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All sourcesNASA NTRSDOE OSTI
NASA NTRS2020

Maintenance-optimized Modular Robotic Concepts for Planetary Surface ISRU Excavators

Modular robotic concepts are identified and evaluatedover the design and operations/maintenance lifecycle forautonomous Lunar, Mars, and partial gravity planetary surfaceexcavation and in-situ earthworks equipment. In-Situ ResourceUtilization (ISRU) is the exploitation of available resources at thesite of a landed spacecraft on the surface of another planetary body.It is intended that this ISRU excavator concept be capable ofmaterial extraction from native regolith, and will be able to operatein a variety of planetary surface environments after initial shakedownon the moon. Using heritage from highly multi-functional,reconfigurable robotic systems like the All-Terrain Hex-LimbedExtra-Terrestrial Explorer (ATHLETE), Regolith AdvancedSurface Systems Operations Robot (RASSOR), and Marsexploration rovers, we propose a flexible maintenance-optimizedmobility platform concept with quick-connect/disconnect featuresfor robotically swappable excavation implements. Dust toleranttorque transmission, power & data docking, thermal fluidconnectors, and modular avionics and instrumentation will allow forautonomous swapping of tools, replacement of spares, and longtermmaintenance of robotic excavators. The architecture includesmodular tools for conventional excavate / scoop / haul / dump /process functions of a terrestrial mining operation on Earth, but alsowill have the capability to operate and robotically maintain itselfwithout human intervention. The concepts described in this studywill provide a suite of technologies, configurations, and operationsready for inclusion into a final flight-ready excavator system.

Schuler, Jason↗
NASA NTRS1975

Determine utility of ERTS-1 to detect and monitor area strip mining and reclamation

The author has identified the following significant results. Computer techniques were applied to process ERTS tapes acquired over coal mining operations in southeastern Ohio on 21 August 1972 and 3 September 1973. ERTS products obtained included geometrically correct map overlays showing stripped earth, partially reclaimed earth, water, and natural vegetation. Computer-generated tables listing the area covered by each land-water category in square kilometers and acres were produced. By comparing these mapping products, the study demonstrates the capability of ERTS to monitor changes in the extent of stripping, success of reclamation, and the secondary effects of mining on the environment.

Rogers, R. H.↗
NASA NTRSDate not supplied

An Overview of the Lunar Water ISRU Measurement Study (LWIMS)

NASA announced plans for the Artemis program, which would send crewed missions to the Moon by 2024 and achieve a sustainable lunar presence by 2028 [1]. To carry out sustained crewed surface operations, In-Situ Resource Utilization (ISRU), which would use lunar resources to produce mission consumables, will be critical. Water-bearing materials have been identified at both lunar poles and are often associated with Permanently Shadowed Regions (PSRs). These constitute a geological resource that may or may not be convertible to reserves with additional exploration. This water could provide both fuel and oxygen for refueling vehicles as well as life support consumables. However, the nature and extent of this resource is not well understood. Detection of water alone is not adequate for ISRU planning. For this reason, NASA chartered the Lunar Water ISRU Measurement Study (LWIMS). The goal of this study was to assess and define the type, amount, and fidelity of the measurements needed to select mining locations for lunar water ISRU and to define resource-related requirements for ISRU hardware development and architectures (mining operations, hardware emplacement, concept of operations).

Julie Kleinhenz↗
NASA NTRS1974

Automated strip-mine and reclamation mapping from ERTS

The author has identified the following significant results. Computer processing techniques were applied to ERTS-1 computer-compatible tape (CCT) data acquired in August 1972 on the Ohio Power Company's coal mining operation in Muskingum County, Ohio. Processing results succeeded in automatically classifying, with an accuracy greater than 90%: (1) stripped earth and major sources of erosion; (2) partially reclaimed areas and minor sources of erosion; (3) water with sedimentation; (4) water without sedimentation; and (5) vegetation. Computer-generated tables listing the area in acres and square kilometers were produced for each target category. Processing results also included geometrically corrected map overlays, one for each target category, drawn on a transparent material by a pen under computer control. Each target category is assigned a distinctive color on the overlay to facilitate interpretation. The overlays, drawn at a scale of 1:250,000 when placed over an AMS map of the same area, immediately provided map locations for each target. These mapping products were generated at a tenth of the cost of conventional mapping techniques.

Rogers, R. H.↗
NASA NTRS1973

Impacts of telemation on modern society

A survey study of state-of-the-art technology, major civil sector user needs, and recommendations for federal initiatives in the field of teleoperators, robotics, and remote systems is reviewed. Impending developments in the application of telemation to remote emergency medical care and to remote mining operations are speculated upon.

