System Description and Stated Goal: The rover vehicle resulting from this effort will be used to test strategies and systems necessary to establish operational protocols for the surface exploration of Mars. It is not an attempt to pick the optimal design for a rover vehicle. This is an attempt to select a baseline laboratory vehicle that will be used to establish operational constraints and testing of existing assumptions.

• The P-Rover represents a small pressurized vehicle
• A vehicle to complement un-pressurized and telerobotic / autonomous rovers
• These constraints mandate a small, lightweight vehicle, with moderate range and simple, easily maintainable design.
• Solo operation: One pressurized rover (P-Rover). Consider there to be 3 other un-pressurized rovers (U-Rovers) that may operate manually or telerobotically.
• Accompanied operation: A suited crewmember may ride ahead, or along side the P-Rover on one of the U-Rovers. The U-Rover rider may choose to ride inside the P-Rover. The P-Rover should have the ability to tow the U-Rover, or have a means to carry it externally.
• Science Philosophy: In many cases the P-Rover may not operate at extreme range from the habitat, but serve as living quarters for scientists who may need to remain at a high value site for a few days. Its ability to conduct lengthy sorties will enable access to areas well beyond walk back range.

• Tires: The Standard Hum-Vee Tire is 37.5" [952.5 mm] diameter and 16" [406.4 mm] wide. Rim and mounting research is in progress.
• Suspension: We will use independent strut suspension systems with standard heavy duty, pneumatic shock absorbers. Typical Hum-Vee ground clearance is up to 19" [482.6 mm], I hope to obtain between 30" [762 mm] and 36" [914.4 mm] of ground clearance. Construction research is in progress. Four (4) wheel steering is an option but the rear wheels can be locked for normal operation.
• Chassis: The frame type will be a function of the loaded weight and dimensions of the crew compartment. There are tow bar connections on the front and back and both sides of the P-Rover vehicle (See Section 2.3 "Winch" & "Tow Bar Connection"). At this time, tubing appears to be the strongest material per weight with flexibility for sudden impacts. Off road vehicle construction methods are being researched. A roll bar will be included for emergency protection.
• Pressurized Envelope/Body: The body will simulate a pressurized envelope designed for 120 ° F [48 ° C] exterior temperature, 70.63 cubic feet [two (2) cubic meters] per member, design allows for three (3) people but is designed for two crew members 141 cubic feet [4 cubic meters] total pressurized living volume and a duration of 7 days. The material of construction will make a big difference. The P-Rover will be divided into three sections. This offers a redundant pressurized system advantage. See sketch for general arrangement.

• Pressure Ports: The craft will need two (2) exit ports for egress, one main egress and an emergency escape hatch. The main access port is replaceable in several styles and may use an EVA port 65.75 inches [1.67 m] above the grade.

• Power Plant: Two (2) electric motors for high/low gear & two (2) electric motors for just low gear and 4 wheel drive. The existing lunar rover technology used four (4) electric motors. Research should reveal more information. The speed will be 20 miles/hr. [32.18 km/hr.] over smooth terrain and 5 miles/hr. [8.05 km/hr.] in four wheel drive. Using a variable speed drive will reduce the requirements for a transmission system. Fuel will be directed as required and will not be the distance limiting factor. The loaded vehicle will be about 10,000 lb. [4,536 kg].
• Electrical systems: Two (2) hydrogen and oxygen primary fuel cells will supply 240 volts of direct current (VDC) power to the main systems. The lights and small draw systems will be operated from two (2) secondary 12 & 24 VDC power systems. This will be similar to a recreational camper power system. The fuel cell should be able to provide 600 cold crank amps. This offers a redundant system advantage. This rover will include lights and directional signals to allow for slow transit over roads. Research will be done on RV electrical systems. It is safe to assume more than 1700 lb. [771 kg] for fuel because that is the fresh water supply requirement. If this weight is not used as fuel, it will be carried as water.

