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NASA NTRS2010

An Approach to Designing Passive Self-Leveling Landing Gear with Application to the Lunar Lander

Once the lunar lander has touched down on the moon problems can occur if the crew module is not level. To mitigate, compliant landing gear provide a solution that would allow the module to be leveled once it has landed on some ground slope. The work presented here uses compliant joints, or flexures, for each leg of the module and optimizes the mechanics of these flexures such that the module can be passively leveled over a range of landing slopes. Preliminary results suggest that for landing on a slope of up to 12 deg the effective slope of the module can be reduced to a maximum of 2.5 deg.

Rippere, Troy B.↗

NASA NTRS2010

An Approach to Designing Passive Self-Leveling Landing Gear with Application to the Lunar Lander

Rippere, Troy B.↗

NASA NTRS2008

Numerically Modeling the Erosion of Lunar Soil by Rocket Exhaust Plumes

In preparation for the Apollo program, Leonard Roberts of the NASA Langley Research Center developed a remarkable analytical theory that predicts the blowing of lunar soil and dust beneath a rocket exhaust plume. Roberts assumed that the erosion rate was determined by the excess shear stress in the gas (the amount of shear stress greater than what causes grains to roll). The acceleration of particles to their final velocity in the gas consumes a portion of the shear stress. The erosion rate continues to increase until the excess shear stress is exactly consumed, thus determining the erosion rate. Roberts calculated the largest and smallest particles that could be eroded based on forces at the particle scale, but the erosion rate equation assumed that only one particle size existed in the soil. He assumed that particle ejection angles were determined entirely by the shape of the terrain, which acts like a ballistic ramp, with the particle aerodynamics being negligible. The predicted erosion rate and the upper limit of particle size appeared to be within an order of magnitude of small-scale terrestrial experiments but could not be tested more quantitatively at the time. The lower limit of particle size and the predictions of ejection angle were not tested. We observed in the Apollo landing videos that the ejection angles of particles streaming out from individual craters were time-varying and correlated to the Lunar Module thrust, thus implying that particle aerodynamics dominate. We modified Roberts theory in two ways. First, we used ad hoc the ejection angles measured in the Apollo landing videos, in lieu of developing a more sophisticated method. Second, we integrated Roberts equations over the lunar-particle size distribution and obtained a compact expression that could be implemented in a numerical code. We also added a material damage model that predicts the number and size of divots which the impinging particles will cause in hardware surrounding the landing rocket. Then, we performed a long-range ballistics analysis for the ejected particulates.

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NASA NTRS1972

STDN network operations procedure for Apollo range instrumentation aircraft, revision 1

The Apollo range instrumentation aircraft (ARIA) fleet which consists of four EC-135N aircraft used for Apollo communication support is discussed. The ARIA aircraft are used to provide coverage of lunar missions, earth orbit missions, command module/service module separation to spacecraft landing, and assist in recovery operations. Descriptions of ARIA aircraft, capabilities, and instrumentation are included.

Vette, A. R.↗

NASA NTRSDate not supplied

The Effectiveness of Power Distribution Systems for Deployment on the Lunar Surface

Lunar habitation missions are currently being planned to have astronauts return to the moon by the mid 2020’s with a sustained lunar presence by the end of the decade. The various landed modules needed to support the missions are expected to be distributed around Shackleton Crater at distances ranging from 1 to 15 km and with power needs ranging from 10 kW to 50kW. Current plans call for a solar array to be installed on the rim of the crater that receives near-constant sunlight year around with a power distribution system that transfers power from the source to consumers. This paper details several power distribution systems: DC transmission lines, radio frequency power beaming, and optical power beaming. Sizing algorithms for each of these distributions systems along with their necessary subsystems were developed from literature and subject matter expertise input. Several experiments were then conducted to determine the performance of the systems along with their sensitivities to changes in assumptions for various sub-components. The defined Figures of Merit enable mission designers to select the best power distribution system for each possible power consumer mission scenario. The experimental results were analyzed and compiled into a set of figures that highlight the conditions for which a certain system outperforms the other.

