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All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Comparison of Areas in Shadow from Imaging and Altimetry in the North Polar Region of Mercury and Implications for Polar Ice Deposits

Earth-based radar observations and results from the MESSENGER mission have provided strong evidence that permanently shadowed regions near Mercury's poles host deposits of water ice. MESSENGER's complete orbital image and topographic datasets enable Mercury's surface to be observed and modeled under an extensive range of illumination conditions. The shadowed regions of Mercury's north polar region from 65 deg N to 90 deg N were mapped by analyzing Mercury Dual Imaging System (MDIS) images and by modeling illumination with Mercury Laser Altimeter (MLA) topographic data. The two independent methods produced strong agreement in identifying shadowed areas. All large radar-bright deposits, those hosted within impact craters greater than or equal to 6 km in diameter, collocate with regions of shadow identified by both methods. However, only approximately 46% of the persistently shadowed areas determined from images and approximately 43% of the permanently shadowed areas derived from altimetry host radar-bright materials. Some sizable regions of shadow that do not host radar-bright deposits experience thermal conditions similar to those that do. The shadowed craters that lack radar-bright materials show a relation with longitude that is not related to the thermal environment, suggesting that the Earth-based radar observations of these locations may have been limited by viewing geometry, but it is also possible that water ice in these locations is insulated by anomalously thick lag deposits or that these shadowed regions do not host water ice.

MESSENGER↗
NASA NTRS2023

Neural Radiance Fields for Shadow Removal and Relighting of Satellite Imagery

Multi-view stereo photogrammetric techniques have been conventionally utilized to generate Global Digital Elevation Models (GDEM) of planetary and lunar surfaces. However, these methods, relying on conventional feature detectors, are often subject to inaccuracies caused by changes in lighting conditions, including diffuse reflection and harsh shading. This has limited the ability of these methods to accurately reconstruct shadowed regions in orbital imagery, such as highly shaded urban areas and the permanently shadowed regions (PSRs) located in the lunar surface, which are critical targets for NASA's Artemis program. Neural Radiance Fields (NeRFs) offer a novel solution to these limitations by breaking away from traditional photogrammetric assumptions of ridged, opaque surfaces. NeRFs are capable of reconstructing 3D objects with variably transmissive properties, such as fluids, PSRs, and reflective surfaces. In this work, we demonstrate the robustness of NeRFs in generating high-fidelity 3D models of terrain from highly shaded orbital imagery acquired from small satellites in low earth orbit (LEO). Our results showcase the ability of NeRF to overcome the limitations of traditional photogrammetric methods and provide a promising solution for reconstructing complex scenes in challenging lighting conditions.

Caleb Ashmore Adams↗
NASA NTRS1997

Topography of the Lunar South Polar Region: Implications for the Size and Location of Permanently Shaded Areas

We analyze Clementine altimetry to constrain the size and location of proposed permanently shadowed regions in the vicinity of the lunar south pole. Long and short wavelength topography in the vicinity of the pole, in combination with measurements of depths of well-preserved craters and basins and the lunar topographic power spectrum, have direct bearing on the nature of elevations in the south polar region. A criterion based on geometric considerations and altimetry demonstrates that the existence of permanent shadowing is not very sensitive to the elevation of the south pole. In addition, permanent shadowing cannot be a consequence of large structures such as the South Pole-Aitken Basin and/or a 300-km degraded polar basin. Perennially dark regions, if they exist, are most likely associated with craters or other axisymmetric features with diameters of at most 80 km centered at the pole. For structures displaced 2 deg from the pole the maximum allowable diameter decreases to approximately 30 km.

Zuber, Maria T.↗
NASA NTRS2022

Celestial Mapping System Video Demonstration Part 4

The current presentation focuses on the work performed by the authors, to consume a unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar south pole which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool. This tool was developed in direct support of NASA's VIPER and Artemis programs to enhance the extremely low-light images of the interior of PSRs and provide the first-time ability to see within these regions at 3m scale visibility. We focused on the region near Nobili crater, selected site for VIPER mission and stitched several images to create a high-resolution map of B01 crater, that included the visualization of PSRs. We have developed an in-built line of sight analysis tool in CMS, that analyzes the terrain profile and obstructions and provides the visibility of a given terrain for a remote observer. This tool was utilized to perform viewshed analysis to investigate the area inside the PSR B01, a remote observer such as a rover could see without actually crossing the region. This analysis was extended further to set different heights for various observers and then perform the viewshed analysis. The combined visibility profile at different locations could subsequently lead to traverse planning.

