mars or bust preliminary design review
DESCRIPTION
Mars or Bust Preliminary Design Review. 12/8/03. Mission Description. Based on the Design Reference Mission from NASA ( Hoffman and Kaplan, 1997; Drake, 1998 ) Modified to narrow scope of project. Key Assumptions for Design. Only first uncrewed Habitat Focusing on surface operations - PowerPoint PPT PresentationTRANSCRIPT
Mars or Bust Preliminary Design Review
12/8/03
Mission Description
• Based on the Design Reference Mission from NASA (Hoffman and Kaplan, 1997; Drake, 1998)
• Modified to narrow scope of project
Key Assumptions for Design
• Only first uncrewed Habitat
• 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
Overall Project Goal
• Establish a Martian Habitat capable of supporting humans
Overall - Level 1 Requirements
• Support crew of 6
• Support 600 day stay without re-supply
• Maintain health and safety of crew
• Minimize dependency on Earth
Launch and Deployment Requirements
• 80 metric ton launch vehicle• Recommended Total Habitat Mass < 34,000
kg (includes payload)• Deploys 2 years before first crew• Land, deploy, operate, maintain all systems• Setup and check-out before crew arrives• Standby mode for 10 months between crews• Operational lifetime of greater than 15 years
Redundancy Requirements
• Mission critical: 2-level redundancy• Life critical: 3-level redundancy• Auto fault detection and correction• Modular• Easily repairable• Electronic and mechanical equipment
– Highly autonomous– Self-maintained or crew maintained– If possible self-repairing
• All systems in Habitat must have low failure rates
Operations Requirements
• Gather information about Mars
• Ease of learning– System similarity
– Common software and hardware
• Real time science activity planning
• Integrate In-Situ Resource Utilization System
Mission Architecture
• Systems Engineering and Integration• Structures• Command, Control, and Communications (C3)• Power Distribution and Allocation• Environment Control and Life Support Systems (ECLSS)• Mission Operations and Crew Accommodations• Automation and Robotic Interfaces• Extra Vehicular Activity Systems (EVAS) • Thermal Control• In-situ Resource Utilization Unit (ISRU) and Mars
Environment
Organizational Chart
Project Manager
Systems Engineering and Integration
Structures CCC ECLSS EVASRobotics
and Automation
Power Thermal
Mission OperationsCrew Accommodations
ISRU
Systems Engineering and Integration Team
• Primary:– Juniper Jairala– Tim Lloyd– Tyman Stephens
• Support:– Meridee Silbaugh– Jeff Fehring– Keith Morris
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
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
Mars Environment and In-Situ Resource Utilization (ISRU)
Primary
• Heather Chluda
Support
• Keagan Rowley
• Keric Hill
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.
Mars Environment Characteristics
Parameters Maximum Minimum AverageGravity (m/s2) 3.758 3.711 3.735Atmosphere Pressure (millibars) 10 4 8Temperature (C) 27 -143 -63Radiation Skin dose (BFO) (cSv/day) 24.7 (22.3) 21.2 (19.7)Wind Speeds (kph) 36 0Wind Storms Speeds (kph) 127
Environmental Characteristic Ranges on Mars
The Habitat will encounter a wide range of environment characteristics during its surface stay on Mars
Temperatures
• Diurnal variation at Viking Lander sites• Seasonal variation: -107 to -18°C winter to summer
lows
Radiation
• GCR BFO dose equivalent for solar min and max vs. altitude
SPE Dose:5 cSv/yr
GCR BFO Dose:22.3 cSv/yr
GCR Skin Dose:24.7 cSv/yr
LEO BFO Limit:50 cSv/yr
LEO Skin Limit:300 cSv/yr
Martian Atmospheric Constituents
Atmospheric Composition Gas Abundance (%)
Carbon Dioxide 95.32
Nitrogen 2.7
Argon 1.6
Oxygen 0.13
Carbon Monoxide 0.08
Water Vapor 0.03
Neon 0.00025
Krypton 0.00003
Xenon 0.000008
Ozone 0.000004
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
ISRU Subsystem Summary
• Responsible for interface between habitat and ISRU plant
• ISRU will provide additional oxygen, nitrogen, and water for habitat use
• Non-critical system, demonstration for future mission use
ISRU Level 2 Requirements
• Provide additional nitrogen, water and oxygen• Byproducts of propellant production used as backup oxygen,
nitrogen, and water• Storage tanks and pipes for the ISRU shall tolerate leaks within
limits• Propellant production shall be automated• Acceptable temperatures shall be maintained in storage tanks
and piping• Storage interfaces must be compatible with habitat• Pumping systems shall have adequate power to transport
oxygen, nitrogen and water to the habitat• Piping and storage tanks must be shielded from Mars
Environment• Connections to storage tanks and ISRU tanks must be
performed using robots or humans
ISRU I/O Diagram
ISRU Functional Diagram
ISRU Interface Technologies
Component #Mass (kg)
Add. Mass (kg)
Total Mass (kg)
Power (kW)
Total Power (kW)
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
ISRU Requirement Verification
Requirement Description Design
Provide additional nitrogen, water and oxygen Extract N2, O2, and H2O from the Martian atmosphereByproducts of propellant production used as backup oxygen, nitrogen, and water Use In-Situ Resource Propellant Production to provide Storage tanks and pipes for the ISRU shall tolerate leaks within limits
Estimated .1 kg/day N2 and .03 kg/day O2 leakage, will purge pipes when not transfering to Habitat
Propellant production shall be automatedCommands and telemetry sent to ISPP plant when extra consumables are needed
Acceptable temperatures shall be maintained in storage tanks and piping Heaters will be supplied to the water pipe line to ensure no freezing
Storage interfaces must be compatible with habitat Proper connections on the pipes will be usedPumping systems shall have adequate power to transport oxygen, nitrogen and water to the habitat
.5 KW provided to the ISRU subsystem is adequate for the low mass flowrate pumping needs
Piping and storage tanks must be shielded from Mars Environment
Insulation coating on pipes or as a future task, bury the pipes underneath the surface for radiation protection
Connections to storage tanks and ISRU tanks must be performed using robots or humans
robots are capable or connecting pipe lines, connection by humans requires an EVA
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
Future Considerations
• Radiation shielding effects of Martian soil– Safe haven soil shelter designs
• Mass benefits of using ISRU plant for consumables on future missions
Structures Subsystem Team
• Primary:– Jeff Fehring– Eric Schleicher
• Support:– Jen Uchida– Sam Baker
Structures Subsystem
• Overall layout
• Volume allocation
• Pressurized volume
• Physically support all subsystems
• Radiation shielding
• Micro-meteoroid shielding
• Withstand all loading environments
Level 2 Requirements
• Fit within the dynamic envelope of the launch vehicle– Launch Shroud Diameter = 7.5 m– Length = 27.7 m
• Structurally sound in all load environments – Acceleration– Vibration– Pressure
• Easily repairable• Stably support all other systems• Interface with other systems• Structures Mass < 20744 kg
Structures Inputs and Outputs
• Heat escapes through the structure
• Cabin air escapes through the structure
• Trace contaminants from the structure
• Telemetry data collected by CCC
Structures Overview
• Pressure Shell• Trusses• Leg Supports• Chassis and Wheels• Radiation Shielding
– Safe haven• Supports for other subsystem components• Other Structures
– Hatches– Vents– Windows– Seals
Overall Layout
Airlocks (3)
Top Floor: personal space, crew
accommodations
Bottom Floor: lab, equipment, storage,
safe haven
ECLSS Tanks
Radiator Panels
Chassis, wheels, and leg supports
underneath habitat
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
Pressure Shell
• Assume aluminum shell• Assume a hollow cylinder, radius 3.5 m• Thickness t = P*r/fy = 1.7 mm for 10.2
psi• Assume pressure shell holds 34 tonnes• Assume launch forces similar to Atlas V• Minimum thickness = 3 mm for stability• Internal trusses carry part of the load
Supports
• Assume 6 hollow tube leg supports• Support entire mass of Habitat on Mars
– Mars gravity = 3.758 m/s2
– Weight = 128 kN• Maintain stability in Martian wind storm
– Maximum wind speed = 127 kph– Maximum wind force = 17 kN
• Maximum compressive force = 54.5 kN/leg• Dimensions of leg to minimize mass:
– Length = 2 m– Radius = 13 cm– Thickness = 1 mm
Mass, Power, and Volume Estimates
Component # Mass (kg)Add.
