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NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. The goal of percussive excavation is to fluidize dry regolith in front of the leading edge of the tool by mechanically separating the microscopic interlocking grains resulting in a reduced force needed to shear the soil. There are several variables involved with this technique; this experiment varied: Impact energy, frequency, and excavation speed and held constant: impact direction, depth of cut, angle of tool, and soil bulk density. The test apparatus consisted of an aluminum truss bridge with a central pivoting arm. Attached to the arm was a winch with a load cell in line that recorded the tension in the cable and therefore the excavation load. The arm could be adjusted for excavation depth which was recorded along with the arm angle relative to the bridge. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of . movement. Internally the mechanism used a set of die springs and barrel cam to produce the percussive blow. By changing the springs and the speed of the motor the impact energy and frequency of percussion could be varied independently. Impact energies from 11.2J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 51% was achieved in this experimental investigation. Smaller percussive digging implements, tested by others, have achieved a reduction of as much as 72%. This paper will examine the effects of impact energy, frequency, scaling and their effect on excavation forces in a dry granular material such as lunar regolith. The past several years have shown an increasing interest in mining space resources both for exploration and commercial enterprises. This work studied the benefits and risks of percussive excavation and prelimin~ry results indicate that this technique may become an enabling technology for extra-terrestrial excavation of regolith and ice.

Schuler, Jason↗

NASA NTRS2012

A Survey of Geologic Resources

This chapter focuses on the resources available from the Moon itself: regolith, geologically concentrated materials, and lunar physical features that will enable habitation and generation of power on the surface. This chapter briefly covers the formation of the Moon and thus the formation of the crust of the Moon, as well as the evolution of the regolith. The characteristics of the regolith are provided in some detail, including its mineralogy and lithology. The location of high concentrations of specific minerals or rocks is noted. Other ideal locations for in situ resource utilization technology and lunar habitation are presented. This chapter is intended to be a brief review of current knowledge, and to serve as a foundational source for further study. Each concept presented here has a wealth of literature associated with it; the reader is therefore directed to that literature with each discussion. With great interest in possible manned lunar landings and continued study of the Moon by multiple satellites, the available information changes regularly.

Edmonson, Jennifer↗

NASA NTRS2012

Establishment of a Spaceport Network Architecture

Since the beginning of the space age, the main actors in space exploration have been governmental agencies, enabling a privileged access to space, but with very restricted and rare missions. The last decade has seen the rise of space tourism, and the founding of ambitious private space mining companies, showing the beginnings of a new exploration era, that is based on a more generalized and regular access to space and which is not limited to the Earth's vicinity. However, the cost of launching sufficient mass into orbit to sustain these inspiring challenges is prohibitive, and the necessary infrastructures to support these missions is still lacking. To provide easy and affordable access into orbital and deep space destinations, there is the need to create a network of spaceports via specific waypoint locations coupled with the use of natural resources, or In Situ Resource Utilization (ISRU), to provide a more economical solution. As part of the International Space University Space Studies Program 2012, the international and intercultural team of Operations and Service Infrastructure for Space (OASIS) proposes an interdisciplinary answer to the problem of economical space access and transportation. This paper presents a summary of a detailed report [1] of the different phases of a project for developing a network of spaceports throughout the Solar System in a timeframe of 50 years. The requirements, functions, critical technologies and mission architecture of this network of spaceports are outlined in a roadmap of the important steps and phases. The economic and financial aspects are emphasized in order to allow a sustainable development of the network in a public-private partnership via the formation of an International Spaceport Authority (ISPA). The approach includes engineering, scientific, financial, legal, policy, and societal aspects. Team OASIS intends to provide guidelines to make the development of space transportation via a spaceports logistics network feasible, and believes that this pioneering effort will revolutionize space exploration, science and commerce, ultimately contributing to permanently expand humanity into space.

