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SpaceNet: Architecting The Interplanetary Supply Chain. MIT. Chain Management &. Interplanetary Supply. USA. JPL. LGO Webinar. MIT ( O. de Weck , D. Simchi-Levi) JPL (R. Shishko), PSI (J. Parrish) May 4, 2007. Logistics Architectures. 2005-2007. PSI. - PowerPoint PPT Presentation
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MIT (MIT (O. de WeckO. de Weck, D. Simchi-Levi), D. Simchi-Levi)JPL (R. Shishko), PSI (J. Parrish)JPL (R. Shishko), PSI (J. Parrish)
May 4, 2007May 4, 2007
Interplanetary Supply Chain Management and Logistics Architectures
Inte
rpla
neta
ry
Su
pp
ly
Chain Management &Log
istic
s A
rch
itectu
res 2005-2007
MIT
JPL
US
A
PSI
SpaceNet: Architecting SpaceNet: Architecting The Interplanetary The Interplanetary
Supply ChainSupply Chain
LGO Webinar
Interplanetary Supply Chain Management and Logistics Architectures 2
NASA’s Space Exploration Initiative• Presidential Announcement
– Jan 14, 2004 – New Vision for Space Exploration (post CAIB report)– Retirement of Space Shuttle by 2010– Complete ISS and sustain until at least 2016
• New Human Spaceflight System• Constellation Program
• CEV (Orion) 2014 to ISS – prime contract: Lockheed Martin (8/2006)
• CLV (Ares I) OFT1 in 2012 – design work underway
• Later: Lunar Missions (first sorties before 2020, then lunar outpost)
• Mars Missions (post 2020)
• How can this be achieved in a sustainable manner?
Interplanetary Supply Chain Management and Logistics Architectures 3
Simple Network Graphs
Apollo
11 12 14 15 16 17
KSC
ISS
RSA KSC
ISS VSE
LOPS1 S3
LLO
RSA ESA JAX KSC
MARS
ISS LEO
S2 S4
LAND
Interplanetary Supply Chain Management and Logistics Architectures 4
0.1% launched mass = 100% value
• Mass fractions (approx. )– Propellant 93%– Vehicle Dry Mass 6.9%– Everything Else 0.1%
• Crew, Consumables, Spares, Exploration Items, Other
• Direct exploration value is generated by 0.1% of launched mass– fixed crew & cargo capacity per launch,
vehicles are given (more or less)– What to launch? How often? – How do we tradeoff between consumables
(endurance), spares (robustness) and exploration items (value)?
– Need to focus on operations & logistics
CLV – Ares IESAS LV 13.1807 metric tons24.5mT to LEO
CaLV – Ares VESAS LV 27.32902 metric tons125mT to LEO54.6mT post-TLI
Interplanetary Supply Chain Management and Logistics Architectures 5
Ter
rest
rial
Aer
osp
ace
Past
ISCM&LAProject
Past Lessons
• Apollo• Shuttle• ISS
Current Exploration
• HMP
Terrestrial Analogies
• Military
• CommercialCurrent Technology
• RFID
Space Logistics Analysis
• Measures of Effectiveness
• SpaceNet• Scenario
Analysis
Outreach
• Space Logistics Workshop
• Publications• Academic
Coursework
Present Future
Interplanetary Supply Chain Management and Logistics Architectures 6
Supply Class Development
• ISS uses Cargo Category Allocation Rates Table (CCART)– 14 major categories– works, but inconsistent use of attributes for classification, varying levels of detail– incomplete for surface exploration (e.g. surface equipment)
• Military uses a functional class of supply system
1. CREW PROVISIONS 5. STATION SYSTEMS SUPPORT
1.1 Joint Crew Provisions 5.1 US Station Systems
clothing IVA tools: utility light, tape
hygiene maintenance spares: O-rings
care packages ECLSS: LiOH canisters
1.2 Crew Provisions/Food Extravehicular Robotics (EVR)
US food containers 5.2 Russian Station Systems
Russian food containers IVA tools
utensils maintenance spares
2. CREW DAILY OPERATIONS ECLSS: LiOH canisters
2.1 Joint Crew Dialy Operations dust Collector cartridge
office supplies 5.3 FGB Station Systems
2.2 US Crew Daily Operations FGB IVA tools
computers FGB Maintenance spares
vaccum cleaners 6. EVA
f ilm cassette 6.1 US EVA
batteries EVA suits and consumables
2.3 Russian Crew Daily Operations EVA tools
laptops 6.2 Russian EVA
dust collectors EVA Orlan suits and consumables
photo equipment/consumables EVA tools
electrical pow er system 7. USERS/PAYLOADS
3. INTEGRATED MEDICAL SYSTEM JAXA utilization
