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NASA NTRSDate not supplied

Lunar Search & Rescue Applications of Lunar GNSS

Accurate lunar navigation and timing knowledge provides for the development of safety-critical services in the cislunar and lunar surface domain. Currently under development, the Goddard Space Flight Center’s (GSFC) Search and Rescue Mission Office is investigating and integrating search and rescue (SAR) capability into planned and future lunar communication and navigation interfaces. Lunar Search and Rescue (LunaSAR) development has a stated end-goal for assured, reliable, and timely indication of distress events for a wide variety of lunar surface users, including government-sponsored, commercial, and international users. LunaSAR performance requirements are modelled after the current terrestrial Cospas-Sarsat distress notification system, leveraging an internationally robust global navigation satellite system (GNSS) ecosystem as a core element of survivor locating capability. This presentation will discuss NASA’s work to develop user-focused distress messaging capabilities including infusion of example sensor data for triggering of automated distress alerts coupled with location-tagging. Additionally, the presentation will examine overall message structures, rotating fields for use in bi-directional distress messaging, and specific use cases based on NASA’s lunar exploration and lunar communication relay architectures. Modelling and simulation of LunaSAR use by individual lunar explorers will be discussed, based on notional industry and government design reference missions and mission considerations. Results from GSFC-funded Internal Research and Development (IRAD) efforts will be detailed, including successful distress message formulation simulating the ingestion of example legacy space suit telemetry fields. Hardware-in-the-loop testing using high-reliability software defined radio (SDR) modules serve as an example of IRAD successes and the framework for technical requirements. Architectural development and technical evolution from 2020 to 2021 included alignment of LunaSAR distress waveforms with ongoing NASA LunaNet interoperability development, as well as engagement with NASA Lunar Spectrum authorities for allocation of UHF-band distress frequencies on the lunar surface. S-Band and UHF-band transmission characteristics will be detailed, along with band-specific applications of each emission type. Additionally, examples of ingestion and formatting of GNSS signals (using historical terrestrial National Marine Electronics Association-formatted GNSS data) will be detailed, underscoring lunar user needs for a common lunar GNSS receiver output message framework. Maturity and ability to support evolving lunar exploration goals has been demonstrated and will be detailed, with maturity gaps such as position, navigation, and timing (PNT) and lunar reference frames identified within the context of distress message generation. Provision of LunaSAR services for lunar surface users represents a new era of ensured safety for lunar explorers and builds off of forty years of the Cospas-Sarsat program, underscoring the importance of lunar GNSS for safety-critical applications and growing interest in safe, reliable lunar surface operations. Enabled by new GNSS systems being developed by government and industry partners, NASA will continue to evolve and integrate lunar GNSS types into distress message generation, with a focus on compact and efficient message transmission over various lunar communication links. When fielded, LunaSAR will be the first dedicated search and rescue notification system employed on another celestial body. Robust lunar navigation and timing services form the core of LunaSAR capabilities, allowing for system syncing with time-dominant sensors, and high-accuracy location of those in distress while engaged in lunar surface activities.

Search and Rescue↗

NASA NTRS1988

Adaption of Space Station technology for lunar operations

The possible use of Space Station technology in a lunar base program is discussed, focusing on the lunar lander/ascent vehicles and surface modules. The application of the Space Station data management system, software, and communications, tracking, guidance, navigation, control, and power technologies is examined. The benefits of utilizing this technology for lunar operations are considered.

Garvey, J. M.↗

NASA NTRS2017

Building an Economical and Sustainable Lunar Infrastructure to Enable Lunar Science and Space Commerce

A new concept study was initiated to examine the framework needed to gradually develop an economical and sustainable lunar infrastructure using a public private partnerships approach. This approach would establish partnership agreements between NASA and industry teams to develop cis-lunar and surface capabilities for mutual benefit while sharing cost and risk in the development phase and then allowing for transfer of operation of these infrastructure services back to its industry owners in the execution phase. These infrastructure services may include but are not limited to the following: lunar cargo transportation, power stations, energy storage devices, communication relay satellites, local communication towers, and surface mobility operations.

