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Characterizing Detailed Grain Shape and Size Distribution Properties of Lunar Regolith

Introduction: As the nation prepares to return to the Moon, there is an increasing need for testing tools, instruments, and equipment in simulated environments on Earth to ensure successful operations during lunar missions. Regolith will affect all aspects of future lunar missions, from plume interactions during landing to space suit and tool design [1]. Because of this, it is important to understand the grain shape and size properties of lunar regolith and how those influence regolith behavior in order to prepare for these missions. This knowledge is also vital to create more accurate lunar regolith simulants for testing equipment in a lunar environment. While particle size analyses have been performed on most Apollo soils using simple sieving, shape has only been crudely addressed [2]. This work analyzes 4 lunar regolith samples to provide a better understanding of these size and shape parameters and will provide a more accurate baseline of data to create high-fidelity lunar regolith simulants. Methods: New technologies exist today that are capable of measuring size and shape simultaneously for hundreds of thousands of particles in a single measurement. We conducted a rigorous analysis of the particle size distribution (PSD) as well as the size-dependent 2D and 3D shape parameters of lunar regolith samples of different compositions and maturity levels. This analysis was done using a Microtrac SYNC which provides a unique combination of tri-laser diffraction and Dynamic Image Analysis (DIA). Sample Selection. Four regolith samples were selected for analysis based on maturity level and lunar terrain type: • 10084 – Mature high-Ti mare regolith • 15601 – Immature low-Ti mare regolith • 64501 – Mature highland regolith • 67461 – Immature highland regolith Sample Analysis. After receiving the samples, each sample was imaged with an optical microscope (Figure 1). To obtain 2D and 3D particle size and shape, 0.1 g of each sample was then added to the SYNC for analysis, which outputs more than 30 size and shape parameters for each individual grain as well as the complete size distribution from 0.01-2000 μm by blending laser diffraction and DIA together. For the 0.1 g sample masses requested, ~100,000 grains per sample were captured by DIA. Results: From the PSD analysis, it can be seen that the average particle size of 10084 is ~24.5 µm which is much smaller than the average particle size of the Apollo sample collection (~72 µm) [3], while the average particle size of samples 15601, 64501, and 67461 are larger than the Apollo sample average at ~106 µm, ~103 µm, and ~118.5 µm respectively. The size and shape measurements for the samples output ~30 parameters, four of which were focused on for this study: sphericity, aspect ratio, roundness, and concavity (Figure 3). However, after analyzing the plots it was found that only sphericity and aspect ratio showed differences between the samples. These two parameters are measured on a scale from 0 to 1, with 1 being a perfect sphere with equal dimensions. The results show that the sphericity values are slightly high-er for the mature samples 10084 and 64501 (~0.96) than they are for samples 15601 and 67461 (~0.95) (Figure 4). The aspect ratio values are slightly lower for samples 64501 (~0.7) and 67461 (~0.74) than they are for samples 10084 (~0.76) and 15601 (~0.8) (Figure 5). Discussion: Mature regoliths are those that have been exposed to micrometeorite and solar wind bombardment for long periods of time, breaking up particles and causing them to become more rounded [4]. Therefore, the smaller particle sizes and higher sphericity values for samples 10084 and 64501 are expected due to their higher maturity level compared to 15601 and 67461. However, the aspect ratio values are not dependent on maturity and are instead dependent on terrain type. The lower aspect ratio values for the high-land samples is potentially due to the higher plagioclase content, which occurs in elongated particles and does not break down as easily as the pyroxenes or olivines that are present in the mare. Conclusion and Future Work: The results of this work provide a baseline of high-quality data that will contribute to the creation of high-fidelity lunar simulants and will greatly benefit NASA’s efforts of establishing a human presence on the Moon. Future work includes performing unsupervised image classification on the ~105 particle images per sample in order to identify different classes of grains. These grain classes can then be linked to detailed shape properties, and the relative abundance of each class in the samples can be compared. Acknowledgments: We would like to thank the Extraterrestrial Materials Analysis Group (ExMAG) and the Astromaterials Allocation Review Board (AARB) for allocating lunar regolith samples 10084,9010, 15601,365, 64501,249, and 67461,171 for this work. References: [1] Taylor, L. A. et al. (2005) AIAA #2510. [2] Katagiri et al. (2015) ASCE. [3] Carrier III, W. D. (2005) Lunar Geotech Institute Tech Report. [4] McKay, D. S. et al. (1991) The Lunar Sourcebook, Chapter 7.