3.1 US ISS Medical Equipment ESA utilization
microbial air sampler 8. WASTE MANAGEMENT
blood pressure/electrocardiograph black polyliner bags
defibrillator resupply kit crumb bags
crew care packages solid w aste container
3.2 Russian ISS Medical Equipment 9. SDTO
medical f irst aid kits 10. INGRESS/DOCKING EQUIPMENT
dosimeter (radiation) 11. VISTING VEHICLES/CARRIES
cardiorecorder Accessory kit 11.1 Shuttle hardw are
4. WATER TRANSFER 11.2 Soyuz equipment
EDVs
CWCs
14. MULTIPLE CATEGORIES
+
CCART Military ISCM COS
Shull S., Gralla E., de Weck O., Siddiqi A., Shishko R., “The Future of Asset Management for Human Space Exploration”, AIAA-2006-7232, Space 2006, San Jose, California, Sept. 19-21, 2006
Interplanetary Supply Chain Management and Logistics Architectures 7
Commercial Supply Chain DesignSupply Chain Network Design: place warehouses, consider potential w/h and manufacturing plants optimally, given customer distribution
Can we create a similar planning environment for space logistics ?
Supply Chain Analysis: optimize for transportation costs, availability, shipping times, inventory levels…
LogicNet (http://www.logic-tools.com)
Interplanetary Supply Chain Management and Logistics Architectures 8
Ter
rest
rial
Aer
osp
ace
Past
ISCM&LAProject
Past Lessons
• Apollo• Shuttle• ISS
Current Exploration
• HMP
Terrestrial Analogies
• Military
• CommercialCurrent Technology
• RFID
Space Logistics Analysis
• Measures of Effectiveness
• SpaceNet• Scenario
Analysis
Outreach
• Space Logistics Workshop
• Publications• Academic
Coursework
Present Future
Interplanetary Supply Chain Management and Logistics Architectures 9
HMP 2005HMP 2005
• Haughton-Mars ProjectHaughton-Mars Project– NASA/CSA field research station, high ArcticNASA/CSA field research station, high Arctic– Study the Haughton impact craterStudy the Haughton impact crater– Terrestrial analog of Mars terrain and scienceTerrestrial analog of Mars terrain and science
• Operational analog for Martian baseOperational analog for Martian base– Remote siteRemote site– Similar exploration goalsSimilar exploration goals– Complex logistics networkComplex logistics network
Interplanetary Supply Chain Management and Logistics Architectures 10
Mars on Earth
Mars (15S 175E): Gusev Crater, Spirit landing site
Earth (75N 90W): Devon Island, Haughton Crater
Interplanetary Supply Chain Management and Logistics Architectures 11
HMP Expedition 2005: Overview
• Research included geology, astrobiology, space suits, planetary drill, tele-medicine
• 56 researchers on-site, 683 crew days total
• All supplies brought in via Twin Otter flights
• Detailed Inventory ~ 2300 items (20,717 kg)
de Weck O.L., Simchi-Levi D. et al., “Haughton-Mars Project Expedition 2005”, Final Report, NASA/TP-2006-214196, January 2006
Interplanetary Supply Chain Management and Logistics Architectures 12
HMP: Inventory
Comparison by Supply Class(Full Data Set)
0 1 2 3 4 5 6 7 8 9 10
1. Propellants and Fuels
2. Crew Provisions
3. Crew Operations
4. Maintenance and Upkeep
5. Stowage and Restraint
6. Exploration and Research
7. Waste and Waste Disposal
8. Habitation and Infrastructure
9. Transportation and Carriers
10. Miscellaneous
Thousands
Total [kg]
Lunar Long Lunar Short .HMP Est HMP Actuals
• Inventoried 2300 items (20,717 kg)
• Developed inventory procedures
• Validated supply classes• Maintained inventory over
time (for use next season)
4153
2934
470
286
17617235471022
9305
102
1. Propellants and Fuels 2. Crew Provisions 3. Crew Operations
4. Maintenance and Upkeep 5. Stowage and Restraint 6. Exploration and Research
7. Waste and Waste Disposal 8. Habitation and Infrastructure 9. Transportation and Carriers
10. Miscellaneous
Total Mass Inventoried 20,717 [kg]Goals: Understand, Categorize Supplies on Base
- Classification of inventory
- Quantify inventory (total imported mass)
- Compare with prediction for a lunar base
Interplanetary Supply Chain Management and Logistics Architectures 13
HMP: Transportation Analysis
1.O
3. R5. H
6. F
6. F
6. F
Normal Trans.