Alexander, A. D., III↗
NASA NTRS1975

Earth resources evaluation for New Mexico by LANDSAT-2

The author has identified the following significant results. A cost effective technique is considered for measuring and monitoring surface area fluctuations in lake size in southeastern New Mexico over a two year period. The lakes are shallow, and therefore a small volume increase results in a noticeable increase in surface area on the LANDSAT imagery. Lake sizes are measured on an I(2)S Digicol viewer. Water from potash mining operations is being pumped into some of these lakes and the input volume is documented. Using water input and surface contour as well as direct lake level measurements as ground truth as well as the LANDSAT images, calculations may be possible regarding how much additional industrial water can be added to these lakes without the occurrence of saline see page into the major river system.

Vonderlinden, K.↗
NASA NTRS1977

Landsat imagery for surface-mine inventory

The feasibility of using Landsat imagery for routine monitoring of surface mining and reclamation was tested in a two-county (1541 sq km) area of western Maryland. Two digital analysis methods were studied. The first, a four-band analysis distinguishing various strip mine associated classes and conditions, proved useful, but has limited extendibility over a seasonal or annual period. In the second approach, a band-ratio method was developed for measuring disturbed surface areas, and it proved to be both temporally and geographically extendible. For mines ranging between 31 and 244 acres, the measurement accuracy of total affected acreage was 92%. The use of Landsat satellite data together with multilevel sampling of aircraft and field verification inspections has shown that multispectral analysis of digital data is an effective means of monitoring the progress of surface mining operations.

Anderson, A. T.↗
NASA NTRS1978

Coal supply for California

The potential sources and qualities of coals available for major utility and industrial consumers in California are examined and analyzed with respect to those factors that would affect the reliability of supplies. Other considerations, such as the requirements and assurances needed by the coal producers to enter into long-term contracts and dedicate large reserves of coal to these contracts are also discussed. Present and potential future mining contraints on coal mine operators are identified and analyzed with respect to their effect on availability of supply.

Yancik, J. J.↗
NASA NTRS1978

Extraterrestrial materials processing and construction

Applications of available terrestrial skills to the gathering of lunar materials and the processing of raw lunar materials into industrial feed stock were investigated. The literature on lunar soils and rocks was reviewed and the chemical processes by which major oxides and chemical elements can be extracted were identified. The gathering of lunar soil by means of excavation equipment was studied in terms of terrestrial experience with strip mining operations on earth. The application of electrostatic benefication techniques was examined for use on the moon to minimize the quantity of materials requiring surface transport and to optimize the stream of raw materials to be transported off the moon for subsequent industrial use.

Criswell, D. R.↗
NASA NTRS1981

Design, fabrication and test of last cut Follower

An optical device for following the cut in mining operations is described, and the results of acceptance testing reported. A measuring accuracy of + or - 1/16 inch was demonstrated. Preliminary results on longwall testing with the device mounted on a shearer are presented. Roof profiles measured during tramming and during cutting are presented. Comparison of acoustic measurements with optical measurement of the roof profiles indicates close agreement.

Ashley, P. R.↗
NASA NTRS1990

Ilmenite-rich pyroclastic deposits - An ideal lunar resource

With a view of investigating possible economic benefits that a permanent lunar settlement might provide to the near-earth space infrastructures, consideration was given to the ilmenite-rich pyroclastic deposits as sources of oxygen (for use as a propellant) and He-3 (for nuclear fusion fuel). This paper demonstrates that ilmenite-rich pyroclastic deposits would be excellent sources of a wide variety of valuable elements besides O and He-3, including Fe, Ti, H2, N, C, S, Cu, Zn, Cd, Bi, and Pb. It is shown that several ilmenite-rich pyroclastic deposits of regional extent exist on the lunar surface. The suitability of regional pyroclastic deposits for lunar mining operations, construction activities, and the establishment of permanent lunar settlements is examined.

Hawke, B. R.↗
NASA NTRS1991

Industrial modification of the lunar atmosphere

The sources and sinks of the present trace lunar atmosphere can be accounted for. In particular, it is clear that the solar wind is the primary agent for rapidly removing gases, other than H2 which can escape thermally. But the solar wind has only a finite capability for stripping. If gases are added at rates approaching 100 g/sec, an atmosphere will begin to accumulate. Transition to a state where thermal escape dominates, solar wind loss occurs when the atmosphere has accumulated a total mass of about 108 kg. Assuming that disturbing the lunar regolith liberates about 10-4 by mass of trapped gases, this implies that some kinds of mining operation could handle up to 109 tons of material before creating a long lived, albeit still exceedingly tenuous, atmosphere which would have no appreciable influence on most lunar activities. Should the lunar atmosphere ever exceed an abundance matching that of the Earth at 120 km altitude, ever larger UV wavelengths ranges would be inhibited or lost, as would probably be the ability to use the Moon as a base for very low frequency radio astronomy.