Zuniga, Allison↗

NASA NTRSDate not supplied

The Wizard Staff Mobile Tool for Human Exploration on the Lunar Surface

Wizard Staff↗

NASA NTRS2009

Delay/Disruption Tolerant Networks (DTN): Testing and Demonstration for Lunar Surface Applications

This slide presentation reviews the testing of the Delay/Disruption Tolerant Network (DTN) designed for use with Lunar Surface applications. This is being done through the DTN experimental Network (DEN), that permit access and testing by other NASA centers, DTN team members and protocol developers. The objective of this work is to demonstrate DTN for high return applications in lunar scenarios, provide DEN connectivity with analogs of Constellation elements, emulators, and other resources from DTN Team Members, serve as a wireless communications staging ground for remote analog excursions and enable testing of detailed communication scenarios and evaluation of network performance. Three scenarios for DTN on the Lunar surface are reviewed: Motion imagery, Voice and sensor telemetry, and Navigation telemetry.

Source record↗

NASA NTRS2016

Options for Staging Orbits in Cis-Lunar Space

NASA has been studying options to conduct missions beyond Low Earth Orbit, but within the Earth‐Moon system, in preparation for deep space exploration including human missions to Mars. Referred to as the Proving Ground, this arena of exploration activities will enable the development of human spaceflight systems and operations to satisfy future exploration objectives beyond the cis‐lunar environment. One option being considered includes the deployment of a habitable element or elements, which could be used as a central location for aggregation of supplies and resources for human missions in cis‐lunar space and beyond. Characterizing candidate orbit locations for this asset and the impacts on system design and mission operations is important in the overall assessment of the options being considered. The orbits described in this paper were initially selected by taking advantage of previous studies conducted by NASA and the work of other authors. In this paper orbits are assessed for their relative attractiveness based on various factors. A set of constraints related to the capability of the combined Orion and SLS system to deliver humans and cargo to and from the orbit are evaluated. Deployed assets intended to spend multiple years in the Proving Ground would ideally require minimal station keeping costs to reduce the mass budget allocated to this function. Additional mission design drivers include eclipse frequency, potential for uninterrupted communication with deployed assets, thermal, attitude control, communications, and other operational implications. Also the ability to support potential lunar surface activities and excursion missions beyond Earth‐Moon space is considered. The results of the characterization and evaluation of the selected orbits indicate a Near Rectilinear Orbit (NRO) is an attractive candidate as an aggregation point or staging location for operations. In this paper, the NRO is further described in terms which balance a number of key attributes that favor a variety of mission classes to meet multiple, sometimes competing, constraints.

Martinez, Roland↗

NASA NTRSDate not supplied

Towers: Critical Initial Infrastructure for the Moon, Such as a Power Module Support

Towers are an efficient structure commonly used to elevate systems against a gravity field, such as above the surface of a planet or the Moon. Towers can be used to elevate antennas, transmitters and sensors for communication, navigation, and observation infrastructure in support of surface operations. Near the Lunar poles, elevation of rotating solar panels enables nearly continuous panel illumination for solar power production despite the Sun remaining near the horizon year-round. Further, once technology is developed for tower assembly, this same technology can be extended to the assembly of a variety of structures including rocket blast containment shields, bridges, shelters, and habitats from either Earth-sourced or Lunar-sourced structural members. Environmental factors on the Lunar surface are vastly different than those found on Earth and have significant impact on the design of towers. Towers designed for the Lunar surface have no heritage nor Earth analog. The designs discussed herein are therefore breaking new ground creating a fundamentally new class of structures outside of current experience and intuition. The purpose of this paper is to: a) describe the unique environmental factors affecting tower design on the Lunar surface compared to Earth-based systems, b) evaluate two structural forms for the tower; telescoping tubes and an assembled truss, as well as c)provide recommendations on when each structural form is most suitable. A major contribution presented in the current paper is to provide parametric plots and supporting equations of mass and volume versus module power level and blanket height above the Lunar surface for the solar array application, to enable system level studies of optimum power module distribution and size. A secondary contribution are plots of the mass and volume of aluminum or structural glass required for assembled truss towers formed from Lunar derived structural members. An objective of achieving 1 MW of total power has been used to enable comparison of structural forms, because the total mass of solar arrays is consistent. It will be shown that for moderate module sizes, up to ~50 kW power modules, based on a telescoping tube tower have advantages, but for power modules from 50 kW to 200 kW an assembled truss tower can be created with half to one third of the tube tower mass. More significantly, when shipped from Earth, an assembled truss tower can be packed into 1/14th to 1/25th of the tube tower volume. Truss designs in the 100 kW to 200 kW range will be shown to be a favorable when assembled from either graphite-epoxy angles shipped from Earth or aluminum angles fabricated from Lunar materials. 50 kW towers are an attractive choice for both a telescoping or assembled tower with the solar arrays elevated 10 m above the Lunar surface, while increased solar array elevation favors 100 kW to 200 kW power modules.

