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NASA NTRSDate not supplied

The CheMin X-ray Diffractometer on MSL Curiosity: A Decade of Mineralogical Observations from Gale Crater, Mars

For more than a decade, the CheMin X-ray Diffraction instrument on the Mars Science Laboratory rover Curiosity has been returning quantitative mineralogical data from Gale crater, Mars. CheMin receives and analyzes sieved soil and powdered rock samples from Curiosity’s Sample Acquisition / Sample Processing and Handling (SA/SPaH) system. To date, 38 samples have been analyzed over the course of a 28 km transit. These samples document more than 600 vertical meters of flat-lying lacustrine, fluvial and aeolian sediments that comprise the lower part of the central mound of Gale crater (commonly called Mt. Sharp).The principal mineralogy of the sediments is basaltic, with evidence of early and late-stage diagenetic overprinting. The rocks in many cases preserve most of their primary mineralogy and sedimentary features, suggesting that they were never strongly heated or deformed. Using aeolian soil composition as a proxy for the composition of the deposited and lithified sediment, it appears that in many cases the diagenetic changes observed are principally isochemical. Exceptions to this include secondary nodules, calcium sulfate veining and rare alteration halos. A striking hematite-rich feature in lower Mt. Sharp called Vera Rubin Ridge is interpreted to be lake sediment diagenetically altered by silica-poor fluids. A surprising and as yet poorly understood observation is that nearly all of the 3.7 Gyr old sedimentary rocks analyzed to date are comprised of 25-50% X-ray amorphous material. Overall, this 600 m vertical section of sedimentary rock explored in lower Mt. Sharp documents a perennial shallow lake environment grading upward into alternating lacustrine/fluvial and aeolian environments. The mineralogical changes observed going up-section include a transition from trioctahedral to dioctahedral clay minerals and a transition from magnetite to hematite. More recently, in the last 150 m of section, CheMin has documented an overall decrease in clay minerals and increase in Fe3+ oxides and oxyhydroxides. The mineralogical changes observed in Gale crater may document the gradual drying out and oxidation of the martian hydrosphere.

CHEMIN↗
NASA NTRS1989

Robotic sampling system for an unmanned Mars mission

A major robotics opportunity for NASA will be the Mars Rover/Sample Return Mission which could be launched as early as the 1990s. The exploratory portion of this mission will include two autonomous subsystems: the rover vehicle and a sample handling system. The sample handling system is the key to the process of collecting Martian soils. This system could include a core drill, a general-purpose manipulator, tools, containers, a return canister, certification hardware and a labeling system. Integrated into a functional package, the sample handling system is analogous to a complex robotic workcell. Discussed here are the different components of the system, their interfaces, forseeable problem areas and many options based on the scientific goals of the mission. The various interfaces in the sample handling process (component to component and handling system to rover) will be a major engineering effort. Two critical evaluation criteria that will be imposed on the system are flexibility and reliability. It needs to be flexible enough to adapt to different scenarios and environments and acquire the most desirable specimens for return to Earth. Scientists may decide to change the distribution and ratio of core samples to rock samples in the canister. The long distance and duration of this planetary mission places a reliability burden on the hardware. The communication time delay between Earth and Mars minimizes operator interaction (teleoperation, supervisory modes) with the sample handler. An intelligent system will be required to plan the actions, make sample choices, interpret sensor inputs, and query unknown surroundings. A combination of autonomous functions and supervised movements will be integrated into the sample handling system.

Chun, Wendell↗
NASA NTRS2016

Micro Acoustic Resonant Chambers for Heating/Agitating/Mixing (MARCHAM)

