AAE450 Senior Spacecraft Design
Project Aquarius
Jonathan Kubiak
Week 5: February 15th , 2007
Human Factors:
Manned Rover, Martian Crawler, CAD Modeler &
Concept Sketch Artist
Manned Rover Concept V2.0
“Desert Rat”
2.15.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Manned Rover V2.0
Design Modifications
• Increased Volume to Accommodate 4 Crew
Members
• Centered Cylindrical Main Compartment
• Spherical Airlock/Crew Transfer Compartment
– Facilitates Crew Transfer Between Crew Capsule and
Rover as well as Hab and Surface
• Radiation Shielding – 20 kg/m^2
• Estimates of Structure Included
2.15.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Conclusions
Human Factors
Mass
Power Volume
1.5 mt
7.8 kW
19.8 m^3
6.5 mt
– Length: 6.6m
– Height: 2m
– Width: 2m
• Totals
Total Vehicle
Mass
Vehicle Dimensions
• Crew Compartments
Power Volume
58 kW
27 m^3
2.15.2007
– Length: 6.6 m
– Height: ~3m
– Width :~3-4m
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
References
1.] Stilwell, Don, Ramzy Boutros, and Janis H. Connolly. "Crew
Accomodations." Human Spaceflight: Mission Analysis and Design. Ed.
Wiley J. Larson and Linda K. Pranke. New York: McGraw-Hill. 1999. 461475
2.] Hanford, Anthony J., ed. NASA Johnson Space Center. Advanced Life
Support Baseline Values and Assumptions Document. Aug. 2004. 1 Feb.
2005. http://ston.jsc.nasa.gov/collections/TRS/_techrep/CR-2004208941.pdf
3.] Man-Systems Integration Standards. NASA-STD-3000. Revision B. NASALyndon B. Johnson Space Center. July 1995. Last updated: 6/15/05.
http://msis.jsc.nasa.gov/
4.] Hanford, Anthony J. Ph.D. Advanced Life Support Baseline Values and
Assumptions Document. NASA-Lyndon B. Johnson Space Center. Houston,
Texas. 2004. 28-31
5.] Wade, Mark. Encyclopedia Astronautica. Dec. 2003.
<www.astronautix.com>
2.15.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
References
6.] Machinists – Materials Plastics Comparison Table.
http://www.machinist-materials.com/comparison_table_for_plastics.htm
7.] Cengel, Yunus A. Michael A. Boles Thermodynamics An Engineering
Approach. 4th Ed. New York: McGraw-Hill. p.829.
2.15.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Back Up Slides
Project Aquarius
Revised WorkSheet
Manned Pressurized Rover Crew Accomodations
Number of Crew
Number of Days ( Day = 24 hrs)
Element
INTERNALS
Crew Size
Crew Free Volume
Airlocks, pumps, tanks,suit stowage cleaning equipment
Bunks
Hygiene (toilet, wash, waste collect)
Kitchen Equipment
Fire Suppression
Command, control, communications
Steering, system control
Food
Water, water tank, valves, etc.
Oxygen, tank
tank(s)
Nitrogen, tank
tank(s)
Carbon Dioxide Scrub
Personal gear
Interior lights
Spares
Tools
Science Equipment
Thermal Control
4
0.5
Rules of Thumb
for Design
Mass
Mass Units
3, 200lb (90kg) adults
90.00 kg/person
2-5m3 per person
2-5m3/ airlock, 1 kW-h/ EVA, 30 kg/m^2 al, 30 kg/hatch (assume spherical airlock
30.00 kg/m2
1m radius)
10kg/person, 0.1 m^2/person
0.00 kg/person
1-2m^3 partition, 50-100 kg, 1kW-h/person-day
75.00 kg
1-2m^3 partition, 100-500 kg, 1kW-h/person-day
50.00 kg
10-25kg, 0.01-0.1m3, 15.5 lb extinguisher good for 2170 cubic ft
7.50 kg
25-100kg,0.1-0.2m3
75.00 kg
1-1.5m3 structure, 50-150kg
100.00 kg
2-2.5kg/crew-day, 500kg/m3
2.50 kg/crew-day
5-15 kg/crew-day, 0.01-0.1kg tank/kgH20, 5-10kg/EVA,1.1m3/m3 water
10.00 kg/crew-day
1kg/crew-day, 1-2kg tank/kg O2, 0.01m3/kg @100atm
1.00 kg/crew-day
1.00 kg tank/ kg O2
1kg/crew-day, 1-2kg tank/kg N2, 0.01m3/kg @100atm
1.00 kg/crew-day
1.00 kg tank/kg N2
2kg/crew-day, 0.01-0.02m3/crew-day
2.00 kg/crew-day
1-2kg/crew-day
2.00 kg/crew-day
50-200 W, ( use florescent and save!), 2 / person /day(15 W)
0.03 kg
10kg-5%,0.01-0.1m3
100.00 kg
10kg,0.02m3
10.00 kg
100kg,0.5m3
50.00 kg
4-5% total vehicle kg, 1-2% total vehicle m3
4.5%total vehicle
Brackets, shelves, etc.
