Mars or Bust Preliminary Design Review

1
Mars or Bust Preliminary Design Review

• 12/8/03

2
ASEN 4158/5158

• Design of Martian habitat
• Based on the Design Reference Mission (DRM) from
  NASA Hoffman and Kaplan, 1997 Drake, 1998
• Overall plan for a human Mars mission
• Gives outline but no detail
• Top level requirements
• Modified to narrow scope of project

3
DRM Schedule
4
(No Transcript)
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Key Assumptions for Design

• Only first Surface Habitat (Hab-1)
• Designed for Mars gravity
• Focusing on surface operations
• Launch, transit, Mars entry not designed
• Interfaces with external equipment
• Rovers, power supply, ISRU unit
• Crew will use Habitat on arrival

6
Overall Project Goal

• Establish a Martian Habitat capable of supporting
  humans
• Level 1 Requirements
• Support crew of 6
• Support 600 day stay without re-supply
• Maintain health and safety of crew
• Minimize dependency on Earth

DRM
7
Key Level 1 Requirements

• 80 metric ton launch vehicle
• Recommended Total Habitat Mass lt 34,000 kg
  (includes payload)
• Deploys 2 years before first crew
• Standby mode for 10 months between crews
• Mission critical 2-level redundancy
• Life critical 3-level redundancy
• Integrate In-Situ Resource Utilization System

8
Organizational Chart
Project Manager
Systems Engineering and Integration
Mission Operations
EVAS
Robotics and Automation
Thermal
ISRU
Crew Accom.
Structures
Power
CCC
ECLSS
9
Systems Engineering and Integration Team

• Primary
• Juniper Jairala
• Tim Lloyd
• Tyman Stephens
• Support
• Jeff Fehring
• Keith Morris
• Meridee Silbaugh

10
Systems Engineering and Integration
Responsibilities

• Establish habitat system requirements
• Delegate top-level subsystem requirements
• Review and reconcile all subsystem design
  specifications
• Ensure that all habitat subsystem requirements
  are met
• Ensure proper subsystem interfaces

11
Key Design Drivers

• Design rationale
• Human factors automation
• Preliminary subsystem integration
• 10.2 psi habitat
• Light delay
• Minimize mass

12
DRM Mass Recommendations
Subsystem Mass Estimate kg
Structure 20,744
Power 3250
ECLSS 4661
Thermal 550
Crew Accommodations 5000
C3 320
EVAS 1629
Total 34,000
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Mission Operations Team

• Primary
• Christie Sauers
• Support
• Tim Lloyd
• Tyman Stephens

15
Mission Ops Responsibilities

• Identify and coordinate crew operations
• Create and modify the operations schedule
• Support the mission objectives through crew
  activities
• Establish clear hardware operational
• requirements and facilitate changes
• Identify and deliver relevant system status data
  to onboard crew
• Develop procedures for failure scenarios
• Respond to unexpected off-nominal conditions

16
Mission Ops Level 2 Requirements

• Operate maintain surface systems
• Support crew operations for entire mission
• Programmatic activities
• Planning, long-term and real-time
• Ease of learning/similar subsystems
• Create and maintain computer/video library
• Encourage smart habitat/automation
• Utilize auto fault detection and correction
• Minimize dependence on Earth

From DRM
17
Mission Ops/ CA Design Rationale

• Primary design drivers
• Consider human factors from the beginning
• A growing concern in manned mission design
• Communication delay with Earth
• Ensure that all tasks are completed without
  dependence on Earth control

18
Results of MO Integration

• Hab at 10.2 psi
• EVA protocol time considerations
• Structural Layout
• On side fewer stairs, open layout, emergency
  egress
• C3 data flow driven by Mission Ops
• Hardware choices
• Radiators will be chosen to minimize maintenance
• Cleaning sand, etc

19
Representative Mission Ops Operations List
20
Representative Subsystem Operations List
21
Mission OpsRepresentative Daily Timeline
22
MO Verification of Requirements
23
Future Considerations

• Alternate Implementations
• Increase Automation
• Develop Documentation
• Proficiency Training Tools
• Operational Procedures
• System Manuals/Tutorials
• Troubleshooting Library
• Malfunction Procedures
• Flight Data File Templates
• Training
• Crew
• Earth support team
• Continue Iterations

24
Lessons Learned

• Operations List is key
• Drives scheduling, mission and hardware designs

25
Mars Environment and In-Situ Resource Utilization
(ISRU) Team

• Primary
• Heather Chluda
• Support
• Keagan Rowley
• Keric Hill

26
Mars Environment Summary

• Responsible for collecting data on the Mars
  Environment
• Provides a consistent data set on the Mars
  Environment for the Habitat design group to use.
• Thermal, Radiation, Pressure, Atmosphere, Wind,
  etc.

