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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS2014

The Oxygen and Volatile Extraction Node (OVEN) Subsystem for Resource Prospector

The OVEN (Oxygen and Volatile Extraction Node) Subsystem is part of the RESOLVE (Regolith and Environment Science & Oxygen and Lunar Volatile Extraction) Payload, whose main objective is to verify the presence of water and other volatiles on the lunar surface. The RESOLVE payload is scheduled to fly to the moon as part of the Resource Prospector (RP) in 2019. The OVEN Subsystem accepts regolith (soil) and evolves the volatiles contained in the sample by heating the segment to a temperature of at least 150oC for volatile analysis and as high as 900oC for hydrogen reduction. In general, a regolith segment is deposited into a crucible; the crucible is heated and evolved gases flow to a gas analyzer.

Paz, Aaron↗
NASA NTRS2009

In Situ Resource Utilization (ISRU) on the Moon: Moessbauer Spectroscopy as a Process Monitor for Oxygen Production

Essential consumables like oxygen must to be produced from materials on the lunar surface to enable a sustained, long-term presence of humans on the Moon. The Outpost Precursor for ISRU and Modular Architecture (OPTIMA) field test on Mauna Kea, Hawaii, facilitated by the Pacific International Space Center for Exploration Systems (PISCES) of the University of Hawaii at Hilo, was designed to test the implementation of three hardware concepts to extract oxygen from the lunar regolith: Precursor ISRU Lunar Oxygen Testbed (PILOT) developed by Lockheed Martin in Littleton, CO; Regolith & Environmental Science and Oxygen & Lunar Volatiles Extraction (RESOLVE) developed at the NASA Kennedy Space Center in Cape Canaveral, FL; and ROxygen developed at the NASA Johnson Space Center in Houston, TX. The three concepts differ in design, but all rely on the same general principle: hydrogen reduction of metal cations (primarily Fe2+) bonded to oxygen to metal (e.g., Fe0) with the production of water. The hydrogen source is residual hydrogen in the fuel tanks of lunar landers. Electrolysis of the water produces oxygen and hydrogen (which is recycled). We used the miniaturized M ssbauer spectrometer MIMOS II to quantify the yield of this process on the basis of the quantity of Fe0 produced. Iron M ssbauer spectroscopy identifies iron-bearing phases, determines iron oxidation states, and quantifies the distribution of iron between mineral phases and oxidation states. The oxygen yield can be calculated by quantitative measurements of the distribution of Fe among oxidation states in the regolith before and after hydrogen reduction. A M ssbauer spectrometer can also be used as a prospecting tool to select the optimum feedstock for the oxygen production plants (e.g., high total Fe content and easily reduced phases). As a demonstration, a MIMOS II backscatter spectrometer (SPESI, Germany) was mounted on the Cratos rover (NASA Glenn Research Center in Cleveland, OH), which is one of several rover concepts designed to excavate and transfer regolith to the stationary hydrogen reduction plants. Spaceflight versions of the MIMOS II are part of the instrument payloads of NASA s Mars Exploration Rovers and still operating five years after landing on the surface of the planet. MIMOS II was also selected for Phobos-Grunt, a Russian sample return mission to the martian moon Phobos scheduled to launch in 2009, and ESA s ExoMars rover, an exobiology mission scheduled to launch in 2013. An advanced version of the instrument is currently under development. A new detector system with a higher energy resolution will not only reduce the necessary measurement time considerably, but also allow the simultaneous acquisition of an X-ray fluorescence spectrum to determine the elemental composition of samples.

