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NASA NTRS2007

Calculation of Excavation Force for ISRU on Lunar Surface

Accurately predicting the excavation force that will be encountered by digging tools on the lunar surface is a crucial element of in-situ resource utilization (ISRU). Based on principles of soil mechanics, this paper develops an analytical model that is relatively simple to apply and uses soil parameters that can be determined by traditional soil strength tests. The influence of important parameters on the excavation force is investigated. The results are compared with that predicted by other available theories. Results of preliminary soil tests on lunar stimulant are also reported.

Zeng, Xiangwu (David)↗

NASA NTRS2007

Microwave Extraction of Water from Lunar Regolith Simulant

Nearly a decade ago the DOD Clementine lunar orbital mission obtained data indicating that the permanently shaded regions at the lunar poles may have permanently frozen water in the lunar soil. Currently NASA's Robotic Lunar Exploration Program, RLEP-2, is planned to land at the lunar pole to determine if water is present. The detection and extraction of water from the permanently frozen permafrost is an important goal for NASA. Extraction of water from lunar permafrost has a high priority in the In-Situ Resource Utilization, ISRU, community for human life support and as a fuel. The use of microwave processing would permit the extraction of water without the need to dig, drill, or excavate the lunar surface. Microwave heating of regolith is potentially faster and more efficient than any other heating methods due to the very low thermal conductivity of the lunar regolith. Also, microwaves can penetrate into the soil permitting water removal from deep below the lunar surface. A cryogenic vacuum test facility was developed for evaluating the use of microwave heating and water extraction from a lunar regolith permafrost simulant. Water is obtained in a cryogenic cold trap even with soil conditions below 0 C. The results of microwave extraction of water experiments will be presented.

Ethridge, Edwin C.↗

NASA NTRS2007

Mission Design Overview for the Phoenix Mars Scout Mission

The Phoenix mission "follows the water" by landing in a region where NASA's Mars Odyssey orbiter has discovered evidence of ice-rich soil very near the Martian surface. For three months after landing, the fixed Lander will perform in-situ and remote sensing investigations that will characterize the chemistry of the materials at the local surface, sub-surface, and atmosphere, and will identify potential provenance of key indicator elements of significance to the biological potential of Mars, including potential organics and any accessible water ice. The Lander will employ a robotic arm to dig to the ice layer, and will analyze the acquired samples using a suite of deck-mounted, science instruments. The development of the baseline strategy to achieve the objectives of this mission involves the integration of a variety of elements into a coherent mission plan.

Phoenix↗

NASA NTRS2008

NASA In-Situ Resource Utilization (ISRU) Technology and Development Project Overview

Since the Vision for Space Exploration (VSE) was released in 2004, NASA, in conjunction with international space agencies, industry, and academia, has continued to define and refine plans for sustained and affordable robotic and human exploration of the Moon and beyond. With the goal of establishing a lunar Outpost on the Moon to extend human presence, pursue scientific activities, use the Moon to prepare for future human missions to Mars, and expand Earth s economic sphere, a change in how space exploration is performed is required. One area that opens up the possibility for the first time of breaking our reliance on Earth supplied consumables and learn to live off the land is In-Situ Resource Utilization (ISRU). ISRU, which involves the extraction and processing of space resources into useful products, can have a substantial impact on mission and architecture concepts. In particular, the ability to make propellants, life support consumables, and fuel cell reagents can significantly reduce the cost, mass, and risk of sustained human activities beyond Earth. However, ISRU is an unproven capability for human lunar exploration and can not be put in the critical path of lunar Outpost success until it has been proven. Therefore, ISRU development and deployment needs to take incremental steps toward the desired end state. To ensure ISRU capabilities are available for pre-Outpost and Outpost deployment by 2020, and mission and architecture planners are confident that ISRU can meet initial and long term mission requirements, the ISRU Project is developing technologies and systems in three critical areas: (1) Regolith Excavation, Handling and Material Transportation; (2) Oxygen Extraction from Regolith; and (3) Volatile Extraction and Resource Prospecting, and in four development stages: (I) Demonstrate feasibility; (II) Evolve system w/ improved technologies; (III) Develop one or more systems to TRL 6 before start of flight development; and (IV) Flight development for Outpost. To minimize cost and ensure that ISRU technologies, systems, and functions are integrated properly into the Outpost, technology development efforts are being coordinated with other development areas such as Surface Mobility, Surface Power, Life Support, EVA, and Propulsion. Lastly, laboratory and field system-level tests and demonstrations will be performed as often as possible to demonstrate improvements in: Capabilities (ex. digging deeper); Performance (ex. lower power); and Duration (ex. more autonomy or more robustness). This presentation will provide the status of work performed to date within the NASA ISRU project with respect to technology and system development and field demonstration activities, as well as the current strategy to implement ISRU in future robotic and human lunar exploration missions.