27
Characteristics of the Mars Surface Environment

• Low gravity 1/3 of Earths
• Low atmospheric pressure 1 of Earths
• Cold and dry
• Windy
• Lots of Fine Dust
• More Radiation
• Less sunlight
• Day length about the same as Earth

28
Temperature

• Daily variation at Viking Lander sites 60C
• Seasonal variation for low temperature -107 to
  -18C

http//www-k12.atmos.washington.edu/k12/resources
/mars_data-information/temperature_overview.html
29
Radiation

• Skin dose on Mars surface would be about 30
  rem/yr during high solar activity
• about 5 rem/year from Solar Proton Events
• about 25 rem/year from Galactic Cosmic rays
• In Colorado, we get about 0.36 rem/yr
• The limit for skin dose established for
  astronauts in Low Earth Orbit is 300 rem/yr.

30
Martian Atmospheric Constituents
Larson and Pranke, 2000
31
Future Considerations

• More detailed temperature and radiation data for
  specific landing site
• Determination of topography of landing site and
  exploration area
• More detailed information from upcoming Mars
  missions

32
In-Situ Resource Utilization Subsystem Summary

• Demonstrate the use of all possible Martian
  resources for future missions
• Responsible for interface between habitat and
  ISRU plant
• ISRU will provide additional oxygen, nitrogen,
  and water for habitat use
• Non-critical system (i.e. No backups)
• Demonstration of the ISRU plant consumable
  production will be a key driver for future
  missions

33
ISRU Level 2 Requirements

• Provide additional oxygen, nitrogen, and water
  for the Habitat (from byproducts of propellant
  production)
• All Interfaces for the ISRU shall tolerate leaks
  within limits
• Propellant production shall be automated
• Acceptable temperatures shall be maintained in
  all interfaces (pipes, valves, and connections)
• Storage interfaces must be compatible with
  Habitat
• Pumping systems shall have adequate power to
  transport oxygen, nitrogen and water to the
  Habitat
• Piping must have adequate protection for Mars
  Environment
• Interfaces to Habitat storage tanks and ISRU
  tanks can be performed using robots or humans

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ISRU Subsystem Schematic
36
ISRU Requirement Verification
37
ISRU Plant Trade Study
ISRU Plant Type W/kg of product Products Advantages Disadvantages
Zirconia Electrolysis 1710 O2 Simple operation Many fragile tubes required
Sabatier Electrolysis 307 CH4 O2 (H2O) High Isp Requires H2 Cryogenic Storage Non-ideal mixture ratio
RWGS Methane 307 CH4 O2 (H2O) Ideal mixture ratio Requires H2 Cryogenic Storage
RWGS Ethylene 120 C2H4 O2 (H2O) Non-cryogenic High Isp Requires ½ x H2
RWGS Methanol 120 CH3OH O2 (H2O) Non-cryogenic Low flame Temp. Requires 2 x H2 Lower Isp
DRM uses Sabatier Electrolysis and RWGS Methane
processes Future design iterations should
consider using other propellant production methods
38
Future Considerations

• Use Martian soil as building material for
  Radiation shielding
• Safe haven soil shelter designs
• Consider more efficient ISRU plant methods for
  propellant and consumable production
• Mass benefits of using ISRU plant for consumables
  on future missions

39
Structures Subsystem Team

• Primary
• Jeff Fehring
• Eric Schleicher
• Support
• Jen Uchida
• Sam Baker

40
Structures Responsibilities

• Overall layout
• Volume allocation
• Pressurized volume
• Physically support all subsystems
• Radiation shielding
• Micro-meteoroid shielding
• Withstand all loading environments

