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Performance and cost of fuel cells for off-road heavy-duty vehicles

Hydrogen fuel cell-powered off-road vehicles can replace hydrocarbon-powered off-road vehicles to reduce carbon dioxide and criteria pollutant emissions in the agriculture, construction, and mining industries. Vehicle manufacturers and customers recognize health and environmental benefits of emissions reductions but are ultimately compelled by the total cost of ownership of their vehicles. In this study, we conduct a technoeconomic evaluation for three hallmark off-road vehicles, tractors, wheel loaders, and excavators, comparing vehicles with hydrogen fuel cell + battery hybrid powertrains to traditional diesel powertrains. Stakeholder-valued performance metrics include fuel cell engine power, engine durability, hydrogen consumption rate, hydrogen storage system volume, and energy-regenerative drivetrain efficiency. The total cost of ownership includes capital, operating and maintenance, fuel, and fuel storage costs. State-of-the-art fuel cell powered wheel loaders and excavators are currently cost competitive with diesel platforms. If targeted improvements to cost, performance, and durability improvements of fuel cell stacks and storage systems are achieved, fuel cell systems would be cost competitive for tractors and significantly lower total cost of ownership options for wheel loaders and excavators.

33 ADVANCED PROPULSION SYSTEMS↗

Overview of NASA's Break the Ice Lunar Challenge

The goal of NASA’s Artemis program is to return to the Moon and put in place a sustainable infrastructure that will enable permanent presence on the Moon. In-Situ Resource Utilization (ISRU) is critical in making the permanent presence on the Moon possible. One of the most important of these resources is water. On the Moon, water is trapped in icy regolith at the lunar poles, including inside permanently dark and cold craters. Excavating icy regolith and extracting water from it needs development of technologies that can operate reliably in the extreme lunar environmental conditions. Prize competitions are a well-known way of accelerating the development of new technologies and have been successfully used throughout the history. NASA’s Centennial Challenges Program(CCP) has been developing and executing prize competitions for past 15 years. Several of these competitions resulted in breakthrough technologies for in-space and terrestrial applications. In 2019, NASA Space Technology Mission Directorate (STMD) tasked CCP to develop a challenge to address the technology gaps in the areas of Lunar Excavation, Manufacturing, and Construction. This paper provides the background, status and ongoing plans by CCP in developing “Break the Ice Lunar Challenge”. The challenge is scheduled to open for registration in late 2020. This challenge will enable the development of excavation technologies that can operate in the extreme conditions on the Moon.

centennial challenges↗

Interim Measure Report Revision 0: Un-Numbered Operational Areas PRL 229

This report documents the Interim Measure (IM) completed at Un-Numbered Operational Areas (UNOA) potential release location (PRL) 229, at Kennedy Space Center (KSC), Florida. This document has been prepared for the National Aeronautics and Space Administration (NASA), in accordance with HydroGeoLogic, Inc.’s (HGL) Contract 80KSC019D0012, Task Order 80KSC019F0224. The purpose of this IM report is to document the field results of the 2022 IM conducted between December 13, 2021, and February 11, 2022, and to present the recommendations based on the IM findings. IM activities were completed at the UNOA PRL 229 to remove railroad ties and benzo(a)pyrene equivalent (BAPE)/total recoverable petroleum hydrocarbons (TRPH)-affected soil in accordance with the IM Work Plan (IMWP) (Jacobs/CORE, 2019a). The objectives of the IM were to mitigate human health risks by reducing site contaminants to the residential soil cleanup target level (SCTL) based on the 95 percent upper confidence limit on the mean. A second objective was to reduce low molecular weight and high molecular weight polynuclear aromatic hydrocarbon (PAH) concentrations below ecological screening values for terrestrial receptors. Prior to excavation operations, railroad ties from all areas were consolidated. In total, 50.67 tons of railroad ties were transported from the site to JED Landfill in St. Cloud, Florida. The cumulative excavation footprint spanned an area of 9,710 square ft. In total, 908.54 tons of soil was transported from the site to JED Landfill. To backfill the excavation area, 880 cubic yards of clean fill was trucked to the site from S&LMaterials, Inc. borrow pit in Christmas, Florida. Following completion of backfill, the site restoration activities included grading the disturbed areas to match the existing elevations and vegetation planting by the site restoration subcontractor. The IM implementation activities were presented to the KSC Remediation Team during its meeting on May 3, 2022. The Remediation Team reached consensus on the completion of the IM reducing the area affected by BAPE/TRPH above the State of Florida residential soil cleanup target levels.

