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NASA NTRS2020

Maintenance-optimized Modular Robotic Concepts for Planetary Surface ISRU Excavators

Modular robotic concepts are identified and evaluatedover the design and operations/maintenance lifecycle forautonomous Lunar, Mars, and partial gravity planetary surfaceexcavation and in-situ earthworks equipment. In-Situ ResourceUtilization (ISRU) is the exploitation of available resources at thesite of a landed spacecraft on the surface of another planetary body.It is intended that this ISRU excavator concept be capable ofmaterial extraction from native regolith, and will be able to operatein a variety of planetary surface environments after initial shakedownon the moon. Using heritage from highly multi-functional,reconfigurable robotic systems like the All-Terrain Hex-LimbedExtra-Terrestrial Explorer (ATHLETE), Regolith AdvancedSurface Systems Operations Robot (RASSOR), and Marsexploration rovers, we propose a flexible maintenance-optimizedmobility platform concept with quick-connect/disconnect featuresfor robotically swappable excavation implements. Dust toleranttorque transmission, power & data docking, thermal fluidconnectors, and modular avionics and instrumentation will allow forautonomous swapping of tools, replacement of spares, and longtermmaintenance of robotic excavators. The architecture includesmodular tools for conventional excavate / scoop / haul / dump /process functions of a terrestrial mining operation on Earth, but alsowill have the capability to operate and robotically maintain itselfwithout human intervention. The concepts described in this studywill provide a suite of technologies, configurations, and operationsready for inclusion into a final flight-ready excavator system.

Schuler, Jason↗
NASA NTRS2022

Apollo Crew Loads Data Mining

INTRODUCTION Human exposure data to dynamic loads in spaceflight are sparse not only because very few crewmembers have flown in space, but also because much of the historic data is no longer readily available. Earth and Moon landings of the Apollo missions are unique and valuable for understanding human tolerance in water landing conditions for both short-duration and long-duration crewmembers as well as informing crew tolerance in standing postures during planetary landings. The goal of this task was to find relevant Apollo data to better understand human tolerance in these scenarios, in order to apply this knowledge to future missions. METHODS The goal of this task was to recover time history data from dynamic phases of flight from crewed Apollo missions. The first phase of the task was to search available records at JSC and other centers to locate the appropriate records at the National Archives in Fort Worth, TX. Once the possible data locations were located, it was planned that one researcher would travel to the National Archives in Fort Worth, TX to collect the relevant Apollo data. Once the data was retrieved, they would be digitized for future use and evaluation, and archived within the Human Physiology, Performance, Protection, and Operations (H-3PO) laboratory within the Human Health and Performance Directorate. These data would be used to assess the feasibility and acceptability of current standards and vehicle design requirements for lunar and Mars missions. Additionally, any medical monitoring required, or physiological changes noted in crewmembers based on dynamic loads would be documented for future use. RESULTS Relevant records were found at Ft. Worth, TX and College Park, MD using the National Archives Online Catalog. In addition to the online catalog, an Archives staff member was able to share an additional inventory list of NASA JSC records held in Ft. Worth, TX. Due to COVID-19, NASA has only recently allowed non-mission essential travel. In addition, the National Archives has also been closed to the public since March 2020. Because of this, travel to the National Archives to search records there has not been possible. CONCLUSION The findings include collections at the National Archives at both Ft. Worth, TX and College Park, MD that could possibly hold the data we are looking for. Unfortunately, the descriptions of each collection are very broad. Though we are hopeful that relevant data is stored in one of these collections, we cannot be sure that we will find what we are looking for. At this time, it is not clear when the Archives will reopen to the public or when NASA will allow travel. Travel to the Archives has been postponed, and will be reassessed at a future date.