41
Structures Level 2 Requirements

• Fit within the dynamic envelope of the launch
  vehicle
• Launch Shroud Diameter 7.5 m
• Length 16.3 m
• Structurally sound in all load environments
• Acceleration
• Vibration
• Pressure
• Easily repairable
• Stably support all other systems
• Interface with other systems
• Structures Mass lt 20744 kg

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Structures Overview

• Horizontal Orientation
• Emergency exit
• Stability
• Expansion
• Challenges
• Landing/Setup
• Center of Mass
• Using volume efficiently

Internal truss structure
Chassis, Wheels, Supports (not shown)
44
Overall Layout
Top Floor
Bottom Floor

• Personal Space
• Bed
• Storage
• Desk
• Safe Haven
• C3
• Airlock Space
• Lab
• Exercise
• Recreation
• Volume 615 m3
• Empty 215 m3

45
Volume Comparison

• Habitat Volume 615 m3
• Usable 215 m3
• Integrity Volume
• Aurora Volume
• ISS Volume
• Explore Mars Now
• Mars Desert Research Station
• Flashline Mars Arctic Research Station
• Submarine
• Biosphere
• Shuttle

46
Structure Sizing Rationale

• Aluminum
• High strength-weight ratio
• Ease of Manufacturing
• Hollow Cylinder
• Mass efficient
• Column
• Truss members
• Assume
• Atlas V launch loads (5 gs)
• Mars Gravity 3.758 m/s2

http//www.ilslaunch.com/missionplanner/pdf/avmpg
_r8.pdf Larson and Pranke, 2000
47
Requirements Verification
48
Future Considerations

• Design for launch loads from Magnum vehicle
• Balance Habitat for launch
• Optimize truss structure
• Fully design supports for all components
• Define setup procedure/mechanism

49
Power Distribution and Allocation Subsystem Team

• Primary
• Tom White
• Jen Uchida
• Support
• Nancy Kungsakawin
• Eric Dekruif

50
Power Responsibilities

• Interface with the nuclear power source and other
  external equipment
• Safely manage and distribute power throughout
  Martian habitat

51
Level 2 Requirements

• Supply and transfer power to the habitat from the
  nuclear reactor (DRM)
• Supply power with 3-level redundancy (Derived)
• Distribute power on a multi-bus system (Derived)
• Provide an emergency power cutoff (Derived)
• Mass must not exceed 3249 kg (including
  in-transit power) (DRM)

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Overview of System - Power Profile
54
System Schematic
55
Requirements Verification
56
Future Considerations

• More detailed power profile
• Specified hardware
• Decrease system mass
• Electromagnetic interference

57
Environmental Control and Life Support (ECLSS)
Team

• Primary
• Teresa Ellis
• Nancy Kungsakawin
• Meridee Silbaugh
• Support
• Bronson Duenas
• Juniper Jairala
• Christie Sauers

58
ECLSS Responsibilities

• Provide a physiologically acceptable environment
  for humans to survive and maintain health
• Provide and manage the following
• Environmental conditions
• Food
• Water
• Waste

59
ECLSS Level 2 Requirements

• Provide adequate atmosphere (derived)
• Gas storage (derived)
• Provide Trace Contaminant Control (derived)
• Provide Temperature and Humidity Control
  (derived)
• Fire Detection and Suppression (derived)
• Provide potable water (derived)
• Provide hygiene water (derived)
• Provide food (derived)
• Collect and store wastes (derived)
• Targeted mass of 4661 kg for the technologies
  (not including consumable) (DRM)

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Human Inputs and Outputs
All information is from Spaceflight Life
Support and Biospherics, Eckart (1994)
62
Atmospheric System Design
SPWE Solid Polymer Water Electrolysis EDC
Electrochemical depolarized concentrator
63
Water System Design
VCD Vapor Compression Distillation AES Air
Evaporation System MCV Microbial Check
Valves RO Reverse Osmosis
64
Food System Design
Note Refrigerator in Crew Accommodation is not
for food storage
65
Waste System Design
66
Representative of Operation
67
ECLSS Integrated Design
68
Requirements Verification
69
Future Considerations

• More detailed calculations of consumables
• Consider other technologies that currently have
  low TRL which will lead to more trade study (ex.
  Waste Management)
• More research on information about the
  technologies (M,P,V, FMEA (affect the mass),
  safety etc.)
• Optimize the integrated design to minimize power,
  mass, volume
• Consider other psychological effects which will
  factor into the design of the ECLSS subsystem
  (type of food, location of each subsystem and
  waste processing procedure etc.)