0. Dep. Point for Each Team1. Ottawa2. Edmonton3. Resolute4. Moffet USMC St.5. HMP Base6. HMP Field7. Cambridge Bay Iqaluit Yellowknife
4. M
2. E
0.D 0.D
0. D
7. C
7. Y
7. I
Emergency Trans.
Cumulative Cargo Flow HMP 2005
0
10000
20000
30000
40000
50000
60000
0 2 4 6 8 10 12 14 16 18 19 21 23 25 27
Flight Number (according to log)
Car
go
/Cre
w M
ass
[lb
s]
cum in
cum out
cum at HMP
Cargo Mass Flow
Transportation Network Analysis for HMP• Mass inflow per season ~ 20-25 mt• Analysis highlights room for improvement:
– Plan for reverse logistics– Reduce asymmetric flight usage– Smooth personnel profile
• “Robustness” more important than optimality– due to weather, emergencies, aircraft availability
Number of People Staying in Devon
0
5
10
15
20
25
30
35
40
45
Days from 8 July
# o
f Peo
ple
30-Jun
10-Jul
21-Jul
31-Jul
7-Aug
BOXCAR
Personnel Profile
Interplanetary Supply Chain Management and Logistics Architectures 14
Ter
rest
rial
Aer
osp
ace
Past
ISCM&LAProject
Past Lessons
• Apollo• Shuttle• ISS
Current Exploration
• HMP
Terrestrial Analogies
• Military
• CommercialCurrent Technology
• RFID
Space Logistics Analysis
• SpaceNet• Measures of
Effectiveness• Scenario
Analysis
Outreach
• Space Logistics Workshop
• Publications• Academic
Coursework
Present Future
Interplanetary Supply Chain Management and Logistics Architectures 15
What is SpaceNet?
• Modeling space exploration from a logistics perspective• Discrete event simulation
– at the individual mission level (sortie, pre-deploy, re-supply,…)
– at the campaign (=set of missions) level
• Evaluation of manually generated exploration scenarios with respect to measures of effectiveness and feasibility
• Visualization of the flow of elements and supply items through the interplanetary supply chain
• Optimization of scenarios according to selected MOEs• Provide software tool for users (= logisticians, mission
architects) to support trade studies and architecture analyses.
A computational environment for
Interplanetary Supply Chain Management and Logistics Architectures 16
Building Blocks of SpaceNet
• Nodes– Surface, Orbital, Lagrangian
• Supplies– Classes of Supply– e.g. Crew, Consumables, etc.
• Elements– Propulsive, Non-Propulsive
• Network (Time-Expanded)– Time Discretization, Orbit Dynamics
• Processes– Waiting, Transporting, Transferring– Exploring, Proximity Ops
Building Blocks
Put themtogether…
Interplanetary Supply Chain Management and Logistics Architectures 17
SpaceNet – Network View
1
1 S-IC X X
1002
2 S-II X X
1003
3 S-IVB X X
1004
4 SLA X
05
5 CM X 3
3 06
6 SM X
1007
7 LM DS X
1008
8 LM AS X
100
Date: 07-Dec-1972
Day 3
Transportation from Node 1001 to Node 1501
Element(s): 1 2 3 4 5 6 7 8
Disposal
1001
1017
2009
1501
2507
Node Name Position1001 NASA KSC 29N 81W1017 Pacific Ocean 18S 166W2009 Apollo 17 Landin 20N 31E1501 LEO Parking Orbi P 296 A 296 I 292507 LLO inclined P 112 A 112 I 20
EL# EL Name TRA ACT DIS CRW
MOE
Crew Surface Days (CSD) 0 [man-day]
Expl. Mass Delivered (EMD) 0 [kg]
Exploration Capability (EC) 0 [man-d-kg]
Rel. Expl. Capability (REC)0.00 [n.d.]
Total Launch Mass (TLM)2928 [MT]
Rel. Scenario Cost (RSC)1.18 [n.d.]
Tot. Scenario Risk (TSR)0.004 [n.d.]
Up-Mass Capa. Util. (UCU)0.931 [n.d.]
