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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Issues and Concerns in Robotic Drilling

Exploration of the Martian subsurface will be essential in the search for life and water, given the desiccated and highly oxidized conditions on the surface. Discovery of these, at least in non-fossil form, is unlikely without drilling or other physical access to the subsurface. Hence subsurface access will be critical for both future in-situ science and Mars sample return. Drilling applications present many new challenges for diagnosis and control technology. Traditionally, diagnosis has concentrated on determining the internal state of a system, and detecting failures of system components. In the case of drilling applications, an additional challenge is to diagnose the interactions between the drill and its environment. This is necessary because particular observations of the drilling operation may be consistent with a number of possible problems, including faults in the equipment, but also changes in the material being drilled (for example, from rock to ice). The diagnosis of a particular observation may also depend on knowledge of geological formations previously encountered during drilling, and different remedial actions may be required for each diagnosis. Current 2009 Mars mission scenarios call for no more than 33 sols to be spent drilling. Yet they also call for a baseline of two 2m-deep holes in each of three target areas, for a total of six drilling operations. Using current levels of automation, it is estimated that 15-16 sols would be required to drill each hole. As a result of this, either the drilling part of the mission plan will need to be severely downscoped to no more than two holes total, or on-board automation and robotics must be increased in order to reduce the number of sols required per hole by removing ground control from the drilling control loop. This lecture will discuss salient issues and concerns of robotic drilling automation compares with other applications, and implementation constraints.

Glass, Brian↗
NASA NTRS1996

Robot Drills Holes To Relieve Excess Tire Pressures

Small, relatively inexpensive, remotely controlled robot called "tire assault vehicle" (TAV) developed to relieve excess tire pressures to protect ground crew, aircraft equipment, and nearby vehicles engaged in landing tests of CV-990 Landing System Research Aircraft. Reduces costs and saves time in training, maintenance, and setup related to "yellow" and "red" tire conditions. Adapted to any heavy-aircraft environment in which ground-crew safety at risk because of potential for tire explosions. Also ideal as scout vehicle for performing inspections in hazardous locations.

Carrott, David T.↗
NASA NTRS2010

Robotic Planetary Drill Tests

Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

Glass, Brian J.↗
NASA NTRSDate not supplied

MEAD In-situ Sampling and Testing at Haughton Crater

The Mars Exploration through Analog-site Drilling (MEAD) project is designed to demonstrate the feasibility and scientific value of robotic drilling missions to Mars in the search for evidence of past or extant life. MEAD conducts high-fidelity field simulations integrating drilling, autonomous operations, and in-situ life-detection and mineralogical instruments. The project tests the Signs of Life Detector (SOLID), proposed for the 2019 Discovery Mars Icebreaker mission, and ARIA (Astronaut Raman Instrument for ISRU and Astrobiology), which provides mineral identification and detects trace organics and volatiles, including indicators of organic thermal maturity. Because current and planned Mars drilling missions operate largely “blind,” MEAD also evaluates the use of drill-induced vibrations recorded by deployed geophones to enable local subsurface mapping for improved targeting of drilling and sampling. In August 2025, MEAD completed its first-year field deployment to Haughton Crater in the Canadian High Arctic, an established Mars impact-crater terrestrial analog site, bringing a Honeybee Robotics TRIDENT drill with applied automation, alongside ARIA, SOLID, and FleetSpace geophones.

Haughton Crater↗
NASA NTRS2017

Documenting Surface and Sub-surface Volatiles While Drilling in Frozen Lunar Simulant

NASA's Resource Prospector (RP) mission is intended to characterize the three-dimensional nature of volatiles in lunar polar regions and permanently shadowed regions. RP is slated to carry two instruments for prospecting purposes. These include the Neutron Spectrometer System (NSS) and Near-Infrared Volatile Spectrometer System (NIRVSS). A Honybee Robotics drill (HRD) is intended to sample to depths of 1 m, and deliver a sample to a crucible that is processed by the Oxygen Volatile Extraction Node (OVEN) where the soil is heated and evolved gas is delivered to the gas chromatograph / mass spectrometer of the Lunar Advanced Volatile Analysis system (LAVA). For several years, tests of various sub-systems have been undertaken in a large cryo-vacuum chamber facility (VF-13) located at Glenn Research Center. In these tests a large tube (1.2 m high x 25.4 cm diameter) is filled with lunar simulant, NU-LHT-3M, prepared with known abundances of water. There are thermo-couples embedded at different depths, and also across the surface of the soil tube. The soil tube is placed in the chamber and cooled with LN2 as the pressure is reduced to approx.5-6x10(exp -6) Torr. Here we discuss May 2016 tests where two soil tubes were prepared and placed in the chamber. Also located in the chamber were 5 crucibles, an Inficon mass spectrometer, and a trolly permitting x-y translation, where the HRD and NIRVSS, were mounted. The shroud surrounding the soil tube was held at different temperatures for each tube to simulate a warm and cold lunar environment.

