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Design of a Controllable and Repeatable Material for Field Penetration Tests
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TRIDENT Drill Validation at Mars and Lunar Analog Field Sites
Drilling on Earth is typically a human-intensive activity. Drilling on other planets is further complicated by the lack of prior local field surveys of their target area, hence blindly drilling into uncertain target rocks. Field conditions on the Moon or Mars are also different than for shallow drilling on Earth: lower temperatures and pressures, less power available, low masses (hence less weight-on-bit). Given the cost of transport from Earth, no drilling muds or working fluids are likely to be available to carry away cuttings. And impact-gardened regolith and dust vary mechanically and texturally from most terrestrial soils. The Regolith and Ice Drill for Exploration of New Terrains (TRIDENT) is a rotary-percussive 1m-class drill from Honeybee Robotics. It is low-power (rotary and percussive actuators are 200 W each) and lightweight (<20 kg) with the maximum weight on bit limited to 200 N. TRIDENT has been manifested for the Volatiles Investigating Polar Exploration Rover (VIPER) and PRIME-1 lunar south pole missions in 2024, has previously been field tested at a hot, dry analog site in the Atacama Desert, and in lunar conditions in thermal vacuum chamber tests. TRIDENT was also part of the 2019 Icebreaker Mars Discovery proposal, as well as in the Mars Life Explorer concept. During ARADS tests, drill control and fault recovery automation software enabled hands-off operations of a rover-mounted TRIDENT drill. TRIDENT Drill Analog Site Validation: Past TRIDENT tests in thermal vacuum (TVAC) chambers targeted containers of manufactured lunar simulants with added volatiles. 2022 TRIDENT ambient testing at NASA Ames drilled into cemented lunar simulant materials. Low cuttings-permeability led to cuttings buildup, and drill choking and binding was observed. The Atacama analog site in ARADS had desiccated unconsolidated sediments that did not challenge the TRIDENT design. However, lunar polar regolith is expected to be diverse and heterogeneous with varying clast sizes, with abundant impactites and perhaps subsurface ice deposits. Neither the simulants nor Atacama testing had completely covered the TRIDENT-targeted field characteristics, motivating further analog tests prior to the planned lunar missions. To gain more insight into the behavior of the TRIDENT hardware in diverse impactites and subsurface ice, and to verify the software automation in that environment, in August 2023 TRIDENT was brought to Haughton Crater, a field analog site in the Canadian Arctic. In September 2023 the same drill was brought to the Bishop Tuff in southern California to verify whether drilling binding behaviors previously seen in lunar simulant testing would be observed in naturally occurring fine-grained massive layers. The ~22 Ma Haughton Crater impact structure is located at 75 ̊22’ N, 89 ̊41’ W, on northwestern Devon Island, Nunavut, Canada. Numerous deposits of pale-grey crater-fill polymictic impact-melt breccia are found within the crater with a typical thickness reaching ~125 m or greater and covering ~60 km -2 . An approximately 600m-thick permafrost layer is also present with ice typically found within 0.5-0.6m of the surface. The volcanic tableland north of Bishop, CA exposes densely welded tuff laid down during the eruption that created the Long Valley Caldera at approximately 0.76 Ma. Extensional faults and the Owens River gorge expose cross-sections across the plateau. The area is viewed as an analog site for Mars features believed to be of pyroclastic origin. Results: Haughton Crater.Drilling tests were conducted 8-13 August 2023 at a previously undisturbed area separated 5-10 m from past years’ Drill Hill test sites (75.4208, -089.7613). In six days, TRIDENT drilled 8 holes to nearly 1 m depth each, totaling 7.80 m. The active layer/ice boundary was at ~67 cm depth, with a total of approximately 2.4 m drilled into ice or ice-cemented impact breccia. During drilling, five drill