Mass (kg)Total Mass
(kg)Volume
(m3)
Add. Volume
(m3)
Total Volume
(m3)
Pressure Shell 1 3123.28 1561.64 4684.91 1.15 0.29 1.44Raidiation Shielding 1 3903.43 1951.71 5855.14 3.90 0.98 4.88Top Floor floor structure 1 362.76 181.38 544.15 26.00 6.50 32.50Bottom Floor floor structure 1 362.76 181.38 544.15 26.00 6.50 32.50Primary load bearing center truss 1 209.29 104.65 313.94 15.00 3.75 18.75Chassis 1 69.76 34.88 104.64 5.00 1.25 6.25Wheels 6 212.06 106.03 318.09 0.24 0.06 1.77Leg supports 6 25.41 12.70 38.11 0.11 0.03 0.80Radiator supports 4 80.00 40.00 120.00 0.50 0.13 2.50Secondary floors 2 78.00 39.00 117.00 0.52 0.13 1.30Secondary walls 30 168.75 84.38 253.13 0.08 0.02 2.81Supports for other subsystem components 1 500.00 250.00 750.00 10.00 2.50 12.50
Totals 13643.25 118.00
Requirements Verification
Requirement Description DesignFit within the dynamic envelope of the launch vehicle
0.25 m between undeployed Habitat and launch shroud
Launch Shroud Diameter = 7.5 m Habitat Diameter = 7 m Length = 16.3 m Length = 16 mStructurally sound in all load environments
All loads are supported with a 1.4 factor of safety
Acceleration Internal trusses, chassis, and leg supports on Mars
Vibration Internal trusses and pressure shell during launch
Pressure Pressure Shell holds a differential pressure of 10.2 psi
Easily repairable Not within scope of projectStably support all other systems Airlock, radiator, and ECLSS tank
supports designedStructures Mass < 20744 kg Predicted structure mass = 13477 kg
Future Considerations
• Design for launch loads from Magnum vehicle
• Optimize truss structure
• Fully design supports for all components
Power Distribution and Allocation Subsystem Team
• Primary:– Tom White– Jen Uchida
• Support:– Nancy Kungsakawin– Eric Dekruif
Power
• Interface with the nuclear power source and other external equipment
• Safely manage and distribute power throughout Martian habitat
Level 2 Requirements
• Supply sufficient power with 3-level redundancy• Supply power while reactors are being put online• Transfer power from reactor to habitat• Distribute power on a multi-bus system• Provide storage and interfaces for rovers/EVA suits• Interface with transit vehicle power sources• Regulate voltage to a usable level• Include a fault protection system• Provide an emergency power cutoff• Mass must not exceed 3249 kg (including in-transit
power)
Input/Output
• Input:– Power from reactor– Info/control from
CCC
• Output:– Power to habitat– Heat to thermal
All SubsystemsThermal
CCC
EPDS
PS
Cargo Lander
Heat Power
Power
Power
Info/control
Info/control
Habitat
Mars Surface Power Allocation
•Allotted ~25kW
•Potential to use power allocated to other systems (DRM)
Overview of SystemPower Profile
System Schematic
Reactor
ChargeControl
Storage
ConditioningRegulation
Distribution
ECLSS ThermalEVAS
Robotics
StructuresMission
OpsCCC
Life/Mission Critical Sys.
Reactor
Bus 3
Bus 2
Bus 1
Mass/Volume
Level 2 Requirements Verification
Future Considerations
• More detailed power profile
• Specified hardware
• Decrease system mass
• Electromagnetic interference
ECLSS Team
• Primary– Teresa Ellis – Nancy Kungsakawin– Meridee Silbaugh
• Support– Bronson Duenas– Juniper Jairala– Christie Sauers
ECLSS Responsibilities
• Provide a physiologically acceptable environment for humans to survive and maintain health
• Provide and manage the following:• Environmental conditions• Food• Water• Waste
Level 2 Requirements for ECLSS
• Provide adequate atmosphere, gas composition, and pressure control for human health
• Must have necessary gas storage for mission duration
• Provide Trace Contaminant Control• Provide Temperature and Humidity Control• Must have Fire Detection and Suppression• Must supply entire crew with adequate sources
and amounts of potable water for 600 days on Mars
Level 2 Requirements (Continued)
• Supply entire crew with adequate sources and amounts of food for 600 days on Mars.
• Collect and store liquid, solid, and concentrated wastes for immediate and/or delayed resource recovery.
• Provide adequate supply of hygiene water.
• Mass must not exceed 4661 kg.