1. Earth and Earth Orbit
2. Moon and Lunar Orbit
3. Node/Arc
5. Process 6. Date
7. Node Information 8. Element Information
4. Element
9. Disposal
3. Node/Arc
3. Node/Arc 3. Node/Arc
10. MOE
Interplanetary Supply Chain Management and Logistics Architectures 18
Element Type
Elements
• Notion of “vehicles” is ill-defined
• Elements are indivisible physical objects that travel through the network and can– hold other supply items
(fuel=COS1, cargo (COS2-10))– be propulsive or non-propulsive– hold crew or not– always launched from Earth first– be reused, refueled, disposed of
(staged), pre-deployed– “docked” with other elements to
form a (temporary) stack on an arc
• Major end-items– e.g. Habitat, Rover, CEV
Attributes
crewcargopropellant
Interplanetary Supply Chain Management and Logistics Architectures 19
305
306
307
308
309
312
321
332333
349
366
368
400
411
310
313
314
330
331
335
352355367
370
405
4123031
10
100
1000
10000
100000
1 10 100 1000 10000 100000
Maximum Delta V (m/s)
Ma
xim
um
Pa
ylo
ad
Ca
pa
cit
y (
kg
)
Library of Elements
Carriers“Vehicles”
PropulsionStages
LSAM DS
STS-Orbiter
Progress
CM
LSAM Cargo Carrier
Lunar CEV CM
Lunar CEV SM SIVB
Interplanetary Supply Chain Management and Logistics Architectures 20
Transport
Processes• Waiting
– Remain at same node
• Transporting– Move to new node
• Transferring– Transfer crew/supplies to
different element
• Exploring– exploring a node
• Proximity Operating– rendezvous,
docking/undocking
Wait
Transfer
Can model flow of supplies, elements, crew through network
Interplanetary Supply Chain Management and Logistics Architectures 21
Network Characteristics: Time Varying Arcs• Moon
– V1=3106-3110 m/s, V2=840-870 m/s
– TOF: 3.3-3.7 days
– 28 day cycle
• Mars– Type 1,2 trajectories, TOF
between 150-360 days
– 25 ½ month cycle
– V depends on aerobraking
-0.2 0 0.2 0.4 0.6 0.8 1 1.2
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
Units (Earth-Moon Distance)
Uni
ts (
Ear
th-M
oon
Dis
tanc
e)
LEO - LLO1 Trajectory
Moon
EarthEM-L1
0 20 40 60 80 100 120150
200
250
300
350
400
450
500
Dparture Date (days After 1 Aug. 2007)
Trip
Tim
e (d
ays) 13
15
15
15
15 19
19
19
19
19
19
19
21
21
21
21
21
21
21
21
23
23
23
23
23
23
23
23
23
25
25
25
25
25
25
25
25
25
27
27
27
27
27
27
27
27
27
29
29
29
29
29
29
29
29
29
31
31
31
31
31
31
31
31
31
31
How to capture the time-dependent nature of the arcs in the network?
Interplanetary Supply Chain Management and Logistics Architectures 22
Time-Expanded Network: Example• Define three static nodes
– = LEO
– = EML1
– = LLO
• Define the static arcs• Define time horizon,
discretization• Define allowable transport
interval for each pair [tmin, tmax] from astrodynamics
LEO
EML1
LLO
[3, 3.7]
[3.3, 3.8]
[1.8, 2.5]
LEOEML1
LLO
• generate waiting arcs• generate feasible transport arcs• time horizon = 5 days• time discretization t = 1 day
Interplanetary Supply Chain Management and Logistics Architectures 23
Exploration Capability MoEs
• Exploration Capability [kg • crew-days]Dot product of crew surface days and exploration mass
(exploration items + surface infrastructure) over all surface nodes for entire scenario
• Relative Exploration Capability [0, ∞)– exploration productivity relative to Apollo 17
kaCOSk
bCOSk
atot
btot
bk
m
m
ECECREC
17
17/ bkakk 17
2
1
Apollo 17 Normalization
, , 6, , 8, ,1 1
(1 ) [ ]T S
tot ij crew i j COS i j COS i ji j
EC T N m m
Divisia Indexωb
k = mass fraction for class of supply k in scenario (campaign) b
Interplanetary Supply Chain Management and Logistics Architectures 24
Scenarios• With this framework, we have modeled…
– Single ‘sortie’ missions• Constellation sortie
• Apollo 17
• LEO refueling in Constellation
• ISRU on lunar surface
– Entire campaigns• Constellation lunar base build-up
• ISS assembly and re-supply
