Exploration Rover Concepts and Development Challenges
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Project Selene: AIAA Lunar Base Camp
Project Selene: AIAA Lunar Base Camp AIAA Space Mission System 2019-2020 Virginia Tech Aerospace Engineering Faculty Advisor : Dr. Kevin Shinpaugh Team Members : Olivia Arthur, Bobby Aselford, Michel Becker, Patrick Crandall, Heidi Engebreth, Maedini Jayaprakash, Logan Lark, Nico Ortiz, Matthew Pieczynski, Brendan Ventura Member AIAA Number Member AIAA Number And Signature And Signature Faculty Advisor 25807 Dr. Kevin Shinpaugh Brendan Ventura 1109196 Matthew Pieczynski 936900 Team Lead/Operations Logan Lark 902106 Heidi Engebreth 1109232 Structures & Environment Patrick Crandall 1109193 Olivia Arthur 999589 Power & Thermal Maedini Jayaprakash 1085663 Robert Aselford 1109195 CCDH/Operations Michel Becker 1109194 Nico Ortiz 1109533 Attitude, Trajectory, Orbits and Launch Vehicles Contents 1 Symbols and Acronyms 8 2 Executive Summary 9 3 Preface and Introduction 13 3.1 Project Management . 13 3.2 Problem Definition . 14 3.2.1 Background and Motivation . 14 3.2.2 RFP and Description . 14 3.2.3 Project Scope . 15 3.2.4 Disciplines . 15 3.2.5 Societal Sectors . 15 3.2.6 Assumptions . 16 3.2.7 Relevant Capital and Resources . 16 4 Value System Design 17 4.1 Introduction . 17 4.2 Analytical Hierarchical Process . 17 4.2.1 Longevity . 18 4.2.2 Expandability . 19 4.2.3 Scientific Return . 19 4.2.4 Risk . 20 4.2.5 Cost . 21 5 Initial Concept of Operations 21 5.1 Orbital Analysis . 22 5.2 Launch Vehicles . 22 6 Habitat Location 25 6.1 Introduction . 25 6.2 Region Selection . 25 6.3 Locations of Interest . 26 6.4 Eliminated Locations . 26 6.5 Remaining Locations . 27 6.6 Chosen Location . -
Exploration of the Moon
Exploration of the Moon The physical exploration of the Moon began when Luna 2, a space probe launched by the Soviet Union, made an impact on the surface of the Moon on September 14, 1959. Prior to that the only available means of exploration had been observation from Earth. The invention of the optical telescope brought about the first leap in the quality of lunar observations. Galileo Galilei is generally credited as the first person to use a telescope for astronomical purposes; having made his own telescope in 1609, the mountains and craters on the lunar surface were among his first observations using it. NASA's Apollo program was the first, and to date only, mission to successfully land humans on the Moon, which it did six times. The first landing took place in 1969, when astronauts placed scientific instruments and returnedlunar samples to Earth. Apollo 12 Lunar Module Intrepid prepares to descend towards the surface of the Moon. NASA photo. Contents Early history Space race Recent exploration Plans Past and future lunar missions See also References External links Early history The ancient Greek philosopher Anaxagoras (d. 428 BC) reasoned that the Sun and Moon were both giant spherical rocks, and that the latter reflected the light of the former. His non-religious view of the heavens was one cause for his imprisonment and eventual exile.[1] In his little book On the Face in the Moon's Orb, Plutarch suggested that the Moon had deep recesses in which the light of the Sun did not reach and that the spots are nothing but the shadows of rivers or deep chasms. -
350 International Atlas of Lunar Exploration 8 January 1973
:UP/3-PAGINATION/IAW-PROOFS/3B2/978«52181«5(M.3D 350 [7428] 19.8.20073:28PM 350 International Atlas of Lunar Exploration 8 January 1973: Luna 21 and Lunokhod 2 (Soviet Union) The 4850 kg Luna 21 spacecraft was launched from Baikonur at 06:56 UT on a Proton booster, placed in a low Earth parking orbit and then put on a lunar trajec tory. Power problems required that the Lunokhod solar panel be opened in flight to augment power, and stowed again for the trajectory correction and orbit insertion burns and for landing. On 12 January Luna 21 entered a 90 km by 100 km lunar orbit inclined 60° to the equator. After a day in orbit the low point was reduced to 16 km, and on 15 January after 40 orbits the vehicle braked and dropped to