assembly↗

NASA NTRSDate not supplied

VIPER Lunar Rover Agile Mission Systems

Agile development methods, which have gone from outlier to mainstream in software development, are poised to expand into all aspects of space mission development. Modern software development operates on a principle of continuous deployment, where progress is verified not with conventional metrics, but with a continuous build, available to key stakeholders, enabling direct examination of the state of the code base, and assessment of progress through demonstration of capability. Delivery times are measured in weeks, not months. Stakeholders are part of the process on an ongoing basis. The cost of change is comparatively low and requirements, which often are not precisely defined at the start of a project, may be iteratively refined in a series of agile development cycles. Agile methods are compatible with traditional system engineering methods and may be tailored to the space operations environment. The low cost of change and iterative development cycles of agile enable requirements to be defined as outcomes and constraints, with design details to be refined during the development cycle. We are now at a point where agile methods may be extended beyond software, to Mission Systems, including the Mission Operations System and the Ground Data System. For NASA’s VIPER Lunar Rover Mission, scheduled to land at a lunar pole in late 2023, we are developing the Mission System using agile methods. As in agile software, where the measure of progress is working code, in agile mission system development, the measure of capability is what we can demonstrate. Demonstrations over presentations. We demonstrate mission system capability using simulations. The concept of operations, from commanding, to driving the rover, to how we downlink images for evaluation for a near-real time command cycle, will be tested and proven in simulation, years before we begin the traditional simulation cycle for training. “Say it then simulate it.” We develop and refine our designs using simulations, with an emphasis on new components of the system that are not well known early. For example, the required duration of a mission planning cycle for a lunar surface asset such as VIPER, that operates twenty-four hours a day, seven days a week, with continuous communications and a unique set of constraints based on the physics of the lunar poles and the line of site to Earth, is a unique problem in mission planning that is unlikely to be solved in a series of meetings. A small number of requirements specifying the outcomes may serve as the jumping off point to an agile development cycle, with demonstration in simulations. We have already demonstrated this process with simulations of rover driver decision time. VIPER is driven using near-real time command and control to waypoints. The driver decision time between waypoints is a fundamental enabling unit of productivity to accomplish the mission timeline. We have validated driver decision time in simulations of rover driving at the lunar South Pole, using the prototype mission tools for driving, command and control. The capability to develop and refine designs using simulations as part of agile Mission System development cycle changes the nature of team interactions, creating a focus on doing, rather than analyzing and documenting. Waterfall development cycles were, in part, a product of the significant cost of change in the early days of spaceflight. When the cost of change is high, it is vital to get your requirements right at the outset, because the system will be built to those specifications, and, when change is expensive, you better get it right early. However, modern technology has greatly lowered the cost of change, enabling iterative, rapid development cycles, in which key operations concepts may be tested and refined during development. Extending agile development to the Mission System for VIPER is a significant step in moving agile development methods for space operations beyond software, to the Mission System.