T Reiber↗
NASA NTRS2016

Atmospheric Mining in the Outer Solar System: Outer Planet Orbital Transfer and Lander Analyses

Atmospheric mining in the outer solar system has been investigated as a means of fuel production for high energy propulsion and power. Fusion fuels such as Helium 3 (3He) and deuterium can be wrested from the atmospheres of Uranus and Neptune and either returned to Earth or used in-situ for energy production. Helium 3 and deuterium were the primary gases of interest with hydrogen being the primary propellant for nuclear thermal solid core and gas core rocket-based atmospheric flight. A series of analyses were undertaken to investigate resource capturing aspects of atmospheric mining in the outer solar system. This included the gas capturing rate, storage options, and different methods of direct use of the captured gases. While capturing 3He, large amounts of hydrogen and 4He are produced. Analyses of orbital transfer vehicles (OTVs), landers, and the issues with in-situ resource utilization (ISRU) mining factories are included. Preliminary observations are presented on near-optimal selections of moon base orbital locations, OTV power levels, and OTV and lander rendezvous points. For analyses of round trip OTV flights from Uranus to Miranda or Titania, a 10- Megawatt electric (MWe) OTV power level and a 200 metricton (MT) lander payload were selected based on a relative short OTV trip time and minimization of the number of lander flights. A similar optimum power level is suggested for OTVs flying from low orbit around Neptune to Thalassa or Triton. Several moon base sites at Uranus and Neptune and the OTV requirements to support them are also addressed.

lunar mission design↗
NASA NTRS2016

Atmospheric Mining in the Outer Solar System: Outer Planet Orbital Transfer and Lander Analyses

Atmospheric mining in the outer solar system has been investigated as a means of fuel production for high energy propulsion and power. Fusion fuels such as Helium 3 (3He) and deuterium can be wrested from the atmospheres of Uranus and Neptune and either returned to Earth or used in-situ for energy production. Helium 3 and deuterium were the primary gases of interest with hydrogen being the primary propellant for nuclear thermal solid core and gas core rocket-based atmospheric flight. A series of analyses were undertaken to investigate resource capturing aspects of atmospheric mining in the outer solar system. This included the gas capturing rate, storage options, and different methods of direct use of the captured gases. While capturing 3He, large amounts of hydrogen and 4He are produced. Analyses of orbital transfer vehicles (OTVs), landers, and the issues with in-situ resource utilization (ISRU) mining factories are included. Preliminary observations are presented on near-optimal selections of moon base orbital locations, OTV power levels, and OTV and lander rendezvous points. For analyses of round trip OTV flights from Uranus to Miranda or Titania, a 10-Megawatt electric (MWe) OTV power level and a 200-metric ton (MT) lander payload were selected based on a relative short OTV trip time and minimization of the number of lander flights. A similar optimum power level is suggested for OTVs flying from low orbit around Neptune to Thalassa or Triton. Several moon base sites at Uranus and Neptune and the OTV requirements to support them are also addressed.

rocket propulsion↗
NASA NTRS1988

Energy requirements for HE-3 mining operations on the Moon

At the present rate of world energy consumption (10 TW-y/y) and allowing for an equilibrium consumption of 20 to 30 TW-y/y in mid 21st century, we will exhaust economically recoverable fossil fuels in the next 50 to 60 years. We will then have to rely on nuclear (fission and fusion) and renewable energy to feed, warm, and protect the world's population. Fusion energy is expected to play an important role in the 21st century and there a 2 billion dollar per year research program to commercialize that energy resource. A serious problem with this is its reliance on the D-T fuel cycle which releases 80 percent of its energy in the form of neutrons. These neutrons cause significant radiation damage and induce large amounts of radioactivity. There is another fusion fuel cycle involving the isotopes of Deuterium and Helium-3 which, if configured properly, releases 1 percent or less of its energy in neutrons. Obviously, such a fuel would be preferred, but there is no large source of He-3 known to satisfy world energy needs. Fortunately, a very large source of He-3 was found on the Moon, implanted over the past 4 billion years by the solar wind. Recent analysis of Apollo and Luna data reveals that over a million tons of He-3 sit on the Moon's surface. The potential energy in this He-3 fuel is 10 times that contained in all the coal, oil, and natural gas on the Earth. The purpose of this paper is to examine the energy required to extract the He-3 from the lunar regolith.

