Apollo 11 lunar surface operations plan Final report
Apollo 11 mission planning for lunar surface exploration including equipment requirements, crew/equipment interfaces, and timelines for extravehicular activities
Wood, W. H., Jr.↗
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Nutrition systems for pressure suits.
Nutrition systems were successfully developed in the Apollo Program for astronauts wearing pressure suits during emergency decompression situations and during lunar surface explorations. These nutrition systems consisted of unique dispensers, water, flavored beverages, nutrient-fortified beverages, and intermediate moisture food bars. The emergency decompression system dispensed the nutrition from outside the pressure suit by interfacing with a suit helmet penetration port. The lunar exploration system utilized dispensers stowed within the interior layers of the pressure suit. These systems could be adapted for provision of nutrients in other situations requiring the use of pressure suits.
Huber, C. S.↗
Short-range laser obstacle detector
Detector, designed for slow-moving vehicle to explore surface of Mars, will automatically divert vehicle from obstacles as small as 0.5 m in its path. Detector comprises injection laser operating in pulse time-delay measurement, or radar, mode. It is capable of scanning area extending from few meters to approximately 30 m.
Kuriger, W. L.↗
Ground-Commanded Television Assembly (GCTA)
The characteristics of the Ground-Commanded Television Assembly (GCTA) are discussed. The equipment was used to provide television coverage of lunar surface explorations during Apollo 15, 16, and 17 missions. The subjects include the following; (1) yoke/faceplate qualification data, (2) elevation drive improvement program, (3) Apollo 17 thermal data, (4) equipment status, and (5) drawing status. Illustrations of the components of the assembly are provided. Tables of data are developed to show the performance of the components.
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Human factor roles in design of teleoperator systems
Teleoperator systems are considered, giving attention to types of teleoperators, a manned space vehicle attached manipulator, a free-flying teleoperator, a surface exploration roving vehicle, the human factors role in total system design, the manipulator system, the sensor system, the communication system, the control system, and the mobility system. The role of human factors in the development of teleoperator systems is also discussed, taking into account visual systems, an operator control station, and the manipulators.
Janow, C.↗
Control strategies for planetary rover motion and manipulator control
An unusual insect-like vehicle designed for planetary surface exploration is made the occasion for a discussion of control concepts in path selection, hazard detection, obstacle negotiation, and soil sampling. A control scheme which actively articulates the pitching motion between a single-loop front module and a dual loop rear module leads to near optimal behavior in soft soil; at the same time the vehicle's front module acts as a reliable tactile forward probe with a detection range much longer than the stopping distance. Some optimal control strategies are discussed, and the photos of a working scale model are displayed.
Trautwein, W.↗
Modern mechanisms make manless Martian mission mobile: Spin-off spells stairclimbing self-sufficiency for earthbound handicapped
Concepts were developed for three wheel chairs from progressively improving designs of a proposed unmanned roving vehicle for the surface exploration of Mars; as a spin-off, a concept for a stair-climbing wheel chair was generated. The mechanisms employed in these are described. The Mars mission is envisioned using the booster rockets and aeroshell of the Viking missions.
Sandor, G. N.↗
Fast, accurate rangefinder
Computer-controlled optical ranging system detects objects as close as 1m and as distant as 30m. Originally developed for robot planetary-surface exploration, system is applicable to vehicular obstacle avoidance, surveying, remote manipulator operation, and other applications.
Johnston, A. R.↗
Advanced electric propulsion for interplanetary missions
Three specific mission applications of advanced electric propulsion systems are discussed and include: the Comet Rendevous Asteroid Flyby (CRAF) science mission, a cargo ferry vehicle for lunar base construction and resupply and a manned mars spacecraft for initial surface exploration. In all three cases electric propulsion is shown to greatly enhance these missions either by increasing payload, lowering the initial spacecraft mass or a combination of the two. Trip times for all but the lunar ferry application are shown to be comparable to using chemical propulsion. The present status and future development goals of the electric propulsion engine technologies to support these mission applications are also discussed.
Aston, Graeme↗
Martian sediments and sedimentary rocks
Martian sediments and sedimentary rocks, clastic and nonclastic, should represent a high priority target in any future return-sample mission. The discovery of such materials and their subsequent analysis in terrestrial laboratories, would greatly increase the understanding of the Martian paleoclimate. The formation of Martian clastic sedimentary rocks, under either present, low-pressure, xeric conditions or a postulated, high-pressure, hydric environment, depends upon the existence of a supply of particles, various cementing agents and depositional basins. A very high resolution (mm-cm range) photographic reconnaissance of these areas would produce a quantum jump in the understanding of Martian geological history. Sampling would be confined to more horizontal (recent) surfaces. Exploration techniques are suggested for various hypothetical Martian sedimentary rocks.
Markun, C. D.↗
Extravehicular activity at geosynchronous earth orbit
The basic contract to define the system requirements to support the Advanced Extravehicular Activity (EVA) has three phases: EVA in geosynchronous Earth orbit; EVA in lunar base operations; and EVA in manned Mars surface exploration. The three key areas to be addressed in each phase are: environmental/biomedical requirements; crew and mission requirements; and hardware requirements. The structure of the technical tasks closely follows the structure of the Advanced EVA studies for the Space Station completed in 1986.
