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At least 613 records · Page 34

Space Launch System Base Aerothermodynamics Post-Flight Reconstruction for Artemis I

Artemis I was the first uncrewed integrated test flight of the NASA heavy-lift, human-rated, exploration-class launch vehicle, Space Launch System (SLS), and Orion spacecraft. Artemis I successfully launched from Pad39B at NASA Kennedy Space Center on November 16th, 2023. The integrated test flight is composed of launch and ascent of the SLS vehicle from lift-off to RS-25 main engine cut-off (MECO), interim cryogenic propulsion stage (ICPS) in-space flight and Orion’s trajectory around the moon and landing in the Pacific Ocean which occurred on December 11th, 2023. The SLS total thrust of 8,800,000 lbf is powered by four LOX/LH2 RS-25 engines and two 5-segment solid rocket boosters. As a result, base flow environments for this vehicle are highly complex and extreme. SLS base aerothermodynamics covers rocket plume-induced convection and radiation of the vehicle’s aft region during powered flight from lift-off to MECO. This work discusses the SLS base flow physics observed during Artemis I and comparisons of post-flight reconstruction with pre-flight models and Space Shuttle data. This is the first time in-depth base heating flight reconstruction has been investigated for an exploration-class launch vehicle since the Saturn V Program.

aerothermodynamics↗

Segmentation of Lightweight Ablator Micro-Tomography Using Deep Learning

Ablative thermal protection systems (TPS) are essential for high speed entry of planetary atmospheres, such as those of Earth and Mars. Upon entry the kinetic energy of the spacecraft is converted into thermal energy, leading to high heat fluxes at the wall of the craft. Because of this extreme heating, a robust ablative TPS material must be selected. A common material selection today is phenolic-impregnated carbon ablator (PICA), which is a low-density carbon material known for producing dust that is not suitable to a cleanroom environment. To mitigate dust created by a PICA heatshield, a silicone-based spray called NuSil is applied to the surface of the TPS, creating PICA-NuSil (PICA-N). PICA-N has been observed to have a different material response from regular PICA during high enthalpy flow testing, producing surface temperatures up to 200K less than those seen for PICA [1]. To better understand this phenomenon, it is critical that robust methods of PICA-N material characterization are developed. The purpose of this project is to investigate Object Research Systems’ (ORS) Dragonfly deep learning tools as a means of accurately segmenting and characterizing PICA-N. Systematic testing of this software has shown that Dragonfly deep learning tools have strong potential for accurate segmentation/ characterization of PICA-N and other TPS materials.

Micro-tomography↗

Harness Thermal Heat Loss Measurement for a Lunar Surface-Deployed LEMS Artemis III Payload

The Lunar Environment Monitoring Station (LEMS) is an autonomous, survive-the-lunar-night seismic suite to be deployed on the Lunar surface by the Artemis III crew and designed to operate continuously for two years. It will see the extremes of the Lunar south pole thermal environment where surface temperatures range from -200°C to +20°C and where nighttime duration is at least 354 hours. Given power and mass constraints, the thermal system is limited to 2.5 Watts of heat during the lunar night. The electrical harnessing named the Signal and Power Passthrough (SAPP) was designed to minimize heat loss while meeting power and signal integrity requirements. To mitigate risk due to uncertainty associated with the harnessing materials, routing, and tie-downs, a flight-like thermal conductance test was performed to measure the heat loss. The test methodology, results, and model correlation are presented.

TVAC↗

Harness Thermal Heat Loss Measurement for A Lunar Surface-Deployed LEMS Artemis III Payload

The Lunar Environment Monitoring Station (LEMS) is an autonomous, survive-the-lunar-night seismic suite to be deployed on the Lunar surface by the Artemis III crew and designed to operate continuously for two years. It will see the extremes of the Lunar south pole thermal environment where surface temperatures range from -200°C to +20°C and where nighttime duration is at least 354 hours. Given power and mass constraints, the thermal system is limited to 2.5 Watts of heat during the lunar night. The electrical harnessing named the Signal and Power Passthrough (SAPP) was designed to minimize heat loss while meeting power and signal integrity requirements. To mitigate risk due to uncertainty associated with the harnessing materials, routing, and tie-downs, a flight-like thermal conductance test was performed to measure the heat loss. The test methodology, results, and model correlation are presented.