S R Deitrick↗

Pressurized Lunar Rover

The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder, allowing simultaneous transmission and reception. An S-band transponder is used to communicate with the crew during EVA. The PLR has a total mass of 6197 kg. It has a nominal speed of 10 km/hr and a top speed of 18 km/hr. The rover is capable of towing 3 metric tons (in addition to the RTG trailer).

Creel, Kenneth↗

The Relevance of the VIPER Mission to NASA’s Artemis Human Exploration of the Moon

NASA has ambitious plans to send astronaut crews to the south polar region of the Moon and explore this lunar terrain with humans for the first time through a series of Artemis missions. Artemis will provide economic benefits, drive technological advancement, and inspire the next generation of explorers. Simultaneously, Artemis presents a unique opportunity for humans to conduct high-priority planetary science in situ in the south polar region of the Moon. Prior to human exploration, landed robotic precursor investigations can provide valuable information to reduce risk and maximize discovery and productivity of subsequent crewed missions. NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) is a robotic mission designed to explore and characterize the lunar south polar region prior to crewed Artemis landed missions. VIPER is designed to explore multiple thermal regimes to characterize the lunar polar environment and regolith properties, and to explore for surface and subsurface ices. Each of these objectives are key for both scientific investigation and to detect and assess volatile deposits to support in situ resource utilization (ISRU) and a sustained human presence on the Moon. VIPER would also operate with a real-time mission operations architecture with relevance and feed-forward to Artemis crewed operations on the lunar surface. VIPER would provide key information regarding the lunar environment, scientific exploration, technologies, and real-time operations to optimize the valuable surface exploration time of Artemis crew members while simultaneously reducing risk to crew and increasing health and human safety on the lunar surface.

Jennifer L Heldmann↗

A Concept of Operations for Tunable Optical Orbital Power Beaming to the Lunar Surface

The provision of power for the survival of lunar night and in permanently shadowed regions are two of the major inhibitors of exploration and habitation on the lunar surface. Orbital power beaming provides the flexibility necessary for a variety of surface clients including - Commercial Lunar Payload Systems (CLPS) landers, Lunar Terrain Vehicles (LTVs), and pressurized & unpressurized rovers. Operation at key optical frequencies along with spot size & power tuning capabilities allows for compatibility with current solar array technology with little augmentation required on the client side. Through STK analysis, key orbits have been selected and a generalized concept of operations has been conceptualized in order to better understand the benefits and expectations of a long-range tunable optical power beaming laser system.

power↗

Imaging Flash Lidar for Safe Landing on Solar System Bodies and Spacecraft Rendezvous and Docking

NASA has been pursuing flash lidar technology for autonomous, safe landing on solar system bodies and for automated rendezvous and docking. During the final stages of the landing from about 1 kilometer to 500 meters above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard flight computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16,000 pixels range images with 7 centimeters precision, at 20 Hertz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument and presents the results of recent flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus) built by NASA Johnson Space Center. The flights were conducted at a simulated lunar terrain site, consisting of realistic hazard features and designated landing areas, built at NASA Kennedy Space Center specifically for this demonstration test. This paper also provides an overview of the plan for continued advancement of the flash lidar technology aimed at enhancing its performance to meet both landing and automated rendezvous and docking applications.

