1. Mars or Bust Preliminary Design Review 12/8/03

2. Mission Description Based on the Design Reference Mission from NASA (Hoffman and Kaplan, 1997; Drake, 1998) Modified to narrow scope of project

4. 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

5. Overall Project Goal Establish a Martian Habitat capable of supporting humans

6. Overall - Level 1 Requirements Support crew of 6 Support 600 day stay without re- supply Maintain health and safety of crew Minimize dependency on Earth

7. 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

8. 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

9. 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

10. Mission Architecture Systems Engineering and Integration Structures Command, Control, and Communications (C 3 ) 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

11. Organizational Chart Project Manager Systems Engineering and Integration Structures CCC ECLSS EVAS Robotics and Automation Power Thermal Mission Operations Crew Accommodations ISRU

12. Systems Engineering and Integration Team Primary: –Juniper Jairala –Tim Lloyd –Tyman Stephens Support: –Meridee Silbaugh –Jeff Fehring –Keith Morris

13. 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

15. DRM Mass Recommendations SubsystemMass Estimate [kg] Structure20,744 Power3250 ECLSS4661 Thermal550 Crew Accommodations5000 C3C3 320 EVAS1629 Total34,000

16. Mars Environment and In-Situ Resource Utilization (ISRU) Primary Heather Chluda Support Keagan Rowley Keric Hill

17. 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.

18. Mars Environment Characteristics The Habitat will encounter a wide range of environment characteristics during its surface stay on Mars

19. Temperatures Diurnal variation at Viking Lander sites Seasonal variation: -107 to -18°C winter to summer lows

20. 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

21. Martian Constituents Atmospheric Composition GasAbundance (%) Carbon Dioxide95.32 Nitrogen2.7 Argon1.6 Oxygen0.13 Carbon Monoxide0.08 Water Vapor0.03 Neon0.00025 Krypton0.00003 Xenon0.000008 Ozone0.000004

22. 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

23. 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

24. 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

25. ISRU I/O Diagram

26. ISRU Functional Diagram

27. ISRU Interface Technologies Component# Mass (kg) Add. Mass (kg) Total Mass (kg) Power (kW) Total Power (kW) Volume (m3) Total Volume (m3) Water Pump170.50 Oxygen Pump10.94 1.50 Nitrogen Pump10.94 1.50 Water Pipe170.0010.0080.000.00 0.65 Oxygen Pipe170.00 0.00 0.65 Nitrogen Pipe170.00 0.00 0.65 Hydrogen Pipe170.00 1.50 0.65 Valves and Connections942.00 5.00 0.00 Grand Totals 404.38 80.00 2.60

28. ISRU Requirement Verification

29. ISRU Plant Trade Study ISRU Plant Type W/kg of product ProductsAdvantagesDisadvantages Zirconia Electrolysis 1710O2O2 Simple operation Many fragile tubes required Sabatier Electrolysis 307CH 4 O 2 (H 2 O) High I sp Requires H 2 Cryogenic Storage Non-ideal mixture ratio RWGS Methane 307CH 4 O 2 (H 2 O) Ideal mixture ratio Requires H 2 Cryogenic Storage RWGS Ethylene 120C 2 H 4 O 2 (H 2 O) Non-cryogenic High I sp Requires ½ x H 2 RWGS Methanol 120CH 3 OH O 2 (H 2 O) Non-cryogenic Low flame Temp. Requires 2 x H 2 Lower I sp

30. Future Considerations Radiation shielding effects of Martian soil –Soil safe haven shelter designs Mass benefits of using ISRU plant for consumables on future missions

31. Structures Subsystem Team Primary: –Jeff Fehring –Eric Schleicher Support: –Jen Uchida –Sam Baker

32. Structures Subsystem Overall layout Volume allocation Pressurized volume Physically support all subsystems Radiation shielding Micro-meteoroid shielding Withstand all loading environments

33. 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

34. Structures I/O Diagram

35. 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

36. Overall Layout

37. Volume Allocation SubsystemVolume (m3) Structure150.00 ECLSS65.00 Thermal40.00 EVAS40.00 Robotics15.00 Power30.00 ISRU Interface4.00 CCC5.00 Crew Accommodations50.00 Empty216.75 Totals615.75216

38. Pressure Shell Assume aluminum shell Assume a hollow cylinder, radius 3.5 m Thickness t = Pr/f y = 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

39. Supports Assume 6 hollow tube leg supports Support entire mass of Habitat on Mars –Mars gravity = 3.758 m/s 2 –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

40. Mass, Power, and Volume Estimates

41. Requirements Verification

42. Future Considerations Design for launch loads from Magnum vehicle Optimize truss structure Fully design supports for all components

43. Power Distribution and Allocation Subsystem Team Primary: –Tom White –Jen Uchida Support: –Nancy Kungsakawin –Eric Dekruif

44. Power Interface with the nuclear power source and other external equipment Safely manage and distribute power throughout Martian habitat

45. 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)

46. Input/Output Input: –Power from reactor –Info/control from CCC Output: –Power to habitat –Heat to thermal All SubsystemsThermal CCC EPDS PS Cargo Lander HeatPower Info/control Habitat

