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NASA NTRS2021

Dynamics associated with the Corer on M2020 Perseverance Rover

This paper will report on the development of the Dynamics specifications for the Corer on Mars 2020. The corer is a critical piece of the M2020 mission, leading into the Mars Sample Return campaign. However, the configuration of the rover places it on the turret of the Robotic Arm assembly, and near to several science sensors (PIXL, SHERLOC) which are also mounted to the Turret. This paper will provide some similarities and differences to the MSL drill. Details in the development, evolution, and verification of the Dynamics specifications will be described in detail, including the hardware which had to meet these challenging specifications. In addition, the special testing venues used throughout the development & verification of M2020 (EDU corer, EM actuators, HALT testing [simulation of coring dynamics], and QMDT) will be described.

Chrystal, Kyle↗
NASA NTRS2012

Demonstrations of Gravity-Independent Mobility and Drilling on Natural Rock using Microspines

The video presents microspine-based anchors be ing developed for gripping rocks on the surfaces of comets and asteroids, or for use on cliff faces and lava tubes on Mars. Two types of anchor prototypes are shown on supporting forces in all directions away from the rock; >160 N tangent, >150 N at 45?, and >180 N normal to the surface of the rock. A compliant robotic ankle with two active degrees of freedom interfaces these anchors to the Lemur IIB robot for future climbing trials. Finally, a rotary percussive drill is shown coring into rock regardless of gravitational orientation. As a harder- than-zero-g proof of concept, inverted drilling was performed creating 20mm diameter boreholes 83 mm deep in vesicular basalt samples while retaining 12 mm diameter rock cores in 3-6 pieces.

microspine anchors↗
NASA NTRS2003

An Automated, Low Mass, Low Power Drill for Acquiring Subsurface Samples of Ground Ice for Astrobiology Studies on Earth and on Mars

As a project that is part of NASA s Astrobiology Technology & Instrument Development Program (ASTID), we are developing a low mass (approx.20kg) drill that will be operated without drilling fluids and at very low power levels (approx.60 watts electrical) to access and retrieve samples from permafrost regions of Earth and Mars. The drill, designed and built as a joint effort by NASA JSC and Baker-Hughes International, takes the form of a down-hole unit attached to a cable so that it can, in principle, be scaled easily to reach significant depths. A parallel laboratory effort is being carried out at UC Berkeley to characterize the physics of dry drilling under martian conditions of pressure, temperature and atmospheric composition. Data from the UCB and JSC laboratory experiments are being used as input to a drill simulation program which is under development to provide autonomous control of the drill. The first Arctic field test of the unit is planned for May 2004. A field expedition to Eureka on Ellesmere Island in Spring 2003 provided an introduction for several team members to the practical aspects of drilling under Arctic conditions. The field effort was organized by Wayne Pollard of McGill University and Christopher McKay of NASA ARC. A conventional science drill provided by New Zealand colleagues was used to recover ground ice cores for analysis of their microbial content and also to develop techniques using tracers to track the depth of penetration of contamination from the core surface into the interior of the samples.

Briggs, G. A.↗
NASA NTRS2017

Mars 2020 Sampling and Caching Subsystem Environmental Development Testing and Preliminary Results

The Environmental Development Testing program supported the development test efforts of the Mars 2020 Sampling and Caching Subsystem from May to November 2015. The engineering prototype Brassboard Corer was attached to a five degree-of-freedom robotic arm to execute a 96-test matrix of ambient and low pressure tests in the 10 ft. thermal vacuum chamber at the NASA Jet Propulsion Laboratory, California Institute of Technology. The Pretest, Test, and Post Test procedures are described, and some preliminary results are discussed. Data and observations from this test campaign inform the future development of the software and hardware toward the Mars 2020 flight design, including the next iteration of the rock coring drill, the Engineering Development Unit Corer.

