EVA and Mobility Systems Engineering

Michael RouenRobert C. TrevinoJoe KosmoNASA Johnson Space Center

AgendaAgenda

EVA Challenges for Exploration

Space Suit Assembly System Requirements Cardinal Elements

Human/Robotics & Analog Testing

Portable Life Support Next Generation PLSS Development – Story of a Design Effort Lessons Learned

Conclusion

EVA Challenges for Exploration

Space Suit Assembly System Requirements Cardinal Elements

Human/Robotics & Analog Testing

Portable Life Support Next Generation PLSS Development – Story of a Design Effort Lessons Learned

Conclusion

EVA Challenges for Exploration

Robert C. Trevino

NASA JSC

EVA Systems ContentEVA Systems Content Suit Systems

Life support systems and pressure garments required to protect crewmembers from ascent/entry, in-space, and planetary environmental conditions

EVA Tools and Mobility Aids Equipment necessary to perform in-space contingency and planetary exploration EVA

tasks• For CEV contingency EVA, may include drives, ratchets, sockets, restraint

equipment, etc.• For planetary exploration, may include drills, hammers, walking sticks, geological test

equipment, etc.• For planetary exploration, may include rovers, “assistant” robots, etc.

Vehicle Support Systems Equipment necessary to interface the EVA system with the Constellation vehicles

• May include suit mounting equipment, consumable recharge hardware, airlock subsystems, etc.

Ground Support Systems Equipment and facilities required to test and verify EVA development and flight systems

Suit Systems Life support systems and pressure garments required to protect crewmembers from

ascent/entry, in-space, and planetary environmental conditions

EVA Tools and Mobility Aids Equipment necessary to perform in-space contingency and planetary exploration EVA

tasks• For CEV contingency EVA, may include drives, ratchets, sockets, restraint

equipment, etc.• For planetary exploration, may include drills, hammers, walking sticks, geological test

equipment, etc.• For planetary exploration, may include rovers, “assistant” robots, etc.

Vehicle Support Systems Equipment necessary to interface the EVA system with the Constellation vehicles

• May include suit mounting equipment, consumable recharge hardware, airlock subsystems, etc.

Ground Support Systems Equipment and facilities required to test and verify EVA development and flight systems

EVA Suit Technology ChallengesEVA Suit Technology Challenges

Flexible, open architecture which can support multi-use and multi-destination operations with minimal system reconfiguration

Lightweight, highly mobile suits and dexterous gloves to increase crew productivity, minimize crew injury, and enable long-duration missions and high EVA use rates

Easily sizeable garments to fit a wide range of anthropometric sizes

Advanced life support systems to minimize weight and decrease consumables

Advanced power systems to minimize weight and increase cycle and shelf life

Advanced thermal control to increase crew comfort, decrease consumables, and enable multiple destinations

Dust and radiation protective materials and concepts

State of the art communications and computing capability for multi-media crew-ground interaction (e.g., integrated communications, high tech information systems, and heads-up displays)

Integrated human-robotic work capability to increase safety, efficiency, & productivity

Flexible, open architecture which can support multi-use and multi-destination operations with minimal system reconfiguration

Lightweight, highly mobile suits and dexterous gloves to increase crew productivity, minimize crew injury, and enable long-duration missions and high EVA use rates

Easily sizeable garments to fit a wide range of anthropometric sizes

Advanced life support systems to minimize weight and decrease consumables

Advanced power systems to minimize weight and increase cycle and shelf life

Advanced thermal control to increase crew comfort, decrease consumables, and enable multiple destinations

Dust and radiation protective materials and concepts

State of the art communications and computing capability for multi-media crew-ground interaction (e.g., integrated communications, high tech information systems, and heads-up displays)

Integrated human-robotic work capability to increase safety, efficiency, & productivity

Constellation EVA and Crew Survival Capabilities NeededConstellation EVA and Crew Survival Capabilities Needed

Crew protection and survivability during launch, entry and abort (LEA) scenarios **Apollo Program example: Cabin depressurization protection

Zero-gravity EVA capability for In-space Contingency EVA.

**Apollo Program example: Return from LEM to CM Contingency EVA

Surface EVA capability for planetary exploration

Lunar Sortie/Outpost/Mars Lunar Sortie/Outpost/Mars

CEV to ISS CEV to ISS

CEV to LunarCEV to Lunar

EVA and Suit Systems InterfacesEVA and Suit Systems Interfaces

Ground Support SystemGround Support SystemEarth, In-space & Planetary Environments

Earth, In-space & Planetary Environments

CEVCEV AirlocksAirlocks

LanderLander

HabitatHabitatRoversRovers

Tools & Mobility AidsTools & Mobility Aids Robotic AssistantsRobotic Assistants

Other Constellation VehiclesOther Constellation Vehicles

Power System

Comm System

Thermal System

Mobility System

Life Support System

Structure/Materials

Environmental Protection

System

Emergency System

■Testing ■ Processing ■ Simulators/Analogs ■ Trainers■ MCC

Historical perspectivesHistorical perspectivesPressure

(emergency only)

MercuryMercury GeminiGemini ApolloApollo SkylabSkylab

PAST

PRESENT

FUTURE

Shuttle ACESShuttle ACES Shuttle/ISS EMUShuttle/ISS EMU

D SuitD Suit I SuitI Suit H SuitH Suit

Umbilical only pressure suit

Autonomous Surface pressure suit

Simplified Apollo

Autonomous 0-G EVA Orlan (rear entry)

Soft w/bearings @ upper body joints

Hard/Soft Hybridw/multi-axis mobility jointsSoft, lightweight

Launch, entry suit

ISS Russian OrlanISS Russian Orlan Russian SokolRussian Sokol

Launch, entry suit

Human Planetary Surface Exploration Experience Human Planetary Surface Exploration Experience

When Last Accomplished: 34 Years Ago!When Last Accomplished: 34 Years Ago!