Thermal↗

Harness Thermal Heat Loss Measurement for A Lunar Surface-Deployed LEMS Artemis III Payload

The Lunar Environment Monitoring Station (LEMS) is an autonomous, survive-the-lunar-night seismic suite to be deployed on the Lunar surface by the Artemis III crew and designed to operate continuously for two years. It will see the extremes of the Lunar south pole thermal environment where surface temperatures range from -200°C to +20°C and where nighttime duration is at least 354 hours. Given power and mass constraints, the thermal system is limited to 2.5 Watts of heat during the lunar night. The electrical harnessing named the Signal and Power Passthrough (SAPP) was designed to minimize heat loss while meeting power and signal integrity requirements. To mitigate risk due to uncertainty associated with the harnessing materials, routing, and tie-downs, a flight-like thermal conductance test was performed to measure the heat loss. The test methodology, results, and model correlation are presented.

TVAC↗

Metallic Environmentally Resistant Coating Rapid Innovation Initiative (MERCRII)

Mission concepts such as JPL’s Endurance-A utilize rovers such as Astrolab’s FLEX concept to explore the lunar surface. For these types of systems, lightweight alloys such as aluminum (Al) and titanium (Ti) are often specified to minimize mass while maintaining structural integrity. Such alloys, however, exhibit poor tribological response in the form of high friction and wear, especially in extreme space environments and with the additional presence of lunar regolith. This shortens the lifetimes of these systems which have a requirement to traverse 1,00km/year. This project is addressing the technology need of this and future rover missions by developing advanced wear- and radiation-resistant coatings for lightweight parts to extend the lifetime and sustainability of both lunar and Martian assets.

MISSE↗

Predicting SLS Launch Environment using a Novel Multiphase Formulation

Powerful acoustic waves generated during ignition of launch vehicles may be dangerous to the vehicle, its payload, or the surrounding structures. The water-based Ignition Overpressure and Sound Suppression (IOP/SS) system at Kennedy Space Center’s (KSC) Launch Complex 39B (LC-39B) will be used to protect the Space Launch System (SLS) from the acoustic vibrations generated during launch. The IOP/SS system uses enormous amounts of water to dampen and attenuate these sound waves. To better understand the launch environment risks and to study the effectiveness of the IOP/SS system it is desirable to have time-accurate unsteady simulations of the vehicle ignition with water-based sound suppression. This paper presents results obtained with a novel, high-order accurate, and robust numerical method designed for simulating compressible multiphase flows. A positivity-preserving finite difference scheme is utilized which is formally high-order accurate and also provably robust. Robustness is critical due to the extreme nature of the flow which exhibits highly nonlinear shock and rarefaction waves interacting with liquid-gas interfaces with density ratios of the order of 1000:1. Furthermore, the high-order accuracy (and the high resolution property) is desirable for predicting wave phenomena like IOP waves since the signal can be resolved accurately and propagated long distances with fewer grid points. This finite-difference method was developed using NASA’s Launch, Ascent, and Vehicle Aerodynamics (LAVA) Cartesian immersed boundary framework. We present a validation case by applying our solver to the SLS Scale Model Acoustic Test (SMAT). The SLS SMAT is a well-instrumented 5% scale model test meant to represent the SLS at NASA KSC’s LC-39B pad. Scale IOP tests were performed with and without the sound suppression water and included many sensors which recorded the pressure waves produced during ignition. For this validation case we conduct two simulations, likewise with and without sound suppression water, and compare the SLS SMAT pressure sensor signals with our numerical signals at identical locations. Following this validation case we present a study of the SLS launch environment to examine engineering safety concerns about the mobile launch pad. Engineers at KSC redesigned the main flame deflector at LC-39B anticipating the increased loads from the SLS and to repair damage from prior Shuttle missions. This deflector redesign made use of surface pressure and temperature data from LAVA full-scale SLS simulations without the sound suppression system. The engineers were questioning the possibility of increased pressure loads on the underside of the mobile launcher due to the water in the flame trench. Based on the results established in our simulations of the SLS SMAT, we performed updated calculations for SLS at LC-39B with and without water systems active to assess the readiness of the launch pad for Artemis I launch. Our results show that the IOP/SS system is effective at reducing the overpressure signal and overall sound pressure levels felt by the vehicle and additionally that the pressure loads experienced by the mobile launcher (ML) during engine startup is not increased by the presence of water.