• Optional Crane: Consider weight to benefit value. A metal bar can be attached to both sides of the rover. It uses a manually powered block and tackle, 4:1 ratio, assume the maximum load to be 200 lb. [90.72 kg] and stretch of 6'-0" [1.83 m] along the side for lift arm design. It will assist in lifting rock boxes or EVA equipment. It has a clear reach to all tool and storage areas on both sides of the rover.
• Recommended Winch. An electric winch is included with local and remote operation. Its primary function will be to assist in removal of the rover from mud or other difficult categories of terrain. It may also help dislodge other vehicles or be used in movement of heavy equipment. When attached to the side of the vehicle it may be capable of up-righting the vehicle from its side. This will be portable to allow for moving and attaching the unit to the front, back or side of the vehicle as required. It will be capable of lifting, or dragging, itself into a mounting position.
• Optional Detachable tools: Consider weight to benefit value. A trailer hitch will allow for trailers and heavy support equipment. A "Bob Cat" type vehicle is considered as an accompanying vehicle, which can be towed or carried on a trailer. There are tow bar connections on the front and back of the P-Rover vehicle.
• Required Sample Stowage: This is best if it is an open rack with a means of securing rock & sample boxes, 12" [0.3048m] wide X 18" [0.4572m] deep X 18" [0.4572m] high. Accommodation for 6 boxes is provided. The storage rack is easily accessible by a person standing on grade.
• Optional Sample Pressure Port: Consider weight to benefit value. Rocks will be moved directly into the rover and physically examined.
• Required EVA Equipment Stowage: This is a box for containment of EVA tools (shovels, rakes, drills, etc.) 6'-0" [1.8288m] wide X 18" [0.4572m] deep X 18" [0.4572m] high. To determine overall size, I will need to do more research regarding the tools used for the lunar missions. The box is accessible by a person standing on grade.
• Optional Manipulators: Consider weight to benefit value. This enables collection of samples from inside the rover. Consider using two (2) 50' [15.24m] long umbilical connections between the rover's heating, ventilation and air conditioning (HVAC), and two (2) EVA suites with isolation valves to seal the connections when they are not in use. The total umbilical length allows total access around the P-Rover for sample collection and repair work. This option will extend the EVA to human limits.
• Optional Tow Bar Connection: Consider weight to benefit value. This can be part of the winch attachment fixture. This will be a hard point located on the rover frame at the front, back and both sides of the vehicle, that enables towing or pushing of other vehicles of comparable size. This would provide needed benefits with a small weight gain.
• Required Communications: The rover must have mounting points for radio antennas for communications with EVA personnel and the Mars base. Use three (3) radios to minimize the weight and maintain simulation fidelity. Ground communication, base monitoring communication and base operations control relay systems will be required. Cameras (bi-optic) front, back and a monitoring camera inside, local communication, base communication, remote base control system. Research is in progress.

2.4 Internal Fittings "Man-Systems Integration Standards" NASA-STD-3000 I have just received the NASA standard and will need time to establish proper weights and volumes.

• Air revitalization: This is not listed as part of the specification. No consideration is required. The specification does indicate there should be a means of rapidly ventilating the crew compartment.
• Waste disposal: The disposal area is optimized for two (2) people use over a one (1) week period of time. A curtain conceals the waste disposal area. Ref: page 10-9 NASA spec 3000
• A sealed containment for sealed biocide storage bags will be used to store solid human waste at 5 oz [142 grams] and 8.5 cubic inches [142 ml] per man-day. Assume 50 % air content. The total volume required for wipes etc. 2.0 cubic feet [0.057 cubic meters] or 10 lb. [4.5 Kg] full weight.
• An oil covered storage tank will be used to contain human liquid waste; The total volume required is: Urine: 244 cubic inches at 62.4 lb. / cubic foot = 2 cubic feet [0.056 cubic meters] or 125 lb. [56.7 kg]
• An oil covered wash & hygiene water storage tank: An estimated total volume required is 30 lb. / man day at 62.4 lb. / cubic foot non-human waste products = 7 cubic feet [0.2 cubic meters] and 420 lb. [191 kg].

• Water supply: Water must be supplied for drinking, food re-hydration and dishwashing for each of two (2) crewmembers for 1 week duration. (See the power supply information.) Water allowance must also be provided for basic hygiene – brushing teeth and "field hygiene" bathing (like a sponge bath). The total volume required is 44 lb. [20 kg] sweat, 49 lb. [22 kg] urine and 28 lb. [12.7 kg] hygiene. The total volume required equals 121 lb. / man day [55 kg]. Water is not be used for waste flushing. A separate system for containing non-human wastewater is provided. The total water requirement for two people is 27 cubic feet [0.765 cubic meter] or 1,694 lb. [768 kg] storage (see below). Water is a byproduct of the power system. The final report will contain a water balance list.
• Water is available from the fuel cells with a one (1) day storage capacity. Three (3) people emergency daily use requirements need a total storage capacity of 363 lb. [165 kg] and 5.8 cubic feet [0.16 cubic meter]
• Heating, ventilation and air conditioning (HVAC): Systems are provided that enable heating and cooling for desert environments. For project design purposes consider the temperature range between +70 ° F [+21 ° C] and +120 ° F [+48 ° C]. Three inch thick exterior walls with 1" mineral fiber and 2" dead air space were used for calculations.
• Furnishings: The general sizes of internal furnishings will be found in these reference standards:

• "Architectural Graphic Standards - Student Edition" Pub: Wiley for the institute of Architects; Ramsey & Sleeper.
• "Human Dimension & Interior Space" Pub: Watson-Guptill; Panero & Zelnik
• "Man-Systems Integration Standards" NASA-STD-3000

• One (1) 36" [0.914m] wide X 36" [0.914m] deep X 75" [1.905m] high hygiene area, with privacy curtain.
• Two (2) 30" [0.762m] wide X 24" [0.610m] high X 75" [1.905m] long bedrooms, with escape windows and privacy curtains.
• One (1) hall way 26" [0.661m] wide X 73" [1.854m] long X 75" [1.905m] high that will double as a seating area using a "fold out" table and chairs.
• One (1) science work area 34" [0.864m] wide X 30" [0.762m] long max. X 42" [1.067m] high
• One (1) galley 34" [0.864m] wide X 30" [0.762m] long max. X 42" [1.067m] high including a microwave oven, cooler and water supply.
• Food Preparation – adequate food storage and preparation facilities will be provided to support a 1 week field trip. A preliminary estimate of 27 lb. [12.25 kg] / man day with a density of 23.5 lb. / cubic foot. The total requirement for dry food storage is 16.1 cubic feet [0.46 cubic meters]and 380 lb. [172 kg]
• EVA systems: A secondary pressurized space be provided for donning, doffing, 42 cubic feet [1.19 cubic meters] and storing EVA suits in the P-Rover. This is the same area as the driving station. A work station, other than the driver's station is provided for systems monitoring and control.
• Science systems: A work station for sample examination and analysis is provided inside the crew compartment. Convert the EVA area to a research laboratory. For sizing purposes, it will support a lap top with enough additional area for writing implements and papers. A storage locker inside the rover with 17.64 cubic feet [0.5 cubic meter] of volume for securing scientific instruments is provided.
• Vehicle control: A driver’s station with excellent visibility is located at the front of the P-Rover. The drivers' station and the workstation have all controls and indicators necessary to control the vehicle and monitor systems. The ability to telerobotically control the rover is included with bi-optic cameras in front and back of the P-Rover.

• Speed - 20 MPH [32.2 km/hr.] over mild terrain. Two rear motors operate in high gear only. This will operate like a standard car. More research is required.
• Range 200 Miles [320 km] one way travel. This is a function of the fuel and the power requirements. Using a fuel cell and four (4) separate drive motors should provide this service with no problems.
• Vehicle Weight - An approximate 3,306 lb. [1500 kg] vehicle dry weight will be totaled on a spread sheet and minimized when possible during the design phase of the project. The weight will be totaled at the end of the design and presented with the final report.
• Speed - 5 MPH [8.05 km/hr.] over rough terrain. Two rear motors operate in low gear and the two front motors will operate at low gear to provide four (4) wheel drive. This same design was used on the lunar rover and is existing technology.
• Logistics - The P-Rover will fit inside of the C-130 (Lockheed L-100). This mandates a packed width of 9'-0" [2.7 m], height of 8'-6" [2.6 m] and length of no more than 24'-0" [7.3 m]. The height seems to present the toughest restriction because of the head clearance and road clearance restrictions. All external peripheral devices must be stored inside the rover. The tires must be stored in the wheel wells under the rover during shipping. The overall dimensions will be listed on a shipping drawing in the final design.
• Two (2) People Optimum and three (3) in an emergency. Logistics have been designed to accommodate three people on a short term basis. Two people can stay in the living quarters with one person in the driver seat or the science station seat for environmental control and systems monitoring. The hall way floor can be used for a third sleeping area.

