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 resupply
• 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
Mission Operations
Crew Accommodations
Structures
CCC
Power
ECLSS
Robotics
and
Automation
EVAS
Thermal
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
ISRU Plant
Mars Environment
Robotics/Automation
Legend
Oxygen
Nitrogen
Carbon Dioxide
Cabin Air
Trace Contam.
Food
Potable H20
Non-Potable H20
Solid Waste
Liquid Waste
Command
Telemetry
Data Bus
Video
Audio
Packetized Data
TCP/IP
Electrical Power
Heat
Structures
ISRU
Thermal
ECLSS
C3
EVAs
Power
Nuclear Reactor
Crew Accommodations
Mars Com
Satellites
Habitat Boundary
Crew
DRM Mass Recommendations
Subsystem
Structure
Power
ECLSS
Thermal
Crew Accommodations
C3
EVAS
Total
Mass Estimate [kg]
20,744
3250
4661
550
5000
320
1629
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
The Habitat will encounter a wide range of environment
characteristics during its surface stay on Mars
Environmental Characteristic Ranges on Mars
Parameters
Maximum
Minimum
Gravity (m/s 2)
3.758
3.711
Atmosphere Pressure (millibars)
10
4
Temperature (C)
27
-143
Radiation Skin dose (BFO) (cSv/day)
24.7 (22.3)
21.2 (19.7)
Wind Speeds (kph)
36
0
Wind Storms Speeds
127
Average
3.735
8
-63
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 Constituents
Atmospheric Composition
Gas
Carbon Dioxide
Abundance (%)
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
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
80.00
2.60
Grand Totals
10.00
404.38
ISRU Requirement Verification
ISRU Plant Trade Study
ISRU Plant
Type
W/kg of
Products Advantages
product
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
Disadvantages
Future Considerations
• Radiation shielding effects of Martian
soil
– Soil safe haven 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 I/O Diagram
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
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
Empty
50.00
216.75
Totals
615.75216
Pressure Shell
•
•
•
•
•
•
•
Assume aluminum shell
Assume a hollow cylinder, radius 3.5 m
Thickness t = Pr/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
Add.
Total
Add.
Total Mass Volume Volume Volume
(kg)
(m3)
(m3)
(m3)
# Mass (kg) Mass (kg)
Pressure Shell
1 3123.28 1561.64 4684.91
Raidiation Shielding
1 3903.43 1951.71 5855.14
Top Floor floor structure
1 362.76 181.38
544.15
Bottom Floor floor structure
1 362.76 181.38
544.15
Primary load bearing center
truss
1 209.29 104.65
313.94
Chassis
1
69.76
34.88
104.64
Wheels
6 212.06 106.03
318.09
Leg supports
6
25.41
12.70
38.11
Radiator supports
4
80.00
40.00
120.00
Secondary floors
2
78.00
39.00
117.00
Secondary walls
30 168.75
84.38
253.13
Supports for other
subsystem components
1 500.00 250.00
750.00
Totals
13643.25
1.15
3.90
26.00
26.00
0.29
0.98
6.50
6.50
1.44
4.88
32.50
32.50
15.00
5.00
0.24
0.11
0.50
0.52
0.08
3.75
1.25
0.06
0.03
0.13
0.13
0.02
18.75
6.25
1.77
0.80
2.50
1.30
2.81
10.00
2.50
12.50
118.00
Requirements Verification
Requirement Description
Fit within the dynamic envelope of the
launch vehicle
Launch Shroud Diameter = 7.5 m
Length = 16.3 m
Structurally sound in all load
environments
Acceleration
Vibration
Pressure
Easily repairable
Stably support all other systems
Structures Mass < 20744 kg
Design
0.25 m between undeployed Habitat and
launch shroud
Habitat Diameter = 7 m
Length = 16 m
All loads are supported with a 1.4 factor of
safety
Internal trusses, chassis, and leg
supports on Mars
Internal trusses and pressure shell during
launch
Pressure Shell holds a differential
pressure of 10.2 psi
Not within scope of project
Airlock, radiator, and ECLSS tank
supports designed
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
Habitat
Thermal
All Subsystems
Heat
Power
Cargo Lander
CCC
Info/control
EPDS
Power
Info/control
PS
Power
Mars Surface Power Allocation
•Allotted ~25kW
•Potential to use power
allocated to other systems
(DRM)
Overview of System
Power Profile
System Schematic
Bus 1
Reactor
Reactor
Conditioning
Regulation
Bus 2
Distribution
Bus 3
Charge
Control
ECLSS
Thermal
Storage
Life/Mission
Critical Sys.
