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NASA NTRS2005

Robot Swarms

Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

Morring, Frank, Jr.↗
NASA NTRS2015

LAVA Subsystem Integration and Testing for the RESOLVE Payload of the Resource Prospector Mission: Mass Spectrometers and Gas Chromatography

The Regolith and Environment Science & Oxygen and Lunar Volatile Extraction (RESOLVE) payload is part of Resource Prospector (RP) along with a rover and a lander that are expected to launch in 2020. RP will identify volatile elements that may be combined and collected to be used for fuel, air, and water in order to enable deeper space exploration. The Resource Prospector mission is a key part of In-Situ Resource Utilization (ISRU). The demand for this method of utilizing resources at the site of exploration is increasing due to the cost of resupply missions and deep space exploration goals. The RESOLVE payload includes the Lunar Advanced Volatile Analysis (LAVA) subsystem. The main instrument used to identify the volatiles evolved from the lunar regolith is the Gas Chromatograph-Mass Spectrometer (GC-MS). LAVA analyzes the volatiles emitted from the Oxygen and Volatile Extraction Node (OVEN) Subsystem. The objective of OVEN is to obtain, weigh, heat and transfer evolved gases to LAVA through the connection between the two subsystems called the LOVEN line. This paper highlights the work completed during a ten week internship that involved the integration, testing, data analysis, and procedure documentation of two candidate mass spectrometers for the LAVA subsystem in order to aid in determining which model to use for flight. Additionally, the examination of data from the integrated Resource Prospector '15 (RP' 15) field test will be presented in order to characterize the amount of water detected from water doped regolith samples.

RESOLVE↗
NASA NTRS2016

Lunar Advanced Volatile Analysis Integration and Testing

The Regolith and Environment Science Oxygen and Lunar Volatile Extraction (RESOLVE) payload is part of Resource Prospector (RP) along with a rover and a lander that are expected to launch in 2020. RP will identify volatile elements that may be combined and collected to be used for fuel, air, and water in order to enable deeper space exploration. The Resource Prospector mission is a key part of In-Situ Resource Utilization (ISRU). The demand for this method of utilizing resources at the site of exploration is increasing due to the cost of resupply missions and deep space exploration goals. The RESOLVE payload includes the Lunar Advanced Volatile Analysis (LAVA) subsystem. The main instrument used to identify the volatiles evolved from the lunar regolith is the Gas Chromatograph-Mass Spectrometer (GC-MS). LAVA analyzes the volatiles emitted from the Oxygen and Volatile Extraction Node (OVEN) Subsystem. The objective of OVEN is to obtain, weigh, heat and transfer evolved gases to LAVA through the connection between the two subsystems called the LOVEN line. This paper highlights the work completed during a ten week internship that involved the integration, testing, data analysis, and procedure documentation of two candidate mass spectrometers for the LAVA subsystem in order to aid in determining which model to use for flight. Additionally, the examination of data from the integrated Resource Prospector '15 (RP' 15) field test will be presented in order to characterize the amount of water detected from water doped regolith samples.

In-Situ Resource Utilization↗
NASA NTRSDate not supplied

The Lunar GNSS Receiver Experiment (LuGRE)

The Lunar GNSS Receiver Experiment (LuGRE) is a joint NASA-Italian Space Agency (ASI) payload on the Firefly Blue Ghost Mission 1 (BGM1) with the goal to demonstrate GNSS-based positioning, navigation, and timing at the Moon. LuGRE was chosen by the NASA Commercial Lunar Payload Services (CLPS) program as one of ten payloads on its “19D” task order for delivery to the lunar surface in 2023. The LuGRE payload consists of a weak-signal GNSS receiver, a high-gain L-band patch antenna, a low-noise amplifier, and an RF filter. The receiver will track GPS L1 C/A and L5, and Galileo E1 and E5a signals and will return pseudorange, carrier phase, and Doppler measurements to the ground. It will also calculate least-squares point solutions and Kalman-filter based navigation solutions onboard. In addition, the receiver features the capability to record raw I/Q baseband samples for downlink and ground processing. LuGRE will build on the legacy of prior missions in the Space Service Volume (SSV) including the initial experiments by AMSAT-OSCAR 40 and others, the GOES-R series of geostationary weather satellites, and the NASA Magnetospheric Multiscale (MMS) mission currently operating on GPS-based navigation at nearly 50% of lunar distance. Further, LuGRE will be one of the very first demonstrations of GNSS signal reception and navigation in the lunar environment and on the lunar surface, paving the way for operational use by future lunar missions such as Orion, Gateway, robotic and human landers, and surface rovers. Ultimately, all LuGRE science data will be released to a public data archive for the benefit of the GNSS and space communities. This paper provides a detailed overview of the LuGRE payload, including its design, concept of operations, and its predicted ability to meet its core science objectives. The baseline science investigations and priorities are outlined. Simulated performance results are shown based on the latest calibrated models including signal strength, signal availability, onboard navigation performance and convergence properties, and ground-based post-processed navigation performance.