Bradford Robertson↗

NASA NTRSDate not supplied

The Effectiveness of Power Distribution Systems for Deployment on the Lunar Surface

Bradford Robertson↗

NASA NTRS2007

Orion Entry Flight Control Stability and Performance

The Orion Spacecraft will be required to perform entry and landing functions for both Low Earth Orbit (LEO) and Lunar return missions, utilizing only the Command Module (CM) with its unique systems and GN&C design. This paper presents the current CM Flight Control System (FCS) design to support entry and landing, with a focus on analyses that have supported its development to date. The CM FCS will have to provide for spacecraft stability and control while following guidance or manual commands during exo-atmospheric flight, after Service Module separation, translational powered flight required of the CM, atmospheric flight supporting both direct entry and skip trajectories down to drogue chute deploy, and during roll attitude reorientation just prior to touchdown. Various studies and analyses have been performed or are on-going supporting an overall FCS design with reasonably sized Reaction Control System (RCS) jets, that minimizes fuel usage, that provides appropriate command following but with reasonable stability and control margin. Results from these efforts to date are included, with particular attention on design issues that have emerged, such as the struggle to accommodate sub-sonic pitch and yaw control without using excessively large jets that could have a detrimental impact on vehicle weight. Apollo, with a similar shape, struggled with this issue as well. Outstanding CM FCS related design and analysis issues, planned for future effort, are also briefly be discussed.

Strahan, Alan L.↗

NASA NTRS1970

Apollo 13 Mission Report

The Apollo 13 mission, planned as a lunar landing in the Fra Mauro area, was aborted because of an abrupt loss of service module cryogenic oxygen associated with a fire in one of the two tanks at approximately 56 hours. The lunar module provided the necessary support to sustain a minimum operational condition for a safe return to earth. A circumlunar profile was executed as the most efficient means of earth return, with the lunar module providing power and life support until transfer to the command module just prior to entry. Although the mission was unsuccessful as planned, a lunar flyby and several scientific experiments were completed.

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NASA NTRS1971

Gravity measured at the Apollo 14 landing site.

The gravity at the Apollo 14 landing site has been determined from the accelerometer data that were telemetered from the lunar module. The values for the lunar gravity measured at the Apollo 11, 12, and 14 sites were reduced to a common elevation and were then compared between sites. A theoretical gravity, based on the assumption of a spherical moon, was computed for each landing site and compared with the observed value. The observed gravity was also used to compute the lunar radius at each landing site.

Nance, R. L.↗

NASA NTRS1971

Lunar-Surface Closeup Stereoscopic Photography on the Sea of Tranquility (Apollo 11 Landing Site)

Analysis of returned lunar samples provides limited information about lunar geology. To obtain information about in-place lunar material, a closeup stereoscopic camera capable of photographing small-scale surface features was built and was used at the Apollo 11 landing site. Stereoscopic photographs were taken of surface areas relative to the lunar module, and the surfaces photographed were analyzed. The photographs are classified into five groups: soil disturbed by astronaut activities, generally undisturbed soil, loose aggregate surface material, crater bottoms with prominent glass deposits, and hard rock deposits. Glass deposits in the returned samples are described for comparison with the features observed in the photographs. The stereoscopic photographs were of outstanding quality and show the nature of lunar-surface material in detail. Lunar topography was reconstructed from the photographs with an analytical plotter. The photography results indicate that the closeup composition and genesis of lunar soil at the Apollo 11 landing site.