Mapping↗
NASA NTRS1985

Merits of a lunar polar base location

There are no seasons on the moon, and its surface may include regions where the sun never fully sets. Permanent shadow regions may be very cold, and with continuous sunlight nearby, appear ideal sites for thermodynamic power systems. If located near a pole, a lunar base could have solar electric power and piped-in solar illumination continuously available. Habitat and agricultural conditions in underground facilities are easily kept constant. Such polar sites would furnish excellent opportunities for astronomical observation, since fully half of the sky is visible from each pole and cryogenic instruments are easily operated there.

Burke, J. D.↗
NASA NTRSDate not supplied

Generating Cryogenic Lunar Simulants Within the Planetary Exploration & Astromaterials Research Laboratory

The Planetary Exploration & Astromaterials Research Laboratory (PEARL) aims to provides capabilities for the creation of—and research on—cryogenic lunar regolith simulants (CRS) containing surface volatile analytes. CRS represent regolith samples that might be collected from lunar Permanently Shadowed Regions (PSRs) during future missions. Handling CRS requires procedural and engineering development due to extremely cold (i.e. ≤ - 196°C) working temperatures. However, there is an imperative to understand the physical and chemical alteration of samples during collection, transport, and curation processes throughout the Artemis missions. The chemistries that will be encountered within the PSRs need to be understood based upon prior mission data analysis. The ability to utilize these techniques provides future tests that could be relevant to planetary protection applications regarding future robotic sample return.

Lunar↗
NASA NTRSDate not supplied

Use of a Dynamic Radioisotope Power Source for a Long Duration Lunar Science Rover

The Radioisotope Power Systems (RPS) Program tasked the Compass Team to evaluate use of Dynamic Radioisotope Power Sources (DRPS) for lunar science rovers. The object was to identify their advantages and challenges as well as to influence the technology developments with flight-type requirements. This was done by using the promising Volatiles Investigating Polar Exploration Rover (VIPER) solar-powered rover mission as a platform to ‘swap in’ a DRPS. The resulting design used a ‘pickup truck bed’ approach which allowed simplified installation and operation of the DRPS while also keeping the forward lunar surface ‘blocked’ from the DRPS waste heat, which could sublimate the icy surface. It was found that with the Stirling DRPS option the mass is within the planned VIPER lander capability and is comparable to VIPER mass and size (the DRPS replaces large battery pack/solar arrays). The Stirling DRPS option produced ~300 Watts electrical (We) using six general purpose heat source (GPHS) bricks and eight Stirling convertors. Replacing the solar/battery power with radioisotope power allows a continuous presence (instead of six hours) in a permanently shadowed region (PSR) and over 18 months of operations with minimal science impact (rearward surface heating). It was also found that use of a dynamic system, instead of a thermoelectric system, reduces the heat impact on the science environment two-to-three times while still providing sufficient waste heat for the rover systems in the PSR (~ -200°C). The DRPS, along with a relay link (like Gateway), can provide extended access to PSR. The system was also found to be capable of roving for eight hours per day with a range of well over 100 km in 18 months.

Radioisotope Power↗
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 Impacts of Heating Actuators in Extremely Cold Space Environments

Conventional, grease-lubricated actuators for space mechanisms can achieve long life but must be heated above about 213 K, or -60 °C, to function in extremely cold environments. This paper first overviews a new NASA project that is developing two rotational actuators that can achieve long life without the need for supplemental heating. Then, the impacts of heating conventional, grease-lubricated actuators are studied for operation in a lunar permanently shadowed region. To facilitate the assessment, a novel total efficiency metric is introduced that relates the average power output to the average total power input (i.e., the power to heat plus the power to actuate/rotate). The assessment employs a thermal analysis of the energy required to heat an actuator from a survival temperature of 30 K to 213 K as well as the power required to subsequently maintain 213 K while in an operational state. Two concepts of actuator operation are considered that separately highlight the impacts of warmup heating energy and maintenance heater power. It is shown that in practical situations, the perceived efficiency of an actuator with 100% conventional operating efficiency can reach 10% or lower, particularly when the actuator has a high emissivity and is operated at lower duty cycles for durations less than 10 hours. Other impacts are presented along with a method of mitigating the impacts in some applications.