Interplanetary Supply Chain Management and Logistics Architectures 25
100
1000
10000
100000
1000000
10000000
0 5000 10000 15000 20000 25000 30000 35000
TLM
EC
ConstellationLunar
Outpost
ConstellationSortie 1
Apollo 17
Apollo 11
ConstellationCampaign(4 Sorties)
ApolloCampaign
(6 Landings)
Total Launch Mass TLM [MT]
Exp
lora
tion
Ca
pab
ility
EC
[ma
n-d
ay-
kg]
Single Sortie
Missions
Campaignof Sortie Missions
OutpostCampaign
REC=1
REC=0.2
REC=10
REC=200
Space Logistics Trade Space Results
Interplanetary Supply Chain Management and Logistics Architectures 26
Baseline Lunar Cargo Manifest• Use SpaceNet v1.3 to generate demand for cargo• Propellant baseline: LH2/MMH/MMH, 4 crew, 7 surface days, 95% LSAM availability• Total Lunar Surface Cargo: 2,752 kg (1,003 kg non-exploration mass)
Masses shown in [kg]676 kg in LSAM-AS2076 kg in LSAM-DS
Crew Consumables per Crew Member per day: 8.325 kg
Crew Operations assumes on EVA per day (for a team of 2): 16.4 kg
Spares Mass computed with LMI Model for LSAM only, assuming 95%, availability, 17 days, no redundancy, full duty cycle: 340 kg
Baseline Lunar Sortie Manifest (LH2/MMH/MMH)
251.2, 9%
323.4, 12%
340.0, 12%
21.1, 1%
78.5, 3%
1737.8, 63%
Crew Provisions
Crew Operations
Spares
Waste
Stowage
Exploration
Interplanetary Supply Chain Management and Logistics Architectures 27
Stochastic Demand Modeling
Factor
A: ECLSS Closure B: H2O+Food Consumption C: MTBF for Habitat Spares
A1: 0% B1: 6 kg/person/day C1: Nominal 2
A2: 25% B2: 5.5 kg/person/day C2: Nominal 1.5
A3: Nominal: 42% B3: Nominal: 5.2 kg/person/day
C3: Nominal
A4: 75% B4: 4.5 kg/person/day C4: Nominal 1.5
A5: 100% B5: 4 kg/person/day C5: Nominal 2Stochastic Demand Sensitivity Results
0100002000030000400005000060000700008000090000
Baselin
e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26
Test Case
Ma
ss
(k
g)
Crew Prov SparesA1-B1-C1A5-B2-C1
ESAS Lunar Sustainment Phase
Interplanetary Supply Chain Management and Logistics Architectures 28
SpaceNet Users and Goals
• Diverse user base– Mission/system architects– Mission planners and logisticians– Operations personnel
• Support short and long-term architecture and operational decisions– What effect will vehicle (element) design decisions
have on future NASA operations and lifecycle?– Should a staging area or depot be constructed? In
LEO? At LOP?– Are in-space refueling and ISRU helpful in
improving performance?
• Status– SpaceNet 1.3 released to NASA March 2007– SpaceNet 2 (web version) under development– NASA VV&A – May 3, 2007– Credibility Assessment NASA-STD-(I)-7009 In-Space Refueling
Staging Location
Interplanetary Supply Chain Management and Logistics Architectures 29
Closing Thoughts
• To meet the research objectives we:– Studied analogies from Earth and Space– Developed a modeling environment and
software tool (SpaceNet)– Fostered the space logistics community
• Impact/Outreach– Academic Contributions
• Generic Space Logistics modeling framework– 5 processes
• Time-expanded networks• Measures of effectiveness• Sparing demand w/commonality
– NASA• SpaceNet selected as logistics/operations model for NASA’s Integrated Program Model• Validated with representative NASA missions and campaigns (Apollo, ISS, ESAS)• Supported trade studies for Constellation Program (IDAC2, IDAC3)• Integrated real-world experience from an analog exploration site (Haughton Mars)
– Energized a very dedicated and capable group of students and researchers (~25) – a new generation of space logisticians
Interplanetary Supply Chain Management and Logistics Architectures 30
Additional Information
• Interplanetary Space Logistics– http://spacelogistics.mit.edu
• Strategic Engineering– http://strategic.mit.edu
Interplanetary Supply Chain Management and Logistics Architectures 31
Questions?