A variety of applications require the mixing and/or heating of a slurry made from a powder/fluid mixture. One of these applications, Sub Critical Water Extraction (SCWE), is a process where water and an environmental powder sample (sieved soil, drill cuttings, etc.) are heated in a sealed chamber to temperatures greater than 200 degrees Celsius by allowing the pressure to increase, but without reaching the critical point of water. At these temperatures, the ability of water to extract organics from solid particulate increases drastically. This paper describes the modeling and experimentation on the use of an acoustic resonant chamber which is part of an amino acid detection instrument called Astrobionibbler [Noell et al. 2014, 2015]. In this instrument we use acoustics to excite a fluid- solid fines mixture in different frequency/Amplitude regimes to accomplish a variety of sample processing tasks. Driving the acoustic resonant chamber at lower frequencies can create circulation patterns in the fluid and mixes the liquid and fines, while driving the chamber at higher frequencies one can agitate the fluid and powder and create a suspension. If one then drives the chamber at high amplitude at resonance heating of the slurry occurs. In the mixing and agitating cell the particle levitation force depends on the relative densities and compressibility’s of the particulate and fluid and on the kinetic and potential energy densities associated with the velocity and pressure fields [Glynne-Jones, Boltryk and Hill 2012] in the cell. When heating, the piezoelectric transducer and chamber is driven at high power in resonance where the solid/fines region is modelled as acoustic transmission line with a large loss component. In this regime, heat is pumped into the solution/fines mixture and rapidly heats the sample. We have modeled the piezoelectric transducer/chamber/ sample using Mason’s equivalent circuit. In order to assess the validity of the model we have built and tested a variety of chambers. This paper describes the experimental results which are in general agreement with theory within the limitations of the modeling.

fluid particle interaction↗
NASA NTRS2016

The Rate of Dielectric Breakdown Weathering of Lunar Regolith in Permanently Shadowed Regions

Large solar energetic particle events may cause dielectric breakdown in the upper 1 mm of regolith in permanently shadowed regions (PSRs). We estimate how the resulting breakdown weathering compares to meteoroid impact weathering. Although the SEP event rates measured by the Cosmic Ray Telescope for the Effects of Radiation (CRaTER) on the Lunar Reconnaissance Orbiter (LRO) are too low for breakdown to have significantly affected the regolith over the duration of the LRO mission, regolith gardened by meteoroid impacts has been exposed to SEPs for approx.10(exp 6 yr. Therefore, we estimate that breakdown weathering's production rate of vapor and melt in the coldest PSRs is up to 1.8−3. 5 ×10(exp −7) kg/sq m/yr, which is comparable to that produced by meteoroid impacts. Thus, in PSRs, up to 10-25% of the regolith may have been melted or vaporized by dielectric breakdown. Breakdown weathering could also be consistent with observations of the increased porosity ("fairy castles") of PSR regolith. We also show that it is con- ceivable that breakdown-weathered material is present in Apollo soil samples. Consequently, breakdown weathering could be an important process within PSRs, and it warrants further investigation.

Meteoroid↗
NASA NTRS2014

Space Weathering of Olivine in Lunar Soils: A Comparison to Itokawa Regolith Samples

Regolith particles from airless bodies preserve a record of the space weathering processes that occurred during their surface exposure history. These processes have major implications for interpreting remote-sensing data from airless bodies. Solar wind irradiation effects occur in the rims of exposed grains, and impact processes result in the accumulation of vapordeposited elements and other surface-adhering materials. The grains returned from the surface of Itokawa by the Hayabusa mission allow the space weathering "style" of a chondritic, asteroidal "soil" to be compared to the lunar case. Here, we present new studies of space-weathered olivine grains from lunar soils, and compare these results to olivine grains from Itokawa. Samples and Methods: We analyzed microtome thin sections of olivine grains from the 20-45 micron fractions of three lunar soils: 71061, 71501 and 10084 (immature, submature and mature, respectively). Imaging and analytical data were obtained using a JEOL 2500SE 200kV field-emission scanning-transmission electron microscope equipped with a thin-window energy-dispersive x-ray spectrometer. Similar analyses were obtained from three Hayabusa olivine grains. Results and Discussion: We observed lunar grains showing a range of solar flare track densities (from <10(exp 9) to approx.10(exp 12)/sq cm). The lunar olivines all show disordered, highly strained, nanocrystalline rims up to 150-nm thick. The disordered rim thickness is positively correlated with solar flare track density. All of the disordered rims are overlain by a Si-rich amorphous layer, ranging up to 50-nm thick, enriched in elements that are not derived from the host olivine (e.g., Ca, Al, and Ti). The outmost layer represents impact-generated vapor deposits typically observed on other lunar soil grains. The Hayabusa olivine grains show track densities <10(exp 10)/sq cm and display disordered rims 50- to 100-nm thick. The track densities are intermediate to those observed in olivines in immature and submature lunar soils and indicate surface exposures of approx. 10(exp 5) years. The outermost few nanometers of the disordered rims on Hayabusa olivines are more Si-rich and Mg- and Fe-depleted relative to the cores of the grains and likely represent a minor accumulation of impact-generated vapors or sputter deposits. Nanophase Fe metal particles are less abundant in the Hayabusa rims compared to the rims on lunar grains. Conclusions: The Hayabusa and lunar olivine grain rims have widths and microstructures consistent with formation from atomic displacement damage from solar wind ions. The space weathering features in the Hayabusa grains are similar to those observed in olivines from immature to submature lunar soils. A major difference, however, is that the Hayabusa grains appear to lack the hypervelocity impact products (melt spherules, thick vapor deposits, and abundant nanophase Fe metal particles) that are common in lunar soil grains with a similar exposure history.