47. Mars Surface Power Allocation Allotted ~25kW Potential to use power allocated to other systems (DRM)

48. Overview of System Power Profile

49. System Schematic Reactor Charge Control Storage Conditioning Regulation Distribution ECLSSThermal EVAS Robotics Structures Mission Ops CCC Life/Mission Critical Sys. Reactor Bus 3 Bus 2 Bus 1

50. Mass/Volume

51. Level 2 Requirements Verification

52. Further Considerations More detailed power profile Specified hardware Decrease system mass Electromagnetic interference

53. ECLSS Team Primary –Teresa Ellis –Nancy Kungsakawin –Meridee Silbaugh Support –Bronson Duenas –Juniper Jairala –Christie Sauers

54. ECLSS Responsibilities Provide a physiologically acceptable environment for humans to survive and maintain health Provide and manage the following: Environmental conditions Food Water Waste

55. 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

56. 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.

57. Human Inputs/Outputs which Allocate ECLSS Functions O2O2 Potable H 2 O Food Hygiene H 2 O N2N2 Heat CO 2 Respired & Perspired H 2 O Sweat Solids Urine (solids & liquids) Feces (solids & liquids) Atmosphere System Water System Waste System Food System

58. Atmosphere Design crew cabin cabin leakage N 2 & O 2 O2O2 N 2 storage tanks EDC*2 N2N2 FDS To: hygiene water tank T&H control H2OH2O To: vent CO 2 To: trash compactor SPWE TCCA To: vent H 2 H 2 & O 2 From: H 2 O tank

59. Water Design

60. Food Design To: trash compactor trash potable water microwave water food preparation food & drink food waste & packaging food storage H2OH2O refrigerator

61. Waste design To: waste water tank feces Commode Urinal compactor From: TCCA food trash microfiltration VCD trash fecal storage solid waste storage compactor urine H2OH2O

62. Waste Schematic Fecal matter Storage outside the habitat ( for future usage) Crew member dumps non-fecal trash Air Lock Commode with built-in Fecal Genie Compactor Feces in UV-biodegradable bags Feces in Storage bags EVA dump UV Compactor Compacted Trash Trash in Storage bags Crew member is taking out the trash Non-Fecal matter Storage Structure outside the habitat

63. ECLSS Integrated Design

64. ECLSS Total M,P,V Estimates Subsystem Mass technology (kg) Mass consumable (kg) Volume technology (m^3) Volume consumable (m^3) Power (kW) Atmosphere3335.974892.7416.5885.5893.533 Water890.9359607.423.25519.00872.01 Food327.91110882.4231.683.8 Waste277.7658282.0632.880.22 Total4832.5826415.8824.32659.1579.563

66. Verification of Level 2 Requirements – key design drivers

67. 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.)

68. Thermal Control Subsystem Team Primary –Keagan Rowley –Sam Baker Support –Heather Chluda –Heather Howard

69. 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

70. 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.

71. Thermal I/O Diagram

72. 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

73. Thermal Schematic

74. Example Calculations Thermal Load Area of Radiators Mass of Radiators Volume of Radiators

75. 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

76. Area of Radiators Where Q is the Total Heat Load,  is the Stefan-Boltzmann Constant,  is the emissivity,  is the raditator efficiency, T r is the radiator temperature and T e is the environment temperature. Q = 36100 W  = 5.67e-8 W/(m 2 K 4 )  = 0.9,  = 0.85 T r = 290 K, T e = 263 K A = 364.2 m 2 Human Spaceflight pp 519 - 524

77. Mass and Vol. of Radiators 8.5 kg/m 2 for two sided deployable 0.06 m 3 /m 2 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 m 3 Human Spaceflight pp 519 - 524

78. Thermal Components HOT

79. Thermal Components COLD

80. 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.

81. 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 auto- deploy. Rest of subsystem active during transit. Sensors interface with C 3 for status monitoring and transmission to Earth. 5,700 kg mass TPS not included in design.

82. Future Considerations Determination of detailed Thermal Loads Optimization of scenarios

83. Mission Operations and Crew Accommodations Team Primary: Christie Sauers Support: Tim Lloyd Tyman Stephens

84. 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

85. 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

86. Operations: Mission Ops Specific

87. Operations: Mission Ops Specific (continued)

88. Operations: MOB Subsystems

89. Mission Ops Representative Timelines

90. Mission Ops Representative Daily Timelines

91. 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

92. MO Verification of Requirements RequirementMet?Notes Operate & maintain surface systemsYES Support crew operations for full missionYES Ease of learning/similar subsystemsN/ANot at this level of design Computer/video libraryYES Smart habitat/automationSOMEAutomation subsystem Programmatic activitiesYES Planning, long-term and real-timeYES Minimize dependence on EarthSOMELittle detail at this level Auto fault detection and correctionYESC3 subsystem + FMEA