Morris, R.V.↗
NASA NTRS2013

NASA Tech Briefs, July 2013

Dielectrophoresis-Based Particle Sensor Using Nanoelectrode Arrays; Multi-Dimensional Damage Detection for Surfaces and Structures; ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy; Autonomous Cryogenic Leak Detector for Improving Launch Site Operations; Submillimeter Planetary Atmospheric Chemistry Exploration Sounder; Method for Reduction of Silver Biocide Plating on Metal Surfaces; Silicon Micromachined Microlens Array for THz Antennas; Forward-Looking IED Detector Ground Penetrating Radar; Fully Printed, Flexible, Phased Array Antenna for Lunar Surface Communication, Battery Charge Equalizer with Transformer Array; An Efficient, Highly Flexible Multi-Channel Digital Downconverter Architecture; Dimmable Electronic Ballast for a Gas Discharge Lamp; Conductive Carbon Nanotube Inks for Use with Desktop Inkjet Printing Technology; Enhanced Schapery Theory Software Development for Modeling Failure of Fiber-Reinforced Laminates; High-Performance, Low-Temperature-Operating, Long-Lifetime Aerospace Lubricants; Carbon Nanotube Microarrays Grown on Nanoflake Substrates; Differential Muon Tomography to Continuously Monitor Changes in the Composition of Subsurface Fluids; Microgravity Drill and Anchor System; 20 Granular Media-Based Tunable Passive Vibration Suppressor; 21 Miga Aero Actuator and 2D Machined Mechanical Binary Latch; Micro-XRF for In Situ Geological Exploration of Other Planets; Hydrogen-Enhanced Lunar Oxygen Extraction and Storage Using Only Solar Power; Uplift of Ionospheric Oxygen Ions During Extreme Magnetic Storms; Miniaturized, High-Speed, Modulated X-Ray Source; Hollow-Fiber Spacesuit Water Membrane Evaporator 25 High-Power Single-Mode 2.65-micrometers InGaAsSb/AlInGaAsSb Diode Lasers; Optical Device for Converting a Laser Beam Into Two Co-aligned but Oppositely Directed Beams; A Hybrid Fiber/Solid-State Regenerative Amplifier with Tunable Pulse Widths for Satellite Laser Ranging; X-Ray Diffractive Optics; SynGenics Optimization System (SynOptSys); 29 CFD Script for Rapid TPS Damage Assessment; radEq Add-On Module for CFD Solver Loci-CHEM; Science Opportunity Analyzer (SOA) Version 8; 30 Autonomous Byte Stream Randomizer; Distributed Engine Control Empirical/Analytical Verification Tools; Dynamic Server-Based KML Code Generator Method for Level-of-Detail Traversal of Geospatial Data; Automated Planning of Science Products Based on Nadir Overflights and Alerts for Onboard and Ground Processing; Linked Autonomous Interplanetary Satellite Orbit Navigation; Risk-Constrained Dynamic Programming for Optimal Mars Entry, Descent, and Landing; Scheduling Operations for Massive Heterogeneous Clusters; Deepak Condenser Model (DeCoM); Flight Software Math Library; Recirculating 1-K-Pot for Pulse-Tube Cryostats; 35 Method for Processing Lunar Regolith Using Microwaves; Wells for In Situ Extraction of Volatiles from Regolith (WIEVR); and Estimating the Backup Reaction Wheel Orientation Using Reaction Wheel Spin Rates Flight Telemetry from a Spacecraft.

Source record↗
NASA NTRSDate not supplied

Mapping the Capabilities and Attributes of Solid Oxide Electrochemical Systems to Human Spaceflight Needs

NASA is sponsoring the development of a solid oxide electrochemical oxygen separation and compression system. This system is capable of extracting oxygen from a process stream of spacecraft cabin air, and compressing it to >27,000 kPa without mechanical compressors. Process temperatures are >650C, but the materials in contact with the oxygen do not burn. The system is called eCOG-C, Electrochemical Oxygen Generator and Compressor. A system capable of producing high pressure, high purity oxygen may have application as a method of recharging space suit oxygen tanks during human exploration missions. This paper describes the key performance parameters of a space suit oxygen tank recharge system, and places the key performance parameters of eCOG-c in the context of other methods of space suit oxygen tank recharge. This paper compares the eCOG-c configuration to an earlier electrochemical oxygen generator that has been prototyped and tested. Areas of emphasis for eCOG-C development are listed and described.

John Graf↗
NASA NTRS1991

Coproduction of volatiles and metals from extraterrestrial materials

Two main efforts in support of the general goals of SERC/culpr are presented. Investigations of processes for the coproduction of metals from extra-terrestrial materials in conjunction with plausible schemes for oxygen extraction continue. The principal emphasis was on the extraction and purification of iron from the ilmenite reduction process for oxygen, from the cathode metal deposits made in the magma electrolysis process for oxygen, and from native ferrous metal alloys on the moon and asteroids. All work on the separation and purification of ferrous metals was focussed upon the gaseous carbonyl process, a scheme that involves only temperatures attainable by passive thermal control. The exploration of a variety of schemes was initiated, involving the use of several different propulsion options and both propulsive and aerobraking capture at earth, for return of extraterrestrial resources to earth orbits. In addition, the search for new opportunities in space resource utilization continues. Examples include the continuation of work underway on: (1) the feasibility of locating solar power satellites in highly eccentric earth orbit; (2) the energetics of extracting the potential clean fusion fuel He-3 from the atmosphere for return to earth; and (3) the utility of a nuclear steam rocket (using non-terrestrial water as the working fluid) for transportation in the inner solar system.

