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Evaluation of geophysical properties of the lunar regolith for the design of precursor scientific missions for the space exploration initiative

The following topics are addressed: (1) the frequency of encountering boulders that represent hazards to lunar operations; (2) the ease of lunar soil excavation; (3) the use of explosives in excavation operation; (4) the trafficability of the regolith; (5) problems encountered in mining (probably strip mining) of the regolith; (6) the stable angle(s) of repose in excavation of the regolith; (7) the layering to be encountered in the subsurface; (8) knowledge of the regolith site and the possibility of its general application to any site on the lunar surface; (9) the data needed to characterize a site for a lunar base; (10) the influence of regolith properties on the design of geophysical experiments from the lunar base; and (11) terrestrial analogues for the geophysical properties of the lunar regolith.

Morgan, Paul↗

Lunar regolith densification

Core tube samples of the lunar regolith obtained during the Apollo missions showed a rapid increase in the density of the regolith with depth. Various hypotheses have been proposed for the possible cause of this phenomenon, including the densification of the loose regolith material by repeated shaking from the seismic tremors which have been found to occur at regular monthly intervals when the moon and earth are closest to one another. A test bed was designed to study regolith densification. This test bed uses Minnesota Lunar Simulant (MLS) to conduct shaking experiments in the geotechnical centrifuge with an inflight shake table system. By reproducing realistic in-situ regolith properties, the experiment also serves to test penetrator concepts. The shake table system was designed and used for simulation experiments to study effects of earthquakes on terrestrial soil structures. It is mounted on a 15 g-ton geotechnical centrifuge in which the self-weight induced stresses are replicated by testing an n-th scale model in a gravity field which is n times larger than Earth's gravity. A similar concept applies when dealing with lunar prototypes, where the gravity ratio required for proper simulation of lunar gravity effects is that between the centrifugal acceleration and the lunar gravity. Records of lunar seismic tremors, or moonquakes, were obtained. While these records are being prepared for use as the input data to drive the shake table system, records from the El Centro earthquake of 1940 are being used to perform preliminary tests, using a soil container which was previously used for earthquake studies. This container has a laminar construction, with the layers free to slide on each other, so that the soil motion during the simulated earthquake will not be constrained by the otherwise rigid boundaries. The soil model is prepared by pluviating the MLS from a hopper into the laminar container to a depth of 6 in. The container is mounted on the shake table and the centrifuge is operated to generate an acceleration of 10 times Earth's gravity or 60 times the lunar gravity, thus simulating a lunar regolith thickness of 30 ft. The shake table is then operated using the scaled 'moonquake' as the input motion. One or more model moonquakes are used in each experiment, after which the soil is analyzed for its density profile with depth. This is accomplished by removing from the soil bed a column of soil contained within a thin rubber sleeve which has been previously embedded vertically in the soil during pluviation. This column of soil is transferred to a gamma ray device, in which the gamma ray transmission transversely through the soil is measured and compared with standard calibration samples. In this manner, the density profile can be determined. Preliminary results to date are encouraging, and the Center plans to study the effects of duration of shaking, intensity of the shaking motion, and the frequency of the motion.

Ko, Hon-Yim↗

On the Relationship between the Apollo 16 Ancient Regolith Breccias and Feldspathic Fragmental Breccias, and the Composition of the Prebasin Crust in the Central Highlands of the Moon

