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All sourcesNASA NTRSDOE OSTI
NASA NTRS2012

Lunar Impact Basins: Stratigraphy, Sequence and Ages from Superposed Impact Crater Populations Measured from Lunar Orbiter Laser Altimeter (LOLA) Data

Impact basin formation is a fundamental process in the evolution of the Moon and records the history of impactors in the early solar system. In order to assess the stratigraphy, sequence, and ages of impact basins and the impactor population as a function of time, we have used topography from the Lunar Orbiter Laser Altimeter (LOLA) on the Lunar Reconnaissance Orbiter (LRO) to measure the superposed impact crater size-frequency distributions for 30 lunar basins (D ≥ 300 km). These data generally support the widely used Wilhelms sequence of lunar basins, although we find significantly higher densities of superposed craters on many lunar basins than derived by Wilhelms (50% higher densities). Our data also provide new insight into the timing of the transition between distinct crater populations characteristic of ancient and young lunar terrains. The transition from a lunar impact flux dominated by Population 1 to Population 2 occurred before the mid-Nectarian. This is before the end of the period of rapid cratering, and potentially before the end of the hypothesized Late Heavy Bombardment. LOLA-derived crater densities also suggest that many Pre-Nectarian basins, such as South Pole-Aitken, have been cratered to saturation equilibrium. Finally, both crater counts and stratigraphic observations based on LOLA data are applicable to specific basin stratigraphic problems of interest; for example, using these data, we suggest that Serenitatis is older than Nectaris, and Humboldtianum is younger than Crisium. Sample return missions to specific basins can anchor these measurements to a Pre-Imbrian absolute chronology.

Fassett, C. I.↗
NASA NTRS1994

Lunar exploration rover program developments

The Robotic All Terrain Lunar Exploration Rover (RATLER) design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design's capabilities for mobility, the full scale proof-of-concept design currently under development is intended to support field operations for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, and advanced man-machine interface concepts. The development program's current status is described, including an outline of the program's work over the past year, recent accomplishments, and plans for follow-on development work.

Klarer, P. R.↗
NASA NTRS2008

The Effects of Terrain and Navigation on Human Extravehicular Activity Walkback Performance on the Moon

Results of the EVA Walkback Test showed that 6 male astronauts were able to ambulate 10 km on a level treadmill while wearing a prototype EVA suit in simulated lunar gravity. However, the effects of lunar terrain, topography, and real-time navigation on ambulation performance are unknown. Primary objective: To characterize the effect of lunar-like terrain and navigation on VO2 and distance traveled during an unsuited 10 km (straight-line distance) ambulatory return in earth gravity.

Norcross, Jason↗
NASA NTRS1968

Lunar theory and processes.

Surveyor 3 photography of lunar terrain, general morphology and position of lunar rocks at landing site and evidence for material transport

Collins, R. J.↗
NASA NTRSDate not supplied

Initial Testing Results and Forward Design Considerations for the Tri-Rotor Hand Controller

The Lunar Terrain Vehicle (LTV) is one of the key elements of NASA’s Artemis return to the Moon. As an unpressurized rover, the LTV hand controller must take into account the limitations of the spacesuit worn by the crew as well as lessons learned operating the Apollo Lunar Roving Vehicle and preliminary NASA simulations. Because the NASA Ground Test Unit (GTU) design features omnidirectional steering, NASA engineers developed the TriRotor is an innovation to minimize crew fatigue and discomfort. NASA conducted a series of tests, initially with 3D printed mockup controllers, and expanding to a functional prototype used in an LTV video wall simulation. The Tri-Rotor compared favorably with legacy Apollo T-Handles, though numerous test subject comments were collected to improve the controller’s usability. Several options to improve the Tri-Rotor’s usability are also discussed, along with opportunities to test the Tri-Rotor in Virtual Reality, a motion table, and in field analogs.