Structures
Mission
Ops
EVAS
Robotics
CCC
Mass/Volume
Level 2 Requirements Verification
Further 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/Outputs which Allocate
ECLSS Functions
Heat
O2
Potable H2O
Food
CO2
Respired & Perspired H2O
Sweat Solids
Urine (solids & liquids)
Feces (solids & liquids)
Hygiene H2O
N2
Atmosphere System
Water System
Waste System
Food System
Atmosphere Design
cabin
leakage
N2 storage
tanks
N2 & O2
N2
FDS
O2
crew cabin
SPWE
TCCA
T&H
control
EDC*2
To: vent H2
From: H2O tank
To: vent
CO2
To: hygiene
water tank
To: trash
compactor
Water Design
Food Design
food preparation
refrigerator
microwave
food
waste &
packaging
water
food &
drink
food
storage
To: trash
compactor
trash
potable
water
H2O
Waste design
Urinal
Commode
fecal
storage
feces
compactor
urine
solid waste
storage
compactor
To: waste
water tank
H2O
From: TCCA
food trash
microfiltration
VCD
trash
Waste Schematic
Non-Fecal matter Storage
Structure outside the
habitat
Crew member
dumps
non-fecal trash
Compactor
Compacted Trash in Storage
Trash
bags
Air Lock
EVA dump
Crew member is
taking out the trash
UV
Commode with
built-in Fecal
Genie Compactor
Feces in Storage
Feces in
bags
UV-biodegradable bags
Fecal matter
Storage outside the
habitat
( for future usage)
ECLSS Integrated Design
Crew Accommodations
(shower, washer, etc.)
& EVA (EMU cooling)
Water
System
Food
System
Ultra Filtration
Hygiene Water
Food
Preparation
Food
Trash
RO
Iodine Removal
Bed
Monitoring
ISE Monitoring
MCV
Iodine
AES
Pretreated Urine
Atmosphere
System
Pretreatment Oxone,
Sulfuricacid
Fecal
SPWE
H2
EDC
VCD
Milli Q
Potable Water
TCCA
Atmospheric
Condenser
Brine water
Vent
to
Mars
Atm.
Waste
System
Urine
Compactor
Compactor
Solid Waste
Storage
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
ISRU Plant
Mars Environment
Robotics/Automation
Legend
Oxygen
Nitrogen
Carbon Dioxide
Cabin Air
Trace Contam.
Food
Potable H20
Non-Potable H20
Solid Waste
Liquid Waste
Command
Telemetry
Data Bus
Video
Audio
Packetized Data
TCP/IP
Electrical Power
Heat
Structures
ISRU
Thermal
ECLSS
C3
EVAs
Power
Nuclear Reactor
Crew Accommodations
Mars Com
Satellites
Habitat Boundary
Crew
Verification of Level 2 Requirements –
key design drivers
Requirement Description
Shall provide adequate atmosphere, gas composition, and
pressure control for human health.
Must have necessary Gas Storage for mission duration.
Must provide Trace Contaminant Control.
Shall 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.
Must supply entire crew with adequate sources and
amounts of food for 600 days on Mars.
Shall be able to collect and store liquid, solid, and
concentrated wastes for immediate and/or delayed
resource recovery.
Must provide adequate supply of hygiene water.
Mass must not exceed 4661 kg.
Design
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
Total water supplied to produce oxygen: 4314 kg, O2 tank:
3867.97 kg, N2 tank: 1024 kg
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
Temperature maintained at 18.3C – 26.7C; Humidity
maintained at 25%-70%
FDS operates quickly and reliably to avoid both direct (life
and limb) and indirect (oxygen consumption) hazards
Total water potable water supplied: 1584 kg
Total food supplied: 11,088 kg
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
Total hygiene water supplied: 7811.1 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 KW
Heat Load = 28.5*1.15 = 32.8 KW
Total Heat Load = 32.8*1.1 = 36.1 KW
Area of Radiators
Q
A
4
4
(Tr  Te )
Q = 36100 W
 = 5.67e-8 W/(m2K4)
 = 0.9,  = 0.85
Tr = 290 K, Te = 263 K
A = 364.2 m2
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.
