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\begin{document}

\title{The Gandalf Staff: A Mobile Tool for Lunar Exploration}



\author[1,1]{Michael Evans}%
\author[1,1]{John Bacon}%
\author[1,1]{Lee Graham}%
\author[2,2]{Matthew Leonard}%
\author[3,3]{Michael Zanetti}%
\author[4,4]{Joseph Morgan}%
\author[5,5]{Christopher Harris}%
\affil[1]{NASA Johnson Space Center}%
\affil[2]{Texas Space Technology Applications \& Research (T STAR)}%
\affil[3]{NASA Marshall Space Flight Center}%
\affil[4]{Texas A\&M University}%
\affil[5]{Jacobs Technology, Inc.}%


\vspace{-1em}



  
  \date{June 10, 2024}


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\begin{abstract}
The Gandalf Staff is a mobile tool designed to be a flexible device
supporting crewed and uncrewed operations on the lunar surface. The core
of the device is a 24v battery with communications and data storage
systems. Initial optional components supporting crewed Extra-Vehicular
Activity (EVA) include a LiDAR and 360@ \selectlanguage{english}camera. These provide 3D mapping
of the traverse for documentation, and to aid future planning. The
mapping also creates outreach opportunities for the public to ``stand
beside'' the astronaut in Virtual Reality (VR). The staff provides
external lighting for field site illumination in the south polar region
low sun angle environment. Navigation instruments for crew position
determination with Lunar Search and Rescue (LunaSAR) are also included.
The staff itself can be used as a walking aid or as a splint for
Incapacitated Crew Rescue (ICR). As a stand-alone device, the staff
operates as a long duration untended science platform collecting
environmental data and sending it to a lunar base station. The
stand-alone mode requires connection to an auxiliary power source (e.g.
solar array) and energy storage system (e.g. battery), so it could
become an electrical recharging station. To make rapid progress in the
1\textsuperscript{st} year, and also to demonstrate innovative project
management techniques, NASA guided a private industry partner, T STAR,
in leading Capstone Engineering student teams at Texas A\&M University
(TAMU) for proof-of-concept development and testing. These teams
developed the power system and demonstrated successful integration of
LiDAR, WiFi communications, and external lighting subsystems. Another
industry team at Jacobs Technology prototyped a tripod to hold the staff
upright. For the 2\textsuperscript{nd} year (FY'22), NASA will again
collaborate with partners to prototype enhanced power and lighting
concepts. Year 2 will also add new capability for LunaSAR and
geophysical science instrumentation using a heat probe. The heat probe
is based upon Apollo heritage but modified to measure subsurface
volatile ice regimes at the Artemis landing site. Components of the
Gandalf Staff can be developed, tested, and deployed independently, or
on the integrated staff, rovers, or utility trailers. The project
supports crew safety, lunar sample curation, mission science, and public
outreach goals of NASA.%
\end{abstract}%



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