Greenwood, W. R.↗

NASA NTRS1968

Lunar module pilot control considerations

Lunar module backup guidance, navigation and pilot interfaces with control systems during lunar landing missions

Brickel, J. R.↗

NASA NTRS2012

Pulmonary Toxicity Studies of Lunar Dust in Rodents

NASA has been contemplating returning astronauts to the moon for long-duration habitation and research and using it as a stepping-stone to Mars. Other spacefaring nations are planning to send humans to the moon for the first time. The surface of the moon is covered by a layer of fine dust. Fine terrestrial dusts, if inhaled, are known to pose a health risk to humans. Some Apollo crews briefly exposed to moon dust that adhered to spacesuits and became airborne in the Lunar Module reported eye and throat irritation. The habitable area of any lunar landing vehicle or outpost would inevitably become contaminated with lunar dust. To assess the health risks of exposure of humans to airborne lunar dust, we evaluated the toxicity of Apollo 14 moon dust in animal lungs. Studies of the pulmonary toxicity of a dust are generally first done by intratracheal instillation (ITI) of aqueous suspensions of the test dust into the lungs of rodents. If a test dust is irritating or cytotoxic to the lungs, the alveolar macrophages, after phagocytizing the dust particles, will release cellular messengers to recruit white blood cells (WBCs) and to induce dilation of blood capillary walls to make them porous, allowing the WBCs to gain access to the alveolar space. The dilation of capillary walls also allows serum proteins and water entering the lung. Besides altering capillary integrity, a toxic dust can also directly kill the cells that come into contact with it or ingest it, after which the dead cells would release their contents, including lactate dehydrogenase (a common enzyme marker of cell death or tissue damage). In the treated animals, we lavaged the lungs 1 and 4 weeks after the dust instillation and measured the concentrations of these biomarkers of toxicity in the bronchioalveolar lavage fluids to determine the toxicity of the dust. To assess whether the inflammation and cellular injury observed in the biomarker study would lead to persistent or progressive histopathological changes, a similar study was conducted to microscopically examine rat lung tissue and the associated lymph nodes for lesions, including fibrosis, 1 or 3 months after the instillation. The results from this ITI study led us to select two concentrations (20 and 60 mg/cu m) for an inhalation study, in which rats were exposed to lunar dust 6 h daily for 4 weeks (5d/wk). Similar biochemical and histopathological assessments were carried out in these rats 1 day or 1, 4, or 13 weeks after the dust exposure. Rats exposed to lunar dust by ITI or inhalation showed effects indicating that the dust is moderately toxic. The data will be useful to establish safe exposure limits for astronauts working in a lunar habitat and also help engineers designing dust mitigation systems for lunar vehicles and habitats.

Lam, Chiu-Wing↗

NASA NTRS2024

Extravehicular Activity and Human Surface Mobility Program (EHP) Exploration EVA (xEVA) System Compatibility Standards

Extravehicular Activity (EVA) is a significant capability for Artemis Systems which includes Gateway Program (modules), Human Landing System (HLS) Program (Integrated Lander and Human Class Delivery Lander), Lunar Terrain Vehicle (LTV), Pressurized Rover (PR), Payloads, and any other future lunar surface assets that will be utilized for exploration or science. The EVA and Human Surface Mobility Program (EHP) will provide the following: Exploration EVA (xEVA) suits, xEVA tools and crew aids along with vehicle integration/support hardware, LTV, and PR. Being a distributed and dynamic capability (moving components), xEVA System hardware will interface with almost all elements of the Artemis architecture. As such, it is important to document a singular set of EVA compatibility standards at the programmatic level to articulate “how to interface with xEVA suit hardware” and “how to design hardware that EVA crewmembers will access and manipulate.”

Exploration↗

NASA NTRS1963

Apollo-Lunar Orbital Rendezvous Technique

The film shows artists rendition of the spacecrafts, boosters, and flight of the Apollo lunar missions. The Apollo spacecraft will consist of three modules: the manned Command Module; the Service Module, which contains propulsion systems; and the Lunar Excursion Module (LEM) to carry astronauts to the moon and back to the Command and Service Modules. The spacecraft will be launched via a three-stage Saturn booster. The first stage will provide 7.5 million pounds of thrust from five F-1 engines for liftoff and initial powered flight. The second stage will develop 1 million pounds of thrust from five J-2 engines to boost the spacecraft almost into Earth orbit. Immediately after ignition of the second stage, the Launch Escape System will be jettisoned. A single J-2 engine in the S4B stage will provide 200,000 pounds of thrust to place the spacecraft in an earth parking orbit. It also will be used to propel the spacecraft into a translunar trajectory, then it will separate from the Apollo Modules. Onboard propulsion systems will be used to insert the spacecraft into lunar orbit. Two astronauts will enter the LEM, which will separate from the command and service modules. The LEM will go into elliptical orbit and prepare for landing. The LEM will lift off of the Moon's surface to return to the Command and Service Modules, and most likely be left in lunar orbit. After leaving the Moon's orbit, and shortly before entering Earth's orbit, the Service Module will be ejected. The Command Module will be oriented for reentry into the Earth's atmosphere. A drogue parachute will deploy at approximately 50,000 feet, followed by the main parachute system for touchdown.