Amzajerdian, Farzin↗

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Rutishauser, David↗

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Epp, Chirold D.↗

Testing the Exploration Conops (Excon) Mockup Suit in Lunar Analog Environments in 2022

Understanding how to effectively train for Extravehicular Activities (EVAs) for Artemis missions is critical. Developing high-fidelity simulation environments is important for Artemis mission preparation. Because the actual Lunar exploration environment cannot be fully replicated on Earth, it is paramount to determine where and how to properly train the Artemis team. Tasked by the new Extravehicular Activity and Human Surface Mobility Program(EHP), a team of stakeholders from engineering, flight operations, human health and performance, astromaterials and science, and the crew office worked together to perform EVAs in 3 simulated lunar environments. The overall focus for this test series was developing the capability to perform Artemis simulated EVAs in high-fidelity, full-scale environments. This test series was broken into 3 distinct tests titled after the EHP integrated test team: Joint EVA Test Team (JETT). The test locations are planned to serve as Artemis training sites and were selected because of their relevance to the expected Artemis Lunar terrain. JETT1was conducted near Kilbourne Holeby El Paso, Texas and focused on hardware development and checkout. JETT2 was conducted in the Icelandic Highlands and began the transition towards EVA concept operations(con-ops), risks and technology.JETT3 was conducted near SP Crater by Flagstaff Arizona and focused on simulating the Artemis III mission with a simulated Houston based Flight Control Team (FCT) and a Science Mission Directorate (SMD) science team. All three JETT tests utilized the Excon mockup space suit. The Excon mockup suit is a light-weight, unpressurized Exploration Extravehicular Mobility Unit (xEMU)simulator. While it cannot replicate the feel of working within a pressurized suit, it does introduce similar volume constraints and some of the mobility programing to simulate the user experience in the xEMU. Overall, the JETT testing was able to create a simulated Lunar EVA and have two subjects perform full scale operations in line with Artemis III mission expectations. Future work is planned to continue to improve the simulation quality of Lunar EVA simulations.

spacesuit↗

Testing the Exploration ConOps (ExCon) Mockup Suit in Lunar Analog Environments in 2022

Understanding how to effectively train for Extravehicular Activities (EVAs) for Artemis missions is critical. Developing high-fidelity simulation environments is important for Artemis mission preparation. Because the actual Lunar exploration environment cannot be fully replicated on Earth, it is paramount to determine where and how to properly train the Artemis team. The overall focus for this test series was developing the capability to perform Artemis simulated EVAs in high-fidelity, full-scale environments. This test series was broken into three distinct tests titled after the EVA & Human Surface Mobility (HSM) Program (EHP) integrated test team: Joint EVA & HSM Test Team (JETT). The test locations are planned to serve as Artemis training sites and were selected because of their relevance to the expected Artemis Lunar terrain. JETT1 was conducted near Kilbourne Hole by El Paso, Texas and focused on hardware development and checkout. JETT2 was conducted in the Icelandic Highlands and began the transition towards EVA concept of operations (con-ops), risks and technology. JETT3 was conducted near SP Crater by Flagstaff, Arizona and focused on simulating the Artemis III mission including a Houston based Flight Control Team (FCT) and a Science Mission Directorate (SMD) science team. All three JETT tests utilized the Exploration Concept of Operations (ExCon) mockup space suit. The ExCon mockup suit is a lightweight, unpressurized Exploration Extravehicular Mobility Unit (xEMU) simulator. While it cannot replicate the feel of working within a pressurized suit, it does introduce similar volume constraints and some of the mobility programing to simulate the user experience in the xEMU. Overall, the JETT testing was able to create a simulated Lunar EVA and have two subjects perform full scale operations in line with Artemis III mission expectations. Future work is planned to continue to improve the simulation quality of Lunar EVA simulations.

spacesuit↗

Testing the Exploration Conops (Excon) Mockup Suit in Lunar Analog Environments in 2022

