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At least 19 records

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↗

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↗

Cybersonics: Tapping into Technology

With the assistance of Small Business Innovation Research (SBIR) funding from NASA's Jet Propulsion Laboratory, Cybersonics, Inc., developed an ultrasonic drill with applications ranging from the medical industry to space exploration. The drill, which has the ability to take a core sample of the hardest granite or perform the most delicate diagnostic medical procedure, is a lightweight, ultrasonic device made to fit in the palm of the hand. Piezoelectric actuators, which have only two moving parts and no gears or motors, drive the components of the device, enabling it to operate in a wide range of temperatures. The most remarkable aspect of the drill is its ability to penetrate even the hardest rock with minimal force application. The ultrasonic device requires 20 to 30 times less force than standard rotating drills, allowing it to be safely guided by hand during operation. Also, the drill is operable at a level as low as three watts of power, where conventional drills require more than three times this level. Potential future applications for the ultrasonic drill include rock and soil sampling, medical procedures that involve core sampling or probing, landmine detection, building and construction, and space exploration. Cybersonics, Inc. developed an ultrasonic drill with applications ranging from the medical industry to space exploration.

Source record↗

Gear drive automatically indexes rotary table

Combination indexer and drive unit drills equally spaced circular hole patterns on rotary tables. It automatically rotates the table a distance exactly equal to one hole spacing for each revolution of a special idler gear.

Johns, M. F.↗

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↗

Cryopumping Field Joint Can Testing

For long installations, vacuum jacketed piping often comes in 40 foot sections that are butt welded together in the field. A short can is then welded over the bare pipe connection to allow for insulation to be protected from the environment. Traditionally, the field joint is insulated with multilayer insulation and a vacuum is pulled on the can to minimize heat leak through the bare section and prevent frost from forming on the pipe section. The vacuum jacketed lines for the Ares I mobile launch platform were to be a combined 2000 feet long, with 60+ pipe sections and field joint cans. Historically, Kennedy Space Center has drilled a hole in the long sections to create a common vacuum with the field joint can to minimize maintenance on the vacuum jacketed piping. However, this effort looked at ways to use a passive system that didn't require a vacuum, but may cryopump to create its own vacuum. Various forms of aerogel, multilayer insulations, and combinations thereof were tested to determine the best method of insulating the field joint while minimizing maintenance and thermal losses.

Johnson, Wesley L.↗

Self-propelled instrumented deep drilling system

An autonomous subsurface drilling device has spaced-apart forward and rearward feet sections coupled to an axial thruster mechanism between them to operate using an inchworm method of mobility. In one embodiment, forward and rearward drill sections are carried on forward and rearward feet sections for drilling into material in the borehole in both forward and rearward directions, to allow the device to maneuver in any direction underground. In another embodiment, a front drill section has a drill head for cutting into the borehole and conveying cuttings through a center spine tube to an on-board depository for the cuttings. The feet sections of the device employ a foot scroll drive unit to provide radial thrust and synchronous motion to the feet for gripping the borehole wall. The axial thrust mechanism has a tandem set of thrusters in which the second thruster is used to provide the thrust needed for drilling, but not walking. A steering mechanism composed of concentric inner and outer eccentric rings provided with the rearward feet section allow small corrections in both direction and magnitude to the drilling direction as drilling commences.

Myrick, Thomas M.↗

Self-Advancing Step-Tap Drills

Self-advancing tool bits that are hybrids of drills and stepped taps make it possible to form threaded holes wider than about 1/2 in. (about 13 mm) without applying any more axial force than is necessary for forming narrower pilot holes. These self-advancing stepped-tap drills were invented for use by space-suited astronauts performing repairs on reinforced carbon/carbon space-shuttle leading edges during space walks, in which the ability to apply axial drilling forces is severely limited. Self-advancing stepped-tap drills could also be used on Earth for making wide holes without applying large axial forces. A self-advancing stepped-tap drill (see figure) includes several sections having progressively larger diameters, typically in increments between 0.030 and 0.060 in. (between about 0.8 and about 1.5 mm). The tip section, which is the narrowest, is a pilot drill bit that typically has a diameter between 1/8 and 3/16 in. (between about 3.2 and about 4.8 mm). The length of the pilot-drill section is chosen, according to the thickness of the object to be drilled and tapped, so that the pilot hole is completed before engagement of the first tap section. Provided that the cutting-edge geometry of the drill bit is optimized for the material to be drilled, only a relatively small axial force [typically of the order of a few pounds (of the order of 10 newtons)] must be applied during drilling of the pilot hole. Once the first tap section engages the pilot hole, it is no longer necessary for the drill operator to apply axial force: the thread engagement between the tap and the workpiece provides the axial force to advance the tool bit. Like the pilot-drill section, each tap section must be long enough to complete its hole before engagement of the next, slightly wider tap section. The precise values of the increments in diameter, the thread pitch, the rake angle of the tap cutting edge, and other geometric parameters of the tap sections must be chosen, in consideration of the workpiece material and thickness, to prevent stripping of threads during the drilling/tapping operation. A stop-lip or shoulder at the shank end of the widest tap section prevents further passage of the tool bit through the hole.

