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At least 631 records · Page 35

Study of Sabatier Catalyst Performance for a Mars ISRU Propellant Production Plant

NASA is currently developing technologies for use in the field of in-situ resource utilization (ISRU). One of the technologies being advanced is the Sabatier, or methanation, reactor which converts carbon dioxide and hydrogen into methane gas and water at high temperatures. This paper discusses the catalyst life and performance issues for these reactors that would be expected on Mars and describes the test methods employed and observed results. The various catalysts were tested in their capacity for the continuous production of methane gas via the Sabatier reaction and the possible effects of launch vibration loads, exposure to liquid water, particulate contamination, and chemical contamination to the overall observed reaction efficacy of the catalysts evaluated.

Franco, Carolina↗

Experimental Configuration and Preliminary Results of Testing a Rapid Cycle Adsorption Pump for Martian CO2 Acquisition

Temperature-swing adsorption pumps have been proposed as a method of acquiring and compressing Martian atmospheric CO2 for downstream processing. Most industrial applications and previous research targeted at space in-situ resource utilization (ISRU) utilize long (~hours) temperature swing periods, typically limited by the ability to transfer heat from a naturally insulating sorbent bed. A rapid cycle adsorption pump (RCAP) would reduce these periods to minutes, in the hope of increasing overall throughput. This paper details the design and preliminary experimental results from testing an RCAP in a simulated Martian environment. The test configuration features a central, liquid-cooled and heated heat transfer plate surrounded by symmetrical rectangular sorbent beds. Various bed thicknesses and commercially available Zeolite 13X sorbent particle sizes are evaluated to both determine performance and provide data for a parallel modeling effort. Discussions of multi-stage configurations and methods of boosting bed conductivity are included.

Berg, Jared↗

NASA Oxygen and Water Production Architectures for Early Reusable Lander

The presentation covers two recent studies Lunar In Situ Resource Utilization (ISRU) systems to produce propellant for an early reusable lander architecture. The first study examines the hardware, power, and operations required to produce 10 metric tons of oxygen per year near the lunar south pole using the Carbothermal Reduction process. The second study examines the hardware, power, and operations to mine and process 15 metric tons of water from a permanently shadowed crater near Shackleton crater.

Sanders, G.↗

Experimental Design and Preliminary Analysis of a Mars CO2 Rapid Cycle Adsorption Pump

Temperature-swing adsorption pumps have been proposed as a method of acquiring and compressing Martian atmospheric CO2 for downstream processing. Most industrial applications and previous research targeted at space in-situ resource utilization (ISRU) utilize long (~hours) temperature swing periods, typically limited by the ability to transfer heat from a naturally insulating sorbent bed. A rapid cycle adsorption pump (RCAP) would reduce these periods to minutes, in the hope of increasing overall throughput. This paper details the design and preliminary experimental results from testing an RCAP in a simulated Martian environment. The test configuration features a central, liquid-cooled and heated heat transfer plate surrounded by symmetrical rectangular sorbent beds. Various bed thicknesses and commercially available Zeolite 13X sorbent particle sizes are evaluated to both determine performance and provide data for a parallel modeling effort. Discussions of multi-stage configurations and methods of boosting bed conductivity are included.

Rapid Cycle Adsorption↗

NASA Lunar ISRU Strategy

The presentation is for general audiences to provide insight and understanding on NASA's lunar exploration plans, objectives for in situ resource utilization, and currently funded instruments and orbital/surface missions.

Sanders, Gerald↗

Results of the Micro-12 Flight Experiment: Effects of Microgravity on Shewanella oneidensis MR-1

The Micro-12 flight experiment was launched on SpaceX-15 and completed during berthing on the International Space Station. The goal of this experiment was to understand the effects of spaceflight and microgravity on the physiology of the model exoelectrogen Shewanella oneidensis MR-1. BioServe Fluid Processing Apparatus (FPA) and Group Activation Pack (GAP) hardware systems were used for both flight and ground control tests. Under spaceflight conditions, extracellular electron transfer (EET) rates were found to be significantly increased on insoluble substrates, while biofilm development appeared to be unchanged under the conditions tested; these processes are critical for microbial-assisted bioelectrochemical systems. Additionally, RNAseq analysis, proteomic profiling, and competitive mutant fitness profiling were performed to gain further understanding of microbial physiology under EET-respiring conditions during spaceflight. Overall, the results of the Micro-12 project support the idea that Shewanella oneidensis MR-1, in particular, and exoelectrogens in general could be useful chassis organisms for synthetic biology applications using microbial bioelectrochemical systems. These findings will assist bioengineering and synthetic biology development efforts harnessing the unique capabilities of exoelectrogens for life support and in situ resource utilization.