fault states were observed and successfully recovered. Holes 23-1, 4 and 7 were drilled under manual control, using Honeybee’s Thorax user interface. Holes 23-5, 6, and 8 were drilled with the Ames IBexec automated drilling control software. TRIDENT was observed to have little difficulty in the thawed uncemented impact breccia above the active layer boundary, but required percussion to make slower headway in the ice-cemented breccia. In Hole 23-7 (Fig.1), drilling slowed down in a massive unit just above the active-layer boundary (perhaps a large rock extending into the ice-cementation?), with only 7cm progress made in 27 minutes of high auger torque and constant percussion, leading to a choking fault and then a binding fault. A similar pattern had been observed in TRIDENT Rio Tinto test data from 2017 [6] as well as in the 2022laboratory tests.Bishop Tuff.A team from NASA Ames and the US Geological Survey deployed the same TRIDENT drill to Bishop Sites 1B and 1C (37.4203, -118.4289; 37.4265, -118.4215) on 13-16 September 2023, on the Bishop Tuff plateau. A third drill site was used 17-18 September 2023(37.4598, -118.3667) in an abandoned pumice mine. Four holes (totaling 2.5m depth) were drilled into the fine-grained, meters-thick tuff units at Sites 1B and 1C, and a further two boreholes (totaling 1.98m depth) were made at the pumice site. Drill behavior in the tuff below 10 cm depth was similar to that seen at 65-74 cm depth in Haughton Hole 23-7 (Fig. 1) and that seen in the 2022 lab simulant drilling. Drill safety torque limits were exceeded multiple times resulting in drill stops downhole. These freezes then required external added torques (with a pipe wrench) to resume rotation, to unstick the drill for withdrawal. To prevent this choking and binding behavior we found that more-frequent cuttings removal was necessary, e.g., reducing the “drill bite” size from the nominal 10 cm to 2 cm per bite --bringing the auger up to the surface more frequently, as seen in Bishop Site 1C Hole 2 (Fig.2). This permitted slow progress without drill binding and without external interventions. Conversely, TRIDENT drilling in the more porous pumice target material showed no cuttings buildup issue, and single bites as large as 40 cm were demonstrated. Discussion: We observed that TRIDENT easily penetrated unconsolidated heterogeneous soils (both above the active layer boundary at Haughton and previously in the Atacama). Cemented or consolidated targets that were cuttings-permeable (icy impact breccia, pumice) required more energy applied and percussion. However, in non-cuttings-permeable targets (welded microporous tuff, cemented simulants, boulder) TRIDENT was observed to be prone to excessive cuttings accumulation leading to choking/binding faults and stalling. The wedge cutting bit, used by TRIDENT in field tests and in its flight versions, pulverizes the target rock and creates fine cuttings that ideally are transported up the auger spirals for removal. In porous, fractured or vesicular target materials (such as at the Bishop pumice site) a significant portion of the cuttings are pushed aside, but for non-fractured, microporous targets the cuttings remain in the borehole and accumulate. Rock powder is relatively incompressible as a working fluid at only 100-200N downward force (TRIDENT limits) and hence eventual drilling progress slows or stops. Our recommended strategy for improving TRIDENT cuttings removal in massive target units with low cuttings-permeability is to reduce TRIDENT bite sizes when encountering these units, from 10cm to as little as 1-2cm, to effectively bail the accumulating cuttings. This approach was demonstrated to reduce choking and allowed slow progress to continue in cuttings-impermeable microporous target units (viz. the Bishop tuff in our September 2023 tests or cemented simulants in 2022 ambient tests).
A Raman Spectroscopic Study of Samples from the May 2001 FIDO Test Site
Last May, a rover field test was conducted in the Mojave desert. This study shows what mineralogy a rover-deployed Raman spectrometer might have observed. Additional information is contained in the original extended abstract.