Agile↗

NASA NTRS2020

Nano-ALSEP: Use of Nano-Sat Technology to Advance Lunar Exploration Science/Engineering

During the Apollo program, unique ALSEP (Apollo Lunar Surface Experiments Package) stations were deployed and left on the surface for long term data collection. Powered by a SNAP-27 electrical power source, the packages continued to transmit useful data until September 30, 1977 (the end of the Fiscal year and termination of the budget). The instruments were varied but included an active seismic experiment (ASE), charged particle experiments, magnetometer experiment, micro-meteoroide/bolide detection experiments. Only only one, the Laser Ranging Retro-Reflector (LRRR) was continued to be used to the present day due to the passive nature of the device. After a dearth of data during an absence of 50 years, is it possible to restart similar packages using the advances in nano-sat technologies? An innovation effort is proposed that would first look at a 2U nano-sat package evolving to an eventual radio-isotope powered system that could be either part of a lunar lander or as an independent package. In the first phase, the packages would only survive during the Lunar day. In a second phase, the later radio-isotope options would place the surface packages in a semi-dormant mode during the Lunar night cycle. Communication capability developed in the TechEdSat-n flight series (UHF, S, X and optical bands) would help to independently close the link and potentially explore IoT devices that were powered only in the sunlight. In addition, limited mobility in the form factor of a nano-rover might also greatly extend the utility of such packages while adding evolutionary capability - and finally continue where the Apollo program was forced to leave off.

M Murbach↗

NASA NTRS2019

Building an Economical and Sustainable Lunar Infrastructure to Enable Human Missions

To enable return of human missions to the surface of the Moon sustainably, a new study was initiated to assess the feasibility of developing an evolvable, economical and sustainable lunar surface infrastructure using a public-private partnerships approach. This approach would establish partnerships between NASA and private industry to mutually develop lunar surface infrastructure capabilities to support robotic missions initially and later evolve to full-scale commercial infrastructure services in support of human missions. These infrastructure services may range from power systems, communication and navigation systems, thermal management systems, mobility systems, water and propellant production to life support systems for human habitats. The public-private partnerships approach for this study leverages best practices from NASA’s Commercial Orbital Transportation Services (COTS) program which introduced an innovative and economical approach for partnering with industry to develop commercial cargo transportation services to the International Space Station (ISS). In this approach, NASA and industry partners shared cost and risk throughout the development phase which led to dramatic reduction in development and operations costs of these transportation services. Following this approach, a Lunar COTS concept was conceived to develop cost-effective surface infrastructure capabilities in partnership with industry to provide economical, operational services for small-scale robotic missions. As a result, a self-contained lunar infrastructure system with power, thermal, communication and navigation elements was conceptually designed to increase capability, extend mission duration and reduce cost of small-scale robotic missions. To support human missions, this work has now been extended to analyze full-scale lunar infrastructure systems. This infrastructure system should have capabilities to support human missions from a few days to several months with minimal maintenance and replacement of parts. This infrastructure system should also maximize the use of existing lunar resources, such as, oxygen from regolith, water from ice deposits at the poles, and use of metals, such as iron and aluminum, from lunar regolith. The plan includes a buildup of these capabilities using a phased-development approach that will eventually lead to operational infrastructure services. By partnering with industry to develop and operate the infrastructure services using the COTS model, this plan should also result in significant cost savings and increased reliability. This paper will describe the Lunar COTS concept goals, objectives and approach for developing an evolvable, economical and sustainable human lunar infrastructure as well as the challenges and opportunities for development.