just 750 m above the surface. Then the main thrusters slowed the descent, and at :UP/3-PAGINATION/IAW-PROOFS/3B2/978«52181«5(M.3D 351 [7428] 19.8.20073:28PM Chronological sequence of missions and events 351 22 m a set of secondary thrusters took over until the After landing, Lunokhod 2 surveyed its surround spacecraft was only 1.5 meters high, when the thrusters ings. A rock partly blocked the west-facing ramp so the were shut off. Landing time was 23:35 UT. rover was driven east across a shallow crater, leaving the The site was in Le Monnier crater on the eastern edge lander at 01:14 UT on 16 January. It rested 30 m from of Mare Serenitatis, 180 km north of the Apollo 17 land the descent stage to recharge its batteries until 18 ing site, at 25.85° N, 30.45° E (Figure 327A). -
Mobile Lunar and Planetary Base Architectures
Space 2003 AIAA 2003-6280 23 - 25 September 2003, Long Beach, California Mobile Lunar and Planetary Bases Marc M. Cohen, Arch.D. Advanced Projects Branch, Mail Stop 244-14, NASA-Ames Research Center, Moffett Field, CA 94035-1000 TEL 650 604-0068 FAX 650 604-0673 [email protected] ABSTRACT This paper presents a review of design concepts over three decades for developing mobile lunar and planetary bases. The idea of the mobile base addresses several key challenges for extraterrestrial surface bases. These challenges include moving the landed assets a safe distance away from the landing zone; deploying and assembling the base remotely by automation and robotics; moving the base from one location of scientific or technical interest to another; and providing sufficient redundancy, reliability and safety for crew roving expeditions. The objective of the mobile base is to make the best use of the landed resources by moving them to where they will be most useful to support the crew, carry out exploration and conduct research. This review covers a range of surface mobility concepts that address the mobility issue in a variety of ways. These concepts include the Rockwell Lunar Sortie Vehicle (1971), Cintala’s Lunar Traverse caravan, 1984, First Lunar Outpost (1992), Frassanito’s Lunar Rover Base (1993), Thangavelu’s Nomad Explorer (1993), Kozlov and Shevchenko’s Mobile Lunar Base (1995), and the most recent evolution, John Mankins’ “Habot” (2000-present). The review compares the several mobile base approaches, then focuses on the Habot approach as the most germane to current and future exploration plans. -
Searching for Lunar Horizon Glow with the Lunar Orbiter Laser Altimeter (LOLA)
Searching for lunar horizon glow with the lunar orbiter laser altimeter (LOLA) M. K. Barker, D. Smith, T. McClanahan, E. Mazarico, X. Sun, M. T. Zuber, G. A. Neumann, M. H. Torrence, J. W. Head DAP-2017 Boulder, CO Jan. 11-13, 2017 Lunar Horizon Glow • Surveyor landers, Lunokhod-2 lander, Apollo 17 astronaut sketches (Rennilson & Criswell 1974, Severnyi et al. 1975, McCoy & Criswell 1974, Zook & McCoy 1991) ==> Electrostatic levitation, dynamic lofting (Stubbs et al. 2006, Farrell et al. 2007) • Apollo 15 photographs at dawn: LHG extending ~30 km above horizon, N~103-105 cm-2 for grain r = 0.1 µm (McCoy 1976, Glenar et al. 2011) ==> Meteor stream impact ejecta could initiate a saltation-like cascade process • Recent searches with Clementine Star Trackers, LRO/LAMP, and LADEE/LDEX gave limits on dust density ~100x lower than A15 (Glenar et al. 2014, Feldman et al. 2014, Szalay & Horányi 2015, Horányi et al. 2015) Glenar et al. (2011) Lunar Orbiter ~65 m Diffractive Optical Element Laser Altimeter (LOLA) •5-beam time-of-flight laser altimeter onboard the Lunar Reconnaissance 50 m Orbiter (LRO) 5-m diameter •28 Hz laser, 140 measurements/sec observation area (red) •Each shot provides: • up to 5 ranges to surface (10 cm prec.) 20-m FOV (green) • footprint-scale surface roughness • footprint-scale slope 10 to 12 m apart • 1064-nm reflectance of surface along track •Detectors: 5 fiber optically-coupled avalanche photodiodes LOLA has two radiometric modes: (1) Active radiometry: LOLA laser is the light source. 1064-nm normal albedo Lemelin et al. (2016) (2) Passive radiometry: Sun is the light source. -