EGS↗

Lunar Environment Simulation for a High Performance Motor

NASA and the Canadian Space Agency (CSA) through a CSA contractor, Argo Space/Robotics Division, partnered to perform environmental performance tests on a high torque producing motor. CSA provided the motor and NASA provided a thermal vacuum chamber capable of achieving high vacuum (P < 1 E-5 torr) and temperatures between 25 and 400 K. NASA also provided a dynamometer system capable of measuring and or applying break torque between 0 and 28 Nm. The two primary goals of the test were to simulate sun exposed and shadow condition expected on the lunar surface in order to determine survivability of the motor at extreme temperature conditions and to operate the motor under a constant break load of 6.8 Nm in the temperature range of 30K to 415K. A secondary objective of the test was to operate the motor for 15 km under 6.8 Nm of load. The primary goals of the test were fully achieved. The secondary goal was partially achieved.

O'Connell, Joe↗

Interaction of high voltage surfaces with the space plasma

High voltage solar arrays provide spacecraft power while optimizing mass and power efficiency. Operating such arrays in the space plasma environment can result in anomalously large currents being collected through insulation defects. Two thicknesses of the insulating material were tested, with no effect found due to insulator thickness. In these tests the polyimide thickness was always much less than the pinhole diameter. The pinhole area was varied over an area range of more than 30:1. It was found that the current collected was independent of the pinhole area for hole diameters from 0.35 to 2.0 mm. Two types of adhesives were tried in two different configurations. The adhesives were chosen for their extreme difference in vacuum qualifications. Neither adhesive types nor configuration made a significant difference in current collection. The temperature of the insulating material was also varied. It was found that current collection decreased with increasing temperature. Tests were conducted to see if pinhole current collection decreased with time, as was indicated by the effects of several short tests. Current was collected for over four hours while the conductor potential was held constant at 1000 volts. A smooth decrease with time was not observed, but rather a roughly constant current collection with brief surges to high values. Tests were also conducted with the simulated solar cell biased negative. The current was found to be proportional to pinhole area.

Kaufman, H. R.↗

Preliminary analyses of WL experiment No. 701, space environment effects on operating fiber optic systems

A brief overview of the analyses performed to date on WL Experiment-701 is presented. Four active digital fiber optic links were directly exposed to the space environment for a period of 2114 days. The links were situated aboard the Long Duration Exposure Facility (LDEF) with the cabled, single fiber windings atop an experimental tray containing instrumentation for exercising the experiment in orbit. Despite the unplanned and prolonged exposure to trapped and galactic radiation, wide temperature extremes, atomic oxygen interactions, and micro-meteorite and debris impacts, in most instances the optical data links performed well within the experimental limits. Analysis of the recorded orbital data clearly indicates that fiber optic applications in space will meet with success. Ongoing tests and analysis of the experiment at the Phillips Laboratory's Optoelectronics Laboratory will expand this premise, and establish the first known and extensive database of active fiber optic link performance during prolonged space exposure. WL Exp-701 was designed as a feasibility demonstration for fiber optic technology in space applications, and to study the performance of operating fiber systems exposed to space environmental factors such as galactic radiation, and wide temperature cycling. WL Exp-701 is widely acknowledged as a benchmark accomplishment that clearly demonstrates, for the first time, that fiber optic technology can be successfully used in a variety of space applications.

E W Taylor↗

Influence of test configuration on the combustion characteristics of polymers as ignition sources

The experimental evaluation of polymers as ignition sources for metals was accomplished at the NASA White Sands Test Facility (WSTF) using a standard promoted combustion test. These tests involve the transient burning of materials in high-pressure oxygen environments. They have provided data from which design decisions can be made; data include video recordings of ignition and non-ignition for specific combinations of metals and polymers. Other tests provide the measured compositions of combustion products for polymers at select burn times and an empirical basis for estimating burn rates. With the current test configuration, the detailed analysis of test results requires modeling a three-dimensional, transient convection process involving fluid motion, thermal conduction and convection, the diffusion of chemical species, and the erosion of sample surface. At the high pressure extremes, it even requires the analysis of turbulent, transient convection where the physics of the problem are not well known and the computation requirements are not practical at this time. An alternative test configuration that can be analyzed with a relatively-simple convection model was developed during the summer period. The principal change constitutes replacing a large-diameter polymer disk at the end of the metal test rod with coaxial polymer cylinders that have a diameter nearer to that of the metal rod. The experimental objective is to assess the importance of test geometries on the promotion of metal ignition by testing with different lengths of the polymer and, with an extended effort, to analyze the surface combustion in the redesigned promoted combustion tests through analytical modeling of the process. The analysis shall use the results of cone-calorimeter tests of the polymer material to model primary chemical reactions and, with proper design of the promoted combustion test, modeling of the convection process could be conveniently limited to a quasi-steady boundary layer analysis where the economical solution of parabolic equations is involved. The products for the summer period are: (1) a conceptual-level redesign of the test apparatus, and (2) the development and use of an approximate integral boundary layer analysis to demonstrate the influence of geometry changes prior to testing. A computer code STAN5, an accurate numerical boundary layer model whose earlier versions were developed for the NASA Lewis Research Center by the Fellow, also was installed and validated on the WSTF and New Mexico State University computer systems as a starting point in the development of a more detailed fluid mechanics and combustion model.