Lewis, John S.↗
NASA NTRS1976

Corrosion of oxygen-doped tantalum by lithium

The increase in the penetration of tantalum by liquid lithium with increasing oxygen content of tantalum results from the ability of lithium to extract oxygen from tantalum oxides and/or from regions of high oxygen concentrations, accompanied by the creation of minute channels. At low oxygen concentration, oxides are present primarily at the grain boundaries and the lithium penetration is primarily intergranular. At high oxygen concentration, oxides and/or regions of high oxygen concentration are present both at the grain boundaries and within the grains; lithium penetration is both intergranular and transgranular. For a specific oxygen concentration, the severity of corrosion decreases with increasing temperature because (1) the oxygen solubility increases with temperature, decreasing the number of oxide particles and/or regions of high oxygen concentration, and (2) the diffusivity of oxygen in tantalum increases, allowing more rapid oxygen removal at the tantalum lithium interface.

Stecura, S.↗
NASA NTRS2007

Sintering of Lunar and Simulant Glass

Most oxygen-extraction techniques are temperature-dependent, with higher temperatures resulting in higher oxygen yield. An example is hydrogen reduction, in which the optimum process temperature is 1050 C. However, glass-rich lunar soil begins to show the effects of sintering at temperatures of 900 C or lower. Sintering welds particles together due to viscous relaxation of the glass in the sample. One approach to avoid problems related to sintering, such as difficulty in removing waste material from the reactor, is to keep the soil in motion. One of several methods being studied to accomplish this is fluidized-bed processing techniques, in which the grains are kept in motion by the action of flowing reductant gas. The spent material can be removed from the chamber while still fluidized, or the fluidizing motion can continue until the material has cooled below approx. 500 C. Until end-to-end prototypes are built that can remove the heated soil, the most practical option is to keep the bed fluidized while cooling the waste material. As ISRU technology advances, another option will become valuable, which is to intentionally sinter the material to a great enough extent that it becomes a brick. The free iron in lunar soil is magnetic, and ferromagnetic bricks can be manipulated by robotic systems using electromagnetic end effectors. Finally, if an electromagnetic field is applied to the soil while the brick is being formed, the brick itself will become a magnet. This property can be used to create self-aligning bricks or other building materials that do not require fasteners. Although sintering creates a challenge for early lunar surface systems, knowledge gained during prototype development will be valuable for the advanced lunar outpost.

Cooper, Bonnie L.↗
NASA NTRS2009

Production of Oxygen from Lunar Regolith using Molten Oxide Electrolysis

This slide presentation reviews the possible use of molten oxide electrolysis to extract oxygen from the Lunar Regolith. The presentation asserts that molten regolith electrolysis has advanced to be a useful method for production of oxygen and metals in situ on the Moon. The work has demonstrated an 8 hour batch of electrolysis at 5 amps using Iridium inert anodes.

Sibille, Laurent↗
NASA NTRS2007

ISRU System Model Tool: From Excavation to Oxygen Production

In the late 80's, conceptual designs for an in situ oxygen production plant were documented in a study by Eagle Engineering [1]. In the "Summary of Findings" of this study, it is clearly pointed out that: "reported process mass and power estimates lack a consistent basis to allow comparison." The study goes on to say: "A study to produce a set of process mass, power, and volume requirements on a consistent basis is recommended." Today, approximately twenty years later, as humans plan to return to the moon and venture beyond, the need for flexible up-to-date models of the oxygen extraction production process has become even more clear. Multiple processes for the production of oxygen from lunar regolith are being investigated by NASA, academia, and industry. Three processes that have shown technical merit are molten regolith electrolysis, hydrogen reduction, and carbothermal reduction. These processes have been selected by NASA as the basis for the development of the ISRU System Model Tool (ISMT). In working to develop up-to-date system models for these processes NASA hopes to accomplish the following: (1) help in the evaluation process to select the most cost-effective and efficient process for further prototype development, (2) identify key parameters, (3) optimize the excavation and oxygen production processes, and (4) provide estimates on energy and power requirements, mass and volume of the system, oxygen production rate, mass of regolith required, mass of consumables, and other important parameters. Also, as confidence and high fidelity is achieved with each component's model, new techniques and processes can be introduced and analyzed at a fraction of the cost of traditional hardware development and test approaches. A first generation ISRU System Model Tool has been used to provide inputs to the Lunar Architecture Team studies.

