**LARA: Biologically inspired Engineering and Exploration System Mission
concept and components for lunar exploration and exploitation tools.**
P.E. Clark^1^ (Contact Author), S..A. Curtis^2^, C.Y. Cheung^2^; M.L.
Rilee^1^, G. Marr^2^; W. Truszkowski^2^, Contact address: Pamela Clark,
Code 695, NASA/GSFC, Greenbelt, MD 20771, 301-286-7457,
Pamela.clark@gsfc.nasa.gov; ^1^Affiliation: L3 Communications,
Government Services, Inc., 3750 Centerview Drive, Chantilly, VA 20151,
^2^Affiliation: Code 695, NASA/GSFC, Greenbelt, MD 20771.

ANTS (Autonomous Nano Technology Swarm) Architecture is well suited to
surface-based forms for use on the Moon or Mars or any relatively low G
surface environment, as illustrated by an application called LARA
(Lander-Antenna-Rover Arrays). \]. Here, we analyze the nature of
components and sequence of behaviors required for spacecraft operational
scenarios for an ANTS application in a low gravity surface.

**Introduction**: Basic structural components would , as in other
applications, be highly modular, addressable arrays of more robust than
Zero G carbon NEMS-based nodes, from which highly morphable struts,
tethers, 2D mesh, and 3D fabric could be reversibly deployed for various
functions. Individual craft would be released, possibly by a human crew
on or near the Moon or from an unmanned facility. Individual craft would
be capable of landing on a low G surface, using a miniaturized version
of high impulse thruster technology, transforming into rovers, antennas,
or more specialized service providers, as needed, and ultimately taking
off to return to the point of release.

**Methodology**: We have developed preliminary conceptual and physical
models of spacecraft and components and models of the interaction of
ANTS at the spacecraft level in order to determine hardware and software
requirements for typical operations driven by operating on a low gravity
surface to support a human crew.

**Discussion**: As in the other applications of the ANTS architecture,
movement would not employ wheels, which work best in a special
environment. Instead, the ANTS approach harnesses the effective
skeletal/ muscular system of the frame itself to enable more 'natural'
movement, effectively allowing 'flow' across a surface or into a
particular morphological form. As rovers, craft would be equipped for
exploring, prospecting, monitoring, as required. Craft could
individually or collectively form cylindrical or bowl shaped arrays to
act as antennas, for communication or astronomical observatories. The
architecture would also be useful in the construction of tools and
structures for human occupation of permanent bases. ANTS structures,
operating continuously or on demand, could be thus used for exploration,
reconnaissance, communication, navigation, transportation, construction,
permanent monitoring, or observation, protecting human crews and
facilitating their work.

**Conclusions:** The ANTS architecture is a promising approach for
supporting human crew activities on the surface of the Moon or Mars as
part of the new NASA iniative.

**Acknowledgment**: Support for this work has been provided through NASA
contract NAS5-99189, subcontract 0299189EER, with ITMI.

Return or Visit ANTS or LARA Web Page:

<http://ants.gsfc.nasa.gov/pamtest/website.html>

<http://ants.gsfc.nasa.gov/pamtest/lara.html>