Kriechbaum, Kristo↗
NASA NTRS2001

Visualization of Microbial Biomarkers by Scanning Electron Microscopy

We are developing tools to link the biochemical structure of selected biomarkers with putative biogenic structures observed in mineralized samples. The detection of evidence of life on Mars and other planets will rely on methods that can discriminate compounds formed exclusively by living organisms. While biogenic compounds, such as amino acids and nucleotides have been discovered in extraterrestrial sources, such as meteorites and comets, their formation can be explained by abiotic means. The formation of cellular structures, or more elaborate organic molecules, such as complex lipids, proteins or nucleic acids, however, is strongly correlated to the presence of even the most primitive life processes. Recent evidence lends support to the hypothesis that life may have once existed on Mars. Carbonate globules and ppm concentrations of polycyclic aromatic hydrocarbons (PAHs) have been described in ALH84001, a meteorite originating from Mars ejecta captured by Earth over 13,000 years ago. The localized high concentration of PAHs that follow an increasing gradient from the intact fusion crust towards the interior corresponds to microgram quantities of hydrocarbon. Even though ALH84001 and other similar meteorites have withstood the forces capable of ejecting rock through Mars' escape velocity, upon entering Earth's atmosphere, their core temperatures are likely not to have been raised significantly, as evidenced by the survival of remanent magnetic signatures. Ideal biomarkers of ancient or modern biological life would include molecules that are (or were) pervasive and highly resistant to degradation. Also, requisite methods of detection should be simple, extremely sensitive and broadly inclusive (NASA SP-530). Lipopolysaccharide (LPS), peptidoglycan or pseudopeptidoglycan and beta-glucan are microbial cell wall components which together cover the entire microbial spectrum of eubacteria, archea and fungi. They are all remarkably resistant to thermal degradation. Fortunately, many antimicrobial defense systems of higher organisms require sensitive detection to combat microbial pathogens. We employ here the primitive immune system of the evolutionarily ancient horseshoe crab, Limulus polyphemus. This species relies on multi-enzyme signal amplification detection of cell wall molecules and they can be applied to the development of useful detectors of life. An extension of this work includes the visualization of microbial signatures by labeling LAL components with chromogenic or electron dense markers. The protein Limulus Anti-LPS Factor (LALF) has an extremely high affinity for LPS. By coupling LALF binding with colloidal gold labels we demonstrate a correlation of the structures visible by electron microscopy with biochemical evidence of microbial cell wall materials. Pure silica particles were mixed with cultures of E. coli (10(exp 6) cfu/mL). Samples were washed sequentially with buffered saline, LALF, antibody to LALF and finally colloidal gold-labeled Protein A. Negative controls were not exposed to E. coli but received identical treatment otherwise. Samples were coated with carbon and imaged on a JEOL JSM-840 scanning electron microscope with LaB6 source in the back scatter mode with the JEOL annular back scatter detector. 20 nm-scale black spots in this contrast-reversed image originate from electrons back-scattered by gold atoms. Negative controls did not give any signal. Future work will expand application of this technique to soil simulants and mineralized rock samples.

Wainwright, Norman R.↗
NASA NTRS2012

The Mojave Subsurface Bio-Geochemistry Explorer (MOSBE)

The MOSBE Team has developed a terrestrial field campaign to explore two subsurface biological habitats under the Mojave Desert. This field campaign will not only help us understand terrestrial desert biology, but also will develop methodologies and strategies for potential future Mars missions that would seek to explore the Martian subsurface. We have proposed to the ASTEP program to integrate a suite of field demonstrated instruments with a 20 m subsurface drill as a coherent unit, the Mojave Subsurface Bio-geochemistry Explorer. The ATK Space Modular Planetary Drill System (MPDS) requires no drilling fluid, which allows aseptic sampling, can penetrate lithic ground up to 20 meters of depth, and utilizes less than 100 Watts throughout the entire depth. The drill has been developed and demonstrated in field testing to a depth of 10 meters in Arizona, December 2002. In addition to caching a continuous core throughout the drilling depth, it also generates and caches cuttings and fines that are strata-graphically correlated with the core. As a core segment is brought to the surface, it will be analyzed for texture and structure by a color microscopic imager and for relevant chemistry and mineralogy with a UV fluorescence/Raman spectrometer. Organic and soluble ionic species will be identified through two instruments -- a microcapillary electrophoresis, and an ion trap mass spectrometer that have been developed under PIDDP, ASTID and MIDP funding.