Pettit, Donald R.↗

Vectorization of a penalty function algorithm for well scheduling

In petroleum engineering, the oil production profiles of a reservoir can be simulated by using a finite gridded model. This profile is affected by the number and choice of wells which in turn is a result of various production limits and constraints including, for example, the economic minimum well spacing, the number of drilling rigs available and the time required to drill and complete a well. After a well is available it may be shut in because of excessive water or gas productions. In order to optimize the field performance a penalty function algorithm was developed for scheduling wells. For an example with some 343 wells and 15 different constraints, the scheduling routine vectorized for the CYBER 205 averaged 560 times faster performance than the scalar version.

Absar, I.↗

Reverse laser drilling

This invention provides a method for laser drilling small diameter, closely-spaced, and accurately located holes in a body of material which is transparent or substantially transparent to the laser radiation employed whereby the holes are drilled through the thickness of the body from the surface opposite to that on which the laser beam impinges to the surface of laser beam impingement.

Anthony, Thomas R.↗

Red Dragon Drill Missions to Mars

We present the concept of using a variant of a Space Exploration Technologies Corporation (SpaceX) Dragon space capsule as a low-cost, large-capacity, near-term, Mars lander (dubbed "Red Dragon") for scientific and human precursor missions. SpaceX initially designed the Dragon capsule for flight near Earth, and Dragon has successfully flown many times to low-Earth orbit (LEO) and successfully returned the Dragon spacecraft to Earth. Here we present capsule hardware modifications that are required to enable flight to Mars and operations on the martian surface. We discuss the use of the Dragon system to support NASA Discovery class missions to Mars and focus in particular on Dragon's applications for drilling missions. We find that a Red Dragon platform is well suited for missions capable of drilling deeper on Mars (at least 2 m) than has been accomplished to date due to its ability to land in a powered controlled mode, accommodate a long drill string, and provide payload space for sample processing and analysis. We show that a Red Dragon drill lander could conduct surface missions at three possible targets including the ice-cemented ground at the Phoenix landing site (68degN), the subsurface ice discovered near the Viking 2 (49degN) site by fresh impact craters, and the dark sedimentary subsurface material at the Curiosity site (4.5degS).

Drill↗

Side hole drilling in boreholes

Apparatus for use in a borehole or other restricted space to bore a side hole into the strata surrounding the borehole, including a flexible shaft with a drill at its end, and two trains of sheathing members that can be progressively locked together into a rigid structure around the flexible shaft as it is directed sidewardly into the strata.

