2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Jonathan KubiakWeek 5: February 15th , 2007

Human Factors:Manned Rover, Martian Crawler, CAD Modeler &

Concept Sketch Artist

Manned Rover Concept V2.0

“Desert Rat”

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Manned Rover V2.0

Design Modifications• Increased Volume to Accommodate 4 Crew

Members• Centered Cylindrical Main Compartment• Spherical Airlock/Crew Transfer Compartment

– Facilitates Crew Transfer Between Crew Capsule and Rover as well as Hab and Surface

• Radiation Shielding – 20 kg/m^2• Estimates of Structure Included

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Conclusions

Human Factors

Total Vehicle

Mass Power Volume6.5 mt 58 kW 27 m^3

Mass Power Volume1.5 mt 7.8 kW 19.8 m^3

Vehicle Dimensions• Crew Compartments

– Length: 6.6m– Height: 2m– Width: 2m

• Totals– Length: 6.6 m– Height: ~3m– Width :~3-4m

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

References1.] 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. 461-475

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-2004-208941.pdf

3.] Man-Systems Integration Standards. NASA-STD-3000. Revision B. NASA-Lyndon 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>

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

References6.] 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.

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Back Up SlidesRevised WorkSheet

Manned Pressurized Rover Crew AccomodationsNumber of Crew 4Number of Days ( Day = 24 hrs) 0.5Element Rules of Thumb Mass Mass Units Mass Volume Volume Units Volume

for Design Subtotal (kg) Subtotal (m3)INTERNALSCrew Size 3, 200lb (90kg) adults 90.00 kg/person 360.00Crew Free Volume 2-5m3 per person 3.00 m 3̂/person 12.00Airlocks, pumps, tanks,suit stowage cleaning equipment 2-5m3/ airlock, 1 kW-h/ EVA, 30 kg/m 2̂ al, 30 kg/hatch (assume spherical airlock 1m radius)30.00 kg/m2 453.00 4.20 m 3̂/airlock 4.20Bunks 10kg/person, 0.1 m 2̂/person 0.00 kg/person 0.00 0.00 m 2̂/person 0.00Hygiene (toilet, wash, waste collect) 1-2m 3̂ partition, 50-100 kg, 1kW-h/person-day 75.00 kg 75.00 1.50 m 3̂ 1.50Kitchen Equipment 1-2m 3̂ partition, 100-500 kg, 1kW-h/person-day 50.00 kg 50.00 1.00 m 3̂ 0.00Fire Suppression 10-25kg, 0.01-0.1m3, 15.5 lb extinguisher good for 2170 cubic ft 7.50 kg 7.50 0.20 m 3̂ 0.20Command, control, communications 25-100kg,0.1-0.2m3 75.00 kg 75.00 0.15 m 3̂ 0.15Steering, system control 1-1.5m3 structure, 50-150kg 100.00 kg 100.00 1.00 m 3̂ 1.00Food 2-2.5kg/crew-day, 500kg/m3 2.50 kg/crew-day 20.00 0.01 m 3̂ 0.01Water, water tank, valves, etc. 5-15 kg/crew-day, 0.01-0.1kg tank/kgH20, 5-10kg/EVA,1.1m3/m3 water 10.00 kg/crew-day 80.00 0.01 m 3̂ 0.01Oxygen, tank 1kg/crew-day, 1-2kg tank/kg O2, 0.01m3/kg @100atm 1.00 kg/crew-day 8.00 0.01 m 3̂/kg 0.08

tank(s) 1.00 kg tank/ kg O2 8.00Nitrogen, tank 1kg/crew-day, 1-2kg tank/kg N2, 0.01m3/kg @100atm 1.00 kg/crew-day 8.00 0.01 m 3̂/kg 0.08