Sanders, Gerald B.↗

NASA NTRS2008

Civil Service Workforce Market Supply and the Effect on the Cost Estimating Relationships (CERs) that may effect the Productivity Factors for Future NASA Missions

The upcoming retirement of the Baby Boomers on the horizon will leave a performance gap between younger generation (the future NASA decision makers) and the gray beards. This paper will reflect on the average age of workforce across NASA Centers, the Aerospace Industry and other Government Agencies, like DoD. This papers will dig into Productivity and Realization Factors and how they get applied to bimonthly (payroll data) for true FTE calculations that could be used at each of the NASA Centers and other business systems that are on the forefront in being implemented. This paper offers some comparative costs solutions, from simple - full time equivalent (FTE) cost estimating relationships CERs, to complex - CERs for monthly time-phasing activities for small research projects that start and get completed within a government fiscal year. This paper will present the results of a parametric study investigating the cost-effectiveness of different alternatives performance based cost estimating relationships (CERs) and how they get applied into the Center s forward pricing rate proposals (FPRP). True CERs based on the relationship of a younger aged workforce will have some effects on labor rates used in both commercial cost models and internal home-grown cost models which may impact the productivity factors for future NASA missions.

Sterk, Steve↗

NASA NTRS2008

Civil Service Workforce Market Supply and the Effect on Cost Estimating Relationship (CERS) that May Effect the Productivity Factors for Future NASA Missions

The upcoming retirement of the Baby Boomers will leave a workforce age gap between the younger generation (the future NASA decision makers) and the gray beards. This paper will reflect on the average age of the workforce across NASA Centers, the Aerospace Industry and other Government Agencies, like DoD. This paper will dig into Productivity and Realization Factors and how they get applied to bi-monthly (payroll) data for true full-time equivalent (FTE) calculations that could be used at each of the NASA Centers and other business systems that are on the forefront in being implemented. This paper offers some comparative costs analysis/solutions, from simple FTE cost-estimating relationships (CERs) versus CERs for monthly time-phasing activities for small research projects that start and get completed within a government fiscal year. This paper will present the results of a parametric study investigating the cost-effectiveness of alternative performance-based CERs and how they get applied into the Center's forward pricing rate proposals (FPRP). True CERs based on the relationship of a younger aged workforce will have some effects on labor rates used in both commercial cost models and other internal home-grown cost models which may impact the productivity factors for future NASA missions.

Sterk, Steve↗

NASA NTRS2009

The Evolution and Development of the Lunar Regolith and Implications for Lunar Surface Operations and Construction

The lunar regolith consists of about 90% submillimeter particles traditionally termed lunar soil. The remainder consists of larger particles ranging up to boulder size rocks. At the lower size end, soil particles in the 10s of nanometer sizes are present in all soil samples. Lunar regolith overlies bedrock which consists of either lava flows in mare regions or impact-produced megaregolith in highland regions. Lunar regolith has been produced over billions of years by a combination of breaking and communition of bedrock by meteorite bombardment coupled with a variety of complex space weathering processes including solar wind implantation, solar flare and cosmic ray bombardment with attendant radiation damage, melting, vaporization, and vapor condensation driven by impact, and gardening and turnover of the resultant soil. Lunar regolith is poorly sorted compared to most terrestrial soils, and has interesting engineering properties including strong grain adhesion, over-compacted soil density, an abundance of agglutinates with sharp corners, and a variety of properties related to soil maturity. The NASA program has supported a variety of engineering test research projects, the production of bricks by solar or microwave sintering, the production of concrete, the in situ sintering and glazing of regolith by microwave, and the extraction of useful resources such as oxygen, hydrogen, iron, aluminum, silicon and other products. Future requirements for a lunar surface base or outpost will include construction of protective berms, construction of paved roadways, construction of shelters, movement and emplacement of regolith for radiation shielding and thermal control, and extraction of useful products. One early need is for light weight but powerful digging, trenching, and regolith-moving equipment.

