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Lunar and Martian soil mechanics - soil shear strength and penetration resistance under high vacuum, and composition of desorbed gases from heated soil samples
Cone penetration resistance tests on granular lunar soil simulants for in-place shear strength and packing characteristics under various gravity conditions
Testing in relevant environments is key to exploration mission hardware development. This is true on both the component level (in early development) and system level (in late development stages). During ISRU missions the hardware will interface with the soil (digging, roving, etc) in a vacuum environment. A relevant test environment will therefore involve a vacuum chamber with a controlled, conditioned simulant bed. However, in earth-based granular media, such as lunar soil simulant, gases trapped within the material pore structures and water adsorbed to all particle surfaces will release when exposed to vacuum. Early vacuum testing has shown that this gas release can occur violently, which loosens and weakens the simulant, altering the consolidation state. The Vacuum Facility #13, a mid-size chamber (3.66m tall, 1.5m inner diameter) at the NASA Glenn Research Center has been modified to create a soil mechanics test facility. A 0.64m deep by 0.914m square metric ton bed of lunar simulant was placed under vacuum using a variety of pumping techniques. Both GRC-3 and LHT-3M simulant types have been used. An electric cone penetrometer was used to measure simulant strength properties at vacuum including: cohesion, friction angle, bulk density and shear modulus. Simulant disruptions, caused by off gassing, affected the strength properties, but could be mitigated by reducing pump rate. No disruptions were observed at pressures below 2.5Torr, regardless of the pump rate. However, slow off gassing of the soil lead to long test times, a full week, to reach 10-5Torr. This work highlights the need for robotic machine-simulant hardware and operations in vacuum to expeditiously perform (sub-)systems tests.
The physical and mechanical properties of the lunar soil, as determined by Luna 16 and Lunokhod 1 experiments, are discussed. Data are included for interactions between vehicle wheels and the lunar soil, compressibility, resistance to penetration, and friction characteristics of the soil. The shear strength of the returned lunar soil for various bulk densities is also examined. Several potential spacecraft materials were tested in contact with lunar soil to determine their friction and wear characteristics.
DOMEX (Drilling on the Moon and Mars in Human Exploration) is using analog missions to develop the approach for using human crews to perform science activities on the Moon and Mars involving exploration and sampling of the subsurface. Subsurface science is an important activity that may be uniquely enabled by human crews. DOMEX provides an opportunity to plan and execute planetary mission science activities without the expense and overhead of a planetary mission. Objectives: The objective of this first in a series of DOMEX missions were to 1) explore the regional area to understand the geologic context and determine stratigraphy and geologic history of various geologic units in the area. 2) Explore for and characterize sites for deploying a deep (10 m depth) drilling system in a subsequent field season. 3) Perform GPR on candidate drill sites. 4) Select sites that represent different geological units deposited in different epochs and collect soil cores using sterile procedures for mineralogical, organic and biological analysis. 5) Operate the MUM in 3 different sites representing different geological units and soil characteristics. 6) Collect rock and soil samples of sites visited and analyze them at the habitat. Results: At mission start the crew performed a regional survey to identify major geologic units that were correlated to recognized stratigraphy and regional geologic maps. Several candidate drill sites were identified. During the rest of the mission, successful GPR surveys were conducted in four locations. Soil cores were collected in 5 locations representing soils from 4 different geologic units, to depths up to 1m. Soil cores from two locations were analyzed with PCR in the laboratory. The remainder were reserved for subsequent analysis. XRD analysis was performed in the habitat and in the field on 39 samples, to assist with sample characterization, conservation, and archiving. MUM was deployed at 3 field locations and 1 test location (outside the habitat) where it operated autonomously for 2-4 hours at each site. Depths achieved ranged from 15 to 70 cm depending on the soil compressive strength and the presence and depth of subsurface indurated layers. Subsurface samples weighing 0.5 to 1 g were collected at the deepest depth encountered at each of the sites using the MUM automated sample collection system, and subsequently analyzed with XRD. Downhole inspection of holes produced by MUM with the Raman spectrometer was acquired on two of the holes and spectral features associated with selenite were identified in specific soil layers. Previously unreported fossilized remains of vertebrate fauna from the Jurassic era were discovered during our mission. Analysis of mineral biomarkers associated with this discovery are underway.
