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At least 109 records · Page 6

Integration of In-Situ Resource Utilization Into Lunar/Mars Exploration Through Field Analogs

The NASA project to develop In-Situ Resource Utilization (ISRU) technologies, in partnership with commercial and international collaborators, has achieved full system demonstrations of oxygen production using native regolith simulants. These demonstrations included robotic extraction of material from the terrain, sealed encapsulation of material in a pressurized reactor; chemical extraction of oxygen from the material in the form of water, and the electrolysis of water into oxygen and hydrogen for storage and reuse. These successes have provided growing confidence in the prospects of ISRU oxygen production as a credible source for critical mission consumables in preparation for and during crewed missions to the moon and other destinations. Other ISRU processes, especially relevant to early lunar exploration scenarios, have also been shown to be practical, including the extraction of subsurface volatiles, especially water, and the thermal processing of surface materials for civil engineering uses and for thermal energy storage. This paper describes these recent achievements and current NASA ISRU development and demonstration activity. The ability to extract and process resources at the site of exploration into useful products such as propellants, life support and power system consumables; and radiation and rocket exhaust plume debris shielding, known as In-Situ Resource Utilization or ISRU, has the potential to significantly reduce the launch mass, risk, and cost of robotic and human exploration of space. The incorporation of ISRU into missions can also significantly influence technology selection and system development in other areas such as power, life support, and propulsion. For example. the ability to extract or produce large amounts of oxygen and/or water in-situ could minimize the need to completely close life support air and water processing system cycles, change thermal and radiation protection of habitats, and influence propellant selection for ascent vehicles and surface propulsive hoppers. While concepts and even laboratory work on evaluating and developing ISRU techniques such as oxygen extraction from lunar regolith have been going on since before the Apollo 11 Moon landing, no ISRU system has ever flown in space, and only recently have ISRU technologies been developed at a scale and at a system level that is relevant to actual robotic and human mission applications. Because ISRU hardware and systems have never been demonstrated or utilized before on robotic or human missions, architecture and mission planners and surface system hardware developers are hesitant to rely on ISRU products and services that are critical to mission and system implementation success. To build confidence in ISRU systems for future missions and assess how ISRU systems can best influence and integrate with other surface system elements, NASA, with international partners, are performing analog field tests to understand how to take advantage of ISRU capabilities and benefits with the minimum of risk associated with introducing this game-changing approach to exploration. This paper will describe and review the results of four analog field tests (Moses Lake in 6/08, Mauna Kea in 11/08. Flagstaff in 9/09; and Mauna Kea in 1/10) that have begun the process of integrating ISRU into robotic and human exploration systems and missions, and propose future ISRU-related analog field test activities that can be performed in collaboration with international space agencies.

Sanders, Gerald B.↗

Optical Multi-Gas Monitor Technology Demonstration on the International Space Station

There are a variety of both portable and fixed gas monitors onboard the International Space Station (ISS). Devices range from rack-mounted mass spectrometers to hand-held electrochemical sensors. An optical Multi-Gas Monitor has been developed as an ISS Technology Demonstration to evaluate long-term continuous measurement of 4 gases. Based on tunable diode laser spectroscopy, this technology offers unprecedented selectivity, concentration range, precision, and calibration stability. The monitor utilizes the combination of high performance laser absorption spectroscopy with a rugged optical path length enhancement cell that is nearly impossible to misalign. The enhancement cell serves simultaneously as the measurement sampling cell for multiple laser channels operating within a common measurement volume. Four laser diode based detection channels allow quantitative determination of ISS cabin concentrations of water vapor (humidity), carbon dioxide, ammonia and oxygen. Each channel utilizes a separate vertical cavity surface emitting laser (VCSEL) at a different wavelength. In addition to measuring major air constituents in their relevant ranges, the multiple gas monitor provides real time quantitative gaseous ammonia measurements between 5 and 20,000 parts-per-million (ppm). A small ventilation fan draws air with no pumps or valves into the enclosure in which analysis occurs. Power draw is only about 3 W from USB sources when installed in Nanoracks or when connected to 28V source from any EXPRESS rack interface. Internal battery power can run the sensor for over 20 hours during portable operation. The sensor is controlled digitally with an FPGA/microcontroller architecture that stores data internally while displaying running average measurements on an LCD screen and interfacing with the rack or laptop via USB. Design, construction and certification of the Multi-Gas Monitor were a joint effort between Vista Photonics, Nanoracks and NASA-Johnson Space Center (JSC). Vista Photonics developed the core technology and built the sensor. Nanoracks designed, constructed the enclosure, interfaces, and battery power management circuitry, integrated all subsystems into the enclosure, and then managed the certification tests, documentation and manifesting. The unit was calibrated in the JSC Toxicology Laboratory. The Multi-Gas Monitor is manifested to fly as a technology demonstration to the ISS in November 2013 and will operate for at least 6 months with data sent to the ground for evaluation. The primary goal is to demonstrate long term interference free operation in the real spacecraft environment.

