isu internship project - barcelona moon team mission design
DESCRIPTION
This the presentation for the internship project I conducted at CTAE in Barcelona, Spain as part of my master\'s curriculum at the International Space UniversityTRANSCRIPT
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Mike Safyan – ISU/CTAE 1
Preliminary Mission Analysis for the Barcelona Moon Team Rover
8/26/2010
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Mike Safyan – ISU/CTAE 2
Project Goals
Primary Goals• Define an initial set of mission requirements• Create a set of design spreadsheetsSecondary Goals• Provide some initial design recommendations
8/26/2010
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Mike Safyan – ISU/CTAE 3
Google Lunar X-Prize
• International competition for private teams• Safely land and operate a robot on the lunar surface• Must be 90% privately funded (10% government)• 21 teams participating (and 2 withdrawn)• $30K registration, $30M prize purse
8/26/2010
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Mike Safyan – ISU/CTAE 4
Barcelona Moon Team• First Spain-based team• Headed by Galactic Suite Moonrace• Want to bring together Catalan (and Spanish)
entrepreneurial, industrial and academic capabilities• Want as much of the project as possible to come
from local industry• Want to be creative and fun
8/26/2010
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Mike Safyan – ISU/CTAE 5
Previous Work Conducted
Boris Maitre, UPC Master’s Thesis:• Transfer trajectory – Hohmann• Landing site – Luna 17/Lunokhod 1• Mass at launch:– 0.5 to 8.5 tons (LEO)– 0.3 to 3 tons (GTO)
• Launch Vehicle – Ariane 5
8/26/2010
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Mike Safyan – ISU/CTAE 6
Cost Estimate
10 20 30 40 50 60 70 80 90 1000
25
50
75
100
125
150
175
200
NASA Lunar Rover Cost Estimate
Difficulty/Complexity: Very HighDifficulty/Complexity: Low
Rover Mass (kg)
Cost
in M
illio
ns (2
010€
)
8/26/2010
Difficulty/ Complexity
Cost/kg (NASA)
Cost/kg (GLXP)
very high 1 800 000 € 180 000 €
low 470 000 € 47 000 €
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Mike Safyan – ISU/CTAE 7
GLXP Rules for the Rover
• Travel a minimum of 500 meters from initial landing site.
• Transmit from the surface an “Arrival Mooncast” and a “Mission Complete Mooncast”.– Contains a set of defined images, video, and data– Approximately 500Mb
8/26/2010
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Mike Safyan – ISU/CTAE 8
Bonus Prizes
$4M Prize PurseHeritage - imagery and video of a historical
artifact from a previous mission• Water Detection – prove the presence of water
on the surface• Range – travel 5 km• Survival – operate for at least two lunar daysDiversity – promote diversity in the field of
space exploration8/26/2010
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Mike Safyan – ISU/CTAE 9
GLXP Preferred Partners
• Space X – 10% off launch costs• SETI – Free use of ATA for data downlink for 7
days• Universal Space Network – 50% discount for
TT&C services for 30 days• Space Florida - $2M bonus if launch from
FloridaAGI – Free STK package
8/26/2010
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Mike Safyan – ISU/CTAE 10
Lunar Terrain - General
8/26/2010
Lunar Mare relatively flat and smoothLunar Highlands relatively rough, heavily cratered
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Mike Safyan – ISU/CTAE 11
Lunar Terrain – Rock Distribution
8/26/2010
Rock size and distribution is greater near “fresh” craters
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Mike Safyan – ISU/CTAE 12
Lunar Terrain – Lighting
8/26/2010
Assuming minimum 20° sun angle is needed for the Solar Arrays, that only gives 10 Earth days of lunar operation per lunar day
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Mike Safyan – ISU/CTAE 13
Summary of Rover Requirements
• Rover mass no greater than 80 kg.• Traverse obstacles up to 20 cm in height.• Maintain a ground contact pressure less than 7
to 10 kPa at all times.• Traverse slopes, both up and down, of a
minimum 20°.• Minimum roving speed of 10 cm/s• Complete the surface GLXP mission
requirements within 10 Earth days.8/26/2010
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Mike Safyan – ISU/CTAE 14
Rover Design
8/26/2010
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Mike Safyan – ISU/CTAE 15
Rover Subsystems
8/26/2010
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Mike Safyan – ISU/CTAE 16
Process
8/26/2010
Analysis Trade-offs Recommendations
Discussion Future Work
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Mike Safyan – ISU/CTAE 17
Rover Mobility
8/26/2010
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Mike Safyan – ISU/CTAE 18
Power System Architecture
8/26/2010
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Mike Safyan – ISU/CTAE 19
Rover Power
8/26/2010
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Mike Safyan – ISU/CTAE 20
Communication System Architecture
8/26/2010
Ground Station
RoverLander
High rate, UHF
High rate, X-
band
Low
rate
, S-
band
Low
rate
, S-
band
Low rate, S-band
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Mike Safyan – ISU/CTAE 21
Rover Communications
8/26/2010
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Mike Safyan – ISU/CTAE 22
Rover Mass and Power Budgets
8/26/2010
System Mass (kg) % Total
Navigation 6 13%
C&DH 2 4%
Power 10,5 22%
Thermal 2,5 5%
Mobility 7 15%
Structures 11 23%
Communications 8 17%
Total 47
System Peak (W)
Nominal (W)
Standby (W)
Sensors 4 4 4Thermal 25 15 5Articulation 3 0 0C&DH 10 5 2Lander Comms 1 1 1Earth Comms 20 10 0Mobility 20 10 0Camera Systems 25 10 0Margin 15% 15% 15%Total 100 51 13
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Mike Safyan – ISU/CTAE 23
Rover Link Budget
8/26/2010
MtoE High Rate
MtoE Low Rate
EtoM Low Rate
MtoM Crosslink
Transmitter Transmit power [W] 20.00 10.00 10.00 0.10Frequency [GHz] 8.45 2.29 2.12 0.30Parabolic Antenna Diameter [m] 0.30 N/A 6.00 N/ATransmitter Gain [dB] 25.89 5.00 39.90 1.80Range [km] 384403 384403 384403 2
Losses Free space Loss [dB] 222.68 211.34 210.67 88.01Atmospheric Loss [dB] 0.06 0.03 0.03 0.00Other Losses [dB] 2.00 1.00 1.00 1.00
Receiver Parabolic Antenna Diameter [m] 6.10 12.00 N/A N/AReceiver Gain, Gr [dB] 52.05 46.59 5.00 1.80System noise temperature [K] 45 300 500 500Receiver figure of merit [dB/K] 35.52 21.82 -21.99 -25.19Bit rate [kbps] 1000.00 8.00 1.00 1000.00Required Eb/N0 [dB] 10.00 10.00 10.00 10.00Link Margin [dB] 8.28 4.02 4.81 36.20
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Mike Safyan – ISU/CTAE 24
Summary of Recommendations
• Design for low mass, cost and complexity– rover design, landing site, path selection
• Choose mission unique aspects with minimal impact on rover design
• Use GLXP preferred partners where feasible• Put any complex payloads on the lander• Sell acquired data, such as mobility
performance results
8/26/2010
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Mike Safyan – ISU/CTAE 25
Moonbase Alpha/GLXP Proposal
8/26/2010
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Mike Safyan – ISU/CTAE 26
Summary
• Initial set of mission requirements created• Gained a better understanding of lunar
conditions for mobile robotics• Created spreadsheets for evaluating mission
design options/feasibility• Provided initial values for rover mass, power
and link budgets
8/26/2010
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Mike Safyan – ISU/CTAE 27
Questions?
8/26/2010