LuGRE↗
NASA NTRSDate not supplied

Science Off the Earth: an Integrated Approach to Science Operations in the Artemis Era and Beyond

Humanity is standing on the cusp of its next giant leap – an international, sustainable, and commercial return to the moon. Unlike the Apollo missions, the expectation that a permanent human presence will be established is well founded. Initially, crewed missions to the lunar surface are expected to last between 6 and 30 days and occur approximately once per year, however the robust suite of landers and orbiting assets proposed by both commercial and government entities provide an opportunity to conduct science research on the moon and in cis-lunar space, 24x7 for many years. In the 50 years since the conclusion of Apollo, NASA’s crewed space science missions have been evolving. This can be seen clearly from Skylab and the Space Shuttle’s Spacelab to the International Space Station (ISS). Presently aboard the ISS, international crews spend nearly half their time working on experiments while many payloads collect science non-stop with either very limited, or no crew interaction. Additionally, a fleet of orbiting experiments complement and validate those investigations performed on the ISS. As the number, variety, and complexity of these investigation increase, it becomes ever more necessary to integrate across the many entities involved to prevent duplication of effort, ensure complementary results, reduce cost, and create a sustainable environment to conduct groundbreaking scientific research in space. In this paper, we examine how the various elements of the Artemis program including NASA’s Lunar Gateway, Commercial Lunar Payload Services (CLPS) endeavor, the Human Landing Systems (HLS), surface habitats, rovers and many more will be operated to ensure interoperability, maximize science return, and enable success for government, commercial and private partners.

Science Operations↗
NASA NTRSDate not supplied

Science Off the Earth: An Integrated Approach to Science Operations in the Artemis Era and Beyond

Humanity is standing on the cusp of its next giant leap – an international, sustainable, and commercial return to the moon. Unlike the Apollo missions, the expectation that a permanent human presence will be established is well founded. Initially, crewed missions to the lunar surface are expected to last between 6 and 30 days and occur approximately once per year, however the robust suite of landers and orbiting assets proposed by both commercial and government entities provide an opportunity to conduct science research on the moon and in cis-lunar space, 24x7 for many years. In the 50 years since the conclusion of Apollo, NASA’s crewed space science missions have been evolving. This can be seen clearly from Skylab and the Space Shuttle’s Spacelab to the International Space Station (ISS). Presently aboard the ISS, international crews spend nearly half their time working on experiments while many payloads collect science non-stop with either very limited, or no crew interaction. Additionally, a fleet of orbiting experiments complement and validate those investigations performed on the ISS. As the number, variety, and complexity of these investigation increase, it becomes ever more necessary to integrate across the many entities involved to prevent duplication of effort, ensure complementary results, reduce cost, and create a sustainable environment to conduct groundbreaking scientific research in space. In this paper, we examine how the various elements of the Artemis program including NASA’s Lunar Gateway, Commercial Lunar Payload Services (CLPS) endeavor, the Human Landing Systems (HLS), surface habitats, rovers and many more will be operated to ensure interoperability, maximize science return, and enable success for government, commercial and private partners.

