1. Hopper Spacecraft Simulator

2. The “Hopping” Concept -Land on a celestial body using engines, conduct surface operations, then re-ignite engines and ‘hop’ to a new location on said body. - Can hop multiple times until fuel runs out. -Hopping can bypass dangerous/impassable terrain very quickly and can traverse vast distances. -First hop was accomplished by Surveyor 6 in 1967. Traversed a distance of 10 feet. -NASA has a lot of experience with rovers… and landers… but not hoppers. Surveyor 6

3. Example Mission: Historical Lunar Landing Sties -Land near one site and hop to some other historical sites. -Deploy small payloads at each destination. -Land at a refueling station (assumed to be constructed), refuel, and keep hopping.

4. Guidance, Navigation, and Control (GNC) Problem 1)How will the hopper control itself to enable a stable flight? 2)How will the hopper know where it is and where it needs to go? 3)How will the hopper figure out the best (optimal) trajectory to get it to its final destination?

5. Control Tilt Sensor Gyroscope Motor

6. Hopper Spacecraft Simulator (Constructed to test GNC algorithms) Quick Facts: -Total Mass: 13.7kg or 30lbs -Total Thrust: 180N or 40lbs -Powered by Lithium-polymer batteries -17.4 Ah in batteries -Thrust provided by 4 ducted fans -Fans pivot in a single axis enabling translational movement 70cm 40cm

7. Actual Hardware

8. Hardware Continued

9. Future Work -Currently Re-working control board to gain computational speed and efficiency -Working on semi and fully-autonomous flight capabilities -Simulator will be used to test future GNC algorithms Lehigh may develop -A second-generation hopper with a larger thrust to weight ratio is currently in the design phase.

10. Future Research: Trajectory Optimization A B B A Horizontal Trajectory Ballistic Trajectory (Bang-Bang)

11. Details and Acknowledgements Lehigh Hopper YouTube Channel: http://www.youtube.com/user/TheLehighHopper#p/a/u/1/iPkFOJeE0FQ http://www.youtube.com/user/TheLehighHopper#p/a/u/1/iPkFOJeE0FQ Contact: Professor Terry Hart teh305@Lehigh.edu Andrew Abraham aja208@Lehigh.edu Acknowledgements: Jeff Diebold Dan Frank Kiki Schuck Mike Mastrola Matt Bilsky Zack Rambo