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NASA NTRS2011

Lunabotics Mining Competition: Inspiration Through Accomplishment

NASA's Lunabotics Mining Competition is designed to promote the development of interest in space activities and STEM (Science, Technology, Engineering, and Mathematics) fields. The competition uses excavation, a necessary first step towards extracting resources from the regolith and building bases on the moon. The unique physical properties of lunar regolith and the reduced 1/6th gravity, vacuum environment make excavation a difficult technical challenge. Advances in lunar regolith mining have the potential to significantly contribute to our nation's space vision and NASA space exploration operations. The competition is conducted annually by NASA at the Kennedy Space Center Visitor Complex. The teams that can use telerobotic or autonomous operation to excavate a lunar regolith geotechnical simulant, herein after referred to as Black Point-1 (or BP-1) and score the most points (calculated as an average of two separate 10-minute timed competition attempts) will eam points towards the Joe Kosmo Award for Excellence and the scores will reflect ranking in the on-site mining category of the competition. The minimum excavation requirement is 10.0 kg during each competition attempt and the robotic excavator, referred to as the "Lunabot", must meet all specifications. This paper will review the achievements of the Lunabotics Mining Competition in 2010 and 2011, and present the new rules for 2012. By providing a framework for robotic design and fabrication, which culminates in a live competition event, university students have been able to produce sophisticated lunabots which are tele-operated. Multi-disciplinary teams are encouraged and the extreme sense of accomplishment provides a unique source of inspiration to the participating students, which has been shown to translate into increased interest in STEM careers. Our industrial sponsors (Caterpillar, Newmont Mining, Harris, Honeybee Robotics) have all stated that there is a strong need for skills in the workforce related to robotics and automated machines. In 2010, 22 United States (US) universities competed, and in May 2011 the competition was opened to international participation, with 46 Universities attending. There were 12 international teams and 34 US teams. This combined total directly inspired an estimated 544 university students. More students and the public were engaged via internet broadcasting and social networking media. This is expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith. More information is available at www.nasa.gov/lunabotics/.

Mueller, Robert P.↗
NASA NTRS2016

Optical Extinction Measurements of Dust Density in the GMRO Regolith Test Bin

A regolith simulant test bin was constructed and completed in the Granular Mechanics and Regolith Operations (GMRO) Lab in 2013. This Planetary Regolith Test Bed (PRTB) is a 64 sq m x 1 m deep test bin, is housed in a climate-controlled facility, and contains 120 MT of lunar-regolith simulant, called Black Point-1 or BP-1, from Black Point, AZ. One of the current uses of the test bin is to study the effects of difficult lighting and dust conditions on Telerobotic Perception Systems to better assess and refine regolith operations for asteroid, Mars and polar lunar missions. Low illumination and low angle of incidence lighting pose significant problems to computer vision and human perception. Levitated dust on Asteroids interferes with imaging and degrades depth perception. Dust Storms on Mars pose a significant problem. Due to these factors, the likely performance of telerobotics is poorly understood for future missions. Current space telerobotic systems are only operated in bright lighting and dust-free conditions. This technology development testing will identify: (1) the impact of degraded lighting and environmental dust on computer vision and operator perception, (2) potential methods and procedures for mitigating these impacts, (3) requirements for telerobotic perception systems for asteroid capture, Mars dust storms and lunar regolith ISRU missions. In order to solve some of the Telerobotic Perception system problems, a plume erosion sensor (PES) was developed in the Lunar Regolith Simulant Bin (LRSB), containing 2 MT of JSC-1a lunar simulant. PES is simply a laser and digital camera with a white target. Two modes of operation have been investigated: (1) single laser spot - the brightness of the spot is dependent on the optical extinction due to dust and is thus an indirect measure of particle number density, and (2) side-scatter - the camera images the laser from the side, showing beam entrance into the dust cloud and the boundary between dust and void. Both methods must assume a mean particle size in order to extract a number density. The optical extinction measurement yields the product of the 2nd moment of the particle size distribution and the extinction efficiency Qe. For particle sizes in the range of interest (greater than 1 micrometer), Qe approximately equal to 2. Scaling up of the PES single laser and camera system is underway in the PRTB, where an array of lasers penetrate a con-trolled dust cloud, illuminating multiple targets. Using high speed HD GoPro video cameras, the evolution of the dust cloud and particle size density can be studied in detail.

lunar simulant↗
NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30k-class robotic excavator. ISRU Pilot Excavator will be the next generation of robotic excavator to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops. The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1”(358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of the ISRU Pilot Excavator and can inform the design of future bucket drum excavators.

Jason Michael Schuler↗
NASA NTRSDate not supplied

Plume-Surface Interaction: Preliminary Observations from a Physics Focused Ground Test

Near surface operations conducted by spacecraft using rocket propulsion, such as during landing or the initial portion of ascent, may induce surface interactions that pose a risk to the spacecraft itself or nearby assets. NASA’s Space Technology Mission Directorate is conducting a multi-year project to mature the capability to predict plume-surface interactions (PSI) and reduce uncertainty through modeling, simulation, and ground testing. The Physics Focused Ground Test (PFGT), conducted in summer 2021, aimed to collect PSI data for plume, erosion, and ejecta physics to characterize PSI behaviors across a range of parameters relevant to the validation of computational modeling and with consideration to flight-relevant, though not flight-scale, environments. PFGT is a sub-scale, intrusive half-plane, inert-gas test conducted in a 15 foot-diameter vacuum chamber using a supersonic, heated, gaseous nitrogen plume. Tests were conducted with six regolith simulants, varying in complexity from spherical glass beads to BP-1 lunar soil simulant, and varied vacuum chamber ambient pressures to simulate Martian and lunar conditions. Nozzle height and mass flow rate were also varied to observe PSI behaviors and transitions of interest. Three high speed cameras captured crater formation and ejecta behavior during each test. An overview of this experiment is presented along with preliminary observations and analysis.