McKay, David↗

NASA NTRS2009

Developments to Increase the Performance, Operational Versatility and Automation of a Lunar Surface Manipulation System

The objective of this paper is to describe and summarize the results of the development efforts for the Lunar Surface Manipulation System (LSMS) with respect to increasing the performance, operational versatility, and automation. Three primary areas of development are covered, including; the expansion of the operational envelope and versatility of the current LSMS test-bed, the design of a second generation LSMS, and the development of automation and remote control capability. The first generation LSMS, which has been designed, built, and tested both in lab and field settings, is shown to have increased range of motion and operational versatility. Features such as fork lift mode, side grappling of payloads, digging and positioning of lunar regolith, and a variety of special end effectors are described. LSMS operational viability depends on bei nagble to reposition its base from an initial position on the lander to a mobility chassis or fixed locations around the lunar outpost. Preliminary concepts are presented for the second generation LSMS design, which will perform this self-offload capability. Incorporating design improvements, the second generation will have longer reach and three times the payload capability, yet it will have approximately equivalent mass to the first generation. Lastly, this paper covers improvements being made to the control system of the LSMS test-bed, which is currently operated using joint velocity control with visual cues. These improvements include joint angle sensors, inverse kinematics, and automated controls.

Dorsey, John T.↗

NASA NTRS2010

Comparison of ISRU Excavation System Model Blade Force Methodology and Experimental Results

An Excavation System Model has been written to simulate the collection and transportation of regolith on the Moon. The calculations in this model include an estimation of the forces on the digging tool as a result of excavation into the regolith. Verification testing has been performed and the forces recorded from this testing were compared to the calculated theoretical data. A prototype lunar vehicle built at the NASA Johnson Space Center (JSC) was tested with a bulldozer type blade developed at the NASA Kennedy Space Center (KSC) attached to the front. This is the initial correlation of actual field test data to the blade forces calculated by the Excavation System Model and the test data followed similar trends with the predicted values. This testing occurred in soils developed at the NASA Glenn Research Center (GRC) which are a mixture of different types of sands and whose soil properties have been well characterized. Three separate analytical models are compared to the test data.

Gallo, Christopher A.↗

NASA NTRS2011

Drought Predictability and Prediction in a Changing Climate: Assessing Current Predictive Knowledge and Capabilities, User Requirements and Research Priorities

Drought is fundamentally the result of an extended period of reduced precipitation lasting anywhere from a few weeks to decades and even longer. As such, addressing drought predictability and prediction in a changing climate requires foremost that we make progress on the ability to predict precipitation anomalies on subseasonal and longer time scales. From the perspective of the users of drought forecasts and information, drought is however most directly viewed through its impacts (e.g., on soil moisture, streamflow, crop yields). As such, the question of the predictability of drought must extend to those quantities as well. In order to make progress on these issues, the WCRP drought information group (DIG), with the support of WCRP, the Catalan Institute of Climate Sciences, the La Caixa Foundation, the National Aeronautics and Space Administration, the National Oceanic and Atmospheric Administration, and the National Science Foundation, has organized a workshop to focus on: 1. User requirements for drought prediction information on sub-seasonal to centennial time scales 2. Current understanding of the mechanisms and predictability of drought on sub-seasonal to centennial time scales 3. Current drought prediction/projection capabilities on sub-seasonal to centennial time scales 4. Advancing regional drought prediction capabilities for variables and scales most relevant to user needs on sub-seasonal to centennial time scales. This introductory talk provides an overview of these goals, and outlines the occurrence and mechanisms of drought world-wide.