Shields, Nicholas, Jr.↗
Magellan: The unveiling of Venus
In the late 1970s and early 1980s, the United States and the Soviet Union sent the Pioneer Venus and Venera spacecraft, respectively, to study Venus more closely and to image its surface with radar. These missions have answered many questions about Venus, but many more questions remain unanswered about the extent to which Venus' surface was shaped by volcanoes, plate tectonics, impact craters, and water and wind erosion. To help answer these remaining questions a new radar imaging spacecraft Magellan will be launched from the Space Shuttle. Magellan will spend eight months mapping most of the planet at a resolution nearly ten times better than any previous views of the surface. The mission of Magellan, the radar equipment, orbiting of Venus, planetary imaging, and surface exploration are discussed.
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Design of multihundredwatt DIPS for robotic space missions
Design of a dynamic isotope power system (DIPS) general purpose heat source (GPHS) and small free piston Stirling engine (FPSE) is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to SEI precursor missions. These are multihundredwatt missions. The incentive for any dynamic system is that it can save fuel which reduces cost and radiological hazard. However, unlike a conventional DIPS based on turbomachinery converions, the small Stirling DIPS can be advantageously scaled to multihundred watt unit size while preserving size and weight competitiveness with RTG's. Stirling conversion extends the range where dynamic systems are competitive to hundreds of watts (a power range not previously considered for dynamic systems). The challenge of course is to demonstrate reliability similar to RTG experience. Since the competative potential of FPSE as an isotope converter was first identified, work has focused on the feasibility of directly integrating GPHS with the Stirling heater head. Extensive thermal modeling of various radiatively coupled heat source/heater head geometries were performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within safe operating limits under all conditions including shutdown of one engine. Based on these results, preliminary characterizations of multihundred watt units were established.
Bents, D. J.↗
Fuzzy logic control system to provide autonomous collision avoidance for Mars rover vehicle
NASA is currently involved with planning unmanned missions to Mars to investigate the terrain and process soil samples in advance of a manned mission. A key issue involved in unmanned surface exploration on Mars is that of supporting autonomous maneuvering since radio communication involves lengthy delays. It is anticipated that specific target locations will be designated for sample gathering. In maneuvering autonomously from a starting position to a target position, the rover will need to avoid a variety of obstacles such as boulders or troughs that may block the shortest path to the target. The physical integrity of the rover needs to be maintained while minimizing the time and distance required to attain the target position. Fuzzy logic lends itself well to building reliable control systems that function in the presence of uncertainty or ambiguity. The following major issues are discussed: (1) the nature of fuzzy logic control systems and software tools to implement them; (2) collision avoidance in the presence of fuzzy parameters; and (3) techniques for adaptation in fuzzy logic control systems.
Murphy, Michael G.↗
First lunar outpost: Mission overview
Information is given in viewgraph form on the First Lunar Outpost. Topics covered include the program strategy, a mission overview, and evolution options. It is noted in the mission overview that each flight to the moon requires a single launch, greatly simplifying the operations that would be required in a multiple launch scenario. A one-way cargo mission will precede the arrival of the first crew. The crew will perform both extravehicular activity and intra-vehicular activity in the areas of surface exploration and science activities. After the mission is complete, the crew will return to earth.
Joosten, Kent↗
Design of multihundred-watt dynamic isotope power system for robotic space missions
The design of a multihundred-watt dynamic isotope power system (DIPS) based on the US Department of Energy (DOE) general-purpose heat source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE) is described as a potential lower cost alternative to radioisotope thermoelectric generators (RTGs). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions. Since the competitive potential of FPSE as an isotope convertor was first identified, work has focused on the feasibility of directly integrating GPHS with the Stirling heater head. Thermal modeling of various radiatively coupled heat source/heater head geometries has been performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain safe operating limits under all conditions including shutdown of one engine on a twin engine unit. Based on these results, preliminary characterizations of multihundred-watt units have been established. They indicate that, per electrical watt, the GPHS/small Stirling DIPS will be roughly equivalent to MOD RTG in size and mass but will require about a third the amount of isotope fuel.
Bents, D. J.↗
Design of small Stirling dynamic isotope power system for robotic space missions
Design of a multihundred-watt Dynamic Isotope Power System (DIPS) based on the U.S. Department of Energy (DOE) General Purpose Heat Source (GPHS) and small (multihundred-watt) free-piston Stirling engine (FPSE) technology is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to Space Exploration Initiative precursor missions. Power level for these missions is less than a kilowatt. Unlike previous DIPS designs which were based on turbomachinery conversion (e.g. Brayton), this small Stirling DIPS can be advantageously scaled down to multihundred-watt unit size while preserving size and mass competitiveness with RTG's. Preliminary characterization of units in the output power ranges 200-600 We indicate that on an electrical watt basis the GPHS/small Stirling DIPS will be roughly equivalent to an advanced RTG in size and mass but require less than a third of the isotope inventory.
Bents, D. J.↗
Extended mission/lunar rover, executive summary
The design project selected to be undertaken by the 1991/92 Aerospace Design Group was that of conceptually designing an Extended Mission Rover for use on the Lunar Surface. This vehicle would serve the function as a mobile base of sorts, and be able to provide future astronauts with a mobile 'shirt-sleeve' self-sufficient living and working environment. Some of the proposed missions would be planetary surface exploration, construction and maintenance, hardware set-up and in-situ resource experimentation. The need for this type of vehicle has already been declared in the Stafford Group's report on the future of America's Space Program, entitled 'America at the Threshold: America's Space Exploration Initiative'. In the four architectures described within the report, the concept of a pressurized vehicle occurred multiple times. The approximate time frame that this vehicle would be put into use is 2010-2030.
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