Science Operations↗
NASA NTRS1994

Robotics and telepresence for moon missions

An integrated moon program has often been proposed as a logical next step for today's space efforts. In the context of preparing for the possibility of launching a moon program, the European Space Agency is currently conducting an internal study effort which is focusing on the assessment of key technologies. Current thinking has this moon program organized into four phases. Phase 1 will deal with lunar resource exploration. The goal would be to produce a complete chemical inventory of the moon, including oxygen, water, other volatiles, carbon, silicon, and other resources. Phase 2 will establish a permanent robotic presence on the moon via a number of landers and surface rovers. Phase 3 will extend the second phase and concentrate on the use and exploitation of local lunar resources. Phase 4 will be the establishment of a first human outpost. Some preliminary work such as the building of the outpost and the installation of scientific equipment will be done by unmanned systems before a human crew is sent to the moon.

Sallaberger, Christian↗
NASA NTRSDate not supplied

Advancing Dust Tolerant Mechanisms for a Sustained Exploration of the Moon

Introduction: “I think dust is probably one of our greatest inhibitors to a nominal operation on the Moon. I think we can overcome other physio-logical or physical or mechanical problems except dust.”– Gene Cernan, Apollo 17 Technical Debrief The Apollo missions revealed the impact of lu-nar dust on mechanisms. Lunar dust particles are jagged and electrostatically charged, giving them the ability to bind or damage mechanisms and alter thermal properties. Reports documented clogged equipment and jammed mechanisms in every mission, regardless of surface duration, as well as clogged mechanisms in the Extravehicular Mobility Suit (EMS), including zippers, wrist and hose locks, faceplates, and sunshades [1-2]. Several astronauts remarked they could not have sustained surface activity much longer because clogged joints would have frozen up completely [2]. Effective dust mitigation strategies are need-ed to support longer duration stays on the lunar surface [3-4]. State of the Art: Technology for mechanisms able to operate in dusty enviroments is advancing rapidly due to the needs of both Mars rovers and the Artemis program. Vacuum-tight connectors are essential for spacesuits and habitats, and their performance can be dependent on cleaning technologies, which have proven difficult on the lunar surface. Several TRL 3-5 technologies are undergoing tests with the expectation to reach TRL 6 within 1-2 years. Some mechanisms will be infused and tested on the VIPER (Volatiles Inves-tigating Polar Exploration Rover) mission planned for mid-2020s. NASA Funded Efforts: NASA has recognized the need for dust tolerant mechanisms, and has partnered with industry to advance the state-of-the-art. At NASA GRC, KSC, and JSC, the Dust Tolerant Mechanisms Project is working to devel-op advanced actuator seals for rotary joints and rotary bearing technologies for long-term sus-tained operation in lunar dust environments. An-other NASA project at NASA GRC, partnered with GSFC, JPL, and KSC is Motors for Dusty & Ex-treme Cold Environments (MDECE). MDECE is developing an unheated magnetically-geared mo-tor that can operate continuously for a long dura-tion at an ambient temperature of -243 ºC (33 K). NASA GRC has the capability to characterize the effects of dust on seals, mechanisms, and other mating surfaces and components under lunar conditions [5]. Through the SBIR/STTR program, NASA has funded several companies to advance dust toler-ant mechanisms via the Dust Tolerant Mecha-nisms sub-topic with applications in surface mobil-ity, spacesuits, connectors, joints, and more. LSIC and Community Efforts: The Lunar Surface Innovation Consortium (LSIC) Dust Miti-gation focus group has fostered collaborations across NASA, industry, and academia to develop solutions that minimizes the impact of lunar dust on robotic and human systems. Community ef-forts have included topical meetings on dust tol-erant mechanisms, featured technology presenta-tions, and feedback to NASA on potential gaps and needs. Testing: In 2021, NASA released NASA-STD-1008 [6]. This NASA Technical Standard estab-lishes minimum requirements and provides guid-ance for testing systems and hardware to be ex-posed to dust in planetary environments. The standard has specific sections dedicated to Mechanisms Testing (e.g. bearings, gears) as well as Seals and Mating Surfaces Testing (e.g. hatches, docking systems). Gaps and Needs: NASA is tracking dust tol-erant mechanisms as a gap in a cross-directorate analysis of capability areas needed to enable fu-ture human space-flight architectures. Two high-priority gap areas include additional facilities for testing mechanisms in lunar-surface conditions, and a better understanding of vulnerabilities to the smallest, nanometer-scale dust particles. Conclusion: Understanding and mitigating lu-nar dust is critical to successful, sustained opera-tions on the lunar surface – whether autonomous or otherwise. This presentation will discuss both the state-of-the-art and open needs in lunar dust tolerant mechanisms, technology impacts, mitiga-tion approaches, testing, LSIC community efforts, and more. References: [1] Gaier, J. R. (2020). The Im-pact of Dust on Lunar Surface Equipment During Apollo. Lunar Dust 2020. [2] GRC, & Gaier, J. R. (2005). The Effects of Lunar Dust on EVA Sys-tems During the Apollo Missions. [3] Johansen, M. R. (2020). An Update on NASA’s Lunar Dust Mitigation Strategy. Lunar Dust 2020. [4] ASI, CSA, ESA, JAXA, & NASA. (2016). Dust Mitiga-tion Gap Assessment Report. [5] Jimenez, N. et al (2022), LPSC Abstract 2572. [6] NASA-STD-1008, 2021.