Julien, Howard L.↗

Proton Effects and Test Issues for Satellite Designers

Microelectronic and photonic systems in the natural space environment are bombarded by a variety of charged particles including electrons, trapped protons, cosmic rays, and solar particles (protons and other heavy ions). These incident particles cause both ionizing and non-ionizing effects when traversing a device, and the effects can be either transient or permanent. The vast majority of the kinetic energy of an incident proton is lost to ionization, creating the single event effects (SEES) and total ionizing dose (TID) effects. However, the small portion of energy lost in non-ionizing processes causes atoms to be removed from their lattice sites and form permanent electrically active defects in semiconductor materials. These defects, i.e., "displacement damage," can significantly degrade device performance. In general, most of the displacement damage effects in the natural space environment can be attributed to protons since they are plentiful and extremely energetic (and therefore not readily shielded against). For this reason, we consider only proton induced displacement damage in this course. (Nevertheless, we identify solar cells as an important example of a case where both electron and proton damage can be important since only very light shielding is feasible.) The interested reader is encouraged to explore the three previous NSREC and RADECS short courses which also treat displacement damage issues for satellite applications. Part A of this segment of the short course introduces the space environment, proton shielding issues, and requirements specifications for proton-rich environments. In order to exercise the displacement damage analysis tools for on-orbit performance predictions, the requirements document must provide the relevant proton spectra in addition to the usual total ionizing dose-depth curves. Ion-solid interactions and the nature of the displacement damage they generate have been studied extensively for over half a century, yet they still remain a subject of investigation. In this section, a description of the mechanisms by which displacement damage is produced will be followed by a summary of the major consequences for device performance in a space environment. Often the degradation of a device parameter can be characterized by a damage factor (measured in a laboratory using monoenergetic protons) that is simply the change in a particular electrical or optical parameter per unit proton fluence. In addition, we will describe the concept of a non-ionizing energy loss rate (NIEL) which quantifies that portion of the energy lost by an incident ion that goes into displacements. It has been calculated as a function of proton energy, and is analogous to (and has the same units as) the linear energy transfer (LET) for ionizing energy. We will discover that, to first order, the calculated NIEL describes the energy dependence of the measured device damage factors. This observation provides the basis for predicting proton induced device degradation in a space environment based on both the calculated NIEL and relatively few laboratory test measurements. The methodology of such on-orbit device performance predictions will be described, as well as the limitations. Several classes of devices for which displacement damage is a significant (if not the dominant) mode of radiation induced degradation will be presented.

Marshall, Cheryl J.↗

NASA Langley Research Center Force and Strain Measurement Capabilities

Direct measurements of forces and moments are some of the most important data acquired during aerodynamic testing. This paper deals with the force and strain measurement capabilities at the Langley Research Center (LaRC). It begins with a progressive history of LaRC force measurement developments beginning in the 1940's and ends with the center's current capabilities. Various types of force and moment transducers used at LaRC are discussed including six-component sting mounted balances, semi-span balances, hinge moment balances, flow-through balances, rotor balances, and many other unique transducers. Also discussed are some unique strain-gage applications, such as those used in extreme environments. The final topics deal with the LaRC's ability to perform custom calibrations and our current levels of effort in the area of force and strain measurement.