10kg/m2 aluminum
10.00 kg/m2
INTERNAL SUBTOTAL
EXTERNALS
Pressurized Shell (including airlock, windows)
See HABTBLE VOL & VHCLE SIZNG worksheet for details
Radiation Shielding
Exterior Lights
0-1kW
4.00 kg
Science equipment
0.1-2m3, 10-1000kg
100.00 kg
Hoist, crane
0.1-0.5m3, 10-1000kg
kg
Manipulator Arms
0.02-0.2m3,10-100kg
500.00 kg
Cameras
5-20kg,0.01-0.1kW (20 picked as max b/c of HD req)
20.00 kg
Plow
1-2m3,10-1000kg
100.00 kg
Drill
0.5-2m3,10-1000kg
0.00 kg
Antennas -need good numbers from Comms
0.1-1m3,10-50kg
25.00 kg
Winches
0.02-0.1m3, 5-15kg -assume only need to use small fraction of the time)
10.00 kg
Stowage
0.2-1m3,10-1000kg
200.00 kg
Spares
0.1-2m3, 10-1000kg
300.00 kg
Tools
0.01-0.05m3,10-50kg
30.00 kg
Drive power requirement
0.1Wh per kg-km (add 25% for power and mobility system mass)
EXTERNAL SUBTOTAL
POWER PLANT -also external
Jonathan Kubiak:
FUEL CELL Includes
Fuel Cell (reactants, tanks, valves)
1.5kg/kWh (15kW/400kg)
1000.00 kg
The
cell,
fuel
and
Fuel Cell Machinery
kg
machinery, battery
Fuel (80kgO2,20kgH2 provided by Mike Kowalbowski:Power
20kg/kW
Systems)
kg
backup, power dist.
Power Distribution - not sure if included with Fuel Cell
20kg/kW
kg
as per Mike
Battery Backup
20kg/kWh, 0.015m3/kWh
kg
Kowalkowski's Data
Metabolic sensible heat load
2kWh/person-day
kg
Radiator and radiating surface
0.09-0.12kW/m2, 5-10kg/m2
kg
CHASSIS SUBTOTAL
SUSPENDED TOTAL
MOBILITY SYSTEM
Jonathan Kubiak:
This is still a high estimate
Suspension, Steering
Mass = 5% suspended
I think, looking into Raser
Wheels
Mass = 10% suspended
Technologies Motors.
Tracks
Mass =15% suspended
Drive Motors
10kg/kW
10.00 kg/kW
VEHICLE GRAND TOTAL
Mass
Volume
Subtotal (kg)
Volume Units Volume
Subtotal (m3)
360.00
453.00
0.00
75.00
50.00
7.50
75.00
100.00
20.00
80.00
8.00
8.00
8.00
8.00
16.00
16.00
0.03
100.00
10.00
50.00
3.00
4.20
0.00
1.50
1.00
0.20
0.15
1.00
0.01
0.01
0.01
m^3/person
m^3/airlock
m^2/person
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3/kg
0.01 m^3/kg
0.08
0.04
0.05
0.02
0.10
0.02
0.25
0.04
0.10
0.02
0.10
0.02
0.25
m^3
m^3/person
m^3
m^3
m^3
m^3
1444.53
753.93
703.72
4.00
100.00
0.00
500.00
20.00
100.00
0.00
25.00
10.00
200.00
300.00
30.00
19.75
m^3
0.02 m^3
0.50 m^3
m^3
0.50 m^3
0.10 m^3
1.50 m^3
1.00 m^3
0.50 m^3
0.10 m^3
0.50 m^3
0.50 m^3
0.03 m^3
m^3
2746.65
1000.00
12.00
4.20
0.00
1.50
0.00
0.20
0.15
1.00
0.01
0.01
0.08
0.02
0.50
0.00
0.50
0.10
1.50
1.00
0.50
0.10
0.50
0.50
0.03
5.25
1.70 m^3
1.70
0.00
0.00
0.00
3746.65
5191.18
26.70
259.56
519.12
0.00
500.00
6469.85
26.70
These figures do not inclode certain things yet: radiation shielding, MPV required for atmospherics,
*See end pages for Full Print-Out
2.15.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Revised Worksheet
Habitable Volume and Vehicle Sizing
Total Estimated Volume - from Design Characterizations Worksheet
COMPONENT
Driver/Manipulator Operator (1/2 Sphere)
Main Crew Compartment (Cylinder)
Airlock/Crew Transfer Compartment (Sphere)
