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Development of the Advanced Regolith Ground Operations (ARGO) Test Bed – A Robotic Excavation and Construction Test Facility with Simulated Lunar Environments

NASA’s Artemis Program is working towards developing a sustained presence on the Moon and eventually Mars. To achieve this goal, robotic excavation, site preparation and construction technologies are under development to establish the capability to construct infrastructure such as launch/landing pads and radiation protection shelters. Technologies must be proven in simulated Lunar conditions prior to surface demonstration missions. To that end, the Relevant Additive Construction Technology (REACT) Announcement of Collaboration Opportunities (ACO) project with AI Space Factory and the NASA Kennedy Space Center’s (KSC) Granular Mechanics and Regolith Operations Laboratory (a.k.a. Swamp Works) has developed the Advanced Regolith Ground Operations (ARGO) Test Bed. ARGO includes a ~1.5m x 1.5m x 1.2m (~5x5x4ft) vacuum chamber, cryogenically cooled thermal shroud, 3-axis robotic positioning system, and regolith bin. For the REACT project, a pellet extruder, feed hopper, and heated 600mm x 600mm (23.6x23.6in) build plate have been installed on ARGO to advance the Technology Readiness Level (TRL) of regolith-polymer composite Fused Deposition Modeling (FDM) additive construction systems, processes, and materials. This paper will focus on the design and operational characteristics of the ARGO Test Bed with pellet extruder.

regolith↗

Development of the Advanced Regolith Ground Operations (ARGO) Test Bed: A Robotic Excavation and Construction Test Facility with Simulated Lunar Environments

NASA’s Artemis Program is working towards developing a sustained presence on the Moon and eventually Mars. To achieve this goal, robotic excavation, site preparation and construction technologies are under development to establish the capability to construct infrastructure such as launch/landing pads and radiation protection shelters. Technologies must be proven in simulated Lunar conditions prior to surface demonstration missions. To that end, the Relevant Additive Construction Technology (REACT) Announcement of Collaboration Opportunities (ACO) project with AI Space Factory and the NASA Kennedy Space Center’s (KSC) Granular Mechanics and Regolith Operations Laboratory (a.k.a. Swamp Works) has developed the Advanced Regolith Ground Operations (ARGO) Test Bed. ARGO includes a ~1.5m x 1.5m x 1.2m (~5x5x4ft) vacuum chamber, cryogenically cooled thermal shroud, 3-axis robotic positioning system, and regolith bin. For the REACT project, a pellet extruder, feed hopper, and heated 600mm x 600mm (23.6x23.6in) build plate have been installed on ARGO to advance the Technology Readiness Level (TRL) of regolith-polymer composite Fused Deposition Modeling (FDM) additive construction systems, processes, and materials. This paper will focus on the design and operational characteristics of the ARGO Test Bed with pellet extruder.

regolith↗

Complex Cooling Histories of Lunar Troctolite 76535 and Stillwater Orthoyroxenite SC-936

Fe-Mg site occupancy determinations of orthopyroxene from troctolite 76535 yield closure temperatures of ordering of 500-550 C and cooling rates of 1-10 C per year corresponding to shallow burial. 76535 was excavated from deep lunar crust before it had cooled to approx. 550 C. Additional information is contained in the original extended abstract.

Domeneghetti, M. Chiara↗

In-situ resource utilization in the design of advanced lunar facilities

Resource utilization will play an important role in the establishment and support of a permanently manned lunar base. At the University of Houston - College of Architecture and the Sasakawa International Center for Space Architecture, a study team recently investigated the potential use of lunar in-situ materials in the design of lunar facilities. The team identified seven potential lunar construction materials; concrete, sulfur concrete, cast basalt, sintered basalt, glass, fiberglass, and metals. Analysis and evaluation of these materials with respect to their physical properties, processes, energy requirements, resource efficiency, and overall advantages and disadvantages lead to the selection of basalt materials as the more likely construction material for initial use on a lunar base. Basalt materials can be formed out of in-situ lunar regolith, with minor material beneficiation, by a simple process of heating and controlled cooling. The team then conceptualized a construction system that combines lunar regolith sintering and casting to make pressurized structures out of lunar resources. The design uses a machine that simultaneously excavates and sinters the lunar regolith to create a cylindrical hole, which is then enclosed with cast basalt slabs, allowing the volume to be pressurized for use as a living or work environment. Cylinder depths of up to 4 to 6 m in the lunar mare or 10 to 12 m in the lunar highlands are possible. Advantages of this construction system include maximum resource utilization, relatively large habitable volumes, interior flexibility, and minimal construction equipment needs. Conclusions of this study indicate that there is significant potential for the use of basalt, a lunar resource derived construction material, as a low cost alternative to Earth-based materials. It remains to be determined when in lunar base phasing this construction method should be implemented.