Dougherty, Michael↗

An Overview of the Volatiles Investigating Polar Exploration Rover (VIPER) Mission

A critical goal to both science and exploration is to understand the form and location of lunar polar volatiles. The lateral and vertical distributions of these volatiles inform us of the processes that control the emplacement and retention of these volatiles, as well as helping to formulate in-situ resource utilization (ISRU) architectures. While significant progress has been made from orbital observations, measurements at a range of scales from centimeters to kilometers across the lunar surface are needed to generate adequate "volatile mineral models" for use in evaluating the resource potential of volatiles at the Moon. VIPER is a solar and battery powered rover mission designed to operate over multiple lunar days, traversing several kilometers as it continuously monitors for subsurface hydrogen and other surface volatiles. In specific thermal terrain types, including permanently shadowed terrain and locales that permit near-surface ice stability, subsurface samples will be examined for volatile content using a one-meter drill. This talk will provide an overview of the VIPER mission which is scheduled for flight to the Lunar South Pole in December 2022.

Colaprete, Anthony↗

Key Technologies, Systems, and Infrastructure Enabling the Commercialization and Human Settlement of the Moon and Cislunar Space

Over 50 years have passed since 2001: A Space Odyssey debuted in April 1968. In the film, Dr. Heywood Floydflies to a large artificial gravity space station orbiting Earth aboard a commercial space plane. He then embarks on acommuter flight to the Moon arriving there 25 hours later. Today, in this the 50th anniversary year of the Apollo 11lunar landing, the images portrayed in 2001 still remain well beyond our capabilities. This paper examines keytechnologies and systems (e.g., in-situ resource utilization, fission power, advanced chemical and nuclearpropulsion), and supporting orbital infrastructure (providing a propellant and cargo transfer function), that could bedeveloped by NASA and industry over the next 30 years allowing the operational capabilities presented in 2001 to beachieved, albeit on a more spartan scale. Lunar-derived propellants (LDPs) will be essential to developing a reusablelunar transportation system that can allow initial outposts to evolve into settlements supporting a variety ofcommercial activities. Deposits of icy regolith discovered at the lunar poles can supply the feedstock material neededto produce liquid oxygen (LO2) and hydrogen (LH2) propellants. On the lunar nearside, near the equator, iron oxiderichvolcanic glass beads from vast pyroclastic deposits, together with mare regolith, can provide the feedstockmaterials to produce lunar-derived LO2 plus other important solar wind implanted (SWI) volatiles, including H2and helium-3. Megawatt-class fission power systems will be essential for providing continuous "24/7" power toprocessing plants, human settlements and commercial enterprises that develop on the Moon and in orbit. Reusablelunar landing vehicles will provide cargo and passenger "orbit-to-surface" access and will also transport LDP toSpace Transportation Nodes (STNs) located in lunar polar (LPO) and equatorial orbits (LLO). Reusable space-based,lunar transfer vehicles (LTVs), operating between STNs in low Earth orbit, LLO, and LPO, and able to refuel withLDPs, offer unique mission capabilities including short transit time crewed cargo transports. Even commuter flightssimilar to that portrayed in 2001 appear possible, allowing 1-way trip times to and from the Moon as short as 24hours. The performance of LTVs using both RL10B-2 chemical rockets, and a variant of the nuclear thermal rocket(NTR), the LO2-Augmented NTR (LANTR), are examined and compared. If only 1% of the LDP obtained from icyregolith, volcanic glass, and SWI volatile deposits were available for use in lunar orbit, such a supply could supportroutine commuter flights to the Moon for many thousands of years. This paper provides a look ahead at what mightbe possible in the not too distant future, quantifies the operational characteristics of key in-space and surfacetechnologies and systems, and provides conceptual designs for the various architectural elements discussed.