space actuator↗
NASA NTRSDate not supplied

Unbounded Learning Environments as an Approach to Preserving Design Flexibility Demonstrated With Nasa Stem Enhancement in Earth Science (SEES) Students

The Artemis Lunar program is providing opportunity for young scientists and engineers to contribute towards leading edge design concepts regarding early on-surface work areas that are aligned with major national initiatives. Therefore, it is imperative in any discovery process that those young scientists and engineers be provided the bandwidth or operating in a ‘greenfield’ technology environment that encourages new ideas, and perhaps the discovery of ideas that would not be realized within typical structured engineering constraints. To facilitate this concept, the use of unbounded teaching methods was utilized to provide a low-constraint environment from which students can design and discover the requirements that are bounded by the natural environment of the lunar surface, and then build up design requirements un-hindered by budgetary and/or logistics realizations of the moment funding capabilities. Specifically, this design exercise provided the students to operate with unlimited budgets, and unlimited up-mass lifts to the lunar surface to develop a preliminary feasible process for establishing a working lunar research based upon the near-area permanently shadowed regions within the lunar surface. In concept, working near PSRs will be advantageous as they receive near eternal shielding from solar radiation and may potentially host numerous volatile substances such as water ice, methane, hydrogen sulfide and helium-3 that will be the target of scientific investigation and in-situ resource utilization ISRU. The advantage of an upstream working area is that the quality of return materials could potentially be exponential when including an upstream analysis prior to earth-return missions. Furthermore, it’s well known within the scientific and engineering community that working with the base materials in front of human eyes elucidates new features and observations that may not survive when stored and shipped to Earth. Finally, it is theorized that these methods and techniques developing on the lunar surface would be applicable to other planets or cometary surfaces.

Education↗
NASA NTRSDate not supplied

Lunar Science Investigations and Exploration in Celestial Mapping System

Introduction: As NASA expands the mission portfolio on the lunar surface, there is a need for applications with a broad range of analytical and functional capabilities that can be simultaneously deployed onto multiple mobile and desktop platforms to perform in-situ operations and hence enabling extensive Lunar exploration. Celestial Mapping System (CMS) [1,2] is developed to address the need for tools for science investigations, mission planning, operations and support for planetary sciences. Built on top of NASA WorldWind libraries, CMS can be simultaneously deployed onto multiple platforms, has the flexibility to update to the latest imagery and terrain datasets as they are being acquired (in real time) before and/or during the exploration mission and has the potential to enable traverse path planning suited for rovers, EVA and surface mobility units. It can provide critical functionalities such as equipment planning and optimized placement on Lunar surface, line of sight analysis to inform the coverage area for various equipment, powerful measurement tools based on 3D terrain, 3D COLLADA models to represent rovers, humans and equipment, visualization of derived mapping products (e.g. resource maps), and a data engine for hosting new observations that are not available in other contemporary lunar data tools [1]. Visualization of PSRs: The current presentation focuses on the work performed by the authors, to consume a unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool [3]. This tool was developed in direct support of NASA's VIPER and Artemis programs to enhance the extremely low-light images of the interior of PSRs and provide the first-time ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the region near Nobili crater near Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Line of Sight Analysis and Traverse Planning in PSRs: We have developed an in-built line of sight analysis (LOS) tool in CMS that analyzes the terrain profile and obstructions and provides the visibility of a given terrain for a remote observer. This tool was utilized to perform viewshed analysis to investigate the area inside the PSR, a remote observer such as a rover could see without actually crossing the region. Figure 1 shows the viewshed analysis on the PSR in Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. Figure 1: (left) PSR image on top of a high-resolution mosaic of sunlit images of a crater, in Nobile region (right) Viewshed Analysis of the same PSR with observer location shown by yellow pin. This analysis was extended further to set different heights for various observers and then perform the viewshed analysis. Combining the different visibility profiles can help designing improved traverses within the crater. Future plans: Eventually, HORUS datasets will be integrated into CMS as a layer in selected lunar polar regions. Hazard Maps will then be created based on terrain analysis in those regions. This integration will enable multiple scientific and exploration applications, such as designing traverses within PSRs, analyzing potential landing and science mission targets, investigating the meter-scale geomorphology of PSRs, including craters, boulder, surface roughness, mass wasting features and other indications of the presence of water-ice and other volatiles. Acknowledgments: CMS developers team including Kaitlyn J. Dickinson, Tyler A. Lucarz, Tyler W. Choi from USRA, NASA WorldWind Advisory team including Mark Peterson and Guillermo Miguel Del Castillo, HORUS team member V.T. Bickel, Robinson, M., LRO MOON LROC 2 EDR V1.0, LRO-L-LROC-2-EDR-V1.0, NASA Planetary Data System (PDS), 2009. https://doi.org/10.17189/1520643 References: [1] https://celestial.arc.nasa.gov [2] Agrawal et. al. “Celestial Mapping System for Lunar Surface Mapping and Analytics”, Lunar Surface Innovation Consortium, 2021 [3] Bickel V. et al. (2021) Nat Commun 12, 5607