Smith, Harlan J.↗
NASA NTRS1990

Pyroclastic deposits as sites for lunar bases

Ilmenite-rich pyroclastic deposits may prove to be excellent sites for the establishment of a permanent lunar base for mining purposes. A wide variety of potentially useful by-products could be produced (e.g., Fe, Ti, H, N, C, S, Cu, Zn, Cd, Bi, and Pb). A number of ilmenite-rich pyroclastic deposits of regional extent has been studied. The physical properties of the regional pyroclastic units have important implications for lunar construction. These extensive, deep deposits of ilmenite-rich pyroclastic material are block-free and uncontaminated; they could be easily excavated and would be ideal for lunar mining operations. These deep, loose pyroclastic deposits would also be ideal for rapidly covering base modules with an adequate thickness of shielding.

Hawke, B. Ray↗
NASA NTRS1991

Remote sensing of regional pyroclastic deposits on the north central portion of the lunar nearside

High-resolution 3.0-cm radar data for the Rima Bode regional pyroclastic deposit and a number of UV-visible reflectance spectra for regional pyroclastic deposits on the north-central portion of the lunar nearside are analyzed and compared to existing data. The data obtained indicate that small craters in this deposit excavated loose unwelded pyroclastic particles, suggesting that welded layers or lenses do not exist at depths within the deposit's core area. The 70-cm radar data indicate that the Roma Bode deposit is thinner than the pyroclastic unit on the Aristarchus Plateau. The surfaces of all these regional pyroclastic deposits are dominated by ilmenite-rich black spheres, and contamination by low-Ti, nonpyroclastic debris appears to be minimal. The fine-grained block-free uncontaminated Rima Bode would be ideal for lunar mining operations and for rapidly covering lunar base modules with an adequate thickness of shielding material for protection from meteorite impact and space radiation.

Hawke, B. R.↗
NASA NTRS1992

An artificially generated atmosphere near a lunar base

We discuss the formation of an artificial atmosphere generated by vigorous lunar base activity in this paper. We developed an analytical, steady-state model for a lunar atmosphere based upon previous investigations of the Moon's atmosphere from Apollo. Constant gas-injection rates, ballistic trajectories, and a Maxwellian particle distribution for an oxygen-like gas are assumed. Even for the extreme case of continuous He-3 mining of the lunar regolith, we find that the lunar atmosphere would not significantly degrade astronomical observations beyond about 10 km from the mining operation.

Burns, Jack O.↗
NASA NTRS1994

An electromagnetic noncontacting sensor for thickness measurement in a dispersive medium

This paper describes a general purpose imaging technology developed by the U.S. Bureau of Mines (USBM) that, when fully implemented, will solve the general problem of 'seeing into the earth.' A first-generation radar coal thickness sensor, the RCTS-1, has been developed and field-tested in both underground and highwall mines. The noncontacting electromagnetic technique uses spatial modulation created by moving a simple sensor antenna in a direction along each axis to be measured while the complex reflection coefficient is measured at multiple frequencies over a two-to-one bandwidth. The antenna motion imparts spatial modulation to the data that enables signal processing to solve the problems of media, target, and antenna dispersion. Knowledge of the dielectric constant of the media is not necessary because the electrical properties of the media are determined automatically along with the distance to the target and thickness of each layer of the target. The sensor was developed as a navigation guidance sensor to accurately detect the coal/noncoal interface required for the USBM computer-assisted mining machine program. Other mining applications include the location of rock fractures, water-filled voids, and abandoned gas wells. These hazards can be detected in advance of the mining operation. This initiating technology is being expanded into a full three-dimensional (3-D) imaging system that will have applications in both the underground and surface environment.

Chufo, Robert L.↗
NASA NTRS1998

Exploration of the Moon with Remote Sensing, Ground-Penetrating Radar, and the Regolith-Evolved Gas Analyzer (REGA)

There are two important reasons to explore the Moon. First, we would like to know more about the Moon itself: its history, its geology, its chemistry, and its diversity. Second, we would like to apply this knowledge to a useful purpose. namely finding and using lunar resources. As a result of the recent Clementine and Lunar Prospector missions, we now have global data on the regional surface mineralogy of the Moon, and we have good reason to believe that water exists in the lunar polar regions. However, there is still very little information about the subsurface. If we wish to go to the lunar polar regions to extract water, or if we wish to go anywhere else on the Moon and extract (or learn) anything at all, we need information in three dimensions an understanding of what lies below the surface, both shallow and deep. The terrestrial mining industry provides an example of the logical steps that lead to an understanding of where resources are located and their economic significance. Surface maps are examined to determine likely locations for detailed study. Geochemical soil sample surveys, using broad or narrow grid patterns, are then used to gather additional data. Next, a detailed surface map is developed for a selected area, along with an interpretation of the subsurface structure that would give rise to the observed features. After that, further sampling and geophysical exploration are used to validate and refine the original interpretation, as well as to make further exploration/ mining decisions. Integrating remotely sensed, geophysical, and sample datasets gives the maximum likelihood of a correct interpretation of the subsurface geology and surface morphology. Apollo-era geophysical and automated sampling experiments sought to look beyond the upper few microns of the lunar surface. These experiments, including ground-penetrating radar and spectrometry, proved the usefulness of these methods for determining the best sites for lunar bases and lunar mining operations.

Cooper, B. L.↗