Borowski, Stanley K.↗

Key Technologies, Systems, and Infrastructure Enabling the Commercialization and Human Settlement of the Moon and Cislunar Space

Over 50 years have passed since 2001: A Space Odyssey debuted in April 1968. In the film, Dr. Heywood Floydflies to a large artificial gravity space station orbiting Earth aboard a commercial space plane. He then embarks on acommuter flight to the Moon arriving there 25 hours later. Today, in this the 50th anniversary year of the Apollo 11lunar landing, the images portrayed in 2001 still remain well beyond our capabilities. This paper examines keytechnologies and systems (e.g., in-situ resource utilization, fission power, advanced chemical and nuclearpropulsion), and supporting orbital infrastructure (providing a propellant and cargo transfer function), that could bedeveloped by NASA and industry over the next 30 years allowing the operational capabilities presented in 2001 to beachieved, albeit on a more spartan scale. Lunar-derived propellants (LDPs) will be essential to developing a reusablelunar transportation system that can allow initial outposts to evolve into settlements supporting a variety ofcommercial activities. Deposits of icy regolith discovered at the lunar poles can supply the feedstock material neededto produce liquid oxygen (LO2) and hydrogen (LH2) propellants. On the lunar nearside, near the equator, iron oxiderichvolcanic glass beads from vast pyroclastic deposits, together with mare regolith, can provide the feedstockmaterials to produce lunar-derived LO2 plus other important solar wind implanted (SWI) volatiles, including H2and helium-3. Megawatt-class fission power systems will be essential for providing continuous "24/7" power toprocessing plants, human settlements and commercial enterprises that develop on the Moon and in orbit. Reusablelunar landing vehicles will provide cargo and passenger "orbit-to-surface" access and will also transport LDP to Space Transportation Nodes (STNs) located in lunar polar (LPO) and equatorial orbits (LLO). Reusable space-based,lunar transfer vehicles (LTVs), operating between STNs in low Earth orbit, LLO, and LPO, and able to refuel with LDPs, offer unique mission capabilities including short transit time crewed cargo transports. Even commuter flights similar to that portrayed in 2001 appear possible, allowing 1-way trip times to and from the Moon as short as 24hours. The performance of LTVs using both RL10B-2 chemical rockets, and a variant of the nuclear thermal rocket(NTR), the LO2-Augmented NTR (LANTR), are examined and compared. If only 1% of the LDP obtained from icyregolith, volcanic glass, and SWI volatile deposits were available for use in lunar orbit, such a supply could support routine commuter flights to the Moon for many thousands of years. This paper provides a look ahead at what might be possible in the not too distant future, quantifies the operational characteristics of key in-space and surface technologies and systems, and provides conceptual designs for the various architectural elements discussed.

Borowski, Stanley K.↗

Commercialization and Human Settlement of the Moon and Cislunar Space Using ISRU, Fission Surface Power, and Advanced In-Space Propulsion Systems

Over 50 years have passed since themovie 2001: A Space Odyssey debuted in April 1968. In the film, Dr. Heywood Floyd flies to a large artificial gravity space station orbiting Earth aboard a commercial space plane. He then embarks on a commuter flight to the Moon arriving there 25 hours later. Today, on the 50th anniversary of the Apollo 11lunar landing, the images portrayed in 2001 remain well beyond our capabilities and 2100: A Space Odyssey seems a more appropriate title for Kubrick and Clarke's film. This paper looks at the key technologies, systems, and supporting infrastructure (in-situ resource utilization (ISRU), fission surface power (FSP), nuclear thermal propulsion (NTP), andorbiting propellant depots), that could be developed by NASA and the private sector over the next 30years allowing the operational capabilities presented in 2001 to be achieved, albeit on a more spartan scale.

