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An Automated Sample Processing System (ASPS) for wet chemistry processing of organic materials on the surface of Mars has been jointly developed by Ball Aerospace and the Jet Propulsion Laboratory. The mechanism has been built and tested to demonstrate TRL level 4. This paper describes the function of the system, mechanism design, lessons learned, and several challenges that were overcome.
Impact-melt glasses containing Martian atmospheric gases in Mars meteorite EET79001 are formed from Martian soil fines that had undergone meteoroid-comminution and aeolian sorting accompanied by chemical weathering near Mars surface. Using SiO2 and SO3 as proxy for silicates and salts respectively in Mars soils, we find that SiO2 and SO3 correlate negatively with FeO and MgO and positively with Al2O3 and CaO in these glasses, indicating that the mafic and felsic components are depleted and enriched relative to the bulk host (Lith A/B) respectively as in the case of Moon soils. Though the overall pattern of mineral fractionation is similar between the soil fines on Mars and Moon, the magnitudes of the enrichments/depletions differ between these sample-suites because of pervasive aeolian activity on Mars. In addition to this mechanical processing, the Martian soil fines, prior to impact-melting, have undergone acid-sulfate dissolution under oxidizing/reducing conditions. The S03 content in EET79001,507 (Lith B) glass is approx.18% compared to < 2% in EET79001, 506 (Lith A). SiO2 and SO3 negatively correlate with each other in ,507 glasses similar to Pathfinder soils. The positive correlation found between FeO and SO3 in ,507 glasses as well as Pathfinder rocks and soils is consistent with the deposition of ferric-hydroxysulfate on regolith grains in an oxidizing environment. As in the case of Pathfinder soils, the Al 2O3 vs SiO2 positive correlation and FeO VS S102 negative correlation observed in ,507 glasses indicate that SiO2 from the regolith is mobilized as soluble silicic acid at low pH. The large off-set in the end-member FeO abundance ( SO3=0) between Pathfinder soil-free rock and sulfur-free rock in ,507 glass precursors suggests that the soils comprising the ,507 glasses contain much larger proportion of fine-grained Martian soil fraction that registers strong mafic depletion relative to Lith B. This inference is strongly supported by the Al2O3 - SO3 negative correlation observed in both ,507 glasses and pathfinder soils. Furthermore, the flat MgO-SO3 correlation observed in the case of ,507 glasses shows that the solubilized MgSO4 is mobilized by the aqueous solutions leaving behind the rock-residue with approx.2-3% MgO. This value is similar to the approx.2% MgO found for the soil-free rock at the Pathfinder site. The EET79001 ,506 glasses, in contrast, show that Al2O3 and CaO positively correlate with SO3 indicating that Al is precipitated as amorphous hydroxysulfate at relatively high pH. The FeO - SO3 negative correlation observed in ,506 glasses yields an end-member FeO abundance of approx.21% for the sulfur-free rock, which is consistent with the 22% FeO deduced for the Viking soil-free rock. Further, the FeO and MgO negative correlation with S03 observed in ,506 glasses indicates that the divalent Fe and Mg released from ferromagnesian minerals by acid sulfate dissolution are mobilized away from the reaction sites as soluble sulfates under reducing environment. A similar negative correlation between FeO and SO3 and a positive correlation between Al2O3 and SO3 found in Viking soils suggest that they also had undergone acid-sulfate dissolution under relatively reducing conditions.
The main results of study of the physical and mechanical properties of lunar soil, obtained by laboratory study of samples returned from the moon by Luna 16 and Luna 20, as well as by operation of the self-propelled Lunokhod 1 and Lunokhod 2 on the surface of the moon, are analyzed in the report. All studies were carried out by single methods and by means of unified instruments, allowing a confident comparison of the results obtained. The investigations conducted allowed the following values of the main physical-mechanical properties of lunar soil to be determined: in the natural condition the solid density corresponds to the porosity of 0.8; the modal value of the carrying capacity is 0.4 kg/square cm; adhesion is 0.04 to 0.06 kg/square cm; and the internal angle of friction is 20 to 25 degree. The main mechanisms of deformation and destruction of the soil are analyzed in the report, and the relationships between the mechanical properties and physical parameters of the soil are presented.
