A Flexible Path of Human and Robotic Exploration

Developed for the Review of U.S. Human Space Flight Plans Committee

NASA Analysis Summary for FISO Team Feb 10, 2010

Dr. David Korsmeyer Intelligent Systems Division (Code TI) NASA Ames Research Center Phone: (650) 604-3114 [email protected] Scenario E (FlexPath) Team

David Korsmeyer (ARC) Gabe Merrill (LaRC) Rob Landis (ARC) Rob Falck (GRC) Dan Mazanek (LaRC) Rob Adams (MSFC) Leon Gefert (LaRC) Dan Adamo (JSC) Frank Bauer (HQs) John Casani (JPL) Richard Mattingly (JPL) Steve Oleson (GRC)

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 2 NASA Engineering Analysis Team (EAT), support to HSF Committee

Flexible Path Study Background

• Engineering Analysis Team (NASA) support to the HSF committee was kicked off on May 21st 2009.

• EAT Spent the next month collecting background studies and waiting.

• June 26th, Ed Crawley released the first draft of the Study Analysis guidance for the EAT to do

• June 30th, Scenario Leads are chosen for the 5 Scenarios with 1 month until Briefing the Committee subteam on initial results on July 22nd, 2009

Scenario A is the Lunar Base, Scenario B is the Lunar Global,

Scenario C is Moon as a testbed for Mars, Scenario D is Mars First (and only)

Scenario E is the Flexible Path

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 3 Previous Exploration Studies influencing the Scenarios

1988 Evolutionary 1989 90-Day Study 1991 Synthesis Report Strategy 1989 Case Study 2004 ESAS Lunar Base (Approaches A through (Moon to Stay and Mars (Lunar Outpost to Early (Lunar Evolution) 2005+ Constellation D) Exploration) Mars)

1993 First Lunar 1991 Synthesis Report 1988 Case Study Outpost Lunar Global (Science Emphasis for (Lunar Observatory) (Note: Design the Moon and Mars) Reference Mission)

1990 90-Day Study 1991 Synthesis Report Moon to Mars (Approach E) (Mars Exploration)

Mars DRM 1988 Case Study 1989 Case Study 1989 Case Study 1.0,3.0,4.0,&5.0 Mars First (Human Expeditions to (Mars Evolution) (Mars Expedition) (Note: Design Mars) Reference Mission)

2007 Exploration 2007 & 2008 NEO 1988 Case Study Blueprint - SEL2 Feasibility Studies Flexible Path (Human Expedition to (Note: Design (Note: Design Phobos) Reference Mission) Reference Mission)

1991 Synthesis Report Other (Space Resource Utilization)

Note: Some studies do not correspond exactly to our scenarios

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 4 A Flexible Path of Human and Robotic Exploration

! A Flexible Path for Exploration • Frequent, measured, and visible human exploration of space beyond Earth orbit • Cross-leverage the human and robotics capabilities • Gain operational experience and system validation - For long duration missions (90 – 600 days) beyond low-Earth orbit (LEO) - In vicinity of low-gravity planetary bodies ! Key Scientific Return • Exploration while producing exciting new science each step of the way • Understanding human impacts of - long-term radiation environment in deep space - extended exposure to micro-gravity environment • Multi-kilogram sample return from solar system bodies. Some radically different from Moon/Mars • Telerobotic exploration and sampling of the surface of Mars ! Public Engagement and Inspiration • Cultivate and maintain public support by taking on demonstrably new, visible and different space missions

• Unprecedented deep space missions with dramatic perspective of the Itokawa. Earth-Moon system and voyages to NEOs, Mars and Venus Courtesy JAXA

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 5 Scenario E) Flexible Path

• Piloted missions to many places in the inner solar system • Orbit planets with deep gravity wells; Rendezvous with small bodies • Tele-robotically explore and sample planetary surfaces