Human Inputs and Outputs
O2
Potable H2O
Food
Hygiene H2O
N2
Heat
CO2
Respired & Perspired H2O
Sweat Solids
Urine (solids & liquids)
Feces (solids & liquids)
Atmosphere SystemWater SystemWaste SystemFood System
Atmosphere System
crew cabin
cabinleakage
N2 & O2
O2
N2 storagetanks
EDC*2
N2
FDS
To: hygiene water tank
T&Hcontrol
H2 O
To: vent CO2
To: trash compactor
SPWE TCCA
To: vent H2
H2 & O
2
From: H2O tank
Water System
Food System
To: trash compactor
trash
potablewater
microwave water
food preparation
food & drinkfood
waste &packaging
foodstorage
H2O
refrigerator
Waste System
To: waste water tank
feces
CommodeUrinal
compactor
From: TCCA food trash microfiltration VCD
trash
fecalstorage
solid wastestorage
compactor
urine
H2O
Waste System Schematic
Fecal matter Storage outside
the habitat ( for future usage)
Crew member dumps
non-fecal trashAir Lock
Commode withbuilt-in Fecal
Genie Compactor
Feces inUV-biodegradable bags
Feces in Storage bags
EVA dump
UV
Compactor Compacted Trash
Trash in Storagebags
Crew member is taking out the trash
Non-Fecal matter Storage Structure outside the
habitat
ECLSS Integrated Design
Atmosphere System
WasteSystem
FoodSystem
WaterSystem
AtmosphericCondenser
Urine
CompactorSolid Waste
Storage
TCCA
FoodTrash
Crew Accommodations (shower, washer, etc.)
& EVA (EMU cooling)
FoodPreparation
FecalSPWE
Vent to
Mars Atm.
H2
EDC
Compactor
Pretreatment Oxone, Sulfuricacid
Pretreated Urine
VCD
AES Brine water
Ultra Filtration
RO
Milli Q
MCV Iodine
Monitoring
Hygiene Water
Iodine Removal Bed
ISE Monitoring
Potable Water
ECLSS Total M,P,V Estimates
Subsystem
Mass technology
(kg)
Mass consumable
(kg)
Volume technology
(m^3)
Volume consumable
(m^3)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
Verification of Level 2 Requirements – key design drivers
Requirement Description Design
Shall provide adequate atmosphere, gas composition, and pressure control for human health.
Ptotal: 10.2 psia, ppO2: 2.83-3.35 psia (normoxic) provided via SPWE, EDC removes CO2 at sufficient rate to offset 0.85 kg/person/day generated by crew
Must have necessary Gas Storage for mission duration.Total water supplied to produce oxygen: 4314 kg, O2 tank: 3867.97 kg, N2 tank: 1024 kg
Must provide Trace Contaminant Control.
TCCA ensures SMAC levels of 7 mg/m3 ammonia, 0.9 mg/m3 nitric oxide, 3800 mg/m3 methane, 340 mg/m3 ethylene, and 0.2 mg/m3 benzene
Shall provide Temperature and Humidity Control.Temperature maintained at 18.3C – 26.7C; Humidity maintained at 25%-70%
Must have Fire Detection and Suppression.FDS operates quickly and reliably to avoid both direct (life and limb) and indirect (oxygen consumption) hazards
Must supply entire crew with adequate sources and amounts of potable water for 600 days on Mars. Total water potable water supplied: 1584 kgMust supply entire crew with adequate sources and amounts of food for 600 days on Mars. Total food supplied: 11,088 kg
Shall be able to collect and store liquid, solid, and concentrated wastes for immediate and/or delayed resource recovery.
Liquid wastes pass from urinal/food prep and processed by water system, fecal wastes collected from commode and stored outside for future fertilizer, solid wastes collected from compactors and stored outside
Must provide adequate supply of hygiene water. Total hygiene water supplied: 7811.1 kg
Mass must not exceed 4661 kg.Requirement not met - Total consumables mass: 26,034 kg; Total technologies mass: 6611 kg
Future Considerations
• More detailed calculations of consumables• Consider other technologies that currently have low
TRL• More research on information about the technologies
(M,P,V, FMEA, safety etc.)• Optimize the integrated design• 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.)
Thermal Control Subsystem Team
• Primary– Keagan Rowley– Sam Baker
• Support– Heather Chluda– Heather Howard
Thermal Subsystem Summary
• Responsible for maintaining heat balance
• Collects, transfers, and rejects heat to Mars environment
• Thermal capacity estimated from Power usage of habitat
• Mass, Power, and Volume estimated from equations in Larson and Pranke, 2000
Thermal System Requirements
• Maintain a heat balance with all subsystems over all Martian temperature extremes
• Keep equipment within operating limits• Must be autonomous.• Accommodate transit to Mars.• Auto-deploy and activate if it is inactive during transit• Report status for communication to Earth at all times
(for safety concerns).• Mass shall not exceed 5000 kg.• Thermal Protections System shall be provided by the
launch shroud system.
Thermal I/O Diagram
Overview
• Cool each subsystem’s electronics• Cold plates to collect heat• Fluid loops to transfer heat• Radiators to reject heat• Subsystem capacity sized for hot-hot
scenario• Lowest operating limits from cold-cold
scenario
Thermal Schematic
Example Calculations
• Thermal Load
• Area of Radiators
• Mass of Radiators
• Volume of Radiators
Thermal Load
Est. Heat Load = Power Load + Human Load
Heat Load = 1.15*Est. Heat Load (Degradation)
Total Heat Load = 1.1*Heat Load (Safety Factor)
Est. Heat Load = 25 KW + 3.5 KW = 28.5 KWHeat Load = 28.5*1.15 = 32.8 KWTotal Heat Load = 32.8*1.1 = 36.1 KW
Area of Radiators
AQ
(Tr4 Te
4 )
Where Q is the Total Heat Load, is the Stefan-Boltzmann Constant, is the emissivity, is the raditator efficiency, Tr is the radiator temperature and Te is the environment temperature.
Q = 36100 W
= 5.67e-8 W/(m2K4)
= 0.9, = 0.85
Tr = 290 K, Te = 263 K
A = 364.2 m2
Human Spaceflight pp 519 - 524
Mass and Vol. of Radiators
8.5 kg/m2 for two sided deployable0.06 m3/m2 for two sided deployable
Mass = 8.5 * Area = 8.5 * 364.2Mass = 3087.2 kg
Volume = 0.06*Area = 0.06*364.2Volume = 21.79 m3
Human Spaceflight pp 519 - 524
Thermal Components HOT
Design Total Watts Watt/PanelHOT/HOT 36053 9013.1
Item #Power (W)
Surface Area (m^2)
Volume (m^3)
Mass (kg)
Radiators 4.0 0.0 363.2 21.79 3087.2Heat Exchangers 3.0 0.0 n/a 0.18 78.0Pumps External 12.0 829.2 n/a 1.84 519.2Pumps Internal 3.0 829.2 n/a 0.46 519.2ECLSS Cold Plates 1.0 9100.0 n/a 0.25 109.20ECLSS Air/Heat Exchanger 1.0 5000.0 n/a 0.14 60.00CCC Cold Plates 1.0 1909.0 n/a 0.05 22.91EVAS Cold Plates 1.0 6000.0 n/a 0.17 72.00Robotic & Auto Cold Plates 1.0 3000.0 n/a 0.08 36.00Mission Ops Cold Plates 1.0 6000.0 n/a 0.17 72.00Thermal Cold Plates 1.0 1658.4 n/a 0.05 19.90Instruments n/a n/a 229.8Plumbing and Valves n/a n/a 689.3Fluids n/a n/a 229.8Heat Pumps n/a n/a
TOTALS: 32667.4 363.2 25.18 5744.5
Thermal Components COLD
Design Total Watts Watt/PanelCOLD/COLD 26988.0 6747
Item #Power (W)
Surface Area (m^2)
Volume (m^3)
Mass (kg)
Radiators 4.0 0.0 363.2 21.79 3087.2Heat Exchanger 2.0 0.0 n/a 0.18 78.0Pumps External 12.0 620.7 n/a 1.38 388.6Pumps Internal 3.0 620.7 n/a 0.34 388.6ECLSS Cold Plates 1.0 9100.0 n/a 0.25 109.20ECLSS Air/Heat Exchanger 1.0 1500.0 n/a 0.04 18.00CCC Cold Plates 1.0 1388.0 n/a 0.04 16.66EVAS Cold Plates 1.0 6000.0 n/a 0.17 72.00Robotic & Auto Cold Plates 1.0 3000.0 n/a 0.08 36.00Mission Ops Cold Plates 1.0 6000.0 n/a 0.17 72.00Thermal Cold Plates 1.0 1241.4 n/a 0.03 14.90Instruments n/a n/a 214.1Plumbing and Valves n/a n/a 642.2Fluids n/a n/a 214.1Heat Pumps n/a n/a
TOTALS: 28229.4 363.2 24.48 5351.6
Verification of Requirements
Requirement:• Must maintain a heat
balance with all subsystems over all Martian temperature extremes.