93. 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

94. C REW A CCOMMODATIONS (CA)

95. 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

96. 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

97. CA Interfaces with MOB Subsystems

98. 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

99. Crew Accommodations Equipment (2 of 2) Housekeeping –Vacuum (prime + 2 spares) –Disposable Wipes –Trash bags Operational Supplies & Restraints –Supplies (diskettes, Velcro, Ziplocs, tape) –Restraints and Mobility aids Maintenance: All repairs in habitable areas –Hand tools and accessories –Test equipment (oscilloscopes, gauges, etc…) –Fixtures, large machine tools, glove boxes, etc… Photography (All Digital) –Equipment (still and video cameras, lenses, memory, etc) Sleep Accommodations –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

100. Crew Accommodations Active Equipment

101. CA Trade Study Clothes Refresh Options: –Bring enough clean clothes for mission –Hand wash clothes –Washer/Dryer Trade-offs: (insert table) Decision: Washer/Dryer

102. Crew Accommodations Mass, Power, and Volume Estimates Total Mass: 5,988 kg Total Power: 11.75 kW Total Min. Volume: 60 m 3

103. CA Verification of Requirements

104. 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

105. Command, Communications, and Control (C 3 ) Subsystem Team Primary: –Heather Howard –Keric Hill Support: –Tom White

106. C 3 Subsystem Summary C 3 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 C 3 architecture, mass, power and volume are addressed by our subsystem design

107. C 3 Level 2 Requirements Support checkout of surface infrastructure pre- crew 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.

108. ISRU Plant Nuclear Reactor Mars Env’mt EVAS ISRU Power ECLSS Thermal CCC Robotics & Automation Structure Crew Crew Accommodations Legend ENERGY Packetized Data Telemetry/Data Command/Data Voice Video Electrical power Heat Earth Mars Com Sat C3 I/O Diagram

109. C 3 Overview Command and control subsystem Based on ISS C 3 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

110. Tier 2 Science Computers (2) Tier 2 Subsystem Computers (4) Tier 1 Command Computers (3) Tier 3 Subsystem Computers (8) Firmware Controllers Sensors Caution & Warning (4) User Terminals (6) File Server (1) Tier 1 Emergency Computer (1) Legend Ethernet RF Connection Mil-Std 1553B Bus TBD Comm System Experiments RF Hubs (3) C3 System Other Systems Command and Control Architecture

111. Communications Subsystem Architecture 1 meter diameter high gain (36 dB) antenna Backup 1 meter diameter high gain antenna Medium gain (10 dB) antenna Amplifier 1st Backup 2nd Backup Control Unit 1st Backup 2nd Backup Data from CCC 2nd Backup 1st Backup EVA UHF

112. Communication Data Rates Telemetry downlinked Power (W) Data rate (kbps) Required Availability High gain to Mars Sat20100000.12% High gain direct to Earth1245023.12% Medium gain to Mars Sat705002.31% Telemetry generated Number of Sensors/Messages Time averaged data rate (kbps) ECLSS2380.069 Power2000.067 Thermal1050.350 Structures600.002 ISRU960.005 Mission Ops6911.065 Totals76811.558

113. C 3 Power

114. C 3 Volume and Mass

115. C 3 Requirements Verification Must support checkout of surface infrastructure. –C 3 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. –C 3 interfaces with all subsystems to support automation. Must support audio/visual caution and warning alarms. –C 3 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.

116. Future Considerations Modular nature of C 3 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

117. Automation and Robotic Interfaces Subsystem Team Primary –Eric DeKruif Support –Eric Schliecher –Dax Matthews

118. 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

119. 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

120. Input Output Diagram

121. 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

122. 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

123. 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

124. 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

125. 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

126. 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

127. 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

128. Automated Items Deployment/Movement of scientific equipment Leveling of habitat Processing of consumable waste Connect ISRU to habitat ISRU/Power plant inspection Assumptions

129. 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

130. 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 Habitat hatch mates directly to large rover Rovers must deploy and inspect habitat Large rover will reorient and inspect habitat using arms Rovers must be capable of moving habitat Large rover will have towing capabilities

131. Requirements Verification Rovers must provide for local transportation Medium unpressurized rechargeable rover can travel up to 100 km over 10 hrs Rovers must deploy scientific instruments Small rovers will be capable 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

132. 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

133. Extravehicular Activity (EVA) Interfaces Subsystem Team Primary –Dax Matthews –Bronson Duenas Support –Teresa Ellis

134. 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

135. EVAS I/O Diagram

136. 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

137. EVAS – EVA Suit I-Suit specs: –Soft upper-torso –4.3 lbs/in 2 (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)

138. 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

139. 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

140. 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.)

141. 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, O 2, 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)

142. 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

143. Future Considerations Suit –Finalize suit design for Martian environment Airlock –Decision on design and calculation of mass –Design of pump system Operational protocols

144. Habitat Design Summary Mass59,754 kg - Exceeds DRM recommendation by 25,754 kg - Exceeds max allowable by 9,754 kg Overall Volume615 m 3 - Meets DRM max allowable Subsystem Volume294 m 3 - 321 m 3 of open space in habitat Maximum Power26.25 kW - Exceeds DRM recommendation by 1.25 kW - Overall Martian base power = 160 kW

145. 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

146. 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

147. 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