Kulcinski, Gerald L.↗
NASA NTRS2017

Project RAMA: Reconstructing Asteroids Into Mechanical Automata

Many interesting ideas have been conceived for building space-based infrastructure in cislunar space. From O'Neill's space colonies, to solar power satellite farms, and even prospecting retrieved near earth asteroids. In all the scenarios, one thing remained fixed - the need for space resources at the outpost. To satisfy this need, O'Neill suggested an electromagnetic railgun to deliver resources from the lunar surface, while NASA's Asteroid Redirect Mission called for a solar electric tug to deliver asteroid materials from interplanetary space. At Made In Space, we propose an entirely new concept. One which is scalable, cost effective, and ensures that the abundant material wealth of the inner solar system becomes readily available to humankind in a nearly automated fashion. We propose the RAMA architecture, which turns asteroids into self-contained spacecraft capable of moving themselves back to cislunar space. The RAMA architecture is just as capable of transporting conventional-sized asteroids on the 10-meter length scale as transporting asteroids 100 meters or larger, making it the most versatile asteroid retrieval architecture in terms of retrieved-mass capability. This report describes the results of the Phase I study funded by the NASA NIAC program for Made In Space to establish the concept feasibility of using space manufacturing to convert asteroids into autonomous, mechanical spacecraft. Project RAMA, Reconstituting Asteroids into Mechanical Automata, is designed to leverage the future advances of additive manufacturing (AM), in-situ resource utilization (ISRU) and in-situ manufacturing (ISM) to realize enormous efficiencies in repeated asteroid redirect missions. A team of engineers at Made In Space performed the study work with consultation from the asteroid mining industry, academia, and NASA. Previous studies for asteroid retrieval have been constrained to studying only asteroids that are both large enough to be discovered, and small enough to be captured and transported using Earth-launched propulsion technology. Project RAMA is not forced into this constraint. The mission concept studied involved transporting a much larger approximately 50-meter asteroid to cislunar space. Demonstration of transport of a 50-meter-class asteroid has several ground-breaking advantages. First, the returned material is of an industrial, rather than just scientific, quantity (greater than 10,000 tonnes versus approximately10s of tonnes). Second, the "useless" material in the asteroid is gathered and expended as part of the asteroid's propulsion system, allowing the returned asteroid to be considerably "purer" than a conventional asteroid retrieval mission. Third, the infrastructure used to convert and return the asteroid is reusable, and capable of continually returning asteroids to cislunar space.

asteroids↗
NASA NTRS2005

Challenges in Predicting Planetary Granular Mechanics

Through the course of human history, our needs in agriculture, habitat construction, and resource extraction have driven us to gain more experience working with the granular materials of planet Earth than with any other type of substance in nature, with the possible exception being water. Furthermore, throughout the past two centuries we have seen a dramatic and ever growing interest among scientists and engineers to understand and predict both its static and rheological properties. Ironically, however, despite this wealth of experience we still do not have a fundamental understanding of the complex physical phenomena that emerge even as just ordinary sand is shaken, squeezed or poured. As humanity is now reaching outward through the solar system, not only robotic ally but also with our immediate human presence, the need to understand and predict granular mechanics has taken on a new dimension. We must learn to farm, build and mine the regoliths of other planets where the environmental conditions are different than on Earth, and we are rapidly discovering that the effects of these environmental conditions are not trivial. Some of the relevant environmental features include the regolith formation processes throughout a planet's geologic and hydrologic history, the unknown mixtures of volatiles residing within the soil, the relative strength of gravitation, ~d the atm9spheric pressure and its seasonal variations. The need to work with soils outside our terrestrial experience base provides us with both a challenge and an opportunity. The challenge is to learn how to extrapolate our experience into these new planetary conditions, enabling the engineering decisions that are needed right now as we take the next few steps in solar system exploration. The opportunity is to use these new planetary environments as laboratories that will help us to see granular mechanics in new ways, to challenge our assumptions, and to help us finally unravel the elusive physics that lie behind complex granular phenomena. Toward these goals, a workshop was held recently at NASA's John F. Kennedy Space Center, attracting over a hundred scientists and engineers from around the world and from a broad crosssection of scientific and engineering disciplines. This talk will provide an out-briefing from that workshop, communicating some of its early findings in regard to lunar and Martian exploration: (1) the requirements for working with granular materials, (2) the challenges that granular materials will pose, (3) the environmental conditions that affect granular mechanics, (4) instruments and measurements that are needed on the Moon and Mars to support granular material research, and (5) some of the possible research avenues that should be pursued.