Collins, Jr., Earl R.↗

Space Resources Roundtable 2

Contents include following: Developing Technologies for Space Resource Utilization - Concept for a Planetary Engineering Research Institute. Results of a Conceptual Systems Analysis of Systems for 200 m Deep Sampling of the Martian Subsurface. The Role of Near-Earth Asteroids in Long-Term Platinum Supply. Core Drilling for Extra-Terrestrial Mining. Recommendations by the "LSP and Manufacturing" Group to the NSF-NASA Workshop on Autonomous Construction and Manufacturing for Space Electrical Power Systems. Plasma Processing of Lunar and Planetary Materials. Percussive Force Magnitude in Permafrost. Summary of the Issues Regarding the Martian Subsurface Explorer. A Costing Strategy for Manufacturing in Orbit Using Extraterrestrial Resources. Mine Planning for Asteroid Orebodies. Organic-based Dissolution of Silicates: A New Approach to Element Extraction from LunarRegohth. Historic Frontier Processes Active in Future Space-based Mineral Extraction. The Near-Earth Space Surveillance (NIESS) Mission: Discovery, Tracking, and Characterization of Asteroids, Comets, and Artificial Satellites with a microsatellite. Privatized Space Resource Property Ownership. The Fabrication of Silicon Solar Cells on the Moon Using In-Situ Resources. A New Strategy for Exploration Technology Development: The Human Exploration and Development of Space (HEDS) Exploratiori/Commercialization Technology Initiative. Space Resources for Space Tourism. Recovery of Volatiles from the Moon and Associated Issues. Preliminary Analysis of a Small Robot for Martian Regolith Excavation. The Registration of Space-based Property. Continuous Processing with Mars Gases. Drilling and Logging in Space; An Oil-Well Perspective. LORPEX for Power Surges: Drilling, Rock Crushing. An End-To-End Near-Earth Asteroid Resource Exploitation Plan. An Engineering and Cost Model for Human Space Settlement Architectures: Focus on Space Hotels and Moon/Mars Exploration. The Development and Realization of a Silicon-60-based Economy in CisLunar Space. Our Lunar Destiny: Creating a Lunar Economy. Cost-Effective Approaches to Lunar Passenger Transportation. Lunar Mineral Resources: Extraction and Application. Space Resources Development - The Link Between Human Exploration and the Long-term Commercialization of Space. Toward a More Comprehensive Evaluation of Space Information. Development of Metal Casting Molds by Sol-Gel Technology Using Planetary Resources. A New Concept in Planetary Exploration: ISRU with Power Bursts. Bold Space Ventures Require Fervent Public Support. Hot-pressed Iron from Lunar Soil. The Lunar Dust Problem: A Possible Remedy. Considerations on Use of Lunar Regolith in Lunar Constructions. Experimental Study on Water Production by Hydrogen Reduction of Lunar Soil Simulant in a Fixed Bed Reactor.

Ignatiev, A.↗

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↗

Evidence for Partially Chloritized Smectite in Gale Crater, Mars, and Implications for Diagenesis

Phyllosilicates are an important mineral group found in ancient (~3.5-4.1 Gyr old) martian terrains because they are a marker of water-rock interactions and can help constrain aqueous conditions (e.g., pH, salinity, temperature) and, thus, identify habitable environments. Orbital visible/short-wave infrared (VSWIR) data demonstrate that smectite is the most abundant type of phyllosilicate on Mars, followed by chlorite [e.g., 1]. The geologic settings in which phyllosilicates are found provide important clues into their formation. Smectite has been identified in abundances of up to ~30 wt.% in early Hesperian-aged fluvial-lacustrine sedimentary rocks in Gale crater using the CheMin X-ray diffractometer on the Mars Science Laboratory Curiosity rover [e.g., 2-6]. CheMin XRD patterns and evolved water measured by the Sample Analysis at Mars (SAM) instrument suite show the structure of smectite changes from trioctahedral Fe(II)-bearing smectite at the base of the section to dioctahedral nontronite and montmorillonite ~400 m up section in the Glen Torridon valley where orbital VSWIR show evidence of Fe/Mg smectite. Most of the smectite identified by CheMin is collapsed (i.e., lacking substantial interlayer H2O) based on basal spacings at 10 Å. Fe(II) saponite found in two drill targets at the base of the section in Yellowknife Bay, however, suggest the smectite is expanded. The XRD pattern of the “Cumberland” drill target has a peak at 13.5 Å, whereas the “John Klein” drill target has a peak at 10 Å and a shoulder extending to higher d-spacings (Fig. 1) [2]. A possible explanation for this expanded structure is partial chloritization of the interlayer site caused by the precipitation of small domains of brucite-like sheets [e.g., 7,8]. Here, we synthesize smectite with different degrees of chloritization and analyze the products via XRD, evolved gas analysis (EGA), and VSWIR to determine whether chloritized smectite on Mars can be recognized with these techniques.

E B Rampe↗

Rare Earth Elements (REE) and Critical Minerals (CM) in Middle Pennsylvanian-Age Coals and Associated Sediments in the Central Appalachian Basin, Eastern U.S.A.