Keller, L. P.↗
NASA NTRS1991

Geochemistry of 2-4-mm particles from Apollo 14 soil (14161) and implications regarding igneous components and soil-forming processes

The present paper describes the compositional systematics of 381 particles analyzed from 14161, which was taken near the lunar module as part of the bulk sample. Attention is given to the distribution of lithologies, based on petrographic examination and compositions determined by INAA, and to implications of the compositions of polymict particles regarding igneous precursors and soil-forming processes. It was found that the most abundant particles are the impact-melt lithologies and regolith and fragmental breccias. The mean composition of the entire suite of 2-4-mm particles differs from that of the associated less-than-1-mm fines by having higher concentrations of incompatible trace elements and Na2O, and a lower concentration of CaO. There is a subset of regolith breccia particles and agglutinates in the 2-4-mm particles that have nearly identical compositions and Is/FeO similar to those of the less-than-1-mm fines. It is suggested that these particles are constructional products formed from the local regolith rather than comminuted fragments of ancient regolith breccias.

Jolliff, B. L.↗
NASA NTRS2011

Microwave Permittivity and Permeability Measurement on Lunar Soils

There has been interest in finding ways to process the lunar regolith since the early analyses of lunar samples returned from the Apollo moon missions. This fact has led to proposals for using microwaves to perform in-situ processing of the lunar soil to support future colonization of the moon. More recently, there has been speculation that the excellent microwave absorption of lunar soil came from the nanophase iron content in the regolith. The motivation for the present study was to begin obtaining a more fundamental understanding of the dielectric and magnetic properties of the regolith at microwave frequencies. A major objective of this study was to obtain information that would help answer the question about whether nanophase iron plays a major role in heating lunar soils. These new measurements over a wide frequency range can also determine the magnitude of the dielectric and magnetic absorption and if there are any resonant features that could be used to enhance processing of the regolith in the future. In addition, these microwave measurements would be useful in confirming that new simulants being developed, particularly those containing nanophase iron, would have the correct composition to simulate the lunar regolith. The results of this study suggest that nanophase iron does not play a major role in heating lunar regolith.

Barmatz, Martin↗
NASA NTRS2020

Adventures in Lunar Core Processing: Timeline of and Preparation for Opening of Core Sample 73002 for the ANGSA Program

The Apollo mission returned 382 kg of rocks, soil and core samples, which have helped to advance our knowledge of lunar science. Studies of these lunar samples are crucial for our understanding of the Moon’s geological evolution. Here, we present the meticulous process that involves preparing for, and ultimately opening, the unopened Apollo 17 drive tube: 73002,0, so that the next generation of lunar scientists can further our insight into the Moon’s history.