Zuniga, Allison↗

NASA NTRS2009

802.16e System Profile for NASA Extra-Vehicular Activities

This report identifies an 802.16e system profile that is applicable to a lunar surface wireless network, and specifically for meeting extra-vehicular activity (EVA) data flow requirements. EVA suit communication needs are addressed. Design-driving operational scenarios are considered. These scenarios are then used to identify a configuration of the 802.16e system (system profile) that meets EVA requirements, but also aim to make the radio realizable within EVA constraints. Limitations of this system configuration are highlighted. An overview and development status is presented by Toyon Research Corporation concerning the development of an 802.16e compatible modem under NASA s Small Business Innovative Research (SBIR) Program. This modem is based on the recommended system profile developed as part of this report. Last, a path forward is outlined that presents an evolvable solution for the EVA radio system and lunar surface radio networks. This solution is based on a custom link layer, and 802.16e compliant physical layer compliant to the identified system profile, and a later progression to a fully interoperable 802.16e system.

Foore, Lawrence R.↗

NASA NTRS2023

Lunar Dust Mitigation: A Guide and Reference: First Edition (2021)

On the surface of the Moon, lunar dust specifically presents unique challenges to operations long-term due to regolith particles’ ubiquitous presence in the lunar environment, potential to electrostatically charge and possible chemical reactivity. Whether to avoid exposure, try to remove or simply to tolerate lunar dust infiltrating a system becomes a complex question involving length of required service life, dust effects and critical risks, mass and complexity trades for the entire system. This publication provides a snapshot of advice from topical experts for specific areas of concern to systems targeted for deployment on the lunar surface. Following introductory overview commentary, dust mitigation approaches appropriate to the lunar surface are first addressed for typically static structures such as optical surfaces, radiators, and other thermal control surfaces, followed by regolith exposure concerns for communications equipment and non-optical sensors. The broad topic of mechanisms and mechanical assemblies is broken down to address relevant component level concerns, such as for bearings and for seals. “Soft goods” components of space suits (fabric) specific concerns are discussed, followed finally by brief coverage of human health issues and concerns, though the emphasis of this publication remains with components directly exposed to the harsh lunar surface environment. A description of some lunar surface hazard details, in particular characteristics of lunar surface dust, follows in Appendix A, and more detailed explanations of quantification issues for particulates are in Appendix B. The simple inertial removal of particles from a surface is discussed in Appendix C, followed by a summary of terrestrial best practices for dust mitigation recommended within select industries in Appendix D. The aggregated bibliography of references, while extensive and very useful, should not be construed to be exhaustive and can serve as a constructive start.

dust↗

NASA NTRS2023

LunaNet Position, Navigation, and Timing Services and Signal, Enabling the Future of Lunar Exploration

The International Space Exploration Coordination Group established in 2018 the 3rd edition of the Global Exploration Roadmap (ISECG, 2018) that aims to achieve Mars human surface activities and identifies the exploration of the Moon as a critical intermediate step. A supplement covering updates on surface exploration scenarios was released in 2020 (ISECG, 2020). The Artemis Accords (NASA Artemis, 2020), first signed in October 2020, now includes over two dozen nations, in an agreement on the principles for best practices, including interoperability. September 2022 introduced the National Aeronautics and Space Administration’s (NASA) Moon to Mars Objectives highlighting recurring tenets of collaboration with international and industry partners and interoperability, along with infrastructure objectives for Position, Navigation, and Timing (PNT). The successful Artemis 1 mission paved the way to the ambitious plans to establish a sustainable human presence on the Moon. Just a few months after Artemis 1 launch (NASA, 2022), iSpace HAKUTO-R Mission1 (iSpace, 2022) launched, being the first-ever commercial mission, launched by a commercial launch service provider, aiming to land on the lunar surface. The NASA Artemis programme plans initial crewed landings and traverses in 2025, supported by the Lunar Gateway, followed by regular launches to build the lunar systems (NASA Artemis Plan, 2020), (NASA, 2022). NASA’s contracts with Commercial Lunar Payload Services (CLPS, (NASA, n.d.)) to deliver science and technology to the Moon, with launches starting in November 2023. The European Space Agency (ESA) Argonaut (ESA Argonaut, 2022) programme plans to have recurrent missions to bring payloads to the lunar surface, supporting lunar exploration. These are just a few examples of planned missions that will target the Earth’s natural satellite in the next decade, with forecasts of tens of missions per year (NSR, 2022), (Euroconsult, 2020). The large number of missions and the complexity of landing and operating are expected to demand a change of paradigm from the current Earth-based communication and navigation services. In recent years, several agencies have proposed to deploy cislunar communication and navigation services to support lunar missions (NASA LCRNS, 2022), (ESA Moonlight, 2022), (JAXA, 2022)). All these proposals seek to deploy service-providing satellites in lunar orbit to ease the user missions’ operations. The PNT services objective is to support all types of lunar users (e.g.: orbiters, landers, ascent vehicles, and surface crew and rovers). At the same time, NASA and ESA initiated an effort to define a common framework to ensure interoperability among different service providers: the LunaNet framework. The LunaNet Interoperability Specification (NASA and ESA, 2023) covers communication, PNT, and auxiliary services, by establishing a common set of requirements to ensure interoperability. This conference contribution will present the LunaNet PNT services, focusing on the Lunar Augmented Navigation Service (LANS) that resembles the Global Navigation Satellite System (GNSS) concept on Earth: constellations of satellites broadcasting a radio navigation signal synchronized to a common reference clock, with augmentations to accommodate users’ needs in an environment away from Earth. This includes a description of the high-level LANS concept and the basic principles defined to ensure interoperability. In addition, it will describe the common S-band PNT Augmented Forward Signal (AFS) and common messages to be adopted for compliance with the LunaNet framework, and the justification of the selected approach.