NEOs Sun - Earth L 2 L Moon 2 L4 L1 Mars L5

Earth Phobos L3 & Deimos

Sun - Earth

L1

Venus

• Visible exploration progress to interesting destinations • Regular return of new scientific knowledge • Minimizes destination specific systems (landers, etc) Sun2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 6 !"#$#%&'(")*%+',*-./'0'1//*234)%/'

Ground Rules • Piloted missions to many different venues is a key metric • Planetary surfaces within a deep gravity well will be accessed telerobotically by the Crew • Robotic precursors to NEO missions, and for Mars surface sample collection • TransHab or equivalent habitat space is commercially / IP available • Using Constellation launch vehicle capabilities as baseline; Ares I & V • Orion capsule used for crew launch from Earth, Earth entry, descent and landing (EDL), and in-space piloted missions. No changes other than block upgrades

Assumptions • 1 crewed flight, plus 1-2 cargo missions, per year • 3-5 person crew with closed-loop Environmental Control & Life Support System (ECLSS) mass which varies with mission duration • EELV upper stage with low boil-off available in 2015 • Cryogenic oxygen/hydrogen Earth Departure Stage (EDS) with low boil-off available initially and on- orbit “Topping-off” of EDS in LEO available (not necessarily a depot) • Nuclear Thermal Rocket (NTR) propulsion available in late 2020’s • Mission maximum duration of approximately 2 years • Earth entry velocity not to exceed 12 km/s • Chemical Isp = 448 sec; NTR Isp = ~900 sec

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 7 Scenario E Analysis Process

LV Architecture #2 Mission Analysis for crew various destinations Scenario E) LV Architecture #1 G & A

Trajectory Analysis of Flexible Missions Develop Transportation Manifest of Flexible Missions

Assess and Determine Enabling Technologies

Robotic Precursors 2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 8 Scenario E) Flexible Path Mission Sequence

Sequence for Scenario

1. Unpiloted mission to Sun-Earth L1 for system test (or lunar flyby) 2. Piloted mission to lunar flyby and/or to Earth-Moon L1 3. Mission to Sun-Earth L2 to service science assets 4. Mission to Sun-Earth L1 to experience the interplanetary radiation environment 5. Several missions to NEOs to rendezvous and return samples 6. Flyby mission to Mars with telerobotic operation of surface assets 7. Mars Phobos rendezvous and Mars/Phobos surface sample return 8. ?Venus orbital mission, and balloon teleoperation

Initial Operational Capability (IOC) is human presence in orbit of Mars or Venus

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA 9 Flexible Path Architecture

Flexible Path Scenario E is a sequence of Inner Solar System missions with increasing capability into >365 day duration the inner solar system Limited Inner Solar System Mars ~200 day duration Phobos Sun-Earth Vicinity NEOs Near Earth 30-90 day duration NEOs Mars 21+ day duration Sun – Earth Flyby Earth’s L2 Minimum Lagrange L Capability Points 2 7-14 day duration Sun – Earth L Lunar 1 L1 Flyby

Zero boil off & Refueling

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 10 Scenario E Milestones, Destinations & Capabilities

Humans in Humans in First Humans to Humans in Cislunar Interplanetary Humans to Mars Mars Orbit Space Space NEOs Vicinity & Sample Return 7 10 21 32 90 155 190 440 780 491 Days Days Days Days Days Days Days Days Days Days

Unpiloted Earth Sun Sun NEO NEO Lunar Lunar Moon Earth Earth (2008 (2007 Mars Phobos Venus Test Flyby L1 L2 L1 EA9) UN12) Flyby Flyby

Year 1 2 3 4 5 6 7 8 9 10 11

Minimal Near Earth Sun Earth Limited Inner Inner Solar Vicinity Solar System System

MSR Sample NEO Telescope Phobos Capture at Precursor Servicing Precursor Mars Sampler Phobos

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 11 Orion Support of Flexible Path Missions

! “Lunar” Orion Capabilities • Support of 4 crew for 18 days • Provides ~1,550 m/s total delta-v* • ~1,500 We power to other elements