Metzger, Philip T.↗
NASA NTRS2012

Project 5S: A Safe Stepping Stone into the Solar System

The human exploration program, at least in NASA, has been directed to move beyond the Moon and travel on a flexible path into the solar system. Reaching a Near-Earth Asteroid (NEA) is a major human space flight goal but such missions have tight times and life-support requirements that require huge steps from current capabilities. An objective between the Moon and a NEA is needed. Example interim objectives are the Lagrangian points in either the Sun-Earth or Earth-Moon (EM) system. The nearest of these points beyond the Moon is E-M L2. The Lagrangian points are empty (as far as we know). As objectives for human flight,it has been argued that they suffer from a lack of public interest and of meaningful objectives for astronaut operations. To provide a physical target, a robotic spacecraft could retrieve a small NEA and bring it to a Lagrangian or other nearer-Earth point to be accessed and utilized for human-mission objectives. This paper reports on the results of a recently completed study of an asteroid retrieval mission sponsored by the Keck Institute for Space Studies (KISS) at the California Institute of Technology. The study included an evaluation of potential targets, mission objectives, mission and system design, and potential capture mechanisms. The study concluded that, while challenging, there are no fundamental show stoppers and that such a mission would be possible with technology expected to be available in this decade. The final destination selected (for safety and mission operations) was high lunar orbit. Two options for target selection are considered: (i) retrieving a small (7 meter) NEA with a mass of order 500,000 kg, and (ii) taking a similar size boulder of a large known carbonaceous NEA. Several areas of technology and program requirements were identified, but the most important conclusion was that this approach enables meeting a goal of humans going to a NEA by the mid-2020s. The advantages and benefits for human exploration are considerable as are the advances that would be made in space-resource utilization and science for further exploration and development of the solar system. The combination of the robotic mission to move the asteroid and the human mission to go to its new destination and conduct astronaut operations there would provide a boost and purpose to human space flight.

asteroid retrieval↗
NASA NTRS2007

Human Space Exploration: The Moon, Mars, and Beyond

America is returning to the Moon in preparation for the first human footprint on Mars, guided by the U.S. Vision for Space Exploration. This presentation will discuss NASA's mission, the reasons for returning to the Moon and going to Mars, and how NASA will accomplish that mission in ways that promote leadership in space and economic expansion on the new frontier. The primary goals of the Vision for Space Exploration are to finish the International Space Station, retire the Space Shuttle, and build the new spacecraft needed, to return people to the Moon and go to Mars. The Vision commits NASA and the nation to an agenda of exploration that also includes robotic exploration and technology development, while building on lessons learned over 50 years of hard-won experience. Why the Moon? Many questions about the Moon's potential resources and how its history is linked to that of Earth were spurred by the brief Apollo explorations of the 1960s and 1970s. This new venture will carry more explorers to more diverse landing sites with more capable tools and equipment for extended expeditions. The Moon also will serve as a training ground before embarking on the longer, more difficult trip to Mars. NASA plans to build a lunar outpost at one of the lunar poles, learn to live off the land, and reduce dePendence on Earth for longer missions. America needs to extend its ability to survive in hostile environments close to our home planet before astronauts will reach Mars, a planet very much like Earth. NASA has worked with scientists to define lunar exploration goals and is addressing the opportunities for a range of scientific study on Mars. In order to reach the Moon and Mars within a lifetime and within budget, NASA is building on common hardware, shared knowledge, and unique experience derived from the Apollo Saturn, Space Shuttle and contemporary commercial launch vehicle programs. The journeys to the Moon and Mars will require a variety of vehicles, including the Ares I Crew Launch Vehicle, which transports the Orion Crew Exploration Vehicle, and the Ares V Cargo Launch Vehicle, which transports the Lunar Surface Access Module. The architecture for the lunar missions will use one launch to ferry the crew into orbit, where it will rendezvous with the Lunar Module in the Earth Departure Stage, which will then propel the combination into lunar orbit. The imperative to explore space with the combination of astronauts and robots will be the impetus for inventions such as solar power and water and waste recycling. This next chapter in NASA's history promises to write the next chapter in American history, as well. It will require this nation to provide the talent to develop tools, machines, materials, processes, technologies, and capabilities that can benefit nearly all aspects of life on Earth. Roles and responsibilities are shared between a nationwide Government and industry team. The Exploration Launch Projects Office at the Marshall Space Flight Center manages the design, development, testing, and evaluation of both vehicles and serves as lead systems integrator. A little over a year after it was chartered, the Exploration Launch Projects team is testing engine components, refining vehicle designs, performing wind tunnel tests, and building hardware for the first flight test of Ares I-l, scheduled for spring 2009. The U.S. Vision for Space Exploration lays out a roadmap for a long-term venture of discovery. This endeavor will inspire and attract the best and brightest students to power this nation successfully to the Moon, Mars, and beyond. If one equates the value proposition for space with simple dollars and cents, the potential of the new space economy is tremendous, from orbital space delivery services for the International Space Station to mining and solar energy collection on the Moon and asteroids. The Vision for Space Exploration is fundamentally about bringing the resources of the solar system within the economic sphere of humaind. Given the immense size of our solar system, the amount of available material and energy within it present an enormous economic opportunity.