Source record↗

An Overview of LO-DuSST (Lunar Occupancy Dust Surface Separation Technologies) Objectives

Of the myriad of issues facing lunar exploration and maintaining an extended lunar presence, lunar dust is possibly the most pervasive. These jagged, chemically reactive, electrostatically charged, sometimes magnetic particles can impact every aspect of a lunar surface mission ranging from abrading extra-vehicular activity (EVA) suits to disrupting lunar vehicle thermal management systems to impeding efficacy of excavation equipment to impacting lunar inhabitant health. NASA’s Lunar Occupancy Dust Surface Separation Technologies (LO-DuSST) task, as a part of the broader Lunar Surface Innovation Initiative (LSII) project, seeks to implement synergistic active and passive lunar dust management and mitigation technologies for an array of applications. One such application is protection of power generation capabilities via solar panel arrays. Plasma dust lofting coupled with a piezoelectric-driven vibration technology will be demonstrated on solar panel surfaces contaminated with lunar dust simulant. Intrinsically low adhesion coatings will be applied to these surfaces to enhance dust removal. Electrostatic repulsion in confined geometries and materials to manage high velocity lunar dust wear will also be investigated. Collectively, these active and passive mitigation technologies will facilitate lunar surface operations including occupancy logistics, landing pad operations, power generation, and transportation. Initial results regarding lunar simulant-contaminated solar panel performance experiments, dust lofting using an electron beam, surface interactions of high velocity lunar dust arising from lunar lander plume-surface interactions, and lunar dust simulant-material interaction experiments will be discussed.

Lunar dust↗

An Engineering Guide to Lunar Geotechnical Properties

The renewed interest in returning human and robotic explorers to the lunar surface has identified a need for a renewed understanding of lunar geotechnical properties related to landing, exploration, excavation, and construction activities on the lunar surface. This paper summarizes measurements conducted during US and Russian/Soviet landed missions as well as experiments performed on returned samples to establish fundamental geotechnical properties such as particle size distribution, particle shape, bulk density, shear strength, cohesion and bearing strength. While many of these properties are well known, how they vary with increased lunar soil depth is less understood, and those properties that vary significantly as a function of depth are explored in additional detail. Selected examples discuss mechanical excavation forces, rocket exhaust erosion forces, and the preparation of launch/landing pad surfaces, with the goal of a better understanding of lunar soil geotechnical properties that apply to large-scale exploration of the lunar surface and dictate the design of future exploration systems.

Lunar Soil↗

RESOLVE Projects: Lunar Water Resource Demonstration and Regolith Volatile Characterization

To sustain affordable human and robotic space exploration, the ability to live off the land at the exploration site will be essential. NASA calls this ability in situ resource utilization (ISRU) and is focusing on finding ways to sustain missions first on the Moon and then on Mars. The ISRU project aims to develop capabilities to technology readiness level 6 for the Robotic Lunar Exploration Program and early human missions returning to the Moon. NASA is concentrating on three primary areas of ISRU: (1) excavating, handling, and moving lunar regolith, (2) extracting oxygen from lunar regolith, and (3) finding, characterizing, extracting, separating, and storing volatile lunar resources, especially in the permanently shadowed polar craters. To meet the challenges related to technology development for these three primary focus areas, the Regolith and Environment Science and Oxygen and Lunar Volatile Extraction (RESOLVE) project was initiated in February 2005, through funding by the Exploration Systems Mission Directorate. RESOLVE's objectives are to develop requirements and conceptual designs and to perform breadboard concept verification testing of each experiment module. The final goal is to deliver a flight prototype unit that has been tested in a relevant lunar polar environment. Here we report progress toward the third primary area creating ways to find, characterize, extract, separate, and store volatile lunar resources. The tasks include studying thermal, chemical, and electrical ways to collect such volatile resources as hydrogen, water, nitrogen, methane, and ammonia. We approached this effort through two subtasks: lunar water resource demonstration (LWRD) and regolith volatile characterization (RVC).