Lunar Mapping↗
NASA NTRS1979

Ice in the lunar polar regions

The idea that ice and other trapped volatiles exist in permanently shadowed regions near the lunar poles was proposed by Watson, Murray, and Brown (1961). It is reexamined in the present paper, in the light of the vast increase of lunar knowledge. The stability of the traps and the trapping mechanism are verified. Four potential sources of lunar H2O, namely (1) solar wind reduction of Fe in the regolith, (2) H2O-containing meteoroids, (3) cometary impact, and (4) (the least certain) degassing of the interior, can supply amounts of trapped H2O estimated in the range of 10 to the 16th to 10 to the 17th g. Two important destructive mechanisms have been identified: photodissociation of H2O molecules adsorbed on the sunlit surface and sputtering or decomposition of trapped H2O by solar wind particles. The effect of impact gardening is mainly protective. The question of the presence of H2O in the traps remains open; it can be settled by experiment.

Arnold, J. R.↗
NASA NTRS2015

The Age of Lunar South Circumpolar Craters Haworth, Shoemaker, Faustini, and Shackleton: Implications for Regional Geology, Surface Processes, and Volatile Sequestration

The interiors of the lunar south circumpolar craters Haworth, Shoemaker, Faustini, and Shackleton contain permanently shadowed regions (PSRs) and have been interpreted to contain sequestered volatiles including water ice. Altimetry data from the Lunar Orbiter Laser Altimeter (LOLA) onboard the Lunar Reconnaissance Orbiter provide a new means of examining the permanently shadowed interiors of these craters in unprecedented detail. In this study, we used extremely high-resolution gridded LOLA data of Haworth, Shoemaker, Faustini, and Shackleton to determine the size-frequency distributions and the spatial density of craters superposing their rims, inner slopes, and floors. Based on their population of superposed D greater than or equal to 2 km craters, Haworth, Shoemaker, and Faustini have pre-Nectarian formation ages. Shackleton is interpreted as having a Late Imbrian age on the basis of craters with diameter D greater than or equal to 0.5 km superposed on its rim. The local density of craters with sub-km diameters across our study area is strongly dependent on slope; because of its steep interior slopes, the lifetime of craters on the interior of Shackleton is limited. The slope-dependence of the small crater population implies that the population in this size range is controlled primarily by the rate at which craters are destroyed. This is consistent with the hypothesis that crater removal and resurfacing is a result of slopedependent processes such as diffusive mass wasting and seismic shaking, linked to micrometeorite and meteorite bombardment. Epithermal neutron flux data and UV albedo data show that these circumpolar PSRs, particularly Shoemaker, may have approximately 1-2% water ice by mass in their highly porous surface regolith, and that Shoemaker may have approximately 5% or more water ice by mass in the near subsurface. The ancient formation ages of Shoemaker, Faustini and Haworth, and the Late Imbrian (approximately 3.5 Ga) crater retention ages of their floors suggests that any water ice that might have been deposited in their permanently shadowed areas was insufficient to modify the superposed crater population since that time.

