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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

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.

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.↗
NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of movement. Impact energies from 13.6J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 50% was achieved in this experimental investigation.

Mueller, Robert↗
NASA NTRS2012

Short Trips and a Traverse

Dr. Cameron joined the Arctic Institute of North America in 1956 to participate in IGY-related activities in Antarctica. He served as Chief Glaciologist at Wilkes Station, on the coast of East Antarctica. This was a joint Navy-civilian operation consisting of 17 Navy personnel and 10 scientists. Specifically, his glaciological team consisted of two colleagues with whom he had worked before - Olav Loken in Norway in the summer of 1953, and John Molholm in Greenland in the summer of 1954. This team spent much of its time at a remote station established 80 kilometers (50 miles) inland, where they conducted both meteorological and glaciological studies. One of the glaciological studies entailed digging a 35-meter (approx.115-foot) vertical pit to study snow densification and stratigraphy. The assignment for the Navy Seabees was to first establish a joint US-NZ base at Cape Hallett and then go along the coast of East Antarctica and set up Wilkes Station.

Cameron, Richard↗
NASA NTRS2013

Regolith Advanced Surface Systems Operations Robot Excavator

The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (<50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.

Mueller, Robert P.↗
NASA NTRS2013

Assessing Habitability: Lessons from the Phoenix Mission

The Phoenix mission's key objective was to search for a habitable zone. The Phoenix lander carried a robotic arm with digging scoop to collect soil and icy material for analysis with an instrument payload that included volatile mineral and organic analysis(3) and soil ionic chemistry analysis (4). Results from Phoenix along with theoretical modeling and other previous mission results were used to evaluate the habitability of the landing site by considering four factors that characterize the environments ability to support life as we know it: the presence of liquid water, the presence of an energy source to support metabolism, the presence of nutrients containing the fundamental building blocks of life, and the absence of environmental conditions that are toxic to or preclude life. Phoenix observational evidence for the presence of liquid water (past or present) includes clean segregated ice, chemical etching of soil grains, calcite minerals in the soil and variable concentrations of soluble salts5. The maximum surface temperature measured was 260K so unfrozen water can form only in adsorbed films or saline brines but warmer climates occur cyclically on geologically short time scales due to variations in orbital parameters. During high obliquity periods, temperatures allowing metabolism extend nearly a meter into the subsurface. Phoenix discovered ~1%w/w perchlorate salt in the soil, a chemical energy source utilized by a wide range of microbes. Nutrient sources including C, H, N, O, P and S compounds are supplied by known atmospheric sources or global dust. Environmental conditions are within growth tolerance for terrestrial microbes. Summer daytime temperatures are sufficient for metabolic activity, the pH is 7.8 and is well buffered and the projected water activity of a wet soil will allow growth. In summary, martian permafrost in the north polar region is a viable location for modern life. Stoker et al. presented a formalism for comparing the habitability of various regions visited to date on Mars that involved computing a habitability probability, defined as the product of probabilities for the presence of liquid water (P(sub lw)), energy (P(sub e)), nutrients (P(sub ch)), and a benign environment (P(sub b)). Using this formalism, they argued that the Phoenix site was the most habitable of any site visited to date by landed missions and warranted a follow up mission to search for modern evidence of life. This paper will review that conclusion in view of more recent information from the Mars Exploration Rovers and Mars Science Lander missions.

Stoker, Carol R.↗
NASA NTRS2013

Subsurface In Situ Elemental Composition Measurements with PING

This paper describes the Probing In situ with Neutron and Gamma rays (PING) instrument, that can measure the subsurface elemental composition in situ for any rocky body in the solar system without the need for digging into the surface. PING consists of a Pulsed Neutron Generator (PNG), a gamma ray spectrometer and neutron detectors. Subsurface elements are stimulated by high-energy neutrons to emit gamma rays at characteristic energies. This paper will show how the detection of these gamma rays results in a measurement of elemental composition. Examples of the basalt to granite ratios for aluminum and silicon abundance are provided.

