Lunar Landscape Analysis Rover Procedure on Lunar Surface

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Presentation transcript:

Lunar Landscape Analysis Rover Procedure on Lunar Surface February 05, 2009 [Cory Alban] [Mission Ops]

Lunar Surface (Oceanus Procellarum) Impact Craters 2cm to several meters in diameter Rolling Hills Maximum inclination: ±15º Regolith & Debris Regolith is a fine, dry powder Debris size: 0.0005m to 0.50m (Not to Scale) [Cory Alban] [Mission Ops]

[Cory Alban] [Mission Ops] Locomotion Procedure Lander Panorama Step breakdown Transmit still photo of current path Ground crew analysis / instruction transmission Robot follows movement command Five steps per hour 62 m/hour 9 hours to achieve 500m goal [Cory Alban] [Mission Ops]

Lunar Landscape (Oceanus Procellarum) Rolling hills (±15º maximum inclination w/ craters) 4 Large craters > 50m Multiple medium craters 4m – 50m Multiple small craters 2cm – 4m Surface Particles (< 0.5m diameter) [Cory Alban] [Mission Ops]

Lunar Regolith Parameters Cohesion (Static Bearing Pressure): 5520 – 7580 N/m2 Density: 1.5g/cc – 2.0g/cc Angle of internal friction: 35º - 39º (37º avg) Angle of repose: Larger than 50º [Cory Alban] [Mission Ops]

[Cory Alban] [Mission Ops] Locomotion Procedure Top Speed (from power): 0.03m/s Using 66% of top speed (0.02m/s) Photograph & transmission time 3s Average analysis time 97s 12 minutes/step (5/hour) 720s Travel Time/step (720s-100s) 620s Distance/step (620s x 0.02m/s) 12.4m Total travel distance + 10% 550m Total Steps 550m/(12.4m/step) 45 steps [Cory Alban] [Mission Ops]

Locomotion Procedure Options Driving time + (100s)*(#steps) Increase steps, directly increase mission time. If we travel in 5 meter increments 350s /step ~10 steps/hour 110 steps to reach goal Total mission time: ~11 hours (+1.5 hours more) [Cory Alban] [Mission Ops]