Circumpolar↗
NASA NTRSDate not supplied

Secondary Volcanically-Induced Lunar Atmosphere and Lunar Volatiles: 3-D Modeling and Analysis

The fact that the Moon could have a transient secondary atmosphere due to volcanic outgassing has been known for some time, though typically such an atmosphere was believed to be extremely thin (~10-8 bar) [1]. But recent research by Needham and Kring (NK) [2] suggests that during the peak of volcanic activity ~3.5 Ga such a volcanically-outgassed atmosphere could reach ~10-2 bar of surface pressure. In similar research Wilson et al. [3] proposed a more conservative estimate, arguing that the thickness of such an atmosphere would depend on the intervals between major eruptions and may not exceed microbar densities. In either case a collisional atmosphere could be present, which would control transport of outgassed volatiles (such as H2O) and their deposition in polar regions, where they could be preserved until modern day frozen in permanently shadowed regions (PSR) or buried beneath the regolith. Here we study such a hypothetical atmosphere to investigate its stability, meteorological properties and the effect on transport of volatiles. We use the ROCKE-3D planetary 3-D General Circulation Model (GCM)[4]. The insolation and orbital parameters were set to conditions 3.5 Ga. The atmospheric composition, based on the list of outgassed species presented by NK in combination with our estimates for atmospheric escape, condensation and the results from our 1-D chemistry model, was chosen to be either CO-dominated or CO2-dominated (depending on atmospheric temperature). In this study we restricted ourselves to relatively "thick" lunar atmospheres of 1-10 mb, though we believe that our results will scale to thinner atmospheres as well. We present the results for ground and atmospheric temperature for modeled atmospheres over a wide parameter space. In particular we consider different atmospheric compositions (CO or CO2 dominated), a set of atmospheric pressures from 1 mb to 10 mb and a set of obliquities from 0o to 40o. We also present an experiment of a single major eruption [5] and show that in just 3 years ~80% of the outgassed water is deposited in polar regions. This demonstrates the efficiency of such an atmosphere in delivering volatiles. We argue that a secondary lunar atmosphere could play a significant role in forming volatile deposits currently observed in the polar regions of the Moon.

Lunar atmospheres↗
NASA NTRS2023

A New View of the Lunar South Pole from the Lunar Orbiter Laser Altimeter (LOLA)

Upcoming missions to the lunar south pole require detailed maps over large areas to fully characterize landing sites locally and regionally and to place their data into proper geologic context. To that end, we enhanced the Lunar Orbiter Laser Altimeter (LOLA) altimetry dataset for the south polar region, from which we produced new maps of topography, topographic roughness, and permanently shadowed regions (PSRs). The roughness maps reveal a diversity of terrains characterized by hectometer-scale roughness which is controlled in this region primarily by cratering and downslope mass transport. The south polar region is littered with linear roughness features of order ~1 – 10 km wide and ~10s – 100s of km long hypothesized to be secondary impacts within extended ejecta rays. Non uniformities in these features could reflect variations in secondary impactor properties and/or target terrain properties. Poleward of 80° S, the PSR cumulative size-frequency distribution (CSFD) shows an approximately power-law behavior whose exponent has a spatial variation of ~10%. PSRs with areas < 1 km2 contain 15 ± 5% of the total PSR area. Finally, we studied the effect of false positives and false negatives on the accuracy of the measured PSR cumulative size-frequency distribution (CSFD) and on the area for any individual PSR. The new maps presented here have many applications in the science and exploration of the lunar south polar region, such as geologic mapping and traverse planning.

Michael K. Barker↗
NASA NTRSDate not supplied

ISRU Evaluation of Artemis Campaign Sites: Considerations and Methodology

The Artemis campaign has stated goals of ‘sustainable exploration’ [1] which includes In-Situ Resource Utilization (ISRU). The selection of the lunar polar region for Artemis was in part due to the identification of water in permanently shadowed regions (PSRs) which is of both scientific and exploration interest. The potential use of this water (as is, or as oxygen/hydrogen) for NASA and commercial applications, such as refueling vehicles, for power systems, or supplying life support consumables, is reflected in NASA’s Moon to Mars objectives (LI-7) [2]. These objectives also specify the need to locate and characterize the lunar water such that a water ‘reserve’ can be identified (AS-3). While infusion of ISRU capabilities is not planned for Artemis III, it is an opportunity to collect information to identify water reserves for later Artemis and commercial use. Selection of an Artemis III site with ISRU consideration will help advance the infusion of ISRU into later missions.