The Habitat Demonstration Unit Project Overview
This paper will describe an overview of the National Aeronautics and Space Administration (NASA) led multi-center Habitat Demonstration Unit (HDU) Project. The HDU project is a "technology-pull" project that integrates technologies and innovations from numerous NASA centers. This project will be used to investigate and validate surface architectures, operations concepts, and requirements definition of various habitation concepts. The first habitation configuration this project will build and test is the Pressurized Excursion Module (PEM). This habitat configuration - the PEM - is based on the Constellation Architecture Scenario 12.1 concept of a vertically oriented habitat module. The HDU project will be tested as part of the 2010 Desert Research and Technologies Simulations (D-RATS) test objectives. The purpose of this project is to develop, integrate, test, and evaluate a habitat configuration in the context of the mission architectures and surface operation concepts. A multi-center approach will be leveraged to build, integrate, and test the PEM through a shared collaborative effort of multiple NASA centers. The HDU project is part of the strategic plan from the Exploration Systems Mission Directorate (ESMD) Directorate Integration Office (DIO) and the Lunar Surface Systems Project Office (LSSPO) to test surface elements in a surface analog environment. The 2010 analog field test will include two Lunar Electric Rovers (LER) and the PEM among other surface demonstration elements. This paper will describe the overall objectives, its various habitat configurations, strategic plan, and technology integration as it pertains to the 2010 and 2011 field analog tests. To accomplish the development of the PEM from conception in June 2009 to rollout for operations in July 2010, the HDU project team is using a set of design standards to define the interfaces between the various systems of PEM and to the payloads, such as the Geology Lab, that those systems will support. Scheduled activities such as early fit-checks and the utilization of a habitat avionics test bed prior to equipment installation into PEM are planned to facilitate the integration process.
Reducing module soiling with scalable and robust photocatalytic coatings
The air-glass interface at the front of a photovoltaic (PV) module reflects approximately 4% of incident light, decreasing the potential power output of the module by the same amount. Today’s modules reduce this loss by adding a low-refractive-index (1.25-1.30) SiO2 coating to the sunward side of the module glass; this antireflection coating recovers approximately 3% of the 4% light that would otherwise be lost. While such antireflection coatings work very well on clean, new modules, they do not inhibit soiling—the accumulation of soilants such as dust, pollen, soot, or other foreign material—on the module glass, and soilants reflect and scatter incident light. An improved coating would serve provide not only an antireflection effect, but also an anti-soiling effect. The goal of this project was to develop such a coating and provide a path for it to be manufactured in the U.S. The project successfully designed and fabricated coatings that provided >3% transmittance gain compared to bare glass (matching the performance of commercial antireflection coatings) and displayed anti-soiling behavior in standard laboratory soiling effects. This was achieved by using a Swift Coat proprietary coating deposition technique, aerosol impact-driven assembly (AIDA), to control the porosity and thus refractive index of coatings of photocatalytic materials—such as TiO2—that would otherwise increase (instead of decrease) reflection. These combined antireflection/anti-soiling coatings passed PV industry standard module reliability tests as well as coating-specific abrasion tests, showing that they have the durability needed for decades in the field. Swift Coat scaled the AIDA hardware and deposition process to make mini-modules that were monitored for nearly two years during field tests administered by a third party, as well as demonstrated scaling to the widths of full-sized modules. The fielded mini-modules outperformed reference modules (with commercial antireflection coatings) in two locations, providing a 1% absolute average performance boost and larger increases during periods of heavier soiling. Swift Coat’s cost analysis indicated a coating manufacturing cost below the sales price of today’s antireflection coatings. More than five module manufacturers sampled and assessed the coatings, and three provided letters of support. The coating developed in this project increases the energy output of PV modules, thereby decreasing the cost per kilowatt-hour of solar energy generated. Cheaper solar electricity benefits the public by accelerating the transition to a stable, affordable, carbon-free energy economy. In addition, for select applications in which PV modules are highly visible—such as on residential rooftops—the coating provides an aesthetic benefit because it stays cleaner than today’s modules. Finally, Swift Coat and its prospective customers are U.S. companies, and successful commercialization of this technology will provide U.S. jobs and a secure solar supply chain.