Two types of texturally and compositionally similar breccias that consist largely of fragmental debris from meteorite impacts occur at the Apollo 16 lunar site: Feldspathic fragmental breccias (FFBS) and ancient regolith breccias (ARBs). Both types of breccia are composed of a suite of mostly feldspathic components derived from the early crust of the Moon and mafic impact-melt breccias produced during the time of basin formation. The ARBs also contain components, such as agglutinates and glass spherules, indicating that the material of which they are composed occurred at the surface of the Moon as fine-grained regolith prior to lithification of the breccias. These components are absent from the FFBS, suggesting that the FFBs might be the protolith of the ARBS. However, several compositional differences exist between the two types of breccia, making any simple genetic relationship implausible. First, clasts of mafic impact-melt breccia occurring in the FFBs are of a different composition than those in the ARBS. Also the feldspathic "prebasin" components of the FFBs have a lower average Mg/Fe ratio than the corresponding components of the ARBS; the average composition of the plagiociase in the FFBs is more sodic than that of the ARBS; and there are differences in relative abundances of rare earth elements. The two breccia types also have different provenances: the FFBs occur primarily in ejecta from North Ray crater and presumably derive from the Descartes Formation, while the ARBs are restricted to the Cayley plains. Together these observations suggest that although some type of fragmental breccia may have been a precursor to the ARBS, the FFBs of North Ray crater are not a significant component of the ARBs and, by inference, the Cayley plains. The average compositions of the prebasin components of the two types of fragmental breccia are generally similar to the composition of the feldspathic lunar meteorites. With 30-31% Al203, however, they are slightly richer in plagiociase than the most feldspathic lunar meteorites (approximately 29% Al203), implying that the crust of the early central nearside of the Moon contained a higher abundance of highly feldspathic anorthosite than typical lunar highlands, as inferred from the lunar meteorites. The ancient regolith breccias, as well as the current surface regolith ofthe Cayley plains, are more mafic than (1) prebasin regoliths in the Central Highlands and (2) regions of highlands presently distant from nearside basins because they contain a high abundance (approximately 30%) of mafic impact-melt breccias produced during the time of basin formation that is absent from other regoliths.

Korotev, Randy L.↗

Some things we can infer about the Moon from the Composition of the Apollo 16 Regolith

Characteristics of the regolith of Cayley plains as sampled at the Apollo 16 lunar landing site are reviewed and new compositional data are presented for samples of less than 1 mm fines ('soils') and 1-2 mm regolith particles. As a means of determining which of the many primary (igneous) and secondary (crystalline breccias) lithologic components that have been identified in the soil are volumetrically important and providing an estimate of their relative abundances, more than 3 x 10(exp 6) combinations of components representing nearly every lithology that has been observed in the Apollo 16 regolith were systematically tested to determine which combinations best account for the composition of the soils. Conclusions drawn from the modeling include the following. At the site, mature soil from the Cayley plains consists of 64.5% +/- 2.7% components representing 'prebasin' materials: anorthosites, feldspathic breccias, and a small amount (2.6% +/- 1.5% of total soil) of nonmare, mafic plutonic rocks, mostly gabbronorites. On average, these components are highly feldspathic, with average concentrations of 3l-32% Al2O3 and 2-3% FeO and a molar Mg/(Mg+Fe) ratio of O.68. The remaining 36% of the regolith is syn- and postbasin material: 28.8% +/- 2.4% mafic impact-melt breccias (MIMBS, i.e., 'LKFM' and 'VHA basalts') created at the time of basin formation, 6.0% +/- 1.4% mare-derived material (impact and volcanic glass, crystalline basalt) with an average TiO2 concentration of 2.4%, and 1% postbasin meteoritic material. The MIMBs are the principal (80-90%) carrier of incompatible trace elements (rare earths, Th, etc.) and the carrier of about one-half of the siderophile elements and elements associated with mafic mineral phases (Fe, Mg, Mn, Cr, Sc). Most (71 %) of the Fe in the present regolith derives from syn- and postbasin sources (MIMBS, mare-derived material, and meteorites). Thus, although the bulk composition of the Apollo 16 regolith is nominally that of noritic anorthosite, the noritic part (the MIMBs) and anorthositic parts (the prebasin components) are largely unrelated.

Korotev, Randy L.↗

On the Maturity of Lunar Regolith

Spectral reflectance properties of the lunar regolith change as the regolith "matures" with exposure to the space environment; a regolith composed of fragments from freshly disaggregated rock is lighter, is less red, and has more spectral contrast than the same regolith after it has received lengthy exposure to the solar wind, cosmic charged particles, and micrometeorite impact. In this work we discuss some aspects of lunar regolith maturity based on the study of Apollo regolith samples that may be important to interpretation of data obtained remotely.