70
Thermal Control Subsystem Team

• Primary
• Keagan Rowley
• Sam Baker
• Support
• Heather Chluda
• Heather Howard

71
Thermal System Requirements

• Maintain a heat balance with all subsystems over
  all Martian temperature extremes (derived)
• Keep equipment within operating limits (derived)
• Must be autonomous (DRM)
• Accommodate transit to Mars (derived)
• Auto-deploy and activate if it is inactive during
  transit (derived)
• Report status for communication to Earth at all
  times (for safety concerns) (derived)
• Mass shall not exceed 5000 kg (Derived)
• Thermal Protections System shall be provided by
  the launch shroud system (Derived)

72
Thermal I/O Diagram
73
Design Drivers and Scenarios

• Heat Load Balance
• Heat Rejection Capacity
• Peak Power
• Mars Environment
• Transit to Mars

• Hot - Hot
• Occurs on hottest day
• Peak power usage
• No structure heat losses
• Crew highest metabolic output
• Cold - Cold
• Occurs on coldest day
• Minimal power usage
• Maximum structure heat losses
• No crew

74
Thermal Schematic
75
Thermal Heat Balance

• Equations
• Est. Heat Load Power Load Human Load
  Structures Load
• Heat Load 1.15Est. Heat load (degradation)
• Total Heat Load 1.1Heat Load (safety factor)
• Total Heat Load 39 KW

76
Area of Radiators

• Q 39000 W
• 5.67e-8 W/(m2K4)
• 0.9, ? 0.85
• Tr 290 K, Te 263 K
• A 391.9 m2

Human Spaceflight pp 519 - 524 http//www.swales.
com/contract/iss.html
77
Mass and Vol. of Radiators

• Mass 8.5 kg/m2 for two sided deployable
• Volume 0.06 m3/m2 for two sided deployable

Require deployable radiators due to transit
stowage and need for autonomous set up on Mars
surface Mass 8.5 Area 8.5 391.9 Mass
3330.9 kg Volume 0.06Area 0.06364.2 Volume
23.51 m3
Example of a Deployable Radiator Panel
Human Spaceflight pp 519 - 524 http//www.space.co
m/missionlaunches/sts112_update_021014.html
78
Thermal System Sizing
79
Requirements Verifications
80
Future Considerations

• Heat rejection method
• Radiator Dust Accumulation
• Study accumulation on radiations and effects on
  performance
• Radiator Mass
• Reduce mass
• Structures Thermal Analysis

81
Crew Accommodations Team

• Primary
• Christie Sauers
• Support
• Tim Lloyd
• Tyman Stephens

82
Crew Accommodations Requirements
http//www.robots.org/images/CyberArts/hablower1.j
pg

• Crew hygiene
• Hab cleanliness
• Psychological support
• Crew physical health
• exercise monitoring
• medical services
• Efficient,
• comfortable
• crew operations

history.nasa.gov/ SP-4213/ch4.htm
John Frassanito Associates
liftoff.msfc.nasa.gov/academy/ astronauts/exercis
e.html
http//msis.jsc.nasa.gov/sections/section03.asp
HSMAD
gospelcom.net/rbc/ ds/cb922/point8.html
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Crew Accommodations Equipment

• Galley Maintenance and Food Supplies
• Waste Collection System Supplies
• Personal Hygiene
• Shower, Faucet, Personal Hygiene kits
• Clothing, Washer, Dryer
• Recreational Equipment and Personal Stowage
• Housekeeping
• Operational Supplies Restraints
• Maintenance Tools for all repairs in habitable
  areas
• Photography (All Digital)