Exobiology Flight Experiments involve complex analyses conducted in environments far different than those encountered in terrestrial applications. A major part of the analytical challenge is often the selection, acquisition, delivery and, in some cases, processing of a sample suitable for the analytical requirements of the mission. The added complications of severely limited resources and sometimes rigid time constraints combine to make sample acquisition potentially a major obstacle for successful analyses. Potential samples come in a wide range including planetary atmospheric gas and aerosols (from a wide variety of pressures), planetary soil or rocks, dust and ice particles streaming off of a comet, and cemetery surface ice and rocks. Methods to collect and process sample are often mission specific, requiring continual development of innovative concepts and mechanisms. These methods must also maintain the integrity of the sample for the experimental results to be meaningful. We present here sample acquisition systems employed from past missions and proposed for future missions.
The physical and mechanical properties of the unconsolidated lunar surface material samples that were obtained during the Apollo missions were studied. Sources of data useful for deduction of soil information, and methods used to obtained the data are indicated. A model for lunar soil behavior is described which considers soil characteristics, density and porosity, strength, compressibility, and trafficability parameters. Lunar history and processes are considered, and a comparison is made of lunar and terrestrial soil behavior. The impact of the findings on future exploration and development of the moon are discussed, and publications resulting from lunar research by the soil mechanics team members are listed.
Olivine is a major constituent of chondritic bodies and its response to space weathering processes likely dominates the optical properties of asteroid regoliths (e.g. S- and many C-type asteroids). Analyses of olivine in returned samples and laboratory experiments provide details and insights regarding the mechanisms and rates of space weathering. Analyses of olivine grains from lunar soils and asteroid Itokawa reveal that they display solar wind damaged rims that are typically not amorphized despite long surface exposure ages, which are inferred from solar flare track densities (up to 10 (sup 7 y)). The olivine damaged rim width rapidly approaches approximately 120 nm in approximately 10 (sup 6 y) and then reaches steady-state with longer exposure times. The damaged rims are nanocrystalline with high dislocation densities, but crystalline order exists up to the outermost exposed surface. Sparse nanophase Fe metal inclusions occur in the damaged rims and are believed to be produced during irradiation through preferential sputtering of oxygen from the rims. The observed space weathering effects in lunar and Itokawa olivine grains are difficult to reconcile with laboratory irradiation studies and our numerical models that indicate that olivine surfaces should readily blister and amorphize on relatively short time scales (less than 10 (sup 3 y)). These results suggest that it is not just the ion fluence alone, but other variable, the ion flux that controls the type and extent of irradiation damage that develops in olivine. This flux dependence argues for caution in extrapolating between high flux laboratory experiments and the natural case. Additional measurements, experiments, and modeling are required to resolve the discrepancies among the observations and calculations involving solar wind processing of olivine.
The Adaptive Caching Assembly, part of the Sampling and Caching System on the Mars 2020 Rover, consists of multiple stations that together process sample tubes containing collected Martian material, either rock cores or soil samples, and prepares hermetically-sealed sample tubes for caching on the surface of Mars. There are 7 active degrees-of-freedom, as well as a large number of passive mechanisms within the Adaptive Caching Assembly that must operate in extreme Mars conditions (i.e., temperature and pressure). Hardware cleanliness requirements significantly drove design, assembly, and test operations of the Adaptive Caching Assembly, and were found to adversely affect hardware in some cases such that late design changes and revised cleanliness operations had to be implemented. While Adaptive Caching Assembly hardware was designed to accommodate dust, testing in a representative environment is important to validate functionality is not compromised.
To maximize the scientific return, future robotic and human missions to the Moon will need to have in-situ capabilities to enable the selection of the highest value samples for returning to Earth, or a lunar base for analysis. In order to accomplish this task efficiently, samples will need to be characterized using a suite of robotic instruments that can provide crucial information about elemental composition, mineralogy, volatiles and ices. Such spatially-correlated data sets, which place mineralogy into a microtextural context, are considered crucial for correct petrogenetic interpretations. . Combining microscopic imaging with visible= nearinfrared reflectance spectroscopy, provides a powerful in-situ approach for obtaining mineralogy within a microtextural context. The approach is non-destructive and requires minimal mechanical sample preparation. This approach provides data sets that are comparable to what geologists routinely acquire in the field, using a hand lens and in the lab using thin section petrography, and provide essential information for interpreting the primary formational processes in rocks and soils as well as the effects of secondary (diagenetic) alteration processes. Such observations lay a foundation for inferring geologic histories and provide "ground truth" for similar instruments on orbiting satellites; they support astronaut EVA activities and provide basic information about the physical properties of soils required for assessing associated health risks, and are basic tools in the exploration for in-situ resources to support human exploration of the Moon.