Parsons, Ann↗
NASA NTRS2013

NASA Tech Briefs, August 2013

Topics covered include: Radial Internal Material Handling System (RIMS) for Circular Habitat Volumes; Conical Seat Shut-Off Valve; Impact-Actuated Digging Tool for Lunar Excavation; Flexible Mechanical Conveyors for Regolith Extraction and Transport; Remote Memory Access Protocol Target Node Intellectual Property; Soft Decision Analyzer; Distributed Prognostics and Health Management with a Wireless Network Architecture; Minimal Power Latch for Single-Slope ADCs; Bismuth Passivation Technique for High-Resolution X-Ray Detectors; High-Strength, Super-elastic Compounds; Cu-Cr-Nb-Zr Alloy for Rocket Engines and Other High-Heat- Flux Applications; Microgravity Storage Vessels and Conveying-Line Feeders for Cohesive Regolith; CRUQS: A Miniature Fine Sun Sensor for Nanosatellites; On-Chip Microfluidic Components for In Situ Analysis, Separation, and Detection of Amino Acids; Spectroscopic Determination of Trace Contaminants in High-Purity Oxygen; Method of Separating Oxygen From Spacecraft Cabin Air to Enable Extravehicular Activities; Atomic Force Microscope Mediated Chromatography; Sample Analysis at Mars Instrument Simulator; Access Control of Web- and Java-Based Applications; Tool for Automated Retrieval of Generic Event Tracks (TARGET); Bilayer Protograph Codes for Half-Duplex Relay Channels; Influence of Computational Drop Representation in LES of a Droplet-Laden Mixing Layer.

Source record↗
NASA NTRS2013

Kennedy Space Center: Swamp Works

When I began my internship with the Granular Mechanics and Regolith Operations laboratory (GMRO), also known as Swamp Works, I was given the unique opportunity to shadow many teams working on various projects, and decide what projects I wanted to take part in. Before I go into details of my experiences at Swamp Works, I would like to take a moment to explain what I discovered Swamp Works to be. Swamp Works is a family of hardworking, dedicated, and driven people from various backgrounds and skill sets. These people all work to advance technologies and make science fiction science fact through means of rapid prototyping. They support and encourage failure as an option when learning new things, as long as lesson learned from said failure. In fact, their motto states "Fail, Fast, Forward." What this means is, not if but when one fails he or she must do so quickly and spring forward from the failure so that his or her progress is not delayed. With this acceptance, it provided me the confidence to dive into a multitude of projects working in various fields and with a wide range of skill sets. The first project I joined was Badger. My motivation for taking on this project was the opportunity I would have to obtain valuable experience working with 3D modeling and 3D printing technologies. Badger was a digging apparatus to be used in a highly dusty environment in a material known as Regolith. Regolith is a scientific term for the dirt or top soil found on planetary bodies. Regolith contains a large quantity of sediments less than lOppm and as a result poses a challenge of keeping it out of any cracks and crevices. Furthermore, regolith can create high levels of electrostatic energy, which can prove damaging to sensitive electrical hardware. With these characteristics in mind, I decided to take on the task of designing and manufacturing a dust proof cover for the sensitive electrical hardware. When I began this project, I did not have the slightest idea as to how to use 3D modeling software or a means of manufacturing a viable product. As I went along with variants of the design, I became very proficient with a 3D modeling program known as CREO 2.0. Upon completion of my 3D design, I then had the task of manufacturing and having, in my hands, a usable model. To do this I had to work with additive printing technologies also known as 3D printing. Through my experiences working with Badger, I realized that 3D modeling is the focal point in much of engineering. With this in mind, I have embraced this fact and decided to further my experience with this software so that I may become a more valuable asset to any firm later in my career. Mid-way through work with Badger, I picked up another project in which I found much interest. I ha~ the opportunity to work side by side with a materials and composites guru in manufacturing carbon composite coupons (test strips) for performing stress, strain, and sheer analysis on. Being from a surfing, kiteboarding, and other water sport background I have always been interested in board design. With this in mind, it is no wonder why I found interest in such a project. I had the opportunity to refine Mold preparatory, composite layup, and composite curing techniques. Following manufacturing of these composite strips, I then performed various stress tests and logged my results. With these results, future teams could create lighter, stronger, and more cost effective composite structures for use in varieties of applications. After my experiences with materials and composites testing, I have obtained crucial appreciation for detailed documentation and analysis that material sciences involve. However, as interesting as composite materials testing has been, I do not feel this is where my future career lies. Another, more on the side, project I have been involved in is building a 626 cubic foot regolith containment chamber for doing full scale testing of robotic systems. This chamber is built of high strength aluminum scaffold materials, 80/20, and massive panels of Lexan. Once the chamber is completed, it is be filled with 120 tons of regolith and dubbed the largest regolith test chamber in the world. Through my experiences with building "Big Bin" as we called it, I discovered my demand for engaging and hands on activities. Through all of my incredible experiences working with the Swamp Works at Kennedy Space Center; I have obtained crucial knowledge, insights, and experiences that have fuelled, shaped, and will continue to drive me toward my ultimate goal of obtaining not only a degree in Engineering, but obtaining a job that I can call a career. I want to give much thanks to all of those who mentored me along my journey, and to all who made this opportunity a reality.

DeFilippo, Anthony Robert↗