Larson, Wiley J.↗

NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

Mueller, Robert↗

NASA NTRS2013

Preparation of a Frozen Regolith Simulant Bed for ISRU Component Testing in a Vacuum Chamber

In-Situ Resource Utilization (ISRU) systems and components have undergone extensive laboratory and field tests to expose hardware to relevant soil environments. The next step is to combine these soil environments with relevant pressure and temperature conditions. Previous testing has demonstrated how to incorporate large bins of unconsolidated lunar regolith into sufficiently sized vacuum chambers. In order to create appropriate depth dependent soil characteristics that are needed to test drilling operations for the lunar surface, the regolith simulant bed must by properly compacted and frozen. While small cryogenic simulant beds have been created for laboratory tests, this scale effort will allow testing of a full 1m drill which has been developed for a potential lunar prospector mission. Compacted bulk densities were measured at various moisture contents for GRC-3 and Chenobi regolith simulants. Vibrational compaction methods were compared with the previously used hammer compaction, or "Proctor", method. All testing was done per ASTM standard methods. A full 6.13 m3 simulant bed with 6 percent moisture by weight was prepared, compacted in layers, and frozen in a commercial freezer. Temperature and desiccation data was collected to determine logistics for preparation and transport of the simulant bed for thermal vacuum testing. Once in the vacuum facility, the simulant bed will be cryogenically frozen with liquid nitrogen. These cryogenic vacuum tests are underway, but results will not be included in this manuscript.

Klenhenz, Julie↗

NASA NTRS2013

Using Combustion Synthesis to Reinforce Berms and Other Regolith Structures

The Moonraker Excavator and other tools under development for use on the Moon, Mars, and asteroids will be employed to construct a number of civil engineering projects and to mine the soil. Mounds of loose soil will be subject to the local transport mechanisms plus artificial mechanisms such as blast effects from landers and erosion from surface vehicles. Some of these structures will require some permanence, with a minimum of maintenance and upkeep. Combustion Synthesis (CS) is a family of processes and techniques whereby chemistry is used to transform materials, often creating flame in a hard vacuum. CS can be used to stabilize civil engineering works such as berms, habitat shielding, ramps, pads, roadways, and the like. The method is to unroll thin sheets of CS fabric between layers of regolith and then fire the fabric, creating a continuous sheet of crusty material to be interposed among layers of loose regolith. The combination of low-energy processes, ISRU (in situ resource utilization) excavator, and CS fabrics, seems compelling as a general method for establishing structures of some permanence and utility, especially in the role of robotic missions as precursors to manned exploration and settlement. In robotic precursory missions, excavator/ mobility ensembles mine the Lunar surface, erect constructions of soil, and dispense sheets of CS fabrics that are covered with layers of soil, fired, and then again covered with layers of soil, iterating until the desired dimensions and forms are achieved. At the base of each berm, for example, is a shallow trench lined with CS fabric, fired and filled, mounded, and then covered and fired, iteratively to provide a footing against lateral shear. A larger trench is host to a habitat module, backfilled, covered with fabric, covered with soil, and fired. Covering the applied CS fabric with layers of soil before firing allows the resulting matrix to incorporate soil both above and below the fabric ply into the fused layer, developing a very irregular surface which, like sandpaper, can provide an anchor for loose soil. CS fabrics employ a coarse fiberglass weave that persists as reinforcement for the fired material. The fiberglass softens at a temperature that exceeds the combustion temperature by factors of two to three, and withstands the installation process. This type of structure should be more resistant to rocket blast effects from Lunar landers.

Rodriquez, Gary↗

NASA NTRS2008

Lunar Water Resource Demonstration

In cooperation with the Canadian Space Agency, the Northern Centre for Advanced Technology, Inc., the Carnegie-Mellon University, JPL, and NEPTEC, NASA has undertaken the In-Situ Resource Utilization (ISRU) project called RESOLVE. This project is a ground demonstration of a system that would be sent to explore permanently shadowed polar lunar craters, drill into the regolith, determine what volatiles are present, and quantify them in addition to recovering oxygen by hydrogen reduction. The Lunar Prospector has determined these craters contain enhanced hydrogen concentrations averaging about 0.1%. If the hydrogen is in the form of water, the water concentration would be around 1%, which would translate into billions of tons of water on the Moon, a tremendous resource. The Lunar Water Resource Demonstration (LWRD) is a part of RESOLVE designed to capture lunar water and hydrogen and quantify them as a backup to gas chromatography analysis. This presentation will briefly review the design of LWRD and some of the results of testing the subsystem. RESOLVE is to be integrated with the Scarab rover from CMIJ and the whole system demonstrated on Mauna Kea on Hawaii in November 2008. The implications of lunar water for Mars exploration are two-fold: 1) RESOLVE and LWRD could be used in a similar fashion on Mars to locate and quantify water resources, and 2) electrolysis of lunar water could provide large amounts of liquid oxygen in LEO, leading to lower costs for travel to Mars, in addition to being very useful at lunar outposts.