Korotev, Randy L.↗

Three Paradigms of Lunar Regolith Evolution

Integration of diverse datasets on the Moon may render some paradigms of lunar science either better-defended or vulnerable. We will consider three paradigms commonly used for understanding the processes of lunar regolith evolution in light of new and accumulated data. Our premise is that all data-sets should converge to a single interpretation if a concept or model is to be accepted as a paradigm. If a convergence is lacking, the paradigm needs fresh scrutiny. SteadyState: Lunar regolith evolution is currently understood in terms of comminution, agglutination, and replenishment as described by McKay and coworkers). Briefly, the model envisages continued micrometeoritic bombardment to comminute exposed soil particles to finer sizes while continued agglutination consumes finer sizes to produce larger constructional particles. Eventually, a balance between these two opposing processes achieves a steady state; soils at steady state maintain their mean grain size (M(sub z)). Episodic higher-energy impacts excavate fresh coarse material from below the soil cover, disturb the steady state, and restart the process to achieve a new steady state. It follows that the thickness of the regolith at any site would control the frequency of replenishment; indeed, the thickness of the regolith at Apollo landing sites was predicted by McKay et al. from the average M(sub z) of local soils. However, replenishment may come also from disintegrating boulders and cobbles at the lunar surface, and rates of comminution and agglutination may depend on the properties of target material. Regression between M(sub z) and I(sub s)/Fe(sup 0) (a measure of maturity or total surface exposure) of Apollo soils at different sites shows the following relations and estimated M(sub z) at a high maturity of I(sub s)/Fe(sup 0)= 100. It is possible that Apollo 12 and 15 sites have the thickest regolith and the Apollo 16 site has the thinnest. It is also possible that Apollo 12 and 15 basalts are comminuted faster than Apollo 16 highland rocks and Apollo 14 and 17 soils are products of mixed parentage. If a soil becomes continually finer as it matures until agglutination catches up, and if comminution is differential-dependent on the physical properties of the constituents, then the composition of the bulk soil has to match the composition of some "fulcrum" grain size fraction, say X Grain size fractions >X and <X will complement each other; their mass balance is the bulk soil. It appears that the 10-20-micron size fraction may be the fulcrum. In general, trace-element chemistry and IR reflectance spectra of this size fraction are closest to that of the bulk soil, regardless of maturity that is surprising. Disaggregated products of regolith breccias may also show similar relationships. If the 10-20 gm is the fulcrum (i.e., X as above) for many soil properties (e.g., major element composition, FMR, solar-wind-implanted elements), then this may be the ultimate mean grain size of lunar soils at steady state. However, different properties of soils may find steady states at different grain size fractions. The steady state of solar-wind-implanted elements, on the other hand, will climb up the grain-size scale as agglutinates transfer surface-correlated components into volume correlated components until a saturation level is reached or the rates of replenishment and implantation become equal. The same will be the case with vapor-deposited reduced metals as they too are incorporated inside constructional particles. Properties that are directly affected by soil-maturation processes will thus have different pathways of achieving steady states. Maturity, i.e., cumulative surface exposure, of lunar soils is best quantified by the amount of nanophase superparamagnetic Fe(sup 0) (np-Fe(sup 0)) normalized to Fe content (=I(sub s)/Fe(sup 0). The majority consensus (paradigm?) for the production of np-Fe(sup 0) is associated with the production of agglutinates. Because large doses of solar-wind H are implanted in all lunar soils upon exposure, any melting (e.g., during agglutinate production) triggers a chemical reduction of Fe-bearing minerals resulting in np-Fe(sup 0) production. The quantity of np-Fe(sup 0) is thus dependent on melting events, (i.e., exposure), and limited by the Fe content of the soil. All freshly produced np-Fe(sup 0) resides in agglutinitic glass, as new TEM images show. Apparently, the correction procedure developed by Lucey et al. to estimate the Fe content of the lunar surface from IR-reflectance spectra depends on accepting the above. However, the process of producing np-Fe(sup 0) may be physical rather than chemical. All np-Fe(sup 0) could be deposits from a vapor produced by micrometeoritic impact on lunar soils. If metal-O bonds in target phases are broken, O being "most volatile" will escape leaving an O-deficient vapor to facilitate the production of np-Fe(sup 0). If so, the quantity of np-Fe(sup 0) is dependent on the vaporizing events, (i.e., exposure), and limited by the efficiency of breaking metal-O bonds and the escape of 0. To the extent that strengths of metal-O bonds are dependent on the local crystal field, production of np-Fe(sup 0) may be limited by the mineral composition of target soils and not by their total Fe content. According to this model, vapor-deposited np-Fe(sup 0) should be found at any retentive sites on lunar soil grains. Indeed, TEM images show np-Fe(sup 0) on plagioclase and ilmenite. Incorporation of such pre-irradiated np-Fe(sup 0)-bearing grains into agglutinates may account for eventual increased emplacement of np-Fe(sup 0) in agglutinates. Such a paradigm shift in understanding the origin of np-Fe(sup 0) will raise questions ranging from the unquestionable use of Is/FeO as the universal maturity parameter of lunar soils to global elemental maps of the Moon from remote-sensing data. Additional information is contained in the original.