Santiago-Maldonado, Edgardo↗
NASA NTRS1992

Lunar oxygen - The reduction of glass by hydrogen

The direct reduction of volcanic glass by hydrogen has been proposed as a method of extracting oxygen from the lunar soil. Experiments using lunar simulant glasses reacted with flowing hydrogen gas have demonstrated reduction at temperatures from 1000 to 1200 C. For melted samples ferrous iron was reduced to the metal, which formed large crystals at the expense of the glass. Samples held below the melting point rapidly devitrified, and iron was formed from submicrometer crystals of ilmenite and pyroxene. Weight losses of 3.6 - 4.5 percent, depending on glass composition, were achieved in 3 hours at 1100 C. A lunar oxygen plant operating at this efficiency and utilizing Apollo 17 orange glass as a feedstock could produce 50 kg of oxygen per ton of soil. The processes of reduction and sintering of lunar soil are synergistic, and could be combined to produce both oxygen and construction material at a moon base.

Allen, Carlton C.↗
NASA NTRSDate not supplied

Analysis of Oxygen Liquefaction with Transient Flow Rates for ISRU Systems

Human occupation of lunar and Martian surfaces requires in-situ resource utilization (ISRU) to create a sustainable environment with the limited resources available in space. Fuel and oxidizer generation is essential for developing a refueling capability for spacecraft, significantly reducing the propellant mass required for landing. Liquefaction systems are a key step in producing and storing cryogenic liquids such as oxygen, hydrogen, and methane. All those fluids are critical to propulsion, life support, and other spacecraft systems. NASA has previously confirmed the presence of water on the Moon and an electrolysis process can be used to separate the oxygen from the hydrogen molecules. Oxygen has also been found within lunar regolith and can be separated through ISRU processes. The extracted oxygen gas can then be liquefied inside a storage tank with tube-on-tank heat exchangers for future use as an oxidizer for propellants. While steady state liquefaction performance is easy to model, power limitations and cyclical environments caused by the change in Sun exposure between day and night periods potentially call for transient operations. The following analysis was performed using the Thermal Desktop software to investigate how various transient gaseous oxygen (GOX) flow rates impact the production and storage of liquid oxygen (LOX) in a 1-g liquefaction system. Variations of sinusoidal and exponential step functions were selected to model potential GOX flow rates that could be experienced by ISRU systems on lunar or Martian surfaces. This early computational analysis provides some insight on how transient operations impact oxygen liquefaction systems and helps illustrate operational questions to explore experimentally throughout the design process.

Cryogenic Fluid Management↗
NASA NTRS1991

Electrolytic production of oxygen from lunar resources

Oxygen is a valuable commodity in space. Substantial savings have been projected for future missions if oxygen could be produced on the moon from local resources. Some of the most promising approaches to extract oxygen from lunar resources involve electrochemical oxygen generation. In a straight-forward concept called "magma electrolysis", suitable oxides (silicates) are molten at 1300-1500 °C and the melt electrolyzed. Residual melt can be discarded after partial electrolysis. Alternatively, lunar soil may be dissolved in a molten salt and electrolyzed. In this approach, temperatures are lower and melt conductances higher, but electrolyte constituents need to be preserved. Both possibilities are being studied in the laboratory. In a different approach, ilmenite is reduced by hydrogen and the resulting water electrolyzed (Carbotek Process TM). Although know-how from terrestrial technology can be applied, the process task is unconventional and requires many innovative solutions. Time and effort needed for successful development should not be underestimated.

Rudolf Keller↗
NASA NTRS1994

Mining the air: How far have we progressed?

A brief discussion of oxygen-extraction technology and equipment developed by the Space Engineering Research Center (SERC) is presented. Lunar and martian oxygen production from in situ materials and the development of oxygen factories are covered briefly.