Oxygen Volatile Extraction Node↗
NASA NTRS2018

Robotic Infrastructure for Mars Outpost Water Supply

Intercontinental rovers servicing automated solar-powered Rodriguez Wells can supply water for Human Exploration on Mars. This paper describes a solar-powered multivehicle concept that can turn water resources obtained from mid-latitude glacier ice into a sustained water supply. A robotic drilling platform is proposed that can access relatively pure water ice in mid-latitude Martian glaciers through 1-10m of loose regolith, whereupon longdistance tanker rovers continually traverse terrain between the drilling operation and human outposts located in Mars equatorial zones. Robotically deployed solar-thermal panels will be able to passively heat warm water that is delivered into a Rodriguez Well (a melted cavity in an expanse of water ice such as a glacier). Newly melted water will be pumped up out of the well and cycled through the solar panels to fill tankers. The tankers will consist of multiple four-wheeled linked cars in a tram-like configuration that can overcome steep terrain and obstacles. The system will be able to deliver its own landed mass of water to the human explorers every ~74 Mars days. The resources, power, vehicle configurations, and detailed functions are described.

Howe, Scott A.↗
NASA NTRSDate not supplied

Automation and AI in Space Drilling

Future planetary surface sampling missions, such as delving past the near-surface ice layers on Mars in search of organics and possibly signs of past/extant life, will require lightweight, low-mass planetary drilling and sample handling. Unlike terrestrial drills, these exploration drills must work dry (without drilling muds or gas), blind (no prior local or regional seismic or other surveys), and light (very low downward force or weight on bit, and perhaps 100 W available from solar power or batteries). Given the lightspeed transmission delays to Mars and outward, an exploratory planetary drill cannot be controlled directly from Earth. Drills that penetrate deeper than a few centimeters are likely to get stuck if operated open-loop (the MSL drill only penetrates 5 cm, and the MER Rock Abrasion Tools 5 mm by comparison), so some form of local drill control is required. In the relatively near-term, human crews cannot be presumed to be available for surface instrument teleoperation. Therefore highly automated drill and sample-transfer operations will be required, to explore the subsurface with the ability to safe robotic drilling systems and recover and continue on from the most probable fault conditions. Current automation, scheduling and diagnostic approaches will be discussed that roughly track the actions and roles of humans in terrestrial manual drilling operations.

drill automation↗
NASA NTRS2005

Field Simulation of a Drilling Mission to Mars to Search for Subsurface Life

The discovery of near surface ground ice by the Mars Odyssey mission and the abundant evidence for recent Gulley features observed by the Mars Global Surveyor mission support longstanding theoretical arguments for subsurface liquid water on Mars. Thus, implementing the Mars program goal to search for life points to drilling on Mars to reach liquid water, collecting samples and analyzing them with instrumentation to detect in situ organisms and biomarker compounds. Searching for life in the subsurface of Mars will require drilling, sample extraction and handling, and new technologies to find and identify biomarker compounds and search for living organisms. In spite of its obvious advantages, robotic drilling for Mars exploration is in its technological infancy and has yet to be demonstrated in even a terrestrial field environment.