Human Spaceflight pp 519 - 524
Mass and Vol. of Radiators
8.5 kg/m2 for two sided deployable
0.06 m3/m2 for two sided deployable
Mass = 8.5 * Area = 8.5 * 364.2
Mass = 3087.2 kg
Volume = 0.06*Area = 0.06*364.2
Volume = 21.79 m3
Human Spaceflight pp 519 - 524
Thermal Components HOT
Item
#
Radiators
4.0
Heat Exchangers
3.0
Pumps External
12.0
Pumps Internal
3.0
ECLSS Cold Plates
1.0
ECLSS Air/Heat Exchanger
1.0
CCC Cold Plates
1.0
EVAS Cold Plates
1.0
Robotic & Auto Cold Plates
1.0
Mission Ops Cold Plates
1.0
Thermal Cold Plates
1.0
Instruments
n/a
Plumbing and Valves
n/a
Fluids
n/a
Heat Pumps
n/a
TOTALS:
Design
Total Watts
Watt/Panel
HOT/HOT
36053 9013.1
Power
Surface Area Volume Mass
(W)
(m^2)
(m^3)
(kg)
0.0
363.2
21.79
3087.2
0.0
n/a
0.18
78.0
829.2
n/a
1.84
519.2
829.2
n/a
0.46
519.2
9100.0
n/a
0.25
109.20
5000.0
n/a
0.14
60.00
1909.0
n/a
0.05
22.91
6000.0
n/a
0.17
72.00
3000.0
n/a
0.08
36.00
6000.0
n/a
0.17
72.00
1658.4
n/a
0.05
19.90
n/a
229.8
n/a
689.3
n/a
229.8
n/a
32667.4
363.2
25.18
5744.5
Thermal Components COLD
Item
Radiators
Heat Exchanger
Pumps External
Pumps Internal
ECLSS Cold Plates
ECLSS Air/Heat Exchanger
CCC Cold Plates
EVAS Cold Plates
Robotic & Auto Cold Plates
Mission Ops Cold Plates
Thermal Cold Plates
Instruments
Plumbing and Valves
Fluids
Heat Pumps
TOTALS:
#
4.0
2.0
12.0
3.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
n/a
n/a
n/a
n/a
Design
COLD/COLD
Power
(W)
0.0
0.0
620.7
620.7
9100.0
1500.0
1388.0
6000.0
3000.0
6000.0
1241.4
28229.4
Total Watts
Watt/Panel
26988.0
6747
Surface Area Volume
Mass
(m^2)
(m^3)
(kg)
363.2
21.79
3087.2
n/a
0.18
78.0
n/a
1.38
388.6
n/a
0.34
388.6
n/a
0.25
109.20
n/a
0.04
18.00
n/a
0.04
16.66
n/a
0.17
72.00
n/a
0.08
36.00
n/a
0.17
72.00
n/a
0.03
14.90
n/a
214.1
n/a
642.2
n/a
214.1
n/a
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 autodeploy. 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
Item # Operation Description
Duration
Frequency
Earth
Control
Automated
# of
Crew
20 min to 1
hr
1x/day
-
-
2 to 6
1x/week
-
-
2 to 6
1x/day
X
-
1
Mission Ops/Crew Accommodations
OPS 3.1
Publicity events – 1st and last weeks of
mission
OPS 3.2
Publicity events – other than 1st and last 20 min to 1
hr
weeks of mission
OPS 3.3 Mission updates from Earth (A/V & text)
1 hr
Operations:
OPS 3.4
Mission updates from Mars (A/V & text)
1 hr
1x/day
X
-
1
OPS 3.5
Activity planning
Food and drink consumption
Socialization during meals
Recreation
Clean-up following meals
Crew preparation at start of day
Straighten personal quarters
Break-time
Collect trash and deliver to waste
processing systems
General Housekeeping (vacuum, dust,
bathroom etc.)