Basu, A.↗

Evolution and Transport of Water in the Upper Regolith of Mars

Long standing theoretical predictions [1-3], as well as recent spacecraft observations [4] indicate that large quantities of ice is present in the high latitudes upper decimeters to meters of the Martian regolith. At shallower depths and warmer locations small amounts of H2O, either adsorbed or free, may be present transiently. An understanding of the evolution of water based on theoretical and experimental considerations of the processes operating at the Martian environment is required. In particular, the porosity, diffusivity, and permeability of soils and their effect on water vapor transport under Mars-like conditions have been estimated, but experimental validation of such models is lacking. Goal: Three related mechanisms may affect water transport in the upper Martian regolith. 1) diffusion along a concentration gradient under isobaric conditions, 2) diffusion along a thermal gradient, which may give rise to a concentration gradient as ice sublimes or molecules desorb from the regolith, and 3) hydraulic flow, or mass motion in response to a pressure gradient. Our combined theoretical and experimental investigation seeks to disentangle these mechanisms and determine which process(es) are dominant in the upper regolith over various timescales. A detailed one-dimensional model of the upper regolith is being created which incorporates water adsorption/ desorption, condensation, porosity, diffusivity, and permeability effects. Certain factors such as diffusivity are difficult to determine theoretically due to the wide range of intrinsic grain properties such as particle sizes, shapes, packing densities, and emergent properties such as tortuosity. An experiment is being designed which will allow us to more accurately determine diffusivity, permeability, and water desorption isotherms for regolith simulants.

Hudson, T. L.↗

The Status of Simulant Materials of Lunar Regolith: Requirements, Feasibility, and Recommendations

Introduction: As NASA turns its exploration ambitions towards the Moon once again, the research and development of new technologies for lunar operations face the challenge of meeting the milestones of a fast-pace schedule, reminiscent of the 1960 s Apollo program. While the lunar samples returned by the Apollo and Luna missions have revealed much about the Moon, these priceless materials exist in too scarce quantities to be used for technology development and testing. The need for mineral materials chosen to simulate the characteristics of lunar regoliths is a pressing issue that is being addressed today through the collaboration of scientists, engineers and NASA program managers. While the larger size fraction of the lunar regolith has been reproduced in several simulants in the past, little attention has been paid to the fines fraction, commonly refered to as lunar dust. As reported by McKay and Carrier, this fraction of the lunar regolith below 20 microns can represent up to 30% by mass of the total regolith. The issue of reproducing the properties of lunar regolith for research and technology development purposes was addressed by the recently held Workshop on Lunar Regolith Simulant Materials at Marshall Space Flight Center. Preliminary conclusions from the workshop and considerations concerning the feasibility of producing such materials will be presented here.

