I was the Lead Mobility Engineer on NASA's Lunar Terrain Vehicle- Ground Test Unit (LTV GTU). The LTV-GTU is a feature-rich ground test vehicle designed to be reconfigurable for ground testing and conceptual operations development for various NASA and contractor payloads. As the Lead Mobility Engineer I was responsible for the architecture, design, manufacturing, integration, and testing of the vehicles mobility system. I was the sole designer of the propulsion actuators and wheels and completed the final 20% of design work on the suspension and steering actuators and pushed them through manufacturing. The vehicle consists of 4 identical wheel modules. Each wheel module has two propulsion actuators, a non-backdrivable steering actuator, and a non-backdrivable suspension actuator. The propulsion actuator is comprised of 2x Parker frameless BLDC motors driving a 3 stage modified COTS planetary geartrain. Commutation is provided by a resolver integrated on the front of the motor rotor. The steering actuator utilizes a Parker framless BLDC motor, driving a 2 stage modified COTS planetary geartrain that in turn drives a 50:1 worm gear to achieve non-backdrivability. Commutation is provided by a resolver integrated on the back of the motor, absolution position is achieved with a Zettlex inductive encoder. This actuator contains a cascading rotary hard-stop that allows the actuator to have hard-stops at both ends of travel with 600 degrees of output rotation. This cascading hard-stop technology is undergoing review by the NASA Technology Transfer Office to pursue at patent. The suspension actuator utilizes a Parker frameless BLDC motor driving a custom 4:1 planetary geartrain that is housed inside of the flex-spline of a Harmonic Drive gearset. This drives a 50:1 worm gear to achieve non-backdrivability. I also designed the vehicles avionics boxes which integrated 6x Elmo motor controllers, custom bus bars, low voltage control devices, and over-voltage shunt resistor. There is one avionics box per wheel module installed in the chassis towers and the boxes are designed to be water resistant.