• Must keep equipment within operating limits.
• Must be autonomous.• Must accommodate transit to
Mars.
Verification:• Sized for max anticipated
heat load plus safety factor. • Cold plates provided to cool
each subsystem. • Operates autonomously
except for periodic maintenance.
• Collect heat during transit and transfer to transit vehicle for dissipation.
Verification of Requirements
Requirement:• Must auto-deploy and
activate if it is inactive during transit
• Must report is status for communication to Earth at all times (for safety concerns).
• Mass shall not exceed 5000 kg.
• Thermal Protections System shall be provided by the launch shroud system.
Verification:• Radiators will auto-
deploy. Rest of subsystem active during transit.
• Sensors interface with C3 for status monitoring and transmission to Earth.
• 5,700 kg mass• TPS not included in
design.
Future Considerations
• Determination of detailed Thermal Loads
• Optimization of scenarios
Mission Operations and Crew Accommodations Team
• Primary:• Christie Sauers
• Support:• Tim Lloyd• Tyman Stephens
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
Mission Ops Level 2 Requirements
• Operate & maintain surface systems• Support crew operations for full mission• Ease of learning/similar subsystems• Create and maintain computer/video library• Encourage smart habitat/automation• Support programmatic activities• Support planning, long-term and real-time• Minimize dependence on Earth• Utilize auto fault detection and correction
Operations:
Mission Ops Specific
Item # Operation Description Duration Frequency Earth Control
Auto-mated
# of Crew
Mission Ops/Crew AccommodationsOPS 3.1 Publicity events – 1
st and last weeks of
mission
20 min to 1 hr
1x/day - - 2 to 6
OPS 3.2 Publicity events – other than 1st
and last weeks of mission
20 min to 1 hr
1x/week - - 2 to 6
OPS 3.3 Mission updates from Earth (A/V & text) 1 hr 1x/day X - 1
OPS 3.4 Mission updates from Mars (A/V & text) 1 hr 1x/day X - 1
OPS 3.5 Activity planning 2 hr 1x/week - - 1OPS 3.6 Food and drink consumption 0.5 hr 3x/day - - 6OPS 3.7 Socialization during meals 5 min 3x/day - - 6OPS 3.8 Recreation 2 hr 1x/day - - 6OPS 3.9 Clean-up following meals 10 min 3x/day - - 2OPS 3.10 Crew preparation at start of day 30 min 1x/day - - 6OPS 3.11 Straighten personal quarters 5 min 1x/day - - 6OPS 3.12 Break-time 15 min 2x/day - - 6OPS 3.13 Collect trash and deliver to waste
processing systems3 min 2x/week - - 6
OPS 3.14 General Housekeeping (vacuum, dust, bathroom etc.)
2 hr 1x/week - - 2
OPS 3.15 Optimization of integrated Hab systems to increase efficiency and function
4 hr 1x/mo X - 3
OPS 3.16 Daily Crew Briefing 10 min 1x/day - - 6OPS 3.17 Weekly Crew Briefing 1 hr 1x/week - - 6OPS 3.18 Pre-sleep 0.5 hr 1x/day - - 6OPS 3.19 Sleep 7.5 hr 1x/day - - 6OPS 3.20 Holiday time off 8 hr 1 day/mo - - 6OPS 3.21 Personal text and photo downlink secs/mins 2x/day - X -OPS 3.22 Personal text and photo uplink secs/mins 2x/day X X -OPS 3.23 Personal video downlink secs/mins 1x/week - X -OPS 3.24 Personal video uplink secs/mins 1x/week X X -OPS 3.25 Programmatic text and audio downlink secs/mins 3x/day - X -OPS 3.26 Programmatic text and audio uplink secs/mins 3x/day X X -OPS 3.27 Programmatic video downlink secs/mins 1x/week - X -OPS 3.28 Programmatic video uplink secs/mins 1x/week X X -
Operations:
Mission Ops Specific(continued)
Item # Operation Description Duration Frequency Earth Control
Auto-mated
# of Crew
OPS 3.29 All Habitat health telemetry downlink secs/mins every 3 hrs - X -OPS 3.30 Habitat health overview telemetry
downlinksecs/mins continuously - X -
OPS 3.31 Habitat emergency situation: all associated data (< ¼ of all hab data) downlinked
As needed continuously during
emergency
- X 2
OPS 3.32 Crew health data collection 5 min Daily, morning &
evening
- X 6
OPS 3.33 Crew health data ‘real time’ downlink 5 min Daily, morning &
evening
- X -
OPS 3.34 Crew health data collection during EVA 8 hr 1x/week, continuously
- - 2
OPS 3.35 Crew EVA health data ‘real time’ downlink
8 hr 1x/week, continuously
- X -
OPS 3.36 Crew exercise (includes prep & data collection)
1 hr (unless EVA)
1x/day, morning
- - 6
OPS 3.37 Crew exercise medical data ‘real time’ downlink
1 hr 1x/day, during exercise
- X -
OPS 3.38 Medical emergency situation: all related medical data downlinked
As needed continuously during
emergency
- X 2
OPS 3.39 Thorough medical check-up 45 min 1x/week - X 6OPS 3.40 Thorough medical check-up data
downlinksecs/mins 1x/week - X -
OPS 3.41 Science (analysis, reporting, etc…) 5 hr 1x/day (6 days of week)
- - 6
OPS 3.42 Science Video downlink mins 1x/week - X 2OPS 3.43 Science Data downlink (text data and
photos) mins 1x/day - X 2
OPS 3.44 Crew Accommodations equipment telemetry downlink (pressure, temperature, voltage, current, etc.)
secs/mins 1x/day - X -
OPS 3.45 Proficiency Training (med equip, photo equip...)