Krysher, C. H.↗
NASA NTRS1989

Soil developments in polar deserts: Implications for exobiology and future Mars missions

Chemical alterations, weathering, and diagenesis of soil profiles from the dry valleys of Antarctica were studied as analogs of regolith development for the Martian regolith. Chemical weathering processes play an important part in soil development within the dry valleys of Antarctica. A suite of core samples were studied which were taken within the valley floors in addition to samples taken in the vicinity of evaporite and brine ponds. Analysis of water soluable cations and anions from core samples were performed along with petrographic analysis of selected samples. It was shown that ionic transport processes operate primarily above the permafrost zone. Abundances of the water soluable ions reflect the nature of secondary minerals produced by evaporation and weathering. Chloride, calcium, and sodium abundances for soils from the cores within the North and South Forks of Wright Valley, reflect the secondary mineralogy of the soil columns. Calculations for Na, Ca, and Cl abundances reflect the appearance of halite and antarcticite. In areas where excess Ca is present, X-ray diffraction studies show the presence of gypsum. It is well known that the Martian surface conditions may be favorable for chemical weathering. Primary silicates would be expected to be reactive with any ground water. It seems likely that Martian subsurface water is available to assist in the weathering of the primary minerals. Such weathering could result in the formation of clays, sulfates, carbonates, hydrates, halides, and zeolites. The dry valley cores have shown that they maybe excellent analogs to weathering processes on the near-surface of Mars. Since movement of water within the near-surface region clearly results in chemical weathering, leaching, and salt formation in the dry valleys, similar processes are probably operating within the Martian regolith.

Gibson, Everett K., Jr.↗
NASA NTRS2013

Mineralogy and Elemental Composition of Wind Drift Soil at Rocknest, Gale Crater

The Mars Science Laboratory rover Curiosity has been exploring Mars since August 5, 2012, conducting engineering and first-time activities with its mobility system, arm, sample acquisition and processing system (SA/SPaH-CHIMRA) and science instruments. Curiosity spent 54 sols at a location named "Rocknest," collecting and processing five scoops of loose, unconsolidated materials ("soil") acquired from an aeolian bedform (Fig. 1). The Chemistry and Mineralogy (CheMin) instrument analyzed portions of scoops 3, 4, and 5, to obtain the first quantitative mineralogical analysis of Mars soil, and to provide context for Sample Analysis at Mars (SAM) measurements of volatiles, isotopes and possible organic materials.

Blake, D. F.↗
NASA NTRS1994

Lunar vertical-shaft mining system

This report proposes a method that will allow lunar vertical-shaft mining. Lunar mining allows the exploitation of mineral resources imbedded within the surface. The proposed lunar vertical-shaft mining system is comprised of five subsystems: structure, materials handling, drilling, mining, and planning. The structure provides support for the exploration and mining equipment in the lunar environment. The materials handling subsystem moves mined material outside the structure and mining and drilling equipment inside the structure. The drilling process bores into the surface for the purpose of collecting soil samples, inserting transducer probes, or locating ore deposits. Once the ore deposits are discovered and pinpointed, mining operations bring the ore to the surface. The final subsystem is planning, which involves the construction of the mining structure.

Introne, Steven D.↗
NASA NTRS2018

How Dielectric Breakdown May Contribute to the Global Weathering of Regolith on the Moon

Space weathering is an important process on airless bodies, and it must be considered when interpreting data from planetary missions. Previous work has shown that solar energetic particles may cause dielectric breakdown in regolith within permanently shadowed regions near the poles of the Moon. Here, we predict that dielectric breakdown weathering could have melted and/or vaporized 2 − 9% of gardened (i.e., thoroughly mixed) regolith at the equator and 5 − 11% near the poles. If so, then ∼ 3 − 10% of all gardened regolith on the Moon may have experienced dielectric breakdown, and this process must be considered when analyzing remote sensing data or soil samples returned by the Luna and Apollo missions.