PAHs↗

LANDO: Developing Autonomous Payload Offloading Capabilities for Lunar Surface Operations

Introduction: The Lightweight Surface Manipulation System (LSMS) AutoNomy capabilities Development for surface Operations and construction (LANDO) project is an Early Career Initiative selected for funding by NASA Space Technology Mission Directorate. LANDO is developing a general-purpose autonomy framework applicable to serial and tension-actuated manipulation agents, that will be validated using an existing prototype of the LSMS-L35 (35-kg wrist lift capacity on the lunar surface [Fig. 1], sized for a Commercial Lunar Pay-load Services (CLPS) mission). The autonomous LSMS-L35 will be used to demonstrate autonomous payload handling capabilities for Lunar and other planetary surfaces, directly addressing STMD capability gaps in autonomous excavation and construction operations, advanced robotics and spacecraft autonomy technologies, and technologies supporting emerging space industries including the In-Space Servicing, Assembly and Manufacturing national strategy. LSMS: The LSMS is a tension actuated robotic agent that is scalable (reach and lifting capacity in different gravity environments), versatile (types of surface operations), and reusable. Compared to serial arms, the LSMS provides significantly higher structural efficiency and mechanical advantage, enabling a greater payload lift capacity at a lower system mass. The LSMS is envisioned to be a crucial part of the excavation and construction portfolio, capable of supporting a variety of activities on the lunar surface. Autonomous payload handling is one of the first activities the LSMS can support that develops capabilities that are extensible to other surface operations. Payload handling is required to: remove payloads from a lander; place payloads on mobile agents for transport from a lander to construction site/assembly point; emplace payloads in their operational configuration, and aggregate components to create an asset. As an example of this critical gap, manifested CLPS missions do not currently have a ubiquitous payload offloading capability; payloads (excluding rovers) are designed to remain on the lander. Why Autonomy? Autonomous robotic systems capable of carrying out excavation and construction operations are a fundamental and critical capability required for realizing the NASA Artemis program vision to “emplace and build the infrastructure, systems, and robotic missions that can enable a sustained lunar surface presence.” While teleoperation is still feasible for lunar surface operations, increased latency at Mars will require validated supervised autonomous technologies capable of operating with minimal human involvement (human-on-the-loop) unless an unexpected event occurs requiring human intervention. Autonomy reduces operator burden, allows operations to continue during uncrewed periods, in-creases the safety of operations by automatically detecting and handling faults, and allows operating in high latency environments. Development Activities: LANDO is extending critical autonomous operations to the manipulation domain and creating an integrated system, based on reusable software modules, that is capable of planning and executing payload handling and autonomous surface operations without requiring hu-man intervention beyond a supervisory role. The priority features under development are 1) autonomously offload payloads from a tilted lander deck without buckling the LSMS; 2) sensing whether a payload is safe to lift and handle; and 3) integrate with Astrobotic’s CLPS lander. The poster presentation will highlight current development activities over the past year on LSMS-L35 prototype hard-ware design, and autonomy software.

in-space assembly↗

Synthesis of results for Brine Availability Test in Salt (BATS) DECOVALEX-2023 Task E

