Mike Safyan – ISU/CTAE 1

Preliminary Mission Analysis for the Barcelona Moon Team Rover

8/26/2010

Mike Safyan – ISU/CTAE 2

Project Goals

Primary Goals• Define an initial set of mission requirements• Create a set of design spreadsheetsSecondary Goals• Provide some initial design recommendations

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Mike Safyan – ISU/CTAE 3

Google Lunar X-Prize

• International competition for private teams• Safely land and operate a robot on the lunar surface• Must be 90% privately funded (10% government)• 21 teams participating (and 2 withdrawn)• $30K registration, $30M prize purse

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Mike Safyan – ISU/CTAE 4

Barcelona Moon Team• First Spain-based team• Headed by Galactic Suite Moonrace• Want to bring together Catalan (and Spanish)

entrepreneurial, industrial and academic capabilities• Want as much of the project as possible to come

from local industry• Want to be creative and fun

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Mike Safyan – ISU/CTAE 5

Previous Work Conducted

Boris Maitre, UPC Master’s Thesis:• Transfer trajectory – Hohmann• Landing site – Luna 17/Lunokhod 1• Mass at launch:– 0.5 to 8.5 tons (LEO)– 0.3 to 3 tons (GTO)

• Launch Vehicle – Ariane 5

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Mike Safyan – ISU/CTAE 6

Cost Estimate

10 20 30 40 50 60 70 80 90 1000

25

50

75

100

125

150

175

200

NASA Lunar Rover Cost Estimate

Difficulty/Complexity: Very HighDifficulty/Complexity: Low

Rover Mass (kg)

Cost

in M

illio

ns (2

010€

)

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Difficulty/ Complexity

Cost/kg (NASA)

Cost/kg (GLXP)

very high 1 800 000 € 180 000 €

low 470 000 € 47 000 €

Mike Safyan – ISU/CTAE 7

GLXP Rules for the Rover

• Travel a minimum of 500 meters from initial landing site.

• Transmit from the surface an “Arrival Mooncast” and a “Mission Complete Mooncast”.– Contains a set of defined images, video, and data– Approximately 500Mb

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Mike Safyan – ISU/CTAE 8

Bonus Prizes

$4M Prize PurseHeritage - imagery and video of a historical

artifact from a previous mission• Water Detection – prove the presence of water

on the surface• Range – travel 5 km• Survival – operate for at least two lunar daysDiversity – promote diversity in the field of

space exploration8/26/2010

Mike Safyan – ISU/CTAE 9

GLXP Preferred Partners

• Space X – 10% off launch costs• SETI – Free use of ATA for data downlink for 7

days• Universal Space Network – 50% discount for

TT&C services for 30 days• Space Florida - $2M bonus if launch from

FloridaAGI – Free STK package

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Mike Safyan – ISU/CTAE 10

Lunar Terrain - General

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Lunar Mare relatively flat and smoothLunar Highlands relatively rough, heavily cratered

Mike Safyan – ISU/CTAE 11

Lunar Terrain – Rock Distribution

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Rock size and distribution is greater near “fresh” craters

Mike Safyan – ISU/CTAE 12

Lunar Terrain – Lighting

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Assuming minimum 20° sun angle is needed for the Solar Arrays, that only gives 10 Earth days of lunar operation per lunar day

Mike Safyan – ISU/CTAE 13

Summary of Rover Requirements

• Rover mass no greater than 80 kg.• Traverse obstacles up to 20 cm in height.• Maintain a ground contact pressure less than 7

to 10 kPa at all times.• Traverse slopes, both up and down, of a

minimum 20°.• Minimum roving speed of 10 cm/s• Complete the surface GLXP mission

requirements within 10 Earth days.8/26/2010

Mike Safyan – ISU/CTAE 14

Rover Design

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Mike Safyan – ISU/CTAE 15

Rover Subsystems

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Mike Safyan – ISU/CTAE 16

Process

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Analysis Trade-offs Recommendations

Discussion Future Work

Mike Safyan – ISU/CTAE 17

Rover Mobility

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Mike Safyan – ISU/CTAE 18

Power System Architecture

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Mike Safyan – ISU/CTAE 19

Rover Power

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Mike Safyan – ISU/CTAE 20

Communication System Architecture

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Ground Station

RoverLander

High rate, UHF

High rate, X-

band

Low

rate

, S-

band

Low

rate

, S-

band

Low rate, S-band

Mike Safyan – ISU/CTAE 21

Rover Communications

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Mike Safyan – ISU/CTAE 22

Rover Mass and Power Budgets

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System Mass (kg) % Total

Navigation 6 13%

C&DH 2 4%

Power 10,5 22%

Thermal 2,5 5%

Mobility 7 15%

Structures 11 23%

Communications 8 17%

Total 47

System Peak (W)

Nominal (W)

Standby (W)

Sensors 4 4 4Thermal 25 15 5Articulation 3 0 0C&DH 10 5 2Lander Comms 1 1 1Earth Comms 20 10 0Mobility 20 10 0Camera Systems 25 10 0Margin 15% 15% 15%Total 100 51 13

Mike Safyan – ISU/CTAE 23

Rover Link Budget

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MtoE High Rate

MtoE Low Rate

EtoM Low Rate

MtoM Crosslink

Transmitter Transmit power [W] 20.00 10.00 10.00 0.10Frequency [GHz] 8.45 2.29 2.12 0.30Parabolic Antenna Diameter [m] 0.30 N/A 6.00 N/ATransmitter Gain [dB] 25.89 5.00 39.90 1.80Range [km] 384403 384403 384403 2

Losses Free space Loss [dB] 222.68 211.34 210.67 88.01Atmospheric Loss [dB] 0.06 0.03 0.03 0.00Other Losses [dB] 2.00 1.00 1.00 1.00

Receiver Parabolic Antenna Diameter [m] 6.10 12.00 N/A N/AReceiver Gain, Gr [dB] 52.05 46.59 5.00 1.80System noise temperature [K] 45 300 500 500Receiver figure of merit [dB/K] 35.52 21.82 -21.99 -25.19Bit rate [kbps] 1000.00 8.00 1.00 1000.00Required Eb/N0 [dB] 10.00 10.00 10.00 10.00Link Margin [dB] 8.28 4.02 4.81 36.20

Mike Safyan – ISU/CTAE 24

Summary of Recommendations

• Design for low mass, cost and complexity– rover design, landing site, path selection

• Choose mission unique aspects with minimal impact on rover design

• Use GLXP preferred partners where feasible• Put any complex payloads on the lander• Sell acquired data, such as mobility

performance results

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Mike Safyan – ISU/CTAE 25

Moonbase Alpha/GLXP Proposal

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Mike Safyan – ISU/CTAE 26

Summary

• Initial set of mission requirements created• Gained a better understanding of lunar

conditions for mobile robotics• Created spreadsheets for evaluating mission

design options/feasibility• Provided initial values for rover mass, power

and link budgets

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Mike Safyan – ISU/CTAE 27

Questions?

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