! Flexible Path Mission Modifications • Support of crew for 90+ days Example: The CEV can perform 1,700 m/s with - Consumables ~1,350 kg mass savings - Habitation / exercise Example: The CEV can push an additional 3,200 • Radiation protection for longer kg through 1,300 m/s duration deep-space mission

* Total delta-v available dependent on propellant load and vehicle mass 2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 12 In-space Propulsion and Propellant Resupply Trades

With propellant resupply, an EDS could perform transfer mission injection for Flexible Path missions ! Trade EDS use/resupply vs NTR development costs/use ! Trade EDS staging vs EDS propellant resupply for missions

EELV Centaur Upper Stage

Ares V Earth Departure Stage (EDS)

DRA 5 Nuclear Thermal Rocket (NTR)

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 13 Flexible Path Transportation Elements

Initial and then Modest Capability Full Capability

(NTR = 3.5 launch) or

(Chemical = 5.5 launch)

• !"#$%&'#()&*++,"&-(./,&01,%(.2"&.%3&(),%&45-6& • 7."8&E".%8#(&F,)#G@,&07EF6&3,H%,3&D$"&IJJK&5LMN& 7."8&M"G)#(,G(2",&-(23=&01),?#G.@&O8&>EL6& • 7#88#$%8&($&92%."&!":#(;&9./".%/,&<$#%(8&.%3& %,.":=&>4!8& • -2++$"(8&?#88#$%8&($&7."8&!":#(&0<)$:$86;&F,%28&!":#(& • 1$?+@,(,@=&4A+,%3.:@,& .%3&@,88&.GG,88#:@,&>4!8& • B%(,/".C$%&#%&4."()&!":#(;&#%3,+,%3,%(&$D&B--& • <$(,%C.@@=&",28.:@,&3,8#/%&0,AG,+(&D$"&!"#$%&,@,?,%(8& .%3&3"$+&(.%P86& • *++,"&8(./,&3,+@$=,3&#%&$":#(& O#.&449F;&(),%&M",8&F&$"&),.O=&@#Q& ,R2#O.@,%(& • 1",'&.%3&!"#$%&3,+@$=,3&O#.& M",8&B&$"&,R2#O.@,%(& • M@(,"%.(,&)2?.%S".(,3&M",8&FS Infrastructure required for Mission [email protected]&O,)#G@,&($&/.#%&8#%/@,& Propellant and Outfitting @.2%G)&D$"&?$3,8(&?#88#$%8& Infrastructure required for Scenarios

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 14 Flexible Path: Enabling Technology Needs

! Zero boil-off technology (~0.5% / month boil off at 0.1 kw/Mt) for EDS

! Zero-g cryogenic fluid transfer capability for filling EDS’s while in orbit

! In-space NTR transfer stage (Isp = 900 secs) • possibly not required depending on cryo-fluid transfer trades • definitely enhancing technology

! Closed-loop ECLSS technologies

! Human radiation and zero-g countermeasures robust enough to enable 2-year missions

! Proximity/contact operations technologies for !-gravity rendezvous with NEOs (Unique for Scenario E)

! Crew Autonomy technologies and systems

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 15 Ares I and EELV Lunar Free Return Centaur US / Orion SM provides Earth Departure, and Earth Return "V

Unpiloted and Piloted test flight around the Moon Moon Orion SM performs Lunar Free Return [additional, if necessary] Orion SM Performs Earth Return burn necessary attitude changes

SM performs mid-course ~3 Day correction burns Inbound ~3 Day Segment outbound Verify critical deployments Segment

Service Module Low Expended Earth Centaur upper stage Orbit performs TLI burn

US Direct Entry (~11 km/s) CEV Land Landing Centaur Note – Ares I and EELV for lunar free return : • Circumlunar (free return trajectory) flight • Verify components, ability to traverse cislunar space and return

Vehicle and components not to scale. EARTH

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA 16 Earth-Moon L1 (EML1) Mission Deployment of Telescope, or other Science Spacecraft