In the 2023 phase of the international collaborative DECOVALEX modeling project, Task E focused on understanding thermal, hydrological, and mechanical (THM) processes related to predicting brine migration in the excavation damaged zone around a heated excavation in salt. Salt is attractive as a disposal medium for radioactive waste because it is self-healing and is essentially impermeable and non-porous in the far field. Investigation of the short-term, near-field behavior is important for radioactive waste disposal because this early period strongly controls the amount of inflowing brine. Brine leads to corrosion of waste forms and waste packages, and possible dissolution of radionuclides with brine transport being a potential transport vector to the accessible environment.The Task was divided into steps. Step 0 included matching unheated brine inflow data from boreholes at the Waste Isolation Pilot Plant (WIPP) and matching temperature observations during a Brine Availability Test in Salt (BATS) heater test. Step 1 included validation of models against a thermo-poroelastic analytical solution, and two-phase flow around an excavation. Finally, Step 2 required all the individual components covered in steps 0 and 1 to come together to match observed brine inflow behavior during the same BATS heater test.There were a range of approaches from the teams, from mechanistic to prescriptive. Given the uncertainties in the problem, some teams used one- or two-dimensional models of the processes, while other teams included more geometrical complexity in three-dimensional models. Task E was a learning experience for the teams involved, and feedback from the modeling teams has led to changes in follow-on BATS experiments at WIPP. The primary Task E lessons learned were the impact of hydrologic initialization methods (wetting up vs. drying down), the difference between confined and unconfined thermal expansion, and the large changes in permeability associated with heating and cooling.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Nondestructive geochemical characterization of fossil hominin taphonomy and burial history

To date, only three Homo habilis specimens have been discovered that have associated craniodental and postcranial elements, providing a limited fossil record of the ontogeny and morphology of early members of the genus Homo. Recently, a nearly complete dentition, likely attributable to H. habilis, was discovered and excavated from early Pleistocene-age fluvial-lacustrine sediments of the upper Burgi Member of the Koobi Fora Formation at site F25787 in Area 13, near Ileret, Kenya. On the surface less than 15 m away, at site F25966, postcranial elements were found, which, if from the same individual as the nearby dentition, would represent the fourth associated craniodental and postcranial assemblage of this species. We developed a geochemical taphonomic history of these ca. 2 Ma hominin fossils using nondestructive X-ray based microanalytical tools (synchrotron and benchtop X-ray fluorescence chemical imaging and micro- and nano-computed tomography volumetric reconstruction), bulk analyses of sediments and paleosols at the excavation sites, and sedimentologic and stratigraphic observations. We integrate the chemical and physical taphonomic histories to test whether teeth (excavated in situ) and postcranial bones (eroded onto the outcrop surface) derive from a single individual. Minor differences in taphonomic history are attributable to the different biomineral properties of the dental and osseous components and to differences in physical damage during early post-mortem scavenging, dispersal, and burial in adjacent depositional settings. Microscale geochemical mapping enabled the temporal ordination of chemical and physical events in the specimens’ chemical taphonomic histories. Specifically, authigenic Fe- and K-bearing clays and Y, U, and Sr uptake occurred in post-burial fractures in bones and were also incorporated pervasively throughout dentin in teeth. Barite mineralization occurred along the latest fractures in both materials, and as a coating on tooth roots. The stratigraphic, taphonomic, and geochemical evidence supports the interpretation that the hominin fossils represent a single individual. Finally, successful application of these nondestructive sample characterization methods demonstrates capabilities for thorough interrogation of the taphonomic histories of other potential hominin fossil associations, enabling more robust and accurate palaeontologic constraints using those relationships.

36 MATERIALS SCIENCE↗

Evidence for an Early Formation of Serenitatis Basin at 4.25 Ga Shifts Lunar Chronology

Troctolite sample 76535, collected in Serenitatis basin during Apollo 17, formed at least 50 km deep, experienced maximum shock pressures of 6 GPa, and has a 40 Ar/ 39 Ar excavation age of 4.25 Ga. Previous work attributed 76535 to the South Pole-Aitken (SPA) basin, presumably dating the SPA-impact and constraining lunar bombardment history. Here we use the iSALE-2D shock-physics code and gravity inversion modeling to determine if instead the Serenitatis impact event excavated 76535. We find nearly 140,000 km 3 of material (∼2% of near-surface ejecta) matching the depth and pressure constraints of 76535 is displaced to the surface during crater collapse of a Serenitatis-like impact event. We conclude that the Serenitatis impact event possibly excavated 76535, redefining its age to 4.25 Ga, 300 My older than the consensus age based on Apollo 17 samples. This finding would provide an important anchor point where lunar chronology where bombardment flux is especially uncertain.