Abstract The overall performance of the simulated seasonal precipitation response to local terrestrial forcings, namely vegetation abundance and soil moisture, in the Sahel among the Coupled Model Intercomparison Project Phase Five (CMIP5) Earth System Models (ESMs) is systematically investigated and compared with its observational counterpart using a multivariate statistical method. The observed seasonal precipitation response is evaluated against a large ensemble of observational, reanalysis, and satellite data sets to provide quantification of uncertainties. The behaviour of models with and without a Dynamic Global Vegetation Model (DGVM) component is also explored, along with the mechanisms responsible for terrestrial feedback on rainfall. In general, the CMIP5 models can reasonably capture the seasonal evolution of Sahel precipitation and soil moisture, albeit with wet biases during the pre‐monsoon period and dry biases during the peak monsoon period. The non‐DGVM ESMs simulate comparable leaf area indices (LAIs) with observations, while DGVM‐enabled ESMs simulate too much year‐round LAI. The variance of precipitation that is attributed to oceanic forcings in CMIP5 is comparable with observations; however, the variance of precipitation that is attributed to terrestrial forcings is smaller in CMIP5 models than observed, especially for non‐DGVM ESMs. CMIP5 models, especially those without DGVMs, undervalue precipitation's observed response strength to soil moisture anomalies. In both observations and CMIP5 models, none of the atmospheric variables show significant responses to direct vegetation forcing, except for the response in transpiration. Although vegetation has minimal direct effect on the atmospheric state, it can affect the atmosphere by modifying soil moisture and transpiration rate indirectly, which helps explain the more realistic simulation of rainfall in DGVM‐enabled ESMs than non‐DGVM ESMs. Coupling of an ESM to a DGVM is critical in generating reasonable land–atmosphere feedback and examining future ecological and climatic changes over the Sahel.
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Previous research explored the applicability of some devices to lunar borehold testing and, in particular, examined the use of such instruments to assess the strength of soils and rocks. Special attention was given to borehole jacks, which essentially conduct a plate bearing test across opposing wall areas. Analytical work employed finite element analysis, the theory of plasticity, and the theory of elasticity using the complex variable method. A number of solutions were reached for tractable subproblems in the set of problems posed when a jack is used to expand sectors of a borehole. In addition, an investigation with physical models was made to explore the modes of behavior for varying boundary conditions and materials, including both elastic and plastic media.
Brief description of a joint program undertaken near Austin and San Antonio, Tex., to detect the presence of subsurface voids such as caverns and tunnels by microwave radiometry. Mi crowave radiometric temperature measurements using both vertical and horizontal polarization were taken with fixed-view angle traverses across three sites at two locations. No unambiguous correlation between the microwave temperature contours and the subsurface voids was observed at either location, but a correlation between microwave temperature and moisture patterns was observed at both locations. The large microwave temperature anomalies observed at all three sites indicated a sensitivity to near-surface structure and moisture distribution. A close correlation was noted between low soil-bearing strength values and the tunnel location at the San Antonio site.
A cost effective thermal storage system for a solar central receiver power system using molten salt stored in internally insulated carbon steel tanks is described. Factors discussed include: testing of internal insulation materials in molten salt; preliminary design of storage tanks, including insulation and liner installation; optimization of the storage configuration; and definition of a subsystem research experiment to demonstrate the system. A thermal analytical model and analysis of a thermocline tank was performed. Data from a present thermocline test tank was compared to gain confidence in the analytical approach. A computer analysis of the various storage system parameters (insulation thickness, number of tanks, tank geometry, etc.,) showed that (1) the most cost-effective configuration was a small number of large cylindrical tanks, and (2) the optimum is set by the mechanical constraints of the system, such as soil bearing strength and tank hoop stress, not by the economics.
A new generation of lunar surface rover exploration is rapidly approaching. This is evidenced by the rise of commercially developed rovers from private companies (e.g., Lunar Outpost’s MAPP) and government agencies, like NASA’s Volatiles Investigating Polar Exploration Rover (VIPER), the Lunar Terrain Vehicle (LTV), and the Endurance/Intrepid rover concepts, and the INSPIRE mission concept. The drive distance requirements for off-world vehicles are also rapidly increasing. For example, LTV driving requirements dictate a 20 km range on a single battery charge, with an overall lifetime requirement of 13,000 km over a minimum 10-year service life. Similarly, NASA's Endurance-A mission concept requires a 2000 km vehicle traverse distance, which is nearly 50 times further than the USSR's Lunokhod 2, the longest lunar rover mission to date. Previous planetary surface missions on the Moon and Mars have revealed harsh mobility conditions: aggressive rocky terrains on Mars severely damaged the Curiosity rover’s wheels, soft lunar regolith caused the Lunokhod 2 rover to sink and NASA’s Apollo 15 LRV (Lunar Roving Vehicle) spun out due to poor traction, which required manual correction. This demonstrates that mobility challenges like wheel degradation and soft soil driving performance must be accounted for in a mission’s design phase to meet increasingly aggressive mission durations and mobility goals. The success of these long duration missions requires highly reliable and durable mobility platforms in conjunction with a more developed understanding of the geotechnical properties of the lunar surface. The VIPER mission is uniquely posed to inform future missions about mobility performance, wheel durability, and lunar surface soil mechanics of sunlit and shadowed regions through use of data streams that already exist for other mission purposes. VIPER’s mission to the lunar south pole will provide a new perspective into off-world mobility challenges including traversal into permanently shadowed regions. Mobility data from VIPER’s mission will represent a first glimpse into the surface mobility challenges of the lunar South Pole. Utilization of VIPER’s existing capabilities including cameras, inertial measurement unit (IMU) data, motor currents/torque, drill data, and the rover’s suspension state and kinematics provide the opportunity to determine potentially useful information for future rover and traverse designs, as well as on-Earth testing practices. Data products collected during VIPER’s mission could inform design considerations for the Endurance rover much earlier than NASA’s standard “lessons learned” approach as VIPER has a highly tactical mission operations structure. This work outlines the specific links between possible data products from the VIPER mission and their potential impact on the Endurance/Intrepid mission concepts in their early design phases. From VIPER, we will also gain insights for future development of onboard mobility software as VIPER is a way-point driven rover which requires more constant human operation on Earth than some other rover missions (non-lunar surface). Primary VIPER data products and insights of interest include wheel sinkage, wheel slip, wheel degradation, surface soil shear strength, and terrain slope estimation. VIPER data products will be made available via the Planetary Data System’s Geosciences and Cartography and Imaging Sciences nodes, conforming to the PDS4 standard.