robotic subsurface drilling↗
NASA NTRS1988

How successful were the lunar sampling tools: Implications for sampling Mars

Like the Mars Sample Return endeavor, the Apollo lunar-sample program began with definition of strategy for sample collection and of scientific requirements for sampling hardware design. Several lessons can be illustrated by specific tools. The evolution of drive tubes from narrow 2 cm diameter, thick-walled tubes (used on Apollo 11, 12 and 14) to 4 cm diameter, thin-walled tubes used on Apollo 15, 16, and 17) as an example of the improvements made possible during multiple missions. The original Apollo 11 drive tube was designed to work in fluffy soil; thus, only 50 percent of the relatively dense lunar soil was recovered, and the core was distorted. The final configuration resulted in nearly 100 pct recovery with little distortion. The surface samplers (Contact Soil Sampling Devices) were designed to collect the upper 100 micrometer or the upper 1 mm of soil. It was over 2 years after the mission before these particularly specific samplers were opened because interest in them waned. Both core tubes and surface samplers were difficult to open in the laboratory. The Apollo Lunar Sample Return Containers (ALSRCs) were constructed with one indium and 2 Viton seals. They were closed on the lunar surface. Interior container pressures measured upon return to the laboratory indicate that these seals were not reliable in the lunar environment. Also, choice of indium as a sealing material interfered with siderophile analyses of samples.

Allton, J. H.↗
NASA NTRS2005

Lunar and Planetary Science XXXVI, Part 22

The Lunar and Planetary Science XXXVI, Part 22 is presented. The topics include: 1) Pressure Histories from Thin and Thick Shock-induced Melt Veins in Meteorites; 2) Nano-structured Minerals as Signature of Microbial Activity; 3) The Insoluble Carbonaceous Material of CM Chondrites as Possible Source of Discrete Organics During the Asteroidal Aqueous Phase; 4) Discovery of Abundant Presolar Silicates in Subgroups of Antarctic Micrometeorites; 5) Characteristics of a Seismometer for the LUNAR-A Penetrator; 6) Heating Experiments of the HaH 262 Eucrite and Implication for the Metamorphic History of Highly Metamorphosed Eucrites; 7) Measurements of Ejecta Velocity Distribution by a High-Speed Video Camera; 8) Petrological Comparison of Mongolian Jalanash Ureilite and Twelve Antarctic Ureilites; 9) Metallographic Cooling Rate of IVA Irons Revisited; 10) Inhomogeneous Temperature Distribution in Chondrules in Shock-Wave Heating Model; 11) Subsurface Weathering of Rocks and Soils at Gusev Crater; 12) Extinct Radioactivities in the Early Solar System and the Mean Age of the Galaxy; 13) Correlation of Rock Spectra with Quantitative Morphologic Indices: Evidence for a Single Rock Type at the Mars Pathfinder Landing Site; 14) Silicon Isotopic Ratios of Presolar Grains from Supernovae; 15) Current Status and Readiness on In-Situ Exploration of Asteroid Surface by MINERVA Rover in Hayabusa Mission; 16) Long Formation Period of Single CAI: Combination of O and Mg Isotope Distribution; 17) Supra-Canonical Initial 26Al/27Al Indicate a 105 Year Residence Time for CAIs in the Solar Proto-Planetary Disk; 18) Evolution of Mercury's Obliquity; 19) First Results from the Huygens Surface Science Package; 20) Polyhedral Serpentine Grains in CM Chondrites; 21) Mountainous Units in the Martian Gusev Highland Region: Volcanic, Tectonic, or Impact Related? 22) Petrography of Lunar Meteorite MET 01210, A New Basaltic Regolith Breccia; 23) Earth-Moon Impacts at ~300 Ma and ~500 Ma Ago; 24) Chemical and Isotopic Analyses of Apollo 16 Glasses: An Integrated Approach; 25) Measuring the Surfaces on Mars; 26) Melting in Martian Snowbanks; 27) The Effect of Ni on Fe-FeS Phase Relations: Implications for the Chemistry of the Martian Core; 28) Shorelines in the Western United States as Analogs for Hypothesized Shoreline Features on Mars; 29) Al and Ti Isotopic Ratios of Presolar SiC Grains of Type Z; 30) Physicochemical Conditions of Clinopyroxene Crystallization in the Parental Bodies of Ordinary Chondrites; 31) Metamorphosed CM and CI Carbonaceous Chondrites Could be from the Breakup of the Same Earth-crossing Asteroid; 32) Aqueous Alteration and Hydrogen Generation on Parent Bodies of Unequilibrated Ordinary Chondrites: Thermodynamic Modeling for the Semarkona Composition; and 33) Preliminary Analysis of Relative Abundances of Hydrothermal Alteration Products in the C1-N10, Y6-N19, and Yax-1_863.51 Impact Melt Samples, Chicxulub Structure, Mexico