The Central Appalachian Basin (CAB) of Kentucky, Tennessee, West Virginia and Virginia has a long history of coal mining and oil and gas extraction that has empowered the regional and national economies, the development of infrastructure, and a highly trained energy resources work force. As our societal demands for advanced technologies have rapidly increased in recent years, coal-related materials are viewed as an important new unconventional domestic source of critical minerals (CM) that are required for telecommunications, aerospace and transportation industries, electronics, the transition to low-carbon emissions energy production, and many consumer products. Coal-related materials encompass coal, associated sediments, coal mining waste materials, produced waters, and ash residues from coal-fired power plants. An important objective of the Evolve Central Appalachia Project (Evolve CAPP), sponsored by the U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) is to assess the quantity and distribution of CM resources in the CAB region. The rare earth elements (REE) are considered highest priority, although other important CM such as niobium, gallium, and zirconium are known to occur in the Middle Pennsylvanian-age coals and sediments. Working with coal industry partners who provided access to drill cores, coal-related sediments and waste materials, over 600 samples have been collected for laboratory analysis, and over 730 materials have been scanned using portable x-ray fluorescence (pXRF) equipment. The application of pXRF provides the means for real-time semiquantitative analysis of CM content at very close spacings (typically 2-3 inch intervals) along drill core and in-situ channel samples that span the roof, coal seam, and floor rock. The comparison of pXRF geochemical data with laboratory results, geologic data, and downhole spectral gamma logs can provide high resolution input to lithologic and depositional models for future CM resource evaluations. The preliminary findings show that pXRF is capable of accurately measuring low concentrations of many of the CM with a high level of confidence (Ba, Cr, Ga, K, Nb, Rb, Sr, Th, Y), whereas for others (La, Ce, Co, Mn, Nd, Ni, Sc, Ti, V) the detection limits are very high or spectral interferences increase the uncertainty. Notably, the mean abundances of Y (34 ppm), La (86 ppm), Ga (40 ppm), and V (146 ppm) in coal underclays in the CAB region are up to 7X enriched compared with the overlying coal. These values also exceed the reported concentrations in published reference materials for upper continental crustal rocks (Rudnick and Gao, 2003), North American Shale Composite (Gromet et al., 1984), and North American coal (Finkelman, 1993). The pXRF data are in part verified by laboratory results that indicate the mean Y abundance (36 ppm) is highly correlated (R2 = 0.807) with total REE (ΣREE). The correlation is even higher (R2 = 0.957) with heavy REE (ΣHREE). Applying these correlations to the pXRF data for the coal underclays, the mean estimated values for ΣREE+Y and ΣHREE+Y are 270 ppm and 58 ppm, respectively. Although these average values are not considered high, the range of Y measured by pXRF in the coal underclays extended as high as 114 ppm, which would suggest ΣREE+Y equal to 847 ppm. The mean abundances of Zr (192 ppm) and Th (21 ppm) in coal underclays are also enriched compared with the overlying coal and these results likely reflect the presence of resistant detrital heavy minerals such as monazite, xenotime, and zircon in the underclay matrix. Several of the profiled coal seams and associated wall rocks contained thin volcanic ash layers up to 4-5 inches in thickness. The extent to which these ash fall layers provided a source for CM under the paleoenvironmental conditions that resulted in coal deposits in the CAB remains to be fully studied. Continuing investigations in the Evolve CAPP study area will include laboratory determinations of mineralogic and clay compositions, and evaluations of CM geochemical mobility in the coal and coal underclays.

Lassetter, Billy↗

Application of the Core Flight System to a Lunar Rover

Resource Prospector (RP) is a lunar mission sponsored by NASAs Advanced Exploration Systems (AES) division, that aims to study in-situ resource utilization (ISRU) feasibility and technologies on the surface of the moon. The RP missions lunar surface segment includes a rover equipped with with a suite of instruments specifically designed to measure and map volatiles both at the surface and in the subsurface. Of particular interest is the quantity and state of volatiles in permanently shadowed regions. To conduct the mission, ground system operators will remotely drive the rover, directing it to waypoints along the surface in order to achieve measurement objectives. At selected locations, an onboard drill will be deployed to collect material and obtain direct measurements of the subsurface constituents. RP is currently planned for launch in 2022. RP is managed at NASA Ames Research Center. The RP Rover is being designed and developed by NASA Johnson Space Center (JSC) in partnership with NASA Ames. NASA Kennedy Space Center (KSC) is responsible for the Honeybee drilling system and science payload.In order to better understand the technical challenges and demonstrate capability, in 2015 the RP project developed a rover testbed (known as RP15). In this mission in a year, a rover was designed, developed, and outfitted with science instruments and a drill. The rover was operated from a remote operations center, and operated in an outdoor lunar rock yard at Johnson space center. The study was a resounding success meeting all objectives. The RP Rover software architecture and development processes were based on the successful Lunar Atmosphere and Dust Environment Explorer spacecraft. This architecture is built on the Core Flight System software and an interface to MatlabSimulink auto-generated software components known as the Simulink Interface Layer (SIL). The application of this lunar satellite inspired framework worked well for the rover application, and is currently being planned for the mission. This presentation provides an overview of the architecture and processes, and describes some of the changes and challenges for the rover application.

CFS↗