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NASA NTRSDate not supplied

Lunar Regolith: Small Scale Robotic Site Preparation and Geotechnical Experiments with Scoops

- NASA’s Moon-To-Mars Planetary Autonomous Construction Technology (MMPACT) project seeks to research, develop, and demonstrate lunar surface construction capabilities. - Quantification of lunar regolith’s geotechnical properties allows for effective prediction of forces and displacement during excavation and construction and is critical to facilitating regolith sintering capabilities all of which benefit lunar infrastructure plans. - Knowledge of shear strength, Mohr-Coulomb cohesion, angle of internal friction, bearing strength, bulk density, etc. is needed. - The use of ground-based testing of various lunar simulants with relevant hardware (e.g., robotic arm tools) enables validation of technology choices, tool paths, and lunar surface construction activities. - In addition, the use of Taguchi methods [1] will minimize the number of needed experiments to explore critical input parameters. - The Jet Propulsion Lab is preparing to fly the COLDarm payload on a CLPS lunar mission with a geotechnical measurement scoop

Regolith↗
NASA NTRS1988

Physical properties of asteroids

Infrared photometry at 1.2, 1.6 and 2.2 micrometer provides a relatively rapid and accurate method for the classification of asteroids and is important for comparison with laboratory measurements of meteorites and other possible compositional analogues. Extension beyond the visual is espicially useful for minerals which have strong characteristic infrared colors such as olivine in the A class asteroids. Radiometry at long infrared wavelengths is important for deriving basic physical parameters (via thermal models) such as size and albedo which in turn enables the conversion of relative colors to absolute reflectances. In particular, albedos are the only way to distinguish among the otherwise ambiguous E, M and P classes of asteroids. Infrared observations of 15 asteroids were made at the NASA infrared Telescope Facility (IRTF) on Mauna Kea in 1987. Researchers completed the analysis of 22 Aten, Apollo and Amor asteroids. Results include albedos and diameters for these objects as well as the identification of the first known class M and Class E near-Earth asteroids. The standard thermal model appears to be inadequate for some of these small asteroids because of their coarse regolith, so researchers constructed a rotating thermal model for such asteroids. They have identified a subtle systematic difference between the sub-populations of large and small IRAS asteroids as well as several anomalous objects.

Veeder, Glenn J.↗
NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Deep Reinforcement Learning

To support sustainable infrastructure on the Moon, NASA needs to leverage lunar resources for in-situ processing and construction. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for these tasks. To reliably perform these operations on the lunar surface, RASSOR's sensors and control systems need to be robust and maximize information extracted from a reduced sensor payload. Herein, we present our findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments in which we applied reinforcement learning algorithms to learn autonomous trenching controllers and produced state estimation architectures. We developed two simulations: a 2D excavation simulation used to facilitate parameter selection, and a 3D simulation developed using a game physics engine to simulate simplified soil interactions and incorporate robotic agents parameterized by dynamic models. Within these simulations, we learned autonomous excavation routines that exceed excavation efficiency measures as compared against RASSOR's existing control and teleoperation-based methods.

RASSOR↗
NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Deep Reinforcement Learning

To support sustainable infrastructure on the Moon, NASA needs to leverage lunar resources for in-situ processing and construction. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for these tasks. To reliably perform these operations on the lunar surface, RASSOR's sensors and control systems need to be robust and maximize information extracted from a reduced sensor payload. Herein, we present our findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments in which we applied reinforcement learning algorithms to learn autonomous trenching controllers and produced state estimation architectures. We developed two simulations: a 2D excavation simulation used to facilitate parameter selection, and a 3D simulation developed using a game physics engine to simulate simplified soil interactions and incorporate robotic agents parameterized by dynamic models. Within these simulations, we learned autonomous excavation routines that exceed excavation efficiency measures as compared against RASSOR's existing control and teleoperation-based methods.

RASSOR↗
NASA NTRS2024

A Trajectory-Tracking Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators. The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars. The LSMS has nonlinear, coupled, and hybrid dynamics. The engineering decisions that led to these challenging dynamics make this structure light and efficient. This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations. This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.

trajectory tracking↗
NASA NTRS2024

A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Crane

The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators. The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars. The LSMS has nonlinear, coupled, and hybrid dynamics. The engineering decisions that led to these challenging dynamics make this structure light and efficient. This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations. This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.