In situ resource utilization↗
NASA NTRS2012

High Spatial Resolution Studies of Epithermal Neutron Emission from the Lunar Poles: Constraints on Hydrogen Mobility

The data from the collimated sensors of the LEND instrument are shown to be of exceptionally high quality. Counting uncertainties are about 0.3% relative and are shown to be the only significant source of random error, thus conclusions based on small differences in count rates are valid. By comparison with the topography of Shoemaker crater, the spatial resolution of the instrument is shown to be consistent with the design value of 5 km for the radius of the circle over which half the counts from the lunar surface would be determined. The observed epithermal-neutron suppression factor due to the hydrogen deposit in Shoemaker crater of 0.25 plus or minus 0.04 cps is consistent with the collimated field-of-view rate of 1.7 cps estimated by Mitrofanov et al. (2010a). The statistical significance of the neutron suppressed regions (NSRs) relative to the larger surrounding polar region is demonstrated, and it is shown that they are not closely related to the permanently shadowed regions. There is a significant increase in H content in the polar regions independent of the H content of the NSRs. The non-NSR H content increases directly with latitude, and the rate of increase is virtually identical at both poles. There is little or no increase with latitude outside the polar region. Various mechanisms to explain this steep increase in the non-NSR polar H with latitude are investigated, and it is suggested that thermal volatilization is responsible for the increase because it is minimized at the low surface temperatures close to the poles.

neutron↗
NASA NTRSDate not supplied

Leveraging VIPER Geotechnical and Mobility Insights for Endurance Rover and Traverse Development

A new generation of lunar surface rover exploration is rapidly approaching. This is evidenced by the rise of commercially developed rovers from private companies (e.g., Lunar Outpost’s MAPP) and government agencies, like NASA’s Volatiles Investigating Polar Exploration Rover (VIPER), the Lunar Terrain Vehicle (LTV), and the Endurance/Intrepid rover concepts, and the INSPIRE mission concept. The drive distance requirements for off-world vehicles are also rapidly increasing. For example, LTV driving requirements dictate a 20 km range on a single battery charge, with an overall lifetime requirement of 13,000 km over a minimum 10-year service life. Similarly, NASA's Endurance-A mission concept requires a 2000 km vehicle traverse distance, which is nearly 50 times further than the USSR's Lunokhod 2, the longest lunar rover mission to date. Previous planetary surface missions on the Moon and Mars have revealed harsh mobility conditions: aggressive rocky terrains on Mars severely damaged the Curiosity rover’s wheels, soft lunar regolith caused the Lunokhod 2 rover to sink and NASA’s Apollo 15 LRV (Lunar Roving Vehicle) spun out due to poor traction, which required manual correction. This demonstrates that mobility challenges like wheel degradation and soft soil driving performance must be accounted for in a mission’s design phase to meet increasingly aggressive mission durations and mobility goals. The success of these long duration missions requires highly reliable and durable mobility platforms in conjunction with a more developed understanding of the geotechnical properties of the lunar surface. The VIPER mission is uniquely posed to inform future missions about mobility performance, wheel durability, and lunar surface soil mechanics of sunlit and shadowed regions through use of data streams that already exist for other mission purposes. VIPER’s mission to the lunar south pole will provide a new perspective into off-world mobility challenges including traversal into permanently shadowed regions. Mobility data from VIPER’s mission will represent a first glimpse into the surface mobility challenges of the lunar South Pole. Utilization of VIPER’s existing capabilities including cameras, inertial measurement unit (IMU) data, motor currents/torque, drill data, and the rover’s suspension state and kinematics provide the opportunity to determine potentially useful information for future rover and traverse designs, as well as on-Earth testing practices. Data products collected during VIPER’s mission could inform design considerations for the Endurance rover much earlier than NASA’s standard “lessons learned” approach as VIPER has a highly tactical mission operations structure. This work outlines the specific links between possible data products from the VIPER mission and their potential impact on the Endurance/Intrepid mission concepts in their early design phases. From VIPER, we will also gain insights for future development of onboard mobility software as VIPER is a way-point driven rover which requires more constant human operation on Earth than some other rover missions (non-lunar surface). Primary VIPER data products and insights of interest include wheel sinkage, wheel slip, wheel degradation, surface soil shear strength, and terrain slope estimation. VIPER data products will be made available via the Planetary Data System’s Geosciences and Cartography and Imaging Sciences nodes, conforming to the PDS4 standard.

mobility↗