Borowski, Stan↗

Electrochemical Solutions for Advanced Life Support

The Oxygen Generating Assembly (OGA) on-board the International Space Station (ISS) employs a polymer electrolyte membrane (PEM) water electrolysis cell stack to electrochemically dissociate water into its two components – oxygen and hydrogen. Oxygen is provided to the cabin atmosphere for crew respiration while the hydrogen is delivered to a carbon dioxide reduction system to recover oxygen as water. The design of the OGA evolved over a number of years to arrive at the system solution that is currently operational on ISS. Future manned missions to space will require advanced technologies that eliminate the need for resupply from earth and feature in-situ resource utilization to sustain crew life and to provide useful materials to the crew. The architects planning such missions should consider all potential solutions at their disposal to arrive at an optimal vehicle solution that minimizes crew maintenance time, launch weight, installed volume and energy consumption demands. Skyre is developing new technologies through funding from NASA, the Department of Energy, and internal investment based on PEM technology that could become an integral part of these new vehicle solutions. At varying stages of Technology Readiness Level (TRL) are: an oxygen concentrator and compressor that can separate oxygen from an air stream and provide an enriched oxygen resource for crew medical use and space suit recharge without any moving parts in the pure oxygen stream; a regenerative carbon dioxide removal system featuring a PEM-based sorbent regenerator; a carbon dioxide reduction system that electrochemically produces organic compounds that could serve as fuels or as a useful intermediary to more beneficial compounds; and an electrochemical hydrogen separator and compressor for hydrogen recycle. The technical maturity of these projects is presented along with pertinent performance test data that could be beneficial in future study efforts.

Roy, Robert J.↗

The Flexible Lunar Architecture for Exploration (FLARE): Designed for the Artemis-3 Moon 2024 Mission and Beyond

The Flexible Lunar Architecture for Exploration (FLARE) is a concept to deliver four crew to the lunar surface for 7 to 14 days and then return them safely to Earth by 2024. This meets NASA’s internal 2024 lunar landing deadline directed by President Trump (Trump, 2017) and the “5-year” goal set forth by Vice President Pence (Pence, 2019). FLARE is an alternative to NASA’s Human Landing System reference architecture from the Design Analysis Cycle (DAC) #2 (NASA, 2019b). The minimum FLARE concept uses one Space Launch System launch, one Orion, one European Service Module (ESM), and one human lander to deliver four crew to the Moon for a minimum surface duration of 7 days and return them to Earth. FLARE adds a new capability, called the SpaceTug, based upon the mature and successful United Launch Alliance “Common” Centaur Upper Stage vehicle, with modifications. In FLARE, the SpaceTug provides propulsion needed to return the Orion+ESM from the Moon to Earth. The SpaceTug also provides propulsion to deliver the human lander Descent Element (DE) and Ascent Element (AE) separately to lunar orbit. The Orion+ESM then completes a rendezvous with the mated DE+AE in lunar orbit. FLARE also offers optional phases to the Moon 2024 mission. The SpaceTug can also deliver components of the planned Gateway - including the Power and Propulsion Element and the Habitation and Logistics Outpost - to lunar orbit; however, the planned FLARE destination is a Low Lunar Frozen Polar Orbit unlike the NASA DAC2 plan for a Near Rectilinear Halo Orbit. FLARE also provides an option to deliver precursor equipment - including a habitation module, crew mobility devices and an In-Situ Resource Utilization demonstration - to the lunar surface for enhanced crew exploration and science with the extended 14-day surface mission.