J I Nunez↗
NASA NTRS1989

CIS-lunar space infrastructure lunar technologies: Executive summary

Technologies necessary for the creation of a cis-Lunar infrastructure, namely: (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologies, are explored. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by Automation and Robotics (LOAR). Under direction from the NASA Office of Exploration, automation and robotics were extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a buddy system, these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of Lunar resources, and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar environmentally controlled life support system. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the Lunar surface. Physicochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ Lunar resources will be both tested and used within this bio-volume. Second phase development on the Lunar surface calls for manned operations. Repairs and re-configuration of the initial framework will ensue. An autonomously-initiated manned Lunar oasis can become an essential component of the United States space program.

Faller, W.↗
NASA NTRS2016

Near-Infrared Monitoring of Volatiles in Frozen Lunar Simulants While Drilling

In Situ Resource Utilization (ISRU) focuses on using local resources for mission consumables. The approach can reduce mission cost and risk. Lunar polar volatiles, e.g. water ice, have been detected via remote sensing measurements and represent a potential resource for both humans and propellant. The exact nature of the horizontal and depth distribution of the ice remains to be documented in situ. NASA's Resource Prospector mission (RP) is intended to investigate the polar volatiles using a rover, drill, and the RESOLVE science package. RP component level hardware is undergoing testing in relevant lunar conditions (cryovacuum). In March 2015 a series of drilling tests were undertaken using the Honeybee Robotics RP Drill, Near-Infrared Volatile Spectrometer System (NIRVSS), and sample capture mechanisms (SCM) inside a 'dirty' thermal vacuum chamber at the NASA Glenn Research Center. The goal of these tests was to investigate the ability of NIRVSS to monitor volatiles during drilling activities and assess delivery of soil sample transfer to the SCMs in order to elucidate the concept of operations associated with this regolith sampling method.

Neutron Spectrometer System↗
NASA NTRSDate not supplied

Lunar Mega Project: Processes, Work Flow and Terminology of the Terrestrial Construction Industry versus the Space Industry

Recent developments around the world show an increased interest and international activity toward developing a lunar surface human and robotic presence with a long term, sustainable vision. In Europe, the construction of a "Moon Village" has been proposed, and China has stated its intention to build a research station with a crew at the lunar South Pole. Russia stated it will land cosmonauts on the Moon in the 2030's. India has sent an orbiter, a robotic lander, and rover to the Moon. The USA intends to land the first woman and a man on the Moon by 2024 to initiate a sustained human lunar presence.A lunar research station with associated commercial activities will require infrastructure to become a permanent capability. Landing and launch pads, propellant storage and distribution farms, spacecraft access and handling structures, cranes, blast protection berms or walls, roads, graded areas, dust stabilized areas, foundations, parking lots, radiation shelters, micro-meteorite protection hangars, habitats and other human shelters, greenhouse farms, utility trenches, power plants, industrial water and oxygen extraction plants, communications antenna towers, thermal protection, mining zones, crater access and sub-surface access will be required to create a safe and sustainable lunar operations capability. This infrastructure will require significant construction activities in an extreme environment, with risky and expensive operations. On Earth, there are similar large and expensive projects (>$1 Billion) in difficult locations that attract a lot of public attention. These are known as "Mega Projects" and examples include bridges, tunnels, highways, railways, airports, seaports, power plants, dams, wastewater projects, Special Economic Zones (SEZ), oil and natural gas extraction projects, public buildings, information technology systems, aerospace projects, and weapons systems. Large consortiums consisting of public and private entities typically implement these infrastructure Mega-Projects.This paper will compare the typical design process, project management process, and work flow in the terrestrial construction industry to the space industry in order to create a better understanding between the terrestrial construction industry and the space industry, to further enable collaboration on a lunar Mega Project to build infrastructure on the Moon. In addition, a glossary of respective industry terminology with annotated linkages and definitions has been compiled. This information will enable contracts and business practices to be formulated for generating requests for proposals (RFP) by governments to consortiums consisting of construction and space industry companies that will bid on Lunar Infrastructure Projects that could lead to contracts to build the permanent capabilities.