4 hr 1x/mo - X 6
Operations: MOB Subsystems
Mission OpsRepresentative Timelines
MONTH
Day 1 of Week Day 2 of Week Day 3 of Week Day 4 of Week Day 5 of Week Day 6 of Week Day 7 of Week
1
Science
2
EVA/Science
3
Science
4Tele Rover/Science
5
EVA/Science
6
Science
7
Off-Duty8
Science
9
EVA/Science
10
Science
11Tele Rover/Science
12
EVA/Science
13
Science
14
Off-Duty15
Science
16
EVA/Science
17
Holiday
18Tele Rover/Science
19
EVA/Science
20
Science
21
Off-Duty22
Science
23Press Rover/Science
24Press Rover/Science
25Press Rover/Science
26Press Rover/Science
27
Science
28
Off-Duty29Training DayEmerg Drills
30
Training Day
31
Science
Mission OpsRepresentative Daily Timelines
Proficiency Training Day 1
Crewmember 07:00 08:00 09:00 10:00 11:00 12:00 13:00 14:00 15:00 16:00 17:00 18:00 19:00 20:00 21:00 22:00 23:00 24:00 25:00 to 25:40 01:00 02:00 03:00 04:00 05:00 06:00
CREW MC
CREW SIC
CREW MS1
CREW MS2
CREW MS3
CREW MS4
Proficiency Training Day 2
Crewmember 07:00 08:00 09:00 10:00 11:00 12:00 13:00 14:00 15:00 16:00 17:00 18:00 19:00 20:00 21:00 22:00 23:00 24:00 25:00 to 25:40 01:00 02:00 03:00 04:00 05:00 06:00
CREW MC
CREW SIC
CREW MS1
CREW MS2
CREW MS3
CREW MS4
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SLEEP
SLEEP
Sle
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ep
Pre
-Sle
ep
Pre
-Sle
ep
Pre
-Sle
ep
Rec
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ion
Rec
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Rec
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ECLSSProficiency
Training Lu
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ECLSSProficiency
Training
ECLSSProficiency
Training
ECLSSProficiency
Training
ECLSSProficiency
Training
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-Up
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SLEEP
SLEEP
Sle
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Pre
-Sle
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Pre
-Sle
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-Sle
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Rec
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Rec
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Rec
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Mission OpsProficiency
Training Lu
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C3Proficiency
Training
C3Proficiency
Training
C3Proficiency
Training
C3
p
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tra
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C3
p
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Pro
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Mission OpsProficiency
Training
Mission OpsProficiency
Training
cont
inge
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ops
cont
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ops
cont
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ops
cont
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ops
cont
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ops
cont
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ops
cont
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ops
fire/
emer
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drills
fire/
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Science/Hab Maintenance Day
Crewmember 07:00 08:00 09:00 10:00 11:00 12:00 13:00 14:00 15:00 16:00 17:00 18:00 19:00 20:00 21:00 22:00 23:00 24:00 25:00 to 25:40 01:00 02:00 03:00 04:00 05:00 06:00
CREW MC
CREW SIC
CREW MS1
CREW MS2
CREW MS3
CREW MS4
Wa
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SLEEP
SLEEP
SLEEP
Sle
ep
Sle
ep
Pre
-Sle
ep
Pre
-Sle
ep
Pre
-Sle
ep
Rec
reat
ion
Rec
reat
ion
Rec
reat
ion
SCIENCE SCIENCE
Lu
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SCIENCE/Telerobotic
Rover
SCIENCE SCIENCE
Mis
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Con
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Con
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Ops
Con
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Ops
SCIENCE/Telerobotic
Rover
Crew Timeline Details
• Crew time requested by Subsystems for Hab maintenance
49.25 man-hrs/week + 56 man-hrs/mo = 62.18 man-hours/week (52 wks/12 mo)
• Time allocated in timelines for Hab maintenance 61 man-hrs/week
• Contingency Ops time allocated in timelines[ 6.75 man-hrs/std-day * 14 std-days/mo / (52 wks/12 mo) ] +[ 6.45 man-hrs/EVA day * 10 EVA days/mo / (52 wks/12 mo) ] +[ 2.25 man-hrs/pt-day * 2 pt-days/mo / (52 wks/12 mo) ]
= 37.8 man-hrs/week
MO Verification of Requirements
Requirement Met? Notes
Operate & maintain surface systems YES
Support crew operations for full mission YES
Ease of learning/similar subsystems N/A Not at this level of design
Computer/video library YES
Smart habitat/automation SOME Automation subsystem
Programmatic activities YES
Planning, long-term and real-time YES
Minimize dependence on Earth SOME Little detail at this level
Auto fault detection and correction YES C3 subsystem + FMEA
Mission Ops Future Considerations
• Alternate Implementations– Increase Automation– Distribute Proficiency Training throughout each month
• 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
CREW ACCOMMODATIONS
(CA)
CA Level 2 Requirements
• Maintain appropriate levels of hygiene cleanliness
• Maintain appropriate levels of Hab cleanliness
• Provide crewmember psychological support
• Maintain crew physical health through exercise & monitoring
• Perform routine and emergency medical services
• Habitat must encourage efficient, comfortable crew operations
CA Level 2 Requirements
• Schedule must accommodate crew physical & psychological health ops
– eating, sleeping, recreation, e-mail, exercise, housekeeping, hygiene, vacation time, and medical procedures
• Crew clothing must be refreshed regularly
• Cleansing of entire crewmember body
• Housekeeping provisions
• Exercise equipment to maintain physical health
• Medical diagnostic and surgical tools
• Provide equipment for recreation
• Personal space for sleep & stowage
• Workstation designs must consider human reach profiles
• Adequate lighting for the crew members
CA Interfaces with MOB Subsystems
Crew Accommodations Equipment(1 of 2)
• Galley and Food System– Kitchen cleaning supplies– Dishwasher– Cooking/eating supplies
• Waste Collection System– WCS supplies (toilet paper, sanitary napkins, etc... )– Contingency fecal and urine collection bags
• Personal Hygiene– Shower– Hand wash/mouthwash faucet– Personal Hygiene kits– Hygiene supplies
