AAE450 Senior Spacecraft Design
Project Aquarius
Jonathan Kubiak
Week 8:March 8th, 2007
Human Factors:
Manned Rover, Martian Crawler,
CAD Modeler
Manned Rover Concept V3.0
“Desert Rat”
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Manned Rover V2.0
Design Modifications
• Addition of Floor & Internal Support Structures
– Additional Mass:
• Floor - 52.2 kg
• Support Structure – 79.5 kg
*Based on 5% of Total Compartment Masses
• Update of Manipulator Arm Mass, Power & Volume
• Added External Compartments
– Storage, etc.
• Updated Power Requirements
– Movement w/ Manipulators
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Conclusions
Human Factors
Mass
Power Volume
1.4 mt
7.8 kW
19.8 m^3
Total Vehicle
Mass
Power Volume
9.5 mt
69.5 kW
36 m^3
IMLEO/IVLEO
Mass
Volume
9.5 mt
70 m^3
3.8.2007
Vehicle Dimensions
• Crew Compartments
– Length: 6.6m
– Height: 2m
– Width: 2m
• Totals
– Length: 6.6 m
– Height: 2.8m
– Width : 3.76m
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>
3.8.2007
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.
8.] Kuka Robotics Corp. www.kuka.com/usa/en/products/
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Back Up Slides:Revised WorkSheet
Manned Pressurized Rover Crew Accomodations
Number of Crew
4
Number of Days ( Day = 24 hrs)
Element
0.5
Rules of Thumb
for Design
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
* See last page for larger prinout.
Created by: Jonathan Kubiak
Based on Worksheet from Human Spaceflight by Larson and Pranke
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
1mkg/m2
radius)
30.00
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
10.00 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
INTERNAL SUBTOTAL
EXTERNALS
Pressurized Shell (including airlock, windows)
See HABTBLE VOL & VHCLE SIZNG worksheet for details
Radiation Shielding
External Compartments
Exterior Lights
0-1kW
Science equipment
0.1-2m3, 10-1000kg
Manipulator Arms
0.02-0.2m3,10-100kg
Cameras
5-20kg,0.01-0.1kW (20 picked as max b/c of HD req)
Plow
1-2m3,10-1000kg
Drill
0.5-2m3,10-1000kg
Antennas
0.1-1m3,10-50kg
Winches
0.02-0.1m3, 5-15kg -assume only need to use small fraction of the time)
Stowage
0.2-1m3,10-1000kg
Spares
0.1-2m3, 10-1000kg
Tools
0.01-0.05m3,10-50kg
Drive power requirement
0.1Wh per kg-km (add 25% for power and mobility system mass)
EXTERNAL SUBTOTAL
Jonathan Kubiak:
POWER PLANT -also external
FUEL CELL Includes The
Fuel Cell (reactants, tanks, valves)
1.5kg/kWh (15kW/400kg)
cell, fuel and
Fuel Cell Machinery - included in Mike Kowalkowski's Figures
machinery, battery
jkubiak:
Fuel (80kgO2,20kgH2 provided by Mike Kowalbowski:Power
20kg/kW
Systems)
backup, power dist. as
Numbers given by Matt
Power Distribution - included with Fuel Cell
20kg/kW
per Mike Kowalkowski's
Guyon
Data
Battery Backup
20kg/kWh, 0.015m3/kWh
Metabolic sensible heat load
2kWh/person-day
Radiator and radiating surface
0.09-0.12kW/m2, 5-10kg/m2
CHASSIS SUBTOTAL
SUSPENDED TOTAL
MOBILITY SYSTEM
Suspension, Steering
Mass = 5% suspended
Wheels
Mass = 10% suspended
Drive Motors
10kg/kW
VEHICLE GRAND TOTAL
Mass
Subtotal (kg)
Volume Units
Volume
Subtotal (m3)
Power
Power Units
Power Usage
Subtotal (kW)
360.00
453.00
0.00
75.00
10.00