Robert P Mueller↗
NASA NTRSDate not supplied

Lunar Science and Mission Systems Integration for Real-Time Long Duration Remote Robot Surface Operations

Conducting lunar science with a robot on the Moon that is commanded in real-time from Earth by distributed workgroups for long durations is a specific activity that has been developed by many projects including NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) mission. VIPER’s nominal mission period for surface operations was set for 100 Earth days (four lunar days). VIPER’s science knowledge acquisition was set to focus on characterizing the distribution of water and volatiles across a range of thermal environments, within a traverse planned to optimize science return across up to 20 km. While VIPER’s status is the subject of discussion, there is research and analysis from the development and simulations phases that are of benefit to the lunar science community and future remote science operations projects. Discussed here are some findings on the process of integrating lunar science with mission system operations.

VIPER↗
NASA NTRS2004

Lunar and Planetary Science XXXV: Meteorites to and from the Moon and Mars: My Planet or Yours?

The titles in this section include: 1) Meteorites from Mars - Constraints from Numerical Modeling; 2) Iron Oxidation Products in Martian Ordinary Chondrite Finds as Possible Indicators of Liquid Water Exposure at Mars Exploration Rover Landings Sites; 3) Meteorites on Mars; 4) Sulfide Stability of Planetary Basalts; 5) Exposure and Terrestrial Histories of New Lunar and Martian Meteorites.

Source record↗
NASA NTRS1989

Cislunar space infrastructure: Lunar technologies

Continuing its emphasis on the creation of a cisluar infrastructure as an appropriate and cost-effective method of space exploration and development, the University of Colorado explores the technologies necessary for the creation of such an infrastructure, namely (1) automation and robotics; (2) life support systems; (3) fluid management; (4) propulsion; and (5) rotating technologes. The technological focal point is on the development of automated and robotic systems for the implementation of a Lunar Oasis produced by automation and robotics (LOARS). Under direction from the NASA Office of Exploration, automation and robotics have been extensively utilized as an initiating stage in the return to the Moon. A pair of autonomous rovers, modular in design and built from interchangeable and specialized components, is proposed. Utilizing a 'buddy system', these rovers will be able to support each other and to enhance their individual capabilities. One rover primarily explores and maps while the second rover tests the feasibility of various materials-processing techniques. The automated missions emphasize availability and potential uses of lunar resources and the deployment and operations of the LOAR program. An experimental bio-volume is put into place as the precursor to a Lunar Environmentally Controlled Life Support System. The bio-volume will determine the reproduction, growth and production characteristics of various life forms housed on the lunar surface. Physiochemical regenerative technologies and stored resources will be used to buffer biological disturbances of the bio-volume environment. The in situ lunar resources will be both tested and used within this bio-volume. Second phase development on the lunar surface calls for manned operations. Repairs and reconfiguration of the initial framework will ensue. An autonomously initiated, manned Lunar Oasis can become an essential component of the United States space program. The Lunar Oasis will provide support to science, technology, and commerce. It will enable more cost-effective space exploration to the planets and beyond.