Total number of 2-man EVAs 14

Total Duration of EVAs 81 hrs (3.4 days)

Average EVA duration 6 hrs

Total EVA traverse distance 59.6 miles

Shortest EVA distance .16 miles Apollo 11

Longest EVA distance 21.9 miles Apollo 17

Apollo Mission 11 12 14 15 16 17

Number of EVAs conducted 1 2 2 3 3 3

Duration of EVAs (hrs.) per crewmember 2.8 7.8 9.4 18.6 20.2 22.1

Total traverse distance (miles) 0.16 1.25 2.1 17.4 16.8 21.9

Design ChallengesDesign Challenges

Early experiences with pressure suits on Gemini, Mercury and Apollo, along with non-existent Shuttle suit requirements in the programs early stages, led to the dual pressure suit approach that currently supports the Shuttle program. The Advanced Crew Escape Suit (ACES) and the Extravehicular Mobility

Unit (EMU) have served as the crew escape and extravehicular activity (EVA) pressure suits for quite some time.

The EMU, over 25 years old and facing significant obsolescence issues, is not compatible with the planetary environments of either the Moon or Mars and does not support the logistical requirements of long term missions. The ACES was not designed to perform EVAs.

The Russian Orlan and Sokol, while slightly varied in design, have many of the same limitations.

To support the Vision for Space Exploration (VSE) and Constellation objectives, it is necessary to develop a new pressurized suit system. One that is smart and evolvable.

Early experiences with pressure suits on Gemini, Mercury and Apollo, along with non-existent Shuttle suit requirements in the programs early stages, led to the dual pressure suit approach that currently supports the Shuttle program. The Advanced Crew Escape Suit (ACES) and the Extravehicular Mobility

Unit (EMU) have served as the crew escape and extravehicular activity (EVA) pressure suits for quite some time.

The EMU, over 25 years old and facing significant obsolescence issues, is not compatible with the planetary environments of either the Moon or Mars and does not support the logistical requirements of long term missions. The ACES was not designed to perform EVAs.

The Russian Orlan and Sokol, while slightly varied in design, have many of the same limitations.

To support the Vision for Space Exploration (VSE) and Constellation objectives, it is necessary to develop a new pressurized suit system. One that is smart and evolvable.

Design Challenges (1 vs 2 vs 3 suits…)Design Challenges (1 vs 2 vs 3 suits…)

The broad range of operational environments that this new suit system will be required to support poses some new challenges in selecting and designing the appropriate suit architecture.

However, the potential programmatic benefits of developing, operating and sustaining a common/evolvable single suit system architecture warrant a more thorough examination.

Development of a single integrated IVA/EVA suit system that satisfies all of the Constellation capability requirements versus a multiple suit approach is a programmatic decision that is at the forefront of the Exploration pressure suit development activity.

The broad range of operational environments that this new suit system will be required to support poses some new challenges in selecting and designing the appropriate suit architecture.

However, the potential programmatic benefits of developing, operating and sustaining a common/evolvable single suit system architecture warrant a more thorough examination.

Development of a single integrated IVA/EVA suit system that satisfies all of the Constellation capability requirements versus a multiple suit approach is a programmatic decision that is at the forefront of the Exploration pressure suit development activity.

Design Challenges (1 vs 2 vs 3 suits…)Design Challenges (1 vs 2 vs 3 suits…)

Some basic design challenges that need to be examined include

For IVA un-pressurized periods, the suit needs to support the crew for long periods of time (i.e. launch/entry/abort and in-flight powered phases). These phases alone would lean towards a lightweight, low-bulk, all fabric-based garment structure, minimizing hard-contact points.

For EVA, more gross mobility is necessary to support planetary exploration. For surface EVA alone, this would lean towards a more rigid, high bulk suit for operating in an upright position but could be uncomfortable to wear in a recumbent position as necessary for IVA phases.

Some basic design challenges that need to be examined include

For IVA un-pressurized periods, the suit needs to support the crew for long periods of time (i.e. launch/entry/abort and in-flight powered phases). These phases alone would lean towards a lightweight, low-bulk, all fabric-based garment structure, minimizing hard-contact points.

For EVA, more gross mobility is necessary to support planetary exploration. For surface EVA alone, this would lean towards a more rigid, high bulk suit for operating in an upright position but could be uncomfortable to wear in a recumbent position as necessary for IVA phases.

The overall NASA goal is to get to Mars by using LEO and Lunar missions as

stepping stones

The overall NASA goal is to get to Mars by using LEO and Lunar missions as

stepping stones

• Initial Prove-Out– System Verification– Improve Design– Etc.

• Final Goal– Long Term Use– Reliability– Maintainability

Lunar Mars

• Long Term Testing– Planetary EVA– Habitat– Etc.