Sibille, Laurent↗

Lunar Resource Utilization: Development of a Reactor for Volatile Extraction from Regolith

The extraction and processing of planetary resources into useful products, known as In- Situ Resource Utilization (ISRU), will have a profound impact on the future of planetary exploration. One such effort is the RESOLVE (Regolith and Environment Science, Oxygen and Lunar Volatiles Extraction) Project, which aims to extract and quantify these resources. As part of the first Engineering Breadboard Unit, the Regolith Volatiles Characterization (RVC) reactor was designed and built at the NASA Glenn Research Center. By heating and agitating the lunar regolith, loosely bound volatiles, such as hydrogen and water, are released and stored in the reactor for later analysis and collection. Intended for operation on a robotic rover, the reactor features a lightweight, compact design, easy loading and unloading of the regolith, and uniform heating of the regolith by means of vibrofluidization. The reactor performance was demonstrated using regolith simulant, JSC1, with favorable results.

Kleinhenz, Julie E.↗

Long-Range Transhorizon Lunar Surface Radio Wave Propagation in the Presence of a Regolith and a Sparse Exospheric Plasma

Long-range, over-the-horizon (transhorizon) radio wave propagation is considered for the case of the Moon. In the event that relay satellites are not available or otherwise unwarranted for use, transhorizon communication provides for a contingency or backup option for non line-of-sight lunar surface exploration scenarios. Two potential low-frequency propagation mechanisms characteristic of the lunar landscape are the lunar regolith and the photoelectron induced plasma exosphere enveloping the Moon. Although it was hoped that the regolith would provide for a spherical waveguide which could support a trapped surface wave phenomena, it is found that, in most cases, the regolith is deleterious to long range radio wave propagation. However, the presence of the plasma of the lunar exosphere supports wave propagation and, in fact, surpasses the attenuation of the regolith. Given the models of the regolith and exosphere adopted here, it is recommended that a frequency of 1 MHz be considered for low rate data transmission along the lunar surface. It is also recommended that further research be done to capture the descriptive physics of the regolith and the exospheric plasma so that a more complete model can be obtained. This comprehensive theoretical study is based entirely on first principles and the mathematical techniques needed are developed as required; it is self-contained and should not require the use of outside resources for its understanding.

Manning, Robert M.↗

The Lunar Regolith

A thick layer of regolith, fragmental and unconsolidated rock material, covers the entire lunar surface. This layer is the result of the continuous impact of meteoroids large and small and the steady bombardment of charged particles from the sun and stars. The regolith is generally about 4-5 m thick in mare regions and 10-15 m in highland areas (McKay et al., 1991) and contains all sizes of material from large boulders to sub-micron dust particles. Below the regolith is a region of large blocks of material, large-scale ejecta and brecciated bedrock, often referred to as the "megaregolith". Lunar soil is a term often used interchangeably with regolith, however, soil is defined as the subcentimeter fraction of the regolith (in practice though, soil generally refers to the submillimeter fraction of the regolith). Lunar dust has been defined in many ways by different researchers, but generally refers to only the very finest fractions of the soil, less than approx.10 or 20 microns. Lunar soil can be a misleading term, as lunar "soil" bears little in common with terrestrial soils. Lunar soil contains no organic matter and is not formed through biologic or chemical means as terrestrial soils are, but strictly through mechanical comminution from meteoroids and interaction with the solar wind and other energetic particles. Lunar soils are also not exposed to the wind and water that shapes the Earth. As a consequence, in contrast to terrestrial soils, lunar soils are not sorted in any way, by size, shape, or chemistry. Finally, without wind and water to wear down the edges, lunar soil grains tend to be sharp with fresh fractured surfaces.