Optimization of integrated Hab systems
to increase efficiency and function
2 hr
0.5 hr
5 min
2 hr
10 min
30 min
5 min
15 min
3 min
1x/week
3x/day
3x/day
1x/day
3x/day
1x/day
1x/day
2x/day
2x/week
-
-
1
6
6
6
2
6
6
6
6
2 hr
1x/week
-
-
2
4 hr
1x/mo
X
-
3
10 min
1 hr
0.5 hr
7.5 hr
8 hr
secs/mins
secs/mins
secs/mins
secs/mins
secs/mins
secs/mins
secs/mins
secs/mins
1x/day
1x/week
1x/day
1x/day
1 day/mo
2x/day
2x/day
1x/week
1x/week
3x/day
3x/day
1x/week
1x/week
X
X
X
X
X
X
X
X
X
X
X
X
6
6
6
6
6
-
OPS 3.6
OPS 3.7
OPS 3.8
OPS 3.9
OPS 3.10
Mission Ops
Specific
OPS 3.11
OPS 3.12
OPS 3.13
OPS 3.14
OPS 3.15
OPS 3.16 Daily Crew Briefing
OPS 3.17 Weekly Crew Briefing
OPS 3.18 Pre-sleep
OPS 3.19 Sleep
OPS 3.20 Holiday time off
OPS 3.21 Personal text and photo downlink
OPS 3.22 Personal text and photo uplink
OPS 3.23 Personal video downlink
OPS 3.24 Personal video uplink
OPS 3.25 Programmatic text and audio downlink
OPS 3.26 Programmatic text and audio uplink
OPS 3.27 Programmatic video downlink
OPS 3.28 Programmatic video uplink
Item # Operation Description
OPS 3.29 All Habitat health telemetry downlink
OPS 3.30 Habitat health overview telemetry
Duration
Frequency
Earth
Control
-
Automated
X
X
# of
Crew
-
As needed continuously
during
emergency
5 min
Daily,
morning &
evening
5 min
Daily,
morning &
evening
8 hr
1x/week,
continuously
8 hr
1x/week,
continuously
1 hr
1x/day,
(unless
morning
EVA)
1 hr
1x/day, during
exercise
-
X
2
-
X
6
-
X
-
-
-
2
-
X
-
-
-
6
-
X
-
As needed continuously
during
emergency
45 min
1x/week
secs/mins
1x/week
-
X
2
-
X
X
6
-
-
-
6
-
X
X
2
2
secs/mins every 3 hrs
secs/mins continuously
downlink
OPS 3.31 Habitat emergency situation: all
associated data (< ¼ of all hab data)
downlinked
OPS 3.32 Crew health data collection
Operations:
OPS 3.33 Crew health data ‘real time’ downlink
OPS 3.34 Crew health data collection during EVA
Mission Ops
Specific
OPS 3.35 Crew EVA health data ‘real time’
downlink
OPS 3.36 Crew exercise (includes prep & data
collection)
OPS 3.37 Crew exercise medical data ‘real time’
downlink
(continued)
OPS 3.38 Medical emergency situation: all related
medical data downlinked
OPS 3.39 Thorough medical check-up
OPS 3.40 Thorough medical check-up data
downlink
OPS 3.41 Science (analysis, reporting, etc…)
5 hr
OPS 3.42 Science Video downlink
OPS 3.43 Science Data downlink (text data and
mins
mins
1x/day (6 days
of week)
1x/week
1x/day
secs/mins
1x/day
-
X
-
4 hr
1x/mo
-
X
6
photos)
OPS 3.44 Crew Accommodations equipment
telemetry downlink (pressure,
temperature, voltage, current, etc.)
OPS 3.45 Proficiency Training (med equip, photo
equip...)
Operations: MOB Subsystems
Operation Description
OPS
8.1
OPS
8.2
OPS
8.3
OPS
8.4
OPS
8.5
OPS
8.6
OPS
8.7
OPS
8.8
OPS
8.9
OPS
8.10
In-Situ Resource Utilization
Connect ISRU to Hab (pipes transporting
O2, H2O, and N2 to the Hab)
ISRU interior maintenance
Duration
Frequency
Earth
Control
Automated
# of
Crew
1-3 days
1x/mission
X
X
0-2
2 hrs
1x/week
-
-
1
1/min
-
X
-
ISRU interior inspection while operating
Micrometeoroid impact repairs to ISRU
6-8 hrs
as needed
-
-
2
ISRU exterior maintenance (dust, etc.)