LEO

The number of EVA’s between overhauls will need to significantly increase in order

to support future missions

The number of EVA’s between overhauls will need to significantly increase in order

to support future missions

Shuttle Lunar/Mars(1)

5 EVA 300 – 500 EVA

ISS

25 EVA

Maintenance Goal = 4% of EVA TimeRepair Goal = 1% of EVA Time

Notes: (1) Assumes 2 year mission, EVA every other day

Recertification5XRecertification5X

Redesign20XRedesign20X

Shuttle/ISS EMU Component Weight: 73 lbs Packaging Weight: 79 lbs Total: 152 lbs Mars: 35-70 lbs

PLSS design objectives Flexible (upgradeable & evolvable) Mission maintainable Small Reliable Lightweight Robust

EVA ChallengesEVA Challenges

There are many technology components and system options already in development that may support VSE EVA requirements

There are many technology components and system options already in development that may support VSE EVA requirements

NASA must determine the optimum combination of these life support technologies (i.e., a functional support schematic) that meets the mission requirements

NASA must determine the optimum combination of these life support technologies (i.e., a functional support schematic) that meets the mission requirements

PLSS Packaging DriverPLSS Packaging DriverSchematic Need StatementSchematic Need Statement

Technology Options to ConsiderTechnology Options to Consider

CO2/Humidity Control

Vent Flow and Pressure Control

Thermal Control

Oxygen

Power

Electronics

Packaging Concepts

CO2/Humidity Control

Vent Flow and Pressure Control

Thermal Control

Oxygen

Power

Electronics

Packaging Concepts

XX% Reduction inSSA MassXX% Reduction inSSA Mass

51% Reduction in PLSSPackaging Factor51% Reduction in PLSSPackaging Factor

0% Reduction in PLSSComponent Mass0% Reduction in PLSSComponent Mass

XX% Reduction in PLSS MaintenanceXX% Reduction in PLSS Maintenance

XX% Reduction inSSA MassXX% Reduction inSSA Mass

59% Reduction in PLSSPackaging Factor59% Reduction in PLSSPackaging Factor

43% Reduction in PLSSComponent Mass

43% Reduction in PLSSComponent MassXX% Reduction in PLSS MaintenanceXX% Reduction in PLSS Maintenance

ChallengesChallenges

Shuttle ExtravehicularMobility Unit

Mk. III / DO2Study

Advanced TechnologySpacesuit

SSA xxx lbs.

PLSS 145 lbs.

Total xxx lbs.

PF: 1.59

SSA 129 lbs.

PLSS 200 lbs.

Total 329 lbs.

PF: 2.20

SSA 35 lbs.

PLSS 65 lbs.

Total 100 lbs.

PF: 1.24

Environmental Challenges to ConsiderEnvironmental Challenges to Consider

Thermal Control Need for cooling Need for thermal insulation

Dust Mitigation Need for dust collection and/or removal

Radiation Protection Need for human body protection

Thermal Control Need for cooling Need for thermal insulation

Dust Mitigation Need for dust collection and/or removal

Radiation Protection Need for human body protection

EVA Technologies NeededEVA Technologies Needed

Environmental Protection Radiation protection technologies that protect the suited

crewmember protection technologies that provide self-sealing capabilities Dust and abrasion protection materials or technologies to

exclude or remove dust, withstand abrasion, and prevent dust adhesion

Flexible space suit thermal insulation suitable for use in vacuum and low ambient pressure

Environmental Protection Radiation protection technologies that protect the suited

crewmember protection technologies that provide self-sealing capabilities Dust and abrasion protection materials or technologies to

exclude or remove dust, withstand abrasion, and prevent dust adhesion

Flexible space suit thermal insulation suitable for use in vacuum and low ambient pressure

EVA Technologies NeededEVA Technologies Needed

Life Support System Long-life and high capacity chemical oxygen storage systems for

an emergency supply of oxygen for breathing Low-venting or non-venting regenerable individual life support

subsystem concepts for crewmember cooling, heat rejection, and removal of expired water vapor and CO2

Lightweight convection and freezable radiators for thermal control

Innovative garments that provide direct thermal control to crewmembers

CO2 and humidity control devices that, while minimizing expendables function in CO2 environment

Life Support System Long-life and high capacity chemical oxygen storage systems for

an emergency supply of oxygen for breathing Low-venting or non-venting regenerable individual life support

subsystem concepts for crewmember cooling, heat rejection, and removal of expired water vapor and CO2

Lightweight convection and freezable radiators for thermal control

Innovative garments that provide direct thermal control to crewmembers

CO2 and humidity control devices that, while minimizing expendables function in CO2 environment

EVA Technologies NeededEVA Technologies Needed

Sensors, Communications, Cameras, and Informatics Systems Space suit mounted displays for use both inside and outside the

space suit CO2, biomed, radiation monitoring, and core temperature

sensors with reduced size, lightweight, increased reliability, decreased wiring, and packaging flexibility

Lightweight sensors systems that detect N2, CO2, NH4, O2, ammonia, hydrazine partial pressures

Sensors, Communications, Cameras, and Informatics Systems Space suit mounted displays for use both inside and outside the

space suit CO2, biomed, radiation monitoring, and core temperature

sensors with reduced size, lightweight, increased reliability, decreased wiring, and packaging flexibility

Lightweight sensors systems that detect N2, CO2, NH4, O2, ammonia, hydrazine partial pressures

EVA Technologies NeededEVA Technologies Needed

EVA Mobility Spacesuit low profile bearings for partial gravity mobility

requirements and are lightweight

Integration Minimum gas loss airlocks providing quick exit and entry

EVA Navigation and Location Systems and technologies for providing an EVA crewmember

real-time navigation and position information while traversing on foot or a rover.