Muscatello, Anthony C.↗

NASA NTRS2012

Spacecraft Conceptual Design for Returning Entire Near-Earth Asteroids

In situ resource utilization (ISRU) in general, and asteroid mining in particular are ideas that have been around for a long time, and for good reason. It is clear that ultimately human exploration beyond low-Earth orbit will have to utilize the material resources available in space. Historically, the lack of sufficiently capable in-space transportation has been one of the key impediments to the harvesting of near-Earth asteroid resources. With the advent of high-power (or order 40 kW) solar electric propulsion systems, that impediment is being removed. High-power solar electric propulsion (SEP) would be enabling for the exploitation of asteroid resources. The design of a 40-kW end-of-life SEP system is presented that could rendezvous with, capture, and subsequently transport a 1,000-metric-ton near-Earth asteroid back to cislunar space. The conceptual spacecraft design was developed by the Collaborative Modeling for Parametric Assessment of Space Systems (COMPASS) team at the Glenn Research Center in collaboration with the Keck Institute for Space Studies (KISS) team assembled to investigate the feasibility of an asteroid retrieval mission. Returning such an object to cislunar space would enable astronaut crews to inspect, sample, dissect, and ultimately determine how to extract the desired materials from the asteroid. This process could jump-start the entire ISRU industry.

asteroid retrieval↗

NASA NTRS2013

Demonstration of Critical Systems for Propellant Production on Mars for Science and Exploration Missions

A Mars hopper has been proposed as a Mars mobility concept that will also demonstrate and advance in-situ resource utilization. The components needed in a Mars propellant production plant have been developed to various levels of technology maturity, but there is little experience with the systems in a Mars environment. Two systems for the acquisition and compression of the thin carbon dioxide atmosphere were designed, assembled, and tested in a Mars environment chamber. A microchannel sorption pump system was able to raise the pressure from 7 Torr to 450 Torr or from 12 Torr to over 700 Torr in two stages. This data now provides information needed to make additional improvements in the sorption pump technology to increase performance, although a system-level analysis might prove that some amount of pre- or post-compression may be a preferred solution. A mini cryofreezer system was also evaluated as an alternative method for carbon dioxide acquisition and compression. Finally, an electrolysis system was tested and successfully demonstrated start-up operation and thermal stability of all components during long-term operation in the chamber.

Linne, Diane L.↗

NASA NTRS2009

Lunar Water Resource Demonstration (LWRD) Test Results

NASA has undertaken the In-Situ Resource Utilization (lSRU) project called RESOLVE (Regolith and Environment Science & Oxygen and Lunar Volatile Extraction). This project is an Earth-based lunar precursor demonstration of a system that could be sent to explore permanently shadowed polar lunar craters, where it would drill into regolith, quantify the volatiles that are present, and extract oxygen by hydrogen reduction of iron oxides. The RESOLVE chemical processing system was mounted within the CMU rover "Scarab" and successfully demonstrated on Hawaii's Mauna Kea volcano in November 2008. This technology could be used on Mars as well. As described at the 2008 Mars Society Convention, the Lunar Water Resource Demonstration (LWRD) supports the objectives of the RESOLVE project by capturing and quantifying water and hydrogen released by regolith upon heating. Field test results for the quantification of water using LWRD showed that the volcanic ash (tephra) samples contained 0.15-0.41% water, in agreement with GC water measurements. Reduction of the RH in the surge tank to near zero during recirculation show that the water is captured by the water beds as desired. The water can be recovered by heating the Water Beds to 230 C or higher. Test results for the capture and quantification of pure hydrogen have shown that over 90% of the hydrogen can be captured and 98% of the absorbed hydrogen can be recovered upon heating the hydride to 400 C and desorbing the hydrogen several times into the evacuated surge tank. Thus, the essential requirement of capturing hydrogen and recovering it has been demonstrated. ,