Stoker, C. R.↗
NASA NTRS2016

Spectral Monitoring of Volatiles During Drilling into Frozen Lunar Simulant

NASA's Resource Prospector (RP) project intends to characterize the 3D distribution of volatiles in permanently shadowed regions at the lunar poles. One RP remote sensing instrument is a near-infrared spectrometer with an associated camera and radiometer, called the Near-InfraRed Volatile Spectrometer System (NIRVSS). In May 2016, NIRVSS, a Honeybee Robotics drill, and an Inficon mass spectrometer were placed in a vacuum chamber at Glenn Research Center. Also inside was a tube (1.2 m high x 25 cm diameter) filled with lunar simulant NU-LHT-3M, initially doped with a homogeneous water abundance of ~5%, chilled to cryogenic temperatures and exposed to a vacuum (~10e-6 Torr). During drilling, the NIRVSS instruments observed the cuttings pile as subsurface materials were emplaced on the surface. Spectral features associated with water ice, near 2000 and 3000 nm, were measured by the spectrometer during drilling. The spectral data documents development of a desiccated soil layer in the tube down to ~25-30 cm (confirmed by post-test soil analyses), formed during the initial pump down to vacuum. Drilling occurred in 10 cm segments, with the drill stem extracted and flutes brushed after each 10 cm depth. One exception to this was the 40 cm depth segment where the soil was delivered to a sample capture mechanism, and sealed for post-test analyses. To ~30 cm depth the greatest 2000 and 3000 nm signatures were associated with brushing of the drill flutes above the surface. At depths >40 cm the strongest ice signatures were associated with the drill clearing soil from the existing hole, or beginning to encounter new material. For these greater depths, brushing the flutes after extraction produced much weaker ice signatures than for shallower depths. This suggests that the soil may remain trapped in the exit funnel and is not emplaced on the surface. After each event creating strong ice signatures, these signatures decreased to near background levels in 5 minutes or less, due to surface exposure to vacuum.

lunar poles↗
NASA NTRS2000

Autonomous Sample Acquisition for Planetary and Small Body Explorations

Robotic drilling and autonomous sample acquisition are considered as the key technology requirements in future planetary or small body exploration missions. Core sampling or subsurface drilling operation is envisioned to be off rovers or landers. These supporting platforms are inherently flexible, light, and can withstand only limited amount of reaction forces and torques. This, together with unknown properties of sampled materials, makes the sampling operation a tedious task and quite challenging. This paper highlights the recent advancements in the sample acquisition control system design and development for the in situ scientific exploration of planetary and small interplanetary missions.

Ghavimi, Ali R.↗
NASA NTRS2000

Towards Evolving Electronic Circuits for Autonomous Space Applications

The relatively new field of Evolvable Hardware studies how simulated evolution can reconfigure, adapt, and design hardware structures in an automated manner. Space applications, especially those requiring autonomy, are potential beneficiaries of evolvable hardware. For example, robotic drilling from a mobile platform requires high-bandwidth controller circuits that are difficult to design. In this paper, we present automated design techniques based on evolutionary search that could potentially be used in such applications. First, we present a method of automatically generating analog circuit designs using evolutionary search and a circuit construction language. Our system allows circuit size (number of devices), circuit topology, and device values to be evolved. Using a parallel genetic algorithm, we present experimental results for five design tasks. Second, we investigate the use of coevolution in automated circuit design. We examine fitness evaluation by comparing the effectiveness of four fitness schedules. The results indicate that solution quality is highest with static and co-evolving fitness schedules as compared to the other two dynamic schedules. We discuss these results and offer two possible explanations for the observed behavior: retention of useful information, and alignment of problem difficulty with circuit proficiency.

Lohn, Jason D.↗
NASA NTRS2004

Mars Analog Rio Tinto Experiment (MARTE): 2003 Drilling Campaign to Search for a Subsurface Biosphere at Rio Tinto Spain

The MARTE (Mars Astrobiology Research and Technology Experiment) project, an ASTEP field experiment, is exploring for a hypothesized subsurface anaerobic chemoautotrophic biosphere in the region of the Tinto River- or Rio Tinto- in southwestern Spain. It is also demonstrating technology needed to search for a subsurface biosphere on Mars. The project has three primary objectives: (1) search for and characterize subsurface life at Rio Tinto along with the physical and chemical properties and sustaining energy sources of its environment, (2) perform a high fidelity simulation of a robotic Mars drilling mission to search for life, and (3) demonstrate the drilling, sample handling, and instrument technologies relevant to searching for life on Mars. The simulation of the robotic drilling mission is guided by the results of the aseptic drilling campaign to search for life at Rio Tinto. This paper describes results of the first phase of the aseptic drilling campaign.

Stoker, Carol↗
NASA NTRS2005

Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permafrost, and successful steps at executive control and initial automation.

Glass, Brian↗
NASA NTRS2016

Near-Infrared Monitoring of Volatiles in Frozen Lunar Simulants While Drilling

In Situ Resource Utilization (ISRU) focuses on using local resources for mission consumables. The approach can reduce mission cost and risk. Lunar polar volatiles, e.g. water ice, have been detected via remote sensing measurements and represent a potential resource for both humans and propellant. The exact nature of the horizontal and depth distribution of the ice remains to be documented in situ. NASA's Resource Prospector mission (RP) is intended to investigate the polar volatiles using a rover, drill, and the RESOLVE science package. RP component level hardware is undergoing testing in relevant lunar conditions (cryovacuum). In March 2015 a series of drilling tests were undertaken using the Honeybee Robotics RP Drill, Near-Infrared Volatile Spectrometer System (NIRVSS), and sample capture mechanisms (SCM) inside a 'dirty' thermal vacuum chamber at the NASA Glenn Research Center. The goal of these tests was to investigate the ability of NIRVSS to monitor volatiles during drilling activities and assess delivery of soil sample transfer to the SCMs in order to elucidate the concept of operations associated with this regolith sampling method.

