r a n d f r e q u e n c y a n d power m e a s u r i n g e q u i p m e n t f o r t r a n s m i t t e r t e s t s . A c c u r a t e m e a s u r e m e n t s of the p h a s e d e l a y s i n the t r a n s l a t o r w i l l b e m a d e i n the t e s t s e t to r e s u l t i n r a n g e c a l i b r a t i o n i n f o r m a t i o n . H a r d w i r e c o n n e c t i o n s t o t h e
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input connections m u s t be u s e d to c o n t r o l the c a l i b r a t i o n p r o c e d u r e ; how e v e r , f a c i l i t i e s w i l l be p r o v i d e d to allow a g o / n o - g o c h e c k o u t of the t r a n s p o n d e r s y s t e m v i a a n a n t e n n a link. F i n a l c a l i b r a t i o n of the R F ranging s y s t e m would be a c c o m plished during SLRV/Surveyor integration t e s t s . A calibrated attenuator would be p l a c e d b e t w e e n the r e s p e c t i v e e q u i p m e n t d i p l e x e r s a n d z e r o r a n g e m e a s u r e m e n t s p e r f o r m e d v i a SLRV t e l e m e t r y s i g n a l s . Shipping C o n t a i n e r s Shipping c o n t a i n e r s w i l l be p r o v i d e d f o r a l l S u r v e y o r m o d i f i cation c o m p o n e n t s . At p r e s e n t i t a p p e a r s t h a t t h e r e a r e no s p e c i a l r e q u i r e m e n t s o t h e r t h a n p r o t e c t i o n f r o m n o r m a l t r a n s p o r t a t i o n handling shock and vibration. T h e f i n a l r e q u i r e m e n t for s u r v e y o r m o d i f i c a t i o n s u p p o r t f a c i l i t i e s h a s not b e e n p r e c i s e l y d e t e r m i n e d a t t h i s t i m e . It is p o s s i b l e , f o r e x a m p l e , t h a t s o m e ( o r a l l ) of the c o m p o n e n t s r e q u i r e d f o r S u r v e y o r m o d i f i c a t i o n w i l l be s p e c i f i e d by the SLRV c o n t r a c t o r a n d f a b r i c a t e d by H u g h e s A i r c r a f t C o r p o r a t i o n . I n this c a s e , d i s p o s i t i o n of the GSE p a c k a g e would h a v e to be r e s o l v e d d u r i n g the P h a s e I1 d e v e l o p m e n t p r o g r a m .
2. 1 6 . 2 . 3
GSE f o r the G r o u n d O p e r a t i n g E q u i p m e n t
T h e GSE r e q u i r e d f o r supporting the GOE to be i n s t a l l e d a t DSIF a n d S F O F f a c i l i t i e s i n c l u d e s a f u n c t i o n a l t e s t g r o u p , a n SLRV s i m u l a t o r a n d t r a n s p o r t a t i o n , handling, and shipping e q u i p m e n t . T h e functional t e s t group is u s e d d u r i n g i n i t i a l i n s t a l l a t i o n a n d c h e c k o u t of the GOE a n d a s n e c e s s a r y f o r m a i n t e n a n c e d u r i n g o p e r a t i o n a l u s e . I t i s p r e s e n t l y c o n t e m p l a t e d that the GOE w i l l i n c l u d e a c o m p l e t e self t e s t c a p a b i l i t y ; c o n s e q u e n t l y , the m a j o r p o r t i o n of the functional t e s t g r o u p i s e x p e c t e d to be s t a n d a r d l a b o r a t o r y i n s t r u m e n t a t i o n . S o m e s p e c i a l p u r p o s e s i m u l a t o r s a n d i n t e r f a c e junction b o x e s m a y be r e q u i r e d f o r c o m p l e t e f a u l t i s o l a t i o n a n d c a l i b r a t i o n . Diagnostic p r o g r a m s d e s i g n e d to c h e c k o u t f u n c t i o n a l l y the o p e r a t i o n of the c o m p u t a t i o n a l e l e m e n t s w i l l a l s o be p r o v i d e d . C o m p l e t e a n a l y s i s of the m a i n t e n a n c e p r o b l e m s w i l l b e c o m p l e t e d d u r i n g P h a s e 11 to r e s u l t i n s p e c i f i c r e c o m m e n d a t i o n s f o r GSE f u n c t i o n s . F o r e x a m p l e , a c o m p l e t e a r r a y of individual d r a w e r t e s t e r s m a y be a n u l t i m a t e r e q u i r e m e n t .