Source record↗
NASA NTRS1994

What we have learned about Mars from SNC meteorites

The SNC meteorites are thought to be igneous martian rocks, based on their young crystallization ages and a close match between the composition of gases implanted in them during shock and the atmosphere of Mars. A related meteorite, ALH84001, may be older and thus may represent ancient martian crust. These petrologically diverse basalts and ultramafic rocks are mostly cumulates, but their parent magmas share geochemical and radiogenic isotopic characteristics that suggest they may have formed by remelting the same mantle source region at different times. Information and inferences about martian geology drawn from these samples include the following: Planetary differentiation occured early at approximately 4.5 GA, probably concurrently with accretion. The martian mantle contains different abundances of moderately volatile and siderophile elements and is more Fe-rich than that of the Earth, which has implications for its mineralogy, density, and origin. The estimated core composition has a S abundance near the threshold value for inner core solidification. The former presence of a core dynamo may be suggested by remanent magnetization in Shergottite-Nakhlite-Chassignite (SNC) meteorites, although these rocks may have been magnetized during shock. The mineralogy of martian surface units, inferred from reflectance spectra, matches that of basaltic shergottites, but SNC lithologies thought to have crystallized in the subsurface are not presently recognized. The rheological properties of martian magmas are more accurately derived form these metorites than from observations of martian flow morphology, although the sampled range of magma compositions islimited. Estimates of planetary water abundance and the amount of outgassed water based on these meteorites are contridictory but overlap estimates based on geological observations and atmospheric measurements. Stable isotope measurements indicate that the martian hydrosphere experienced only limited exchange with the lithosphere, but it is in isotopic equilibrium with the atmosphere and has been since 1.3 Ga. The isotopically heavy atmosphere/hydrosphere composition deduced from these rocks reflects a loss process more severe than current atmospheric evolution models, and the occurence of carbonates in SNC meteorites suggest that they, rather than scapolite or hydrous carbonates, are the major crustal sink for CO2. Weathering products in SNC meteorites support the idea of limited alteration of the lithosphere by small volumes of saline, CO2-bearing water. Atmospheric composition and evolution are further constrained by noble gases in these meteorites, although Xe and Kr isotopes suggest different origins for the atmosphere. Planetary ejection of these rocks has promoted an advance in the understanding of impact physics, which has been accomplished by a model involving spallation during large cratering events. Ejection of all the SNC meteorites (except ALH84001) in one or two events may provide a plausible solution to most constraints imposed by chronology, geochemistry, and cosmic ray exposure, although problems remain with this scenario; ALH84001 may represent older martian crust sampled during a separate impact.

Mcsween, Harry Y., Jr.↗
NASA NTRS2010

Miniature Low-Mass Drill Actuated by Flextensional Piezo Stack

Recent experiments with a flextensional piezoelectric actuator have led to the development of a sampler with a bit that is designed to produce and capture a full set of sample forms including volatiles, powdered cuttings, and core fragments. The flextensional piezoelectric actuator is a part of a series of devices used to amplify the generated strain from piezoelectric actuators. Other examples include stacks, bimorphs, benders, and cantilevers. These devices combine geometric and resonance amplifications to produce large stroke at high power density. The operation of this sampler/drill was demonstrated using a 3x2x1-cm actuator weighing 12 g using power of about 10-W and a preload of about 10 N. A limestone block was drilled to a depth of about 1 cm in five minutes to produce powdered cuttings. It is generally hard to collect volatiles from random surface profiles found in rocks and sediment, powdered cuttings, and core fragments. Toward the end of collecting volatiles, the actuator and the bit are covered with bellows-shaped shrouds to prevent fines and other debris from reaching the analyzer. A tube with a miniature bellows (to provide flexibility) is connected to the bit and directs the flow of the volatiles to the analyzer. Another modality was conceived where the hose is connected to the bellows wall directly to allow the capture of volatiles generated both inside and outside the bit. A wide variety of commercial bellows used in the vacuum and microwave industries can be used to design the volatiles capture mechanism. The piezoelectric drilling mechanism can potentially be operated in a broad temperature range from about-200 to less than 450 C. The actuators used here are similar to the actuators that are currently baselined to fly as part of the inlet funnel shaking mechanism design of MSL (Mars Science Laboratory). The space qualification of these parts gives this drill a higher potential for inclusion in a future mission, especially when considering its characteristics of low mass, small size, low power, and low axial loads for sampling.