lunar operations↗
NASA NTRSDate not supplied

Characterization of Fluorescence Signals in Synthetic Anorthite

In-situ resource utilization (ISRU) is a key capability to enable a long term presence on the Moon and other planetary bodies. For example, efforts have been underway to develop processes to utilize the lunar regolith to produce building materials and extract useful resources. In processes that utilize the regolith directly to produce construction materials, such as in various sintering methods, characterizing the composition of the regolith is important as the composition can affect the optimal process parame-ters. In processes that involve extracting resources such as iron, oxygen, hydrogen, etc., identifying areas with higher abundance of a particular resource will be critical since different regions of the Moon exhibit differing regolith composition. To this end, Ra-man is one technique that can rapidly characterize the mineralogy of rock samples. This technique has al-ready been deployed on Mars to detect various miner-als including olivine, carbonates, phosphates, etc. Besides characterizing the mineralogy, Raman spectra often contain unwanted fluorescence signals that can mask Raman peaks. In some cases, the fluorescence signals are narrow enough to aid in the identification of specific elements in soils. In this work, we explore fluorescence peaks in a synthetic anorthite sample, which are at the same position as Ruby fluorescence peaks attributed to chromium. These fluorescence peaks, as well as similar fluorescence peaks attributed to other elements, could have important implications for ISRU and the mining of critical resources as has been previously described.

Raman Spectroscopy↗
NASA NTRS2016

Optical Extinction Measurements of Dust Density in the GMRO Regolith Test Bin

A regolith simulant test bin was constructed and completed in the Granular Mechanics and Regolith Operations (GMRO) Lab in 2013. This Planetary Regolith Test Bed (PRTB) is a 64 sq m x 1 m deep test bin, is housed in a climate-controlled facility, and contains 120 MT of lunar-regolith simulant, called Black Point-1 or BP-1, from Black Point, AZ. One of the current uses of the test bin is to study the effects of difficult lighting and dust conditions on Telerobotic Perception Systems to better assess and refine regolith operations for asteroid, Mars and polar lunar missions. Low illumination and low angle of incidence lighting pose significant problems to computer vision and human perception. Levitated dust on Asteroids interferes with imaging and degrades depth perception. Dust Storms on Mars pose a significant problem. Due to these factors, the likely performance of telerobotics is poorly understood for future missions. Current space telerobotic systems are only operated in bright lighting and dust-free conditions. This technology development testing will identify: (1) the impact of degraded lighting and environmental dust on computer vision and operator perception, (2) potential methods and procedures for mitigating these impacts, (3) requirements for telerobotic perception systems for asteroid capture, Mars dust storms and lunar regolith ISRU missions. In order to solve some of the Telerobotic Perception system problems, a plume erosion sensor (PES) was developed in the Lunar Regolith Simulant Bin (LRSB), containing 2 MT of JSC-1a lunar simulant. PES is simply a laser and digital camera with a white target. Two modes of operation have been investigated: (1) single laser spot - the brightness of the spot is dependent on the optical extinction due to dust and is thus an indirect measure of particle number density, and (2) side-scatter - the camera images the laser from the side, showing beam entrance into the dust cloud and the boundary between dust and void. Both methods must assume a mean particle size in order to extract a number density. The optical extinction measurement yields the product of the 2nd moment of the particle size distribution and the extinction efficiency Qe. For particle sizes in the range of interest (greater than 1 micrometer), Qe approximately equal to 2. Scaling up of the PES single laser and camera system is underway in the PRTB, where an array of lasers penetrate a con-trolled dust cloud, illuminating multiple targets. Using high speed HD GoPro video cameras, the evolution of the dust cloud and particle size density can be studied in detail.

lunar simulant↗
NASA NTRSDate not supplied

Scaleup of Microwave Powder Bed Fusion for Lunar Infrastructure Construction

NASA and its partners are seeking to establish a sustainable and permanent presence on the Moon. Like explorers on Earth, making use of natural resources upon arrival at the destination will be paramount. In-situ resource utilization of the lunar regolith will enable efficient construction of lunar infrastructure. Transforming the granular regolith into a solid can be achieved in many ways. One method is to use microwave energy to sinter the regolith into various structures. The lunar regolith has a low thermal conductivity, but microwaves can volumetrically heat it to bind the granular particles together in an energy efficient manner. One concept that is being developed and evaluated to sinter the regolith into infrastructure uses the Moon’s surface as a powder bed. Regolith would be added to the sintered lunar structure to build up layers to create structures such as landing pads, blast shields, roads, etc. Microwave systems, concept of operations, and sintering protocols are being developed to create a sub-element structure targeted for a lunar demonstration mission.

microwave↗
NASA NTRS2019

KSC Intern Narrative Report

There are limited resources on extraterrestrial bodies and current launch vehicles can only send finite resources on deep space missions. Transporting resources needed for deep space missions is extremely expensive; at tens of thousands of dollars per pound launched. In order to sustain life and establish outposts on other celestial bodies, it is necessary to find a way to utilize the resources that are readily available in these environments. This process is called In Situ Resource Utilization (ISRU), which is comprised of searching for, collecting, processing, and storing materials found on other celestial bodies and using them for construction, science applications, propulsion, and other life sustaining purposes. The processing and use of regolith, which is a loose rocky material found on the surface of bodies like the Moon or Mars, is the main focus of ISRU work done in Swamp Works in the Engineering Development Lab at Kennedy Space Center (KSC). The research Swamp Works has done in regolith applications ranges from construction and infrastructure to propellant production to storage of oxygen and water.