Pilgrim, Jeffrey S.↗

Radiation Synthesis of New Molecules on Jupiter's Icy Satellites

Spectra of Jupiter's icy satellites reveal surfaces dominated by water-ice, minor amounts of SO2 and CO2, and (for Europa) H2O2 along with hydrated materials. Jovian magnetospheric ions (protons, sulfur, and oxygen) and electrons significantly modify the chemical composition of these moons' surfaces in times ranging from a few years for Europa to thousands of years for Callisto at micrometer depths. Appropriate laboratory studies examining relevant volatile and non-volatile materials under low-temperature radiation conditions can provide information on likely radiation chemical mechanisms, on the stability and evolution of species, and on new species awaiting detection. Although the molecules detected on the icy moons are relatively simple, predicting their responses to radiation in space remains difficult. One problem is that there is a dearth of fundamental data examining solid-phase reactions. Our laboratory experiments have focused on infrared studies (2.5 to 25 microns) of a few simple irradiated ices. We have measured the spectra of proton-irradiated H2O ice containing SO2, H2S, and/or CO2. Ices with H2O/SO2 or H2O/H2S ratios of 3 and 30 have been irradiated at 86 K, 110 K, and 132 K. In irradiated H2O + SO2 ices new ions have been identified: SO4(-2), HSO4(-) and H3O(+). After warming to 260 K the residual spectrum is similar to that of H2SO4. Ices with H2O + H2S form SO2. After warming to 175 K, the residual sample matches the spectrum of hydrated H2SO4. H2O + CO2 ice forms carbonic acid, H2CO3 which is stable to temperatures near 230 K. In addition, OCS has been detected in irradiated ices containing H2O + SO2 + CO2. The radiation half-life of SO2 and H2S in H2O has been calculated. Our results give compelling evidence for the presence of new species awaiting detection. Future experiments will examine the signatures of these ices and hydrated materials in the 1 to 5 micron region, where possible weaker overtone bands may occur. In addition, absolute strengths for both the fundamental and overtone bands will be determined. Finally, good arguments can be made, based on current information, for remote sensing observations that have spectral coverage to at least 5 microns on the long wavelength end. This range would include some of the characteristic bands of H2O, H2O2, CO2, SO2, H2CO3, H2S, and OCS.

Moore, M. H.↗

Oxygen Extraction from Minerals

Oxygen, whether used as part of rocket bipropellant or for astronaut life support, is a key consumable for space exploration and commercialization. In Situ Resource Utilization (ISRU) has been proposed many times as a method for making space exploration more cost effective and sustainable. On planetary and asteroid surfaces the presence of minerals in the regolith that contain oxygen is very common, making them a potential oxygen resource. The majority of research and development for oxygen extraction from minerals has been for lunar regolith although this work would generally be applicable to regolith at other locations in space. This presentation will briefly survey the major methods investigated for oxygen extraction from regolith with a focus on the current status of those methods and possible future development pathways. The major oxygen production methods are (1) extraction from lunar ilmenite (FeTiO3) with either hydrogen or carbon monoxide, (2) carbothermal reduction of iron oxides and silicates with methane, and (3) molten regolith electrolysis (MRE) of silicates. Methods (1) and (2) have also been investigated in a two-step process using CO reduction and carbon deposition followed by carbothermal reduction. All three processes have byproducts that could also be used as resources. Hydrogen or carbon monoxide reduction produce iron metal in small amounts that could potentially be used as construction material. Carbothermal reduction also makes iron metal along with silicon metal and a glass with possible applications. MRE produces iron, silicon, aluminum, titanium, and glass, with higher silicon yields than carbothermal reduction. On Mars and possibly on some moons and asteroids, water is present in the form of mineral hydrates, hydroxyl (-OH) groups on minerals, andor water adsorbed on mineral surfaces. Heating of the minerals can liberate the water which can be electrolyzed to provide a source of oxygen as well. The chemistry of these processes, some key development and demonstration projects, the challenges remaining to be overcome, and possible future directions will be discussed with a goal of increased understanding of these important ISRU technologies and their potential applications to space exploration and settlement.