EVA Mobility Spacesuit low profile bearings for partial gravity mobility

requirements and are lightweight

Integration Minimum gas loss airlocks providing quick exit and entry

EVA Navigation and Location Systems and technologies for providing an EVA crewmember

real-time navigation and position information while traversing on foot or a rover.

Space Suit Assembly

Enhancing the Capabilities of Space-Suited Planetary Surface Crewmembers

Potential Application of SOA & Emerging Technologies

Information Provided by: Joe Kosmo, JSC

Limitations of Existing EVA ArchitectureLimitations of Existing EVA Architecture

The mass & mobility of current Shuttle/ISS space suit is not acceptable for use in a partial gravity environment due to the following: Not capable of kneeling, bending, or prolonged

walking No dust control/protection Chest-mounted display degrades arm/hand

work envelop and foot visibility Thermal protection (vacuum environments only)

is too bulky, thus impeding mobility and glove dexterity/tactility

PLSS consumables require frequent replenishment or time & power to re-charge

Spacesuit and PLSS not totally serviceable by astronauts

The mass & mobility of current Shuttle/ISS space suit is not acceptable for use in a partial gravity environment due to the following: Not capable of kneeling, bending, or prolonged

walking No dust control/protection Chest-mounted display degrades arm/hand

work envelop and foot visibility Thermal protection (vacuum environments only)

is too bulky, thus impeding mobility and glove dexterity/tactility

PLSS consumables require frequent replenishment or time & power to re-charge

Spacesuit and PLSS not totally serviceable by astronauts

24

Generic EVA System NeedsGeneric EVA System Needs

Space Suit SystemProtection from hazards of new mission

environmentAppropriate pressure to eliminate “bends”

risk & pre-breathe requirementsLong-term durability & reliability to function

over mission life cycleMinimize weight and bulkSimple re-sizing capability to accommodate

various ranges of anthropometryHigh degree of mobility & comfortProvisions to accommodate & interface

ancillary support elements (cooling garment, bio-sensors, communications system, PLSS, etc.)

Accommodate mission vehicle interface requirements

Space Suit SystemProtection from hazards of new mission

environmentAppropriate pressure to eliminate “bends”

risk & pre-breathe requirementsLong-term durability & reliability to function

over mission life cycleMinimize weight and bulkSimple re-sizing capability to accommodate

various ranges of anthropometryHigh degree of mobility & comfortProvisions to accommodate & interface

ancillary support elements (cooling garment, bio-sensors, communications system, PLSS, etc.)

Accommodate mission vehicle interface requirements

Portable Life Support SystemMinimize use of expendables

(water, oxygen, power)

Provide high level of reliability & safety

Minimize weight & volume by efficient component packaging

Provide ease of maintenance & repair during the mission

Maintain normal range of physiological aspects of crew during wide range of metabolic activities (O2 level, CO2 level, ventilation flow-rates, temperature conditions)

Provide integration capability with spacesuit system

Portable Life Support SystemMinimize use of expendables

(water, oxygen, power)

Provide high level of reliability & safety

Minimize weight & volume by efficient component packaging

Provide ease of maintenance & repair during the mission

Maintain normal range of physiological aspects of crew during wide range of metabolic activities (O2 level, CO2 level, ventilation flow-rates, temperature conditions)

Provide integration capability with spacesuit system

25

Cardinal Elements of a Planetary Surface SpacesuitCardinal Elements of a Planetary Surface Spacesuit

MOBILITY: Mandatory for walking (EVA traverses) and for negotiating rough terrain (rock fields,

slopes, gullies) Mandatory for EVA tasks, geologic exploration, deployment of surface equipment ,

maintenance & repair tasks Mandatory for center-of-gravity control Mandatory for ingress/egress airlocks and rovers (seated position) Goal ; achieve near shirtsleeve range with low force required to reduce fatigue

ROBUSTNESS: DURABILITY/LONG SERVICEABLE LIFE

• High mission cycle life capability for multiple EVA’s (daily operations)• Abrasion/dust resistance• Impact/tear resistance• Incorporate long-term shelf-life/operational-life materials

WEARABILITY• Don/doff use (daily operations over long mission periods)• Handling capability (cleaning/storage)

LIGHTWEIGHT: Reduce crewmember fatigue (assisted by low Lunar & Mars gravity) Mass handling control (primarily “on-back” carry weight - - PLSS) Reduce mission launch cost impact

SIMPLICITY: Reduce system element complexity (incorporate modularity) Ease of maintenance & repair

MOBILITY: Mandatory for walking (EVA traverses) and for negotiating rough terrain (rock fields,

slopes, gullies) Mandatory for EVA tasks, geologic exploration, deployment of surface equipment ,

maintenance & repair tasks Mandatory for center-of-gravity control Mandatory for ingress/egress airlocks and rovers (seated position) Goal ; achieve near shirtsleeve range with low force required to reduce fatigue