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NASA NTRS2008

Using Lunar Module Shadows To Scale the Effects of Rocket Exhaust Plumes

Excavating granular materials beneath a vertical jet of gas involves several physical mechanisms. These occur, for example, beneath the exhaust plume of a rocket landing on the soil of the Moon or Mars. We performed a series of experiments and simulations (Figure 1) to provide a detailed view of the complex gas-soil interactions. Measurements taken from the Apollo lunar landing videos (Figure 2) and from photographs of the resulting terrain helped demonstrate how the interactions extrapolate into the lunar environment. It is important to understand these processes at a fundamental level to support the ongoing design of higher fidelity numerical simulations and larger-scale experiments. These are needed to enable future lunar exploration wherein multiple hardware assets will be placed on the Moon within short distances of one another. The high-velocity spray of soil from the landing spacecraft must be accurately predicted and controlled or it could erode the surfaces of nearby hardware. This analysis indicated that the lunar dust is ejected at an angle of less than 3 degrees above the surface, the results of which can be mitigated by a modest berm of lunar soil. These results assume that future lunar landers will use a single engine. The analysis would need to be adjusted for a multiengine lander. Figure 3 is a detailed schematic of the Lunar Module camera calibration math model. In this chart, formulas relating the known quantities, such as sun angle and Lunar Module dimensions, to the unknown quantities are depicted. The camera angle PSI is determined by measurement of the imaged aspect ratio of a crater, where the crater is assumed to be circular. The final solution is the determination of the camera calibration factor, alpha. Figure 4 is a detailed schematic of the dust angle math model, which again relates known to unknown parameters. The known parameters now include the camera calibration factor and Lunar Module dimensions. The final computation is the ejected dust angle, as a function of Lunar Module altitude.

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NASA NTRS1989

Design of an unmanned lunar cargo lander that reconfigures into a shelter for a habitation module or disassembles into parts useful to a permanent manned lunar base

NASA plans to establish a permanent manned lunar base by the first decade of the twenty-first century. It is extremely expensive to transport material from earth to the moon. Therefore, expense would be reduced if the vehicle that lands cargo on the moon could itself meet some of the material needs of establishing the lunar base. The design of a multi-functional lander that is entirely useful to the base after landing is described. Alternate designs of the overall lander configuration and possible uses of the lander and its components after landing are contained. The design solution is a lander employing the Saddlebagged Fuel Tank Configuration. After landing, its structure will be converted into a habitation module shelter that supports a protective layer of regolith. The fuel tanks will be cleaned and used as storage tanks for the lunar base. The engines and instrumentation will be saved as stock parts. Recommendations for further research and technology development to enhance future lander designs are given.