SOIL Xecfinics RESULTS of LUNA 16
SOIL XECfiNICS RESULTS OF LUNA 16 Stewart bl. Johnson U. David Carrier, I11 1172-14896 (NASA-TI-I-67 566) SOIL lECAANICS R OF LUWA 16 AN D LUYOKHOD 1: A PBELI RSPORT S.Y. Johnson, nt a1 (HASA) Unclas 1971 13 p NASA-Manned Spacecraft Center .Houston, Texas 77058 9 June 1'971 The Ninth International Symposium on Space Technology and Science was held in Tokyo, Jcpan May 17-22, 1971. At this meeting two papers ? (Ref. 1 and 2) were presented giving results of the Luna 16 and Lunokhod-I experiments. These reports, whi ch were presented by representatives of the Academy of Sclence of the USSR, concentrateci on nechanical ard physicai properties of the luaar soil. In addition to these two papers, there were two 20-mi nute films shown on Luna 16 and Lc.~okhodI. The overall impression was that the USSR has performed a nuch more extensive soi l mechanics i'nvestigation on thei r returned lunar-~&~~leand as part of the Lunokhod traver;a than has been- - perfomed by the U.S. to date in the Apol lo program. Apparently the aussian soil nechanics investigations are being conducted with the vf e-d that datbcollected now will be valuable in future exploratidn of- - the 1unar surface. It was suggested that later versions of Lunokhod would Ce used to explore t!e far side of the Roan and would have a data ,storage capabi 1i ty to use while cut of communication with eart!!. - At the meeting in Tokyo, results were presented for ths Lunokhod-I penetrometer and analyses of the interactions between the vehicle wheds and the lunar soi 1. -
The Soviet Space Program
C05500088 TOP eEGRET iuf 3EEA~ NIE 11-1-71 THE SOVIET SPACE PROGRAM Declassified Under Authority of the lnteragency Security Classification Appeals Panel, E.O. 13526, sec. 5.3(b)(3) ISCAP Appeal No. 2011 -003, document 2 Declassification date: November 23, 2020 ifOP GEEAE:r C05500088 1'9P SloGRET CONTENTS Page THE PROBLEM ... 1 SUMMARY OF KEY JUDGMENTS l DISCUSSION 5 I. SOV.IET SPACE ACTIVITY DURING TfIE PAST TWO YEARS . 5 II. POLITICAL AND ECONOMIC FACTORS AFFECTING FUTURE PROSPECTS . 6 A. General ............................................. 6 B. Organization and Management . ............... 6 C. Economics .. .. .. .. .. .. .. .. .. .. .. ...... .. 8 III. SCIENTIFIC AND TECHNICAL FACTORS ... 9 A. General .. .. .. .. .. 9 B. Launch Vehicles . 9 C. High-Energy Propellants .. .. .. .. .. .. .. .. .. 11 D. Manned Spacecraft . 12 E. Life Support Systems . .. .. .. .. .. .. .. .. 15 F. Non-Nuclear Power Sources for Spacecraft . 16 G. Nuclear Power and Propulsion ..... 16 Te>P M:EW TCS 2032-71 IOP SECl<ET" C05500088 TOP SECRGJ:. IOP SECREI Page H. Communications Systems for Space Operations . 16 I. Command and Control for Space Operations . 17 IV. FUTURE PROSPECTS ....................................... 18 A. General ............... ... ···•· ................. ····· ... 18 B. Manned Space Station . 19 C. Planetary Exploration . ........ 19 D. Unmanned Lunar Exploration ..... 21 E. Manned Lunar Landfog ... 21 F. Applied Satellites ......... 22 G. Scientific Satellites ........................................ 24 V. INTERNATIONAL SPACE COOPERATION ............. 24 A. USSR-European Nations .................................... 24 B. USSR-United States 25 ANNEX A. SOVIET SPACE ACTIVITY ANNEX B. SOVIET SPACE LAUNCH VEHICLES ANNEX C. SOVIET CHRONOLOGICAL SPACE LOG FOR THE PERIOD 24 June 1969 Through 27 June 1971 TCS 2032-71 IOP SLClt~ 70P SECRE1- C05500088 TOP SEGR:R THE SOVIET SPACE PROGRAM THE PROBLEM To estimate Soviet capabilities and probable accomplishments in space over the next 5 to 10 years.' SUMMARY OF KEY JUDGMENTS A. -
A Lunar Micro Rover System Overview for Aiding Science and ISRU Missions Virtual Conference 19–23 October 2020 R