Totals
Remaining
Radius (m)
19.75
Dimensions
Length (m)
1
1
1
Height (m)
1
3.6
2
6.6
Volume (m^3) Surface Area(m^2)
2.094395102
6.283185307
11.30973355
22.61946711
4.188790205
12.56637061
17.59291886
41.46902303
2.16
Estimated Pressure Vessel Masses - Estimated Thicknesses
COMPONENT
Driver/Manipulator Operator (1/2 Sphere)
Main Crew Compartment (Cylinder)
Airlock/Crew Transfer Compartment (Sphere)
Totals
Material
Density (kg/m^3) Thickness (m) Mass (kg)
Shatter Proof Polymer (Lexan)
1190.23
0.05 373.9217824
Aluminum
2700
0.004 244.2902447
Aluminum
2700
0.004 135.7168026
753.9288298
Radiation Shielding - Estimates based on recommendation of 20 kg/m^2 from Breanne Wooten
COMPONENT
Driver/Manipulator Operator (1/2 Sphere)
Main Crew Compartment (Cylinder)
Airlock/Crew Transfer Compartment (Sphere)
Totals
Radiation Shielding
No - Window
Yes - Polyethylene
Yes - Polyethylene
2.15.2007
Mass
Mass Units
0 kg/m^2
20 kg/m^2
20 kg/m^2
Mass (kg)
0
452.3893421
251.3274123
703.7167544
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Vehicle Dimensions
Basic Vehicle Dimensions - Side View by Jonathan Kubiak
2.0m
3.6m
2.0m
Open Interior
Hatch
Proposed Interior Layout - Top View by Jonathan Kubiak
Airlock/Crew
Transfer
Compartment
Man. Op.
Pass 2
Hatch To HAB/
Surface
Driver
Pass 1
Storage
Driver/Manipulator
Operator View Bubble
Crew Transfer Hatch Underside
Head
2.15.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Motors
Electric Motor Data For Raser P-50 Electric Motor
Peak Torque
230 Nm
Continuous Torque @ 2000rpm
120 Nm
Peak Motor Efficiency
92 %
Continuous Power @ 2000 rpm
25 kW
Peak Power
48 kW
Power Generation @ 2000 rpm
18.3 kW
Speed Range
0 - 6000
rpm
Torque per Liter
28 Nm/ltr
Inlet Coolant Temp
60 C
Dimensions LxOD
107x271
mm
Housing Dimensions LxOD
127x295
mm
Nominal DC Bus Voltage
300 V
Mass
kg
* Data Taken from Raser Technologies http://www.rasertech.com/tech_isa.html
Electric Motor Data for Raser P-2 SymetronPancake Motor
Peak Torque
570
Continuous Torque @ 2000rpm
Peak Motor Efficiency
92
Continuous Power @ 2000 rpm
Peak Power
373
Power Generation @ 2000 rpm
Speed Range
Torque per Liter
35
Inlet Coolant Temp
Dimensions LxOD
Housing Dimensions LxOD
205x320
Nominal DC Bus Voltage
Mass
67
2.15.2007
Nm
Nm
%
kW
kW
kW
rpm
Nm/ltr
C
mm
mm
V
kg
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Rover Power Requirements
Care of: Mike Kowalkowski
• Mars Rover (Manned) Power
System:
– Mass: 1000 kg
– Volume: 1.7 m^3
– Peak Power: 48 kWe
– Idle Power: 10 kWe
– See attached MATLAB code
to size power for all vehicles
– Total mass: 5 mt
•
•
•
•
.9 mt – Human Factors
2.5 mt – Structures
.6 mt – Towing / Storage
1 mt – Fuel Cells & Battery
Backup
2.15.2007
• Capabilities and Sizing:
– Max level velocity: 40 km/hr
– Max range: 50 km 1-way
• (25 km reserve)
–
–
–
–
–
Max incline: 30o
Max speed at incline: 3 km/hr
Time at incline: 10 minutes
12 hour autonomous operation
Utilizes in-situ fueling station
Jonathan Kubiak