HSMAD
85
CrewAccommodations Active Equipment
86
CA Trade Study

• Clothes/Linens Options
• Bring All
• Hand wash
• Washing Machine
• Trade-offs
• Decision Washing Machine

http//www.shoalwater.nsw.gov.au/ 1yourwater/aud
it.html
http//www.shoalwater.nsw.gov.au/ 1yourwater/aud
it.html
theguardians.com/space/orbitalmech/stationoutput
.html HSMAD
HSMAD
87
Requirements Verification
HSMAD
88
Future Considerations

• Equipment Design and Operation in Mars Gravity
• Washing Machine
• Clothes Dryer
• Shower
• Dishwasher
• Further incorporation of human factors into
  subsystem designs
• Incorporate CA FMEA into Hab Design
• Improve Redundancy
• Modify Hardware Designs

89
Command, Communications, and Control (C3)
Subsystem Team

• Primary
• Heather Howard
• Keric Hill
• Support
• Tom White

90
C3 Responsibilities

• C3 supports and manages data flows required to
• Monitor and control the habitat
• Monitor and maintain crew health and safety
• Achieve mission objectives
• Design based on
• Qualitative data flows
• Level 2 requirements derived from the DRM
• Flight-ready technology

91
C3 Level 2 Requirements

• Allow checkout of habitat prior to crew arrival.
  (Derived)
• Include a computer-based library. (DRM)
• Support a "smart" automated habitat. (Derived)
• Include audio/visual caution and warning alarms.
  (Derived)
• Facilitate Earth-based control and monitoring of
  the habitats subsystems. (Derived)
• Provide communication with crewmembers working
  outside the habitat and rovers. (Derived)
• Mass must not exceed 320 kg. (DRM)

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C3 Design Overview

• Command and control subsystem
• Based on ISS C3 subsystem
• Habitat interface 3 tiered architecture
  connected by Mil-Std-1553B data bus
• User interface personal workstations, file
  server, caution and warning subsystem
• External communications subsystem
• Based on ISS, shuttle and Mars probes
• High gain communications via Mars orbiting
  satellite
• Local area UHF communications

94
Command and Control Architecture
Comm System
Caution Warning (4)
Tier 1 Command Computers (3)
User Terminals (6)
RF Hubs (3)
Tier 1 Emergency Computer (1)
Tier 2 Science Computers (2)
Tier 2 Subsystem Computers (4)
File Server (1)
Tier 3 Subsystem Computers (8)
C3 System
Firmware Controllers
Sensors
Experiments
Other Systems
Legend Ethernet RF Connection Mil-Std 1553B
Bus TBD
95
Communications Architecture

Control Unit
1 meter diameter high gain (36 dB) antenna
Amplifier
Data from CCC
1st Backup
1st Backup
2nd Backup
2nd Backup
Backup 1 meter diameter high gain antenna
2nd Backup
EVA UHF
1st Backup
Medium gain (10 dB) antenna
96
Communication Data Rates
Telemetry generated Number of Sensors Time averaged data rate (kbps)
ECLSS 238 0.079
Power 200 0.067
Thermal 105 0.35
Structures 60 0.002
ISRU 96 0.005
Mission Ops 69 11.07
Totals 768 11.6
Telemetry downlinked Power (W) Data rate (kbps) Required Availability
High gain to Mars Sat 20 10000 0.1
High gain direct to Earth 124 50 23
Medium gain to Mars Sat 70 500 2.3
97
Requirements Verification
Requirement Description Design
Checkout habitat prior to crew arrival Monitors and transmits habitat information at all times
Include computer-based library Included on file server
Support automated habitat Telemetry/command interface with all subsystems
Audio/visual caution and warning alarms Includes caution and warning capabilities
Earth-based control and monitoring High gain comm. interface with control subsystem
Communication with rovers and EVA crew High gain and UHF communication capabilities
Maximum mass 320 kg Estimated mass 500 kg
98
Future Considerations

• Better definition of quantitative data flows
• Adjust C3 subsystem sizing
• Consider technological advances
• Decrease mass
• Wireless technologies
• Less massive components
• May alter subsystem architecture
• Evaluate Earth-based communications architecture
• Support human activities outside Earths vicinity
• Communication delays
• Throughput requirements
• DSN currently over-subscribed (http//deepspace.jp
  l.nasa.gov/dsn/faq-dsnops.html)