Bjonnes, Evan [Lawrence Livermore National Laborat↗

Hybrid Hydraulic-Electric Architecture (HHEA) for Mobile Machines (Final Report)

Traditionally, off-road mobile machines such as excavators and wheel loaders are primarily powered by hydraulics, and throttling valves are used to control their work circuits. In recent years, two general trends are towards more energy efficient systems and electrification. With electrification, both efficiency and control performance can be improved by the elimination of throttling losses and the use of high-bandwidth inverter control. Electrification is generally accomplished with Electro-hydraulic actuators (EHA) but they are limited to lower powered systems due to the high cost of electric machines capable of high power or high torque. This project proposes a new system architecture for off-road vehicles - Hybrid Hydraulic Electric Architecture (HHEA) to improve efficiency and control performance without requiring large electric machines. The widely applicable architecture combines hydraulic power and electric power in such a way that the majority of power is provided hydraulically while electric drives are used to modulate this power. In particular, HHEA utilizes multiple common pressure rails to transmit the majority of power and small electric machines to modulate the power. The energy-saving potential of the the HHEA has been validated for the work circuits of a variety of mobile machines, from small 5-ton excavators to medium sized 20-ton excavators and wheel loaders, and representative duty cycles to reduce energy input by 50-80% compared to the commercial state-of-art load-sensing systems. In addition, the corner power requirements of the electrical machines can be downsized by 85% compared to the EHA approach. Various tradeoff studies have also been conducted, including sensitivities to individual components performances, controllers, accumulator sizes, and variations of the system architecture etc. A control strategy has been developed to maintain or exceed the motion control precision compared to current systems. The motion control strategy consists of a nominal controller, based on a passivity-based backstepping design, and a transition controller, based on least-norn feedforward design. The nominal controller is used in between common pressure rail switches whereas the transition controller compensates for any disturbance that common pressure rail switchings inflict on the system. The control strategy has been experimentally validated on both a medium pressure (200bar) hardware-in-the-loop (HIL) testbed and a high pressure (300+bar) HIL testbed. An efficient and power-dense integrated electric-hydraulic machine consisting of an axial flux electric machine and a radial hydrostatic piston hydraulic machine has been designed, constructed and tested. The machine has an active material power density of 6.1kW/kg, a rated speed of 12500 RPM, and a design efficiency of 85%. This is among the highest power density electric machines using conventional materials. While the integrated machine was designed for modulating the hydraulic power within the HHEA, it can also be used in other applications.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Formation of lunar basin rings

The outer rings of impact basins are interpreted as the bounding rings of the excavated basin cavities analogous to Copernicus-type crater rim crests. It is suggested that the inner rings are strata from depth uplifted during excavation of the transient cavity. Spacing relations and morphology appear to indicate a transition from central peaks to rings but not from terraces to rings. Evidence related to terrestrial craters with rings or peaks produced by meteorite impacts suggests that one or more crater rims may form inside the main, outer crater rim, resulting in nested craters. There is some evidence that peaks grade into inner rings as material is ejected from their cores in progressively larger impacts. Multiply layered materials may produce multiple rings by differential excavation of the layers.

Hodges, C. A.↗

A comparative Rb-Sr, Sm-Nd, and K-Ar study of shocked norite 78236 - Evidence of slow cooling in the lunar crust

The sample 78236 was chipped from the top of a norite boulder at Station 8 by the Apollo 17 landing team. Jackson et al. (1975) concluded that this rock formed at a depth of 8-30 km in the lunar crust and suggested that it was excavated by a large basin-forming impact event. A petrographic description of the boulder is provided, and isotopic analyses are discussed. Attention is given to a chronology for 78236 which seems to be most consistent with radiometric and other evidence. It is proposed that cumulate norite 78236 formed deep in the lunar crust approximately 4.4 AE ago. The rock cooled slowly in the crust until it was excavated by a major basin-forming event. Excavation may have occurred about 4.2 AE ago, but the time of this event is not well constrained.

