Crew Mobilityfor Lunar Surface Exploration

Dr. Rob Ambrose

NASA-JSC

May 2008

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Topics for this Morning

Lunar Architecture Team Lunar Challenges

Landing Sequences

Rover Configurations Un-Pressurized Rovers

Small Pressurized Rover

Recent Work Chariot Prototype

SPR Cabin Design

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Challenges of the Lunar Southpole

The Good News

Many interesting scientific sites.

Peaks of “perpetual light”.

Easier transportation access.

Potentially moderate temperatures.

Long term Earth communication.

The Bad News

Very rough terrain.

Very complicated lighting.

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Lessons (Still Remembered) from Apollo

1/6 G Driving Dynamics

Limited Apollo speed.

Beware of pitch mode oscillations.

Consider alternatives to seats?

Beware of passive suspension.

Beware of Dust.

Engine Ejecta Not a problem for Apollo.

Descent / ascent engines will fire.

Vicinity will be “sand blasted”.

Landing Simulation (JPL Radar Data)

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So What’s the Big Idea?

1969, Apollo 11ATHLETEMobility

System (2)

ATHLETEMobility

System (2)

Small Pressurized Rover (SPR)

Small Pressurized Rover (SPR)

HabitationElement

HabitationElement

Common AirlockWith Lander

Common AirlockWith Lander

ISRU Oxygen

Production Plant

ISRU Oxygen

Production Plant

Integrated Cargo Pallet (ICP)( Supports / scavenges from

crewed landers )

Integrated Cargo Pallet (ICP)( Supports / scavenges from

crewed landers )

HabitationElement

HabitationElement

LogisticsPantry

LogisticsPantry

Unpressurized Rover

Unpressurized Rover

10 kW Arrays (net)10 kW Arrays (net)

Lunar Outpost Surface Systems (Conceptual)Lunar Outpost Surface Systems (Conceptual)

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Multi Lander Sequence (Early Habitation)

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500

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1500

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- Crew Size

- Mission Duration

4180

4180

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4180

4180

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FY29FY20 FY21 FY22 FY23 FY24 FY25 FY26 FY27 FY28FY19

CT

MCT

CMC

OTSE

Core Hab & PSU

CDK

SPR

SPR

CMC

QuickTime™ and aTIFF (Uncompressed) decompressor

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QuickTime™ and aTIFF (Uncompressed) decompressor

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QuickTime™ and aTIFF (Uncompressed) decompressor

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QuickTime™ and aTIFF (Uncompressed) decompressor

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MMPU

Tri-ATHLETE x2

RPLM#2 & PSU

Tri-ATHLETE x2

RPLM#1& PSU

DPLM & PSU

1284 total surface days

Notes:

• Unpressurized, Liquid, & Gas carriers not shown

• Each Crewed Lander & Flight 1 has 500 kg of Science

TS3 Hold Opportunity

OTSE

Core Hab & PSU

RPLM#1& PSU

RPLM#2& PSU

DPLM

DPLM

DPLM

DPLM

OPS Plant & Tools

OPS Plant & Tools

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Multi Lander Sequence (Early Mobility)

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500

1000

1500

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2500

Cu

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4180

4

00

0

000

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430

47

414

414

490

#

#

- Crew Size

- Mission Duration

4180

4180

00

00

4180

4180

00

FY29FY20 FY21 FY22 FY23 FY24 FY25 FY26 FY27 FY28FY19

CT

SPR

SPR

CMC

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

QuickTime™ and aTIFF (Uncompressed) decompressor

are needed to see this picture.

MMPU

Tri-ATHLETE x2

RPLM#2 & PSU

Tri-ATHLETE x2

RPLM#1 & PSU

DPLM

1235 total surface days

Notes:

• Unpressurized, Liquid, & Gas carriers not shown

• Each Crewed Lander & Flight 1 has 500 kg of Science

TS2 HoldOpportunity

OTSE

Core Hab & PSU

RPLM#1& PSU

RPLM#2& PSU

Core Hab & PSU

CCK

MCT

DPLM & PSU

DPLM

DPLM

DPLM

OPS Plant & Tools OPS

Plant & Tools

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Extreme Mobility

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UPR Concept

Cabin mounts on UPR Chassis

Hatch for Docking with Habitat IV Transfer of crew

Reduced dust in cabin.

Expands habitat.

Suit Port for EVA Fast egress.

Reduces dust in cab.

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SPR Concept

Cabin mounts on UPR Chassis

Hatch for Docking with Habitat IV Transfer of crew

Reduced dust in cabin.

Expands habitat.

Suit Port for EVA Fast egress.

Reduces dust in cab.

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UPR Lander Packaging

Packing with Habitat Modules

Many Habitat options on central plane.

Two UPR’s can pack on deck sides.

UPR Deployment

Crane or Davit deployment.

With or without EVA help.

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UPR Folding Wheels

SuspensionFoldingBracket

•Reduced Stow Volume•Produces Flat Stow Deck•Locks Suspension for Flight•Provides EVA Repair Point

Design Benefits

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SPR & ATHLETE Lander Packaging

ATHLETE on Lander

ATHLETE legs folded for launch

ATHLETE slides/walks off lander deck

SPR on ATHLETE on Lander

SPR packed with “belly” flat on ATHLETE frame.

SPR stands up and drives off ATHLETE.

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SPR’s Directly on Lander Packaging

Two SPR’s on Lander

Various geometries are possible.

Room is available for extra chassis

SPR Deployment

Crane or Davit deployment.

With or without EVA help.

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A Layered Approach to Safety

Enough Cartoons,Now For Some Real Robots……

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Chariot- NASA’s UPR Prototype

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

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

Technology Collaborations EVA (Advanced Suits & Suitports) Thermal Control ISRU Power Surface Communications

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Redundant Kinematics

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High Speed Driving

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Active Suspension

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Crew Accommodations

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Night Driving

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Dozing

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Robotic Driving

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EVA Mounting and Dismounting

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SPR Design Work

Mobile HabitationATHLETE Based habitats can move between multiple landing sites.

Crew MobilityChariot based rovers with cabins expands crew range and safety.

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SPR Design Work

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SPR Design Work

SPR Mass 2500 Kg Dry Cabin Mass

3000 Kg Cabin w/ Crew

4000 Kg with chassis

Features ~10 cubic meters IV

PLSS Based ECLSS

Water wall radiation shield

Water/Ice wall thermal mass

Two suitports on aft bulkhead

Extended range battery (100 kW-Hr)

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SPR Design Work

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SPR Design Work

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SPR Design Work

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SPR Design Work

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

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

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