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Transport of extracellular hydrolytic enzymes in soils has always been a subject of doubt. The considerations against its importance are that (i) enzymes benefit their producers the most when they remain in close proximity; and (ii) enzymes are large molecules with low mobility due to high affinity to fine soil particles and organic matter. However, soil mineral colloids (SMC), to which extracellular enzymes also have an affinity and which are known to facilitate transport of a broad variety of chemicals and microorganisms in soils, can serve as vehicles for enzyme transport as well. Since current literature lacks information on enzyme transport in soils, our goal was to determine whether enzymes are transported and, if so, whether they are transported in a free- or in a colloid-associated form. We conducted column transport experiments with four hydrolytic enzymes, namely, β-glucosidase, acid-phosphatase, cellobiohydrolase, and xylosidase, in soils with contrasting textures. The eluents containing enzymes were applied on top of soil columns, while enzyme activities, SMC, and electrical conductivity were measured in the effluents from the columns. Our results provided evidence of joint enzyme transport with soil colloids. The enzymes associated with the coarse SMC (1 μm < Ø) contributed 52–88% of the total enzyme activity in the effluents. The remaining enzyme activity was attributed to the enzymes associated with organic colloids, fine SMC (Ø < 1 μm) and free enzymes in solution. Furthermore, this study suggested a dual effect of ionic strength in the soil suspension on enzyme activity and their release from soils with soil colloids.
Three different sets of tests are proposed for the NASA Spacelab experimental program. The first of tests, designed to measure the true cohesion of several different soils, would be carried out in space through use of a specially prepared direct shear apparatus. As part of this first series of tests, it is recommended that a set of drained unconfined compression tests be performed terrestrially on the same soils as tested in space. A form of the direct tension test is planned to measure the true tensile strength of the same types of soils used in the first series of tests. The direct tension tests could be performed terrestrially. The combined results of the direct shear tests, direct tension tests, and unconfined compression tests can be used to construct approximate failure envelopes for the soils tested in the region of the stress origin. Relationships between true cohesion and true tensile strength can also be investigated. In addition, the role of physio-chemical variables should be studied. The third set of tests involves using a multiaxial cubical or true triaxial test apparatus to investigate the influence of gravity induced fabric anisotropy and stress nonhomogeneities on the stress strain behavior of cohesive soils at low effective stress levels. These tests would involve both in space and terrestrial laboratory testing.
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.
MONet provides novel soil molecular data to the research community for understanding biogeochemical processes and complementing other soil datasets. This study assesses MONet's ability to replicate known soil patterns via a comparative analysis of soil respiration (Rs), pH, and clay content against benchmark datasets. Results show moderate agreement for pH and clay content, highlighting MONet's strengths in capturing soil biogeochemical variation in underrepresented regions like urban areas. Rs data are marked by the appropriate trends relative to other datasets, but direct comparison is impractical due to methodological differences in underlying data. Strategic sampling is recommended to improve MONet's coverage and eventual utility in bridging molecular observations with global datasets.
Model test results were used to define the failure mechanism associated with the static penetration resistance of cohesionless and low-cohesion soils. Knowledge of this mechanism has permitted the development of a new analytical method for calculating the ultimate penetration resistance which explicitly accounts for penetrometer base apex angle and roughness, soil friction angle, and the ratio of penetration depth to base width. Curves relating the bearing capacity factors to the soil friction angle are presented for failure in general shear. Strength parameters and penetrometer interaction properties of a fine sand were determined and used as the basis for prediction of the penetration resistance encountered by wedge, cone, and flat-ended penetrometers of different surface roughness using the proposed analytical method. Because of the close agreement between predicted values and values measured in laboratory tests, it appears possible to deduce in-situ soil strength parameters and their variation with depth from the results of static penetration tests.