4. Power Summery: (2) Electrical Power Supply System (Fuel cell) 75% efficient.

No.	Description	Volt/amp	Total Watt
1	Exterior Lights & Systems	24v
2	Electrical Controls	12v
3	(1) HVAC
4	Cameras and interior Lights
5	(4) Motors Drive System 10 HP each	220v/100a
6	Pneumatic Compressor
7	Hot water -1 Gallon
8	Refrigerator
9	Microwave
10	Communication 1 (local EVA comm.)
11	Communication 2 (Base comm. & Monitor)
12	Communication 3 (Other)
13	Computer 1 (Science Work Station)
14	Computer 2 (System Control & Monitor)

No.	Description	Input lb. /day [kg / day]	output lb. /day [kg / day]
1	From the fuel cell, 75% efficient.
2	Storage
3	Drinking
4	Hygiene
5
6

No.	Description	BTU/hr	Moisture	Total BTU/hr
1	(1) HVAC
2	(3) People - Light Work
3	Thermal Infiltration
4	Lights and Equipment
5	Fresh Air
6	Microwave
7	Cooler
8	Hot Water
9	Computer 1 Control & Monitor
10	Computer 2 Science
11	Communication 1 (local EVA comm.)
12	Communication 2 (Base comm. & Monitor)
13	Communication 3 (Other)

7. Weight Summary: Dry weight and Wet weight.

	Description	Dry lb.	Metric	Wet	Total lb.
1	Exterior light and Tow Bar fittings	100	45.36	0	100
2	Frame 3" diameter X 1/8 Stainless tube	700	317.52	0	700
3	Cover - Fiber Glass - inner & outer skin	500	226.8	0	500
4	Insulation - mineral wool	200	90.72	0	200
5	(2) Front Motor Drive Systems (125 each)	250	113.4	0	250
6	(2) Front Tires & Rims (40 each)	80	36.29	0	80
7	(2) Suspension System & Shocks (125 each)	250	113.4	0	250
8	(2) Rear Motor Drive Systems (100 each)	200	90.72	0	200
9	(2) Rear Tires & Rims (40 each)	80	36.29	0	80
10	(2) Suspension System & Shocks (100 each)	200	90.72	0	200
11	(1) Water Storage Tank - 3 CF - 316 S.S.	114.51	51.94	0	114.51
12	(1) Fresh Water Tank - 3 CF - 316 S.S.	114.51	51.94	0	114.51
13	(1) Storage Tank; Human Waste - 2 CF PVC	62.44	28.32	0	62.44
14	(1) Storage Tank; Non-Human Waste - 7 CF	120.87	54.83	0	120.87
15	(1) Pneumatic Tank - 1.0 CF	34.16	15.49	0	34.16
16	(1) Pneumatic Transfer Pump, 1/4 hp	10	4.54	0	10
17	(1) Pneumatic supply Pump, 1/4 hp	10	4.54	0	10
18	(1) Pneumatic Pump, 1/4 hp (other)	10	4.54	0	10
19	(1) Pneumatic Pump, 1/4 hp (other)	10	4.54	0	10
20	(1) Electric compressor, 1/4 hp	30	13.61	0	30
21	(1) Dry waste Storage Human 2 CF	21.6	9.8	0	21.6
22	(1) Dry waste Storage Non-Human 4 CF	32.4	14.7	0	32.4
23	(1) HVAC, ducts & blowers.	200	90.72	0	200
24	(2) Elect. Power Supply System (Fuel cell)	600	272.16	2000	2600
25	Electrical Controls (Steering, Relay, etc.)	200	90.72	0	200
26	Cameras, switches and Lights	20	9.07	30	50
27	Communication 1	50	22.68	0	50
28	Communication 2	20	9.07	0	20
29	Communication 3	20	9.07	0	20
30	Computer - Control & Monitor	30	13.61	0	30
31	Computer - Science Station	20	9.07	0	20
32	(1) Winch	120	54.43	0	120
33	Lift bar with block and tackle	20	9.07	0	20
34	Interior Construction Wall Material	200	90.72	200	400
35	Rest Room Equip	100	45.36	0	100
36	(2) Personnel Areas (25 each)	0	0	150	150
37	Galley (Microwave, Hot Water, Cooler)	150	68.04	0	150
38	Science Center & EVA Equip.	100	45.36	500	600
39	Dry food	0	0	400	400
40	Samples	10	4.54	1200	1210
41	People (2-3) typical approx.	0	0	400	400
		0	0	0	0
	Totals - Preliminary Estimates	4990.5		3880	9870.49
	Totals [Metric]		2263.7	1760	4477.14

8. Cost Estimate: Included in the final report.