Sherrit, Stewart↗
NASA NTRS2013

Wireline Deep Drill for the Exploration of Icy Bodies

One of the most pressing current questions in space science is whether life has ever arisen anywhere else in the universe. Water is a critical prerequisite for all life-as-we-know-it, thus the possible exploration targets for extraterrestrial life are bodies that have or had copious liquid: Mars, Europa, and Enceladus. Due to the oxidizing nature of Mars' surface, as well as subsurface liquid water reservoirs present on Europa and Enceladus, the search for evidence of existing life must likely focus on subsurface locations, at depths sufficient to support liquid water or retain biologic signatures. To address these questions, an Auto-Gopher sampler has been developed that is a wireline type drill. This drill is suspended on a tether and its motors and mechanisms are built into a tube that ends with a coring bit. The tether provides the mechanical connection to a rover/lander on a surface as well as power and data communication. Upon penetrating to a target depth, the drill is retracted from the borehole, the core is deposited into a sample transfer system, and the drill is lowered back into the hole. Wireline operation sidesteps one of the major drawbacks of traditional continuous drill string systems by obviating the need for multiple drill sections, which add significantly to the mass and the complexity of the system (i.e. penetration rate was 40 cm per hour). Drilling to 2 meter depth and recovering of cores every 10 cm took a total time of 15 hours (a single step of drilling 10 cm and retrieving the core was 45 minutes). Total energy to reach the 2 m depth was 500 Whr. The Weight on Bit was limited to less than 70 Newton. The core recovery was 100%.

sampling↗
NASA NTRS2003

Use of an Ultrasonic/Sonic Driller/Corer to Obtain Sample Powder for CHEMIN, a Combined XRD/XRF Instrument

A miniature CHEMIN XRD/XRF (X-Ray Diffraction/X-Ray Fluourescence) instrument is currently being developed for definitive mineralogic analysis of soils and rocks on Mars. One of the technical issues that must be addressed in order to enable XRD analysis on an extraterrestrial body is how best to obtain a representative sample powder for analysis. For XRD powder diffraction analyses, it is beneficial to have a fine-grained sample to reduce preferred orientation effects and to provide a statistically significant number of crystallites to the X-ray beam. Although a 2-dimensional detector as used in the CHEMIN instrument will produce good results with poorly prepared powders, the quality of the data will improve if the sample is fine-grained and randomly oriented. An Ultrasonic/Sonic Driller/Corer (USDC) currently being developed at JPL is an effective mechanism of sampling rock to produce cores and powdered cuttings. It requires low axial load (< 5N) and thus offers significant advantages for operation from lightweight platforms and in low gravity environments. The USDC is lightweight (<0.5kg), and can be driven at low power (<5W) using duty cycling. It consists of an actuator with a piezoelectric stack, ultrasonic horn, free-mass, and drill bit. The stack is driven with a 20 kHz AC voltage at resonance. The strain generated by the piezoelectric is amplified by the horn by a factor of up to 10 times the displacement amplitude. The tip impacts the free-mass and drives it into the drill bit in a hammering action. The free-mass rebounds to interact with the horn tip leading to a cyclic rebound at frequencies in the range of 60-1000 Hz. It does not require lubricants, drilling fluid or bit sharpening and it has the potential to operate at high and low temperatures using a suitable choice of piezoelectric material. To assess whether the powder from an ultrasonic drill would be adequate for analyses by an XRD/XRF spectrometer such as CHEMIN, powders obtained from the JPL ultrasonic drill were analyzed and the results were compared to carefully prepared powders obtained using a laboratory bench scale Retsch mill.