2 hrs
1x/month
-
-
2
ISRU exterior inspection
2hrs
1x/month
-
-
2
Frequency of ISRU consumables transfer
1 day
9/mission
X
X
1
Monitor flow rates (look for leakage),
pressure, and temps in the pipes and tanks
when in operation
Purge pipes when no backup O2, N2, H2O
is needed
Construction of a soil shield around 1
room of the Hab to create a safe haven
from high radiation levels
1 day
9/mission
X
X
1
2 hrs
9/mission
-
X
1
6hrs
1x/month
-
-
3
Safety Concerns
EVA required to connect if
robots cannot perform task
High pressure
pipes/connections
EVA required for repair
This reduces ISRU system
safety risks
Strenuous workload for EVA
crew
Mission Ops
Representative 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
2
Science
8
EVA/Science Science
9
10
Science
15
EVA/Science Science
16
17
Science
22
EVA/Science
23
Press Rover/
Science
30
Holiday
24
Press Rover/
Science
31
Training Day
Science
Science
29
Training Day
Emerg Drills
3
4
Tele Rover/
Science
11
Tele Rover/
Science
18
Tele Rover/
Science
25
Press Rover/
Science
5
6
7
EVA/Science Science
12
13
Off-Duty
14
EVA/Science Science
19
20
Off-Duty
21
EVA/Science Science
26
27
Press Rover/
Science
Science
Off-Duty
28
Off-Duty
Mission Ops
Representative Daily Timelines
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?
Operate & maintain surface systems
YES
Support crew operations for full mission
YES
Ease of learning/similar subsystems
N/A
Computer/video library
YES
Smart habitat/automation
YES
Planning, long-term and real-time
YES
Auto fault detection and correction
Not at this level of design
SOME Automation subsystem
Programmatic activities
Minimize dependence on Earth
Notes
SOME Little detail at this level
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 Top-Level 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
ISRU Plant
Mars Environment
Robotics/Automation
Legend
Oxygen
Nitrogen
Carbon Dioxide
Cabin Air
Trace Contam.
Food
Potable H20
Non-Potable H20
Solid Waste
Liquid Waste
Command
Telemetry
Data Bus
Video
Audio
Packetized Data
TCP/IP
Electrical Power
Heat
Structures
ISRU
Thermal
ECLSS
C3
EVAs
Power
Nuclear Reactor
Crew Accommodations
Mars Com
Satellites
Habitat Boundary
Crew
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
–
–
–
•
Operational Supplies & Restraints
–
–
•
Equipment (still and video cameras, lenses, memory, etc)
Sleep Accommodations
–
–
–
•
Hand tools and accessories
Test equipment (oscilloscopes, gauges, etc…)
Fixtures, large machine tools, glove boxes, etc…
Photography (All Digital)
–
•
Supplies (diskettes, Velcro, Ziplocs, tape)
Restraints and Mobility aids
Maintenance: All repairs in habitable areas
–
–
–
•
Vacuum (prime + 2 spares)
Disposable Wipes
Trash bags
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
Crew
Accommodations
Active Equipment
CA Trade Study
• Clothes Refresh Options:
– Bring enough clean clothes for mission
– Hand wash clothes
– Washer/Dryer
• Trade-offs: (insert table)
• Decision: Washer/Dryer
Weight
(kg)
#
Galley and Food System
Kitchen cleaning supplies (per day)
Dishwasher
Cooking/eating supplies (per person)
Crew
Accommodations
Mass, Power, and
Volume
Estimates
• Total Mass: 5,988 kg
• Total Power: 11.75 kW
• Total Min. Volume: 60 m3
Total
Weight
(kg)
600
1
6
0.25
40
5
150.00
40.00
30.00
Waste Collection System
WCS supplies (toilet paper, etc... ~ per person per day)
Contingency fecal and urine collection bags (per person)
3600
6
0.05
3
180.00
18.00
Personal Hygiene
Shower
Handwash/mouthwash faucet
Personal Hygiene kit (1 per person)
Hygiene supplies (per person per day)
1
1
6
3600
75
8
1.8
0.075
75.00
8.00
10.80
270.00
Clothing
Clothing (per person)
Washing Machine
Clothes Dryer
6
1
1
99
100
60
594.00
100.00
60.00
Recreational Equipment and Personal Stowage
Personal stowage/closet space (per person)
DVD player and DVDs (per person)
6
6
50
2
3
3600
3600
Operational Supplies & Restraints