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
12.00
4.20
0.00
1.50
0.00
0.20
0.15
1.00
0.01
0.01
0.08
1.00
0
1.00
1.00
0.01
2.00
1.00
kWh/EVA
0.01 kW
0.01 kW
1.00
0
0.08
1.00
0.01
2.00
1.00
0.00
0.01
0.01
kWh/person-day
kW
kW
kW
kW
0.01 m^3/kg
0.08
0.01 kW
0.01
0.04
0.05
0.02
0.10
0.02
0.25
0.04
0.10
0.02
0.10
0.02
0.25
0.50 kW
0.50
1.20 kW
1.20
0.00
0.01
1.00
m^3
m^3/person
m^3
m^3
m^3
m^3
0.01 kW
1.00 kW
10.00 kg/m2
1404.53
4.00
50.00
1000.00
20.00
100.00
0.00
10.00
10.00
200.00
300.00
100.00
kg
kg
kg
kg
kg
kg
kg
kg
kg
kg
kg
823.19
766.55
100.08
4.00
50.00
1000.00
20.00
100.00
0.00
10.00
10.00
200.00
300.00
100.00
19.75
6.16
0.02
0.50
0.50
0.10
1.50
1.00
0.50
0.10
0.50
0.50
0.03
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
m^3
3483.82
1448.37 kg
kg
kg
kg
kg
kg
1470.00 kg
10.00 kg/kW
1448.37
6.16
0.02
0.50
0.50
0.10
1.50
1.00
0.50
0.10
0.50
0.50
0.03
7.83
0.20
0.20
30.00
10.00
0.10
10.00
1.00
0.20
0.00
0.00
0.30
kW
kW
kWh
kWh
kWh
kWh
kW
kW
0.00
0.00
kW
11.41
1.70 m^3
1.70
0.20
0.20
0.31
0.10
0.00
0.10
1.00
0.20
0.00
0.00
0.30
2.42
57.70 kWe
kW
57.70
0.00
0.00
0.00
2.00 kWh/person-day
1470.00
6402.19
7806.72
2.69
35.55
390.34
780.67
500.00
9477.73
3.8.2007
Volume
0.17
1.33
69.45
69.45
50.00 kW
35.55
Jonathan Kubiak
69.45
AAE450 Senior Spacecraft Design
Project Aquarius
Revised Worksheet
Habitable Volume and Vehicle Sizing
By Jonathan Kubiak
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
25.76105976
4.188790205
12.56637061
17.59291886
44.61061568
2.16
Estimated Pressure Vessel Masses - Estimated Thicknesses
COMPONENT
Driver/Manipulator Operator (1/2 Sphere)
Main Crew Compartment (Cylinder)
Floor
Airlock/Crew Transfer Compartment (Sphere)
Support Structure
Totals
Material
Density (kg/m^3)
Thickness (m)
Mass (kg)
Shatter Proof Polymer (Lexan)
1190.23
0.05
373.9217824
Aluminum
2590
0.004
266.8845791
Aluminum
2590
0.004
52.2
Aluminum
2590
0.004
130.1875996
Aluminum
2590
79.48712843
823.1939611
Estimated External Storage Compartment Mass and Volume (internal volume of storage area)
COMPONENT
External compartments - right and left side
Material
Aluminum
Density (kg/m^3)
Thickness (m)
Mass (kg)
Volume (m^3)
2590
0.002
100.0776
6.16
Totals
100.0776
6.16
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
3.8.2007
Mass
Mass Units
0 kg/m^2
20 kg/m^2
20 kg/m^2
Mass (kg)
0
515.2211952
251.3274123
766.5486075
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
IMLEO/IVLEO
• IMLEO = Total Vehicle Mass
• IVLEO = Length * Width * Height
= 6.6m*3.76m*2.8m
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Vehicle Dimensions: Internal
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
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Vehicle Dimensions: Full Vehicle
3.76m
2.8m
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Vehicle Dimensions: Full Vehicle
6.6m
3.8.2007
Jonathan Kubiak
AAE450 Senior Spacecraft Design
Project Aquarius
Rover Power Requirements
Care of: Mike Kowalkowski
*Updated From Previous Presentation
• Mars Rover (Manned) Power
System:
– Mass: 1448.37kg
– Volume: 1.7 m^3
– Peak Power: 69 kWe
– Idle Power: 10 kWe
3.8.2007
• Capabilities and Sizing:
– Max level velocity: 30 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