Johnson, Kyle A. | Engineering Papers

NASA NTRS2016

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

A novel concept for extraction of water from the Mars soil in a real-time, open-air process was demonstrated in a Mars environment chamber. The concept breadboard uses radiative heating to bake off water from exposed soil contained in a bin. An enclosure, intended to mimic the bottom of a rover, covers the bin. A fan continuously blows the Mars atmospheric gases through the enclosure to collect the evolved water while a tiller was used to churn up moist subsurface soil. These initial tests verified concept feasibility. The sweep gas generated by commercially available muffin fans at 7 Torr was sufficient to transfer water vapor into a condenser flow loop. The radiative heating, while non-optimized, heated the soil surface to 60 C to generate water vapor. A rototiller working through the soil bin brought sufficient amounts of new moist soil to the heated surface to show an increase in rate of water extraction.

Mars Exploration↗

NASA NTRS2014

Push-Pull Locomotion for Vehicle Extrication

For applications in which unmanned vehicles must traverse unfamiliar terrain, there often exists the risk of vehicle entrapment. Typically, this risk can be reduced by using feedback from on-board sensors that assess the terrain. This work addressed the situations where a vehicle has already become immobilized or the desired route cannot be traversed using conventional rolling. Specifically, the focus was on using push-pull locomotion in high sinkage granular material. Push-pull locomotion is an alternative mode of travel that generates thrust through articulated motion, using vehicle components as anchors to push or pull against. It has been revealed through previous research that push-pull locomotion has the capacity for generating higher net traction forces than rolling, and a unique optical flow technique indicated that this is the result of a more efficient soil shearing method. It has now been found that pushpull locomotion results in less sinkage, lower travel reduction, and better power efficiency in high sinkage material as compared to rolling. Even when starting from an "entrapped" condition, push-pull locomotion was able to extricate the test vehicle. It is the authors' recommendation that push-pull locomotion be considered as a reliable back-up mode of travel for applications where terrain entrapment is a possibility.

extrication↗