Supplies(diskettes, velcro, ziplocks, tape ~ per person)
Restraints and Mobility aids
Total
Power
(kW)
Volume
(m3)
Total
Volume
(m3)
0.0018
0.5600
0.0140
1.08
0.56
0.08
0.0013
0.0120
4.68
0.07
1.4100
0.0100
0.0050
0.0015
1.41
0.01
0.03
5.40
1.50
2.50
0.3360
0.7500
0.7500
2.02
0.75
0.75
300.00
12.00
0.70
0.40
0.7500
0.0010
4.50
0.0060
4.333
0.05
0.03
13.00
180.00
108.00
0.40
0.0233
0.0015
0.0010
0.0700
5.4000
3.6000
6
1
20.00
100.00
120.00
100.00
0.0200
0.5400
0.1200
0.5400
Maintenance: All repairs in habitable areas
Hand tools and accessories
Test equipment (oscilloscopes, gauges, etc…)
Fixtures, large machine tools, gloveboxes, etc…
1
1
1
300.00
500.00
1000.00
300.00
500.00
1000.00
1.00
1.00
1.00
1.50
5.00
1.0000
1.5000
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)
Stowage space for personal equipment (per person)
Sleep restraints (per person)
6
6
6
9.00
54.00
1.5
0.63
0.10
9
3.78
0.6000
Crew Health Care
Exercise Equipment
Medical/Surgical/Dental suite
Medical/Surgical/Dental consumables
1
1
1
145.00
1000.00
500.00
145.00
1000.00
500.00
0.19
4.00
2.50
0.1900
4.0000
2.5000
Housekeeping
Vacuum (prime + 2 spares)
Disposable Wipes (per person per day)
Trash bags (per person per day)
1.20
1.00
0.15
1.50
CA Verification of Requirements
Brief Description of Requirement
Verified
Crew Accommodations Scheduling to support Crew physically
and psychologically:
yes - Mission Ops
eating, sleeping, recreation, e-mail, exercise, housekeeping,
hygiene, vacation time, public affairs, and medical procedures
Crew Clothing:
Supply
Refresh
yes
yes - washer & dryer
Cleansing of Crewmember Body:
Body Cleansing
Nails, Teeth, Hair, etc…
yes - shower, faucet
yes - hygiene kit
Housekeeping
Exercise equipment to maintain physical health
yes - vacuum, wipes, trash bags
yes - exact hardware needs to be
selected/designed
Medical Support:
Routine medical exams
Passive crew health sensors
Diagnostic and surgical equipment
Training and procedures
Troubleshooting (Crew & Earth)
yes - Mission Ops
some - needs better definition
yes - exact hardware to be selected
yes - Mission Ops
yes - 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
Workstation designs:
Comfortable and consider human reach profiles
yes - beds, restraints, storage,
desks
some - needs better definition
Adequate lighting for crew members
some - mass estimate not included
no - haven't reached that level
of design
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 precrew 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.
Earth
Robotics &
Automation
EVAS
C3 I/O
Diagram
Legend
ENERGY
Packetized Data
Telemetry/Data
Command/Data
Voice
Video
Electrical power
Heat
Mars
Com
Sat
Mars
Env’mt
CCC
Structure
Crew
Accommodations
ECLSS
Power
Thermal
Nuclear
Reactor
ISRU
ISRU
Plant
Crew
C3 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
Command and Control Architecture
Comm
System
Tier 1
Emergency
Computer (1)
Tier 1
Command
Computers (3)
Tier 2
Subsystem
Computers (4)
Tier 2
Science
Computers (2)
Legend
Ethernet
RF Connection
Mil-Std 1553B Bus
TBD
Firmware
Controllers
RF Hubs (3)
User
Terminals (6)
File
Server (1)
Tier 3
Subsystem
Computers (8)
Sensors
Caution &
Warning (4)
C3 System
Experiments
Other Systems
Communications Subsystem
Architecture
Data
from
CCC
Control
Unit
Amplifier
1st
Backup
1st
Backup
2nd
Backup
2nd
Backup
1 meter
diameter high
gain (36 dB)
antenna
Backup
1 meter
diameter high
gain antenna
EVA
UHF
1st
Backup
2nd
Backup
Medium gain (10 dB)
antenna
Communication Data Rates
Telemetry generated
Number of
Sensors/Messages
Time 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
768
11.558
Totals
Power
(W)
Data rate
(kbps)
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 downlinked
Required
Availability
C3 Power
Component
Tier 1 Com. Comp.
Tier 1 Emer. Comp.
Tier 2 Sci. Comp.
Tier 2 Sub. Comp.
Tier 3 Sub. Comp.
RF Hubs
C&W Panels
User Terminals
File Server
Safety Factor
High Gain Com.
UHF Com.