Understanding how to effectively train for Extravehicular Activities (EVAs) for Artemis missions is critical. Developing high-fidelity simulation environments is important for Artemis mission preparation. Because the actual Lunar exploration environment cannot be fully replicated on Earth, it is paramount to determine where and how to properly train the Artemis team. The overall focus for this test series was developing the capability to perform Artemis simulated EVAs in high-fidelity, full-scale environments. This test series was broken into three distinct tests titled after the EVA & Human Surface Mobility (HSM) Program (EHP) integrated test team: Joint EVA & HSM Test Team (JETT). The test locations are planned to serve as Artemis training sites and were selected because of their relevance to the expected Artemis Lunar terrain. JETT1 was conducted near Kilbourne Hole by El Paso, Texas and focused on hardware development and checkout. JETT2 was conducted in the Icelandic Highlands and began the transition towards EVA concept of operations (con-ops), risks and technology. JETT3 was conducted near SP Crater by Flagstaff, Arizona and focused on simulating the Artemis III mission including a Houston based Flight Control Team (FCT) and a Science Mission Directorate (SMD) science team. All three JETT tests utilized the Exploration Concept of Operations (ExCon) mockup space suit. The ExCon mockup suit is a lightweight, unpressurized Exploration Extravehicular Mobility Unit (xEMU) simulator. While it cannot replicate the feel of working within a pressurized suit, it does introduce similar volume constraints and some of the mobility programing to simulate the user experience in the xEMU. Overall, the JETT testing was able to create a simulated Lunar EVA and have two subjects perform full scale operations in line with Artemis III mission expectations. Future work is planned to continue to improve the simulation quality of Lunar EVA simulations.

spacesuit↗

Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

robotics↗

Solar Ion Sputter Deposition in the Lunar Regolith: Experimental Simulation Using Focused-Ion Beam Techniques

As regions of the lunar regolith undergo space weathering, their component grains develop compositionally and microstructurally complex outer coatings or "rims" ranging in thickness from a few 10 s to a few 100's of nm. Rims on grains in the finest size fractions (e.g., <20 m) of mature lunar regoliths contain optically-active concentrations of nm size metallic Fe spherules, or "nanophase Fe(sup o)" that redden and attenuate optical reflectance spectral features important in lunar remote sensing. Understanding the mechanisms for rim formation is therefore a key part of connecting the drivers of mineralogical and chemical changes in the lunar regolith with how lunar terrains are observed to become space weathered from a remotely-sensed point of view. As interpreted based on analytical transmission electron microscope (TEM) studies, rims are produced from varying relative contributions from: 1) direct solar ion irradiation effects that amorphize or otherwise modify the outer surface of the original host grain, and 2) nanoscale, layer-like, deposition of extrinsic material processed from the surrounding soil. This extrinsic/deposited material is the dominant physical host for nanophase Fe(sup o) in the rims. An important lingering uncertainty is whether this deposited material condensed from regolith components locally vaporized in micrometeorite or larger impacts, or whether it formed as solar wind ions sputtered exposed soil and re-deposited the sputtered ions on less exposed areas. Deciding which of these mechanisms is dominant, or possibility exclusive, has been hampered because there is an insufficient library of chemical and microstructural "fingerprints" to distinguish deposits produced by the two processes. Experimental sputter deposition / characterization studies relevant to rim formation have particularly lagged since the early post-Apollo experiments of Hapke and others, especially with regard to application of TEM-based characterization techniques. Here we report on a novel design for simulating solar ion sputter deposition in the lunar regolith, with characterization of the resulting sputter deposits by an array of advanced analytical TEM techniques.