i-SAIRAS2020-Papers (2020) 5051.pdf A lunar Micro Rover System Overview for Aiding Science and ISRU Missions Virtual Conference 19–23 October 2020 R. Smith1, S. George1, D. Jonckers1 1STFC RAL Space, R100 Harwell Campus, OX11 0DE, United Kingdom, E-mail: [email protected] ABSTRACT the form of rovers and landers of various size [4]. Due to the costly nature of these missions, and the pressure Current science missions to the surface of other plan- for a guaranteed science return, they have been de- etary bodies tend to be very large with upwards of ten signed to minimise risk by using redundant and high instruments on board. This is due to high reliability re- reliability systems. This further increases mission cost quirements, and the desire to get the maximum science as components and subsystems are expected to be ex- return per mission. Missions to the lunar surface in the tensively qualified. next few years are key in the journey to returning hu- mans to the lunar surface [1]. The introduction of the As an example, the Mars Science Laboratory, nick- Commercial lunar Payload Services (CLPS) delivery named the Curiosity rover, one of the most successful architecture for science instruments and technology interplanetary rovers to date, has 10 main scientific in- demonstrators has lowered the barrier to entry of get- struments, requires a large team of people to control ting science to the surface [2]. Many instruments, and and cost over $2.5 billion to build and fly [5]. Curios- In Situ Surface Utilisation (ISRU) experiments have ity had 4 main science goals, with the instruments and been funded, and are being built with the intention of the design of the rover specifically tailored to those flying on already awarded CLPS missions. -
Lunar Laser Ranging: the Millimeter Challenge
REVIEW ARTICLE Lunar Laser Ranging: The Millimeter Challenge T. W. Murphy, Jr. Center for Astrophysics and Space Sciences, University of California, San Diego, 9500 Gilman Drive, La Jolla, CA 92093-0424, USA E-mail: [email protected] Abstract. Lunar laser ranging has provided many of the best tests of gravitation since the first Apollo astronauts landed on the Moon. The march to higher precision continues to this day, now entering the millimeter regime, and promising continued improvement in scientific results. This review introduces key aspects of the technique, details the motivations, observables, and results for a variety of science objectives, summarizes the current state of the art, highlights new developments in the field, describes the modeling challenges, and looks to the future of the enterprise. PACS numbers: 95.30.Sf, 04.80.-y, 04.80.Cc, 91.4g.Bg arXiv:1309.6294v1 [gr-qc] 24 Sep 2013 CONTENTS 2 Contents 1 The LLR concept 3 1.1 Current Science Results . 4 1.2 A Quantitative Introduction . 5 1.3 Reflectors and Divergence-Imposed Requirements . 5 1.4 Fundamental Measurement and World Lines . 10 2 Science from LLR 12 2.1 Relativity and Gravity . 12 2.1.1 Equivalence Principle . 13 2.1.2 Time-rate-of-change of G ....................... 14 2.1.3 Gravitomagnetism, Geodetic Precession, and other PPN Tests . 14 2.1.4 Inverse Square Law, Extra Dimensions, and other Frontiers . 16 2.2 Lunar and Earth Physics . 16 2.2.1 The Lunar Interior . 16 2.2.2 Earth Orientation, Precession, and Coordinate Frames . 18 3 LLR Capability across Time 20 3.1 Brief LLR History . -
PROJECT PENGUIN Robotic Lunar Crater Resource Prospecting VIRGINIA POLYTECHNIC INSTITUTE & STATE UNIVERSITY Kevin T
PROJECT PENGUIN Robotic Lunar Crater Resource Prospecting VIRGINIA POLYTECHNIC INSTITUTE & STATE UNIVERSITY Kevin T. Crofton Department of Aerospace & Ocean Engineering TEAM LEAD Allison Quinn STUDENT MEMBERS Ethan LeBoeuf Brian McLemore Peter Bradley Smith Amanda Swanson Michael Valosin III Vidya Vishwanathan FACULTY SUPERVISOR AIAA 2018 Undergraduate Spacecraft Design Dr. Kevin Shinpaugh Competition Submission i AIAA Member Numbers and Signatures Ethan LeBoeuf Brian McLemore Member Number: 918782 Member Number: 908372 Allison Quinn Peter Bradley Smith Member Number: 920552 Member Number: 530342 Amanda Swanson Michael Valosin III Member Number: 920793 Member Number: 908465 Vidya Vishwanathan Dr. Kevin Shinpaugh Member Number: 608701 Member Number: 25807 ii Table of Contents List of Figures ................................................................................................................................................................ v List of Tables ................................................................................................................................................................vi List of Symbols ........................................................................................................................................................... vii I. Team Structure ........................................................................................................................................................... 