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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

ISRU Pilot Excavator Wheel Testing in Lunar Regolith Simulant

The ISRU Pilot Excavator, or IPEx, is a robotic excavator funded by NASA’s Space Technology Mission Directorate (STMD). The Concept of Operations for IPEx involves the robot driving on the lunar surface up to 70 km at a speed of up to 30 cm/s. As such, it is critical to the mission’s success to optimize the design of the wheels for performance in lunar conditions, specifically in lunar regolith. To achieve this, an array of tests was completed to observe the effects of various wheel design choices on the driving performance of the wheels in lunar regolith simulant. In order to facilitate testing, we designed a 12” dia. configurable wheel to allow for interchangeability between various wheel formations. Two types of wheel parts were designed to be swapped: cleats, which form the tread of the wheel; and grousers, which protrude from the treads. The test variables that we considered were as follows: square vs. round wheel shape, solid vs. perforated cleats, cleat spacing, grouser height, and grouser spacing. By combining different settings of each of these test variables, ten discrete wheel designs were created and tested. The configurable test wheels were mounted on the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. In our experiments, the robot was driven at a controlled speed across a prepared surface of BP-1 lunar regolith simulant. Four types of tests were conducted: circle driving, straight driving, slope driving, and drawbar pull. The driving tests were chosen to mimic a variety of conditions in which IPEx may be expected to operate, and the drawbar pull test was chosen to provide a standard of comparison with existing wheel design literature. The circle and straight driving tests were each performed at different levels: for the circle driving test, the robot was driven at a constant linear speed and three different angular speeds, while for the straight driving test, the robot was driven at three different linear speeds. The data collected from these tests included the power usage from each of the wheels, measurements of the tread patterns left in the regolith surface, and the amount of slip the wheels experienced, which was calculated using data from an OptiTrack motion capture system. From the results of these experiments, we found that certain test variables were more significant than others in determining performance for each type of test, and no single wheel design clearly outperformed the others in all areas. The details of our findings will be discussed further in this paper. This data will be utilized to inform the design of the wheels for IPEx and can provide a basis for the design of wheels for future lunar terrain vehicles.

RASSOR↗
DOE OSTI2024

Development of Hydrogen-Fueled, Highly Energy-Efficient, Electro-Hydraulic Excavator

Regulations for CO2 emissions reduction are driving increasing demand for “zero emissions” off-road vehicles (ORVs). Hydrogen internal combustion engines (H2 ICEs) are closer to commercial viability, and less expensive than fuel cells. The major challenge is the slow torque response of H2 ICEs, that makes it difficult to sustain the harsh torque requirements typical of ORVs. The goal of this paper is to overcome this challenge by proposing an electro-hydraulic hybrid technology with hybrid powertrain and multi-pressure rail technology as fluid power system for an excavator, to enable the use of the H2 ICE, while improving efficiency. The study is based on simulation in MATLAB/Simulink environment, using duty cycle data from a 24-ton excavator. Simulation results show that in respect to the diesel-powered baseline, the proposed electro-hydraulic hybrid allows the use of a H2 ICE, eliminates CO2 emissions and ensures a 52% fuel consumption reduction.

08 HYDROGEN↗
NASA NTRS1981

The excavation stage of basin formation - A qualitative model

One of the most complex problems in planetary geology and geophysics is the determination of the nature of the impact cratering processes at scales of tens to thousands of kilometers that produce the complex morphological structures of multiring basins. The cratering process is frequently considered to be divided into three stages, including a short high-pressure stage of initial contact between the projectile and the planetary crust, a longer excavation or cratering flow stage culminating in the formation of a transient crater, and a still longer modification stage during which the transient crater is modified into the observed final geologic form. The transient crater may be considered as the initial boundary condition of the modification stage. In the present investigation, the nature of the transient crater is indicated by the cratering flow field determined from numerical simulations of the excavation stage. Attention is given to empirical and theoretical scaling.

Croft, S. K.↗
NASA NTRS1984

A geometric model for excavation and modification at terrestrial simple impact craters

A geometric model for the excavation and modification stages of simple crater development is presented. Cavity modification is modelled from an analytical derivation of the dimensions of the so-called transient cavity (Dence, 1973; Dence et al., 1977). The final cavity as it appears in terrestrial craters and the primary elements of excavation are approximated by a variation of the so-called Z model. The applicability of the model is tested with data from the Meteor and Brent craters. In the case of Meteor, the modelled final crater diameter at the original ground plane is within 26 m of the observed value and the modelled breccia lens and the rim crest volumes of the final true crater are within 9.5 percent and 2.5 percent, respectively, of the observed values. The correspondence for the more degraded Brent crater is less precise.