Assumes 2-3 Crew Multiple EVAs Hardware stored in Airlock and aft-end of Service Module

EML1, 2 Rndz, Prox ops, Airlock remains at ~5 Day EML1, 2 deploment S/C Visit

~6-day Orion SM performs ~5+ Day Outbound Earth Return burn Inbound Segment Segment

Centaur upper stage performs Service Trans EML1 Injection Module Rendezvous, dock in LEO Expended Low Earth Orbit Direct Entry ~11 km/s)

Note - Ares I and Orion modifications: • Orion long duration life support • Deep Space Airlock • Human-rate the Centaur

Vehicles are not to scale. EARTH

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA 17 Sun-Earth L1, 2 (SEL1, 2) Mission Servicing [Telescope, or Other Science Spacecraft]

Assumes 2-3 Crew Multiple EVAs Hardware stored in Airlock and aft-end of Service Module

SEL2 Rndz, Airlock Prox ops, ~5 Day remains at SEL1, 2 grapple S/C Visit

~12-day Orion SM performs ~12+ Day Outbound Earth Return burn Inbound Segment Segment

EDS performs Trans SEL2 Injection Service Aft of SM is Airlock Module Rendezvous, dock in LEO Expended Low Earth Orbit Direct Entry ~11 km/s)

Note - Ares I and Orion modifications: • Orion long duration life support • Deep Space Airlock • Human-rate the Centaur Vehicles are not to scale. EARTH

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA 18 Robotic Precursors & Coupled Missions

Precursor and concurrent robotic missions are integrated and enabling components of the Flexible Path Scenario

! NEO Precursors to validate physical characteristics and landing/anchoring methodology

! Robotic surface exploration of Mars, and Venus (lander / rover / aircraft / balloon)

! Mars surface sample return system: - to gather samples for piloted Phobos mission - to understand future human Mars landing site biology/toxicity/water

These do not preclude other robotic missions to Moon and other destinations

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 19 NEO Precursor Mission Objectives

! Prior to sending a piloted mission to a NEO, additional characterization of the target is required

! Obtain basic reconnaissance to assess potential hazards to vehicle and crew

! NEOs could be binary systems, rapid rotators, potentially active surfaces, etc. • Non-benign surface morphologies

! Assess surface for future activities to be conducted by the Orion crew and payload • proximity operations • surface operations • sample collection Atlas V launch

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 20 Near-Earth Object (NEO) Crewed Mission – 1.5 launch EDS / Orion SM provides Earth Departure, NEO Arrival, and Earth Return "V

Assumes 3 Crew w/ Telerobotic NEO Exploration and EVA Orion SM Performs Orion SM performs NEO Rendezvous Earth Return burn

7-14 Day NEO Visit

NEO Heliocentric Orbit EDS completes Trans ~1 - 45 Day EDS NEO Injection Inbound Expended Segment ~75-130 Day Outbound Segment Service EDS initiates Trans Module EOR NEO Injection Expended Low Earth Orbit

Direct Entry (<12 km/s) EDS

CEV Land Landing Note - Centaur modifications for Boil off mitigation • Deep Space Airlock • TransHab-class module

Vehicles are not to scale. EARTH

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA 21 190-day Mission to 2007 UN12 (late-2020)

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 22 Mars Flyby with TeleRobotic Surface Operations

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 23 Mars Sample Return (MSR) Lander Sampler

• Rendezvous with Human Phobos mission for Earth • EDL system return (MSL skycrane)

Payload Fairing Sample Container • Atlas V launch Assembly (SCA)

Avionics Compartment

Star 13A SRM 35.1 cm

2.56 m TVC Controllers

44.2 cm Stretched Star 17A SRM

SRM Igniters 56.4 cm

TVC Actuators

• Lander with Rover and Snatch n’ Grab – Carries sampling Rover and Ascent Vehicle, packages samples – Uses Phoenix arm/scoop as sampling 2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 24 Phobos Rendezvous and Mars Sample Return Mission