99
Extravehicular Activity Systems (EVAS) and
Interfaces Team

• Primary
• Dax Matthews
• Bronson Duenas
• Support
• Teresa Ellis

100
Extravehicular Activity Systems and Interfaces
Responsibilities

• Responsible for providing the ability for
  individual crew members to move around and
  conduct useful tasks outside the habitat
• EVAS tasks
• Construction and maintenance of the habitat
• Scientific investigation
• EVAS systems
• EVA suit
• Airlock
• Pressurized Rover

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102
EVAS EVA Suit

• Requirements driven by habitat operations
• Minimal mass
• Minimal storage volume
• Maximize mobility and dexterity
• Maintain 4.3 lbs/in2 internal pressure
• Regenerable non-venting heat sink
• Durable, reliable, and easy to maintain
• Interfaces with habitat
• Water - from/to ECLSS
• Potable ankle pack - 0.53 to 1.16 kg per
  person per EVA
• Non-potable PLSS - 5.5 kg per person per EVA
• Oxygen from/to ECLSS
• PLSS 0.63 kg person per EVA
• Waste water from/to ECLSS
• Urine 0.5 kg per day per astronaut
• Power from power
• PLSS 26 Ahr _at_ 16.8 V dc
• Data to C3
• Consumables level

103
EVAS Umbilical System

• Connections from the habitat to the airlock will
  be identical systems (including male/female
  connections)
• Rovers will have specific hatch and umbilical
  system

Rover
104
EVAS Pressurized Rover

• Requirements driven by habitat operations
• Nominal crew of 2 can carry 4 in emergency
  situations
• Rover airlock capable of surface access and
  direct connection to habitat
• Per day, rover can support 16 crew hours of EVA
• 20 day maximum excursion duration
• Facilities for recharging PLSS and minor repairs
  to EVA suit

Courtesy of Larson, WJ. Human Space Flight
105
EVAS Pressurized Rover

• Rover interfaces driven by habitat operations
  (all numbers are for an extended excursion of 20
  days)
• Oxygen
• From ECLSS 136.7 kg
• Nitrogen
• From ECLSS 28.5 kg
• Water
• From ECLSS Potable 220 kg
• From ECLSS - Non-potable TBD
• To ECLSS Waste water - TBD
• Data
• From/To C3 Consumables level, telemetry, audio,
  video, systems status
• Physical
• From ECLSS Food 202.4 kg
• LiOH - TBD
• Dust filters - TBD
• EVAS Equipment - NA
• Waste garment 40

106
EVAS/LPR Exploration Mission Schedule and Protocol

• LPR Protocol
• Charge Fuel Cells
• Check Vehicle
• Load Vehicle
• Plan Excursion
• Drive Vehicle
• Navigate
• Don Suits (X 20)
• Pre-breathe (X 20)
• Egress (X 20)
• Unload Equip
• Set up Drill (X 10)
• Operate Drill
• Collect Samples
• In Situ Analysis
• Take Photos
• Communicate
• Disassemble Equip
• Load Vehicle

EVA Protocol

• Local Excursions
• Analysis
• Week Off

X1

• Distant Excursion
• Analysis
• Week Off

X7
STOP EVAs

• Sys Shutdown
• Departure Preparation

X1
107
EVAS - Airlock

• Independent element capable of being relocated
• Three airlocks
• Two operational
• One emergency/back up
• Sized for three crew members
• Two operational EVA suits
• One emergency/back up EVA suit
• Airlock will be a solid shell

108
EVAS - Airlock

• Total Volume 35 m3 (4L x 3.5W x 2.5H)
• Interface with habitat through both an umbilical
  system and hatch
• Facilities for EVA suit maintenance and
  consumables servicing
• Sufficient storage space (EVAS and scientific
  equipment)
• Small scientific work station
• 4-stage turbo pump (ISS)