NASA ETR Quiet Zone Probe Study
The NASA Langley Research Center’s Experimental Test Range is an indoor anechoic compact range far field test facility used to conduct antenna and electromagnetic radiation measurements. The Experimental Test Range was designed to simulate far field illumination in the facility test volume over a broad band of frequencies by collimating the RF energy from the 26 ft by 26 ft parabolic reflector. The quality of the antenna and radiation measurements are dependent on the uniformity of the far field plane wave generated by the compact range reflector. While this facility is going through several upgrades, this report describes an assessment of the far field plane wave conducted after resurfacing the primary reflector to improve performance and extend the range of frequencies for which this facility can operate. This assessment addresses far field uniformity probe data measured in the test volume across the facility operational frequency bands.
Data analysis study and performance evaluation of the scanning laser Doppler system
A simulation program which provided information on theoretically expected vortex spectra, evaluations of potential algorithms, and expected location accuracies for given scan patterns is presented. Field tests using an aircraft engine flow field and aircraft vortices during flyby tests were compared to the results of the simulation. From these studies, a vortex location algorithm was developed which provided vortex location for one or two vortices as a function of time. Results of this algorithm used on data from flyby tests were used to study vortex transport, to evaluate system performance, and to provide suggestions for real-time vortex location algorithms. The results of real-time analysis were compared to those which were expected based on theoretical considerations.
Nuclear Physics Made Very, Very Easy
The fundamental approach to nuclear physics was prepared to introduce basic reactor principles to various groups of non-nuclear technical personnel associated with NERVA Test Operations. NERVA Test Operations functions as the field test group for the Nuclear Rocket Engine Program. Nuclear Engine for Rocket Vehicle Application (NERVA) program is the combined efforts of Aerojet-General Corporation as prime contractor, and Westinghouse Astronuclear Laboratory as the major subcontractor, for the assembly and testing of nuclear rocket engines. Development of the NERVA Program is under the direction of the Space Nuclear Propulsion Office, a joint agency of the U. S. Atomic Energy Commission and the National Aeronautics and Space Administration. This report is being reprinted for use in the U. S. Atomic Energy Commission and National Aeronautics and Space Administration educational and technology utilization programs.
Conduct Research on the Effect of Very Strong Fields and of Magnetic Field Free Environments on Man and Animals Progress Report, 1 Nov. 1965 - 31 Jan. 1966
Delayed sea urchin egg mitosis by high magnetic field - testing methods for magnetic field-free environment
Review of sonic-boom simulation devices and techniques.
Research on aircraft-generated sonic booms has led to the development of special techniques to generate controlled sonic-boom-type disturbances without the complications and expense of supersonic flight operations. This paper contains brief descriptions of several of these techniques along with the significant hardware items involved and indicates the advantages and disadvantages of each in research applications. Included are wind tunnels, ballistic ranges, spark discharges, piston phones, shock tubes, high-speed valve systems, and shaped explosive charges. Specialized applications include sonic-boom generation and propagation studies and the responses of structures, terrain, people, and animals. Situations for which simulators are applicable are shown to include both small-scale and large-scale laboratory tests and full-scale field tests. Although no one approach to simulation is ideal, the various techniques available generally complement each other to provide desired capability for a broad range of sonic-boom studies.
Nuclear Physics Made Very, Very Easy
The fundamental approach to nuclear physics was prepared to introduce basic reactor principles to various groups of non-nuclear technical personnel associated with NERVA Test Operations. NERVA Test Operations functions as the field test group for the Nuclear Rocket Engine Program. Nuclear Engine for Rocket Vehicle Application (NERVA) program is the combined efforts of Aerojet-General Corporation as prime contractor, and Westinghouse Astronuclear Laboratory as the major subcontractor, for the assembly and testing of nuclear rocket engines. Development of the NERVA Program is under the direction of the Space Nuclear Propulsion Office, a joint agency of the U.S. Atomic Energy Commission and the National Aeronautics and Space Administration.