Hand Controller↗
NASA NTRS2022

Moon to Mars (M2M) Habitation Considerations: A Snap Shot As of January 2022

The following NASA Technical Memorandum (TM) is intended to provide a snapshot in time of NASA’s current considerations (ground rules and assumptions, functional allocations, logistics) for habitation systems for the lunar surface (non-roving) and Mars transits. As NASA continues to refine the reference designs to meet the needs of an evolving architecture, it is expected that this information will also be updated as a result. Where appropriate, relevant publicly released documents will be referenced to provide further detail. NASA’s human lunar exploration plan under the Artemis program calls for achieving the goal of sending the first woman and first person of color to the surface of the Moon in the mid- 2020s and working toward sustainable exploration by the end of the decade. Working with both commercial and international partners, NASA will establish a permanent human presence on the Moon to uncover new scientific discoveries and lay the foundation for private companies to build a lunar economy. Longer duration missions on the lunar surface and in lunar orbit will also serve as a test bed for technologies to support future Mars exploration campaigns. The agency will use what we learn on the Moon to prepare for humanity's next giant leap – sending astronauts to Mars. NASA intends to establish a sustained lunar presence with the development of the Artemis Base Camp to prove technologies and capabilities that will one day enable humans to live and work on Mars, beginning with core elements including the Lunar Terrain Vehicle (LTV), the Pressurized Rover (PR), the lunar Surface Habitat (SH), power systems, and in-situ resource utilization (ISRU) systems. For in space operations and eventual transport of humans to Mars, NASA will utilize a Mars Transit Habitat (TH). Following deployment, the TH will complete a series of longer duration missions and shakedown testing while docked at Gateway, leveraging Gateway’s habitation redundancy for safety measures. Proposed Gateway-TH missions will far exceed the longest duration cislunar human missions to date. They will be the first operational readiness tests of our long-duration deep space systems, and of the split crew (two crew on the surface, two crew in space) operations that are vital to the approach for the first human Mars mission. Both the SH and TH are major architectural elements of NASA’s Moon to Mars (M2M) approach, each with very different concepts of operation. The SH is intended for use on the lunar surface as a home for astronauts, surface operations base, science facility, hub for communications, extravehicular activity (EVA) equipment repair site, waste processing facility, and supply hub. It serves as an enabler for a sustained surface presence and preparation for partial gravity operations during Mars missions. The SH will be designed to be self-sufficient for operations on the lunar surface. The SH will independently provide several functions, including its own power generation, energy storage capability, sleep quarters, hygiene areas, work areas, and dining areas. It will be capable of communicating with surface assets, orbital assets, and directly with Earth ground stations. It is planned to operate with two crew in the habitat for ~28- day stays with crew swap-outs in which the PR crew of two trades places with the habitat crew. During the swap-out, the habitat will nominally support four crew for a short period of time. For contingency scenarios, the habitat must also be capable of supporting four crew for up to 7 days. The TH will be designed to be capable of up to ~1,200-day Mars missions with the ability to carry all food and supplies needed to support a crew of four for this duration. An assumed Mars mission profile for the TH is to carry crew and supplies for ~850-day roundtrips between Earth and Mars orbit that allows 30-day stays on the Martian surface. To test the systems for this long journey, the TH will be used to extend the duration of missions at Gateway, enabling the orbiting outpost to be used as a Mars analog. These analog missions will be accomplished by attaching the TH to Gateway and conducting lunar surface operations from the TH. The TH may also need to perform free-flying shakedown missions to test out all systems prior to leaving for Mars. The habitat provides many critical functions including: a contingency airlock, crew quarters, galley, hygiene areas, safe haven capability, and science equipment. It can receive docked items from either axial end or on a radial port.

Habitat↗
NASA NTRS2009

The 50 Constellation Priority Sites

The Constellation program (CxP) has developed a list of 50 sites of interest on the Moon which will be targeted by the LRO narrow angle camera. The list has also been provided to the M~ team to supplement their targeting list. This list does not represent a "site selection" process; rather the goal was to find "representative" sites and terrains to understand the range of possible surface conditions for human lunar exploration to aid engineering design and operational planning. The list compilers leveraged heavily on past site selection work (e.g. Geoscience and a Lunar Base Workshop - 1988, Site Selection Strategy for a Lunar Outpost - 1990, Exploration Systems Architecture Study (ESAS) - 2005). Considerations included scientific, resource utilization, and operational merits, and a desire to span lunar terrain types. The targets have been organized into two "tiers" of 25 sites each to provide a relative priority ranking in the event of mutual interference. A LEAG SAT (special action team) was established to validate and recommend modifications to the list. This SAT was chaired by Dr. Paul Lucey. They provided their final results to CxP in May. Dr. Wendell Mendell will organize an on-going analysis of the data as they come down to ensure data quality and determine if and when a site has sufficient data to be retired from the list. The list was compiled using the best available data, however, it is understood that with the flood of new lunar data, minor modifications or adjustments may be required.