Muscatello, Anthony C.↗

NASA NTRS2013

Education and Public Outreach and Engagement at NASA's Analog Missions in 2012

Analog missions are integrated, multi-disciplinary activities that test key features of future human space exploration missions in an integrated fashion to gain a deeper understanding of system-level interactions and operations early in conceptual development. These tests often are conducted in remote and extreme environments that are representative in one or more ways to that of future spaceflight destinations. They may also be conducted at NASA facilities, using advanced modeling and human-in-the-loop scenarios. As NASA develops a capability driven framework to transport crew to a variety of space environments, it will use analog missions to gather requirements and develop the technologies necessary to ensure successful exploration beyond low Earth orbit. NASA s Advanced Exploration Systems (AES) Division conducts these high-fidelity integrated tests, including the coordination and execution of a robust education and public outreach (EPO) and engagement program for each mission. Conducting these mission scenarios in unique environments not only provides an opportunity to test the EPO concepts for the particular future-mission scenario, such as the best methods for conducting events with a communication time delay, but it also provides an avenue to deliver NASA s human space exploration key messages. These analogs are extremely exciting to students and the public, and they are performed in such a way that the public can feel like part of the mission. They also provide an opportunity for crew members to obtain training in education and public outreach activities similar to what they would perform in space. The analog EPO team is responsible for the coordination and execution of the events, the overall social media component for each mission, and public affairs events such as media visits and interviews. They also create new and exciting ways to engage the public, manage and create website content, coordinate video footage for missions, and coordinate and integrate each activity into the mission timeline. In 2012, the AES Analog Missions Project performed three distinct missions - NASA Extreme Environment Mission Operations (NEEMO), which simulated a mission to an asteroid using an undersea laboratory; In-Situ Resource Utilization (ISRU) Field Test, which simulated a robotic mission to the moon searching and drilling for water; and Research and Technology Studies (RATS) integrated tests, which also simulated a mission to an asteroid. This paper will discuss the education and public engagement that occurred during these missions.

Watkins, Wendy L.↗

NASA NTRS2006

Electrostatic Screen for Transport of Martian and Lunar Regolith

The Martian and Lunar Regolith contain fine particulate including those in the size range from 0.5 to 200 micron [1-2]. Martian dust can be transported and deposited by Aeolian processes, including "Dust Devils". Due to the ultra high vacuum (10e-12 Torr), transport of dust on the Moon is solely a result of collision/ballistic motion. Dust obscuration of solar cells is one of the primary factors limiting the duration of Martian missions, including the Mars Exploration Rovers. Dust contamination in vacuum seals is one of the primarily factors that limited lunar excursions during the Apollo missions. Controlled transportation of dust on Mars and the Moon is important for many reasons, including both contamination mitigation and in situ resource utilization (ISRU). Since both the monopole and dipole electrostatic moments result in non-trivial forces on particles in an electrostatic field, dust particles, whether charged or not, can be transported by electrostatic fields. In the electrostatic screen, alternating waveforms of voltage applied to patterned grids of electrodes will transport dust. The authors will show that the canonical methods for transporting dust via electrostatic screen can be readily applied to transport of Martian and Lunar regolith. Experiments have been performed in ambient, low humidity, Martian, and Lunar conditions. Screen parameters have been examined for application to each regolith, such as grid spacing, trace width, grid voltage, pulse pattern, pulse frequency, and coating type. The authors have also developed an electrostatic screen based on optically transparent conductors that can be placed over solar arrays, windows, visors, lenses, etc.

Immer, C.↗

NASA NTRS2013

Lunar Simulants, Analogues, and Standards: Needs and Realities for Mission Technologies Development

Integration of In-Situ Resource Utilization (ISRU) capabilities into missions present both challenges as well as benefits for future missions to the Moon and Mars. However, since ISRU systems and capabilities have not flown, mission planners have been hesitant to include ISRU capabilities in mission critical roles, thereby significantly reducing the benefits that ISRU can provide in mission mass and cost reductions. For ISRU systems to provide products and services to 'customers' such as life support, propulsion, and power systems, close development of requirements, hardware, and operations between ISRU and these systems are required. To address these development and incorporation challenges, NASA and csA initiated a series of analog field test demonstrations at sites in Hawaii. Two tests completed in November of 2008 and February of 2010 have demonstrate all the critical steps in operating ISRU systems on the lunar surface at relevant mission scales as well as integration with power and propulsion systems. The third field test planned for July 2012 will demonstrate that a mission to the lunar poles to locate and characterize ice and other volatiles is possible in a highly integrated mission with multiple space agencies. These analog field tests have shown that not only are ISRU systems feasible at relevant mission scales, that they can be successfully integrated into mission architectures.