From 1969 to 1972, the National Aeronautics and Space Administration (NASA) sent Apollo missions to the moon to conduct various exploration experiment. A few of the missions were directed to the study and sampling of moon soil, otherwise known as lunar regolith. The extent of the sample acquisition was limited due to the astronauts' limited ability to penetrate the moon's surface to a depth greater than three meters. However. the samples obtained were sufficient enough to provide key information pertaining to lunar regolith material properties that would further assist in future exploration endeavors. Analysis of the collected samples showed that the properties of lunar regolith may lead to knowledge of processed materials that will be beneficial for future human exploration or colonization. However, almost 40 years after the last Apollo mission, limited infonnation is known about regions underneath the moon's surface. Future lunar missions will require hardware that possesses the ability to burrow to greater depths in order to collect samples for subsequent analysis. During the summer of 2010, a team (Dr. Jessica Gaskin, Michael Kuhlman. Blaze Sanders, and Lafe Zabowski) from the NASA Robotics Academy at Marshall Space Flight Center (MSFC) was given the task of designing a robot to function as a soil collection and analysis device. Working with the National Space Science and Technology Center (NSSTC), the team was able to propose an initial design, build a prototype, and test the various subsystems of the prototype to be known as the "Lunar Wormbot" (LW). The NASA/NSSTC team then transferred the project to a University of Alabama in Huntsville (UAH) Mechanical and Aerospace Engineering (MAE) senior design class for further development. The UAH team was to utilize the NASA Systems Engineering Engine Design Process in the continuance of the Lunar Wormbot project. This process was implemented in order to coordinate the efforts of the team and guide the design of the project to ensure a high quality product that met requirements within the academic year timeframe. When the transition from the NASA NSSTC team to the UAH team occurred in August 2010, the scope and requirements were provided to the UAH team. The main objective for the UAH team was to design and fabricate a robotic burrowing prototype using peristaltic or earthworm-like motion with the purpose of collecting soil samples. The team was tasked with the design of a sub-system of the LW called the locomotive, or active, segment. Through the design process, the team extensively reviewed the requirements and functions to be performed of the LW, which led to the proposal of a final design. The present paper provides the details of the development of the design up to and including the Critical Design Review (CDR) of the Lunar Wormbot. This document briefly describes thc overall system and its function but primarily focuses on the design and implementation of the locomotive segment. Content presented includes: general design and system functionality, technical drawings, system analysis, manufacturing methods, and general project costs.
The physical properties of the lunar regolith were originally inferred from remotely sensed data, first from the Earth and later from orbiting spacecraft. The Surveyor landings and the Apollo surface explorations produced a more concrete characterization of the macroscopic properties. In general, the upper regolith consists of a loosely consolidated layer centimeters thick underlain by a particulate but extremely compacted layer to depths of meters or tens of meters. The median particle size as determined by mechanical sieving in terrestrial laboratories is several tens of micrometers. However, the comminuting processes that form the layer produce particles in all sizes down to manometers. The smallest particles, having a high surface to volume ratio, tend to be electrostatically bound to larger particles and are quite difficult to separate mechanically in the laboratory. Particle size distributions determined from lunar soil samples often group particles smaller than 10 micrometers.
Space weathering alters the spectral properties of airless body surface materials by redden-ing and darkening their spectra and attenuating characteristic absorption bands, making it challenging to characterize them remotely [1,2]. It also causes a discrepency between laboratory analysis of meteorites and remotely sensed spectra from asteroids, making it difficult to associate meteorites with their parent bodies. The mechanisms driving space weathering include mi-crometeorite impacts and the interaction of surface materials with solar energetic ions, particularly the solar wind. These processes continuously alter the microchemical and structural characteristics of exposed grains on airless bodies. The change of these properties is caused predominantly by the vapor deposition of reduced Fe and FeS nanoparticles (npFe(sup 0) and npFeS respectively) onto the rims of surface grains [3]. Sample-based analysis of space weathering has tra-ditionally been limited to lunar soils and select asteroidal and lunar regolith breccias [3-5]. With the return of samples from the Hayabusa mission to asteroid Itoka-wa [6], for the first time we are able to compare space-weathering features on returned surface soils from a known asteroidal body. Analysis of these samples will contribute to a more comprehensive model for how space weathering varies across the inner solar system. Here we report detailed microchemical and microstructal analysis of surface grains from Itokawa.