Commercial Launch Vehicles (CLV)↗

Potential Advantages of Conducting Short Duration Visits to the Martian Surface

Recent NASA concepts for human missions to Mars, including the Evolvable Mars Campaign and Design Reference Architecture 5.0, have focused on the conduct of missions with long duration stays on the Martian surface. The decision to focus on long duration missions (typically to a single site) is driven by a desire to increase the perceived sustainability of the human Mars campaign, predicated on the assumption that sustainability is best achieved by maximizing the level of activity on the surface, providing for continuous growth in operations, and promoting pioneering of Mars. However, executing a series of long duration missions to a single site is not the only option for human exploration of Mars that has been proposed. Other architectures have been evaluated that focus on missions with short duration surface stays, with each mission visiting a separate site on the surface. This type of architecture is less efficient in that elements are not typically reused from one mission to the next but requires a far less complex surface architecture. There are potentially valid arguments to be made that a short duration, multiple site approach could result in different types of advantages when compared to the long duration, single site approach to Mars exploration, particularly for initial human missions to Mars. These arguments revolve around four areas: Achieved Value, Risk Mitigation, Developmental Affordability, and Operational Affordability & Flexibility. The question of Achieved Value relates to the prioritization of goals for Martian exploration. As discussed, goals related to pioneering and expanding human presence are often referenced as justifications for the long duration approach. However, there are other competing goals, including science and exploration. While there is not a clear consensus among planetary scientists, many have argued that the value of being able to visit multiple sites could outweigh the value of continually visiting a single site. Risk Mitigation is a major concern for initial human missions to Mars. There are a number of hazards related to operating on the Martian surface that are not well characterized. It may be desirable to conduct a series of short duration missions to better understand the nature of these risks prior to committing to a long duration mission. Developmental Affordability relates to the ability of NASA and its partners to develop and deploy the proposed architecture. Any human missions to Mars will be among the most complex endeavors ever undertaken. The capabilities that must be developed to enable any human Mars missions are extremely challenging. The total design, development, test, and evaluation (DDT&E) budget required to develop just the essential capabilities alone will be substantial. If additional surface capabilities are required to support long duration surface stays, the development effort could be unaffordable. Operational Affordability & Flexibility relates to the continued costs to execute the Mars campaign. Long duration missions, even with some amount of in-situ resource utilization, require a significant level of resupply for every mission. This requires additional launches and in-space transportation assets, increasing the operational complexity and total operational cost. This paper will explore each of the four potential advantages of short duration missions in detail. The authors will present comparisons between proposed long duration and short duration architectures through an evaluation of relevant performance, cost, and risk metrics.

Stromgren, Chel↗

Surviving and Thriving in Space and on Earth's Oceans - Human Logistics and Sustainability Comparisons and Considerations

The human species has a yearning for exploration as evidenced by the extensive historical ocean voyages and expeditions which have led to a massive advancement in the scientific and geodetic knowledge about planet Earth. These global explorations via the oceans have also had strategic, economic, cultural and religious implications and impacts, which have drastically changed the state of humanity and its condition. The transportation network created by ships traveling across the oceans has been supplemented by other transportation networks on land and in the air, creating a global economy that, in general, has improved the human condition leading to better health, longer lives, lower child mortality, better education, political freedom, higher gross national product (GNP) and improved hygiene. The logical extension of this societal trend is to extend the transportation network and human civilization into outer space, beyond the cradle of planet Earth. Our solar system contains vast amounts of natural resources which can be harnessed and used to bootstrap a space economy and related infrastructure by using advanced technologies. Sailing journeys from hundreds of years ago required large vessels and large crews, (in comparison with today’s space capsules). Modern sailors of today are able to complete large voyages, in small vessels, with a minimal crew, comparable in magnitude to modern space travel. This paper will use a systems engineering approach (e.g. using the NASA Human Integration Design Handbook (HIDH), NASA-SP-2010-3407, 2010 and the “Advanced Life Support Baseline Values and Assumptions Document, (BVAD)” NASA-CR-2004-208941, 2004.), to examine and compare the logistics and sustainability aspects of a small crew traveling on Earth's oceans in sailing vessels versus humans traveling in space. The “Mālama Honua Worldwide Voyage” of the Hokule’a, a replica of an ancient Hawaiian double hulled sailing canoe, will be used as a case study. This is the best comparison case since the Polynesian exploration of the vast (and virtually empty) Pacific Ocean is the closest analogue to modern space travel. “"Both are voyages of exploration.” –Shuttle astronaut Lacy Veach. Minimizing waste and maximizing re-use and re-cycling will lead to more efficient logistics and sustainability. In addition, In-Situ Resource Utilization (ISRU) strategies, based on successful Earth based strategies used for many years by sailors will be considered and evaluated for their usefulness. For example, human logistics for a typical space mission are shown in Table 1 and Table 2 (Lopez et al, 2015). Studies show that typical human water consumption in space is projected to be 3.2 kg/day per crew member as shown in Table 2. Data from human sailing voyages around the globe will be examined. Anecdotal evidence indicates that knowledgeable and well-equipped modern sailors, who conserve water, can comfortably live using 1.5 to 5 kg/day per person. This paper will investigate key logistics and sustainability aspects of living in space and compare them quantitatively to similar aspects of living on ocean faring sailing vessels on Earth. Mutually beneficial observations, advanced technologies and modern considerations will be applied within confines of a remote sailing environment, which could be of immense value to both the space faring community and the ocean sailing community.