LunaNet↗

NASA NTRS2023

Lunanet Position, Navigation, and Timing Services and Signals, Enabling the Future of Lunar Exploration

The International Space Exploration Coordination Group established in 2018 the 3rd edition of the Global Exploration Roadmap (ISECG, 2018) that aims to achieve Mars human surface activities and identifies the exploration of the Moon as a critical intermediate step. A supplement covering updates on surface exploration scenarios was released in 2020 (ISECG, 2020). The Artemis Accords (NASA Artemis, 2020), first signed in October 2020, now includes over two dozen nations, in an agreement on the principles for best practices, including interoperability. In September 2022 the National Aeronautics and Space Administration (NASA) introduced the Moon to Mars Objectives highlighting recurring tenets of collaboration with international and industry partners and interoperability, along with infrastructure objectives for Position, Navigation, and Timing (PNT). The successful Artemis 1 mission paved the way to the ambitious plans to establish a sustainable human presence on the Moon. Just a few months after Artemis 1 launch (NASA, 2022), iSpace HAKUTO-R Mission1 (iSpace, 2022) launched, being the first-ever mission launched by a commercial launch service provider aiming to land on the lunar surface. The NASA Artemis program plans initial crewed landings and surface traverses in 2025, supported by the Lunar Gateway. Regular launches will follow to build the lunar systems for a sustained presence as presented in the Artemis Plan (NASA Artemis Plan, 2020), (NASA, 2022). NASA’s contracts with commercial providers through the Commercial Lunar Payload Services program (CLPS, (NASA, n.d.)) will deliver science and technology demonstration missions to the Moon starting in November 2023. The European Space Agency (ESA) Argonaut (ESA Argonaut, 2022) program plans to have recurrent missions to bring payloads to the lunar surface, supporting lunar exploration. These are just a few examples of planned missions that will target Earth’s natural satellite in the next decade, with forecasts of tens of missions per year (NSR, 2022), (Euroconsult, 2020). The large number of missions and the complexity of landing and operating are expected to demand a change of paradigm from the current Earth-based communication and navigation services, that may be combined with onboard sensors. In recent years, several agencies have proposed to deploy cislunar communication and navigation services to support lunar missions (NASA LCRNS, 2022), (ESA Moonlight, 2022), (JAXA, 2022)). All these proposals seek to deploy service-providing satellites in lunar orbit to ease the user missions’ operations. The PNT services objective is to support all types of lunar users (e.g.: orbiters, landers, ascent vehicles, surface crew, rovers, and deployed science payloads). At the same time, NASA and ESA initiated an effort to define a common framework to ensure interoperability among different service providers: the LunaNet framework. The LunaNet Interoperability Specification (NASA and ESA, 2023) covers communication, PNT, and auxiliary services, by establishing a common set of requirements to ensure interoperability. This conference contribution will present the LunaNet PNT services, focusing on the Lunar Augmented Navigation Service (LANS) that would be provided by a system that resembles the Global Navigation Satellite System (GNSS) concept on Earth: constellations of satellites broadcasting a radio navigation signal synchronized to a common reference clock, with augmentations to accommodate users’ needs in an environment away from Earth. This paper includes a description of the high-level LANS concept, and the basic principles defined to ensure interoperability. In addition, it will describe the common S-band PNT Augmented Forward Signal (AFS) and common messages to be adopted for compliance with the LunaNet framework, and the justification of the selected approach.