Ramohalli, Kumar↗
NASA NTRSDate not supplied

In Situ Resource Utilization (ISRU) Envisioned Future Priorities

The National Aeronautics and Space Administration (NASA) of the United States of America (US) has initiated the Artemis Moon to Mars program to send astronauts (the first woman and person of color) back to the lunar surface, create a sustainable human lunar exploration program, and lead the first human exploration mission to the Mars surface in the 2030’s. A major objective of this program is to characterize the resources that exist on the Moon and Mars, and learn how to utilize them for sustained and affordable exploration. Commonly known as In Situ Resource Utilization (ISRU), the search for, acquisition, and processing of resources in space has the potential to greatly reduce the dependency on transporting mission consumables and infrastructure from Earth, thereby reducing mission costs, risks, and dependency on Earth. Through the extraction and processing of resources into mission commodities such as rocket propellants, life support consumables, and fuel cell reactants, ISRU enhances and evolves the cis-lunar, lander, and surface transportation systems required for human exploration; expanding and ehancing HOW humans get to, explore, and return from the Moon. Through the extraction and processing of resources into metals, silicon, and other manufacturing and construction feedstock, ISRU enhances and allows for the expansion of critical infrastructure through in situ manufacturing and construction capabilities needed for WHAT humans do on the Moon and in cis-lunar space. Because of this, ISRU supports and enables commercial involvement beyond NASA and governmental agencies by both lowering the cost of sustained transportation to/from/on the Moon as well as supporting the market required for needing these transportation systems. To achieve this vision, NASA’s Space Technology Mission Directorate (STMD) ensures the coordinated development of ISRU and other critical space and surface infrastructure elements such as propulsion, power, manufacturing, construction, and robotics through the Strategic Technology Architecture Roundtable (STAR) process. Through STAR, an integrated framework and process has been created allowing for capabilities and technologies to be linked and assessed, gaps to be identified, specifications and metrics to be established, and provide a means to prioritize and implement technology development and missions. For lunar ISRU, three primary areas of development have been initiated, (1) understanding, mapping, extracting, and processing water and other volatiles found in polar permanently shadowed regions (PSRs), (2) methods, technologies to extract oxygen from regolith, and (3) methods, technologies, and use cases for metals, silicon, and other feedstock commodities extracted and produced from lunar resources. This presentation will briefly discuss the STAR process and elaborate on the current status and future plans for ISRU development, demonstration, and architecture implementation of NASA’s Envisioned Future Priorities plan for ISRU.

In Situ Resource Utilization↗
NASA NTRS2005

Space Resource Utilization and Extending Human Presence Across the Solar System

The Presidents Vision for Exploration is not a single mission, but an open ended journey that seeks to answer "How can we live on other worlds?" Using space resources is the only known approach for affordable, sustained, flexible, and self sufficient, human occupation beyond Earth orbit. Earth is a large planet. A simple analysis using the rocket equation shows that if Earth were a bit larger, chemical propulsion as a mechanism to access space would become impractical. Thus, even with the most efficient chemical rocket launch capability, the cost of lifting massive payloads into space will remain very steep (currently about $l00k/lb to the Moon and greater than $500k/lb to Mars). Space resource utilization should begin with an aggressive broad based demonstration program as afforded by the precursor missions implementation of the President's Vision of Exploration. Ion engine upper stages, for example, were studied for over 30 years, but only implemented in design after the Deep Space 1 in space demonstration. These demonstrations should include: extraction of elements from lunar regolith, and Martian soil and atmosphere, demonstration of power break even and growth from lunar or Mars moons derived photovoltaics, oxygen extraction for life support and propellant, and metals and alloys for in space repair and the production of habits and radiation shielding. Space resource utilization yields operational dividends through the subsequent programs including: propellant from lunar oxygen which could cut transportation costs from Earth in half, mega watts per year of power grown from lunar photovoltaics at decreasing cost per kW, decreased cost for human Mars missions by a factor of 10 by using propellant derived from Mars atmosphere for return, and in space manufacturing and food production with space resources yielding safe sustained and eventually self sufficient human presence in space. After the demonstration and implementation, the space resource utilization investment enables commercial and private viability beyond Earth orbit. For example, analysis has shown the lunar oxygen production for propellant becomes commercially viable after the exploration program completes the R&D, and power from lunar derived photovoltaics could, according to past NASA sponsored studies, pay for themselves while supplying most of Earth's electrical energy after about 17 years. Besides the Moon and Mars the resources of the near Earth asteroids enable the building of large space structures and science payloads. Analysis has shown that one of the thousands of these objects (some as easily accessible in space as the Moon and Mars), 2 km dia, the size of a typical open pit mine, would cost the total global financial product of Earth for 30,000 years if we were to launch it from Earth. Beyond Mars, the belt asteroids have been calculated to contain enough materials for habitat and life to support 10 quadrillion people. Thus, the development and use of space resources enables the extension of human life through the solar system allowing humanity to move from a planetary to a solar system society.