Christoffersen, R.↗

Engineering Design Study of Laser Power Beaming for Applications on the Moon

Using a laser to send power to a photovoltaic receiver has been proposed to transmit electrical power on the moon, particularly for applications such as powering a rover in near-polar permanent-ly-shadowed regions (PSR) where solar power is not available, however detailed engineering design studies of the spacecraft for such applications has not previously been undertaken. In this work, we did an engineering design study of two applications of laser power beaming for near-term lunar ap-plications. In the first application studied, an application was studied to provide power during the lunar night for a global network of small landers spread across the lunar surface, at latitudes ranging from equatorial to near polar landing sites. We analyze a proposal to power such small landers from orbit, using a laser to beam power from an orbital power station to photovoltaic arrays on the landers that are tuned to the laser wavelength. A commercially-available high-power 1.07-µ diode-pumped fiber laser was chosen as the source. To minimize beam spread of the a spot at the required distance, a 1.5 meter optical element was provided, using a design based on the Kepler telescope. To provide power to landers at any location, three orbital stations (“beamcraft) are required, each carrying a 3-kW laser. (If the surface science platforms requiring power are only in polar locations, or converse-ly, only in near equatorial locations, only one orbital platform is needed.) The approach is seen to be feasible, and a systems analysis was completed, the concept of operations for the system out-lined and a design for the beamcraft put together. The second design study looked at surface-to-surface power beaming using the VSAT as the la-ser platform, for an application to provide power to the interior of a permanently shadowed lunar crater from a surface platform. To maximize the distance of beaming, taking into account possible surface irregularities and the short distance to the horizon of the moon, it is desirable to emplace the laser at an elevation above the surface. The Vertical Solar Array Technology (VSAT) is a NASA program developing a solar array mounted vertically on a 10-m tall mast, designed for emplacement on a Commercial Lunar Payload Services (CLPS) lander to provide 10-kW (BOL) power near the south polar region of the moon, with a target readiness date of 2028. We used this design as the starting platform and the power source for a laser power beaming station. By mounting the laser beam director at the top of the solar array mast, a viewing distance to power receivers up to 10 km is possible. Requirements for the system were to be able to provide 300 W of continuous usable power to users including CLPS landers, VIPER class rovers, or the proposed Lunar Terrain Vehicle. The specified requirement was to be able to transmit power to a distance of up to 10 km, over a design lifetime of 5 years, and fitting within a total system landed mass under 625 kg. Again, a 1.07-µ fiber laser is mounted on the deck of the lander, with laser output sent to the laser beam director by a fiber-optic cable. A 7 square meter deployable radiator keeps the laser within operating temperature limits. The beam director is based on the design of a prototype unit developed by the University of California Santa Barbara. The system beams power for 57% of the time, with 44% of the time idle (accounting for the time when the VSAT array is itself in shadow). 1595 Watts of optical power are output in the beam. Accounting for receiver efficiency and beam losses, this results in an output onto the 1.5-meter receiving photovoltaic array of 542 watts. Of this, 300 watts is directly available to the user, while 242 watts is directed to the batteries for use while the beam is not available.

laser power↗

The Apollo Lunar Roving Vehicle.

After listing the basic requirements such as operational demands and lunar environmental conditions, characteristic design data of the roving vehicle are given with special attention to the four wheel drive and its control system, the steering system, and the navigational instrumentation. The overall system is optimized in view of total mass, range, mobility, load carrying capability, safety, highest reliability through redundancy, and last but not least, cost and development time. Optimization of the drive and power system has first been evaluated by mathematical models and computational simulation of the vehicle hardware, the wheel/soil interaction, and the lunar terrain profile. The next step to refine optimization and evaluation of the drive, steering, and power system including man/machine interaction has been carried out by the use of a six-degree-of-freedom simulator subjecting the astronauts in their space suits to simulated vehicle motions while driving over a simulated terrain, observable on a cathode ray tube display.

Haeussermann, W.↗

Compositional diversity of the lunar North Pole: Preliminary analyses of Galileo SSI data

In December 1992, the Galileo spacecraft passed through the Earth-Moon system for its final gravity assist to Jupiter. The SSI camera obtained several 6-color mosaics of the lunar north polar region and the sunlit nearside and eastern limb at approximately 1.3 km/pixel. Initial analyses have concentrated on the north polar areas to assess the composition of the crust in that region. Representative 6-color calibration SSI spectra (typically 5 x 5 pixels) are shown. Photometric corrections have not yet been applied, and all spectra are scaled to unity at 0.56 microns. The data were first calibrated relative to MS2, a standard are in Mare Serenitatis (18.7 deg N, 21.5 deg E), and the top four plots of highlands, highland craters, maria, and mare craters are displayed relative to MS2. SSI spectra of areas measured with telescopic data (mare MT1/MS2 and mare crater MSA/MS2) agree well with previous data, confirming that the calibration procedures and SSI data are spectrally accurate. The bottom three plots of craters/sun have been calibrated to reflectance using previously obtained telescopic spectra of Apollo 16/MS2 (shown with Highlands/MS2) and laboratory spectra of mature Apollo 16 soil (shown for reference with the Highland Craters/Sun). Although some variations in these spectra mimic previously observed spectra of lunar terrains, several characteristics are unusual. Familiar and unfamiliar properties are observed in these northern latitudes and both types merit further investigation in their geologic context.

