1. NASA-MSFC Lunar Exploration Ryan Baggett Nick Boyer Martha Hurley Hanum Jumastapha Michelle Pugh April 7, 2009

2. Stakeholders NASA-MSFC NASA-MSFC Primary Contact: Dr Ken Fernandez Primary Contact: Dr Ken Fernandez Robotics Industry Robotics Industry Communications Industry Communications Industry Vanderbilt Faculty Advisors Vanderbilt Faculty Advisors Dr Webster Dr Webster Dr Barnett Dr Barnett

3. Background NASA exploration on the moon in the year 2020 NASA exploration on the moon in the year 2020 Need: Need: Method of lunar navigation without satellites Method of lunar navigation without satellites Solution: Solution: Develop network of ground-based beacons scattered on the moon’s surface Develop network of ground-based beacons scattered on the moon’s surface

4. Our Project in the Larger Picture Distribution Distribution Lunar rovers deploy beacons Lunar rovers deploy beacons Beacon Beacon Relay positional information Relay positional information Software Software Interpret signal to determine position Interpret signal to determine position Distribution Beacon Software

5. How It Works Triangulation to determine surface position Triangulation to determine surface position Beacons capable of determining location in network Beacons capable of determining location in network Enables network expansion Enables network expansion

6. Functional Requirements Transmit and receive signals for triangulation Transmit and receive signals for triangulation Withstand extreme lunar environment Withstand extreme lunar environment Maintain structural stability Maintain structural stability Acquire sufficient power to run for 14 days without sunlight Acquire sufficient power to run for 14 days without sunlight

7. TransmitterAntenna Processor Battery Solar Panel Electronics Temperature Regulation Solar Radiation Radio Waves

8. Quasonix μTx Transmitter RF Output Range1 W, 2 W, or 5 W Lower L-band: 1435.5 - 1534.5 MHz Carrier frequency tuning rangeUpper L-band: 1750.0 - 1855.0 MHz S-band: 2200.5 - 2394.5 MHz Input voltage+28 ± 4 VDC Data (bit) rate Standard: 1-20 Mbps (0.5-10 Mbps for PCM/FM) 5 Watt (05S models): 1.2 Amps; 1.1 Amps typ. Input current at 28 VDC 10 Watt (10S models): 1.8 Amps; 1.5 Amps typ. 20 Watt (20S models): 3.0 Amps; 2.8 Amps typ. Operating temperature-40°C to +85°C Size 2.2 cubic inches, 1.750” (W) x 1.625” (L) x 0.779” (H) (36.05 cubic cm) Weight2.5 oz. (70.87 grams)

9. Multi-Mode Airborne Receiver (RDMS) Receiver Lower L-band: 1435.5 MHz to 1534.5 MHz RF Input Range Upper L-band: 1750.0 MHz to 1855.0 MHz S-band: 2200.5 MHz to 2394.5 MHz Input voltage28 VDC ± 4 VDC, Data (bit) rate100 kbps to 23 Mbps in 1 bps steps Input current at 28 VDC 500 mA typical Operating temperature-20°C to +70°C Size4.00” x 3.00” x 1.25” Weight13 oz. (368.54 grams)

10. 3.6 V Lithium-Thionyl Chloride (Li-SOCl 2 ) Battery High power High power Wide operating temperature range (- 60°C/+85°C) Wide operating temperature range (- 60°C/+85°C) Easy integration into compact systems Easy integration into compact systems Battery Diameter (max)33.4 mm (1.32 in) Height (max)61.6 mm (2.42 in) Typical weight100 g (3.5 oz) 5 x 4 Battery Configuration Diameter (max)66.8 mm (2.64 in) Height (max) 123.2 mm (4.84 in) Total weight2000 g (70 oz)

11. Power Source for the Beacon NASA wants to use either solar or nuclear power Requirements: o Needs to withstand moon conditions o Needs to be able to fit size/weight requirements o Needs to store 2 weeks of energy o 10 year life (at least) Silicon Polycrystalline Photovoltaic Cells: o Currently used and proven in space o Size down for individual beacons o 2 ½ in x 2 ½ in yields 50 Watts

12. Design for Deployment Compatible with multiple mechanical grippers Compatible with multiple mechanical grippers Terabot Terabot Robonaut

13. Structural Considerations Sufficient room for power and signal components Sufficient room for power and signal components Compatible shape for mechanical gripper Compatible shape for mechanical gripper Ability to sit upright Ability to sit upright Compact for transportation Compact for transportation

14. Support System Tripod to keep stable Tripod to keep stable Rugged design Rugged design Locks into place Locks into place

15. Materials Selection Aluminum Aluminum Capable of withstanding extreme temperature range (average of -153  C at night to 107  C during the day) Capable of withstanding extreme temperature range (average of -153  C at night to 107  C during the day) Lightweight yet sufficient strength for application Lightweight yet sufficient strength for application Thermal Coating – YB-71 Thermal Coating – YB-71 Modified from Apollo Missions Modified from Apollo Missions 0.92 emissivity 0.92 emissivity

16. Pending Tasks Beacon Construction Beacon Construction Finalize Thermodynamic Analysis Finalize Thermodynamic Analysis

17. Questions?