George, Amber↗
NASA NTRSDate not supplied

Quantifying Leak Rates and Vacuum Impact on Granular Soil Column Pneumatic Seal

Introduction: All In-Situ Resource Utilization (ISRU) regolith reactor systems that aim to extract gases or vapors must maintain a seal along the flow path of the regolith from the inlet hopper to where extracted gases or vapors are generated. Using a column of regolith at the inlet has been proposed as an alternative to systems using series of mechanical valves to reduce mass and complexity. Preliminary investigations into the use of regolith itself as a barrier to escaping fluids have been conducted, which this research seeks to expand upon. Different vertical regolith simulant plug diameters and heights were tested under vacuum with dry nitrogen to observe leak rates and approximate steady state pressure gradient equilibria. The effect of absolute ambient pressure was also studied by repeating tests at incremental pressures ranging from 10e-5 Torr up to 1 atm to corroborate ambient bench tests from previous work. The impact of regolith dynamics was addressed to emulate continuous-feed regolith reaction processes by measuring leak rates through continuously draining simulant columns. OB-1 lunar highlands regolith simulant was used. Experimental Setup: Regolith simulant columns were constructed using a motorized butterfly valve separating upper acrylic tubes of various diameters from a larger, lower aluminum pipe plenum (See Figure 1). The butterfly valve was cracked open such that gas could freely pass through whereas regolith would bridge and stay suspended as a cohesive plug above in the acrylic portion. These assemblies were loaded into a vacuum chamber, and a compressed dry nitrogen line was routed into the lower plenum. Pressure transducers measured the absolute pressure of the lower plenum, which was compared to absolute chamber pressure to monitor the pressure gradient across the regolith simulant. A precision mass flow controller enabled fine control of plenum pressure. The plenum pressure was quasi-statically increased to set points informed by previous work [1] before shutting off the gas supply to allow the now pressurized gas volume to dissipate through the simulant into the chamber in what was referred to as a ‘leak test.’ In a separate set of tests, the pressure was allowed to quasi-statically build until visual disturbances in the soil were observed via remote camera feeds. Initial leak rate tests were repeated on the disturbed soil to observe changes in leak rates between initial as-poured and post-bubbling soil conditions. This test schedule was applied to simulant columns of three different diameters (approximately 2, 4, and 6 inches) as well as two different heights (around 8 and 16 inches) and was repeated at least three times for each configuration. Plenums were also pressurized while the butterfly valves were opened slightly further to facilitate slow, controlled, constant flowrate draining of the simulant to observe the impact that continuous-feed systems might have on leak rate through the regolith column. Finally, the regolith columns were reset and refilled and static leak rate tests were repeated approximately every decade in ambient pressure from 10e-5 Torr up to ambient conditions to observe the impact of transitioning out of the molecular flow regime on regolith column seal performance. Analysis: Trends with respect to each factor examined were constructed and reported alongside commentary on the most likely responsible physical phenomena. Confidence intervals were applied to the predictive findings of the data by quantifying instrumentation error and accounting for probabilistic impacts of curve fitting the generic exponential function onto pressure decay data. The leak rate is assumed directly proportional to the exponential term coefficient, while the steady-state static pressure gradient is assumed to be the asymptotic limit of each curve fit. Finally, a generic model developed by Ogino et al. [2] and later tuned for ambient testing was re-tuned using vacuum data to estimate leak rates on the lunar surface. Results: Pressure decay rates decreased up to 27-fold under vacuum when compared to ambient pressure, as shown in Figure 2. Simulant column diameter was found to exponentially correlate to both regolith column leak rate and steady-state equilibrium pressure delta. Height was found to be linearly related to leak rate –doubling the regolith column height consistently yielded around a 40% reduction in leak rate. Dynamic regolith draining was found to slightly increase leak rate, although to a lower degree than expected. Conclusion: Because of the transition into molecular gas flow through regolith, vacuum testing is required to properly estimate performance. Regolith columns should be designed as narrow as possible to avoid bridging and minimize leak rate, and as tall as is feasible to both further reduce leak rate and to help prevent bubbling, which has been shown to degrade the quality of the regolith seal. Disrupted soil was found to exhibit higher leak rates than pristine, as-poured soil, indicating the need to consider the impact of recovery from depressurization events. Regolith columns appear equally feasible for both dosed and continuous-feed reactors.

