MIT OpenCourseWare http://ocw.mit.edu 16.89J / ESD.352J Space Systems Engineering Spring 2007 For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms. Rapid Modeling of Mars Robotic Explorers 16.89 Design Document Spring 2003 Massachusetts Institute of Technology This work was completed as part of the 16.89 Space Systems Engineering course, a semester- long graduate design course in the Department of Aeronautics and Astronautics at the Massachusetts Institute of Technology. Copyright 2003 Massachusetts Institute of Technology (MIT) No part of this report may be reproduced, stored in a retrieval system or transmitted in any form or by any means without the written permission of MIT. This document is available in Adobe PDF and Microsoft Word formats. Design Document: Rapid Modeling of Mars Robotic Explorers 2 Contributors Instruments Acquisition Environment Christopher Roberts Ian Garrick-Bethell Stephanie Chiesi Julie Wertz Erisa Hines Jessica Marquez Rover Power Communications Mark Hilstad Kalina Galabova Babak Cohanim Julien Lamamy Roshanak Nilchiani Tsoline Mikaelian Autonomy Edward Fong Barry Willhite Faculty Professor David Miller Colonel John Keesee Joseph Parrish (Payload Systems, Inc.) Design Document: Rapid Modeling of Mars Robotic Explorers 3 Acknowledgements The contributors to this report would like to acknowledge the following people for their contributions, advice, information and guidance. Charles Whetsel, JPL Allen Chen, JPL Design Document: Rapid Modeling of Mars Robotic Explorers 4 Forward The Rapid Modeling of Mars Robotic Explorers project is the result of a one-semester course, 16.89 Space Systems Engineering, held in the spring of 2003 in the Department of Aeronautics and Astronautics at the Massachusetts Institute of Technology. This graduate design course places an emphasis on systems engineering as an approach to design. The objective of 16.89 is to further develop systems knowledge by applying systems engineering techniques to a particular design problem. The systems engineering method focuses on design based on the mission needs. The particular project described in this document resulted in a tool for conducting system level trades for Mars rovers, based on user-specified payloads and other mission attributes. During the course of the semester, the class had several milestones marking the development of the design tool: a Trades Analysis and Requirements Review, a Preliminary Design Review, and a Critical Design Review. The class also produced two documents: a Trades and Requirements Document and this final Design Document. The class was divided into subsystem teams, allowing the members of each team to focus on the design options and algorithms for that specific subsystem. This report and the project code are the final products of the course. This design document includes descriptions of the subsystem modules and a user’s manual for the code. Design Document: Rapid Modeling of Mars Robotic Explorers 5 Table of Contents Forward ……………………………………………………………………………………………………………………………5 Table of Contents ...........................................................................................................6 Figures and Tables..........................................................................................................9 1.0 Executive Summary ................................................................................................ 12 1.1 Motivation and Objectives .................................................................................... 12 1.2 Project Requirements and Assumptions.................................................................. 12 1.3 Design Process.................................................................................................... 12 1.4 Subsystems ........................................................................................................ 13 1.5 System Validation................................................................................................ 13 1.6 Conclusions ........................................................................................................ 15 2.0 Project Overview .................................................................................................... 16 2.1 Introduction........................................................................................................ 16 2.1.1 Project Background ....................................................................................... 16 2.1.2 Motivation.................................................................................................... 16 2.1.3 Objectives.................................................................................................... 16 2.2 Requirements ..................................................................................................... 17 2.2.1 Project Scope ............................................................................................... 17 2.2.2 Project Requirements .................................................................................... 17 2.3 Project Overview................................................................................................. 18 2.3.1 System Architecture ...................................................................................... 18 2.3.1.1 Science Vector ....................................................................................... 18 2.3.1.2 Design Vector ........................................................................................ 19 2.3.1.3 Cost Module........................................................................................... 19 2.3.1.4 Complexity Module ................................................................................. 20 2.3.2 System Design Flow ...................................................................................... 22 3.0 Project Subsystems................................................................................................. 25 3.1 Instruments........................................................................................................ 25 3.1.1 Responsibilities............................................................................................. 25 3.1.2 Instruments Database ................................................................................... 25 3.1.3 Sources ....................................................................................................... 26 3.1.4 Assumptions................................................................................................. 26 3.1.5 Validation..................................................................................................... 27 3.1.6 Current Instruments...................................................................................... 27 3.1.6.1 Contact Suite Instruments ....................................................................... 28 3.1.6.2 Remote Sensing Instruments ................................................................... 29 3.1.6.3 Analytic Laboratory Instruments:.............................................................. 29 3.1.7 Expandability................................................................................................ 30 3.1.8 References................................................................................................... 30 3.1.9 Appendix ..................................................................................................... 32 3.2 Acquisition.......................................................................................................... 35 3.2.1 Responsibilities............................................................................................. 35 3.2.2 Assumptions................................................................................................. 35 3.2.3 Background.................................................................................................. 35 3.2.4 Program Flow............................................................................................... 37 3.2.5 Validation..................................................................................................... 38 3.2.6 Expandability................................................................................................ 38 3.2.7 References................................................................................................... 39 3.3 Environment....................................................................................................... 40 3.3.1 Responsibilities............................................................................................. 40 Design Document: Rapid Modeling of Mars Robotic Explorers 6 3.3.2 Assumptions................................................................................................. 40 3.3.3 Background.................................................................................................. 40 3.3.3.1 Solar Irradiance...................................................................................... 40 3.3.3.2 Hours of Sunlight per Sol......................................................................... 43 3.3.3.3 Temperature.......................................................................................... 44 3.3.3.4 Rock Density Determination..................................................................... 45 3.3.3.5 Other Outputs of the Environment Module................................................