Source record↗

Lunabotics Mining: Evolution of ARTEMIS PRIME

This slide presentation reviews the development of Amassing Regolith with Topper Engineers eMploying Innovative Solutions (ARTEMIS) in a competition to develop robotic lunar mining capabilities. The goal of the competition was to design, build and operate a remotely controlled device that is capable of excavating, transporting and discharging lunar regolith simulant in a lunar environment over a 13 minute period.

Bertke, Sarah↗

DEM Solutions Develops Answers to Modeling Lunar Dust and Regolith

With the proposed return to the Moon, scientists like NASA-KSC's Dr. Calle are concerned for a number of reasons. We will be staying longer on the planet's surface, future missions may include dust-raising activities, such as excavation and handling of lunar soil and rock, and we will be sending robotic instruments to do much of the work for us. Understanding more about the chemical and physical properties of lunar dust, how dust particles interact with each other and with equipment surfaces and the role of static electricity build-up on dust particles in the low-humidity lunar environment is imperative to the development of technologies for removing and preventing dust accumulation, and successfully handling lunar regolith. Dr. Calle is currently working on the problems of the electrostatic phenomena of granular and bulk materials as they apply to planetary surfaces, particularly to those of Mars and the Moon, and is heavily involved in developing instrumentation for future planetary missions. With this end in view, the NASA Kennedy Space Center's Innovative Partnerships Program Office partnered with OEM Solutions, Inc. OEM Solutions is a global leader in particle dynamics simulation software, providing custom solutions for use in tackling tough design and process problems related to bulk solids handling. Customers in industries such as pharmaceutical, chemical, mineral, and materials processing as well as oil and gas production, agricultural and construction, and geo-technical engineering use OEM Solutions' EDEM(TradeMark) software to improve the design and operation of their equipment while reducing development costs, time-to-market and operational risk. EDEM is the world's first general-purpose computer-aided engineering (CAE) tool to use state-of-the-art discrete element modeling technology for the simulation and analysis of particle handling and manufacturing operations. With EDEM you'can quickly and easily create a parameterized model of your granular solids system. Computer-aided design (CAD) models of real particles can be imported to obtain an accurate representation of their shape. EDEM(TradeMark) uses particle-scale behavior models to simulate bulk solids behavior. In addition to particle size and shape, the models can account for physical properties of particles along with interaction between particles and with equipment surfaces and surrounding media, as needed to define the physics of a particular process.

Dunn, Carol Anne↗

Experimental Considerations for Ground-based Testing of Lunar Construction Technologies

The Moon-to-Mars Planetary Autonomous Construction Technology (MMPACT) project, under NASA’s Game Changing Division (GCD) aims to research, develop, and demonstrate lunar surface construction capabilities[1].A fundamental step in lunar infrastructure development is to quantify the geotechnical properties of lunar regolith, such as shear strength (Mohr-Coulomb cohesion and angle of internal friction), com-pression and bearing properties, and angle of re-pose. Knowledge of these geotechnical properties enables the prediction of forces and displacements associated with lunar infrastructure development processes including excavation and constructing landing pads, habitats, shelters, and roadways. Through ground-based testing of autonomous lunar systems performed using relevant hardware (e.g., robotic arms) in appropriate lunar regolith simulants, the developed hardware/technology and tool paths can be validated. Such testing also generates data to give insight into the geotechnical regolith properties on the lunar surface.

Regolith↗

Cratering flow fields - Implications for the excavation and transient expansion stages of crater formation

Theoretical depths, volumes of excavation, hinge radii, ejection angles and transient structural rim uplifts are calculated, for comparison with experimental and field data from impact and explosion craters, by means of a Maxwell Z-model cratering flow field originating at non-zero depths-of-burst. It is found that the formation of a hinge, about which the coherent ejecta flap rotates at the rim of the transient crater, divides material in the flow field into ejected and downward and outward-driven portions. Ejected material originates from an excavation cavity whose geometry is distinct from that of the transient crater. The shallow depths of excavation both observed in impact and explosion craters and predicted by the Z-model flow fields imply that thickness estimates of such lunar geologic units as the maria basalts, which are determined by assuming that excavation depths are similar to (1) final or (2) transient crater depths, must be reduced by factors of two to three respectively. It is concluded that lunar basin excavation cavities exhibit proportional growth, and have maximum depths of excavation near 0.1 the diameter of the basin transient crater.

