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LUMITAR:�Lunar Underground Mapping with Integrated Terrain Analysis and Radar

ANNA LEWIS

ALEX MORALES

CHLOE SACKIER

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Agenda

• Introduction and Background

• Phase One

• Phase Two

• Phase Three

• Future Work

• Summary

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2024

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Lava Tube Background

Lava tube importance:

Protects from radiation
Stable temperature between -20°C and 17°C [1]
Protection against micrometeoroids

The research on lunar lava tubes can prove invaluable due to the possibility of conversion into permanent settlements

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Introduction

The proposed LUMITAR mission consists of three distinct phases.

The architectures of Phase I and II rely on a mix of human crew and robotic agents. Phase III will be fully automated.

The missions will take place in and around the Mare Tranquillitatis pit to utilize pre-existing lunar terrain knowledge.

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LUMITAR Timeline:

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2026

2027

2030

Program planning begins

Phase I

Phase II

Phase III

Establish industry partners and contracts
Test instruments on Earth lava tubes and testbeds
Phased launches for Phase I and Phase II robotic elements

Iterate on final lunar lava tube site selection
Acquire necessary orbital imagery
Select, train and launch astronaut crew

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Phase One

LiDAR

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Procedure

Purpose

• Introduced into the pit by a pulley system

• This system will be equipped with LiDAR technology and will scan its surroundings (up to 2000 meters away) [2]

• Map the entrance to the pit

• Identify structural composition of the pit

• Identify if the lava tube is collapsed

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Key Features

LiDAR

LiDAR has been tested to map caves on Earth
It is high quality
It is high accuracy
It is low cost

Carbon nanotube rope

Low weight
High strength

Regular pulley system

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Rope and Pulley

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Merits and Limitations

Merits

Avoids touching the edge of the pit
Will record substantial and important data
Fast mission and can be coupled with any other missions

Limitations

Requires setup
Requires at least two astronauts to operate

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Phase Two

Ground Penetrating Radar

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Procedure

Purpose

• Crew operates 100 MHz GPR over length of lava tube selected in Phase I

• GPR operated until requirements are met to proceed to Phase III - i.e., minimum tube dimensional criteria met

• [optional autonomy] Onboard computer running D* algorithm for optimal path planning in an unknown map [3]

• Conduct detailed mapping of length and direction of lava tube identified in Phase I

• Ensure selected lava tube meets traversability requirements for rover in Phase III

• Downselect to tubes for future habitation

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[3] https://robotics.caltech.edu/~jwb/courses/ME132/handouts/Dstar_aaai96.pdf

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Key Features

GPR Technical Specifications

Building off of Earth experience using GPR and LiDAR to map lava tubes in CA [4]
Expect to be able to reconstruct lava tube depth and width (~10-20m) to some degree of accuracy due to strong returns from ceiling and floor void/rock interfaces

Lava Tube Selection Criteria

To enter Phase II: lava tube shall not be collapsed
To enter Phase III: lava tube shall meet traversability requirements for rovers

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[4] https://agupubs.onlinelibrary.wiley.com/doi/full/10.1029/2019JE006138

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Merits and Limitations

Merits

Safe and non-invasive way to further characterize tubes without risking crew
Extensive experience using GPR to characterize lava tubes on Earth

Limitations

Requires at least one astronaut to operate
Might not be robust to variable surface terrain
Might encounter issues with complex subterranean geometries or difficulty resolving the cave floors

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Phase Three

Lava Tube Exploration with Flying/Driving Rovers

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Procedure

Purpose

• Propulsion system will get the rover into the pit through the skylight without worrying about instability of skylight lip

• Once inside, the rover will drop on it’s wheels to drive the rest of the length of the lava tube, gathering data

• Rover will traverse along the lava tube and gather data along the way before fling back out of the skylight

• Gather more detailed mapping information from the interior of the lava tube

• Gather data on temperature, radiation levels, and rock samples

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Flying Configuration

Driving Configuration

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Key Features

• Wheels fold up while in propulsion mode

• SMA, airless tires

• Small sampling drill

• LiDAR for internal mapping

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Merits and Limitations

Merits

Don’t need to worry about instability of lava tube skylight lip
Can maneuver easily within lava tubes
Can gather the additional data determined necessary from first two stages

Limitations

Will take time and money to perfect technology and design

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Future Work

• Manned rovers to start getting humans into the lava tubes

• Automated LiDAR/GPR rover to map out future tunnel possibilities

• Expanding this program to explore and map other lava tubes around the moon

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20XX

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Summary

This multi-phase mission utilizes a low-risk, high-heritage approach and a mix of crewed and robotic elements
Employs tested, qualified, and flight-proven hardware in concert with well-refined exploration and mapping techniques used here on Earth
LUMITAR will lay the essential foundation for future lunar exploration missions, increasing mapping capabilities in the Mare Tranquillitatis region

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