Engineering topics
Howe, A S
Publications and source records attributed to Howe, A S.
Compressed CO2 Hard Rock Drill for Mars
We have developed a down-the-hole (DTH) rotary-percussive drill prototype that could operate on compressed Mars atmospheric CO2 gas with a wireline drilling approach. This technology addresses a need for more aggressive sampling and drilling techniques, for both scientific purposes and to obtain In-Situ Resource Utilization (ISRU) resources for future NASA missions and human crew support. Using a spool of lightweight, high-pressure capillary, a DTH drill assembly would be moved in and out of the hole that could be a kilometer or more in depth. The CO2 drill is designed so that Mars atmospheric CO2 could be collected, compressed, and supplied down the hole and routed through microducts, valves, and reservoirs for the purpose of controlling miniature mechanical actuation in the assembly. By using compressed CO2, the drill system avoids the need for heavy electrical cabling and actuator systems or a liquid media for carrying away particulates as is typically used in terrestrial drilling systems. Instead, the liquid CO2 that powers the drill expands to a gas and could be channeled around the drill housing to carry cuttings to be collected in a bailing bucket. Where terrestrial systems often use drill depth vs time as a metric, a Mars drilling system would need to be extremely low mass, but would have no need to perform under tight schedules. In this paper, we will document our trade studies, progression for the design of microduct logic verified through multiple generations of prototypes, and provide predictive performance data on energy consumption, hole depth, and drill time.
Compressed CO2 Hard Rock Drill for Mars
We have developed a down-the-hole (DTH) rotary-percussive drill prototype that could operate on compressed Mars atmospheric CO2 gas with a wireline drilling approach. This technology addresses a need for more aggressive sampling and drilling techniques, for both scientific purposes and to obtain In-Situ Resource Utilization (ISRU) resources for future NASA missions and human crew support. Using a spool of lightweight, high-pressure capillary, a DTH drill assembly would be moved in and out of the hole that could be a kilometer or more in depth. The CO2 drill is designed so that Mars atmospheric CO2 could be collected, compressed, and supplied down the hole and routed through microducts, valves, and reservoirs for the purpose of controlling miniature mechanical actuation in the assembly. By using compressed CO2, the drill system avoids the need for heavy electrical cabling and actuator systems or a liquid media for carrying away particulates as is typically used in terrestrial drilling systems. Instead, the liquid CO2 that powers the drill expands to a gas and could be channeled around the drill housing to carry cuttings to be collected in a bailing bucket. Where terrestrial systems often use drill depth vs time as a metric, a Mars drilling system would need to be extremely low mass, but would have no need to perform under tight schedules. In this paper, we will document our trade studies, progression for the design of microduct logic verified through multiple generations of prototypes, and provide predictive performance data on energy consumption, hole depth, and drill time.
ATHLETE Offloader Limb as a High-capacity Crane
A new concept for the NASA Jet Propulsion Laboratory (JPL) All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic constructor / mobility system employs tendon-driven actuation of individual limbs, similar to high-capacity cranes in terrestrial work environments, that can offload cargo from tall landers. While maintaining mechanical joints that allow each limb to function as a highly dexterous multi-Degree-Of-Freedom (DOF) robotic arm, tendon-driven truss sections increase the capacity of moment loads for extended configurations of the limb. The tendon-driven crane-like limb will be capable of offloading cargo from tall landers such as the SpaceX Starship. This paper describes the structural analysis, operations, calibration, and actuation of limbs designed to address specific target load cases that might be required for human exploration missions on planetary surfaces.
High-capacity ATHLETE Offloader Mobility Constructor Concept for Human Surface Exploration
Using cross-cabled, winch-tendon four-bar frames, a new Artemis-class ATHLETE system is a multi-limbed robotic mobility platform that is designed for surface traverse, precision placement, and offloading of heavy habitats and other large human exploration payloads from high-decked landers. Building upon lessons learned from the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system developed for Constellation Lunar Surface Systems and Evolvable Mars Campaign, a high-capacity articulated crane / lift vehicle concept has been devised that would be equipped with multi-limb six-degree-of-freedom dexterity for a variety of tasks supporting planetary surface human exploration missions and outposts. The Artemis-class ATHLETE vehicle would use any combination of three to six wheel-onlimb combinations to provide a wide “outrigger” stance to transfer loads from a high center-of-gravity on sloped terrain to low stable carry configurations for long-distance traverses, and be capable of precision docking of payloads to previously positioned elements. The new vehicle concept improves upon previous Constellation-class ATHLETE versions by allowing modular hot-swapping of individual limbs to improve maintenance and flexibility. The extreme-capacity independent limbs can individually function as single cranes, and can be delivered separately via multiple lander manifests for later congregation into self-driving “Tri-ATHLETE” vehicles after delivery to the surface. This paper provides mission architecture targets and vehicle masses for stepped payload capacity values in Earth, Mars, and Lunar gravity environments, and discusses a variety of swappable tools, including wheeled mobility attachments, grippers, excavation tools, repair fixtures, ISRU extraction, winches, block & tackle rigging combinations, 3D printheads, and construction aids.