Croft, S. K.↗

Foundation, excavation and radiation shielding concepts for a 16-m large lunar telescope

NASA is considering a 16-m diameter optical telescope on the moon as a part of the Space Exploration Initiative. Fundamental concepts of engineering activities on the moon and how they can be applied to the establishment of a 16-m large lunar telescope (LLT) are discussed. These fundamental concepts include the engineering response of lunar soils and how they affect construction activities, namely, drilling, blasting, ripping, digging and compaction. A mirror support structure and foundation design concept is proposed. The foundation considered is a multiple contact points spud-can type footing. It does not appear that a deep foundation or the presence of bedrock is required to achieve the telescope foundation stiffness. The LLT system will include a regolith covered housing, the size of a small room, which will contain sensitive electronic equipment including charge coupled devices which need protection from cosmic radiation effects. A brief discussion is made on radiation, radiation transport and radiation effects on electronics and on humans. Radiation protection techniques and the different emplacement schemes for the LLT instrument housing for radiation protection are suggested. A structural concept of an early lunar based telescope is also presented.

Chua, Koon M.↗

Lunabotics Mining Competition: Inspiration Through Accomplishment

NASA's Lunabotics Mining Competition is designed to promote the development of interest in space activities and STEM (Science, Technology, Engineering, and Mathematics) fields. The competition uses excavation, a necessary first step towards extracting resources from the regolith and building bases on the moon. The unique physical properties of lunar regolith and the reduced 1/6th gravity, vacuum environment make excavation a difficult technical challenge. Advances in lunar regolith mining have the potential to significantly contribute to our nation's space vision and NASA space exploration operations. The competition is conducted annually by NASA at the Kennedy Space Center Visitor Complex. The teams that can use telerobotic or autonomous operation to excavate a lunar regolith geotechnical simulant, herein after referred to as Black Point-1 (or BP-1) and score the most points (calculated as an average of two separate 10-minute timed competition attempts) will eam points towards the Joe Kosmo Award for Excellence and the scores will reflect ranking in the on-site mining category of the competition. The minimum excavation requirement is 10.0 kg during each competition attempt and the robotic excavator, referred to as the "Lunabot", must meet all specifications. This paper will review the achievements of the Lunabotics Mining Competition in 2010 and 2011, and present the new rules for 2012. By providing a framework for robotic design and fabrication, which culminates in a live competition event, university students have been able to produce sophisticated lunabots which are tele-operated. Multi-disciplinary teams are encouraged and the extreme sense of accomplishment provides a unique source of inspiration to the participating students, which has been shown to translate into increased interest in STEM careers. Our industrial sponsors (Caterpillar, Newmont Mining, Harris, Honeybee Robotics) have all stated that there is a strong need for skills in the workforce related to robotics and automated machines. In 2010, 22 United States (US) universities competed, and in May 2011 the competition was opened to international participation, with 46 Universities attending. There were 12 international teams and 34 US teams. This combined total directly inspired an estimated 544 university students. More students and the public were engaged via internet broadcasting and social networking media. This is expected to be of value for actual future space missions, as knowledge is gained from testing many innovative prototypes in simulated lunar regolith. More information is available at www.nasa.gov/lunabotics/.

Mueller, Robert P.↗

The role of rim slumping in the modification of lunar impact craters

The role of rim slumping in the formation of terraces on interior crater walls and consequent modifications of the shapes of large lunar impact craters is evaluated. Impact excavation cavities were reconstructed by means of a terrace restoration model for twelve lunar craters ranging in diameter from 19 to 137 km. For craters up to 30 km, reconstructed cavity depths are comparable to or greater than cavity depths extrapolated from nonterraced smaller craters, and in the 30 to 70 km diameter range, the reconstructed cavity depths are significantly greater. For craters larger than 70 km, however, the reconstructed cavity depths are consistently less than those predicted from small crater morphometry, indicating a significant additional contribution from ejecta fallback and basement rebound to the modification of the shape of impact craters greater than 70 km.