ROBUSTNESS: DURABILITY/LONG SERVICEABLE LIFE

• High mission cycle life capability for multiple EVA’s (daily operations)• Abrasion/dust resistance• Impact/tear resistance• Incorporate long-term shelf-life/operational-life materials

WEARABILITY• Don/doff use (daily operations over long mission periods)• Handling capability (cleaning/storage)

LIGHTWEIGHT: Reduce crewmember fatigue (assisted by low Lunar & Mars gravity) Mass handling control (primarily “on-back” carry weight - - PLSS) Reduce mission launch cost impact

SIMPLICITY: Reduce system element complexity (incorporate modularity) Ease of maintenance & repair 26

Cardinal Elements of a Planetary Surface SpacesuitCardinal Elements of a Planetary Surface Spacesuit

MOBILITY: Mandatory for walking (EVA traverses) and for negotiating rough terrain (rock fields,

slopes, gullies) Mandatory for EVA tasks, geologic exploration, deployment of surface equipment ,

maintenance & repair tasks Mandatory for center-of-gravity control Mandatory for ingress/egress airlocks and rovers (seated position) Goal ; achieve near shirtsleeve range with low force required to reduce fatigue

ROBUSTNESS: DURABILITY/LONG SERVICEABLE LIFE

• High mission cycle life capability for multiple EVA’s (daily operations)• Abrasion/dust resistance• Impact/tear resistance• Incorporate long-term shelf-life/operational-life materials

WEARABILITY• Don/doff use (daily operations over long mission periods)• Handling capability (cleaning/storage)

LIGHTWEIGHT: Reduce crewmember fatigue (assisted by low Lunar & Mars gravity) Mass handling control (primarily “on-back” carry weight - - PLSS) Reduce mission launch cost impact

SIMPLICITY: Reduce system element complexity (incorporate modularity) Ease of maintenance & repair

MOBILITY: Mandatory for walking (EVA traverses) and for negotiating rough terrain (rock fields,

slopes, gullies) Mandatory for EVA tasks, geologic exploration, deployment of surface equipment ,

maintenance & repair tasks Mandatory for center-of-gravity control Mandatory for ingress/egress airlocks and rovers (seated position) Goal ; achieve near shirtsleeve range with low force required to reduce fatigue

ROBUSTNESS: DURABILITY/LONG SERVICEABLE LIFE

• High mission cycle life capability for multiple EVA’s (daily operations)• Abrasion/dust resistance• Impact/tear resistance• Incorporate long-term shelf-life/operational-life materials

WEARABILITY• Don/doff use (daily operations over long mission periods)• Handling capability (cleaning/storage)

LIGHTWEIGHT: Reduce crewmember fatigue (assisted by low Lunar & Mars gravity) Mass handling control (primarily “on-back” carry weight - - PLSS) Reduce mission launch cost impact

SIMPLICITY: Reduce system element complexity (incorporate modularity) Ease of maintenance & repair 27

Human/Machine Interactive & Sensory CapabilitiesHuman/Machine Interactive & Sensory Capabilities

Voice and gesture actuation and command of EVA robotic assistant vehicles & systems

“Head’s up” helmet-mounted information display systems for space suit integration

On-suit computer and advanced informatics systems for voice-video-data transmission

EVA traverse mapping and route planning displays w/obstacle and hazards avoidance alerts

EVA robotic assistants w/manipulator arms and end-effectors that can be remotely teleoperated

“Smart” sensor systems for geologic sampling or environmental monitoring by humans or robots

Voice and gesture actuation and command of EVA robotic assistant vehicles & systems

“Head’s up” helmet-mounted information display systems for space suit integration

On-suit computer and advanced informatics systems for voice-video-data transmission

EVA traverse mapping and route planning displays w/obstacle and hazards avoidance alerts

EVA robotic assistants w/manipulator arms and end-effectors that can be remotely teleoperated

“Smart” sensor systems for geologic sampling or environmental monitoring by humans or robots

28

Intelligence Enhancement Concepts “Smart Spacesuit”Intelligence Enhancement Concepts “Smart Spacesuit”

Portable or suit/glove-mounted miniature, low-power environmental monitoring sensors: External environment – radiation, UV levels, electromagnetic fields, contamination levels

Geologic/astrobiological sampling

Tactile feed-back

Helmet-mounted interactive “hand’s-free” visual display & voice activation systems: Capability for system monitoring and control functions; “real-time” content

Autonomous terrain EVA traverse path mapping, navigation and crew tracking system: Target recognition to include specified “land marks” or “science stations” and obstacle/hazards avoidance based

on development of localized 3-D topographic map with appropriate “over-lays”

Non-invasive, low-power, wireless, oxygen compatible, medical/physiological sensors: Blood N2, ECG, CO2, body-core temperature, muscle fatigue level

Adaptive collaborative system for documenting, recording, labeling, cataloguing and retrieval of EVA collected science data:

Geology/astrobiology science samples, photos, video, technical notes, etc. - - “smart” field data-log book

Autonomous system for EVA equipment monitoring, trend analysis, “self-diagnostics”, and malfunction response applicable to:

Life support system, airlock, rovers, robotic agents

Small, low-power, high intensity portable & suit-mounted lighting systems

Ultra Wide Band (UWB) communications system integrating voice, video, and data transmission capability

Portable or suit/glove-mounted miniature, low-power environmental monitoring sensors: External environment – radiation, UV levels, electromagnetic fields, contamination levels

Geologic/astrobiological sampling

Tactile feed-back

Helmet-mounted interactive “hand’s-free” visual display & voice activation systems: Capability for system monitoring and control functions; “real-time” content

Autonomous terrain EVA traverse path mapping, navigation and crew tracking system: Target recognition to include specified “land marks” or “science stations” and obstacle/hazards avoidance based

on development of localized 3-D topographic map with appropriate “over-lays”

Non-invasive, low-power, wireless, oxygen compatible, medical/physiological sensors: Blood N2, ECG, CO2, body-core temperature, muscle fatigue level

Adaptive collaborative system for documenting, recording, labeling, cataloguing and retrieval of EVA collected science data:

Geology/astrobiology science samples, photos, video, technical notes, etc. - - “smart” field data-log book

Autonomous system for EVA equipment monitoring, trend analysis, “self-diagnostics”, and malfunction response applicable to:

Life support system, airlock, rovers, robotic agents

Small, low-power, high intensity portable & suit-mounted lighting systems

Ultra Wide Band (UWB) communications system integrating voice, video, and data transmission capability

29

Current Analog Testing EffortsCurrent Analog Testing Efforts

Desert Research and Technology Studies (started in 1997) Desert “RATS” is a combined group of inter-NASA center

scientists & engineers, collaborating with representatives of industry and academia, for the purpose of conducting remote field exercises

For the future of space exploration, human/robotic interactive testing in a representative planetary environment is essential for proper development of specific technologies, & integrated operations

Provides the capability to validate experimental hardware/software, mission operational techniques & identify & establish technical requirements applicable for future planetary exploration

Currently, D-RATS remote field testing is being conducted in high desert areas adjacent to Flagstaff, Arizona & “dry-run” tests conducted at JSC

Desert Research and Technology Studies (started in 1997) Desert “RATS” is a combined group of inter-NASA center

scientists & engineers, collaborating with representatives of industry and academia, for the purpose of conducting remote field exercises

For the future of space exploration, human/robotic interactive testing in a representative planetary environment is essential for proper development of specific technologies, & integrated operations

Provides the capability to validate experimental hardware/software, mission operational techniques & identify & establish technical requirements applicable for future planetary exploration

Currently, D-RATS remote field testing is being conducted in high desert areas adjacent to Flagstaff, Arizona & “dry-run” tests conducted at JSC

EVA Human/Robotic TestingEVA Human/Robotic Testing

DRATS first started human/robotic testing in 1999 with the Astronaut/Rover (ASRO) Study of human/robot interactive tests & investigating the

division of labor between human & robot for planetary EVA exploration operations

DRATS first started human/robotic testing in 1999 with the Astronaut/Rover (ASRO) Study of human/robot interactive tests & investigating the

division of labor between human & robot for planetary EVA exploration operations

EVA Human/Robotic TestingEVA Human/Robotic Testing

Human/Robotic DRATS Testing 1999-2006 1999: EVA Robotic Assistant (ERA) 2002: Enhancement of human/robotic interaction

with the Geological science trailer and the EVA Information pack

2003: USGS 1-G Lunar Rover Training Vehicle, 2nd Gen. science trailer and EVA Info. Pack

2004: Human/robot system evaluation of EVA informatics technologies & user interfaces, assessment of the electric tractor & Chariot functional performance characteristics

2005: Demonstrate large mass transport & handling, SCOUT systems evaluations

2006: “Day-in-the-life” EVA Crewmember tasks, regolith excavation, demonstration of combined robots (ATHLETE, Centaur, SCOUT, and K-10 w crewmembers

Human/Robotic DRATS Testing 1999-2006 1999: EVA Robotic Assistant (ERA) 2002: Enhancement of human/robotic interaction

with the Geological science trailer and the EVA Information pack

2003: USGS 1-G Lunar Rover Training Vehicle, 2nd Gen. science trailer and EVA Info. Pack

2004: Human/robot system evaluation of EVA informatics technologies & user interfaces, assessment of the electric tractor & Chariot functional performance characteristics

2005: Demonstrate large mass transport & handling, SCOUT systems evaluations

2006: “Day-in-the-life” EVA Crewmember tasks, regolith excavation, demonstration of combined robots (ATHLETE, Centaur, SCOUT, and K-10 w crewmembers

EVA Human/Robotic TestingEVA Human/Robotic Testing

Human/Robotic DRATS Testing 2006 ESMD Surface Mobility

• Development and demonstration of combined robot (ATHLETE, Centaur, SCOUT, and K-10) and two suited crewmember planetary activities in an appropriate terrestrial environment

SCOUT• To test the SCOUT vehicle while being driven by an onboard operator, a tele-operator at a

remote location (base camp, ACES, ExPOC), and an autonomous system• To test advanced technologies that may prove useful in future SCOUT or planetary/Lunar

rover development projects SCOUT/Suit Objectives:

• Evaluate cockpit design • Evaluate on-board suit recharge• Evaluate Communications, Avionics, and Informatics Pack (CAI-pack) system, functions, and

user interaction

Human/Robotic DRATS Testing 2006 ESMD Surface Mobility

• Development and demonstration of combined robot (ATHLETE, Centaur, SCOUT, and K-10) and two suited crewmember planetary activities in an appropriate terrestrial environment

SCOUT• To test the SCOUT vehicle while being driven by an onboard operator, a tele-operator at a

remote location (base camp, ACES, ExPOC), and an autonomous system• To test advanced technologies that may prove useful in future SCOUT or planetary/Lunar

rover development projects SCOUT/Suit Objectives:

• Evaluate cockpit design • Evaluate on-board suit recharge• Evaluate Communications, Avionics, and Informatics Pack (CAI-pack) system, functions, and

user interaction

Portable Life Support

Michael Rouen

Advanced PLSS Design Effort to Reduce Weight and Volume

PLSS PackagingPLSS Packaging

Definition Any item performing a major, useful life support

function is a component to be packaged and is not packaging.

Harnesses, connectors, switches, brackets, wiring, and plumbing are packaging.

Structure is packaging, even in such special cases as the Shuttle valve module housing.

Function Protect, Connect and Hold the PLSS and its

components together internally and externally while providing access to PLSS components internally for maintenance and for technology change without extensive redesign impact.

Definition Any item performing a major, useful life support

function is a component to be packaged and is not packaging.

Harnesses, connectors, switches, brackets, wiring, and plumbing are packaging.

Structure is packaging, even in such special cases as the Shuttle valve module housing.

Function Protect, Connect and Hold the PLSS and its

components together internally and externally while providing access to PLSS components internally for maintenance and for technology change without extensive redesign impact.

Weight Pareto for STS PLSS & SOPWeight Pareto for STS PLSS & SOP

GoalGoal

Seek ways to reduce the weight (mass) of PLSS packaging, and at the same time, develop a packaging scheme that would make PLSS technology changes less costly than the current packaging methods.

Seek ways to reduce the weight (mass) of PLSS packaging, and at the same time, develop a packaging scheme that would make PLSS technology changes less costly than the current packaging methods.

Packaging DynamicPackaging DynamicInteraction of Packaging Factor, Functional Component Mass and PLSS Total MassInteraction of Packaging Factor, Functional Component Mass and PLSS Total Mass

11 1.11.1 1.21.2 1.31.3 1.41.4 1.51.5 1.61.6 1.71.7 1.81.8 1.91.9 22

Mass Packaging FactorMass Packaging Factor

Co

mp

on

ent

Mas

s, lb

Co

mp

on

ent

Mas

s, lb

100#100#

95#95#

90#90#

85#85#

80#80#

75#75#

70#70#

65#65#

60#60#

TargetTarget

PLSS Total Mass

PLSS Total Mass

3030

4040

5050

6060

7070

8080

9090

100100

110110

Mass or Weight? Which is the concern? Mass Weight

EARTH 150 lbm = 68 kg 150 lbf = 667 N

MARS 150 lbm = 68 kg 57 lbf = 253 N

Mass Management: Mass vs. WeightMass Management: Mass vs. Weight

People on Mars will condition to Martian gravity. So, people on Mars can only carry the same mass they can

carry on Earth.

Backpacker’s rule - 25-30% of person’s lean body mass for a full day.

Current suit system = the person’s mass Need to reduce suit system mass by 2/3 or limit the work

day.

People on Mars will condition to Martian gravity. So, people on Mars can only carry the same mass they can

carry on Earth.

Backpacker’s rule - 25-30% of person’s lean body mass for a full day.

Current suit system = the person’s mass Need to reduce suit system mass by 2/3 or limit the work

day.

Evaluation & Mock-upEvaluation & Mock-up

Decision Matrix Method Evaluation to identify weak and strong points of each concept to guide future work.

The lightest weight concept was selected for further work & a mock up was included in the plan to validate the concept and to assure the concept was indeed realizable.

The mockup will be used to evaluate flexibility for technology change In-use maintenance

Decision Matrix Method Evaluation to identify weak and strong points of each concept to guide future work.

The lightest weight concept was selected for further work & a mock up was included in the plan to validate the concept and to assure the concept was indeed realizable.

The mockup will be used to evaluate flexibility for technology change In-use maintenance

Lessons LearnedLessons Learned

A monumentA monument

Volume Packaging FactorVolume Packaging Factor

Mas

s P

ack

agin

g F

act

or

Mas

s P

ack

agin

g F

act

or

VPF vs. MPFVPF vs. MPF

22

33

11 22 44 55

Apollo(3.0, 1.7)Apollo

(3.0, 1.7)

Orlan(3.1, 1.5)

Orlan(3.1, 1.5)

ShuttleEMU

(2.3, 2.2)

ShuttleEMU

(2.3, 2.2)

33

NASA(2.9,1.3)NASA

(2.9,1.3)

MonumentsDifficult to Maintain

Technology SpecificMission Specific

MonumentsDifficult to Maintain

Technology SpecificMission Specific

ModularEasy to MaintainTechnology AdaptableMission Adaptable

ModularEasy to MaintainTechnology AdaptableMission Adaptable

SpecializedDesigns

SpecializedDesigns

OptimizedDesigns

OptimizedDesigns

FlexibleDesignsFlexibleDesigns

Dis

po

sab

le

Dis

po

sab

le

Lo

ng

-ter

m U

se

Lo

ng

-ter

m U

se

Few

er O

verh

auls

F

ewer

Ove

rhau

ls

Fre

qu

ent

Ove

rhau

lsF

req

uen

t O

verh

auls

Mass Reduction TechniquesMass Reduction Techniques

1) Breakthrough design concepts Examples are: the gasbag outer cover, the combined base

plate / hatch with through bolt mounted LRU’s.