Totals
Number
Number
Unit Occupied
Operating Operating Power Power Unoccupied
Occupied Unoccupied (W)
(W)
Power (W)
3
3
60.0
180.00
180.00
1
1
60.0
60.00
60.00
2
2
60.0
120.00
120.00
4
4
60.0
240.00
240.00
8
8
60.0
480.00
480.00
3
0
12.5
37.50
0.00
4
0
5.0
20.00
0.00
6
0
60.0
360.00
0.00
1
1
60.0
60.00
60.00
NA
NA
NA
311.50
228.00
NA
NA
NA
20.00
20.00
NA
NA
NA
20.00
20.00
1909.00
1408.00
C3 Volume and Mass
InUnit
Line Spare Total Mass
Units Units Units (kg)
Component
Tier 1 Com. Comp.
3
3.1
6.1 3.05
Tier 1 Emer. Comp.
1
1.0
2.0 3.05
Tier 2 Sci. Comp.
2
2.1
4.1 3.05
Tier 2 Sub. Comp.
4
4.1
8.1 3.05
Tier 3 Sub. Comp.
8
8.2
16.2 3.05
RF Hubs
3
9.2
12.2 0.34
C&W Panels
4
8.0
12.0 0.10
User Terminals
6
6.2
12.2 3.05
File Server
1
1.0
2.0 3.05
Extended Life Batteries
0
1.9
1.9 0.37
Coaxial Cable
1300 13.0 1313.0 0.03
Ethernet Cable
2300 23.0 2323.0 0.03
Minor Components
NA
NA
NA
NA
Communications
NA
NA
NA NA
Safety Factor
NA
NA
NA 3.75
Totals
Total
Mass
(kg)
18.54
6.18
12.36
24.72
49.45
4.16
1.20
37.08
6.18
0.70
39.39
69.69
26.97
146.00
88.53
531.16
Unit
Volume
(m^3)
0.00316
0.00316
0.00316
0.00316
0.00316
0.00118
0.00068
0.00316
0.00316
0.00039
0.00002
0.00002
NA
NA
NA
Total
Volume
(m^3)
0.0192
0.0064
0.0128
0.0256
0.0513
0.0144
0.0081
0.0384
0.0064
0.0007
0.0258
0.0456
0.0255
NA
0.0561
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
ISRU Plant
Mars Environment
Robotics/Automation
Legend
Oxygen
Nitrogen
Carbon Dioxide
Cabin Air
Trace Contam.
Food
Potable H20
Non-Potable H20
Solid Waste
Liquid Waste
Command
Telemetry
Data Bus
Video
Audio
Packetized Data
TCP/IP
Electrical Power
Heat
Structures
ISRU
Thermal
ECLSS
C3
EVAs
Power
Nuclear Reactor
Crew Accommodations
Mars Com
Satellites
Habitat Boundary
Crew
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
Rovers must deploy and
inspect habitat
Habitat hatch mates
directly to large rover
Large rover will reorient
and inspect habitat using
arms
Rovers must be capable of Large rover will have
moving habitat
towing capabilities
Requirements Verification
Rovers must provide for local Medium unpressurized
transportation
rechargeable rover can travel
up to 100 km over 10 hrs
Rovers must deploy scientific Small rovers will be capable
instruments
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 (EVA)
Interfaces Subsystem Team
• Primary
– Dax Matthews
– Bronson Duenas
• Support
– Teresa Ellis
Extra-Vehicular Activity Systems
• EVAS is primarily responsible for providing
individual crew member mobility 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
ISRU Plant
Mars Environment
Robotics/Automation
Legend
Oxygen
Nitrogen
Carbon Dioxide
Cabin Air
Trace Contam.
Food
Potable H20
Non-Potable H20
Solid Waste
Liquid Waste
Command
Telemetry
Data Bus
Video
Audio
Packetized Data
TCP/IP
Electrical Power
Heat
Structures
ISRU
Thermal
ECLSS
C3
EVAs
Power
Nuclear Reactor
Crew Accommodations
Mars Com
Satellites
Habitat Boundary
Crew
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
ISRU
Structures
Power
ECLSS
Thermal Control
Mission Ops/Crew Accomm
C3
Robotics/Automation
EVAs
Total
Mass
(kg)
Total
Total
Power Volume
(kW)
(m3)
325.00
15788.60
0.50
N/A
0.65
149.25
31248.46
4995.82
5987.80
532.36
876.00
9.56
2.00
11.75
1.90
0.53
83.48
13.72
46.37
0.33
0.60
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
• 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 Requirements Documents
between subsystems
• Trade studies for each subsystem design