Noble, S.↗
NASA NTRS2024

Extravehicular Activity and Human Surface Mobility Program (EHP) Exploration EVA (xEVA) System Compatibility Standards

Extravehicular Activity (EVA) is a significant capability for Artemis Systems which includes Gateway Program (modules), Human Landing System (HLS) Program (Integrated Lander and Human Class Delivery Lander), Lunar Terrain Vehicle (LTV), Pressurized Rover (PR), Payloads, and any other future lunar surface assets that will be utilized for exploration or science. The EVA and Human Surface Mobility Program (EHP) will provide the following: Exploration EVA (xEVA) suits, xEVA tools and crew aids along with vehicle integration/support hardware, LTV, and PR. Being a distributed and dynamic capability (moving components), xEVA System hardware will interface with almost all elements of the Artemis architecture. As such, it is important to document a singular set of EVA compatibility standards at the programmatic level to articulate “how to interface with xEVA suit hardware” and “how to design hardware that EVA crewmembers will access and manipulate.”

Exploration↗
NASA NTRS2019

OSIRIS‐REx Visible and Near‐Infrared Observations of the Moon

The Origins, Spectral Interpretation, Resource Identification, and Security Regolith Explorer(OSIRISREx) mission observed the The Origins, Spectral Interpretation, Resource Identification, and Security‐Regolith Explorer (OSIRIS‐REx) mission observed the Moon during the spacecraft's Earth gravity assist in 2017. From the spacecraft view, the lunar phase was 42°, and the in‐view hemisphere was dominated by anorthositic highlands terrain. Lunar spectra obtained by the OSIRIS‐REx Visible and InfraRed Spectrometer show evidence of several candidate absorption features. We observe the 2.8‐μm hydration band, confirming the spectral results from other missions, but detected in full‐disk spectra. We also tentatively identify weak spectral features near 0.9 and 1.3 μm, consistent with lunar regolith containing a mixture of plagioclase and orthopyroxene minerals, as expected for highlands terrain.

Simon, A. A.↗
NASA NTRS2024

LTV-xEVA Applied Injury Biomechanics

Beginning in Artemis V, Lunar Terrain Vehicles (LTV) will be utilized to enable astronauts to explore the lunar south pole and conduct science farther from the landing site than during the Apollo program. However, LTV operation has the potential to cause injury to the suited crew member during their Extravehicular Activity (EVA). Injury risk caused by LTV acceleration and jerk combined with blunt loading from rigid suit components needs to be better understood. An effort began to create requirements for, model, and address the injury risk caused by the LTV combined with Exploration EVA (xEVA) suits. Mitigation of crew injury is a shared responsibility between LTV and the suit since neither can accomplish this independently. The modeling completed in Fiscal Year 2023 (FY23) helped to verify the fidelity of the requirements and parse out vendor responsibility (LTV, xEVAS, or NASA) for Artemis V and beyond. The scope of the modeling in FY23 used the LTV System Requirements Document (SRD) as worst-case inputs and modeled female 5th-, male 50th-, and male 95th-percentile subjects in hard-mounted seated and semi-standing postures. Soft-mounted (i.e., lap belt) and testing to validate the analysis was determined out of scope for FY23 work.

Spacesuit↗
NASA NTRSDate not supplied

LTV-xEVA Applied Injury Biomechanics

Beginning in Artemis V, Lunar Terrain Vehicles (LTV) will be utilized to enable astronauts to explore the lunar south pole and conduct science farther from the landing site than during the Apollo program. However, LTV operation has the potential to cause injury to the suited crew member during their Extravehicular Activity (EVA). Injury risk caused by LTV acceleration and jerk combined with blunt loading from rigid suit components needs to be better understood. An effort began to create requirements for, model, and address the injury risk caused by the LTV combined with Exploration EVA (xEVA) suits. Mitigation of crew injury is a shared responsibility between LTV and the suit since neither can accomplish this independently. The modeling completed in Fiscal Year 2023 (FY23) helped to verify the fidelity of the requirements and parse out vendor responsibility (LTV, xEVAS, or NASA) for Artemis V and beyond. The scope of the modeling in FY23 used the LTV System Requirements Document (SRD) as worst-case inputs and modeled female 5th-, male 50th-, and male 95th-percentile subjects in hard-mounted seated and semi-standing postures. Soft-mounted (i.e., lap belt) and testing to validate the analysis was determined out of scope for FY23 work.

Spacesuit↗
NASA NTRSDate not supplied

Thermal Impact of Lunar Dust on Rovers

Experience and ground tests have shown that lunar dust coverage can severely degrade thermal system performance, and with the push to go back to the Moon for longer than a few days, lunar dust is being recognized as a significant technical challenge. The Lunar Terrain Vehicle (LTV) and Pressurized Rover (PR) will be operating on the lunar surface for long durations and roving at high speeds with interaction with astronauts and other robotics, which will cause dust to transfer to the vehicle, potentially to critical thermal surfaces. Dust coverage results in a change of overall optical properties, increased resistance to heat rejection due to the insulating effect of a dust layer, and even abrasion to thermal surfaces and soft goods. This paper provides an overview of what is currently known and unknown about what will happen to thermal surfaces exposed to dust on the Lunar South Pole, some dust mitigation options and testing guidance, and what resources can be used to help overcome this problem.