ISRU↗
NASA NTRS2008

Evaluation of Sulfur 'Concrete' for Use as a Construction Material on the Lunar Surface

Combining molten sulfur with any number of aggregate materials forms, when solid, a mixture having attributes similar, if not better, to conventional water-based concrete. As a result the use of sulfur "concrete" on Earth is well established, particularly in corrosive environments. Consequently, discovery of troilite (FeS) on the lunar surface prompted numerous scenarios about its reduction to elemental sulfur for use, in combination with lunar regolith, as a potential construction material; not requiring water, a precious resource, for its manufacture is an obvious advantage. However, little is known about the viability of sulfur concrete in an environment typified by extreme temperatures and essentially no atmosphere. The experimental work presented here evaluates the response of pure sulfur and sulfur concrete subjected to laboratory conditions that approach those expected on the lunar surface, the results suggesting a narrow window of application.

Grugel, R. N.↗
NASA NTRSDate not supplied

A Review of Extra-Terrestrial Regolith Excavation Concepts and Prototypes

Regolith is present on many extra-terrestrial bodies, and the crushed rock material it is made of contains many of the resources that are enabling for In-Situ Resource Utilization (ISRU). When extracted these resources can be used to provide consumables such as rocket propellant, human life support, working fluids and gases for industrial processes and feedstocks for manufacturing. In addition, the regolith can also be very beneficial for construction purposes as an aggregate which can be used for construction materials and shielding for radiation protection and micrometeorite impact. Binders for regolith concrete may also be made from geopolymers that may be in the regolith. The regolith can be melted and drawn out into glass fibers and used as reinforcements in a metal, polymer, or concrete matrix. In addition, there is tremendous scientific and geological knowledge that can only be obtained by studying samples of the regolith. However, none of these valuable activities can proceed without first acquiring the regolith granular material with some type of excavation device and method. Excavation is in the critical path of many workflows that will make up the capabilities required to establish a human and robotic presence in our solar system. While scientific in-situ sampling of regolith in small quantities has been achieved since the dawn of the space age in the 1960’s, large scale excavation for mining and construction on extra-terrestrial bodies has only been contemplated for many decades in works of scientific fact and also in fictional stories, but serious development and prototyping of excavation technologies for use in reduced gravity space environments was only started in the late 1990’s.This paper will review and document the evolution of extra-terrestrial excavation concepts and prototypes based on the available literature and the personal experience of the author who has been working on regolith excavation technology development since 1998.

ISRU↗
NASA NTRSDate not supplied

Fabrication and Characterization of A Lunar Simulant-Based Sintered Construction Material

In-situ resource utilization (ISRU) is critical to enable future efforts to have a long-term human presence on the Moon as well as Mars. ISRU technologies are being developed for radiation protection, dust mitigation, thermal insulation, and other applications. One such ISRU technology for creating construction materials out of lunar and Martian regolith is sintering, which is a thermal-based construction process that bonds finely grained material together at temperatures below the melting point. However, the conditions employed during the sintering, such as temperature, atmospheric composition, duration of the process, and pressure, can have a significant impact on the quality and strength of the resulting materials. In parallel, the development of methods for characterizing the quality, porosity, density, and other properties of these materials is critical. X-ray computed tomography (X-ray CT) can image large changes in density within a material, such as the presence of pores throughout an otherwise uniform medium, with relatively high spatial resolution. Similarly, Terahertz time-domain spectroscopic (THz-TDS) imaging is sensitive to density variations within samples, but is restricted to non-conducting materials. Specifically, previous work has shown that the refractive index (n eff ) values obtained through the analysis of THz-TDS images increases with increasing density within plastic samples. Even further, this work showed that it is possible to create a calibration curve for a given material from samples of different, but known density, which can enable one to directly convert n eff to density for samples having the same composition, but unknown density. Here, we report on the fabrication of a lunar simulant-based sintered construction material using vacuum hot pressed (VHP) sintering, then show X-ray CT and THz-TDS imaging results of the sample, which show spatial variations in the material. This has important implications for efforts to improve these types of lunar construction material processes and verify the quality of these materials in terms of consolidation. To the best of our knowledge, there is no previous work utilizing VHP sintering to make lunar simulant-based construction materials or exploring the feasibility of THz imaging to spatially map the density variation through a lunar simulant-based construction material.

Terahertz time-domain spectroscopic imaging↗
NASA NTRS1992

Shock-treated Lunar Soil Simulant: Preliminary Assessment as a Construction Material

In an effort to examine the feasibility of applying dynamic compaction techniques to fabricate construction materials from lunar regolith, preliminary explosive shock-loading experiments on lunar soil simulants were carried out. Analysis of our shock-treated samples suggests that binding additives, such as metallic aluminum powder, may provide the necessary characteristics to fabricate a strong and durable building material (lunar adobe) that takes advantage of a cheap base material available in abundance: lunar regolith.

Boslough, Mark B.↗