Nyquist, L. E.↗

Z-model analysis of impact cratering - An overview

The Maxwell Z-Model has been applied to two continuum mechanics computer calculations: (1) a laboratory-scale impact of an aluminum projectile into plasticene clay, and (2) a planetary-scale impact of an iron meteor into gabbroic anorthosite. The material flow in the cratering flow field may be well approximated by incompressible flow for most of the excavation stage of crater growth. The center of the flow field is located beneath, not at, the surface. Soon after energy partitioning is complete, Z can assume values less than 2.0 associated with the initial directedness of the projectile's momentum. The Z-Model parameters are time dependent during a significant portion of the crater growth time, and Z increases steadily with time from about 2.0 or slightly less at the beginning of the excavation stage to level off at values in the neighborhood of about 3.0 before the excavation stage is half-over.

Austin, M. G.↗

Proposal for a lunar tunnel-boring machine

A need exists for obtaining a safe and habitable lunar base that is free from the hazards of radiation, temperature gradient, and micrometeorites. A device for excavating lunar material and simultaneously generating living space in the subselenian environment was studied at the conceptual level. Preliminary examinations indicate that a device using a mechanical head to shear its way through the lunar material while creating a rigid ceramic-like lining meets design constraints using existing technology. The Lunar Tunneler is totally automated and guided by a laser communication system. There exists the potential for the excavated lunar material to be used in conjunction with a surface mining process for the purpose of the extraction of oxygen and other elements. Experiments into lunar material excavation and further research into the concept of a mechanical Lunar Tunneler are suggested.

Allen, Christopher S.↗

Evaluation of geophysical properties of the lunar regolith for the design of precursor scientific missions for the space exploration initiative

The following topics are addressed: (1) the frequency of encountering boulders that represent hazards to lunar operations; (2) the ease of lunar soil excavation; (3) the use of explosives in excavation operation; (4) the trafficability of the regolith; (5) problems encountered in mining (probably strip mining) of the regolith; (6) the stable angle(s) of repose in excavation of the regolith; (7) the layering to be encountered in the subsurface; (8) knowledge of the regolith site and the possibility of its general application to any site on the lunar surface; (9) the data needed to characterize a site for a lunar base; (10) the influence of regolith properties on the design of geophysical experiments from the lunar base; and (11) terrestrial analogues for the geophysical properties of the lunar regolith.

Morgan, Paul↗

Use of ground-penetrating radar techniques in archaeological investigations

Ground-penetrating radar (GPR) techniques are increasingly being used to aid reconnaissance and pre-excavation surveys at many archaeological sites. As a 'remote sensing' tool, GPR provides a high resolution graphic profile of the subsurface. Radar profiles are used to detect, identify, and locate buried artifacts. Ground-penetrating radar provides a rapid, cost effective, and nondestructive method for identification and location analyses. The GPR can be used to facilitate excavation strategies, provide greater areal coverage per unit time and cost, minimize the number of unsuccessful exploratory excavations, and reduce unnecessary or unproductive expenditures of time and effort.

Doolittle, James A.↗

Provenance of mineral phases in the Cretaceous-Tertiary boundary sediments exposed on the southern peninsula of Haiti

Acid-insoluble mineral residua of tektite-bearing Cretaceous-Tertiary boundary sediments in the Beloc Formation of Haiti contain abundant shocked quartz and lesser amounts of shocked plagioclase. The shocked quartz grains typically have 2 or 3 sets of planar deformation features, although grains with up to 15 sets were observed. The proportion of shocked quartz in the boundary sediments increases with stratigraphic height; at least 70 +/- 11% of the proportion of the quartz grains are shocked in the uppermost stratigraphic interval. The proportion of shocked quartz throughout the boundary sediments indicates that these grains were excavated primarily from crystalline silicate units, which may have been covered with a small amount of porous quartz-bearing sediments. Polyhedral and moderately sutured margins in shocked polycrystalline quartz grains, the size of the crystal units in these grains and the presence of shocked plagioclase, indicate these ejecta components were excavated from a target with continental affinites, containing quartzites or metaquartzites and a sialic metamorphic and/or igneous component. Other evidence suggests the target may also have contained a significant amount of calcium carbonate and/or sulfate. The large size and amount of shocked quartz grains deposited in Haiti indicate the crater from which they were excavated was produced in the proto-Caribbean region.