LunaNet↗

NASA NTRSDate not supplied

The Wizard Staff: A Mobile Tool Supporting Human Exploration on The Lunar Surface

The Wizard Staff is a rechargeable, battery powered mobile tool with multiple uses for lunar surface exploration. It supports human activity as a surface survey tool, provides external illumination to enhance safety, delivers networking, communications, and navigation features to remote sites, and assists crew rescue with an emergency beacon and rigid splint structure. As a survey tool, it assists crewed geologic field site exploration with external lights, cameras, and LiDAR to illuminate, map, and record the sample collection process. As a relay station, it provides a surface intranet communications and navigation node for extended exploration far from the lander or habitation module. A separately developed Search-and-Rescue (SAR) handheld device can broadcast a signal to the Gandalf Staff containing crew position and biometric data. The staff then formats the message and sends it orbiting satellite(s) for emergency response via the LunaNET on a dedicated frequency similar to terrestrial applications using an Emergency Position-Indicating Radiobeacon (EPIRB). The staff is designed with an upper and lower segment. Components in the upper segment are the LiDAR, external lighting arrays, cameras, communications equipment, intelligence devices, and user interface for crew operations. The lower segment is a set of FeLiPO4 battery cells packed into the 2” diameter carbon fiber tube. When the battery pack is discharged, a spring connector (designed for the dusty lunar environment) easily disconnects the two segments for replacement with another fully charged battery pack. The lower segment can be used for Incapacitated Crew Rescue (ICR) as a rigid splint. As a stand-alone science platform, the Wizard Staff provides infrastructure for instruments and sensors to record the lunar environment over long periods of time. After a crew installs the components on the lunar surface, the platform delivers data to the lunar lander or base station for analysis. The stand-alone mode requires an auxiliary power source (e.g. solar array) and energy storage system (e.g. battery), so it could also be used as an electrical recharging station. A working prototype of Wizard Staff has been developed with collaboration between NASA (JSC, MSFC, and GSFC), Texas Space Technology Applications and Research (T STAR), and Texas A&M University (TAMU) using $300k of innovation funding in FY’21 and FY’22. The functional staff weights 36# on Earth (6# on the Moon), stands 2.1m tall and delivers external lighting with an array of 40 LED bulbs generating 1460 Lux at 2m range (near field), or 2 Lux at 50m (far field).

Gandalf Staff↗

NASA NTRS1991

Project UM-HAUL (UnManned Heavy pAyload Unloader and Lander): The design of a reusable lunar lander with an independent cargo unloader

Project UM-Haul is the preliminary design of a reusable lunar transportation vehicle that travels between a lunar parking orbit and the lunar surface. This vehicle is an indispensible link in the overall task of establishing a lunar base as defined by the NASA Space Exploration Initiative. The response to this need consists of two independent vehicles: a lander and an unloader. The system can navigate and unload itself with a minimum amount of human intervention. The design addresses structural analysis, propulsion, power, controls, communications, payload handling and orbital operations. The Lander has the capacity to decend from low lunar orbit (LLO) to the lunar surface carrying a 7000 kg payload, plus the unloader, plus propellant for ascent to LLO. The Lander employs the Unloader by way of a motorized ramp. The Unloader is a terrain vehicle capable of carrying cargoes of 8,500 kg mass and employs a lift system to lower payloads to the ground. The system can perform ten missions before requiring major servicing.