W. Faller↗
NASA NTRSDate not supplied

Numerical Modelling of Sublimation Losses During Sample Handling Within the Light WAVE Lunar Water Prospecting Instrument

NASA’s focus of exploring the Moon’s south pole under the Artemis program has placed new emphasis on characterizing the quantity and distribution of water ice and other volatiles present within the Moon’s permanently shadowed regions (PSRs), first measured during the 2009 LCROSS mission. NASA’s VIPER rover is the first of a series of prospecting missions to characterize this water ice resource. NASA’s Johnson Space Center (JSC) has developed the Light Water Analysis and Volatiles Extraction (Light WAVE) instrument shown in Figure 1 for a follow-on prospecting mission, designed to be a rover payload for water ice prospecting at various depths and locations within PSRs. A key source of error for lunar water prospecting instruments, including Light WAVE, is the loss of water in an icy regolith sample to the lunar vacuum via sublimation due to heating above its ice-stable temperature. This abstract and conference presentation discuss a sublimation model for Light WAVE’s sample crucible using COMSOL Multiphysics to assess the sublimation losses that would occur between sample collection from an external drill and sealing the sample within Light WAVE’s boiler.

Lunar Polar Water↗
NASA NTRSDate not supplied

The Volatiles Investigating Polar Exploration Rover (VIPER) Near Infrared Volatile Spectrometer System (NIRVSS).

NASA’s VIPER mission is planned for delivery to the lunar surface in late 2023 [1]. VIPER’s science objectives are to: 1) characterize the distribution and physical state of lunar polar water and other volatiles in lunar cold traps and regolith to under-stand their origin and 2) provide the data necessary for NASA to evaluate the potential return of relying upon in-situ resource utilization from the lunar polar regions [1]. The NIRVSS instrument, matured through several R&D programs to TRL 6 [2,3,4], has been chosen as part of the VIPER science payload [5].

T. L. Roush↗
NASA NTRS2019

NASA Lunar Lander Reference Design

With increased emphasis on lunar exploration and scientific investigation, there is a desire to deliver a wide variety of payloads to the lunar surface. Many of these payloads will require the use of surface mobility capability such as a rover. NASA has combined spacecraft and subsystem engineers from across the Agency to develop a ‘pallet’ lander design intended to deliver and easily deploy a medium-sized payload (~300 kg) to the polar regions of the Moon. The lander provides power to the payload from transit soon after lunar landing. The lander is not intended to survive the lunar night. The design of the lander was based on a minimum set of level 1 requirements where traditional risk, mass, and performance trade parameters were weighed lower than cost. In other words, the team did not sacrifice ‘good enough’ for ‘better’ or ‘best.’ As a NASA class D spacecraft (as defined in NPR 8705.4, Risk Classification for NASA Payloads, the lander employs single-string (i.e., zero-fault-tolerant) systems as a baseline. The design utilizes existing technologies and components where possible, though some enhancements have been targeted in areas such as precision autonomous landing and low-cost structural design/fabrication. It is important to note that these and other derived technologies are extensible to other lander designs and missions. This TP describes the requirements and approaches upon which the lander design is based; discusses key design decisions, analyses, and trades used to derive the design; provides a snapshot of each major subsystem; and identifies open items, issues, and challenges for which work is continuing.

L D Kennedy↗
NASA NTRS2011

Enabling Long-Duration Lunar Equatorial Operations With Thermal Wadi Infrastructure

Long duration missions on the Moon s equator must survive lunar nights. With 350 hr of cryogenic temperatures, lunar nights present a challenge to robotic survival. Insulation is imperfect, so it is not possible to passively contain enough heat to stay warm through the night. Components that enable mobility, environmental sensing and solar power generation must be exposed, and they leak heat. Small, lightweight rovers cannot store enough energy to warm components throughout the night without some external source of heat or power. Thermal wadis, however, can act as external heat sources to keep robots warm through the lunar night. Electrical power can also be provided to rovers during the night from batteries stored in the ground beside wadis. Buried batteries can be warmed by the wadi s heat. Results from analysis of the interaction between a rover and a wadi are presented. A detailed three-dimensional (3D) thermal model and an easily configurable two-dimensional (2D) thermal model are used for analysis.

Jones, Heather L.↗