Chipera, S. J.↗
NASA NTRS2009

Analysis of Moderately Siderophile Elements in Angrites: Implications for Core Formation of the Angrite Parent Body

Angrites are an enigmatic group of achondrites, that constitute the largest group of basalts not affiliated with the Moon, Mars or Vesta (HEDs). Chemically, angrites are exceptionally refractory element- enriched (e.g., Al, Ca) and volatile element-depleted (e.g., Na and K) achondrites. Highly volatile siderophile and chalcophile elements (Zn, Ge and Se) may be less depleted than alkalis and Ga taken to imply a fractionation of plagiophile elements. Core formation on the angrite parent body (APB) is not well understood due to the dearth of moderately siderophile element (Ga, Ge, Mo, Sb, W) data for angrites, with the exception of Ni and Co [2]. In particular, there are no data for Mo abundances of angrites, while Sb and W abundances are reported for only 3 angrites, and have not always been determined on the same sample. The recent increase in angrite numbers (13) has greatly increased our knowledge of the compositional diversity of the angrite parent body (APB). In this study, we report new Co, Ni, Ga, Mo, Sb and W abundances for angrites by laser ablation inductively coupled plasma mass spectrometry (ICP-MS) in order to place constraints on core formation of the APB.

Righter, K.↗
NASA NTRS1994

Scientific objectives of the primitive body sample return missions: An approach from the light-induced effect on water vapor

Water is undoubtedly one of the most crucial components of the solar nebula for determining planetary composition: planets were formed from the accretion of the dust particles in the nebula, and the redox state of Fe in the particles can be determined by the reaction of Fe with water vapor diffused into the interior of the particle in the early stage of solar system formation. It has been discussed from various observations that the cores of Mercury, Venus, and the Earth might be metallic Fe, although the core of the Earth may be somewhat oxidized by the high pressure and temperature reaction of liquid Fe with perovskite at the boundary of the mantle and the core, whereas the core of Mars may be highly oxidized, as suggested by its low density. Isotopic anomalies of various elements have frequently been observed in the solar system (in planetary atmospheres and in meteorites) and some of them can be attributed to the injection of exotic particles formed in other stars into the solar nebula. Hydrogen and D anomalies in planetary atmospheres were frequently believed to correlate with the differential escape of H and D from the exospheres of Venus and Mars, although no one knows the primordial D/H ratios before thermal escape. This paper explains the decrease of the observed D/H ratios with distance from the sun by considering the light-induced drift effect to displace H2(16)O alone to the outside in the solar nebula.

Shimizu, Mikio↗
NASA NTRS2023

Development of a Photoacoustic Formaldehyde Monitor

Key indoor air quality pollutant formaldehyde (H2CO) is tracked on International Space Station (ISS) using passive badges returned to the ground periodically for analysis. The process is time-consuming both in preparation and for analysis upon return 6-12 months later. Badges also require precious crew time for deploy, retrieval and stow. As NASA’s focus in space exploration shifts to the Moon and Mars, archival sample return becomes increasingly impractical, so the aim of this project is to develop a highly reliable real-time analyzer for H2CO at low concentrations with data downlinked. Potential sources of H2CO include materials off gassing, use of formalin as a tissue fixative in biological payloads and overheating of acetal polymers. The Spacecraft Maximum Allowable Concentration (SMAC) for H2CO is 100 ppb for exposures of 7 days or longer. ISS concentrations recently run only 10 - 30 ppb but have spiked as high as 60 ppb in the past. Gateway real time monitoring requirements call for a range of 8 - 140 ppb. For this project, a concentration range of 5 - 500 ppb H2CO is targeted. The core tunable diode laser spectroscopy (TDLS) technology was developed by Vista Photonics through the NASA and US Navy Small Business Innovation Research (SBIR) programs. Monitors based on this technology have been demonstrated on ISS, trialed on a nuclear submarine and are in production as Anomaly Gas Analyzers for both ISS and Orion. Initially, direct absorption TDLS was used exclusively in these monitors, however, the H2CO target concentration is much lower, and a longer wavelength required, so a photoacoustic spectroscopy (PAS) technique was adapted, where the laser excitation is detected by a sensitive microphone vs. a conventional photodetector. This paper will discuss the results of NASA-JSC laboratory testing of a prototype PAS based formaldehyde monitor and explore potential adaptations for Gateway missions and beyond.