Space↗

Investigation of Ionic Liquids Isolated Iron for Ductile Iron Castings

As research continues for missions beyond low-Earth orbit, in-situ resource utilization (ISRU) methods are critical. To colonize the Lunar or Martian surface, the ability to manufacture mechanical and structural components with local resources is essential. Ionic liquids are being studied at NASA Marshall Space Flight Center (MSFC) to harvest elemental metals from meteorites and oxides in regolith. In this investigation, the viability of casting ductile iron using ionic liquids sourced iron and nickel was explored given ductile iron’s range of applications and performance as an as-cast alloy. Small ingots were produced using commercial silicon, manganese, and magnesium with carbon sourced from the by-products of a life support system currently being tested at MSFC. Samples were cast and compared to commercial ductile iron with phase transformation diagrams, microstructures, and hardness. Results showed ionic liquids sourced elements are a viable source of elemental alloying materials for a range of ductile iron alloys.

Blake Stewart↗

Space Launch System Artemis I CubeSats: SmallSat Vanguards of Exploration, Science and Technology

When NASA’s Space Launch System (SLS) rocket launches in 2021 with the Orion crew vehicle, it will lay the foundation for NASA’s goal of landing the first woman and the next man on the Moon as part of the Artemis program. This first flight—Artemis I—will also mark a milestone for smallsats. Thirteen6U CubeSats are manifested on the Artemis I flight, the first fleet of CubeSats carried as a ride share opportunity to deep space.(NASA’s first CubeSats to deep space, the twin Mars Cube One [MarCO] spacecraft, were an integral part of the InSight Mars lander mission). The Artemis I CubeSat manifest represents a diverse collection of smallsats performing an array of science missions and technology demonstrations. Payloads from NASA, international partners, academia and industry will execute a variety of experiments. Several smallsats will perform lunar-focused missions that may return data that addresses Strategic Knowledge Gaps (SKGs) in the agency’s lunar exploration program. Indeed, the Artemis I CubeSats will be in the vanguard of the agency’s 21st-century lunar program. The Artemis I missions will produce data to support space radiation awareness,crewed landings and in-situ resource utilization, helping to support a sustained human lunar presence. Several of the Artemis I CubeSats are demonstrating new technologies, including propulsion capabilities. Among the Artemis I CubeSats are three selected through NASA’s Cube Quest Challenge, part of the Centennial Challenges program. These three missions will compete for prize money while meeting specific technical development goals. Payloads from the Japanese and Italian space agencies provide an early opportunity for international involvement in the Artemis program. Student involvement in almost half of the payloads allow STEM engagement with NASA’s Artemis program. The SLS Block 1 vehicle for the Artemis I flight is manufactured with several elements delivered to Kennedy Space Center (KSC) and being prepared for stacking and integration. The new-development of the program, the 212-footcore stage with its four RS-25 engines installed is currently at Stennis Space Center (SSC) for “green run” testing. Following the green run test campaign, the stage will ship to KSC, where it will be integrated with the rest of the vehicle, including the upper stage adapter, where the Artemis I smallsats will be housed.

Kimberly F Robinson↗

ISRU Advanced Alkaline Electrolyzer (AAE) BAA

This is the one-page status update for the Game Changing Development (GCD) Advanced Alkaline Electrolyzer (AAE) Broad Agency Announcement (BAA) contract with Teledyne Energy Systems, Inc (TESI) to be presented at the fiscal year 2020 (FY20) GCD Annual Review. This activity to develop and demonstrate a contamination-tolerant liquid water electrolyzer for use in in-situ resource utilization (ISRU) applications to generate gaseous hydrogen and oxygen.

Electrolyzer↗

ICE-RASSOR: Intelligent Capabilities Enhanced Regolith Advanced Surface Systems Operations Robot

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU)processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We apply supervised learning using real data to estimate the soil mass collected without the need for mass flow rate monitors or other explicate sensing techniques. We also create a reduced-order simulation environment to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. Our initial results suggest that excavated regolith mass can be inferred within 2.9% RMS error of full scale, and reinforcement learning for autonomous operations has learned viable trenching strategies and helped identify desirable sensing capabilities, arrangements, and considerations. Future work includes regolith mass estimation during dynamic operation, expanding our simulation to more complex environments, and transfer learning from simulation to hardware.

machine learning↗