Courtesy of Eric Schliecher
109
EVAS Airlock

• Airlock interfaces driven by habitat operations
  (all numbers are for a single egress/ingress
  cycle)
• Oxygen (initial cycle)
• From ECLSS (initial cycle) 9.6 kg
• From ECLSS (after initial cycle) 0.96 kg
• Nitrogen (initial cycle)
• From ECLSS (initial cycle) 9.8 kg
• From ECLSS (after initial cycle) 0.98 kg
• Air (after initial cycle)
• To/From ECLSS 17.5 kg (10 loss)
• Data
• From/To C3 Audio, systems status, pump
  functions, hatch status, total pressure,. Partial
  pressure of 02
• Power
• From power 5 kW
• Physical
• LiOH - NA
• Dust filters - NA
• EVAS Equipment
• Waste garment 40

110
Airlock - Operational protocols

• Airlock egress/ingress timeline

Prebreath time of 40 minutes starts during prep
for donning
Larson and Pranke, 2000
111
Future Considerations

• Design suit for Martian environment
• Design rover for Martian environment
• Find appropriate technologies to fit requirements
  

Courtesy of aerospacescholers.jsc.nasa.gov
112
Automation and Robotic Interfaces Subsystem Team

• Primary
• Eric DeKruif
• Support
• Eric Schliecher
• Dax Matthews

113
Automation and Robotic Interfaces Level 2
Requirements

• Provide for local transportation
• Deploy scientific instruments
• Deploy and operate various mechanisms on habitat
• Automate time consuming and monotonous activities

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115
Robotics and Automation

• Number/Functions of rovers
• Three classes of rovers, each have power
  requirements driven by their range and the
  systems they must support
• Minimum of two small rovers for scientific
  exploration
• One medium rover for local transportation
• Two large pressurized rovers for long exploration
  and infrastructure inspection
• Automation of structural components, maintenance,
  and site preparation

116
Small Scientific Rover

• Scientific rover will be fully autonomous and
  self recharging
• Interfaces with habitat
• Data
• Telemetry
• Video
• Data from other scientific instruments
• Requirements driven by habitat operations
• Deploy scientific instruments
• Determine safe routes for crew travel
• Collect and return samples
• Communications relay in contingency situations
• Can be telerobotically controlled from shirt
  sleeve environment or preprogrammed

117
Local Unpressurized Rover

• Interfaces with habitat
• Power
• 12.5 hour charge time 2kW allocated power
• Data
• Telemetry
• Audio
• Requirements driven by habitat operations
• Local transport (100 km)
• Max operation time - 10 hours
• Transport EVA tools

118
Large Pressurized Rover (LPR)

• Functional aspects of the LPR are covered here
  EVA aspects will be covered by EVAS
• Interfaces with habitat
• Data
• Telemetry
• Video
• Audio
• Physical
• Requirements driven by habitat
• Site preparation
• Deploy, move, and reorient infrastructure
• Inspect infrastructure
• Operate 2 mechanical arms from telerobotic
  workstation or preprogrammed with earth observers
• Connection to power plant and ISRU (to each other
  and habitat)
• Inspection of ISRU and power plant

119
Automated Items

• Automated doors in case of depressurization
• Deployment of communications hardware
• External monitoring equipment
• Deployment of radiator panels
• Leveling of habitat
• Compaction of waste
• Deploy airlock
• Assumptions small automated processes such as
  gas regulation will be taken care of by their
  subsystem

120
Automation Solutions

• Habitat leveling system
• 12 linear actuators
• two on each leg for redundancy six will work to
  level habitat
• 720 mm of travel needs to lift habitat 1 meter
  off ground
• Mass 60 kg each
• Power - 35 watts each
• Deployment of Radiator panels
• 8 linear actuators
• two per panel for redundancy
• Mass 9 kg each
• Power 5 watts each
• Reference COTS technology

www.intelligentactuator.com
121
Requirements Verification
Medium rover must be recharged Charged via external male/female cable
Medium rover charge discharge cycle must be less than one day Using 2 kW rover can be recharged in 12.5 hours and run down in 10 hours
Large rover must directly mate with habitat Habitat hatch mates directly to large rover
Rovers must deploy and inspect habitat Large rover will reorient and inspect habitat using arms
Rovers must be capable of moving habitat Large rover will have towing capabilities
Rovers must provide for local transportation Medium unpressurized rechargeable rover can travel up to 100 km over 10 hrs
Rovers must deploy scientific instruments Small rovers will be capable of deploying instruments
Must deploy and operate various mechanisms on habitat Motors and actuators will allow for deployment/movement
Time consuming and monotonous activities need to be automated Mechanical devices, such as motors and valves, will be implemented for these activities
122
Future Considerations