Schubert, Siegfried↗

NASA NTRS2008

Environmental Assurance Program for the Phoenix Mars Mission

The Phoenix Mars mission involves delivering a stationary science lander on to the surface of Mars in the polar region within the latitude band 65 deg N to 72 deg N. Its primary objective is to perform in-situ and remote sensing investigations that will characterize the chemistry of the materials at the local surface, subsurface, and atmosphere. The Phoenix spacecraft was launched on August 4, 2007 and will arrive at Mars in May 2008. The lander includes a suite of seven (7) science instruments. This mission is baselined for up to 90 sols (Martian days) of digging, sampling, and analysis. Operating at the Mars polar region creates a challenging environment for the Phoenix landed subsystems and instruments with Mars surface temperature extremes between -120 deg C to 25 deg C and diurnal thermal cycling in excess of 145 deg C. Some engineering and science hardware inside the lander were qualification tested up to 80 deg C to account for self heating. Furthermore, many of the hardware for this mission were inherited from earlier missions: the lander from the Mars Surveyor Program 2001 (MSP'01) and instruments from the MSP'01 and the Mars Polar Lander. Ensuring all the hardware was properly qualified and flight acceptance tested to meet the environments for this mission required defining and implementing an environmental assurance program that included a detailed heritage review coupled with tailored flight acceptance testing. A heritage review process with defined acceptance success criteria was developed and is presented in this paper together with the lessons learned in its implementation. This paper also provides a detailed description of the environmental assurance program of the Phoenix Mars mission. This program includes assembly/subsystem and system level testing in the areas of dynamics, thermal, and electromagnetic compatibility, as well as venting/pressure, dust, radiation, and meteoroid analyses to meet the challenging environment of this mission.

thermal testing↗

NASA NTRS2008

Percussive Excavation of Lunar Soil

It has been suggested using a percussive motion could improve the efficiency of excavation by up to 90%. If this is proven to be true it would be very beneficial to excavation projects on the Moon and Mars. The purpose of this study is to design, build and test a percussive tool which could dig a trench and then compare this data against that of a non-percussive tool of the same shape and size. The results of this test thus far have been inconclusive due to malfunctions in the testbed and percussive bucket; however, experimental results from small scale experiments confirm this higher efficiency and support further testing.

Whittaker, Matthew P.↗

NASA NTRS2003

Functionally Graded Nanophase Beryllium/Carbon Composites

Beryllium, beryllium alloys, beryllium carbide, and carbon are the ingredients of a class of nanophase Be/Be2C/C composite materials that can be formulated and functionally graded to suit a variety of applications. In a typical case, such a composite consists of a first layer of either pure beryllium or a beryllium alloy, a second layer of B2C, and a third layer of nanophase sintered carbon derived from fullerenes and nanotubes. The three layers are interconnected through interpenetrating spongelike structures. These Be/Be2C/C composite materials are similar to Co/WC/diamond functionally graded composite materials, except that (1) W and Co are replaced by Be and alloys thereof and (2) diamond is replaced by sintered carbon derived from fullerenes and nanotubes. (Optionally, one could form a Be/Be2C/diamond composite.) Because Be is lighter than W and Co, the present Be/Be2C/C composites weigh less than do the corresponding Co/WC/diamond composites. The nanophase carbon is almost as hard as diamond. WC/Co is the toughest material. It is widely used for drilling, digging, and machining. However, the fact that W is a heavy element (that is, has high atomic mass and mass density) makes W unattractive for applications in which weight is a severe disadvantage. Be is the lightest tough element, but its toughness is less than that of WC/Co alloy. Be strengthened by nanophase carbon is much tougher than pure or alloy Be. The nanophase carbon has an unsurpassed strength-to-weight ratio. The Be/Be2C/C composite materials are especially attractive for terrestrial and aerospace applications in which there are requirements for light weight along with the high strength and toughness of the denser Co/WC/diamond materials. These materials could be incorporated into diverse components, including cutting tools, bearings, rocket nozzles, and shields. Moreover, because Be and C are effective as neutron moderators, Be/Be2C/C composites could be attractive for some nuclear applications.