Jordan, A P.↗
NASA NTRS2020

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly, part of the Sampling and Caching System on the Mars 2020 Rover, consists of multiple stations that together process sample tubes containing collected Martian material, either rock cores or soil samples, and prepares hermetically-sealed sample tubes for caching on the surface of Mars. There are 7 active degrees-of-freedom, as well as a large number of passive mechanisms within the Adaptive Caching Assembly that must operate in extreme Mars conditions (i.e., temperature and pressure). Hardware cleanliness requirements significantly drove design, assembly, and test operations of the Adaptive Caching Assembly, and were found to adversely affect hardware in some cases such that late design changes and revised cleanliness operations had to be implemented. While Adaptive Caching Assembly hardware was designed to accommodate dust, testing in a representative environment is important to validate functionality is not compromised.

Silverman, Milo↗
NASA NTRS2012

Pneumatic System for Concentration of Micrometer-Size Lunar Soil

A report describes a size-sorting method to separate and concentrate micrometer- size dust from a broad size range of particles without using sieves, fluids, or other processes that may modify the composition or the surface properties of the dust. The system consists of four processing units connected in series by tubing. Samples of dry particulates such as lunar soil are introduced into the first unit, a fluidized bed. The flow of introduced nitrogen fluidizes the particulates and preferentially moves the finer grain sizes on to the next unit, a flat plate impactor, followed by a cyclone separator, followed by a Nuclepore polycarbonate filter to collect the dust. By varying the gas flow rate and the sizes of various orifices in the system, the size of the final and intermediate particles can be varied to provide the desired products. The dust can be collected from the filter. In addition, electron microscope grids can be placed on the Nuclepore filter for direct sampling followed by electron microscope characterization of the dust without further handling.

McKay, David↗
NASA NTRS2004

Evidence for Differential Comminution/Aeolian Sorting and Chemical Weathering of Martian Soils Preserved in Mars Meteorite EET79001

Impact-melt glasses containing Martian atmospheric gases in Mars meteorite EET79001 are formed from Martian soil fines that had undergone meteoroid-comminution and aeolian sorting accompanied by chemical weathering near Mars surface. Using SiO2 and SO3 as proxy for silicates and salts respectively in Mars soils, we find that SiO2 and SO3 correlate negatively with FeO and MgO and positively with Al2O3 and CaO in these glasses, indicating that the mafic and felsic components are depleted and enriched relative to the bulk host (Lith A/B) respectively as in the case of Moon soils. Though the overall pattern of mineral fractionation is similar between the soil fines on Mars and Moon, the magnitudes of the enrichments/depletions differ between these sample-suites because of pervasive aeolian activity on Mars. In addition to this mechanical processing, the Martian soil fines, prior to impact-melting, have undergone acid-sulfate dissolution under oxidizing/reducing conditions. The S03 content in EET79001,507 (Lith B) glass is approx.18% compared to < 2% in EET79001, 506 (Lith A). SiO2 and SO3 negatively correlate with each other in ,507 glasses similar to Pathfinder soils. The positive correlation found between FeO and SO3 in ,507 glasses as well as Pathfinder rocks and soils is consistent with the deposition of ferric-hydroxysulfate on regolith grains in an oxidizing environment. As in the case of Pathfinder soils, the Al 2O3 vs SiO2 positive correlation and FeO VS S102 negative correlation observed in ,507 glasses indicate that SiO2 from the regolith is mobilized as soluble silicic acid at low pH. The large off-set in the end-member FeO abundance ( SO3=0) between Pathfinder soil-free rock and sulfur-free rock in ,507 glass precursors suggests that the soils comprising the ,507 glasses contain much larger proportion of fine-grained Martian soil fraction that registers strong mafic depletion relative to Lith B. This inference is strongly supported by the Al2O3 - SO3 negative correlation observed in both ,507 glasses and pathfinder soils. Furthermore, the flat MgO-SO3 correlation observed in the case of ,507 glasses shows that the solubilized MgSO4 is mobilized by the aqueous solutions leaving behind the rock-residue with approx.2-3% MgO. This value is similar to the approx.2% MgO found for the soil-free rock at the Pathfinder site. The EET79001 ,506 glasses, in contrast, show that Al2O3 and CaO positively correlate with SO3 indicating that Al is precipitated as amorphous hydroxysulfate at relatively high pH. The FeO - SO3 negative correlation observed in ,506 glasses yields an end-member FeO abundance of approx.21% for the sulfur-free rock, which is consistent with the 22% FeO deduced for the Viking soil-free rock. Further, the FeO and MgO negative correlation with S03 observed in ,506 glasses indicates that the divalent Fe and Mg released from ferromagnesian minerals by acid sulfate dissolution are mobilized away from the reaction sites as soluble sulfates under reducing environment. A similar negative correlation between FeO and SO3 and a positive correlation between Al2O3 and SO3 found in Viking soils suggest that they also had undergone acid-sulfate dissolution under relatively reducing conditions.