Curreri, Peter A.↗
NASA NTRS2004

Autonomous In-Situ Resources Prospector

This presentation will describe the concept of an autonomous, intelligent, rover-based rapid surveying system to identify and map several key lunar resources to optimize their ISRU (In Situ Resource Utilization) extraction potential. Prior to an extraction phase for any target resource, ground-based surveys are needed to provide confirmation of remote observation, to quantify and map their 3-D distribution, and to locate optimal extraction sites (e.g. ore bodies) with precision to maximize their economic benefit. The system will search for and quantify optimal minerals for oxygen production feedstock, water ice, and high glass-content regolith that can be used for building materials. These are targeted because of their utility and because they are, or are likely to be, variable in quantity over spatial scales accessible to a rover (i.e., few km). Oxygen has benefits for life support systems and as an oxidizer for propellants. Water is a key resource for sustainable exploration, with utility for life support, propellants, and other industrial processes. High glass-content regolith has utility as a feedstock for building materials as it readily sinters upon heating into a cohesive matrix more readily than other regolith materials or crystalline basalts. Lunar glasses are also a potential feedstock for oxygen production, as many are rich in iron and titanium oxides that are optimal for oxygen extraction. To accomplish this task, a system of sensors and decision-making algorithms for an autonomous prospecting rover is described. One set of sensors will be located in the wheel tread of the robotic search vehicle providing contact sensor data on regolith composition. Another set of instruments will be housed on the platform of the rover, including VIS-NIR imagers and spectrometers, both for far-field context and near-field characterization of the regolith in the immediate vicinity of the rover. Also included in the sensor suite are a neutron spectrometer, ground-penetrating radar, and an instrumented cone penetrometer for subsurface assessment. Output from these sensors will be evaluated autonomously in real-time by decision-making software to evaluate if any of the targeted resources has been detected, and if so, to quantify their abundance. Algorithms for optimizing the mapping strategy based on target resource abundance and distribution are also included in the autonomous software. This approach emphasizes on-the-fly survey measurements to enable efficient and rapid prospecting of large areas, which will improve the economics of ISRU system approaches. The mature technology will enable autonomous rovers to create in-situ resource maps of lunar or other planetary surfaces, which will facilitate human and robotic exploration.

Dissly, R. W.↗
NASA NTRS2015

Taurus Littrow Pyroclastic Deposit: High-Yield Feedstock for Lunar Oxygen

Future human habitation of the Moon will likely require the use of locally derived materials because of the high cost of transportation from Earth. Oxygen, extracted from oxides and silicates, is a potentially abundant lunar resource vital for life support and spacecraft propulsion. The anticipated costs of supplying all oxygen needs for a lunar base from Earth are high enough to warrant serious study of oxygen production from local resources.

Allen, Carlton C.↗
NASA NTRS2012

Development of Field Excavator with Embedded Force Measurement

A semi-intelligent excavation mechanism was developed for use with the NASA-built Centaur 2 rover prototype. The excavator features a continuously rotatable large bucket supported between two parallel arms, both of which share a single pivot axis near the excavator base attached to the rover. The excavator is designed to simulate the collection of regolith, such as on the Moon, and to dump the collected soil into a hopper up to one meter tall for processing to extract oxygen. Because the vehicle can be autonomous and the terrain is generally unknown, there is risk of damaging equipment or using excessive power when attempting to extract soil from dense or rocky terrain. To minimize these risks, it is critical for the rover to sense the digging forces and adjust accordingly. It is also important to understand the digging capabilities and limitations of the excavator. This paper discusses the implementation of multiple strain gages as an embedded force measurement system in the excavator's arms. These strain gages can accurately measure and resolve multi-axial forces on the excavator. In order to validate these sensors and characterize the load capabilities, a series of controlled excavation tests were performed at Glenn Research Center with the excavator at various depths and cut angles while supported by a six axis load cell. The results of these tests are both compared to a force estimation model and used for calibration of the embedded strain gages. In addition, excavation forces generated using two different types of bucket edge (straight vs. with teeth) were compared.

Soils↗