• Clothing– Clothing– Washing Machine– Clothes Dryer
• Recreational Equipment and Personal Stowage– Personal stowage/closet space– DVD player and DVDs
Crew Accommodations Equipment(2 of 2)
• Housekeeping– Vacuum (prime + 2 spares)– Disposable Wipes– Trash bags
• Operational Supplies & Restraints– Supplies (diskettes, Velcro, Ziplocs, tape)– Restraints and Mobility aids
• Maintenance: All repairs in habitable areas– Hand tools and accessories– Test equipment (oscilloscopes, gauges, etc…)– Fixtures, large machine tools, glove boxes, etc…
• Photography (All Digital)– Equipment (still and video cameras, lenses, memory, etc)
• Sleep Accommodations– Personal quarters with sleep accommodations– Stowage space for personal equipment– Sleep restraints
• Crew Health Care– Exercise Equipment– Medical/Surgical/Dental suite– Medical/Surgical/Dental consumables
CrewAccommodations
Active Equipment
CA Trade Study
• Clothes Refresh Options:– Bring enough clean clothes for mission– Hand wash clothes– Washer
• Trade-offs:
• Decision: Washing Machine
Bring all Clothes/Linens Hand Wash Clothes/Linens Washing MachinePros/Cons Pros/Cons Pros/Cons
Pro: No cleaning Ops Con: Ops Demanding - 10 man-hrs/mo Pro: Minimal Ops - 1 man-hrs/moCon: Large Clothing Mass - 2210 kg Pro: Lower Clothing Mass - 594 kg Pro: Lower Clothing Mass - 594 kgPro: Least complex Pro: Minimal complexity Con: Most complexPro: No additional equipment Pro: No additional equipment Con: Washer equip - 100 kgEqual: soap Equal: soap Equal: soapPro: no water needed Con: Water loss - 960 kg Con: Water loss - 910 kg
Total Mass: 2250 kg Total Mass: 1554 kg Total Mass: 1604 kgWashing Ops: 0 hrs Washing Ops: 12 hrs Washing Ops: 1 hr
Crew Accommodations
Mass, Power, and Volume
Estimates
Crew Accommodations
#
Weight (kg)
Total Weight
(kg)
Total Power (kW)
Volume (m3)
Total Volume
(m3)
Galley and Food System
Kitchen cleaning supplies (per day) 600 0.25 150.00 0.0018 1.08
Dishwasher 1 40 40.00 1.20 0.5600 0.56
Cooking/eating supplies (per person) 6 5 30.00 0.0140 0.08
Waste Collection System
WCS supplies (toilet paper, etc... ~ per person per day) 3600 0.05 180.00 0.0013 4.68
Contingency fecal and urine collection bags (per person) 6 3 18.00 0.0120 0.07
Personal Hygiene
Shower 1 75 75.00 1.00 1.4100 1.41
Handwash/mouthwash faucet 1 8 8.00 0.0100 0.01
Personal Hygiene kit (1 per person) 6 1.8 10.80 0.0050 0.03
Hygiene supplies (per person per day) 3600 0.075 270.00 0.0015 5.40
Clothing
Clothing (per person) 6 99 594.00 0.3360 2.02
Washing Machine 1 100 100.00 1.50 0.7500 0.75
Clothes Dryer 1 60 60.00 2.50 0.7500 0.75
Recreational Equipment and Personal Stowage
Personal stowage/closet space (per person) 6 50 300.00 0.70 0.7500 4.50
DVD player and DVDs (per person) 6 2 12.00 0.40 0.0010 0.0060
Housekeeping
Vacuum (prime + 2 spares) 3 4.333 13.00 0.40 0.0233 0.0700
Disposable Wipes (per person per day) 3600 0.05 180.00 0.0015 5.4000
Trash bags (per person per day) 3600 0.03 108.00 0.0010 3.6000
Operational Supplies & Restraints
Supplies(diskettes, velcro, ziplocks, tape ~ per person) 6 20.00 120.00 0.0200 0.1200
Restraints and Mobility aids 1 100.00 100.00 0.5400 0.5400
Maintenance: All repairs in habitable areas
Hand tools and accessories 1 300.00 300.00 1.00 1.0000
Test equipment (oscilloscopes, gauges, etc…) 1 500.00 500.00 1.00 1.50 1.5000
Fixtures, large machine tools, gloveboxes, etc… 1 1000.00 1000.00 1.00 5.00 5.0000
Photography (All Digital)
Equipment (still and video cameras, lenses, memory, etc) 1 120.00 120.00 0.40 0.50 0.5000
Sleep Accommodations
Personal quarters with sleep accommodations (per person) 6 1.5 9
Stowage space for personal equipment (per person) 6 0.63 3.78
Sleep restraints (per person) 6 9.00 54.00 0.10 0.6000
Crew Health Care
Exercise Equipment 1 145.00 145.00 0.15 0.19 0.1900
Medical/Surgical/Dental suite 1 1000.00 1000.00 1.50 4.00 4.0000
Medical/Surgical/Dental consumables 1 500.00 500.00 2.50 2.5000
Totals 5987.799 11.75 59.15
• Total Mass: 5,988 kg• Total Power: 11.75 kW• Total Min. Volume: 60 m3
CA Verification of RequirementsBrief Description of Requirement Verified
Crew Accommodations Scheduling to support Crew physicallyand psychologically: eating, sleeping, recreation, e-mail, exercise, housekeeping, hygiene, vacation time, public affairs, and medical procedures
yes - Mission Ops
Crew Clothing: Supply Refresh
yesyes - washer & dryer
Cleansing of Crewmember Body: Body Cleansing Nails, Teeth, Hair, etc…
yes - shower, faucetyes - hygiene kit
Housekeeping yes - vacuum, wipes, trash bagsExercise equipment to maintain physical health yes - exact hardware needs to be
selected/designedMedical Support: Routine medical exams Passive crew health sensors Diagnostic and surgical equipment Training and procedures Troubleshooting (Crew & Earth)
yes - Mission Opssome - needs better definitionyes - exact hardware to be selectedyes - Mission Opsyes - Mission Ops
Provide equipment for recreation some - DVD player, laptop, cameras
Personal space for sleep & stowage: Provisions for sleep and stowage Control environment through light, temp, sound, odor
yes - beds, restraints, storage, deskssome - needs better definition
Workstation designs: Comfortable and consider human reach profiles no - haven't reached that level
of design
Adequate lighting for crew members some - mass estimate not included
CA Future Considerations
• Equipment Design and Operation in Mars Gravity– Washing Machine– Clothes Dryer– Shower– Dishwasher
• Continue incorporation of human factors considerations into subsystem designs
• Incorporate CA FMEA into Hab Design– Improve Redundancy– Modify Hardware Designs
Command, Communications, and Control (C3) Subsystem Team
• Primary:– Heather Howard– Keric Hill
• Support:– Tom White
C3 Subsystem Summary
• C3 supports and manages data flows required to achieve mission objectives and maintain habitat and crew health and safety
• Design based on qualitative data flows and level 2 requirements derived from the DRM
• C3 architecture, mass, power and volume are addressed by our subsystem design
C3 Level 2 Requirements
• Support checkout of surface infrastructure pre-crew arrival.
• Include a computer-based library.• Support a "smart" automated habitat.• Support audio/visual caution and warning alarms.• Support Earth-based control and monitoring for the
habitat’s subsystems.• Provide communication with crewmembers working
outside the habitat and rovers.• Mass must not exceed 320 kg.