Rao, M. N.↗
NASA NTRS1994

Measuring track densities in lunar grains using image analysis

We have used digitized scanning electron micrographs and computer image analysis programs to measure track densities in lunar soil grains. Tracks were formed by highly ionizing solar energetic particles and cosmic rays. Back-scattered electron images produced suitable high contrast images for analysis. We used computer counting and measurement of area to obtain track densities. We found an excellent correlation with manual measurements for track densities below 1x10(exp 8) cm(exp -2). For track densities between 1x10(exp 8) to 1x10(exp 9) cm(exp -2) we found that a regression formula using the percentage area covered by tracks gave good agreement with manual measurements. Measurement of tract densities in lunar samples has been a very rewarding technique for measuring exposure ages and soil maturation processes. We have shown that we can reliably measure track densities in lunar grains using image analysis techniques. Automating track counting may allow application of this technique to important problems in regolith dynamics including the ratio of radiation exposure to reworking in various surface and core samples and in regolith breccias.

Blanford, G. E.↗
NASA NTRSDate not supplied

The Collection, Usage, and Preliminary Examination of the Apollo Sample Suite: Lessons for Artemis

Apollo Sample Collection and Usage: From 1969 to 1972 there were six Apollo missions to the surface of the Moon during which the astronauts collected 382 kg of rock and regolith (~2200 samples). The samples collected fall into these general categories: rocks (~66% by mass), rake samples (~4%), bulk regolith (~24%), and specialty regolith (deep drill cores, drive tubes, sealed bulk regolith) samples (~6%). In each category there are a variety of different subtypes available for study, e.g., among the bulk regolith samples there are also skim, trench, and (partially) shaded regolith samples each sampling unique types or depths of regolith. This variety of subsamples has enabled a multitude of different studies over the past 55 years (>3400 individual requests). We are still averaging ~50 unique requests and have allocated >500 individual Apollo samples annually for the past 10 years (2020 excepted). Looking at the 4,675 non-ANGSA (Apollo Next Generation Sample Analysis) samples allocated over the past 10 years, the proportions of allocated samples do not precisely align with the abundance (by mass) of those samples withing the collection: Rock (69.4 %); Rake (10.8 %); Bulk Regolith (15.5 %); Drive Tube (3.3 %); Core/Specialty (1.0 %). Apollo Preliminary Examination (PE): The PE process differs significantly for the various sample types enumerated above; we focus on regolith and rock samples here. During the Apollo mission era, the PE process evolved over the course of the missions; below is what was done for the Apollo 17 mission. For regolith samples, the PE process was: (1) documented bags containing regolith are opened, photographed, and described; (2) large rocks are removed and treated separately; (3) 25% to 33% of the bulk soil is scooped out, weighed, and stored in reserve; (4) the remaining sample is sieved to produce the size fractions <1, 1- 2, 2-4, and 4-10 mm, all of which are weighed. For rock samples, the process is: (1) removing rocks from the container(s) it came back from the Moon in; (2) rematching any materials that spalled off the rock to their original location; (3) numbering, weighing, and basic photographic documentation; (4) dusting with a gentle N2 gas jet; (5) Orthogonal photography; (6) detailed description of the textures and features of the rock; (7) rock modelling and measurement; (8) stereophotography; (9) determination of the orientation of the rock on the lunar surface. Drive tubes and deep drill cores were not characterized during PE beyond an initial weight and a sketch of the interior tube materials derived from 2D medical X-ray images. Catalogs: The ongoing utility of the Apollo samples is enabled by the robust cataloguing process for the samples [3-5], which allows the scientific community to accurately request samples uniquely suited to their proposed studies. A common misconception, however, is the amount of detail that goes into the initial catalog (e.g., [6]) for a collection from the preliminary examination (PE) period, versus what goes into the catalogs that come later in the life cycle of the samples from that mission (e.g., [7]). The only required data for a PE catalog is a weight, a basic photograph, and a description of the nature of the sample. Artemis PE: Over the past few years, the ongoing ANGSA project studied previously unopened Apollo 17 double drive tube samples 73001/2 [1], and a PE of the drive tubes was done. The PE took the existing core dissection process (developed during PE of Apollo cores in the 1970s, 1980s), and modernized it [7]. The main lesson from the ANGSA PE relative to future missions was that the physical work done during PE of lunar samples has not changed much over the past 5 decades. The use of “modern” technology during PE (e.g., XCT; multispectral analyses) resulted in an enhanced initial understanding of the 73001 and 73002 drive tubes, but greatly increased the time required. The lessons learned from recent astromaterial PEs (e.g., ANGSA and OREx) are important to consider when planning for Artemis, but the unique nature of the Artemis Campaign means many lessons learned from these mission will not be applicable. Given the time constraints (6 months) and likely number of samples that will be returned by Artemis (>200), the Artemis PE catalog will necessarily look much more like [4] than [6].