A recent Cleanroom success story: The Redwing project
Redwing is the largest completed Cleanroom software engineering project in IBM, both in terms of lines of code and project staffing. The product provides a decision-support facility that utilizes artificial intelligence (AI) technology for predicting and preventing complex operating problems in an MVS environment. The project used the Cleanroom process for development and realized a defect rate of 2.6 errors/KLOC, measured from first execution. This represents the total amount of errors that were found in testing and installation at three field test sites. Development productivity was 486 LOC/PM, which included all development labor expended in design specification through completion of incremental testing. In short, the Redwing team produced a complex systems software product with an extraordinarily low error rate, while maintaining high productivity. All of this was accomplished by a project team using Cleanroom for the first time. An 'introductory implementation' of Cleanroom was defined and used on Redwing. This paper describes the quality and productivity results, the Redwing project, and how Cleanroom was implemented.
Non-Noetherian symmetries for oscillators in classical mechanics and in field theory
Infinitely many new conservation laws both for free fields as well as for test fields evolving on a given gravitational background are presented. The conserved currents are constructed using the field theoretical counterpart of a recently discovered non-Noetherian symmetry which gives rise to a new way of solving the classical small oscillations problem. Several examples are discussed.
Sensors Locate Radio Interference
After receiving a NASA Small Business Innovation Research (SBIR) contract from Kennedy Space Center, Soneticom Inc., based in West Melbourne, Florida, created algorithms for time difference of arrival and radio interferometry, which it used in its Lynx Location System (LLS) to locate electromagnetic interference that can disrupt radio communications. Soneticom is collaborating with the Federal Aviation Administration (FAA) to install and test the LLS at its field test center in New Jersey in preparation for deploying the LLS at commercial airports. The software collects data from each sensor in order to compute the location of the interfering emitter.
A Modular Instrumentation System for NASA's Habitat Demonstration Unit
NASA's human spaceflight program is focused on developing technologies to expand the reaches of human exploration and science activities beyond low earth orbit. A critical aspect of living in space or on planetary surfaces is habitation, which provides a safe and comfortable space in which humans can live and work. NASA is seeking out the best option for habitation by exploring several different concepts through the Habitat Demonstration Unit (HDU) project. The purpose of this HDU is to develop a fully autonomous habitation system that enables human exploration of space. One critical feature of the HDU project that helps to accomplish its mission of autonomy is the instrumentation system that monitors key subsystems operating within a Habitat configuration. The following paper will discuss previous instrumentation systems used in analog habitat concepts and how the current instrumentation system being implemented on the HDU1-PEM, or pressurized excursion module, is building upon the lessons learned of those previous systems. Additionally, this paper will discuss the benefits and the limitations of implementing a wireless sensor network (WSN) as the basis for data transport in the instrumentation system. Finally, this paper will address the experiences and lessons learned with integration, testing prior to deployment, and field testing at the JSC rock yard. NASA is developing the HDU1-PEM as a step towards a fully autonomous habitation system that enables human exploration of space. To accomplish this purpose, the HDU project is focusing on development, integration, testing, and evaluation of habitation systems. The HDU will be used as a technology pull, testbed, and integration environment in which to advance NASA's understanding of alternative mission architectures, requirements, and operations concepts definition and validation. This project is a multi-year effort. In 2010, the HDU1-PEM will be in a pressurized excursion module configuration, and in 2011 the module will be reconfigured for a pressurized core module configuration. Each year the HDU configurations will undergo testing at NASA's Desert Research and Technology Studies (D-RaTS) in Arizona [1]. As part of this project, a modular instrumentation system is developed to meet the monitoring needs of the HDU subsystems and to integrate with the current command and data handling infrastructure that has been developed for the project. The main objective of this study is to provide for the monitoring needs of the HDU. The requirements necessary to meet this objective are developed by working with the subsystem managers of the HDU to understand their monitoring needs. Additionally, the instrumentation system design leverages knowledge and lessons learned from previous studies, such as the inflatable habitat health monitoring system that was deployed in Antarctica [2], the integrated health monitoring system developed for NASA's Microhab [3], and the JSC Lunar Habitat Wireless Testbed to demonstrate a "standardsbased" approach to a wireless instrumentation system [4]. The HDU also requires flexibility in reconfiguration options, and it is necessary to demonstrate and evaluate a modular approach to an instrumentation system. Thus, the instrumentation system is designed in two parts: the primary system employs a standard WSN configuration, and the secondary system employs a wired USB hub. The WSN design provides for reconfiguration or replacement of sensors due to malfunctions or upgrades by using a wireless node that accepts ten instrument inputs and wirelessly transmits the data to the command and data handling system. The USB hub is necessary for those instruments that operate using a wired USB connection, although the design attempts to limit the amount of sensors that need to be wired connections.