Roberts, Paul W.↗

Potential for Integrating Entry Guidance into the Multi-Disciplinary Entry Vehicle Optimization Environment

The state-of-the-art in vehicle design decouples flight feasible trajectory generation from the optimization process of an entry spacecraft shape. The disadvantage to this decoupled process is seen when a particular aeroshell does not meet in-flight requirements when integrated into Guidance, Navigation, and Control simulations. It is postulated that the integration of a guidance algorithm into the design process will provide a real-time, rapid trajectory generation technique to enhance the robustness of vehicle design solutions. The potential benefit of this integration is a reduction in design cycles (possible cost savings) and increased accuracy in the aerothermal environment (possible mass savings). This work examines two aspects: 1) the performance of a reference tracking guidance algorithm for five different geometries with the same reference trajectory and 2) the potential of mass savings from improved aerothermal predictions. An Apollo Derived Guidance (ADG) algorithm is used in this study. The baseline geometry and five test case geometries were flown using the same baseline trajectory. The guided trajectory results are compared to separate trajectories determined in a vehicle optimization study conducted for NASA's Mars Entry, Descent, and Landing System Analysis. This study revealed several aspects regarding the potential gains and required developments for integrating a guidance algorithm into the vehicle optimization environment. First, the generation of flight feasible trajectories is only as good as the robustness of the guidance algorithm. The set of dispersed geometries modelled aerodynamic dispersions that ranged from +/-1% to +/-17% and a single extreme case was modelled where the aerodynamics were approximately 80% less than the baseline geometry. The ADG, as expected, was able to guide the vehicle into the aeroshell separation box at the target location for dispersions up to 17%, but failed for the 80% dispersion cases. Finally, the results revealed that including flight feasible trajectories for a set of dispersed geometries has the potential to save mass up to 430 kg.

spacecraft guidance↗

Heatshield for Extreme Entry Environment Technology (HEEET) Enabling Missions Beyond Heritage Carbon Phenolic

Future NASA robotic missions utilizing an entry system into Venus and the outer planets, results in extremely high entry conditions that exceed the capabilities of state of the art low to mid density ablators such as PICA or AVCOAT. Previously, mission planners had to assume the use of fully dense carbon phenolic heatshields similar to what was flown on Pioneer Venus or Galileo. Carbon phenolic is a robust TPS material, however, its high density and relatively high thermal conductivity constrain mission planners to steep entries, with high heat fluxes and pressures and short entry durations. The high entry conditions pose challenges for certification in existing ground based test facilities and the longer-term sustainability of CP will continue to pose challenges. NASA has decided to invest in new technology development rather than invest in reviving carbon phenolic. The HEEET project, funded by STMD is maturing a game changing Woven Thermal Protection System technology. HEEET is a capability development project and is not tied to a single mission or destination, therefore, it is challenging to complete ground testing needed to demonstrate a capability that is much broader than any single mission or destination would require. This presentation will status HEEET progress. Near term infusion target for HEEET is the upcoming New Frontiers (NF-4) class of competitively selected Science Mission Directorate (SMD) missions for which it is incentivized.

thermal protection↗

Insights Developed Into the Damage Mechanism of Teflon FEP Thermal Control Material on the Hubble Space Telescope

Metalized Teflon FEP (DuPont; fluorinated ethylene propylene) thermal control material on the Hubble Space Telescope (HST) has been found to degrade in the space environment. Teflon FEP thermal control blankets retrieved during the first servicing mission were found to be embrittled on solar-facing surfaces and to contain microscopic cracks (the FEP surface is exposed to the space environment). During the second servicing mission, astronauts noticed that the FEP outer layer of the multilayer insulation blanketing covering the telescope was cracked in many locations. Large cracks were observed on the light shield, forward shell, and equipment bays. A tightly curled piece of cracked FEP from the light shield was retrieved during the second mission. This piece was severely embrittled, as witnessed by ground testing. A Failure Review Board was organized by NASA Goddard Space Flight Center to determine the mechanism causing the multilayer insulation degradation. This board included members of the Electro-Physics Branch of the NASA Glenn Research Center at Lewis Field. Density measurements of the retrieved materials obtained under the review board's investigations indicated that FEP from the first servicing mission was essentially unchanged from pristine FEP but that the second servicing mission FEP had increased in density in comparison to pristine FEP (ref. 1). The results were consistent with crystallinity measurements taken using x-ray diffraction and with results from solid-state nuclear magnetic resonance tests (see the table and ref. 1). Because the second servicing mission FEP was embrittled and its density and crystallinity had increased in comparison to pristine FEP, board researchers expected that the first servicing mission FEP, which was also embrittled, would also have increased in crystallinity and density, but it did not. Because the retrieved second servicing mission material curled while in space, it experienced a higher temperature extreme during thermal cycling (estimated at 200 C) than the first servicing mission material (estimated at 50 C). Therefore, Glenn initiated and conducted an investigation of the effects of heating pristine FEP and FEP that had been exposed on the Hubble Space Telescope. Samples of pristine and first and second servicing mission FEP were heated to 200 C and evaluated for changes in density and morphology. We hoped that the results would help explain why FEP degrades in the Hubble Space Telescope space environment.