1 II. Introduction .............................................................................................................................................................. -
Mapping and GIS-Analyses of the Lunokhod-1 Landing Site
43rd Lunar and Planetary Science Conference (2012) 1750.pdf Mapping and GIS-Analyses of the Lunokhod-1 Landing Site. E. Gusakova1, I. Karachevtseva1, K.Shingareva1, J. Oberst1,2,3, O. Peters2, M.Wählisch2, and M. S. Robinson4. 1Moscow State University of Geodesy and Cartography (MIIGAiK), Gorokhovskiy per., 4, 105064, Moscow, Russia; 2German Aerospace Center (DLR); 3 Technical Uni- versity of Berlin, Germany; 4Arizona State University, USA Introduction: The Soviet spacecraft Luna 17 was small craters, which could be compare with results of launched towards the Moon in November 1970 and mapping that had been carried out during the Lunok- deployed Lunokhod-1, the first rover to explore an hod-1 mission. We conclude that LRO NAC images extraterrestrial surface. Until October 1971, Lunokhod- can be used for cartography support at high level of 1 acquired about 20,000 TV pictures and 206 stereo detail for characterization of future landing sites such images along its traverse [1]. Using recent new high as LUNA-GLOB and LUNA-RESOURCE. resolution images we mapped the landing site and tra- Reference: [1] Barsukov V.L. et. al. (1978) Pe- verse route, using automated GIS-oriented mapping. redvijnaya laboratoriya na Lune Lunokhod-1, Vol. 2. Sources: We used high resolution Digital Eleva- Nauka (in Russian). [2] Oberst J. et al. (2010) LPSC tion Model (DEM) and orthoimage from photogram- XLI, Abstract #2051. [3] Kneissl T. et al. (2011) Pla- metric processing of Lunar Reconnaissance Orbiter net. Space Sci., 59, 1243-1254. [4] Karachevtseva I. et Camera (LROC) Narrow Angle Camera (NAC) stereo al. (2011) The Book of Abstracts of the 2-nd Moscow images [2] with a spatial resolution of 0.5 m/pixel Solar System Symposium (2M-S3), Space Research (M150749234, M150756018). -
Planetary Rover Mobility on Loose Soil
PLANETARYROVERMOBILITYONLOOSESOIL: TERRAMECHANICSTHEORYFORSIDESLIPPREDICTION ANDCOMPENSATION nicolò carletti Supervisor: Prof. Michéle Lavagna Master of Science Space Engineering Department of Aerospace Science and Technology Politecnico di Milano December 2016 – 816663 ABSTRACT The aim of this thesis is to develop a model which can predict a mobile trajectory profile of the rover under loose soil condition. The study also encapsulates a traversal run in a sloped terrain without the skid characteristics. The geometry and features are defined to model the rover as known as Moonraker: the lunar rover of the team HAKUTO, competing for the Google Lunar XPRIZE. After a brief introduction of the working environment, a chapter is de- dicated to the modeling of the forces generated from the interaction between wheels with soil, depending on the slip ratio and the slip angle. The used model is the one proposed by G. Ishigami [6, 7, 8, 9], based on the work of M. G. Bekker [1, 2] and J. Y. Wong [3] and modi- fied, according to what proposed by M. Sutoh [11, 12, 13], to explicitly consider the grouser effect. The model is verified through One-Wheel tests. The equations of motion are retrieved and the numerical simulation with iterative loop is described. The desired state is reached imposing arbitrary inputs to the wheels. Two input strategies are discussed: torque input and velocity input. The resulting motion is compared with tests on both controlled (sand- box) and uncontrolled environment. The former is mainly used to ve- rify the precision of the model, and the latter to prove the sensibility to the ground properties.