tank(s) 1.00 kg tank/kg N2 8.00Carbon Dioxide Scrub 2kg/crew-day, 0.01-0.02m3/crew-day 2.00 kg/crew-day 16.00 0.04 m 3̂ 0.04Personal gear 1-2kg/crew-day 2.00 kg/crew-day 16.00 0.05 m 3̂/person 0.10Interior lights 50-200 W, ( use florescent and save!), 2 / person /day(15 W) 0.03 kg 0.03 0.02 m 3̂ 0.02Spares 10kg-5%,0.01-0.1m3 100.00 kg 100.00 0.10 m 3̂ 0.10Tools 10kg,0.02m3 10.00 kg 10.00 0.02 m 3̂ 0.02Science Equipment 100kg,0.5m3 50.00 kg 50.00 0.25 m 3̂ 0.25Thermal Control 4-5% total vehicle kg, 1-2% total vehicle m3 4.5%total vehicle

Brackets, shelves, etc. 10kg/m2 aluminum 10.00 kg/m2INTERNAL SUBTOTAL 1444.53 19.75EXTERNALSPressurized Shell (including airlock, windows) See HABTBLE VOL & VHCLE SIZNG worksheet for details 753.93 m 3̂Radiation Shielding 703.72Exterior Lights 0-1kW 4.00 kg 4.00 0.02 m 3̂ 0.02Science equipment 0.1-2m3, 10-1000kg 100.00 kg 100.00 0.50 m 3̂ 0.50Hoist, crane 0.1-0.5m3, 10-1000kg kg 0.00 m 3̂ 0.00Manipulator Arms 0.02-0.2m3,10-100kg 500.00 kg 500.00 0.50 m 3̂ 0.50Cameras 5-20kg,0.01-0.1kW (20 picked as max b/c of HD req) 20.00 kg 20.00 0.10 m 3̂ 0.10Plow 1-2m3,10-1000kg 100.00 kg 100.00 1.50 m 3̂ 1.50Drill 0.5-2m3,10-1000kg 0.00 kg 0.00 1.00 m 3̂ 1.00Antennas -need good numbers from Comms 0.1-1m3,10-50kg 25.00 kg 25.00 0.50 m 3̂ 0.50Winches 0.02-0.1m3, 5-15kg -assume only need to use small fraction of the time) 10.00 kg 10.00 0.10 m 3̂ 0.10Stowage 0.2-1m3,10-1000kg 200.00 kg 200.00 0.50 m 3̂ 0.50Spares 0.1-2m3, 10-1000kg 300.00 kg 300.00 0.50 m 3̂ 0.50Tools 0.01-0.05m3,10-50kg 30.00 kg 30.00 0.03 m 3̂ 0.03Drive power requirement 0.1Wh per kg-km (add 25% for power and mobility system mass) m 3̂EXTERNAL SUBTOTAL 2746.65 5.25POWER PLANT -also externalFuel Cell (reactants, tanks, valves) 1.5kg/kWh (15kW/400kg) 1000.00 kg 1000.00 1.70 m 3̂ 1.70Fuel Cell Machinery kgFuel (80kgO2,20kgH2 provided by Mike Kowalbowski:Power Systems)20kg/kW kg 0.00Power Distribution - not sure if included with Fuel Cell 20kg/kW kg 0.00Battery Backup 20kg/kWh, 0.015m3/kWh kg 0.00Metabolic sensible heat load 2kWh/person-day kgRadiator and radiating surface 0.09-0.12kW/m2, 5-10kg/m2 kgCHASSIS SUBTOTAL 3746.65 26.70SUSPENDED TOTAL 5191.18MOBILITY SYSTEMSuspension, Steering Mass = 5% suspended 259.56Wheels Mass = 10% suspended 519.12Tracks Mass =15% suspended 0.00Drive Motors 10kg/kW 10.00 kg/kW 500.00

VEHICLE GRAND TOTAL 6469.85 26.70

These figures do not inclode certain things yet: radiation shielding, MPV required for atmospherics,

J onathan Kubiak:FUEL CELL Includes The cell, fuel and machinery, battery backup, power dist. as per Mike Kowalkowski's Data

J onathan Kubiak:This is still a high estimate I think, looking into Raser Technologies Motors.