Planetary surfaces are often covered in regolith (crushed rock), whose geologic origin is largely basalt. The lunar surface is made of small-particulate regolith and areas of boulders located in the vicinity of craters. Regolith composition also varies with location, reflecting the local bedrock geology and the nature and efficiency of the micrometeorite-impact processes. In the lowland mare areas (suitable for habitation), the regolith is composed of small granules (20 - 100 microns average size) of mare basalt and volcanic glass. Impacting micrometeorites may cause local melting, and the formation of larger glassy particles, and this regolith may contain 10-80% glass. Studies of lunar regolith are traditionally conducted with lunar regolith simulant (reconstructed soil with compositions patterned after the lunar samples returned by Apollo). The NASA Kennedy Space Center (KSC) Granular Mechanics & Regolith Operations (GMRO) lab has identified a low fidelity but economical geo-technical simulant designated as Black Point-1 (BP-1). It was found at the site of the Arizona Desert Research and Technology Studies (RATS) analog field test site at the Black Point lava flow in adjacent basalt quarry spoil mounds. This paper summarizes activities at KSC regarding the utilization of BP-1 basalt regolith and comparative work with lunar basalt simulant JSC-1A as a building material for robotic additive construction of large structures. In an effort to reduce the import or in-situ fabrication of binder additives, we focused this work on in-situ processing of regolith for construction in a single-step process after its excavation. High-temperature melting of regolith involves techniques used in glassmaking and casting (with melts of lower density and higher viscosity than those of metals), producing basaltic glass with high durability and low abrasive wear. Most Lunar simulants melt at temperatures above 1100 C, although melt processing of terrestrial regolith at 1500 C is not uncommon. These temperatures are achievable by laser heating or by using solar concentrators. Similar to volcanic magma, the cooling rate determines the crystallite size - slower cooling develops larger crystals, and rapid quenching can result in fully amorphous glass.
The effects of different weathering processes on the albedo of the lunar surface cover is discussed. The surface chemical composition of numerous lunar soil and pulverized rock samples was determined by auger electron spectroscopy. The optical albedo of these samples was also measured. The chemical concentration of iron and titanium is greater on the surface of soil samples than it is on the surface of crushed rock samples with similar bulk composition, whereas the albedo of soil samples is lower than that of the crushed rock samples. A correlation is presented between the surface iron + titanium content and the albedo. Results of solar wind simulation experiments show that irradiation of crushed lunar rock samples with a small dose (corresponding to 3000 years of solar wind) of 2-keV energy protons changed the surface chemistry of the rock to that of the soil. A much larger dose of protons (corresponding to 30,000 years of solar wind) was needed to darken crushed rock to the albedo of the soil of similar bulk chemical composition. The mechanism of darkening by solar wind is discussed, and its effectiveness is compared to that of other darkening processes.
Lunar simulant material was fabricated to simulate Apollo 11, Apollo 15, and Apollo 16 soils. The approximate compositions which these soils simulate are given. Samples of each soil simulate were fabricated into right circular cylinders, placed into a microwave reaction cavity, and heated using 2.45 GHz radiation to a particular processing temperature at which it was held for a prescribed length of time. Examples are given of two microwave heating programs for these simulant samples. Upon completion of thermal processing, each sample had its top and bottom surfaces polished. A technique was employed which looks at hardness data to determine the fracture toughness of a material and then relates this to thermal shock resistance. Some advantages of this technique are its low cost for analysis and thermal shock resistance as a function of initial sample orientation in the microwave field can be determined. Samples were prepared for testing and results are expected. At the same time, other samples are currently being investigated using scanning electron microscopy to determine their microstructures.
The surfaces of atmosphereless bodies are subjected to a variety of chemical, thermal, accretionary, and shock processes related to their regolith environment. These processes are responsible for a number of alterations that occur in regoliths. Alterations include particle size commutation, implantation of solar wind gases, formation of agglutinates, spectral darkening, and, in the lunar case, the development of the very strong red continuum slope in the visible and near infrared spectra. A great deal of work has pointed to the role of agglutinates as the principal agent for darkening and reddening the lunar soil. The measures of regolith maturity are strongly linked to the accumulation of agglutinates. Recent work has suggested that the finest fractions of agglutinitic glass are major source of the spectral red slope. In particular, the red slope is most strongly associated with the agglutinitic glasses that are rich in blebs of sub-micron sized metal particles. It is thought that these metal particles, because of their size and scattering efficiently relative to the wavelength of light, are responsible for the red continuum slope. This fine fraction of metal particles is produced primarily by reduction of Fe(+2) from silicates. One mechanism for the reduction process is the reaction of solar implanted wind protons with the regolith soil during impact events. In this case the presence of hydrogen creates a reducing environment and the thermal pulse from the impact greatly speeds the reaction kinetics. To explore other reducing and thermal environments a series of experiments were done using samples in evacuated capsules buffered by Tantalum and heated to subsolidus temperatures.