Kring, David A.↗

Compaction as the Origin of the Unusual Craters on the Asteroid Mathilde

Asteroid Mathilde has been pummeled by at least five giant impacts (Figure 1). Previous experience with cratering suggests Mathilde's giant craters should each be surrounded by kilometer-deep blankets of ejecta, i.e. material excavated during the impact events. Curiously, there appears to be very little ejecta around Mathilde's craters; they show no evidence of filling by ejecta from adjacent large craters. A previous explanation for the missing ejecta, based on computer simulations, is that Mathilde's unusually high porosity (50 +/- 20%) confines the deposited impact kinetic energy to a localized volume, and produces excavation velocities so high (greater than approximately 20m/s) that nearly all ejecta escape Mathilde's gravitational field. Here we report on laboratory experiments in a highly porous material that give a different explanation. The crater is formed primarily by compaction, not excavation. The small amount of material that is lofted has velocities and ranges so small that nearly all of it is re-deposited within the crater bowl, thereby sparing neighboring craters from ejecta in-filling. This peculiar style of cratering implies that highly porous asteroids are minor contributors of meteorites, because essentially no ejecta escape these asteroids.

Housen, Kevin R.↗

Thorium Enrichment within the Procellarum KREEP Terrane: The Record in Surface Deposits and Significance for Thermal Evolution

The nearside-farside structural and compositional asymmetry of the Moon was recognized during the early days of Apollo and the suggestion was made that the migration of mantle melts to the nearside would have been favored by early Earth-Moon orbital dynamics and nonuniform planetesimal bombardment. Recent global geochemical mapping by Lunar Prospector has provided additional data, particularly in the Th distribution, that strongly supports the notion of global, preferential melt migration, which led in part to the development of the Procellarum KREEP Terrane (PKT) [2-5]. The surface distribution of Th was then reshaped by basin-forming impacts into the PKT, especially the Imbrium impact, which was the last and largest to strike in that region. The Imbrium event probably excavated material from a partially molten zone deep in the crust and delivered Th-rich ejecta Moon-wide. A fundamentally important but poorly understood aspect of the global Th distribution is the concentration of Th in the subsurface rocks of the PKT crustal section. For example, depending on what assumptions are made, the PKT crustal section, which is about 12% of the crust and only about 1.2% of the whole Moon, may contain as much as 40% of the Moon's entire Th budget. Such a distribution of Th and related heat-producing elements would have had a profound effect on melting, mixing, and the thermal evolution of the PKT and the underlying mantle. In this abstract, we examine the compositions of terra formations within the PKT and relate them to some of the Th-bearing rock types known from the Apollo samples. It appears that the existence of the PKT may be a unifying concept for a number of petrologic and geochemical observations. From the initial Lunar Prospector gamma-ray spectrometer data(-about 5 deg. resolution) and from the preliminary low-orbit data, there appears to be a number of relatively hotter "spots" within the PKT in terms of Th concentration. Some of the hotter spots correspond to intermediate-sized craters that penetrated volcanic flows and excavated Th-rich, submare material, such as Aristarchus, Aristillus, and Kepler. Other spots, however, correspond to surficial formations that constitute mainly rough topography associated with Imbrium ejecta or circum-Imbrium ring mountains and do not necessarily imply the presence of exposed KREEP basalts. The Fra Mauro Formation south of Copernicus toward the Apollo 14 site and regions of the Alpes Formation southwest of Copernicus in the vicinity of Reinhold lie within the most prominent hotspot; here them concentration is consistent with that found in the Apollo 14 soils (about 12-13 ppm) when the proportions of Fra Mauro Formation and mare basalt are considered. The area between Copernicus and Kepler and northwest of Copernicus in terra extending to the Carpathians is similarly enriched in Th. The Apennines from Eratosthenes toward the Apollo 15 site contain elevated Th concentrations, as does the northwestern quadrant of circum-Imbrium terra, especially between (but not including) La Condamine and Plato, and in the region northwest of the Jura mountains extending southward past Mairan to the Gruithuisen-Domes region. Within the main topographic rim of Imbrium, the Apennine Bench formation south of Archimedes appears to have relatively elevated Th concentration. Comparing the map of Th distribution to a digital-elevation map derived from Clementine altimetry, it appears that most of the areas richest in Th occur where the surface is elevated relative to the majority of PKT volcanic plains. Not all rough topography within the PKT has such elevated Th, however. Based on an analysis of the 5 deg. data, and using the calibration of, the mean Th concentrations for mainly volcanic-resurfaced terrain and rugged terrain are similar (about 5.5 ppm). This occurs in part because craters that penetrated mare basalt excavated Th-rich material. Even so, there appear to be extensive areas of volcanic resurfacing that have no obvious extrinsic source of Th-rich material, suggesting that the basalts, themselves, may contain as much as 5-6 ppm Th. High-FeO concentrations (18 to >20 wt%) indicate that these are not KREEP basalts but mare basalts. If so, this is surprising because most of the Apollo-sampled mare basalts have very low-Th (typically <2 ppm). A variety of Th-rich materials occur in the sample collection, particularly in the samples from the Apollo 12,14, and 15 sites. The most abundant Th-rich rock types are the mafic impact-melt breccias, which although found at all sites, are most abundant at Apollo 14, where they dominate the rock samples and make up some 40% of the rock particles in the soil. These have Th concentrations ranging up to about 30 ppm and averaging about 18 ppm. The Apollo 14 soils contain about 13 ppm Th, reflecting the high abundance of this melt-breccia component. At the nearby Apollo 12 site, the rocks consist mainly of mare basalts, and these have low-Th concentrations, mostly <1 ppm. Among the nonmare rocks, however, a few such as complex breccia 12013 contain a variety of evolved lithologies and represent potential sources of Th-rich components ranging from 17 to 50 ppm. A single fragment of KREEP basalt from the Apollo 12 soil contains about 50 ppm Th. Despite the identification of highly Th-enriched lithologic components at the Apollo 12 site, the soils there vary linearly in composition so as to extrapolate to a moderate Th KREEP-basalt component or a composition like that of the Fra Mauro formation as reflected by Apollo 14 soil (14 ppm Th at 10 wt% FeO). The nearby Lansberg Crater (39-km diameter) is a likely candidate to have delivered submare material such as buried Fra Mauro or Alpes material to the Apollo 12 site. Additional information contained in the original.