! Mission Profile • Piloted Mission to Phobos/Deimos - Rendezvous and explore Phobos and Deimos - Collect surface and subsurface samples • Pre-deploy 4.5MT and 12MT Surface Sample Return systems at 2 locations on Mars via Ares V launch - Explores subsurface to 10 m depth at several local places (<1 km) at a single-landed location - Gather 2 surface samples of 500gm, and a single sub-surface sample of 1kg

* Total delta-v available dependent on propellant load 2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 25 Venus Rendezvous with Telerobotic Operations

Patch conic mission analysis – Non optimal 2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 26 Flexible Path Scenario Assessment Summary

• Objective • A flexible scenario that focuses on a variety of mission destinations in an integrated campaign • Focuses on low-g missions only and does not preclude humans to a planetary surface • The campaign culminates in a human Phobos and Mars sample return mission in the 2024 - 2030 timeframe and provides the basis for a future Mars human landing (Scenario C/D) • Scope of Assessment • This study effort is an initial integration of a variety of design reference missions into a cohesive scenario for the flexible exploration of the inner solar system through human and robotic systems. The following still need to be undertaken: ! Numerous detailed trade studies ! Comprehensive life cycle cost analysis (technology, precursors, demonstrations, etc.) ! Integrated development and implementation plan • Flexible Path Mission Evolution • U.S. leading robust human exploration missions • Regular crewed deep space missions that provide critical knowledge and experience • Scenario E evolves into Scenario C/D after Mars Flyby/Phobos or as resources are available for lander and surface systems development

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 27 Scenario E Milestones, Destinations & Capabilities

Humans in Humans in First Humans to Humans in Cislunar Interplanetary Humans to Mars Mars Orbit Space Space NEOs Vicinity & Sample Return 7 10 21 32 90 155 190 440 780 491 Days Days Days Days Days Days Days Days Days Days

Unpiloted Earth Sun Sun NEO NEO Lunar Lunar Moon Earth Earth (2008 (2007 Mars Phobos Venus Test Flyby L1 L2 L1 EA9) UN12) Flyby Flyby

Year 1 2 3 4 5 6 7 8 9 10 11

Minimal Near Earth Sun Earth Limited Inner Inner Solar Vicinity Solar System System

MSR Sample NEO Telescope Phobos Capture at Precursor Servicing Precursor Mars Sampler Phobos

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 28 Off Ramp to Lunar: Scenario E -> B Milestones, Destinations & Capabilities

Humans in Humans in First Human Human to Cislunar Interplanetary Humans to Lunar Mars Vicinity Space Space NEOs Return

7 10 21 32 90 190 440 Days Days Days Days Days Days Days 1st Habitat Flight

Unpiloted Earth Sun Sun NEO Site Site Site Site Site Lunar Lunar Moon Earth Earth (2007 1 2 3 4 5 Mars Test Flyby L1 L2 L1 UN12) Flyby

Year 1 2 3 4 5 6 7 8 9 10 11

Near Earth Sun Earth Lunar Lunar Sortie Lunar Extended Vicinity Surface Flights Duration Test Location A Flights

Lander with Habitat

Precursor Extended Robotic Landers / Presence Rovers 2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 29 Off Ramp to Lunar: Scenario E -> D Milestones, Destinations & Capabilities

Humans in Humans in Human Human to First Humans to the Cislunar Interplanetary Lunar Mars Humans Inner Planets Space Space Return On Mars Mars First Second Analog Mission Mission on To To Moon Venus Mars

Earth Sun Moon Earth L1 L1 Lunar Sun Venus Test Lunar Earth NEO1 NEO2 Mars Moon Mars Moon Mars Mars Flyby Flyby L2 Flyby Phobos

Year 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

Mars Transit Ascent Full-scale EDL Habitat Stage Mars Sample Return In Space Crew Vehicle Demonstration Demonstration Transportation 180 days Cargo Landers at ISS to Mars

2/10/10 Korsmeyer :: Flexible Path Concept :: Pre-decisional NASA Page 30