ISRU ISRU PlantPlant
Nuclear Nuclear ReactorReactor
Mars Mars Env’mtEnv’mt
EVASEVAS
ISRUISRU
PowerPower ECLSSECLSS
ThermalThermal
CCCCCC
Robotics & Robotics & AutomationAutomation StructureStructure
CrewCrew
Crew Crew AccommodationsAccommodations
LegendENERGY
Packetized DataTelemetry/DataCommand/Data
VoiceVideo
Electrical powerHeat
Earth
MarsComSatC3 I/O
Diagram
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
Tier 2 Science
Computers (2)
Tier 2 Subsystem
Computers (4)
Tier 1 Command
Computers (3)
Tier 3Subsystem
Computers (8)
FirmwareControllers
Sensors
Caution &Warning (4)
UserTerminals (6)
FileServer (1)
Tier 1 Emergency
Computer (1)
LegendEthernetRF ConnectionMil-Std 1553B BusTBD
CommSystem
Experiments
RF Hubs (3)
C3 System
Other Systems
Command and Control Architecture
Communications Subsystem Architecture
1 meter diameter high gain (36 dB) antenna
Backup1 meter diameter high gain antenna
Medium gain (10 dB) antenna
Amplifier
1st Backup
2nd Backup
Control Unit
1st Backup
2nd Backup
Data from CCC
2nd Backup
1st Backup
EVA UHF
Communication Data Rates
Telemetry downlinkedPower
(W)Data rate
(kbps)Required Availability
High gain to Mars Sat 20 10000 0.12%
High gain direct to Earth 124 50 23.12%
Medium gain to Mars Sat 70 500 2.31%
Telemetry generatedNumber of
Sensors/MessagesTime averaged data
rate (kbps)
ECLSS 238 0.069
Power 200 0.067
Thermal 105 0.350
Structures 60 0.002
ISRU 96 0.005
Mission Ops 69 11.065
Totals 768 11.558
C3 Power
Component
Number Operating Occupied
Number Operating
Unoccupied
Unit Power
(W)
Occupied Power
(W)Unoccupied Power (W)
Tier 1 Com. Comp. 3 3 60.0 180.00 180.00Tier 1 Emer. Comp. 1 1 60.0 60.00 60.00Tier 2 Sci. Comp. 2 2 60.0 120.00 120.00Tier 2 Sub. Comp. 4 4 60.0 240.00 240.00Tier 3 Sub. Comp. 8 8 60.0 480.00 480.00RF Hubs 3 0 12.5 37.50 0.00C&W Panels 4 0 5.0 20.00 0.00User Terminals 6 0 60.0 360.00 0.00File Server 1 1 60.0 60.00 60.00Safety Factor NA NA NA 311.50 228.00High Gain Com. NA NA NA 20.00 20.00UHF Com. NA NA NA 20.00 20.00
Totals 1909.00 1408.00
C3 Volume and Mass
Component
In-Line Units
Spare Units
Total Units
Unit Mass (kg)
Total Mass (kg)
Unit Volume (m^3)
Total Volume (m^3)
Tier 1 Com. Comp. 3 3.1 6.1 3.05 18.54 0.00316 0.0192Tier 1 Emer. Comp. 1 1.0 2.0 3.05 6.18 0.00316 0.0064Tier 2 Sci. Comp. 2 2.1 4.1 3.05 12.36 0.00316 0.0128Tier 2 Sub. Comp. 4 4.1 8.1 3.05 24.72 0.00316 0.0256Tier 3 Sub. Comp. 8 8.2 16.2 3.05 49.45 0.00316 0.0513RF Hubs 3 9.2 12.2 0.34 4.16 0.00118 0.0144C&W Panels 4 8.0 12.0 0.10 1.20 0.00068 0.0081User Terminals 6 6.2 12.2 3.05 37.08 0.00316 0.0384File Server 1 1.0 2.0 3.05 6.18 0.00316 0.0064Extended Life Batteries 0 1.9 1.9 0.37 0.70 0.00039 0.0007Ethernet Cable 1300 13.0 1313.0 0.03 39.39 0.00002 0.0258Coaxial Cable 2300 23.0 2323.0 0.03 69.69 0.00002 0.0456Minor Components NA NA NA NA 26.97 NA 0.0255Safety Factor NA NA NA NA 59.33 NA 0.0561Communications NA NA NA NA 146.00 NA NA
Totals 501.96 0.3363
C3 Requirements Verification
• Must support checkout of surface infrastructure.– C3 will monitor the habitat during all mission phases.
• Must include a computer-based library.– Computer-based library is housed on the file server.
• Must support a "smart" automated habitat.– C3 interfaces with all subsystems to support automation.
• Must support audio/visual caution and warning alarms.– C3 includes an audio/visual caution and warning subsystem.
• Must support Earth-based control and monitoring.– The high gain com subsystem facilitates Earth-based monitoring and
control.• Must provide communication with EVA crew and rovers.
– The high gain and UHF communication subsystems support external com.
• Mass must not exceed 320 kg.– Mass is estimated at 502 kg.
Future Considerations
• Modular nature of C3 subsystem should make future subsystem capacity adjustments straightforward
• Next iteration will better define quantitative data flows and resize the subsystem accordingly
• Current design exceeds allocated mass
Automation and Robotic Interfaces Subsystem Team
• Primary – Eric DeKruif
• Support – Eric Schliecher– Dax Matthews
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
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
Input Output Diagram
Small Scientific Rover
• Responsibilities – Deploy scientific instruments for analysis
and monitoring of Mars– Determine safe routes for crew travel– Collect and return samples– Scientific exploration of Mars– Support teleoperations from shirt sleeve
environment– Explore distances up to 1000’s of km
Small Scientific Rover
• Scientific rover will be fully autonomous and self recharging - will require minimal direct interface with the habitat
• Power– 0.7 kW max power requirement
• Includes safety factor of 25%• Estimate based on data from Mars Exploration Rover• Solar arrays needed for power/recharging of batteries
• Mass– 440 kg
Local Unpressurized Rover
• Responsibilities– Transport EVA crew up to 100 km– Operate continuously for up to 10 hours– Transport all EVA tools– Allow crew operation for local exploration
Local Unpressurized Rover
• Power– 2.5 kW power requirement
• Safety factor of 25%• 12.5 hours charge time using 2 kW allocated power• Lithium ion battery
• Mass– Battery mass 250 kg
• For Li-ion batteries 10 kg/(kW*h)
– Total mass 4400 kg
Large Pressurized Rover
• Responsibilities, split between EVA and Robotics– Deploy and inspect infrastructure
• Power station, antennas, solar arrays, etc.