Voronov, Oleg A.↗

NASA NTRS2003

Functionally Graded Nanophase Beryllium/Carbon Composites

Choi, Michael K.↗

NASA NTRS2003

Detecting Conductive Liquid Leaking from Nonconductive Pipe

A method that can be implemented with relatively simple electronic circuitry provides a capability for detecting leakage of an electrically conductive liquid from an electrically nonconductive underground pipe. Alternatively or in addition, the method can be applied to locate the pipe, whether or not there is a leak. Although the method is subject to limitations (some of which are described below), it is still attractive as an additional option for detecting leaks and locating pipes without need for extensive digging. The method is based on capacitive coupling of an alternating electrical signal from the liquid to a portable electronic unit that resembles a metal detector. A signal voltage is applied to the liquid at some convenient point along the pipe: for example, the signal could be coupled into the liquid via an aboveground metal pipe fitting, the interior surface of which is in contact with the liquid. The signal is conducted through the liquid in the pipe; in the case of diffusive leak of liquid into the surrounding ground, the signal is conducted through the leak, into the portion of the adjacent ground that has become soaked with the liquid. (A drip leak cannot be detected by this method because there is no conductive path between the liquid inside and the liquid outside the pipe.) The portable unit includes an electrically conductive plate connected to the input terminal of an amplifier. When the plate is brought near the pipe or the leaked liquid, a small portion of the signal power is coupled capacitively from the liquid to the plate. The user scans the plate near the ground surface to find the locus of maximum signal strength. The leak can be identified as a relatively wide area, contiguous with the location of the pipe, over which the signal is detectable.

Youngquist, Robert C.↗

NASA NTRS2012

A Comparison Between The NORCAT Rover Test Results and the ISRU Excavation System Model Predictions Results

An Excavation System Model has been written to simulate the collection and transportation of regolith on the moon. The calculations in this model include an estimation of the forces on the digging tool as a result of excavation into the regolith. Verification testing has been performed and the forces recorded from this testing were compared to the calculated theoretical data. The Northern Centre for Advanced Technology Inc. rovers were tested at the NASA Glenn Research Center Simulated Lunar Operations facility. This testing was in support of the In-Situ Resource Utilization program Innovative Partnership Program. Testing occurred in soils developed at the Glenn Research Center which are a mixture of different types of sands and whose soil properties have been well characterized. This testing is part of an ongoing correlation of actual field test data to the blade forces calculated by the Excavation System Model. The results from this series of tests compared reasonably with the predicted values from the code.

Gallo, Christopher A.↗

NASA NTRS2012

ISRU Soil Mechanics Vacuum Facility: Soil Bin Preparation and Simulant Strength Characterization

Testing in relevant environments is key to exploration mission hardware development. This is true on both the component level (in early development) and system level (in late development stages). During ISRU missions the hardware will interface with the soil (digging, roving, etc) in a vacuum environment. A relevant test environment will therefore involve a vacuum chamber with a controlled, conditioned simulant bed. However, in earth-based granular media, such as lunar soil simulant, gases trapped within the material pore structures and water adsorbed to all particle surfaces will release when exposed to vacuum. Early vacuum testing has shown that this gas release can occur violently, which loosens and weakens the simulant, altering the consolidation state. The Vacuum Facility #13, a mid-size chamber (3.66m tall, 1.5m inner diameter) at the NASA Glenn Research Center has been modified to create a soil mechanics test facility. A 0.64m deep by 0.914m square metric ton bed of lunar simulant was placed under vacuum using a variety of pumping techniques. Both GRC-3 and LHT-3M simulant types have been used. An electric cone penetrometer was used to measure simulant strength properties at vacuum including: cohesion, friction angle, bulk density and shear modulus. Simulant disruptions, caused by off gassing, affected the strength properties, but could be mitigated by reducing pump rate. No disruptions were observed at pressures below 2.5Torr, regardless of the pump rate. However, slow off gassing of the soil lead to long test times, a full week, to reach 10-5Torr. This work highlights the need for robotic machine-simulant hardware and operations in vacuum to expeditiously perform (sub-)systems tests.

Kleinhenz, Julie↗

NASA NTRS2006

Excavation of Regolith by Impinging Jets of Gas

There are many situations in nature and technology where particulate matter is excavated by a fluid jet. Such a process is often used to excavate soil or to dig wells. Air jets are often used to transport particulate matter such as powders in various industrial processes. Similar situations occur in nature, as when waterfalls scour holes in sand. In other cases, the excavation is unwanted such as when a rocket lands on the sandy or dusty surface of a planet or moon. Recent research into regolith excavation by gas jets has obtained new insights into the physical processes of that excavation, and these may lead to new advances in technology for more efficient fluid-jet excavation processes and for better control of the unwanted excavation effects of landing rockets. This talk will explain the new insights and point to future work supporting lunar exploration.

Metzger, Philip T.↗