Settle, M.↗

NASA LSII Lunar Simulant Project

Introduction: America has entered a new era of exploration. NASA’s Artemis program will lead humanity forward to the Moon and prepare us for the next giant leap, the exploration of Mars [1]. To champion technologies needed to live on and explore the Moon, NASA’s Space Technology Mission Directorate (STMD) established the Lunar Surface Innovation Initiative (LSII)[2].LSII's technology development portfolio includes: Utilizing the Moon’s resources; Establishing sustainable surface power; Building machinery and electronics that work in extreme environments, like super-chilly permanently shadowed craters; Mitigating lunar dust; Carrying out surface excavation, manufacturing and construction duties; and Extreme access which includes navigating and exploring the surface/subsurface. To support the development and testing of these technologies, LSII created the lunar simulant project, to create and/or acquire low-, medium-and high-fidelity lunar simulants to match the needs of STMD projects at all levels of technology readiness levels (TRL), as well as other NASA programs. There is not one bulk lunar simulant that will satisfy the needs of all projects. NASA's Approach to Simulants: Just as LSII's activities are being implemented through a combination of unique NASA work and public-private partnerships, NASA will work with commercial simulant providers to acquire simulants that meet NASA's needs. If warranted, NASA will develop simulants using government agencies, as was done with the NASA/USGS Lunar Highlands Type (NU-LHT)series of lunar simulants [3].NASA is also collaborating with the Johns Hopkins University Applied Physics Laboratory(JHUAPL) Lunar Surface Innovation Consortium (LSIC) in the development and characterization of lunar simulants [4]. Within NASA, a small team (< 10 people) is coordinating simulant activities across the agency, with team members located at several NASA centers. The overall objective of the project is to procure lunar simulants in sufficient amounts for earth-based testing of subsystems and systems in a variety of environments (i.e., laboratory, high-bay, thermal-vacuum chambers), required for Artemis missions to the Moon, as well as other missions carrying NASA lunar payloads, such as the Commercial Lunar Payload Services (CLPS)program [5]. Lunar Highlands Simulant: NASA's Artemis Program is targeting the lunar south pole region for initial human missions and the Artemis Base Camp. Hence, the LSII lunar simulant project is currently focusing on the mineralogy and properties of lunar highlands regolith [6 and 7]. Plagioclase-rich rocks (e.g., anorthosite, norite) are the dominant constituent in highlands simulants, with Shawmere, Stillwater, and White Mountain anorthosites being used in commercially available simulants. However, because these feedstocks are terrestrial in nature, they include hydrated minerals, carbon-bearing minerals, and other chemical signatures that are not present on the Moon, and these minor mineral assemblages need to be taken into account when trying to understand test procedures and results. Glass Component: While much attention has been placed on the rock/mineral component of lunar simulants, glass is just as important when creating simulants. The glass component in lunar regoliths is often greater than 50% by volume [8]. This component includes impact melt glass, dark matrix breccias, and agglutinates. However, this component is difficult, time-consuming and expensive to make. Most lunar simulants, past and current, have relied on basaltic cinder as a feedstock for glass. Getting better glass components at a lower cost, particularly agglutinates and glass with an anorthositic composition is a near-term objective that the NASA simulant project is trying to address . Characterization: It is extremely important for lunar simulants to be characterized by several analytical methods. Gruener et al. [9] and JHUAPL LSIC [10] conducted initial assessments of some of the commercially available simulants in 2019 and early 2020, before the global pandemic. Further analyses are needed to better quantify important parameters such as, modal mineralogy and glass content, particle shape, and particle size distribution. These quantified results can then be used in determining figures of merit (FOM) that show how well simulants compare to lunar regolith [11 and 12].

J E Gruener↗

Some correlation of rock exposure ages and regolith dynamics

Exposure age information on lunar rocks and regolith turnover rates are correlated. If plotted in a cumulative fashion, the distribution of spallogenic noble-gas exposure ages is remarkably parallel to the rate at which various fractions of the regolith surface are cratered and/or excavated. It appears that the rate at which lunar rocks are excavated from within the regolith is strongly controlled by the impact environment. Some suggestions for future refinement of regolith dynamics are presented.

Horz, F.↗