Noble, Sarah↗

VAPoR - Volatile Analysis by Pyrolysis of Regolith - an Instrument for In Situ Detection of Water, Noble Gases, and Organics on the Moon

We present the Volatile Analysis by Pyrolysis of Regolith (VAPoR) instrument design and demonstrate the validity of an in situ pyrolysis mass spectrometer for evolved gas analyses of lunar and planetary regolith samples. In situ evolved gas analyses of the lunar regolith have not yet been carried out and no atmospheric or evolved gas measurements have been made at the lunar poles. VAPoR is designed to do both kinds of measurements, is currently under development at NASA's Goddard Space Flight Center, and will be able to heat powdered regolith samples or rock drill fines up to 1400 C in vacuo. To validate the instrument concept, evolved gas species released from different planetary analogs were determined as a function of temperature using a laboratory breadboard. Evolved gas measurements of an Apollo 16 regolith sample and a fragment of the carbonaceous meteorite Murchison were made by VAPoR and our results compared with existing data. The results imply that in situ evolved gas measurements of the lunar regolith at the polar regions by VAPoR will be a very powerful tool for identifying water and other volatile signatures of lunar or exogenous origin as potential resources for future human exploration.

ten Kate, I. L.↗

Field Testing of a Pneumatic Regolith Feed System During a 2010 ISRU Field Campaign on Mauna Kea, Hawaii

Lunar In Situ Resource Utilization (ISRU) consists of a number of tasks starting with mining of lunar regolith, followed by the transfer of regolith to an oxygen extraction reactor and finally processing the regolith and storing of extracted oxygen. The transfer of regolith from the regolith hopper at the ground level to an oxygen extraction reactor many feet above the surface could be accomplished in different ways, including using a mechanical auger, bucket ladder system or a pneumatic system. The latter system is commonly used on earth when moving granular materials since it offers high reliability and simplicity of operation. In this paper, we describe a pneumatic regolith feed system, delivering feedstock to a Carbothermal reactor and lessons learned from deploying the system during the 2010 ISRU field campaign on the Mauna Kea, Hawaii.

Craft, Jack↗

The Search for Truly "Regolithic" Howardites

The howardite meteorites are polymict breccias of eucrite (basaltic) and diogenite (orthopyroxenitic) material [1] that likely originate from the asteroid 4 Vesta [2]. The true regolithic nature of the suite is not well defined, with previous research suggesting correlations between Ni and solar wind noble gas contents, and minimal variation in Al2O3 content [3]. Through combined petrological, compositional and noble gas analyses, we aim to better understand howardite petrological diversity, regolith formation processes on the parent asteroid, and to establish what defines a truly "regolithic" howardite. Our petrological study of 30 polymict eucrites and howardites has identified regolithic features (e.g. melt clasts, chondrite fragments), used to develop a regolith grading scheme. Bulk major element com-positional data have been collected [4], and both trace-element and noble gas analyses are underway. We expect those howardites with regolithic petrological and chemical features to have high abundances of implanted solar wind noble gases.

Cartwright, J. A.↗

The Reduction of Lunar Regolith by Carbothermal Processing Using Methane

The processing of lunar regolith for the production of oxygen is a key component of the In-Situ Resource Utilization plans currently being developed by NASA. In the carbothermal process, a portion of the surface of the regolith in a container is heated by exposure to a heat source so that a small zone of molten regolith is established. A continuous flow of methane is maintained over the molten regolith zone. In this paper, we discuss the development of a chemical conversion model of the carbothermal process to predict the rate of production of carbon monoxide. Our model is based on a mechanism where methane pyrolyzes when it comes in contact with the surface of the hot molten regolith to form solid carbon and hydrogen gas. Carbon is deposited on the surface of the melt, and hydrogen is released into the gas stream above the melt surface. We assume that the deposited carbon mixes in the molten regolith and reacts with metal oxides in a reduction reaction by which gaseous carbon monoxide is liberated. Carbon monoxide bubbles through the melt and is released into the gas stream. It is further processed downstream to ultimately produce oxygen.

