1. Crew Mobility for Lunar Surface Exploration Dr. Rob Ambrose NASA-JSC May 2008

2. 2 Topics for this Morning  Lunar Architecture Team  Lunar Challenges  Landing Sequences  Rover Configurations  Un-Pressurized Rovers  Small Pressurized Rover  Recent Work  Chariot Prototype  SPR Cabin Design

3. 3 Challenges of the Lunar Southpole  The Good News  Many interesting scientific sites.  Peaks of “perpetual light”.  Easier transportation access.  Potentially moderate temperatures.  Long term Earth communication.  The Bad News  Very rough terrain.  Very complicated lighting.

4. 4 Lessons (Still Remembered) from Apollo  1/6 G Driving Dynamics  Limited Apollo speed.  Beware of pitch mode oscillations.  Consider alternatives to seats?  Beware of passive suspension.  Beware of Dust.  Engine Ejecta  Not a problem for Apollo.  Descent / ascent engines will fire.  Vicinity will be “sand blasted”.

5. Landing Simulation (JPL Radar Data)

6. 6 So What’s the Big Idea? 1969, Apollo 11 ATHLETE Mobility System (2) ATHLETE Mobility System (2) Small Pressurized Rover (SPR) Small Pressurized Rover (SPR) Habitation Element Habitation Element Common Airlock With Lander Common Airlock With Lander ISRU Oxygen Production Plant ISRU Oxygen Production Plant Integrated Cargo Pallet (ICP) ( Supports / scavenges from crewed landers ) Integrated Cargo Pallet (ICP) ( Supports / scavenges from crewed landers ) Habitation Element Habitation Element Logistics Pantry Logistics Pantry Unpressurized Rover Unpressurized Rover 10 kW Arrays (net) Lunar Outpost Surface Systems (Conceptual)

7. 7 Multi Lander Sequence (Early Habitation)

8. 8 Multi Lander Sequence (Early Mobility)

9. 9 Extreme Mobility

10. 10 UPR Concept  Cabin mounts on UPR Chassis  Hatch for Docking with Habitat  IV Transfer of crew  Reduced dust in cabin.  Expands habitat.  Suit Port for EVA  Fast egress.  Reduces dust in cab.

11. 11 SPR Concept  Cabin mounts on UPR Chassis  Hatch for Docking with Habitat  IV Transfer of crew  Reduced dust in cabin.  Expands habitat.  Suit Port for EVA  Fast egress.  Reduces dust in cab.

12. 12 UPR Lander Packaging  Packing with Habitat Modules  Many Habitat options on central plane.  Two UPR’s can pack on deck sides.  UPR Deployment  Crane or Davit deployment.  With or without EVA help.

13. 13 UPR Folding Wheels Suspension Folding Bracket Reduced Stow Volume Produces Flat Stow Deck Locks Suspension for Flight Provides EVA Repair Point Design Benefits

14. 14 SPR & ATHLETE Lander Packaging  ATHLETE on Lander  ATHLETE legs folded for launch  ATHLETE slides/walks off lander deck  SPR on ATHLETE on Lander  SPR packed with “belly” flat on ATHLETE frame.  SPR stands up and drives off ATHLETE.

15. 15 SPR’s Directly on Lander Packaging  Two SPR’s on Lander  Various geometries are possible.  Room is available for extra chassis  SPR Deployment  Crane or Davit deployment.  With or without EVA help.

16. 16 A Layered Approach to Safety Enough Cartoons, Now For Some Real Robots……

17. 17 Chariot- NASA’s UPR Prototype  Primary Configurations  Un-Pressurized Rovers (In Testing)  Small Pressurized Rovers (In Design)  Technologies  Novel chassis kinematics  Active/Passive suspension  Upright crew accomodations  Chassis leveling  Small Pressurized Rover Ops  Technology Collaborations  EVA (Advanced Suits & Suitports)  Thermal Control  ISRU  Power  Surface Communications

18. 18 Redundant Kinematics

19. 19 High Speed Driving

20. 20 Active Suspension

21. 21 Crew Accommodations

22. 22 Night Driving

23. 23 Dozing

24. 24 Robotic Driving

25. 25 EVA Mounting and Dismounting

26. 26 SPR Design Work  Mobile Habitation  ATHLETE Based habitats can move between multiple landing sites.  Crew Mobility  Chariot based rovers with cabins expands crew range and safety.

27. 27 SPR Design Work

28. 28 SPR Design Work  SPR Mass  2500 Kg Dry Cabin Mass  3000 Kg Cabin w/ Crew  4000 Kg with chassis  Features  ~10 cubic meters IV  PLSS Based ECLSS  Water wall radiation shield  Water/Ice wall thermal mass  Two suitports on aft bulkhead  Extended range battery (100 kW-Hr)

29. 29 SPR Design Work

30. 30 SPR Design Work

31. 31 SPR Design Work

32. 32 SPR Design Work

33. 33 While NASA’s lunar program is starting with the best from Apollo, we are also challenging assumptions about crew mobility. Should there be two seats? Should they be side by side seats? Should there be seats? Should rovers steer “like a car”? Should rovers have 4 wheels? How active should active suspension be? What are the right control modes for lunar operations? Early prototypes of un pressurized and small pressurized rovers offer entirely new exploration techniques that will be relevant for future, long range planetary exploration.