Jolliff, B. L.↗

Mars Exploration Rovers as Virtual Instruments for Determination of Terrain Roughness and Physical Properties

The two 2003 Mars Exploration Rovers (MERs), in combination with the Athena Payload, will be used as virtual instrument systems to infer terrain properties during traverses, in addition to using the rover wheels to excavate trenches, exposing subsurface materials for remote and in-situ observations. The MERs are being modeled using finite element-based rover system transfer functions that utilize the distribution of masses associated with the vehicle, together with suspension and wheel dynamics, to infer surface roughness and mechanical properties from traverse time series data containing vehicle yaw, pitch, roll, encoder counts, and motor currents. These analyses will be supplemented with imaging and other Athena Payload measurements. The approach is being validated using Sojourner data, the FIDO rover, and experiments with MER testbed vehicles. In addition to conducting traverse science and associated analyses, trenches will be excavated by the MERs to depths of approximately 10-20 cm by locking all but one of the front wheels and rotating that wheel backwards so that the excavated material is piled up on the side of the trench away from the vehicle. Soil cohesion and angle of internal friction will be determined from the trench telemetry data. Emission spectroscopy and in-situ observations will be made using the Athena payload before and after imaging. Trenching and observational protocols have been developed using Sojourner results; data from the FIDO rover, including trenches dug into sand, mud cracks, and weakly indurated bedrock; and experiments with MER testbed rovers. Particular attention will be focused on Mini-TES measurements designed to determine the abundance and state of subsurface water (e.g. hydrated, in zeolites, residual pore ice?) predicted to be present from Odyssey GRS/NS/HEND data.

R E Arvidson↗