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T h e SLRV s i m u l a t o r is v i s u a l i z e d a s a d e v i c e to be u s e d f o r f i n a l GOE a c c e p t a n c e d e m o n s t r a t i o n s a s w e l l a s f o r o p e r a t o r t r a i n i n g e x e r c i s e s . T h i s s i m u l a t o r would be a n a c t u a l v e h i c l e similar to the SLRV but s c a l e d a n d m o d i f i e d to o p e r a t e i n the e a r t h ' s g r a v i t y e n v i r o n m e n t . T h e f i n a l n e c e s s i t y a n d d e s i r a b i l i t y of t h i s s i m u l a t o r s h o u l d b e c o n s i d e r e d d u r i n g l o g i s t i c s t u d i e s i n Phase 11. Shipping c o n t a i n e r s f o r the GOE c o m p o n e n t s w i l l be d e s i g n e d to m e e t s t a n d a r d g r o u n d a n d handling e n v i r o n m e n t a l c o n d i t i o n s . N o unique requirements for these i t e m s a r e contemplated.
2. 16. 3
R e c o m m e n d a t i o n s f o r GSE I m p l e m e n t a t i o n
The preceding discussion provides a p r e l i m i n a r y b a s i s f o r implementing the GSE s y s t e m . P h a s e I1 e x p a n s i o n of t h i s p l a n s h o u l d be a p p r o a c h e d jointly by the SLRV c o n t r a c t o r a n d J P L to p r o v i d e a l o g i c a l s t e p - b y - s t e p a n a l y s i s of the c o m p l e t e s u p p o r t p r o b l e m . T h i s appr'oach w i l l r e s u l t i n t h e m o s t e c o n o m i c a l a n d r e a l i s t i c u t i l i z a t i o n of s t a n d a r d shelf i t e m s and i n v e n t o r i e d s p e c i a l p u r p o s e i t e m s i n conjunction w i t h i t e m s r e q u i r i n g new d e v e l o p m e n t . A s a n e x a m p l e , s e v e r a l i t e m s r e q u i r e d f o r S u r v e y o r s u p p o r t a r e similar to t h o s e n e e d e d i n the SLRV P r o g r a m . T h e s e i t e m s c o u l d p o s s i b l y be b a i l e d to the SLRV c o n t r a c t o r a s G F E o r duplication c o u l d be i n i t i a t e d w i t h a m i n i m u m of r e d e s i g n e f f o r t .
A s i n all p r o g r a m s , t h e definition a n d i m p l e m e n t a t i o n of t h e GSE l a g s behind the o p e r a t i o n a l e q u i p m e n t . E a r l y r e c o g n i t i o n of t h e r e q u i r e m e n t s and a joint effort between the c u s t o m e r a n d the c o n t r a c t o r w i l l help to p r e v e n t GSE s c h e d u l i n g p r o b l e m s .
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c
SECTION 3 PERFORMANCE CHARACTERISTICS AND LIMITA TIONS T a b l e 3. 1 - 1 s u m m a r i z e s e a c h key S L R V p e r f o r m a n c e c h a r a c t e r i s t i c and limitation. S u b s t a n t i a t i o n of t h i s i n f o r m a t i o n i s c o n t a i n e d i n Volume 111, Book 2, f o r both the a n a l y t i c a l a n d e x p e r i m e n t a l i t e m s e x c e p t f o r t h e E T M ; t h i s i n f o r m a t i o n is c o v e r e d i n Volume V.
3- 1
BSR
903
TABLE 3.1-1
KEY S L R V PERFORMANCE CHARACTERISTICS
~
Function General SLRV S y s t e m Weight SLRV Configuration S L R V Stowed cg Mobility Speed, MPH S t e p s , C l i m b i n g CM Slopes, Climbing D e g r e e s Bearing Strength Gradient psi/f C r e v i c e C r o s s i n g CM Telecommunications P o w e r (for 2 10' DSIF) Bit Rate Normal Bits/sec Emergency Bits/sec E r r o r Rate Normal Emergency Antenna O m n i d i r e c t i o n a l Cove r a g e Directional (Gain) Scientific Protuberances and Depression detection CM Slopes D e g r e e s Bearing Strength Prime Power Day Night Navigation Azimuth E r r o r Range E r r o r (Interpoint) Range E r r o r (Intrapoint) Deployment
Requirement
Capability
100 l b HAC 2 3 9 5 0 3 HAC 2 3 9 5 0 3
100 l b
Feasible Conforms
0. 16
30 15
0. 16
42 2 2 Soft s o i l 41 Hard soil 1. 0 29. 2
1. 0
30
2 watts
2 watts
122,800 960
122, 800 960
M a x A c c e p t a b l e 103 M a x A c c e p t a b l e 10 -3
U n d e r 10 U n d e r 10
3
3
Hemispherical 17 d b
243O 17 d b
f 25
f
19
L-
z 8 p s i to 50 c
8 \ h v s z p s i t o 5 0 cm)
\9
Operate Survival
OK
OK
43 A r c - Minutes
1 3% 0. 7 %
15' s l o p e w i t h 10-cm o b s t a c l e 105 D a y s M a r k Site
35 A r c - M i n u t e s 3 0. 770 4 27 0
Mission Life Marking
' SLRV
communication link direct to DSIF
Except for brief period around lunar midday C a p a b i l i t y w h e n w i t h i n l i n e of s i g h t w i t h S u r v e y o r C a n be i m p r o v e d w h e n R F r a n g i n g is u s e d .
3-2
~
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