1	Design Simulation in Support of NASA's Robotic and Human Lunar Exploration Programs B. Damer, D. Rasmussen, P. Newman, R. Norkus DigitalSpace Corporation, Santa Cruz CA AIAA Space 2006, Sept 20, 2006
2	DigitalSpace Company Background Established 1995 Based in Santa Cruz CA, offices globally 17 employees/subcontractors Working with NASA since 1999 Other clients in US Govt, private industry, education A world leader in 3D virtual environments and open source/open platforms
3	Overview of DigitalSpace/NASA Lunar Design Simulation 1. Colorado School of Mines, Concept Lunar Bucket Wheel Excavator 2. ESAS Architecture Elements with Lunar Outpost 3. RLEP2 – Robotic Lunar Exploration Program 4. LSAM Lunar Surface Access Module (JSC) 5. Ames Surveyor II Concept 6. Ames Microsat Lunar Lander Concept 7. Commercialization in the Mining Industry 8. Raytheon Lunar “Rack” Teleoperated Base Construction Study DigitalSpace Architecture, Resources, Acknowledgements
4	1. Colorado School of Mines’ Concept Lunar Bucket Wheel Excavator (2004-2005)
5	CAD/CAM design simulation for sandbox prototyping
6	CAD/CAM design simulation for sandbox prototyping
7	CAD/CAM design simulation for sandbox prototyping
8	2. ESAS Architecture Elements with Lunar Outpost (2004-2005)
9	Rapid prototype design simulation for Vehicle Capabilities, Trades and Communication Approach
10	Rapid prototype design simulation for Vehicle Capabilities, Trades and Communication Approach
11	Rapid prototype design simulation for Vehicle Capabilities, Trades and Communication Approach
12	Rapid prototype design simulation for Vehicle Capabilities, Trades and Communication Approach
13	3. RLEP2 Surface Mobility Trades (with MSFC, ARC, APL, 2005-2006)
14	RLEP 2 – Robotic Lunar Exploration Program (presented by M. Borkowski)
15	RLEP 2 – Robotic Lunar Exploration Program Goals
16	RLEP2 Support of surface mobility trades Virtual Vehicle Surface Mobility Simulations – Still Images RLEP2 option concept rover, 6 wheel, articulated suspension, MMRTG, presented at recent Mid-term review, currently going to peer review phase. Please note, this vehicle is purely conceptual, there has been no decision as to what the mobility solution will be for RLEP
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25	RLEP2 Precursors: Lunokhod
26	RLEP2 Precursors: Lunokhod
27	RLEP2 Precursors: Lunokhod
28	RLEP 2 Surface Mobility Development Breadboard Four vehicle moonyard
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34	Support of surface mobility trades Virtual Vehicle Surface Mobility Simulations – Still Images MSFC/APL LRV-Derived, 4 wheels
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40	Support of surface mobility trades Virtual Vehicle Surface Mobility Simulations – Still Images MSL-derived, 6 wheels rocker-bogie
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47	Support of surface mobility trades Virtual Vehicle Surface Mobility Simulations – Still Images DARPA-derived, 6 wheels
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53	Support of surface mobility trades Virtual Vehicle Surface Mobility Simulations – Still Images ATHLETE-JPL (limited physics implemented)
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57	Support of surface mobility trades RLEP2 Rover as presented at Mid Term (January 2006)
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59	Transition to Low CG Pose for Descent
60	Traverse Crater Wall in Spiral Pattern
61	Surmounting Obstacle in High CG Pose
62	Resuming Low CG Pose for Controlled Descent
63	Engage Plow for Braking
64	Entry to Dark Region – LIDAR Scanning
65	Use of Plow as Trenching Tool in Sampling Area
66	Deployment of Drill Assembly. Lower CG Pose
67	Cut Away of Drill Action
68	"RLEP2 Option 3 Rover Full..." RLEP2 Option 3 Rover Full Simulation
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80	4. LSAM – Lunar Surface Access Module (with JSC, 2006)
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85	5. NASA ARC Surveyor II Concept (2005-2006)
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92	6. NASA ARC Microsat Lunar Lander Concept (2006)
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95	Shortcomings/Future Work: 1. Improved fidelity modeling of the regolith including slip conditions on talus slopes and negative hazards (smaller craters), hardness of rock features, regolith bearing capacity, dust regimes, and a traversable terrain based on Dawes crater. 2. Low fidelity thermal modeling of the vehicle based on angle to the sun on descent and the transition to the permanently shadowed regions. The thermal model could also potentially include dust effects. 3. Low fidelity power systems modeling for preliminary vehicle design, including measurements of instantaneous, average and peak power, and the output of a mission power utilization profile that reflects the choices made by the ‘driver’ of the simulation during a particular run. It is anticipated that this tool will aid in the selection of the optimal power system (solar, battery or RTG). 4. Low fidelity physics modeling of the plow and drill behavior (in collaboration with Honeybee Robotics). 5. More complex lunar systems, including robotic and human vehicles as well as lunar habitation systems. 6. Elements could include robotic lunar construction equipment and ISRU systems. 7. The development of a multi-user capability, enabling mobile simulation agents or ‘drivers’ to participate via an Internet connection.
96	7. Commercialization in the Mining Industry (2006)
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103	Digital Spaces Platform Architecture Acknowledgements and Resources
104	"Industrial strength vertical applications in..." Industrial strength vertical applications in robotics, space, mining/construction, training, outreach/education High performance 3D graphics, cross platform Physics, CAD, collaborative and synchronized simulation Multi-user, streams, research & outreach functions “Linux” of 3D, LGPL licensed for commercial applications
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108	Acknowledgements and Resources
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110	Call for participation
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112	Running Simulations
113	Micro Lunar Lander Concept
114	LSAM – Rock Encounter Landing
115	RLEP2 Rover
116	Bucket Wheel Excavator - ISRU
117	8. Extra: Raytheon Telerobotic Base Construction Concept
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