2) Detail part weight optimization This technique involves tradeoffs, material selection, changing

requirements, reducing wall thickness, etc. This needs to be done for every detail part in greatest weight

order.

3) Minimizing volume and surface area This technique became obvious in this effort. The volume and surface area contributes to the overall mass.

1) Breakthrough design concepts Examples are: the gasbag outer cover, the combined base

plate / hatch with through bolt mounted LRU’s.

2) Detail part weight optimization This technique involves tradeoffs, material selection, changing

requirements, reducing wall thickness, etc. This needs to be done for every detail part in greatest weight

order.

3) Minimizing volume and surface area This technique became obvious in this effort. The volume and surface area contributes to the overall mass.

Design ToolsDesign Tools

During the concept phase Pro-e® and Mechanica® used

to rough out the concept. • Important to keep the

modeling simple, • Mechanica stress analysis for

stress in major structural members,

• Local stress concentrations worked during the detail design.

Mathcad® for automation of trade study iterations.

MS EXCEL® spreadsheets for bookkeeping tasks.

Dytran® for the non-linear analysis of the fall cases.

During the concept phase Pro-e® and Mechanica® used

to rough out the concept. • Important to keep the

modeling simple, • Mechanica stress analysis for

stress in major structural members,

• Local stress concentrations worked during the detail design.

Mathcad® for automation of trade study iterations.

MS EXCEL® spreadsheets for bookkeeping tasks.

Dytran® for the non-linear analysis of the fall cases.

During the detail design phase Same tools used in more

depth. Possibly NASTRAN® instead

of Mechanica for analysis in some situations. Nastran more versatile but demands more training.

SINDA® used for thermal analysis.

During the detail design phase Same tools used in more

depth. Possibly NASTRAN® instead

of Mechanica for analysis in some situations. Nastran more versatile but demands more training.

SINDA® used for thermal analysis.

Lessons LearnedLessons Learned

Spend the time to get the concept right up front. The more detailed the concept or design gets before it is found

to be unacceptable, the more costly will be the recovery effort. Prove out a new idea/concept with first cut analysis unless, The basic concept depends on a unique idea – then a test must

be run before concept approval.

In the conception phase the program needs experienced, inventive, engineers that won’t get bogged down in detail that is not needed until later in the process.

Spend the time to get the concept right up front. The more detailed the concept or design gets before it is found

to be unacceptable, the more costly will be the recovery effort. Prove out a new idea/concept with first cut analysis unless, The basic concept depends on a unique idea – then a test must

be run before concept approval.

In the conception phase the program needs experienced, inventive, engineers that won’t get bogged down in detail that is not needed until later in the process.

Lessons LearnedLessons Learned

The weight target is very difficult to meet. Develop a weight control plan early with estimated or calculated

weights so that corrective actions can be taken as soon as possible.

The concepts generated resulted in unacceptably high component operating temperatures. Thermal analysis personnel available early in the concept phase. Complexity of the heat transfer within PLSS prevents designer

from doing own analysis.

Document the importance of the key requirements and re-evaluate periodically. We lost sight of the weight goal even though that was the primary

reason for the entire effort.

The weight target is very difficult to meet. Develop a weight control plan early with estimated or calculated

weights so that corrective actions can be taken as soon as possible.

The concepts generated resulted in unacceptably high component operating temperatures. Thermal analysis personnel available early in the concept phase. Complexity of the heat transfer within PLSS prevents designer

from doing own analysis.

Document the importance of the key requirements and re-evaluate periodically. We lost sight of the weight goal even though that was the primary

reason for the entire effort.

PLSS Development Conclusions & ProductsPLSS Development Conclusions & Products

Conclusions Removing 2/3 of the PLSS

mass is as hard as we expected.

Creativity is still needed. Requirements conflict strongly

in the problem. Significant progress has been

made - but, the concept requires further development.

Conclusions Removing 2/3 of the PLSS

mass is as hard as we expected.

Creativity is still needed. Requirements conflict strongly

in the problem. Significant progress has been

made - but, the concept requires further development.

Products Design guideline document

created in Task Two. Extensive documentation of

effort; contains proven procedures and design and analysis tools.

Concept Mockup

Products Design guideline document

created in Task Two. Extensive documentation of

effort; contains proven procedures and design and analysis tools.

Concept Mockup

EVA Engineering ConclusionEVA Engineering Conclusion

The space suits and EVA systems needed to meet the requirements for sustainable and extended Lunar

exploration present new challenges to NASA, other government agencies, academia, and industry. Innovative technologies and cooperation among the many involved organizations to address these challenges will be one of

the keys to success for future space exploration. 

The space suits and EVA systems needed to meet the requirements for sustainable and extended Lunar

exploration present new challenges to NASA, other government agencies, academia, and industry. Innovative technologies and cooperation among the many involved organizations to address these challenges will be one of

the keys to success for future space exploration.