This device takes advantage of the centrifugal forces that are generated when a coring bit is rotated, and a granular sample is entered into the bit while it is spinning, making it adhere to the internal wall of the bit, where it compacts itself into the wall of the bit. The bit can be specially designed to increase the effectiveness of regolith capturing while turning and penetrating the subsurface. The bit teeth can be oriented such that they direct the regolith toward the bit axis during the rotation of the bit. The bit can be designed with an internal flute that directs the regolith upward inside the bit. The use of both the teeth and flute can be implemented in the same bit. The bit can also be designed with an internal spiral into which the various particles wedge. In another implementation, the bit can be designed to collect regolith primarily from a specific depth. For that implementation, the bit can be designed such that when turning one way, the teeth guide the regolith outward of the bit and when turning in the opposite direction, the teeth will guide the regolith inward into the bit internal section. This mechanism can be implemented with or without an internal flute. The device is based on the use of a spinning coring bit (hollow interior) as a means of retaining granular sample, and the acquisition is done by inserting the bit into the subsurface of a regolith, soil, or powder. To demonstrate the concept, a commercial drill and a coring bit were used. The bit was turned and inserted into the soil that was contained in a bucket. While spinning the bit (at speeds of 600 to 700 RPM), the drill was lifted and the soil was retained inside the bit. To prove this point, the drill was turned horizontally, and the acquired soil was still inside the bit. The basic theory behind the process of retaining unconsolidated mass that can be acquired by the centrifugal forces of the bit is determined by noting that in order to stay inside the interior of the bit, the frictional force must be greater than the weight of the sample. The bit can be designed with an internal sleeve to serve as a container for granular samples. This tube-shaped component can be extracted upon completion of the sampling, and the bottom can be capped by placing the bit onto a corklike component. Then, upon removal of the internal tube, the top section can be sealed. The novel features of this device are: center dot A mechanism of acquiring and retaining granular samples using a coring bit without a closed door. center dot An acquisition bit that has internal structure such as a waffle pattern for compartmentalizing or helical internal flute to propel the sample inside the bit and help in acquiring and retaining granular samples. center dot A bit with an internal spiral into which the various particles wedge. center dot A design that provides a method of testing frictional properties of the granular samples and potentially segregating particles based on size and density. A controlled acceleration or deceleration may be used to drop the least-frictional particles or to eventually shear the unconsolidated material near the bit center.
The exposure of a typical complex lunar breccia to hydrogen after a through outgassing produces a fully reduced surface state. Subsequent outgassing over a wide temperature range results in the production of water vapor formed from the chemisorbed hydrogen and oxygen from the lunar sample; the proposed mechanism has been confirmed in terms of the chemisorption of deuterium and the release of heavy water. Since the conditions of the experiments are consistent with those on the lunar surface, it is postulated that water vapor will be produced on the moon through the interaction of the solar wind with lunar soil. It is also proposed that such a process could play an important role in the early history of many planets where an oxygen-rich soil is exposed to a reducing atmosphere.
Four space projects' activities are summarized. Design work on the Mars Penetrator Project, in cooperation with the NASA Ames Research Center, is being continued. Efforts are focused on the drilling mechanism which must penetrate the martian subsurface soil to collect and retrieve an uncontaminated sample. The new design consists of a rotary-percussive drill mechanism. This mechanism is optimum for dry drilling, necessary to avoid contamination of the soil sample, in many different soil types. The need for a small, relatively inexpensive device to study the chemical structure of this martian soil was also established. The egg design was chosen for its low cost compared to other systems and potential for a large number of eggs to be deployed on the martian surface. The design process included analysis of the dynamics of reentry, dissipation of heat during reentry, impact with the surface, access to undisturbed soil samples, and ability to gather samples from the soil at three depths. The egg consists of the reentry systems, soil probe lifting system, soil probe package, gas chromatograph, transmitter, and battery power supply. The egg must function only once, but is designed to withstand one martian year. The Mars Mole is designed as a rover-based device which penetrates the martian soil to a depth of up to 10 m, obtains a sample of soil, and returns it to the surface for analysis. The mole was designed to meet the following specifications: (1) weight less than 10 kg; (2) size less than 20 x 20 x 30 cm; (3) power less than 100 W; (4) ability to obtain a sample of at least 5 cc; (5) ability to penetrate fine, loose sand; and (6) need to obtain at least one sample. The space station umbilical connector project is a device which provides the translational motion of the connectors on the Space Station Freedom to allow engagement for power and data transfer. The design is capable of delivering a 20 lb force within the necessary tolerances and will operate reliably in the space environment.