Sexton, Jeffrey D.↗
NASA NTRS2012

NASA Tech Briefs, March 2012

The topics include: 1) Spectral Profiler Probe for In Situ Snow Grain Size and Composition Stratigraphy; 2) Portable Fourier Transform Spectroscopy for Analysis of Surface Contamination and Quality Control; 3) In Situ Geochemical Analysis and Age Dating of Rocks Using Laser Ablation-Miniature Mass Spectrometer; 4) Physics Mining of Multi-Source Data Sets; 5) Photogrammetry Tool for Forensic Analysis; 6) Connect Global Positioning System RF Module; 7) Simple Cell Balance Circuit; 8) Miniature EVA Software Defined Radio; 9) Remotely Accessible Testbed for Software Defined Radio Development; 10) System-of-Systems Technology-Portfolio-Analysis Tool; 11) VESGEN Software for Mapping and Quantification of Vascular Regulators; 12) Constructing a Database From Multiple 2D Images for Camera Pose Estimation and Robot Localization; 13) Adaption of G-TAG Software for Validating Touch and Go Asteroid Sample Return Design Methodology; 14) 3D Visualization for Phoenix Mars Lander Science Operations; 15) RxGen General Optical Model Prescription Generator; 16) Carbon Nanotube Bonding Strength Enhancement Using Metal Wicking Process; 17) Multi-Layer Far-Infrared Component Technology; 18) Germanium Lift-Off Masks for Thin Metal Film Patterning; 19) Sealing Materials for Use in Vacuum at High Temperatures; 20) Radiation Shielding System Using a Composite of Carbon Nanotubes Loaded With Electropolymers; 21) Nano Sponges for Drug Delivery and Medicinal Applications; 22) Molecular Technique to Understand Deep Microbial Diversity; 23) Methods and Compositions Based on Culturing Microorganisms in Low Sedimental Fluid Shear Conditions; 24) Secure Peer-to-Peer Networks for Scientific Information Sharing; 25) Multiplexer/Demultiplexer Loading Tool (MDMLT); 26) High-Rate Data-Capture for an Airborne Lidar System; 27) Wavefront Sensing Analysis of Grazing Incidence Optical Systems; 28) Foam-on-Tile Damage Model; 29) Instrument Package Manipulation Through the Generation and Use of an Attenuated-Fluent Gas Fold; 30) Multicolor Detectors for Ultrasensitive Long-Wave Imaging Cameras; 31) Lunar Reconnaissance Orbiter (LRO) Command and Data Handling Flight Electronics Subsystem; and 32) Electro-Optic Segment-Segment Sensors for Radio and Optical Telescopes.

Source record↗
DOE OSTI2025

Evaluating Short-warning Mitigation via Intentional Robust Disruption of a Hypothetical Impact of Asteroid 2023 NT1