Pieters, C. M.↗

On Structural Design of a Mobile Lunar Habitat With Multi- Layered Environmental Shielding

This report presents an overview of a Mobile Lunar Habitat (MLH) structural design consisting of advanced composite materials. The habitat design is derived from the cylindrical-shaped U.S. Lab module aboard the International Space Station (ISS) and includes two lateral ports and a hatch at each end that geometrically match those of the ISS Nodes. Thus, several MLH units can be connected together to form a larger lunar outpost of various architectures. For enhanced mobility over the lunar terrain, the MLH uses six articulated insect-like robotic, retractable legs enabling the habitat to .t aboard a launch vehicle. The carbon-composite shell is sandwiched between two layers of hydrogen-rich polyethylene for enhanced radiation shielding. The pressure vessel is covered by modular double-wall panels for meteoroid impact shielding supported by externally mounted stiffeners. The habitat s structure is an assembly of multiple parts manufactured separately and bonded together. Based on the geometric complexity of a part and its material system, an appropriate fabrication process is proposed.

Pruitt, J. R.↗

Human-Robot Site Survey and Sampling for Space Exploration

NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.

Fong, Terrence↗

Lessons Learned from Performance Testing of Humans in Spacesuits in Simulated Reduced Gravity

Introduction: The overarching objective of the Integrated Suit Test (IST) series is to evaluate suited human performance using reduced-gravity analogs and learn what aspects of an EVA suit system affect human performance. For this objective to be successfully achieved, the testing methodology should be valid and reproducible, and the partial-gravity simulations must be as accurate and realistic as possible. Objectives: To highlight some of the key lessons learned about partial-gravity analogs and testing methodology, and to suggest considerations for optimizing the effectiveness and quality of results of future tests. Methods: Performance testing of suited and unsuited subjects was undertaken in different reduced-gravity analogs including the Space Vehicle Mockup Facility s Partial Gravity Simulator (POGO), parabolic flight on the C-9 aircraft, underwater environments including NASA s Extreme Environment Mission Operations (NEEMO) and the Neutral Buoyancy Lab (NBL), and in field analogs including Desert Research and Technology Studies (RATS), the Haughton Mars Project (HMP), and the JSC Rock Pile. Subjects performed level walking, incline/decline walking, running, shoveling, picking up and transferring rocks, kneeling/standing, and task boards. Lessons Learned Analogs: No single analog will properly simulate all aspects of the true partial-gravity environment. The POGO is an ideal environment from the standpoint that there are no time limits or significant volumetric constraints, but it does have several limitations. It allows only 2 translational degrees of freedom (DOF) and applies true partial-gravity offload only through the subject s center of gravity (CG). Also, when a subject is doing non-stationary tasks, significant overhead inertia from the lift column seems to have a negative impact on performance. Parabolic flight allows full translational and rotational DOF and applies offload to all parts of the body, but the simulation lasts less than 30 seconds. When this is coupled with the volumetric constraints of the plane, both task selection and data collection options are significantly limited. The underwater environments also allow all 6 DOF and allow off-loading to be applied throughout the body, but the data collection capabilities are limited to little more than subjective ratings. In addition, water drag negatively affects performance of tasks requiring dynamic motion. Field analogs provide the ability to simulate lunar terrain and more realistic mission-like objectives, but all of them operate at 1-g, so suited human performance testing generally must utilize a reduced-mass or "mockup" suit, depending on study objectives. In general, the ground-based overhead-suspension partial-gravity analogs like POGO allow the most diverse data collection methods possible while still simulating partial gravity. However, as currently designed, the POGO has significant limitations. Design of the Active Response Gravity Offload System (ARGOS) has begun and is focusing on adding full x,y,z translational DOF, improved offload accuracy, increased lift capacity, and active control of the x and y axes to minimize offload system inertia. Additionally, a new gimbal is being designed to reduce mass and inertia and to be able to work with different suits, as the current gimbal only supports suited testing with the Mark III Technology Demonstrator Suit (MKIII).

Norcross, Jason R.↗