propellant production↗

Surface compositional and structural aspects of Martian samples

There are many excellent reasons to examine the surface composition of a wide range of Martian samples. The existing spectral data indicate that many dust and soil particles have a thin Fe(+3) layer with a typical particle size in the 10 micrometer to 400 micrometer range. In view of the high CO2 content of the atmosphere, one might expect that surface carbonates should be present. In addition to chemisorbed material there will probably exist physisorbed atmospheric components of the atmosphere including oxygen, nitrogen and water vapor. The latter could possibly give rise to some hydrated minerals. Using ultra-high-vacuum/mass spectrographic techniques it should be possible to detect physisorbed and moderately strong chemisorbed species on the particle surfaces with a temperature programmed degassing procedure. In some instances such an approach is capable of helping distinguish between volcanic and impact generated materials by detecting the presence of fumerolic gases. Such gases typically condense on the exterior of the ejected particles. Additionally surface atomic and chemical compositions should be examined by a combination of modern surface analytical techniques. The combination we currently have in Buffalo at SUNY would appear to be one of the best available including ESCA (150 micrometer spot capability) Auger (SAM) with 300 A focussing for surface compositional surveys, SIMS for high sensitivity trace element detection and ISS for immediate surface layer analysis.

Cadenhead, D. A.↗

Lunar Mega Project: Processes, Work Flow and Terminology of the Terrestrial Construction Industry versus the Space Industry

Recent developments around the world show an increased interest and international activity toward developing a lunar surface human and robotic presence with a long term, sustainable vision. In Europe, the construction of a "Moon Village" has been proposed, and China has stated its intention to build a research station with a crew at the lunar South Pole. Russia stated it will land cosmonauts on the Moon in the 2030's. India has sent an orbiter, a robotic lander, and rover to the Moon. The USA intends to land the first woman and a man on the Moon by 2024 to initiate a sustained human lunar presence.A lunar research station with associated commercial activities will require infrastructure to become a permanent capability. Landing and launch pads, propellant storage and distribution farms, spacecraft access and handling structures, cranes, blast protection berms or walls, roads, graded areas, dust stabilized areas, foundations, parking lots, radiation shelters, micro-meteorite protection hangars, habitats and other human shelters, greenhouse farms, utility trenches, power plants, industrial water and oxygen extraction plants, communications antenna towers, thermal protection, mining zones, crater access and sub-surface access will be required to create a safe and sustainable lunar operations capability. This infrastructure will require significant construction activities in an extreme environment, with risky and expensive operations. On Earth, there are similar large and expensive projects (>$1 Billion) in difficult locations that attract a lot of public attention. These are known as "Mega Projects" and examples include bridges, tunnels, highways, railways, airports, seaports, power plants, dams, wastewater projects, Special Economic Zones (SEZ), oil and natural gas extraction projects, public buildings, information technology systems, aerospace projects, and weapons systems. Large consortiums consisting of public and private entities typically implement these infrastructure Mega-Projects.This paper will compare the typical design process, project management process, and work flow in the terrestrial construction industry to the space industry in order to create a better understanding between the terrestrial construction industry and the space industry, to further enable collaboration on a lunar Mega Project to build infrastructure on the Moon. In addition, a glossary of respective industry terminology with annotated linkages and definitions has been compiled. This information will enable contracts and business practices to be formulated for generating requests for proposals (RFP) by governments to consortiums consisting of construction and space industry companies that will bid on Lunar Infrastructure Projects that could lead to contracts to build the permanent capabilities.