Grieve, R. A. F.↗
NASA NTRS1986

Use of chemical explosives for emergency solar flare shelter construction and other excavations on the Martian surface

The necessity to shelter people on the Martian surface from solar flare particles at short notice and the need for long-term habitats with thick cosmic ray shielding suggests that explosives could be used effectively for excavation of such structures. Modern insensitive high explosives are safe, efficient, and reliable for rock breakage and excavation. Extensive Earth-bound experience leads us to propose several strategies for explosively-constructed shelters based on tunneling, cratering, and rock casting techniques.

Richard D Dick↗
NASA NTRS1990

Hydromechanical Advanced Coal Excavator

Water-jet cutting reduces coal dust and its hazards. Advanced mining system utilizes full-face, hydromechanical, continuous miner. Coal excavator uses high-pressure water-jet lances, one in each of cutting heads and one in movable lance, to make cuts across top, bottom and middle height, respectively, of coal face. Wedge-shaped cutting heads advance into lower and upper cuts in turn, thereby breaking coal toward middle cut. Thrust cylinders and walking pads advance excavator toward coal face.

Estus, Jay M.↗
NASA NTRS2005

Particle Size Distributions Measured in B757 Engine Plume During EXCAVATE

A ground-based test, the Experiment to Characterize Aircraft Volatile Aerosols and Trace Species Emissions (EXCAVATE), was conducted at NASA Langley Research Center, January 26 - 27, 2002, with a Boeing 757 aircraft. The aircraft was anchored on a tarmac and two probes were positioned downstream of the right-side engine, a Rolls Royce RB211-585. One probe was designed and fabricated by Arnold Engineering Development Center (AEDC) and had a 45.6 mm (1.794 in.) ID. A second probe, constructed of 6.4 mm (0.25 in.) stainless-steel tubing at NASA Langley Research Center, had a 6 mm (0.22 in.) ID. The engine was run on JP-5 with three different sulfur concentrations, 810 ppm, 1050 ppm, 1820 ppm; and was operated over a range of power settings from idle to near-full power. Particulate size-distributions and concentrations were measured at four downstream axial locations: 1 m and 10 m with the AEDC particulate probe, and 25 m and 35 m with the Langley probe. Fuel with various sulfur contents was tested to address the long-standing question of the role of sulfur in the formation of volatile species. Several experimental and modeling studies have shown a correlation between fuel sulfur-content and particulate-emissions. The object of EXCAVATE was to further study the effect of sulfur content on particulate number concentration and size-distribution as a function of location in the engine plume and engine operating conditions.

Sanders, Terry↗
NASA NTRS2007

Calculation of Excavation Force for ISRU on Lunar Surface

Accurately predicting the excavation force that will be encountered by digging tools on the lunar surface is a crucial element of in-situ resource utilization (ISRU). Based on principles of soil mechanics, this paper develops an analytical model that is relatively simple to apply and uses soil parameters that can be determined by traditional soil strength tests. The influence of important parameters on the excavation force is investigated. The results are compared with that predicted by other available theories. Results of preliminary soil tests on lunar stimulant are also reported.

Zeng, Xiangwu (David)↗
NASA NTRS2008

Excavation on the Moon: Regolith Collection for Oxygen Production and Outpost Site Preparation

The development of a robust regolith moving system for lunar and planetary processing and construction is critical to the NASA mission to the Moon and Mars. Oxygen production may require up to 200 metric tons of regolith collection per year; outpost site development may require several times this amount. This paper describes progress in the small vehicle implement development and small excavation system development. Cratos was developed as a platform for the ISRU project to evaluate the performance characteristics of a low center of gravity, small (0.75m x 0.75m x 0.3m), low-power, tracked vehicle performing excavation, load, haul, and dump operations required for lunar ISRU. It was tested on loose sand in a facility capable of producing level and inclined surfaces, and demonstrated the capability to pick up, carry, and dump sand, allowing it to accomplish the delivery of material to a site. Cratos has demonstrated the capability to pick up and deliver simulant to a bury an inflatable habitat, to supply an oxygen production plant, and to build a ramp.

Caruso, John J.↗
NASA NTRS2010

Target and Projectile: Material Effects on Crater Excavation and Growth

Scaling relationships allow the initial conditions of an impact to be related to the excavation flow and final crater size and have proven useful in understanding the various processes that lead to the formation of a planetary-scale crater. In addition, they can be examined and tested through laboratory experiments in which the initial conditions of the impact are known and ejecta kinematics and final crater morphometry are measured directly. Current scaling relationships are based on a point-source assumption and treat the target material as a continuous medium; however, in planetary-scale impacts, this may not always be the case. Fragments buried in a megaregolith, for instance, could easily approach or exceed the dimensions of the impactor; rubble-pile asteroids could present similar, if not greater, structural complexity. Experiments allow exploration into the effects of target material properties and projectile deformation style on crater excavation and dimensions. This contribution examines two of these properties: (1) the deformation style of the projectile, ductile (aluminum) or brittle (soda-lime glass) and (2) the grain size of the target material, 0.5-1 mm vs. 1-3 mm sand.

