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

2. 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: m to 0.50m
(Not to Scale)
[Cory Alban] [Mission Ops]

3. [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]

4. 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]

5. 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]

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

7. 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]