We investigate various short-warning mitigation scenarios via fragmentation for a hypothetical impact of asteroid 2023 NT1, a near-Earth object (NEO) that was discovered on 2023 July 15, two days after its closest approach to Earth on July 13. The asteroid passed by Earth within ∼0.25 lunar distances, with a closest approach of ∼1 × 10 5 km and a velocity of 11.27 km s −1 . Its size remains largely uncertain, with an estimated diameter range of 26–58 m and a most probable estimate of 34 m (JPL Sentry, 2023 September 15; weighted by the NEO size frequency distribution). If 2023 NT1 had collided with Earth, it could have caused significant local damage. Assuming a spherical asteroid with a diameter of 34 m, uniform density of 2.6 g cm −3 , and impact velocity of 15.59 km s −1 , a collision would have yielded an estimated impact energy of ∼1.5 Mt, approximately 3 times the energy of the Chelyabinsk airburst in 2013. We analyze the effectiveness of mitigation via intentional robust disruption for objects similar to 2023 NT1. We utilize Pulverize It (PI), a NASA Innovative Advanced Concepts study of planetary defense via fragmentation, to model potential mitigation scenarios through simulations of hypervelocity asteroid disruption and atmospheric ground effects in the case of a terminal defense mode. Simulations suggest that PI is an effective multimodal approach for planetary defense that can operate in extremely short interdiction modes, in addition to long interdiction timescales with extended warning. Our simulations support the proposition that threats like 2023 NT1 can be effectively mitigated with intercepts of 1 day (or less) prior to impact, yielding minimal to no ground damage.