Balasubramaniam, R.↗

The Reduction of Lunar Regolith by Carbothermal Processing Using Methane

The processing of lunar regolith for the production of oxygen is a key component of the In-Situ Resource Utilization plans Currently being developed by NASA. In the carbothermal process, a portion of the surface of the regolith in a container is heated by exposure to a heat source so that a small zone of molten regolith is established. A continuous flow of methane is maintained over the molten regolith zone. In this paper, we discuss the development of a chemical conversion model of the carbothermal process to predict the rate of production of carbon monoxide. Our model is based on a mechanism where methane pyrolyzes when it comes in contact with the surface of the hot molten regolith to form solid carbon and hydrogen gas. Carbon is deposited on the surface of the melt, and hydrogen is released into the gas stream above the melt surface. We assume that the deposited carbon mixes in the molten regolith and reacts with metal oxides in a reduction reaction by which gaseous carbon monoxide is liberated. Carbon monoxide bubbles through the melt and is released into the gas stream. It is further processed downstream to ultimately produce oxygen.

Balasubramaniam, R.↗

A Review of Lunar Regolith Excavation Robotic Device Prototypes

The excavation of lunar regolith is desirable for use as a feedstock for oxygen production processes as well as civil engineering purposes and for the fabrication of parts and structures. This is known as In-Situ Resource Utilization (ISRU). More recently, there has been mounting evidence that water ice exists at the poles of the Moon, buried in the regolith where thermally stable conditions exist. This means that regolith excavation will be required to mine the water ice which is believed to be. mixed in with the regolith, or bonded to it. The mined water ice can then be electrolyzed to produce hydrogen and oxygen propellants which could form the basis of a cis-lunar transportation system using in-situ derived propellants. In 2007, the National Aeronautics & Space Administration (NASA) sponsored a Lunar Regolith Excavation Competition as part of its Centennial Challenges program, The competition was not won and it was held again in 2008 and 2009, when it was won by a university team. A $500,000 prize was awarded to the winning team by NASA. In 2010, NASA continued the competition as a spinoff of the Centennial Challenges, which is restricted to university participation only. This competition is known as the "Lunabotics Mining Competition" and is hosted by NASA at Kennedy Space Center. Twenty three American university teams competed in the 2010 Lunabotics Mining Competition. The competition was held again in May 2011 with over 60 teams registered, including international participation. The competition will be held again in May 2012 at Kennedy Space Center in Florida. . This paper contains a thorough review of the various regolith eX,cavation robotic device prototypes that competed in these NASA competitions, and will. classify the machines and their methods of excavation to document the variety of ideas that were spawned and built to compete at these events. It is hoped that documentation of these robots will serve to help future robotic excavation designers and provide a historical reference for future lunar mining machine endeavors.

Mueller, Robert P.↗

Regolith Advanced Surface Systems Operations Robot (RASSOR)

Regolith is abundant on extra-terrestrial surfaces and is the source of many resources such as oxygen, hydrogen, titanium, aluminum, iron, silica and other valuable materials, which can be used to make rocket propellant, consumables for life support, radiation protection barrier shields, landing pads, blast protection berms, roads, habitats and other structures and devices. Recent data from the Moon also indicates that there are substantial deposits of water ice in permanently shadowed crater regions and possibly under an over burden of regolith. The key to being able to use this regolith and acquire the resources, is being able to manipulate it with robotic excavation and hauling machinery that can survive and operate in these very extreme extra-terrestrial surface environments. In addition, the reduced gravity on the Moon, Mars, comets and asteroids poses a significant challenge in that the necessary reaction force for digging cannot be provided by the robot's weight as is typically done on Earth. Space transportation is expensive and limited in capacity, so small, lightweight payloads are desirable, which means large traditional excavation machines are not a viable option. A novel, compact and lightweight excavation robot prototype for manipulating, excavating, acquiring, hauling and dumping regolith on extra-terrestrial surfaces has been developed and tested. Lessons learned and test results will be presented including digging in a variety of lunar regolith simulant conditions including frozen regolith mixed with water ice.

Mueller, Robert P.↗