Wesley A Chambers↗
NASA NTRSDate not supplied

Millimeter Wave Doppler Radar Testing Using the Lunar Regolith Ejecta Simulator

A linear conveyor system has been devised to maintain lunar regolith simulant at a range of velocities, distances, angles, particle densities, and particle sizes. The Lunar Regolith Ejecta Simulator (LuRES) system shall test prototype and potential flight instrumentation for measuring the velocities of regolith particles accelerated by a plume-surface interaction (PSI) and determining effects of particle number densities and particle size distributions on return signals. Here we present the results of initial LuRES testing of the Millimeter Wave Doppler Radar (MWDR) instrument. The LuRES system held a single, ~900 µm BP-1 lunar regolith simulant particle at a continuous ~5 m/s velocity. The return signal of the MWDR from this LuRES configuration was analyzed to calibrate the MWDR instrument. Further testing is planned for the remaining of 2023 to calibrate the MWDR for various particle sizes and densities at a continuous velocity. These results will be presented in the final paper.

PSI↗
NASA NTRSDate not supplied

Development of the Dust Ejecta Radar Technology (DERT) to Determine Plume-Surface Interaction Ejecta Velocities on Planetary Surfaces

Here we present a novel use of millimeter wave doppler radar to measure the velocity of ejecta generated by the impingement of rocket plumes on a planetary surface. The Dust Ejecta Radar Technology (DERT) provides a unique dataset based on direct measurements of ejecta particle velocities during plume-surface interactions. DERT is a continuous wave (CW) 94 GHz radar unit that is being developed at Kennedy Space Center. DERT has measured velocities of a pendulum (~ 1 m/s), a rotating strip (60 m/s), projected regolith simulant BP-1 (~ 250 m/s) and rifle rounds (~ 820 m/s). Signal-to-Noise Ratios of up to 60 dB have been demonstrated. Data collected from DERT will inform the development of high-fidelity computational models of plume-surface interaction effects and will help address NASA Strategic Knowledge Gaps related to characterizing entry, descent and landing effects, and the risks associated with high-speed ejecta on the lander and lunar surface assets.

PSI↗
NASA NTRSDate not supplied

Development of the Dust Ejecta Radar Technology (DERT) to Determine Plume-Surface Interaction Ejecta Velocities on Planetary Surfaces

Here we present a novel use of millimeter wave doppler radar to measure the velocity of ejecta generated by the impingement of rocket plumes on a planetary surface. The Dust Ejecta Radar Technology (DERT) provides a unique dataset based on direct measurements of ejecta particle velocities during plume-surface interactions. DERT is a continuous wave (CW) 94 GHz radar unit that is being developed at Kennedy Space Center. DERT has measured velocities of a pendulum (~ 1 m/s), a rotating strip (60 m/s), projected regolith simulant BP-1 (~ 250 m/s) and rifle rounds (~ 820 m/s). Signal-to-Noise Ratios of up to 60 dB have been demonstrated. Data collected from DERT will inform the development of high-fidelity computational models of plume-surface interaction effects and will help address NASA Strategic Knowledge Gaps related to characterizing entry, descent and landing effects, and the risks associated with high-speed ejecta on the lander and lunar surface assets.

PSI↗
NASA NTRSDate not supplied

ISRU Pilot Excavator Wheel Testing in Lunar Regolith Simulant

The ISRU Pilot Excavator, or IPEx, is a robotic excavator funded by NASA’s Space Technology Mission Directorate (STMD). The Concept of Operations for IPEx involves the robot driving on the lunar surface up to 70 km at a speed of up to 30 cm/s. As such, it is critical to the mission’s success to optimize the design of the wheels for performance in lunar conditions, specifically in lunar regolith. To achieve this, an array of tests was completed to observe the effects of various wheel design choices on the driving performance of the wheels in lunar regolith simulant. In order to facilitate testing, we designed a 12” dia. configurable wheel to allow for interchangeability between various wheel formations. Two types of wheel parts were designed to be swapped: cleats, which form the tread of the wheel; and grousers, which protrude from the treads. The test variables that we considered were as follows: square vs. round wheel shape, solid vs. perforated cleats, cleat spacing, grouser height, and grouser spacing. By combining different settings of each of these test variables, ten discrete wheel designs were created and tested. The configurable test wheels were mounted on the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. In our experiments, the robot was driven at a controlled speed across a prepared surface of BP-1 lunar regolith simulant. Four types of tests were conducted: circle driving, straight driving, slope driving, and drawbar pull. The driving tests were chosen to mimic a variety of conditions in which IPEx may be expected to operate, and the drawbar pull test was chosen to provide a standard of comparison with existing wheel design literature. The circle and straight driving tests were each performed at different levels: for the circle driving test, the robot was driven at a constant linear speed and three different angular speeds, while for the straight driving test, the robot was driven at three different linear speeds. The data collected from these tests included the power usage from each of the wheels, measurements of the tread patterns left in the regolith surface, and the amount of slip the wheels experienced, which was calculated using data from an OptiTrack motion capture system. From the results of these experiments, we found that certain test variables were more significant than others in determining performance for each type of test, and no single wheel design clearly outperformed the others in all areas. The details of our findings will be discussed further in this paper. This data will be utilized to inform the design of the wheels for IPEx and can provide a basis for the design of wheels for future lunar terrain vehicles.

RASSOR↗