Anderson, J. L. B.↗
NASA NTRS2008

Percussive Excavation of Lunar Soil

It has been suggested using a percussive motion could improve the efficiency of excavation by up to 90%. If this is proven to be true it would be very beneficial to excavation projects on the Moon and Mars. The purpose of this study is to design, build and test a percussive tool which could dig a trench and then compare this data against that of a non-percussive tool of the same shape and size. The results of this test thus far have been inconclusive due to malfunctions in the testbed and percussive bucket; however, experimental results from small scale experiments confirm this higher efficiency and support further testing.

Whittaker, Matthew P.↗
NASA NTRS2012

The Montana ALE (Autonomous Lunar Excavator) Systems Engineering Report

On May 2 1-26, 20 12, the third annual NASA Lunabotics Mining Competition will be held at the Kennedy Space Center in Florida. This event brings together student teams from universities around the world to compete in an engineering challenge. Each team must design, build and operate a robotic excavator that can collect artificial lunar soil and deposit it at a target location. Montana State University, Bozeman, is one of the institutions selected to field a team this year. This paper will summarize the goals of MSU's lunar excavator project, known as the Autonomous Lunar Explorer (ALE), along with the engineering process that the MSU team is using to fulfill these goals, according to NASA's systems engineering guidelines.

Lars Osborne↗
NASA NTRS2013

Regolith Advanced Surface Systems Operations Robot Excavator

The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (<50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.

Mueller, Robert P.↗
NASA NTRS2015

Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

Regolith↗
NASA NTRS2015

Asteroid Icy Regolith Excavation and Volatile Capture Project

Icy regolith simulants will be produced in a relevant vacuum environment using various minerals, including hydrated minerals, that are found in C-type meteorites and in other types of planetary regolith. This will allow us to characterize the mechanical strength of the icy regolith as a function of ice content using penetration, excavation, and sample capture devices. The results of this study will benefit engineers in designing efficient regolith excavators and ISRU processing systems for future exploration missions to asteroids and other planetary bodies.

Technology Portfolio System↗
NASA NTRS2023

CESO 22-3: Simulated Excavation Environment for Lunar Operations Follow-on

As more lunar In-Situ Resource Utilization (ISRU) missions are planned and developed, a need was identified for a simulation environment with accurate regolith interaction mechanics that is less computationally expensive than commercially available multiphysics tools. The purpose of the Simulated Excavation Environment for Lunar Operations (SEELO) project was to develop an interactive simulation environment that efficiently models lunar ISRU excavation operations, including soil deformation, while running in faster-than-real-time.

Michael DuPuis↗
DOE OSTI2020

Pre-Excavation Activities for the Long Baseline Neutrino Facility Far Site

The Long Baseline Neutrino Facility Far Site at the Sanford Underground Research Facility in Lead, South Dakota will house four large detector tanks located deep underground. Construction of the supporting infrastructure required for this project is already underway including installation of a waste rock conveyance system including, but not limited to, a grizzly, skip loader, crusher, belt conveyor, and rehab of existing mine drifts and ore passes. This paper will discuss the design and construction of these pre-excavation works, and the overall project schedule as it closes in on commencement of mass excavation activities.

Pollock, Seth↗
DOE OSTI2024

Modeling nuclear waste disposal in crystalline rocks at the Forsmark and Olkiluoto repository sites – Evaluation of potential thermal–mechanical damage to repository excavations

We conduct coupled thermo-hydro-mechanical modeling of a KBS-3V repository design in crystalline rocks, using data and conditions from the Forsmark in Olkiluoto repository sites in Sweden and Finland. The study focuses on repository performance related to the impact of thermal and hydraulic evolution on the potential for thermal–mechanical damage to underground repository excavations. For the designs and conditions considered at the Forsmark and Olkiluoto repository sites, the simulations show a peak temperature well under the adopted performance target of a 100°C maximum temperature, whereas there is still a high potential for thermal–mechanical damage to the KBS-3V waste deposition holes. The thermal–mechanical damage is much more likely if rock permeability is so low that it delays saturation and swelling of bentonite-clay-based backfill beyond the time for the thermal–mechanical peak, which occurs 50 to 100 years after nuclear waste deposition. We also found that sidewalls of the KBS-3V emplacement tunnels are vulnerable to tensile fracturing due to the combined effect of thermal stressing and backfill swelling. The study highlights a strong interaction between bentonite-based backfill and host rock through capillary suction along with induced rock desaturation. A careful design and selection of the bentonite-clay-based backfill materials for KBS-3V tunnels and deposition holes can facilitate a timely saturation and backfill swelling that in turn can minimize thermal–mechanical damage.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