– Nominal crew of two with maximum capacity of four
– Support 16 crew-hours of EVA per day– Will operate 2 mechanical arms from telerobotic
workstation or preprogrammed with earth observers
– Ten day max exploration time– 500 km range
Large Pressurized Rover
• Power– 10 kW power output
• Specified in DRM
– Power provided by trailer through a dynamic isotope system
– Power includes all life support systems as well as movement and mechanical arm operation
• Mass– Mass 14000 kg
• Specified in DRM
Automated Items
• Automated doors in case of depressurization• Deployment of habitat• Connection to power plant• Inspection of habitat infrastructure• Site preparation• Deployment of communications hardware• External monitoring equipment• Deployment of radiator panels
Automated Items
• Deployment/Movement of scientific equipment• Leveling of habitat• Processing of consumable waste• Connect ISRU to habitat• ISRU/Power plant inspection• Assumptions
Automation Solutions
• Leveling of habitat– 12 linear actuators
• 720 mm of travel• Mass – 60 kg each• Power - 35 watts each
• Deployment of Radiator panels– 8 linear actuators
• Mass – 9 kg each• Power – 5 watts each
Interface 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
Requirements Verification
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
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
Extravehicular Activity Systems (EVAS) Interfaces Team
• Primary – Dax Matthews– Bronson Duenas
• Support – Teresa Ellis
Extra-Vehicular Activity Systems
• EVAS is primarily responsible for providing the ability for individual crew members to move around and conduct useful tasks outside the pressurized habitat
• EVAS tasks will consist of constructing and maintaining the habitat, and scientific investigation
• EVAS broken up into 3 systems– EVA suit– Airlock– Pressurized Rover
EVAS I/O Diagram
EVAS – EVA Suit
• Critical functional elements– pressure shell– atmospheric and thermal control– communications – monitor and display– nourishment– hygiene
• Current suit is too heavy and cumbersome to explore the Martian environment
• ILC Dover is currently developing the I-Suit which is lighter, packable into a smaller volume, and has better mobility and dexterity
EVAS – EVA Suit
• I-Suit specs:– Soft upper-torso– 4.3 lbs/in2 (suit pressure can be varied)– ~29.48 kg– Easier to tailor to each individual astronaut– Bearings at important rotational points– Greater visibility– Boots with tread for walking on Martian terrain– Parts are easily interchangeable (decreases
number of spare parts needed)
EVAS - Airlock
• Independent element capable of being relocated as mission requires
• Three airlocks each containing three EVA suits
• Airlock will be a solid shell (not inflatable)• The airlock will interface with the habitat
through both an umbilical system and the hatch
EVAS - Airlock
• Airlock sized for three crew members with facilities for EVA suit maintenance and consumables servicing
• Down-selected to 2 airlock designs– Design 1
• Total Volume: 35 m^3 (4L x 3.5W x 2.5H)
• Advantages: easier don/doff, more storage, bigger workstation, more room for rover hatch
• Disadvantages: Volume displaced during transit, extra mass
– Design 2• Total Volume: 27.95 m^3 (2.6L x 4.3W x 2.5H)
• Advantages: Less volume displaced during transit, less massive
• Disadvantages: Less work area, much harder to get to emergency suit, possibly not enough room for rover hatch
– Decision will be made by structures based on optimal layout
• Mass TBD
EVAS – Umbilical System
• Connections from the habitat to the airlock and rover will be identical systems (including male/female connections)
• Inputs from habitat to airlock/rover (through umbilical system)– Water potable
• To EVA suit ‘ankle pack’ – 0.53 to 1.16 kg per person per EVA
– Water non-potable• To EVA suit Portable Life Support System (PLSS) - 5.5 kg per person per EVA
– Oxygen• To EVA suit PLSS – 0.63 kg person per EVA• To airlock – TBD (depends on sizing of airlock)
– Nitrogen• To airlock – TBD (sizing of airlock)
– Data• To airlock pump system
– Power• To EVA suit PLSS – 26 Ahr @ 16.8 V dc• To airlock pump system – 4.5 kw for 8 minutes per pump (# TBD)• To airlock electronics (lights, readouts, etc.)
EVAS – Umbilical System
• Outputs from airlock/rover to habitat (through umbilical system)– Waste water
• Urine – 0.5 kg per day per astronaut
– Air• From airlock to storage tank – airlock volume minus 10% (TBD)
– Data• Telemetry from rover and EVA suit• Airlock total pressure and partial pressure of oxygen• Hatch status (sealed/open)• EVA suit and rover consumables (power level, O2, total P, water)
• Other consumables and outputs– Lithium Hydroxide canisters– Waste collection of garment/fecal waste– Dust filters– Temperature and humidity control (required for repress and contingency)
EVAS – Pressurized Rover
• 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• Work station – can operate 2 mechanical arms from
shirt sleeve environment • Facilities for recharging portable LSS and minor
repairs to EVA suit• The rover will interface with the habitat through both
an umbilical system and the hatch
Future Considerations
• Suit – Finalize suit design for Martian
environment
• Airlock– Decision on design and calculation of mass– Design of pump system
• Operational protocols
Habitat Design Summary
• Mass 59,754 kg - Exceeds DRM recommendation by 25,754 kg- Exceeds max allowable by 9,754 kg
• Overall Volume 615 m3
- Meets DRM max allowable
• Subsystem Volume 294 m3
- 321 m3 of open space in habitat
• Maximum Power 26.25 kW
- Exceeds DRM recommendation by 1.25 kW- Overall Martian base power = 160 kW
Subsystem
Total Mass (kg)
Total Power (kW)
Total Volume
(m3)
ISRU 325.00 0.50 0.65Structures 15788.60 N/A 149.25PowerECLSS 31248.46 9.56 83.48Thermal Control 4995.82 2.00 13.72Mission Ops/Crew Accomm 5987.80 11.75 46.37C3 532.36 1.90 0.33Robotics/Automation 876.00 0.53 0.60EVAs
Conclusions
• Summarized and derived governing requirements and constraints from DRM
• Emphasized requirements identification and documentation
• Established first iteration design that incorporated functional subsystem definition and analysis of integration factors:
- i.e. structural layout, mass flows, power distribution, data transmission
• Emphasis on human factors:- Crew Accommodations and Mission
Operations - crew health and well-being
Conclusions (continued)
• Incorporated generic human spacecraft design requirements from Man-Systems Integration Standards (NASA STD-3000 Rev. B, 1995) – as applicable
• Assessed compatibility of floor plan options proposed in various existing architectural habitat concepts
• Unique merger of systems engineering, architecture, and human factors
Suggestions for Future Work
• Optimize each subsystem design to reduce mass and power requirements
- redundancy vs. contingency (from FMEA’s)
- trade studies• Detailed architectural layout of all subsystem technologies
into habitat• Further iteration• Requirements re-evaluation• Derive Level 3 and Level 4 requirements and design
solutions• More detailed/organized Interface Control Documents
between subsystems
Report Available
December 17, 2003
http://www.colorado.edu/ASEN/project/mob