Paul D Mudgett↗
NASA NTRS2010

Drilling on the Moon and Mars: Developing the Science Approach for Subsurface Exploration with Human Crews

DOMEX (Drilling on the Moon and Mars in Human Exploration) is using analog missions to develop the approach for using human crews to perform science activities on the Moon and Mars involving exploration and sampling of the subsurface. Subsurface science is an important activity that may be uniquely enabled by human crews. DOMEX provides an opportunity to plan and execute planetary mission science activities without the expense and overhead of a planetary mission. Objectives: The objective of this first in a series of DOMEX missions were to 1) explore the regional area to understand the geologic context and determine stratigraphy and geologic history of various geologic units in the area. 2) Explore for and characterize sites for deploying a deep (10 m depth) drilling system in a subsequent field season. 3) Perform GPR on candidate drill sites. 4) Select sites that represent different geological units deposited in different epochs and collect soil cores using sterile procedures for mineralogical, organic and biological analysis. 5) Operate the MUM in 3 different sites representing different geological units and soil characteristics. 6) Collect rock and soil samples of sites visited and analyze them at the habitat. Results: At mission start the crew performed a regional survey to identify major geologic units that were correlated to recognized stratigraphy and regional geologic maps. Several candidate drill sites were identified. During the rest of the mission, successful GPR surveys were conducted in four locations. Soil cores were collected in 5 locations representing soils from 4 different geologic units, to depths up to 1m. Soil cores from two locations were analyzed with PCR in the laboratory. The remainder were reserved for subsequent analysis. XRD analysis was performed in the habitat and in the field on 39 samples, to assist with sample characterization, conservation, and archiving. MUM was deployed at 3 field locations and 1 test location (outside the habitat) where it operated autonomously for 2-4 hours at each site. Depths achieved ranged from 15 to 70 cm depending on the soil compressive strength and the presence and depth of subsurface indurated layers. Subsurface samples weighing 0.5 to 1 g were collected at the deepest depth encountered at each of the sites using the MUM automated sample collection system, and subsequently analyzed with XRD. Downhole inspection of holes produced by MUM with the Raman spectrometer was acquired on two of the holes and spectral features associated with selenite were identified in specific soil layers. Previously unreported fossilized remains of vertebrate fauna from the Jurassic era were discovered during our mission. Analysis of mineral biomarkers associated with this discovery are underway.

Stoker, C. R.↗
NASA NTRS2007

Quantitative Technique for Comparing Simulant Materials through Figures of Merit

The 1989 workshop report entitled Workshop on Production and Uses of Simulated Lunar Materials and the Lunar Regolith Simulant Materials: Recommendations for Standardization, Production, and Usage, NASA Technical Publication both identified and reinforced a need for a set of standards and requirements for the production and usage of the Lunar simulant materials. As NASA prepares to return to the Moon, and set out to Mars, a set of early requirements have been developed for simulant materials and the initial methods to produce and measure those simulants have been defined. Addressed in the requirements document are: 1) a method for evaluating the quality of any simulant of a regolith, 2) the minimum characteristics for simulants of Lunar regolith, and 3) a method to produce simulants needed for NASA's Exploration mission. As an extension of the requirements document a method to evaluate new and current simulants has been rigorously defined through the mathematics of Figures of Merit (FoM). Requirements and techniques have been developed that allow the simulant provider to compare their product to a standard reference material through Figures of Merit. Standard reference material may be physical material such as the Apollo core samples or material properties predicted for any landing site. The simulant provider is not restricted to providing a single "high fidelity" simulant, which may be costly to produce. The provider can now develop "lower fidelity" simulants for engineering applications such as drilling and mobility applications.

Rickman, Doug↗
NASA NTRS2012

Gravity-Independent Mobility and Drilling on Natural Rock using Microspines

To grip rocks on the surfaces of asteroids and comets, and to grip the cliff faces and lava tubes of Mars, a 250 mm diameter omni-directional anchor is presented that utilizes a hierarchical array of claws with suspension flexures, called microspines, to create fast, strong attachment. Prototypes have been demonstrated on vesicular basalt and a'a lava rock supporting forces in all directions away from the rock. Each anchor can support >160 N tangent, >150 N at 45?, and >180 N normal to the surface of the rock. A two-actuator selectively- compliant ankle interfaces these anchors to the Lemur IIB robot for climbing trials. A rotary percussive drill was also integrated into the anchor, demonstrating self-contained rock coring regardless of gravitational orientation. As a harder- than-zero-g proof of concept, 20mm diameter boreholes were drilled 83 mm deep in vesicular basalt samples, retaining a 12 mm diameter rock core in 3-6 pieces while in an inverted configuration, literally drilling into the ceiling.

climbing mechanisms↗