deGroh, Kim K.↗

NASA Tech Briefs, November 2011

The topics include: 1) Flight Test Results from the Rake Airflow Gage Experiment on the F-15B; 2) Telemetry and Science Data Software System; 3) CropEx Web-Based Agricultural Monitoring and Decision Support; 4) High-Performance Data Analysis Tools for Sun-Earth Connection Missions; 5) Experiment in Onboard Synthetic Aperture Radar Data Processing; 6) Microfabrication of a High-Throughput Nanochannel Delivery/Filtration System; 7) Improved Design and Fabrication of Hydrated-Salt Pills; 8) Monolithic Flexure Pre-Stressed Ultrasonic Horns; 9) Cryogenic Quenching Process for Electronic Part Screening; 10) Broadband Via-Less Microwave Crossover Using Microstrip-CPW Transitions; 11) Wheel-Based Ice Sensors for Road Vehicles; 12) G-DYN Multibody Dynamics Engine; 13) Multibody Simulation Software Testbed for Small-Body Exploration and Sampling; 14) Propulsive Reaction Control System Model; 15) Licklider Transmission Protocol Implementation; 16) Core Recursive Hierarchical Image Segmentation; 17) Two-Stage Centrifugal Fan; 18) Combined Structural and Trajectory Control of Variable-Geometry Planetary Entry Systems; 19) Pressure Regulator With Internal Ejector Circulation Pump, Flow and Pressure Measurement Porting, and Fuel Cell System Integration Options; 20) Temperature-Sensitive Coating Sensor Based on Hematite; 21) Standardization of a Volumetric Displacement Measurement for Two-Body Abrasion Scratch Test Data Analysis; 22) Detection of Carbon Monoxide Using Polymer-Carbon Composite Films; 23) Substituted Quaternary Ammonium Salts Improve Low-Temperature Performance of Double-Layer Capacitors; 24) Sustainably Sourced, Thermally Resistant, Radiation Hard Biopolymer; 25) Integrated Lens Antennas for Multi-Pixel Receivers; 26) 180-GHz Interferometric Imager; 27) Maturation of Structural Health Management Systems for Solid Rocket Motors; 28) Validating Phasing and Geometry of Large Focal Plane Arrays; 29) Transverse Pupil Shifts for Adaptive Optics Non-Common Path Calibration; 30) Qualification of Fiber Optic Cables for Martian Extreme Temperature Environments; 31) Solid-State Spectral Light Source System; 32) Multiple-Event, Single-Photon Counting Imaging Sensor; 33) Surface Modeling to Support Small-Body Spacecraft Exploration and Proximity Operations; and 34) Achieving Exact and Constant Turnaround Ratio in a DDS-Based Coherent Transponder.

Source record↗

Regolith Advanced Surface Systems Operations Robot (RASSOR)

Regolith is abundant on extra-terrestrial surfaces and is the source of many resources such as oxygen, hydrogen, titanium, aluminum, iron, silica and other valuable materials, which can be used to make rocket propellant, consumables for life support, radiation protection barrier shields, landing pads, blast protection berms, roads, habitats and other structures and devices. Recent data from the Moon also indicates that there are substantial deposits of water ice in permanently shadowed crater regions and possibly under an over burden of regolith. The key to being able to use this regolith and acquire the resources, is being able to manipulate it with robotic excavation and hauling machinery that can survive and operate in these very extreme extra-terrestrial surface environments. In addition, the reduced gravity on the Moon, Mars, comets and asteroids poses a significant challenge in that the necessary reaction force for digging cannot be provided by the robot's weight as is typically done on Earth. Space transportation is expensive and limited in capacity, so small, lightweight payloads are desirable, which means large traditional excavation machines are not a viable option. A novel, compact and lightweight excavation robot prototype for manipulating, excavating, acquiring, hauling and dumping regolith on extra-terrestrial surfaces has been developed and tested. Lessons learned and test results will be presented including digging in a variety of lunar regolith simulant conditions including frozen regolith mixed with water ice.

Mueller, Robert P.↗