Robert P Mueller↗

SPE (tm) water electrolyzers in support of mission from planet Earth

During the 1970's, the Solid Polymer Electrolyte (SPE) water electrolyzer, which uses ion exchange membranes as its sole electrolyte, was developed for nuclear submarine metabolic oxygen production. SPE water electrolyzer developments included operation at up to 3,000 psia and at current densities in excess of 1,000 amps per square foot. The SPE water electrolyzer system has accumulated tens of thousands of system hours with the Navies of both the United States and the United Kingdom. During the 1980's, the basic SPE water electrolyzer cell structure developed for the Navies was incorporated into several demonstrators for NASA's Space Station Program. Among these were: (1) the SPE regenerative fuel cell for electrical energy storage; (2) the SPE water electrolyzer for metabolic oxygen production; and (3) the high pressure SPE water electrolyzer for reboost propellant production. In the 1990's, emphasis will be the development of SPE water electrolyzers for Mission from Planet Earth. Currently defined potential applications for the SPE water electrolyzer include: (1) SPE water electrolyzers operating at high pressure as part of a regenerative fuel cell extraterrestrial surface energy storage system; (2) SPE water electrolyzers for propellant production from extraterrestrial indigenous materials; and (3) SPE water electrolyzers for metabolic oxygen and potable water production from reclaimed water.

J F McElroy↗

The Upside-Down Biosphere: Evidence for the Partially Oxygenated Oceans During the Archean Eon

This is a commentary on the preceding chapter by Ohmoto et al., in which it is suggested that oxygen concentrations have been high throughout Earth history. This is a contentious suggestion at odds with the prevailing view in the field, which contends that atmospheric oxygen concentrations rose from trace levels to a few percent of modern-day levels around 2.5 b.y. ago. This comment notes that many of the data sets cited by Ohmoto et al. as evidence for a relatively oxidized environment come from deep-ocean settings. This presents a possibility to reconcile some of these data and suggestions with the overwhelming evidence for an atmosphere free of oxygen at that time. Specifically, it is possible that deep-ocean waters were relatively oxidized with respect to certain redox pairs. These deep-ocean waters would have been more oxidized than surface waters, thus representing an "upside-down biosphere," as originally proposed 25 years ago by Jim Walker.

oxygenated oceans↗

Extraction and Capture of Water from Martian Regolith Experimental Proof-of-Concept

Mars Design Reference Architecture 5.0:Lists in-situ resource utilization (ISRU) as enabling for robust human Mars missionsLO2LCH4 ascent propulsion 25,000 kg oxygen from atmosphere for ascent and life support Atmospheric based ISRU processes less operationally complex than surface based limited concept evaluation to date and Mars surface water property and distribution uncertainty would not allow [Mars soil water processing] to be base lined at this time Limited Concept Evaluation to Date Lunar regolith O2 extraction processing experience Lunar regolith is fluidized and heated to high temperatures with H2 to produce H2O from iron-bearing minerals Mars similarity concept: Soil placed in fluidized bed reactor Heated to moderate temperatures Inert gas flow used to fluidize the bed and help with water desorption Challenges: High-temperature dusty seals Working gas requires downstream separation and recycling to reduce consumables loss Batch process heating thermally inefficient.

in situ resource utilization↗

Interaction of gases with lunar materials - Apollo 12, 14, and 16 samples

Surface properties of lunar fines samples from the Apollo 12, 14, and 16 missions have been investigated by studying the adsorption of nitrogen, argon, oxygen, carbon monoxide (all at 77 K), and water vapor (at 20 or 22 C) on the samples. Initially the samples were all nonporous and had a uniformly low specific surface area (0.3 to 0.6 sq m/g). Water interacts strongly with the surface of lunar fines, chemisorbing at low pressures followed by a massive adsorption at high pressures. Nitrogen adsorption measurements after the interaction with water showed that the surface properties had undergone a severe alteration as a result of the attack by water vapor. This alteration consisted of a marked increase in the specific surface area and the creation of a pore system. The results are interpreted on the basis of a penetration of water into the damage tracks.

Holmes, H. F.↗

Phenomenological in-situ TEM gas exposure studies of palladium particles on MgO at room temperature

It has been found that very small vapor-deposited catalytically active metal particles in the 1-2 nm size range on metal oxide substrates can undergo significant changes when they are exposed to gases such as oxygen or air, or even when allowed to 'anneal' at room temperature (RT) under vacuum conditions. The present investigation is concerned with continued in-situ gas exposures of as-deposited, 1 to 2 nm size palladium particles on MgO to air, oxygen, nitrogen, hydrogen, CO, and water vapor at RT. It is found that the low-pressure exposure to various gases at RT can significantly affect small palladium particles supported on MgO surfaces. Exposure to oxygen for 3 min at 0.0002 m bar produces a considerable amount of coalescence, flattening of the particles, and some distinct crystallographic particle shapes.