Sibille, Laurent↗

NASA NTRS2008

Oxygen and Metals Processing on the Moon: Will Materials Science Change Our Future in Space?

As part of an In-Situ Resource Utilization infrastructure on the lunar surface, the production of oxygen and metals by various technologies is under development within NASA projects. Such an effort reflects the ambition to change paradigms in space exploration to enable human presence for the long-term. Sustaining such presence involves the acceptance of a new concept in space activities; crews must be able to generate some of their consumables from local resources. The balance between accepting early development risks and reducing long-term mission risks is at the core of the technology development approach. We will present an overview of the technologies involved and present their possible impact on the future of human expansion in the solar system.

Sibille, Laurent↗

NASA NTRS2008

Advances in Molten Oxide Electrolysis for the Production of Oxygen and Metals from Lunar Regolith

As part of an In-Situ Resource Utilization infrastructure to sustain long term-human presence on the lunar surface, the production of oxygen and metals by electrolysis of lunar regolith has been the subject of major scrutiny. There is a reasonably large body of literature characterizing the candidate solvent electrolytes, including ionic liquids, molten salts, fluxed oxides, and pure molten regolith itself. In the light of this information and in consideration of available electrolytic technologies, the authors have determined that direct molten oxide electrolysis at temperatures of approx 1600 C is the most promising avenue for further development. Results from ongoing studies as well as those of previous workers will be presented. Topics include materials selection and testing, electrode stability, gas capture and analysis, and cell operation during feeding and tapping.

Sadoway, Donald R.↗

NASA NTRS2010

Regolith Volatile Characterization (RVC) in RESOLVE

Resource investigation in the lunar poles is of importance to the potential impact of in-situ resource utilization (ISRU). The RESOLVE project developed a payload to investigate the permanently shadowed areas of the lunar poles and demonstrate ISRU technology. As a part of the RESOLVE project, the regolith volatile characterization (RVC) subsystem was designed to examine the release of volatiles from sample cores. The test sample was heated in the reactor to release the volatiles where they were analyzed with gas chromatography. Subsequently, the volatile sample was introduced into the lunar water resource demonstration (LWRD) subsystem where the released hydrogen and water were selectively captured. The objective of the Regolith Volatile Characterization (RVC) subsystem was to heat the crushed core sample and determine the desorption of volatile species of interest. The RVC subsystem encompasses the reactor and the system for volatile analysis. The system was designed to analyze H2, He, CO, CO2, N2, 02, CH4, H2S and H2O. The GC chosen for this work is a Siemens MicroSAM process GC with 3 columns and 8 TCD detectors. Neon was chosen as the carrier gas to enhance the analysis of hydrogen and helium.The limit of detection for the gases is approx.1000ppm for H2, CO. CO2 , N2, O2 and H2 S. The limit of detection for CH4 is approx.4000ppm and the water limit of detection is -10000 ppm with a sample analysis time of 2-3 minutes. These values (with the exception of water and H2S) were determined by dilution of a six gas mixture from Scott Gas (5% CO2, CO, O2, N2, 4% CH4 and H2) using mass flow controllers (MFC5). Water was calibrated at low levels using an in house relative humidity (RH) generator. H 2S and high concentrations of H2 were calibrated by diluting a pure stream of gas with MFCs. Higher concentrations of N2 and 02 were calibrated using Air again diluting with MFCs. There were three modification goals for the GC in EBU2 that would allow this process GC to be used in the field demo for RESOLVE. The first modification was to decrease the weight associated with the GC, this included eliminating the explosion proof case (Figure 1) and replacing it with a lightweight case as well as using an on board COPV tank for the neon carrier gas. The next goal was to add a second oven for the molecular sieve column to allow for dual temperature control during GC operation; the separation of hydrogen and helium is optimum at lower temperatures while the water analysis required higher temperatures creating a competing design requirement. The second oven also allows a lower limit of detection for water quantification and avoids the possibility of water condensing in the GC which could ruin the column characteristics. The final goal was to modify the column arrangement to optimize the system for our specific application. Figure 2 shows the internal details of the module optimized optimized for our field application. The modifications and performance of the gas analysis system will be discussed in detail.