Lunar dust↗
NASA NTRSDate not supplied

Thermal Impacts of Lunar Dust For Rovers

Experience and ground tests have shown that lunar dust coverage can severely degrade thermal system performance, and with the push to go back to the Moon for longer than a few days, lunar dust is being recognized as a significant technical challenge. The Lunar Terrain Vehicle (LTV) and Pressurized Rover (PR) will be operating on the lunar surface for long durations and roving at high speeds with interaction with astronauts and other robotics, which will cause dust to transfer to the vehicle, potentially to critical thermal surfaces. Dust coverage results in a change of overall optical properties, increased resistance to heat rejection due to the insulating effect of a dust layer, and even abrasion to thermal surfaces and soft goods. This paper provides an overview of what is currently known and unknown about what will happen to thermal surfaces exposed to dust on the Lunar South Pole, some dust mitigation options and testing guidance, and what resources can be used to help overcome this problem.

Lunar dust↗
NASA NTRSDate not supplied

Celestial Mapping System

Celestial Mapping System (CMS) is a software platform developed by Dr. Agrawal’s team to generate virtual 3D globes for celestial bodies. Various layers are built on top of the virtual globe to provide visualization for high-resolution imagery, enable precise measurements, build analytical capabilities and broad range of functionalities to assist planetary scientists and mission planners. In her June 14th presentation, Dr. Agrawal will showcase the user interactive software platform to virtually travel the lunar terrain, place rovers and instruments on the surface of the moon and perform measurements of various geological features including permanently shadowed regions. Her team’s future goals include building interactive 3D globes for other planetary bodies such as Venus, Mars, and Titan in the solar system.

GIS system↗
NASA NTRS2014

Lunar Flashlight: Mapping Lunar Surface Volatiles Using a Cubesat

Water ice and other volatiles may be located in the Moon's polar regions, with sufficient quantities for in situ extraction and utilization by future human and robotic missions. Evidence from orbiting spacecraft and the LCROSS impactor suggests the presence of surface and/or nearsurface volatiles, including water ice. These deposits are of interest to human exploration to understand their potential for use by astronauts. Understanding the composition, quantity, distribution, and form of water/H species and other volatiles associated with lunar cold traps is identified as a NASA Strategic Knowledge Gap (SKG) for Human Exploration. These polar volatile deposits could also reveal important information about the delivery of water to the Earth- Moon system, so are of scientific interest. The scientific exploration of the lunar polar regions was one of the key recommendations of the Planetary Science Decadal Survey. In order to address NASA's SKGs, the Advanced Exploration Systems (AES) program selected three lowcost 6-U CubeSat missions for launch as secondary payloads on the first test flight (EM1) of the Space Launch System (SLS) scheduled for 2017. The Lunar Flashlight mission was selected as one of these missions, specifically to address the SKG associated with lunar volatiles. Development of the Lunar Flashlight CubeSat concept leverages JPL's Interplanetary Nano- Spacecraft Pathfinder In Relevant Environment (INSPIRE) mission, MSFC's intimate knowledge of the Space Launch System and EM-1 mission, small business development of solar sail and electric propulsion hardware, and JPL experience with specialized miniature sensors. The goal of Lunar Flashlight is to determine the presence or absence of exposed water ice and its physical state, and map its concentration at the kilometer scale within the permanently shadowed regions of the lunar south pole. After being ejected in cislunar space by SLS, Lunar Flashlight deploys its solar panels and solar sail and maneuvers into a low-energy transfer to lunar orbit. The solar sail and attitude control system work to bring the satellite into an elliptical polar orbit spiraling down to a perilune of 30-10 km above the south pole for data collection. Lunar Flashlight uses its solar sail to shine reflected sunlight into permanently shadowed regions, measuring surface albedo with a four-filter point spectrometer at 1.1, 1.5 1.9, and 2.0 microns. Water ice will be distinguished from dry regolith from these measurements in two ways: 1) spatial variations in absolute reflectance (water ice is much brighter in the continuum channels), and 2) reflectance ratios between absorption and continuum channels. Derived reflectance and reflectance ratios will be mapped onto the lunar surface in order to distinguish the composition of the PSRs from that of the sunlit terrain. Lunar Flashlight enables a low-cost path to in-situ resource utilization (ISRU) by identifying operationally useful deposits (if there are any), which is a game-changing capability for expanded human exploration.