Heinemann, K.↗

Interaction of gases with lunar materials

The surface chemistry of Apollo 17 lunar fines samples 74220 (the orange soil) and 74241 (the gray control soil) has been studied by measuring the adsorption of nitrogen, argon, and oxygen (all at 77 K) and also water vapor (at 20 or 22 C). In agreement with results for samples from other missions, both samples had low initial specific surface areas, consisted of nonporous particles, and were attacked by water vapor at high relative pressure to give an increased specific surface area and create a pore system which gave rise to a capillary condensation hysteresis loop in the adsorption isotherms. In contrast to previous samples, both of the Apollo 17 soils were partially hydrophobic in their initial interaction with water vapor (both samples were completely hydrophilic after the reaction with water). The results are consistent with formation at high temperatures without subsequent exposure to significant amounts of water.

Holmes, H. F.↗

Some surface properties of Apollo 17 soils

The surface chemistry of Apollo 17 lunar fines samples 74220 (the orange soil) and 74241 (the gray control soil) has been studied by measuring the adsorption of nitrogen, argon, and oxygen (all at -196 C) and also water vapor (at 20 C or 22 C). In agreement with results for samples from other missions, both samples had low initial specific surface areas, consisted of nonporous particles, and were attacked by water vapor at high relative pressures to give an increased specific surface area and create a pore system which gave rise to a capillary condensation hysteresis loop in the adsorption isotherms. In contrast to previous samples, both of the Apollo 17 soils were partially hydrophobic in their initial interaction with water vapor (both samples were completely hydrophilic after the reaction with water). The results are consistent with formation at high temperatures without subsequent exposure to significant amounts of water.

Holmes, H. F.↗

Atmospheric engineering of Mars

The feasibility of creating a breathable atmosphere on Mars was studied. Assuming that indigenous life is absent, and that human habitation will prove economically justifiable, several methods of introducing oxygen were considered. On the basis of energy requirements, photosynthetic oxygen production appears to be reasonable, assuming that the amounts of water, carbon dioxide, and mineral nutrients available on the Martian surface would be adequate for the growth of photosynthetic microorganisms. However, optimum rates of O2 formation could occur only after a significant increase in average temperature and in atmospheric mass. The generation of a runaway greenhouse/advective effect was considered. However, neither the energy requirement nor the time constant for initiation could be calculated. There appear to be no insuperable obstacles to the conversion of the Martian atmosphere to one containing oxygen, but the conversion would require many thousands of years.

Macelroy, R. D.↗

The atmosphere of Mars

The atmosphere of Mars is essentially a pure carbon dioxide atmosphere that contains a small and seasonably varying amount of water vapor. A number of minor constituents which arise from the interactions of solar radiation with water vapor and carbon dioxide include carbon monoxide, atomic oxygen, molecular oxygen, ozone, and atomic hydrogen. At the surface of Mars the atmospheric pressure is less than one hundredth of the pressure at the surface of the earth. Extensive cloud systems appear on Mars. The structure of the lower Martian atmosphere is discussed together with variations in the lower atmosphere and the characteristics of the upper atmosphere. Reactions of photochemistry are considered along with the atmospheric escape and interactions between the atmosphere and the polar caps.

Barth, C. A.↗

Fogless Ski Goggles

Keeping ski goggles from fogging is just one of dozens of uses for anti-fog coating developed at Johnson Space Center to keep spacecraft windows clear before launch. Basic composition of coating includes a liquid detergent, deionized water, an oxygen-compatible, fire resistant oil. Two thin coatings are applied to glass or plastic surface and buffed lightly. Applications include deep sea diving masks, fire protection helmets, eyeglasses, and vehicle windows.