Captain, Janine↗

NASA NTRS2013

Lunar Sulfur Capture System

The Lunar Sulfur Capture System (LSCS) protects in situ resource utilization (ISRU) hardware from corrosion, and reduces contaminant levels in water condensed for electrolysis. The LSCS uses a lunar soil sorbent to trap over 98 percent of sulfur gases and about two-thirds of halide gases evolved during hydrogen reduction of lunar soils. LSCS soil sorbent is based on lunar minerals containing iron and calcium compounds that trap sulfur and halide gas contaminants in a fixed-bed reactor held at temperatures between 250 and 400 C, allowing moisture produced during reduction to pass through in vapor phase. Small amounts of Earth-based polishing sorbents consisting of zinc oxide and sodium aluminate are used to reduce contaminant concentrations to one ppm or less. The preferred LSCS configuration employs lunar soil beneficiation to boost concentrations of reactive sorbent minerals. Lunar soils contain sulfur in concentrations of about 0.1 percent, and halogen compounds including chlorine and fluorine in concentrations of about 0.01 percent. These contaminants are released as gases such as H2S, COS, CS2,HCl, and HF during thermal ISRU processing with hydrogen or other reducing gases. Removal of contaminant gases is required during ISRU processing to prevent hardware corrosion, electrolyzer damage, and catalyst poisoning. The use of Earth-supplied, single-use consumables to entirely remove contaminants at the levels existing in lunar soils would make many ISRU processes unattractive due to the large mass of consumables relative to the mass of oxygen produced. The LSCS concept of using a primary sorbent prepared from lunar soil was identified as a method by which the majority of contaminants could be removed from process gas streams, thereby substantially reducing the required mass of Earth-supplied consumables. The LSCS takes advantage of minerals containing iron and calcium compounds that are present in lunar soil to trap sulfur and halide gases in a fixedbed reactor downstream of an in-ISRU process such as hydrogen reduction. The lunar-soil-sorbent trap is held at a temperature significantly lower than the operating temperature of the hydrogen reduction or other ISRU process in order to maximize capture of contaminants, but is held at a high enough temperature to allow moisture to pass through without condensing. The lunar soil benefits from physical beneficiation to remove ultrafine particles (to reduce pressure drop through a fixed bed reactor) and to upgrade concentrations of iron and/or calcium compounds (to improve reactivity with gaseous contaminants).

Berggren, Mark↗

NASA NTRS2013

Impact-Actuated Digging Tool for Lunar Excavation

NASA s plans for a lunar outpost require extensive excavation. The Lunar Surface Systems Project Office projects that thousands of tons of lunar soil will need to be moved. Conventional excavators dig through soil by brute force, and depend upon their substantial weight to react to the forces generated. This approach will not be feasible on the Moon for two reasons: (1) gravity is 1/6th that on Earth, which means that a kg on the Moon will supply 1/6 the down force that it does on Earth, and (2) transportation costs (at the time of this reporting) of $50K to $100K per kg make massive excavators economically unattractive. A percussive excavation system was developed for use in vacuum or nearvacuum environments. It reduces the down force needed for excavation by an order of magnitude by using percussion to assist in soil penetration and digging. The novelty of this excavator is that it incorporates a percussive mechanism suited to sustained operation in a vacuum environment. A percussive digger breadboard was designed, built, and successfully tested under both ambient and vacuum conditions. The breadboard was run in vacuum to more than 2..times the lifetime of the Apollo Lunar Surface Drill, throughout which the mechanism performed and held up well. The percussive digger was demonstrated to reduce the force necessary for digging in lunar soil simulant by an order of magnitude, providing reductions as high as 45:1. This is an enabling technology for lunar site preparation and ISRU (In Situ Resource Utilization) mining activities. At transportation costs of $50K to $100K per kg, reducing digging forces by an order of magnitude translates into billions of dollars saved by not launching heavier systems to accomplish excavation tasks necessary to the establishment of a lunar outpost. Applications on the lunar surface include excavation for habitats, construction of roads, landing pads, berms, foundations, habitat shielding, and ISRU.

Wilson, Jak↗