• More complete design specifications of rovers
  will allow for more complete interface designs.
  (i.e. large rover)
• Better definition of what data is being
  transferred and the quantity of data
• Specifications and definitions on automated tasks
  will allow hardware selection

123
Habitat Design Summary

• Mass 61,801 kg
• - Exceeds DRM recommendation by 27,801 kg
• - Exceeds max allowable by 11,801 kg
• Overall Volume 615 m3
• - Meets DRM max allowable
• Subsystem Volume 298.5 m3
• - 316.5 m3 of open space in habitat
• Maximum Power 37.5 kW
• - Exceeds DRM recommendation by 12.5 kW
• - Overall Martian base power 160 kW
• ESA Aurora

124
Comparison

• Mars or Bust ESA Aurora

125
Conclusions

• Summarized,derived,documented DRM
  requirements/constraints
• First iteration design, subsystem
  functionalities, integration factors
• - i.e. structural layout, mass flows, power
  distribution, data transmission
• Human factors emphasis
• - Crew Accommodations/Mission Operations
• - crew health, well-being

126
Conclusions (continued)

• Human spacecraft design requirements, as
  applicable
• Man-Systems Integration Standards NASA STD-3000
  Rev. B, 1995
• Architectural habitat concepts - compatibility
  of floor plans
• Unique merger of
• - systems engineering
• - architecture
• - human factors

127
Suggestions for Future Work

• Optimize subsystems- reduce mass, power
• - redundancy vs. contingency (FMEAs)
• - trade studies
• Detailed architectural layout of subsystems
• Further iteration
• Requirements re-evaluation
• Levels 3,4 requirements - design solutions
• Detailed Interface Control Documents

128

Report Available December 17, 2003 http//www.co
lorado.edu/ASEN/project/mob
129
ISRU Interface Technologies
Component Mass (kg) Add. Mass (kg) Total Mass (kg) Power (W) Total Power (W) Volume (m3) Total Volume (m3)
Water Pump 1 70.50   70.50 70.50 70.50    
Oxygen Pump 1 0.94   0.94 1.50 1.50    
Nitrogen Pump 1 0.94   0.94 1.50 1.50    
Water Pipe 1 70.00 10.00 80.00 0.00 0.00 0.65 0.65
Oxygen Pipe 1 70.00   70.00 0.00 0.00 0.65 0.65
Nitrogen Pipe 1 70.00   70.00 0.00 0.00 0.65 0.65
Hydrogen Pipe 1 70.00   70.00 1.50 1.50 0.65 0.65
Valves and Connections 9 42.00   42.00 5.00 5.00   0.00
Grand Totals       404.38   80.00   2.60
130
Structures Mass, Power, and Volume Estimates
In addition to pressure shell and storage
Volume includes empty space in truss
131
Volume Allocation
Subsystem Volume (m3)
Structure 150.00
ECLSS 65.00
Thermal 40.00
EVAS 40.00
Robotics 15.00
Power 30.00
ISRU Interface 4.00
CCC 5.00
Crew Accommodations 50.00
Empty 216.75
Totals 615.75216
132
Power Mass/Volume
133
ECLSS Total M,P,V Estimates
Subsystem Mass technology (kg) Mass consumable (kg) Volume technology (m3) Volume consumable (m3) Power (kW)
Atmosphere 3335.97 4892.74 16.588 5.589 3.533
Water 890.935 9607.42 3.255 19.0087 2.01
Food 327.91 11088 2.42 31.68 3.8
Waste 277.765 828 2.063 2.88 0.22
Total 4832.58 26415.88 24.326 59.157 9.563
134
Thermal System Sizing
135
Thermal Components HOT
136
Thermal Components COLD
137
Crew Accommodations Mass, Power, and Volume
Estimates

• Total Mass 5,988 kg
• Total Power 11.75 kW
• Total Min. Volume 60 m3

138
C3 Mass, Power and Volume
Estimates based on specs for IBM 760XD ThinkPad
laptops, Linksys Wireless Access Point WAP54A and
cable manufactured by 4S Products, Inc.