*See end pages for Full Print-Out

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Revised WorksheetHabitable Volume and Vehicle Sizing

Total Estimated Volume - from Design Characterizations Worksheet 19.75

COMPONENT Radius (m) Length (m) Height (m) Volume (m^3) Surface Area(m^2)Driver/Manipulator Operator (1/2 Sphere) 1 1 2.094395102 6.283185307Main Crew Compartment (Cylinder) 1 3.6 11.30973355 22.61946711Airlock/Crew Transfer Compartment (Sphere) 1 2 4.188790205 12.56637061Totals 6.6 17.59291886 41.46902303

Remaining 2.16

Estimated Pressure Vessel Masses - Estimated ThicknessesCOMPONENT Material Density (kg/m^3) Thickness (m) Mass (kg)Driver/Manipulator Operator (1/2 Sphere) Shatter Proof Polymer (Lexan) 1190.23 0.05 373.9217824Main Crew Compartment (Cylinder) Aluminum 2700 0.004 244.2902447Airlock/Crew Transfer Compartment (Sphere) Aluminum 2700 0.004 135.7168026Totals 753.9288298

Radiation Shielding - Estimates based on recommendation of 20 kg/m^2 from Breanne WootenCOMPONENT Radiation Shielding Mass Mass Units Mass (kg) Driver/Manipulator Operator (1/2 Sphere) No - Window 0 kg/m^2 0Main Crew Compartment (Cylinder) Yes - Polyethylene 20 kg/m^2 452.3893421Airlock/Crew Transfer Compartment (Sphere) Yes - Polyethylene 20 kg/m^2 251.3274123Totals 703.7167544

Dimensions

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Vehicle DimensionsBasic Vehicle Dimensions - Side View by Jonathan Kubiak

2.0m

3.6m 2.0m

Proposed Interior Layout - Top View by Jonathan Kubiak

Airlock/Crew Transfer Compartment

Hatch To HAB/ Surface

Crew Transfer Hatch -Underside

Storage

Open Interior Hatch

Head

Driver/Manipulator Operator View Bubble

Pass 1Driver

Man. Op. Pass 2

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

MotorsElectric Motor Data For Raser P-50 Electric MotorPeak Torque 230 NmContinuous Torque @ 2000rpm 120 NmPeak Motor Efficiency 92 %Continuous Power @ 2000 rpm 25 kWPeak Power 48 kWPower Generation @ 2000 rpm 18.3 kWSpeed Range 0 - 6000 rpmTorque per Liter 28 Nm/ltrInlet Coolant Temp 60 CDimensions LxOD 107x271 mmHousing Dimensions LxOD 127x295 mmNominal DC Bus Voltage 300 VMass kg* Data Taken from Raser Technologies http://www.rasertech.com/tech_isa.html

Electric Motor Data for Raser P-2 SymetronPancake MotorPeak Torque 570 NmContinuous Torque @ 2000rpm NmPeak Motor Efficiency 92 %Continuous Power @ 2000 rpm kWPeak Power 373 kWPower Generation @ 2000 rpm kWSpeed Range rpmTorque per Liter 35 Nm/ltrInlet Coolant Temp CDimensions LxOD mmHousing Dimensions LxOD 205x320 mmNominal DC Bus Voltage VMass 67 kg

2.15.2007 Jonathan Kubiak

AAE450 Senior Spacecraft Design

Project Aquarius

Rover Power RequirementsCare of: Mike Kowalkowski

• Mars Rover (Manned) Power System:– Mass: 1000 kg– Volume: 1.7 m^3– Peak Power: 48 kWe– Idle Power: 10 kWe– See attached MATLAB code

to size power for all vehicles– Total mass: 5 mt

• .9 mt – Human Factors• 2.5 mt – Structures• .6 mt – Towing / Storage• 1 mt – Fuel Cells & Battery

Backup

• Capabilities and Sizing:– Max level velocity: 40 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