Source record↗

NASA NTRS2011

Telerobotic Excavator Designed to Compete in NASA's Lunabotics Mining Competition

The second annual NASA Lunabotics Mining competition is to be held in May 23-28, 2011. The goal of the competition is for teams of university level students to design, build, test and compete with a fully integrated lunar excavator on a simulated lunar surface. Our team, named Lunar Solutions I, will be representing Temple University's College of Engineering in the competition. The team's main goal was to build a robot which is able to compete with other teams, and ultimately win the competition. The main challenge of the competition was to build a wireless robot that can excavate and collect a minimum of 10 kilograms of the regolith material within 15 minutes. The robot must also be designed to operate in conditions similar to those found on the lunar surface. The design of the lunar excavator is constrained by a set of requirements determined by NASA and detailed in the competition's rulebook. The excavator must have the ability to communicate with the "main base" wirelessly, and over a Wi-Fi network. Human operators are located at a remote site approximately 60 meters away from the simulated lunar surface upon which the robot must excavate the lunar regolith surface. During the competition, the robot will operate in a separate area from the control room in an area referred to as the "Lunarena." From the control room, the operators will have to control the robot using visual feedback from cameras placed both within the arena and on the robot. Using this visual feedback the human operators control the robots movement using both keyboard and joystick commands. In order to place in the competition, a minimum of 10 kg of regolith material has to be excavated, collected, and dumped into a specific location. For that reason, the robot must be provided with an effective and powerful excavation system. Our excavator uses tracks for the drive system. After performing extensive research and trade studies, we concluded that tracks would be the most effective method for transporting the excavator. When designing the excavation system, we analyzed several design options from the previous year's competition. We decided to use a front loader to collect the material, rather than a conveyer belt system or auger. Many of the designs from last year's competition used a conveyer belt mechanism to mine regolith and dump it into a temporary storage bin place on the robot. Using the front end loader approach allowed us to combine the scooping system and storage unit, which meant that the excavation system required less space.

Nash, Rodney↗

NASA NTRSDate not supplied

Lagrange-Based Options for Relay Satellites to Eliminate Earth-Mars Communications Outages During Solar Superior Conjunctions

Recent conjunction class Mars human mission plans have generally assumed that there will inevitably be periods of communications outages between Earth and Mars. This has significant cost and risk implications for not only Mars missions, but also precursor missions in the lunar environment. But are there ways to avoid these outages? The potential exists for communications to be interrupted by Solar Superior Conjunctions (SSCs). Depending on the communications system, used, there can be communications outages up to as many as 78 days. The higher bandwidth systems experience the greatest outage. If these communications channels are interrupted due to an SSC, there are of course resulting challenges to mission operations. An outage of a few days to a few weeks could allow minor disturbances to become major concerns or even trigger subsystems failures. An inability to consult with the ground at the wrong time could result in loss of mission, loss of an element, or loss of life. Each planet in the solar system has a set of five Lagrange points associated with it and the Sun. At any given point in time, a planet or either its L4 or L5 point is visible to any other planet in the solar system, regardless of the position of the sun relative to the two. Thus, L4 and L5 have high value as relay systems to prevent communications outages. There are four sets of solar Lagrange points that may be of potential use in this study: Mars-Sun L4 and L5 points, Earth-Sun L4 and L5, Venus-Sun L4 and L5, and Mercury-Sun L4 and L5. A candidate relay satellite system will be identified, with consideration of both new technology developments and existing telecommunications satellites. This system may have implications for not only the Mars human mission architectures, but also Gateway and human lunar surface architectures as these other studies are tasked with paving the way to human Mars missions. If Mars communications outages can be eliminated, then the degree of autonomy necessary in Mars and precursor systems may be reduced.

Relay Satellite↗