Cohen, B. A.↗
NASA NTRS2024

Runtime Thread-Block Optimization for Custom Multistream CUDA Kernels for the Glenn Research Center Communication Analysis Suite

In preparation of the return of humans to the Moon with the coming Artemis missions, NASA scientists must evaluate proposed landing site locations for terrain and communications viability. The Glenn Research Center Communication Analysis Suite (GCAS) combines sophisticated communication network models with accurate lunar terrain to access sites across the Moon’s south pole. Given the importance of proper site selection to crew safety and mission success, many locations need to be analyzed resulting in a large computational load needing to be performed. To meet the growing project demands, development has begun to improve the runtime efficiency of GCAS with GPU parallelization by way of multi-stream CUDA kernels. One of the most prominent factors in kernel optimization is the proper selection of thread-block dimensions in order to maximize the concurrent operation on the device. Typically, thread-block dimensions are optimized by hand requiring many stages of benchmarking and iteration. Additionally, given the main conditions to optimization are the physical GPU architecture and problem size, these optimal dimensions are non-portable and fragile in their scope. As such, a novel optimization routine was developed to generate the optimal thread-block dimensions during runtime with considerations to hardware specifications and problem size resolving the issues of portability and enabling the function of more dynamic routines.

Aden Bergstresser↗
NASA NTRSDate not supplied

Leveraging VIPER Geotechnical and Mobility Insights for Endurance Rover and Traverse Development

A new generation of lunar surface rover exploration is rapidly approaching. This is evidenced by the rise of commercially developed rovers from private companies (e.g., Lunar Outpost’s MAPP) and government agencies, like NASA’s Volatiles Investigating Polar Exploration Rover (VIPER), the Lunar Terrain Vehicle (LTV), and the Endurance/Intrepid rover concepts, and the INSPIRE mission concept. The drive distance requirements for off-world vehicles are also rapidly increasing. For example, LTV driving requirements dictate a 20 km range on a single battery charge, with an overall lifetime requirement of 13,000 km over a minimum 10-year service life. Similarly, NASA's Endurance-A mission concept requires a 2000 km vehicle traverse distance, which is nearly 50 times further than the USSR's Lunokhod 2, the longest lunar rover mission to date. Previous planetary surface missions on the Moon and Mars have revealed harsh mobility conditions: aggressive rocky terrains on Mars severely damaged the Curiosity rover’s wheels, soft lunar regolith caused the Lunokhod 2 rover to sink and NASA’s Apollo 15 LRV (Lunar Roving Vehicle) spun out due to poor traction, which required manual correction. This demonstrates that mobility challenges like wheel degradation and soft soil driving performance must be accounted for in a mission’s design phase to meet increasingly aggressive mission durations and mobility goals. The success of these long duration missions requires highly reliable and durable mobility platforms in conjunction with a more developed understanding of the geotechnical properties of the lunar surface. The VIPER mission is uniquely posed to inform future missions about mobility performance, wheel durability, and lunar surface soil mechanics of sunlit and shadowed regions through use of data streams that already exist for other mission purposes. VIPER’s mission to the lunar south pole will provide a new perspective into off-world mobility challenges including traversal into permanently shadowed regions. Mobility data from VIPER’s mission will represent a first glimpse into the surface mobility challenges of the lunar South Pole. Utilization of VIPER’s existing capabilities including cameras, inertial measurement unit (IMU) data, motor currents/torque, drill data, and the rover’s suspension state and kinematics provide the opportunity to determine potentially useful information for future rover and traverse designs, as well as on-Earth testing practices. Data products collected during VIPER’s mission could inform design considerations for the Endurance rover much earlier than NASA’s standard “lessons learned” approach as VIPER has a highly tactical mission operations structure. This work outlines the specific links between possible data products from the VIPER mission and their potential impact on the Endurance/Intrepid mission concepts in their early design phases. From VIPER, we will also gain insights for future development of onboard mobility software as VIPER is a way-point driven rover which requires more constant human operation on Earth than some other rover missions (non-lunar surface). Primary VIPER data products and insights of interest include wheel sinkage, wheel slip, wheel degradation, surface soil shear strength, and terrain slope estimation. VIPER data products will be made available via the Planetary Data System’s Geosciences and Cartography and Imaging Sciences nodes, conforming to the PDS4 standard.

mobility↗