J Gross↗
NASA NTRS2011

Lunar Wormbot: Design and Development of a Ground Base Robotic Tunneling Worm for Operation in Harsh Environments

From 1969 to 1972, the National Aeronautics and Space Administration (NASA) sent Apollo missions to the moon to conduct various exploration experiment. A few of the missions were directed to the study and sampling of moon soil, otherwise known as lunar regolith. The extent of the sample acquisition was limited due to the astronauts' limited ability to penetrate the moon's surface to a depth greater than three meters. However. the samples obtained were sufficient enough to provide key information pertaining to lunar regolith material properties that would further assist in future exploration endeavors. Analysis of the collected samples showed that the properties of lunar regolith may lead to knowledge of processed materials that will be beneficial for future human exploration or colonization. However, almost 40 years after the last Apollo mission, limited infonnation is known about regions underneath the moon's surface. Future lunar missions will require hardware that possesses the ability to burrow to greater depths in order to collect samples for subsequent analysis. During the summer of 2010, a team (Dr. Jessica Gaskin, Michael Kuhlman. Blaze Sanders, and Lafe Zabowski) from the NASA Robotics Academy at Marshall Space Flight Center (MSFC) was given the task of designing a robot to function as a soil collection and analysis device. Working with the National Space Science and Technology Center (NSSTC), the team was able to propose an initial design, build a prototype, and test the various subsystems of the prototype to be known as the "Lunar Wormbot" (LW). The NASA/NSSTC team then transferred the project to a University of Alabama in Huntsville (UAH) Mechanical and Aerospace Engineering (MAE) senior design class for further development. The UAH team was to utilize the NASA Systems Engineering Engine Design Process in the continuance of the Lunar Wormbot project. This process was implemented in order to coordinate the efforts of the team and guide the design of the project to ensure a high quality product that met requirements within the academic year timeframe. When the transition from the NASA NSSTC team to the UAH team occurred in August 2010, the scope and requirements were provided to the UAH team. The main objective for the UAH team was to design and fabricate a robotic burrowing prototype using peristaltic or earthworm-like motion with the purpose of collecting soil samples. The team was tasked with the design of a sub-system of the LW called the locomotive, or active, segment. Through the design process, the team extensively reviewed the requirements and functions to be performed of the LW, which led to the proposal of a final design. The present paper provides the details of the development of the design up to and including the Critical Design Review (CDR) of the Lunar Wormbot. This document briefly describes thc overall system and its function but primarily focuses on the design and implementation of the locomotive segment. Content presented includes: general design and system functionality, technical drawings, system analysis, manufacturing methods, and general project costs.

Boyles, Charles↗