Source record↗

Intern Summary Reports

Topics covered include: Probe Station Antenna Range; LERCIP 2004 Summary; L.E.R.C.I.P. Internship Summary; Hubble Space Telescope Bi-Stem Thermal Shield Analyses; GRABER - the Duct Tape of Space and JIMO Heat Conducting Foam; CDF and PDF Comparison Between Humacao, Puerto Rico and Florida; Development of the On-board Aircraft Network; Development of the Planar Inlet Design and Analysis Process (PINDAP); An Overview of My 2004 Summer Internship [Non-destructive Evaluation]; My Summer Experience as an Administrative Officer Assistant [in the Safety and Assurance Directorate Office]; Programming an Experiment Control System; Reducing the Cation Exchange Capacity of Lithium Clay to Form Better Dispersed; Polymer-Clay Nanocomposites; Feasibility of EB Welded Hastelloy X and Combination of Refractory Metals; My Work in the NASA Glenn History Office and Records Management Office; Education, Technology, and Media: A Peak into My Summer Internship at NASA Glenn Research Center in Cleveland, Ohio; [The Engineering and Technical Services Directorate at the Glenn Research Center]; Drinking Water Database; Design of an EXB Probe; and Texturing Carbon-carbon Composite Radiator Surfaces Utilizing Atomic Oxygen.

Source record↗

Evaluating Lunar Water Processing System Model Configurations for Small Scale Oxygen and Hydrogen Production Within JAXA'S ISRU Technology

Introduction: In-Situ Resource Utilization (ISRU) refers to novel methods of extracting and processing local resources for use in life support and propulsion systems, reducing or eliminating the required consumables to be transferred from Earth. Current estimates of water-ice availability embedded in regolith within the Moon’s permanently shadowed regions (PSR’s) range between 1-5% by weight. However, the composition and characteristics of the “wet” regolith is unknown. Alternate ISRU excavation techniques and Concept of Operations (ConOps) must be explored to optimize surface system operations based on these factors. To assess the feasibility of different ISRU subsystem technologies and compare system architecture configurations, an interchangeable system model was generated to incorporate technologies spanning excavation of raw materials to storage of products and determine optimal arrangement of total system processing needs. Total Mass, Volume, and Power (M/V/P) requirements were computed for 168 design iterations of this water processing plant. System Model: In FY24, the System Engineering and Integration (SE&I) ISRU Modeling and Analysis (SIMA) team developed a lunar water processing system model using the Mission Analysis and Integration Tool (MAIT) to estimate the M/V/P for ISRU subsystems operating under a wide range of Hydrogen (H2) and Oxygen (O2) production targets for the Space Technology Mission Directorate (STMD) [1]. Based on Japan Aerospace Exploration Agency’s (JAXA) surface operational requirements, this system architecture was modified to include the ability to excavate consolidated icy regolith (versus granular ice excavation using Kennedy Space Center’s (KSC) ISRU Pilot Excavator, IPEx) and explore the feasibility of processing the lunar water both inside and outside of the PSR. For the consolidated icy regolith case study, excavation was performed via a mobility transport chassis outfitted with The Regolith Ice Drill for Exploring New Terrain (TRIDENT) for drilling [2] and the Cold Operable Lunar Deployable Arm (COLDArm) [3] for regolith transfer. The system model determines the required rover and payload. M/V/P to handle the required regolith processing rates. The regolith is then sorted and heated to sublimate the ice (via an auger dryer). The exiting high temperature, low pressure vapor is cleaned of volatiles (via cold trap) and electrolyzed to produce H2 and O2. These products are then dried, liquified with 20 K and 90 K cryocoolers (for H2 and O2, respectively), and stored in cylindrical tanks. Study Goals: Due to the different ConOps options of regolith transport to the ridge for processing versus processing it directly inside the PSR, as well as the unknown regolith/water-ice composition, new excavation techniques and their power configurations are being evaluated within a ISRU system architecture for production targets less than NASA’s pilot plant (1 mT). This analysis investigates the feasibility of numerous excavation techniques, power architectures, and logistical operations and determines an optimal system configuration with regards to M/V/P. It aims to investigate which parameters, both locally and globally, have the greatest effect on each subsystem within the plant. This can be used to identify the most critical components of the plant, and guide future decisions on allocating funding for research and development. The results from this study may provide subsystem developers with appropriate interfaces with excavation subsystems and downstream processes, and assessing the overall feasibility of each excavation technique, power architecture, and logistical timeframe. References: [1] Carlson, A. et. al. (2024) ICES. [2] Zacny, K., et. al. (2024) “ASCE Earth and Space”. [3] McCormick, R., et. Al. (2024) IEEE Xplore.

ISRU↗