2015 Sensorimotor Risk Standing Review Panel Evidence and Status Review For: the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight
The 2015 Sensorimotor Risk Standing Review Panel (from here on referred to as the SRP) participated in a WebEx/teleconference with members of the Human Health Countermeasures (HHC) Element, representatives from the Human Research Program (HRP), NASA Headquarters, and NASA Research and Education Support Services (NRESS) on December 17, 2015 (list of participants is in Section VI of this report). The SRP reviewed the new Evidence Report for the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight (from here on referred to as the 2015 Sensorimotor Evidence Report), and also received a status review of the Risk. The opening section of the 2015 Sensorimotor Evidence Report provides written descriptions of various incidents that have occurred during space missions. In most of these incidents, the main underlying contributing factors are not easy to identify unambiguously. For example, in section 1.9, a number of falls occurred while astronauts were walking on the moon. It is not clear to the SRP, however, why they fell. It is only possible to extrapolate from likely specific psychophysical or physiological abnormalities, but how these abnormalities were determined, and how they were directly responsible for the falls is unclear to the SRP. Section 2.1.2 on proprioception is very interesting, but the functional significance of the abnormalities detected is not clear. The SRP sees this as a problem throughout the report: a mapping between the component abnormalities identified and the holistic behaviors that are most relevant, for example, controlling the vehicle, and locomotion during egress, is generally lacking. The SRP thinks the cognitive section is too strongly focused on vestibular functioning. The SRP questions the notion that the main cognitive effects are mainly attributable to reversible vestibular changes induced by spaceflight. The SRP thinks that there can also be independent cognitive effects. The Functional Task Test (FTT) protocols and the Field Test are particularly valuable. The conclusion is that the unloading of major postural muscles experienced during spaceflight plays a central role in the alteration of functional task performance and balance control. This conclusion stands in contrast with the statements in other parts of the document that emphasize the role of vestibular changes on these functions. It would help to more fully integrate these two views on the predominant effects of spaceflight. Although the SRP thinks the countermeasures section is interesting, the proposed countermeasures are not well integrated with the abnormalities described in previous sections. The SRP thinks it would help enormously to have explicit links among each abnormality, its 2015 Sensorimotor Risk SRP Evidence Review Final Report 2 overall importance/impact on function, and the appropriate countermeasure that can be implemented to maintain adequate functioning.
Distributed System of Mobile Passive Tensegrity Structures
A study on the application of spherical tensegrity structures to a passively mobile tumbleweed-like concept was developed and tested. Parameterized sizing tools were developed to understand environmental and geometrical sensitivities and maintain the ability to apply the concept to various environments. The sensitivity studies were then used to inform the design, and then a prototype model for an Earth environment was built to correlate the sizing tool outputs with experimental data. This prototype underwent testing in order to understand performance of the structure in more controlled (wind tunnel testing) environments and more realistic (field testing) environments. This paper will describe the design derivation and sensitivity studies performed along with the test results of the prototype structure.