Neutron Spectrometer System↗
NASA NTRSDate not supplied

Repurposing Drilling Control Diagnostics for Subsurface Edge Detection and Boundary Advisement During Planetary Drilling

Informed decision-making during lunar drilling and sampling missions will require data monitoring tools and specialized ground data systems. Accurate and updated situational awareness, with ongoing data monitoring, is critical for timely responses by to incoming science data. Traverse plans and scheduled activities may need to be flexibly changed in order to react to unexpected data or situations. Unlike (for example) Mars missions, the relative lightspeed closeness of the Moon allows for near-real-time ground processing of incoming mission and instrument data. An Apollo-class lunar regolith drill will in a sense “travel” a meter or two vertically at a given subsurface characterization site. As the drill penetrates into lunar regolith, it is likely to encounter a range of material densities, orientations, fracture toughness, and (perhaps) ice percentages. Lunar drill telemetry can provide science teams with a valuable first look into the subsurface structure, the regolith bulk properties, and constituents at each drilled site. Real-time AI-based recognition and reaction to downhole situations has been developed for automated deeper drilling on Mars and beyond. We can leverage the same knowledge bases and pattern-matching as areal-time interpreter of the subsurface, a situational awareness tool during drilling operations. We recently (Sept. 2019) demonstrated this AI drilling monitoring and analysis capability, in control of in-situ drilling and sampling operations, mounted on a KREX-2 rover in Chile’s Atacama Desert. Terrestrial automated drilling log analyses in oil exploration have used similar machine learning techniques in classifying and identifying features in drilling logs –but these typically are designed assuming a drilling fluid influencing downhole measurements and data (permeability, resistivity). Drilling models and existing AI software designed to detect and respond to drilling faults and hard materials can be repurposed, for near-real-time (ground-based) interpretation of drilling telemetry –a potentially valuable advisory tool for strata boundaries and changes in drilling parameters. On the Moon, this approach could be used to study the structure and to some extent the composition of lunar regolith vs. borehole depth, based on recognizable variations in fracture hardness, drilling energy and penetration rates while actively drilling. Since the early 2000s, a series of increasingly-capable real-time drilling telemetry interpretation and characterization software tools have been developed. These subsurface models and software tools have monitored the real-time drilling data received, and automatically identified changes in drill behavior (e.g., encountering a harder target layer, bit inclusions, drill choking due to infall downhole, and others) correlating these with subsurface structures and features. We discuss the mappings between drill borehole parameters, faults or events detected, and modeled changes in rock layer boundaries, in examples drawn from field testing at analog sites in an Arctic impact crater, Rio Tinto, and Chile’s Atacama Desert. These demonstrate how subsurface structural boundaries led to fault detections and responses by the software.

drilling advisor↗
NASA NTRS2005

Searching for Life Underground: An Analysis of Remote Sensing Observations of a Drill Core from Rio Tinto, Spain for Mineralogical Indications of Biological Activity

Water is unstable on the surface of Mars, and therefore the Martian surface is not likely to support life. It is possible, however, that liquid water exists beneath the surface of Mars, and thus life might also be found in the subsurface. Subsurface life would most likely be microbial, anaerobic, and chemoautotrophic; these types of biospheres on Earth are rare, and not well understood. Finding water and life are high priorities for Mars exploration, and therefore it is important that we learn to explore the subsurface robotically, by drilling. The Mars Analog Rio Tinto Experiment (MARTE), has searched successfully for a subsurface biosphere at Rio Tinto, Spain [1,2,3,4]. The Rio Tinto study site was selected to search for a subsurface biosphere because the extremely low pH and high concentrations of elements such as iron and copper in the Tinto River suggest the presence of a chemoautotrophic biosphere in the subsurface beneath the river. The Rio Tinto has been recognized as an important mineralogical analog to the Sinus Meridiani site on Mars [5].

Battler, M.↗
NASA NTRS2012

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

tracked vehicles↗