Asteroids↗
NASA NTRSDate not supplied

TRIDENT Drill Validation at Mars and Lunar Analog Field Sites

Drilling on Earth is typically a human-intensive activity. Drilling on other planets is further complicated by the lack of prior local field surveys of their target area, hence blindly drilling into uncertain target rocks. Field conditions on the Moon or Mars are also different than for shallow drilling on Earth: lower temperatures and pressures, less power available, low masses (hence less weight-on-bit). Given the cost of transport from Earth, no drilling muds or working fluids are likely to be available to carry away cuttings. And impact-gardened regolith and dust vary mechanically and texturally from most terrestrial soils. The Regolith and Ice Drill for Exploration of New Terrains (TRIDENT) is a rotary-percussive 1m-class drill from Honeybee Robotics. It is low-power (rotary and percussive actuators are 200 W each) and lightweight (<20 kg) with the maximum weight on bit limited to 200 N. TRIDENT has been manifested for the Volatiles Investigating Polar Exploration Rover (VIPER) and PRIME-1 lunar south pole missions in 2024, has previously been field tested at a hot, dry analog site in the Atacama Desert, and in lunar conditions in thermal vacuum chamber tests. TRIDENT was also part of the 2019 Icebreaker Mars Discovery proposal, as well as in the Mars Life Explorer concept. During ARADS tests, drill control and fault recovery automation software enabled hands-off operations of a rover-mounted TRIDENT drill. TRIDENT Drill Analog Site Validation: Past TRIDENT tests in thermal vacuum (TVAC) chambers targeted containers of manufactured lunar simulants with added volatiles. 2022 TRIDENT ambient testing at NASA Ames drilled into cemented lunar simulant materials. Low cuttings-permeability led to cuttings buildup, and drill choking and binding was observed. The Atacama analog site in ARADS had desiccated unconsolidated sediments that did not challenge the TRIDENT design. However, lunar polar regolith is expected to be diverse and heterogeneous with varying clast sizes, with abundant impactites and perhaps subsurface ice deposits. Neither the simulants nor Atacama testing had completely covered the TRIDENT-targeted field characteristics, motivating further analog tests prior to the planned lunar missions. To gain more insight into the behavior of the TRIDENT hardware in diverse impactites and subsurface ice, and to verify the software automation in that environment, in August 2023 TRIDENT was brought to Haughton Crater, a field analog site in the Canadian Arctic. In September 2023 the same drill was brought to the Bishop Tuff in southern California to verify whether drilling binding behaviors previously seen in lunar simulant testing would be observed in naturally occurring fine-grained massive layers. The ~22 Ma Haughton Crater impact structure is located at 75 ̊22’ N, 89 ̊41’ W, on northwestern Devon Island, Nunavut, Canada. Numerous deposits of pale-grey crater-fill polymictic impact-melt breccia are found within the crater with a typical thickness reaching ~125 m or greater and covering ~60 km -2 . An approximately 600m-thick permafrost layer is also present with ice typically found within 0.5-0.6m of the surface. The volcanic tableland north of Bishop, CA exposes densely welded tuff laid down during the eruption that created the Long Valley Caldera at approximately 0.76 Ma. Extensional faults and the Owens River gorge expose cross-sections across the plateau. The area is viewed as an analog site for Mars features believed to be of pyroclastic origin. Results: Haughton Crater.Drilling tests were conducted 8-13 August 2023 at a previously undisturbed area separated 5-10 m from past years’ Drill Hill test sites (75.4208, -089.7613). In six days, TRIDENT drilled 8 holes to nearly 1 m depth each, totaling 7.80 m. The active layer/ice boundary was at ~67 cm depth, with a total of approximately 2.4 m drilled into ice or ice-cemented impact breccia. During drilling, five drill fault states were observed and successfully recovered. Holes 23-1, 4 and 7 were drilled under manual control, using Honeybee’s Thorax user interface. Holes 23-5, 6, and 8 were drilled with the Ames IBexec automated drilling control software. TRIDENT was observed to have little difficulty in the thawed uncemented impact breccia above the active layer boundary, but required percussion to make slower headway in the ice-cemented breccia. In Hole 23-7 (Fig.1), drilling slowed down in a massive unit just above the active-layer boundary (perhaps a large rock extending into the ice-cementation?), with only 7cm progress made in 27 minutes of high auger torque and constant percussion, leading to a choking fault and then a binding fault. A similar pattern had been observed in TRIDENT Rio Tinto test data from 2017 [6] as well as in the 2022laboratory tests.Bishop Tuff.A team from NASA Ames and the US Geological Survey deployed the same TRIDENT drill to Bishop Sites 1B and 1C (37.4203, -118.4289; 37.4265, -118.4215) on 13-16 September 2023, on the Bishop Tuff plateau. A third drill site was used 17-18 September 2023(37.4598, -118.3667) in an abandoned pumice mine. Four holes (totaling 2.5m depth) were drilled into the fine-grained, meters-thick tuff units at Sites 1B and 1C, and a further two boreholes (totaling 1.98m depth) were made at the pumice site. Drill behavior in the tuff below 10 cm depth was similar to that seen at 65-74 cm depth in Haughton Hole 23-7 (Fig. 1) and that seen in the 2022 lab simulant drilling. Drill safety torque limits were exceeded multiple times resulting in drill stops downhole. These freezes then required external added torques (with a pipe wrench) to resume rotation, to unstick the drill for withdrawal. To prevent this choking and binding behavior we found that more-frequent cuttings removal was necessary, e.g., reducing the “drill bite” size from the nominal 10 cm to 2 cm per bite --bringing the auger up to the surface more frequently, as seen in Bishop Site 1C Hole 2 (Fig.2). This permitted slow progress without drill binding and without external interventions. Conversely, TRIDENT drilling in the more porous pumice target material showed no cuttings buildup issue, and single bites as large as 40 cm were demonstrated. Discussion: We observed that TRIDENT easily penetrated unconsolidated heterogeneous soils (both above the active layer boundary at Haughton and previously in the Atacama). Cemented or consolidated targets that were cuttings-permeable (icy impact breccia, pumice) required more energy applied and percussion. However, in non-cuttings-permeable targets (welded microporous tuff, cemented simulants, boulder) TRIDENT was observed to be prone to excessive cuttings accumulation leading to choking/binding faults and stalling. The wedge cutting bit, used by TRIDENT in field tests and in its flight versions, pulverizes the target rock and creates fine cuttings that ideally are transported up the auger spirals for removal. In porous, fractured or vesicular target materials (such as at the Bishop pumice site) a significant portion of the cuttings are pushed aside, but for non-fractured, microporous targets the cuttings remain in the borehole and accumulate. Rock powder is relatively incompressible as a working fluid at only 100-200N downward force (TRIDENT limits) and hence eventual drilling progress slows or stops. Our recommended strategy for improving TRIDENT cuttings removal in massive target units with low cuttings-permeability is to reduce TRIDENT bite sizes when encountering these units, from 10cm to as little as 1-2cm, to effectively bail the accumulating cuttings. This approach was demonstrated to reduce choking and allowed slow progress to continue in cuttings-impermeable microporous target units (viz. the Bishop tuff in our September 2023 tests or cemented simulants in 2022 ambient tests).

robotic drilling↗