Davanay, Lisa↗

NASA NTRS1992

Space Resources

Space resources must be used to support life on the Moon and exploration of Mars. Just as the pioneers applied the tools they brought with them to resources they found along the way rather than trying to haul all their needs over a long supply line, so too must space travelers apply their high technology tools to local resources. The pioneers refilled their water barrels at each river they forded; moonbase inhabitants may use chemical reactors to combine hydrogen brought from Earth with oxygen found in lunar soil to make their water. The pioneers sought temporary shelter under trees or in the lee of a cliff and built sod houses as their first homes on the new land; settlers of the Moon may seek out lava tubes for their shelter or cover space station modules with lunar regolith for radiation protection. The pioneers moved further west from their first settlements, using wagons they had built from local wood and pack animals they had raised; space explorers may use propellant made at a lunar base to take them on to Mars. The concept for this report was developed at a NASA-sponsored summer study in 1984. The program was held on the Scripps campus of the University of California at San Diego (UCSD), under the auspices of the American Society for Engineering Education (ASEE). It was jointly managed under the California Space Inst. and the NASA Johnson Space Center, under the direction of the Office of Aeronautics and Space Technology (OAST) at NASA Headquarters. The study participants (listed in the addendum) included a group of 18 university teachers and researchers (faculty fellows) who were present for the entire 10-week period and a larger group of attendees from universities, Government, and industry who came for a series of four 1-week workshops. The organization of this report follows that of the summer study. Space Resources consists of a brief overview and four detailed technical volumes: (1) Scenarios; (2) Energy, Power, and Transport; (3) Materials; (4) Social Concerns. Although many of the included papers got their impetus from workshop discussions, most have been written since then, thus allowing the authors to base new applications on established information and tested technology. All these papers have been updated to include the authors' current work. This overview, drafted by faculty fellow Jim Burke, describes the findings of the summer study, as participants explored the use of space resources in the development of future space activities and defined the necessary research and development that must precede the practical utilization of these resources. Space resources considered included lunar soil, oxygen derived from lunar soil, material retrieved from near-Earth asteroids, abundant sunlight, low gravity, and high vacuum. The study participants analyzed the direct use of these resources, the potential demand for products from them, the techniques for retrieving and processing space resources, the necessary infrastructure, and the economic tradeoffs. This is certainly not the first report to urge the utilization of space resources in the development of space activities. In fact, Space Resources may be seen as the third of a trilogy of NASA Special Publications reporting such ideas arising from similar studies. It has been preceded by Space Settlements: A Design Study (NASA SP-413) and Space Resources and Space Settlements (NASA SP-428). And other, contemporaneous reports have responded to the same themes. The National Commission on Space, led by Thomas Paine, in Pioneering the Space Frontier, and the NASA task force led by astronaut Sally Ride, in Leadership and America's Future in Space, also emphasize expansion of the space Infrastructure; more detailed exploration of the Moon, Mars, and asteroids; an early start on the development of the technology necessary for using space resources; and systematic development of the skills necessary for long-term human presence in space. Our report does not represent any Government-authorized view or official NASA policy. NASA's official response to these challenging opportunities must be found in the reports of its Office of Exploration, which was established in 1987. That office's report, released in November 1989, of a 90-day study of possible plans for human exploration of the Moon and Mars is NASA's response to the new initiative proposed by President Bush on July 20, 1989, the 20th anniversary of the Apollo 11 landing on the Moon: "First, for the coming decade, for the 1990s, Space Station Freedom, our critical next step in all our space endeavors. And next, for the new century, back to the Moon, back to the future, and this time, back to stay. And then a journey into tomorrow, a journey to another planet, a manned mission to Mars." This report, Space Resources, offers substantiation for NASA's bid to carry out that new initiative.

McKay, Mary Fae↗

NASA NTRS1992

The real world and lunar base activation scenarios

A lunar base or a network of lunar bases may have highly desirable support functions in a national or international program to explore and settle Mars. In addition, He-3 exported from the Moon could be the basis for providing much of the energy needs of humankind in the twenty-first century. Both technical and managerial issues must be addressed when considering the establishment of a lunar base that can serve the needs of human civilization in space. Many of the technical issues become evident in the consideration of hypothetical scenarios for the activation of a network of lunar bases. Specific and realistic assumptions must be made about the conduct of various types of activities in addition to the general assumptions given above. These activities include landings, crew consumables, power production, crew selection, risk management, habitation, science station placement, base planning, science, agriculture, resource evaluation, readaptation, plant activation and test, storage module landings, resource transport module landings, integrated operations, maintenance, Base 2 activation, and management. The development of scenarios for the activation of a lunar base or network of bases will require close attention to the 'real world' of space operations. That world is defined by the natural environment, available technology, realistic objectives, and common sense.

Schmitt, Harrison H.↗